version: 66.06
glider: 146
mission: 7
dive: 228
start: 6 29 112 4 22 1
data:
$ID,146
$MISSION,7
$DIVE,228
$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,-295101.09
$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,46
$R_STBD_OVSHOOT,26
$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
$GPS1,041407,2215.302,-15805.447,38,1.3,38,10.0
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.23
$_SM_ANGLEo,-69.4
$GPS2,042107,2215.323,-15805.501,12,1.6,12,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.125,-0.220
$KALMAN_X,-29510.9,178.0,-545.6,26837.7,-711.1
$KALMAN_Y,157029.8,471.5,174.4,-204469.1,962.6
$MHEAD_RNG_PITCHd_Wd,140.4,31166,-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,17,begin dive
$GC,19,-1.32,-136.3,0.0,0.0,0,112,0.00,0.00,-88.50,0.000,6,0.000,0.000,467,2159,3746,0,0,0,0,0,0
$GC,117,-1.32,-136.3,2.8,-6.0,11,135,13.23,2.55,0.00,0.000,4,0.173,0.037,2844,611,3747,0,0,0,0,0,0
$GC,154,-0.30,-136.3,18.7,-39.1,15,164,1.05,2.50,0.00,0.000,6,0.090,0.017,3076,2204,3748,0,0,0,0,0,0
$GC,476,-0.63,-136.3,35.8,-4.3,53,481,0.25,2.60,0.00,0.000,4,0.041,0.041,2988,615,3748,0,0,0,0,0,0
$GC,501,-0.86,-136.3,37.8,-6.7,54,512,0.10,2.45,0.00,0.000,6,0.034,0.017,2936,2179,3749,0,0,0,0,0,0
$GC,770,-0.86,-136.3,66.5,-11.6,79,774,0.00,2.47,0.00,0.000,4,0.000,0.035,2890,3743,3749,0,0,0,0,0,0
$GC,804,-0.89,-136.3,71.4,-11.3,81,816,0.00,2.50,0.00,0.000,6,0.000,0.024,2936,2181,3750,0,0,0,0,0,0
$GC,1070,-0.95,-136.3,99.7,-10.4,106,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2181,3750,0,0,0,0,0,0
$GC,1337,-1.02,-136.3,124.3,-8.7,131,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2182,3750,0,0,0,0,0,0
$GC,1602,-1.09,-136.3,145.0,-7.3,156,1612,0.12,0.00,0.00,0.000,6,0.071,0.000,2886,2181,3751,0,0,0,0,0,0
$GC,1869,-1.05,-136.3,170.3,-9.4,181,1875,0.12,0.00,0.00,0.000,6,0.107,0.000,2914,2181,3752,0,0,0,0,0,0
$GC,2134,-1.05,-136.3,193.8,-8.9,206,2138,0.00,2.62,0.00,0.000,4,0.000,0.052,2845,595,3752,0,0,0,0,0,0
$GC,2166,-1.05,-136.3,196.9,-9.6,208,2170,0.00,2.42,0.00,0.000,6,0.000,0.020,2913,2181,3750,0,0,0,0,0,0
$GC,2448,-1.05,-136.3,223.5,-9.4,217,2449,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2181,3752,0,0,0,0,0,0
$GC,2694,-1.11,-136.3,243.4,-7.6,223,2698,0.00,2.60,0.00,0.000,4,0.000,0.049,2849,602,3752,0,0,0,0,0,0
$GC,2710,-1.16,-136.3,244.9,-7.3,223,2714,0.00,2.42,0.00,0.000,6,0.000,0.021,2913,2175,3752,0,0,0,0,0,0
$GC,2971,-1.24,-136.3,261.0,-6.0,230,2973,0.17,0.00,0.00,0.000,6,0.052,0.000,2849,2175,3752,0,0,0,0,0,0
$GC,3217,-1.19,-136.3,284.3,-9.7,236,3222,0.15,2.65,0.00,0.000,4,0.099,0.054,2884,608,3752,0,0,0,0,0,0
$GC,3291,-1.19,-136.3,291.3,-9.1,237,3295,0.00,2.42,0.00,0.000,6,0.000,0.026,2884,2164,3752,0,0,0,0,0,0
$GC,3541,-1.24,-136.3,312.8,-8.5,243,3545,0.00,2.55,0.00,0.000,4,0.000,0.042,2821,3758,3752,0,0,0,0,0,0
$GC,3568,-1.28,-136.3,315.3,-9.0,243,3574,0.43,2.47,0.00,0.000,6,0.069,0.031,2925,2183,3752,0,0,0,0,0,0
