version: 66.06
glider: 146
mission: 7
dive: 212
start: 6 26 112 22 51 53
data:
$ID,146
$MISSION,7
$DIVE,212
$D_SURF,4
$D_FLARE,3
$D_TGT,550
$D_ABORT,650
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,180
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52355
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-294603.59
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3144
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,2180
$C_ROLL_CLIMB,2180
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3190
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,94
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-29.527605
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,10
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043256786
$SEABIRD_T_H,0.0006194216
$SEABIRD_T_I,2.1253354e-05
$SEABIRD_T_J,2.0307182e-06
$SEABIRD_C_G,-9.7992477
$SEABIRD_C_H,1.0845563
$SEABIRD_C_I,-0.0017217569
$SEABIRD_C_J,0.00021252052
$GPS1,224055,2218.620,-15802.783,87,0.9,87,10.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-69.8
$GPS2,225056,2218.643,-15802.962,13,1.3,13,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.127,-0.219
$KALMAN_X,1353.4,-223.4,-109.1,281.0,-1163.5
$KALMAN_Y,128810.0,-266.9,64.4,-169248.3,1505.0
$MHEAD_RNG_PITCHd_Wd,139.8,35562,-18.5,-10.185
$D_GRID,550
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.32,-136.3,0.0,0.0,0,107,0.00,0.00,-86.43,0.000,6,0.000,0.000,470,2192,3747,0,0,0,0,0,0
$GC,110,-1.32,-136.3,3.0,-6.9,11,136,13.20,2.70,0.00,0.000,4,0.173,0.045,2850,592,3749,0,0,0,0,0,0
$GC,176,-1.12,-136.3,22.0,-19.7,19,186,0.20,2.50,0.00,0.000,6,0.097,0.018,2896,2182,3748,0,0,0,0,0,0
$GC,453,-1.04,-136.3,58.6,-12.5,47,458,0.10,2.62,0.00,0.000,4,0.125,0.045,2917,597,3749,0,0,0,0,0,0
$GC,476,-0.97,-136.3,61.4,-11.9,48,480,0.00,2.47,0.00,0.000,6,0.000,0.017,2912,2193,3749,0,0,0,0,0,0
$GC,741,-0.97,-136.3,87.6,-9.1,72,745,0.00,2.65,0.00,0.000,4,0.000,0.045,2917,591,3750,0,0,0,0,0,0
$GC,763,-0.97,-136.3,89.5,-8.8,73,767,0.00,2.45,0.00,0.000,6,0.000,0.016,2917,2181,3749,0,0,0,0,0,0
$GC,1031,-0.97,-136.3,112.9,-8.8,97,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2180,3750,0,0,0,0,0,0
$GC,1292,-0.97,-136.3,137.1,-9.5,122,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2180,3750,0,0,0,0,0,0
$GC,1549,-0.97,-136.3,163.2,-10.4,146,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2181,3750,0,0,0,0,0,0
$GC,1802,-0.97,-136.3,189.7,-9.9,170,1806,0.00,2.62,0.00,0.000,4,0.000,0.048,2917,596,3751,0,0,0,0,0,0
$GC,1837,-0.97,-136.3,192.8,-10.9,172,1841,0.00,2.45,0.00,0.000,6,0.000,0.025,2917,2181,3751,0,0,0,0,0,0
$GC,2110,-0.97,-136.3,220.1,-9.3,183,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2181,3751,0,0,0,0,0,0
$GC,2354,-1.03,-136.3,238.3,-7.2,189,2358,0.00,2.60,0.00,0.000,4,0.000,0.055,2916,597,3751,0,0,0,0,0,0
$GC,2383,-1.10,-136.3,240.4,-7.6,189,2387,0.00,2.45,0.00,0.000,6,0.000,0.025,2917,2190,3751,0,0,0,0,0,0
$GC,2634,-1.19,-136.3,255.9,-6.3,195,2635,0.15,0.00,0.00,0.000,6,0.061,0.000,2858,2190,3751,0,0,0,0,0,0
$GC,2877,-1.19,-136.3,276.4,-8.8,201,2882,0.10,2.50,0.00,0.000,4,0.116,0.038,2884,3749,3749,0,0,0,0,0,0