$GC,3819,-1.55,-136.3,326.7,-4.4,249,3821,0.73,0.00,0.00,0.000,6,0.027,0.000,2781,2182,3752,0,0,0,0,0,0
$GC,4064,-1.41,-136.3,352.6,-10.7,255,4069,0.25,2.55,0.00,0.000,4,0.091,0.041,2787,3757,3751,0,0,0,0,0,0
$GC,4136,-1.41,-136.3,359.4,-8.5,256,4148,2.70,2.53,0.00,0.000,6,0.064,0.034,2951,2188,3751,9,0,0,0,0,0
$GC,4394,-2.63,-136.3,377.2,-8.9,263,4403,4.18,2.78,0.00,0.000,4,0.087,0.076,2557,595,3750,0,0,0,0,0,0
$GC,4501,-2.08,-136.3,395.1,-22.2,265,4506,0.62,2.55,0.00,0.000,6,0.106,0.041,2689,2181,3749,0,0,0,0,0,0
$GC,4762,-1.80,-136.3,435.7,-14.5,272,4768,0.25,2.78,0.00,0.000,4,0.107,0.081,2744,599,3748,0,0,0,0,0,0
$GC,4798,-1.57,-136.3,440.3,-13.3,272,4804,0.28,2.62,0.00,0.000,6,0.107,0.042,2800,2188,3748,0,0,0,0,0,0
$GC,5048,-1.50,-136.3,463.8,-8.9,279,5049,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2189,3746,0,0,0,0,0,0
$GC,5294,-1.44,-136.3,487.6,-10.0,285,5296,0.12,0.00,0.00,0.000,6,0.121,0.000,2828,2189,3745,0,0,0,0,0,0
$GC,5535,-1.44,-136.3,510.8,-9.7,291,5540,0.00,2.92,0.00,0.000,4,0.000,0.105,2828,601,3743,0,0,0,0,0,0
$GC,5551,-1.44,-136.3,512.5,-9.7,291,5555,0.00,2.70,0.00,0.000,6,0.000,0.048,2828,2209,3743,0,0,0,0,0,0
$GC,5812,-1.44,-136.3,537.6,-9.4,298,5816,0.00,2.75,0.00,0.000,4,0.000,0.084,2771,3764,3741,0,0,0,0,0,0
$GC,5829,-1.44,-136.3,539.2,-9.2,298,5838,2.58,2.65,0.00,0.000,6,0.071,0.061,2831,2209,3741,9,0,0,0,0,0
$STATE,6011,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6011,begin apogee
$GC,6018,-0.31,0.0,551.9,8.0,303,6134,1.85,0.00,111.05,0.962,6,0.130,0.000,3077,2165,3190,0,0,0,0,0,0
$STATE,6135,end apogee,CONTROL_FINISHED_OK
$STATE,6135,begin climb
$GC,6139,1.32,136.3,555.9,0.0,306,6257,1.50,0.00,113.70,0.931,6,0.040,0.000,3436,2165,2633,0,0,0,0,0,0
$GC,6543,1.18,136.3,515.0,11.9,316,6548,0.17,2.72,0.00,0.000,4,0.130,0.055,3340,3765,2624,0,0,0,0,0,0
$GC,6606,1.10,136.3,508.3,10.4,317,6611,0.10,2.67,0.00,0.000,6,0.143,0.053,3386,2193,2624,0,0,0,0,0,0
$GC,6867,1.13,161.2,484.7,8.9,324,6896,0.00,3.10,21.20,0.874,4,0.000,0.114,3385,592,2531,0,0,0,0,0,0
$GC,6930,1.09,162.4,478.5,10.1,325,6935,0.00,2.67,0.00,0.000,6,0.000,0.044,3375,2183,2528,0,0,0,0,0,0
$GC,7191,1.11,177.1,453.7,9.4,332,7210,0.00,2.72,14.12,0.844,4,0.000,0.058,3347,3768,2467,0,0,0,0,0,0
$GC,7260,1.11,177.1,446.2,11.1,333,7265,0.00,2.70,0.00,0.000,6,0.000,0.044,3385,2175,2465,0,0,0,0,0,0
$GC,7518,1.13,192.0,421.6,9.4,340,7537,0.00,2.75,14.05,0.832,4,0.000,0.048,3343,3783,2407,0,0,0,0,0,0
$GC,7556,1.13,195.5,417.6,10.0,340,7565,0.00,2.70,4.05,0.561,6,0.000,0.044,3385,2182,2395,0,0,0,0,0,0
$GC,7850,1.16,217.3,391.2,9.1,348,7878,0.00,2.90,21.05,0.838,4,0.000,0.081,3385,580,2303,0,0,0,0,0,0
$GC,7893,1.18,234.6,387.3,9.3,349,7917,0.00,2.65,16.70,0.808,6,0.000,0.030,3384,2198,2233,0,0,0,0,0,0
$GC,8178,1.18,238.7,358.9,10.0,356,8188,0.00,2.65,3.75,0.519,4,0.000,0.047,3331,3763,2219,0,0,0,0,0,0
$GC,8241,1.22,238.7,352.2,10.9,357,8246,0.15,2.65,0.00,0.000,6,0.070,0.040,3424,2168,2218,0,0,0,0,0,0