$GC,2992,-1.25,-136.3,286.9,-9.5,203,2997,0.00,2.47,0.00,0.000,6,0.000,0.029,2872,2169,3751,0,0,0,0,0,0
$GC,3248,-1.30,-136.3,309.5,-8.4,210,3253,0.10,2.67,0.00,0.000,4,0.082,0.071,2792,604,3751,0,0,0,0,0,0
$GC,3276,-1.30,-136.3,312.2,-9.5,210,3280,0.00,2.47,0.00,0.000,6,0.000,0.029,2842,2166,3750,0,0,0,0,0,0
$GC,3528,-1.30,-136.3,337.5,-10.1,216,3532,0.00,2.60,0.00,0.000,4,0.000,0.041,2814,3762,3750,0,0,0,0,0,0
$GC,3612,-1.30,-136.3,345.8,-9.5,218,3617,0.00,2.53,0.00,0.000,6,0.000,0.034,2842,2195,3750,0,0,0,0,0,0
$GC,3898,-1.30,-136.3,371.4,-8.9,225,3902,0.00,2.55,0.00,0.000,4,0.000,0.044,2817,3757,3749,0,0,0,0,0,0
$GC,3921,-1.30,-136.3,373.4,-8.7,225,3925,0.00,2.53,0.00,0.000,6,0.000,0.036,2842,2196,3748,0,0,0,0,0,0
$GC,4176,-1.30,-136.3,393.1,-7.5,232,4181,0.00,2.85,0.00,0.000,4,0.000,0.092,2842,595,3747,0,0,0,0,0,0
$GC,4193,-1.30,-136.3,394.4,-7.9,232,4198,0.00,2.58,0.00,0.000,6,0.000,0.034,2842,2184,3748,0,0,0,0,0,0
$GC,4458,-1.30,-136.3,413.9,-7.3,239,4462,0.00,2.60,0.00,0.000,4,0.000,0.054,2816,3762,3746,0,0,0,0,0,0
$GC,4473,-1.30,-136.3,415.7,-7.7,239,4478,0.00,2.60,0.00,0.000,6,0.000,0.040,2843,2181,3745,0,0,0,0,0,0
$GC,4736,-1.30,-136.3,436.1,-7.7,246,4737,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2181,3744,0,0,0,0,0,0
$GC,4978,-1.30,-136.3,457.5,-9.1,252,4982,0.00,2.65,0.00,0.000,4,0.000,0.058,2814,3760,3742,0,0,0,0,0,0
$GC,5055,-1.30,-136.3,465.5,-10.7,253,5061,0.00,2.62,0.00,0.000,6,0.000,0.052,2843,2201,3742,0,0,0,0,0,0
$GC,5307,-1.30,-136.3,490.5,-10.3,260,5308,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2201,3740,0,0,0,0,0,0
$GC,5549,-1.30,-136.3,513.4,-9.3,266,5554,0.00,3.03,0.00,0.000,4,0.000,0.119,2843,592,3738,0,0,0,0,0,0
$GC,5565,-1.30,-136.3,515.0,-9.0,266,5569,0.00,2.65,0.00,0.000,6,0.000,0.049,2843,2189,3738,0,0,0,0,0,0
$GC,5826,-1.30,-136.3,535.9,-7.7,273,5830,0.00,2.90,0.00,0.000,4,0.000,0.091,2843,591,3736,0,0,0,0,0,0
$GC,5867,-1.30,-136.3,539.1,-8.2,274,5872,0.00,2.70,0.00,0.000,6,0.000,0.055,2832,2190,3736,0,0,0,0,0,0
$STATE,6025,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6025,begin apogee
$GC,6031,-0.31,0.0,551.3,7.4,278,6150,1.00,0.00,110.88,0.966,6,0.075,0.000,3073,2194,3190,0,0,0,0,0,0
$STATE,6151,end apogee,CONTROL_FINISHED_OK
$STATE,6151,begin climb
$GC,6154,1.32,136.3,552.4,0.0,281,6273,1.52,0.00,114.72,0.937,6,0.054,0.000,3434,2193,2633,0,0,0,0,0,0
$GC,6551,1.19,136.3,510.3,12.2,291,6553,0.15,0.00,0.00,0.000,6,0.127,0.000,3406,2194,2625,0,0,0,0,0,0
$GC,6795,1.12,136.3,483.0,11.1,297,6800,0.00,2.88,0.00,0.000,4,0.000,0.084,3405,591,2623,0,0,0,0,0,0
$GC,6824,1.00,136.3,479.7,12.0,297,6829,0.30,2.67,0.00,0.000,6,0.108,0.044,3342,2190,2622,1,0,0,0,0,0
$GC,7074,1.10,160.6,456.6,9.0,303,7097,0.17,0.00,20.23,0.863,6,0.064,0.000,3389,2190,2536,0,0,0,0,0,0
$GC,7319,1.10,160.6,430.9,10.6,309,7323,0.00,2.62,0.00,0.000,4,0.000,0.051,3347,3769,2532,0,0,0,0,0,0
$GC,7381,1.10,160.6,423.5,11.4,310,7386,0.20,2.67,0.00,0.000,6,0.064,0.039,3414,2170,2530,0,0,0,0,0,0
$GC,7642,0.97,160.6,393.1,11.6,317,7645,0.43,0.00,0.00,0.000,6,0.104,0.000,3358,2170,2529,0,0,0,0,0,0
$GC,7886,1.11,232.6,375.8,6.6,323,7957,0.12,2.75,63.15,0.851,4,0.078,0.045,3330,3764,2241,0,0,0,0,0,0
$GC,8008,1.11,232.6,364.2,10.5,325,8014,0.00,2.67,0.00,0.000,6,0.000,0.042,3394,2168,2237,0,0,0,0,0,0
$GC,8261,1.11,232.6,338.5,10.3,332,8265,0.00,2.65,0.00,0.000,4,0.000,0.045,3359,3774,2234,0,0,0,0,0,0
$GC,8287,1.11,232.6,335.1,11.4,332,8292,0.00,2.65,0.00,0.000,6,0.000,0.035,3394,2177,2233,0,0,0,0,0,0
$GC,8543,1.11,232.6,308.5,10.3,339,8544,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2177,2232,0,0,0,0,0,0
$GC,8787,1.12,239.5,283.1,9.8,345,8797,0.00,2.65,5.75,0.626,4,0.000,0.038,3368,3772,2213,0,0,0,0,0,0
$GC,8828,1.12,240.0,279.2,10.2,346,8833,0.00,2.60,0.00,0.000,6,0.000,0.032,3393,2189,2212,0,0,0,0,0,0
$GC,9112,1.21,272.6,253.4,8.5,353,9147,0.00,2.65,30.08,0.746,4,0.000,0.041,3370,3770,2078,0,0,0,0,0,0
$GC,9224,1.35,305.8,244.3,8.5,354,9262,0.57,2.58,30.38,0.726,6,0.043,0.035,3531,2198,1944,2,0,0,0,0,0
$GC,9525,1.13,305.8,193.7,17.4,362,9531,0.73,2.72,0.00,0.000,4,0.111,0.057,3396,591,1938,0,0,0,0,0,0
$GC,9595,1.23,305.8,185.5,10.6,367,9600,0.00,2.60,0.00,0.000,6,0.000,0.021,3396,2229,1935,0,0,0,0,0,0
$GC,9862,1.31,305.8,159.0,11.0,391,9867,0.12,0.00,0.00,0.000,6,0.077,0.000,3434,2229,1935,0,0,0,0,0,0
$GC,10126,1.31,305.8,125.1,13.1,416,10131,0.00,2.72,0.00,0.000,4,0.000,0.051,3433,592,1935,0,0,0,0,0,0
$GC,10159,1.31,305.8,119.7,14.5,418,10169,0.00,2.55,0.00,0.000,6,0.000,0.021,3433,2197,1937,0,0,0,0,0,0
$GC,10427,1.31,305.8,85.6,12.2,443,10432,0.00,2.67,0.00,0.000,4,0.000,0.048,3433,595,1935,0,0,0,0,0,0
$GC,10450,1.31,305.8,82.1,12.1,444,10459,0.00,2.53,0.00,0.000,6,0.000,0.019,3433,2192,1935,0,0,0,0,0,0
$GC,10718,1.36,308.7,54.5,10.0,469,10727,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2192,1935,0,0,0,0,0,0
$GC,10989,1.36,308.7,26.6,10.3,496,10998,0.00,2.67,0.00,0.000,4,0.000,0.048,3433,596,1935,0,0,0,0,0,0
$GC,11056,1.40,308.7,18.6,12.2,505,11066,0.00,2.50,0.00,0.000,6,0.000,0.019,3436,2190,1936,0,0,0,0,0,0
$STATE,11171,end climb,SURFACE_DEPTH_REACHED
$STATE,11171,begin surface coast
$FINISH,-0.5,1.021998
$STATE,11217,end surface coast,CONTROL_FINISHED_OK
$STATE,11217,begin surface
$SM_CCo,11238,59.42,0.518,0,0,1639,380.21
$SM_GC,0.24,0.00,0.00,59.42,0.000,0.000,0.518,472,2193,1639,-12.29,0.37,380.21
$IRIDIUM_FIX,2209.02,-15802.40,200901,222259
$TT8_MAMPS,0.026845
$HUMID,61.93
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,21.90
$XPDR_PINGS,40
$24V_AH,23.5,30.340
$10V_AH,10.2,26.953
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,31.025,126.050,375.175,59.425,0.000,58.811,70.554,258.052,10.000,0.000,18.648,1075.571,7626.482,536.852,1938.365,723.922,33.375,1261.646,0.000,1945.379,0.000,0.535,0.000
$DEVICE_MAMPS,172.575,118.885,965.653,517.725,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,357.385,281.737,388.906,741.253,1121.196,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355952
$DATA_FILE_SIZE,41448,527
$CAP_FILE_SIZE,114459,0
$CFSIZE,260165632,134004736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$GPS,270612,020130,2218.142,-15803.021,38,1.1,38,10.0