$GC,8508,1.19,238.7,319.6,12.2,364,8513,0.10,2.67,0.00,0.000,4,0.141,0.041,3391,3766,2217,0,0,0,0,0,0
$GC,8529,1.19,238.7,316.9,11.4,364,8534,0.00,2.60,0.00,0.000,6,0.000,0.038,3406,2185,2216,0,0,0,0,0,0
$GC,8787,1.19,244.1,291.6,9.9,371,8800,0.00,2.62,6.45,0.645,4,0.000,0.044,3325,3766,2195,0,0,0,0,0,0
$GC,8892,1.25,244.1,280.1,10.9,373,8897,0.00,2.55,0.00,0.000,6,0.000,0.037,3404,2209,2194,0,0,0,0,0,0
$GC,9160,1.26,255.0,254.6,9.6,380,9179,0.00,2.80,11.18,0.700,4,0.000,0.058,3404,590,2149,0,0,0,0,0,0
$GC,9259,1.32,255.0,243.3,11.6,382,9264,0.12,2.60,0.00,0.000,6,0.075,0.024,3442,2217,2146,0,0,0,0,0,0
$GC,9533,1.32,255.0,211.0,11.6,389,9537,0.00,2.50,0.00,0.000,4,0.000,0.043,3430,3754,2146,0,0,0,0,0,0
$GC,9561,1.32,255.0,207.6,11.9,389,9566,0.60,2.53,0.00,0.000,6,0.044,0.034,3445,2190,2146,2,0,0,0,0,0
$GC,9824,0.99,255.0,158.7,19.2,410,9830,1.15,2.55,0.00,0.000,4,0.123,0.035,3352,3760,2146,0,0,0,0,0,0
$GC,9859,1.12,264.8,153.6,9.7,412,9876,0.10,2.50,9.77,0.604,6,0.084,0.027,3397,2205,2110,0,0,0,0,0,0
$GC,10133,1.20,275.8,128.4,9.6,438,10150,0.00,2.75,10.88,0.587,4,0.000,0.058,3397,602,2064,0,0,0,0,0,0
$GC,10183,1.27,275.8,122.8,11.0,442,10188,0.10,2.53,0.00,0.000,6,0.084,0.025,3430,2213,2062,0,0,0,0,0,0
$GC,10443,1.27,275.8,92.9,11.3,466,10444,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2213,2062,0,0,0,0,0,0
$GC,10704,1.34,300.6,67.9,8.9,490,10739,0.00,2.55,22.48,0.565,4,0.000,0.035,3104,3748,1964,0,0,0,0,0,0
$GC,10758,1.43,325.7,63.5,8.9,494,10788,0.10,2.50,23.15,0.554,6,0.087,0.027,3462,2200,1862,0,0,0,0,0,0
$GC,11046,1.43,325.7,27.4,12.4,521,11055,0.00,2.70,0.00,0.000,4,0.000,0.049,3165,594,1859,0,0,0,0,0,0
$GC,11089,1.43,325.7,21.5,15.7,526,11099,0.00,2.53,0.00,0.000,6,0.000,0.020,3462,2187,1858,0,0,0,0,0,0
$STATE,11231,end climb,SURFACE_DEPTH_REACHED
$STATE,11232,begin surface coast
$FINISH,-0.6,1.023705
$STATE,11268,end surface coast,CONTROL_FINISHED_OK
$STATE,11268,begin surface
$SM_CCo,11289,42.75,0.515,0,0,1642,380.21
$SM_GC,0.29,0.00,0.00,42.75,0.000,0.000,0.515,468,2190,1642,-12.31,0.28,380.21
$IRIDIUM_FIX,2206.70,-15805.43,230901,010130
$TT8_MAMPS,0.027612
$HUMID,62.16
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,21.80
$XPDR_PINGS,49
$24V_AH,23.5,32.501
$10V_AH,10.3,28.858
$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,45.350,136.525,403.575,42.750,0.000,24.483,37.319,212.767,12.250,0.000,13.945,1127.879,7341.256,538.879,2124.596,623.051,33.367,1344.399,0.000,2134.181,0.000,0.534,0.000
$DEVICE_MAMPS,173.342,157.235,961.818,514.657,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,372.138,295.477,415.164,826.698,1256.188,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356024
$DATA_FILE_SIZE,41717,550
$CAP_FILE_SIZE,123415,0
$CFSIZE,260165632,133087232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,20,0,0,0
$GPS,290612,073206,2214.873,-15805.159,14,1.2,30,10.0