version: 66.06
glider: 146
mission: 7
dive: 229
start: 6 29 112 7 39 39
data:
$ID,146
$MISSION,7
$DIVE,229
$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,-295116.5
$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,3115
$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,31
$R_STBD_OVSHOOT,44
$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
$GPS1,073206,2214.873,-15805.159,14,1.2,30,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-68.8
$GPS2,073843,2214.884,-15805.206,8,1.2,13,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.164,-0.193
$KALMAN_X,-31186.3,286.9,180.2,28182.9,-1227.9
$KALMAN_Y,158747.7,386.7,82.5,-206823.8,876.2
$MHEAD_RNG_PITCHd_Wd,129.7,30216,-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,-136.3,0.0,0.0,0,116,0.00,0.00,-88.40,0.000,6,0.000,0.000,468,2190,3746,0,0,0,0,0,0
$GC,121,-1.32,-136.3,4.6,-11.9,12,139,12.98,0.00,0.00,0.000,6,0.173,0.000,2817,2191,3746,0,0,0,0,0,0
$GC,414,-1.08,-136.3,65.8,-17.2,42,419,0.25,2.50,0.00,0.000,4,0.121,0.030,2842,3754,3748,0,0,0,0,0,0
$GC,438,-0.88,-136.3,69.3,-16.7,43,443,0.22,2.50,0.00,0.000,6,0.094,0.023,2921,2174,3749,0,0,0,0,0,0
$GC,703,-0.88,-136.3,93.9,-8.0,67,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2174,3750,0,0,0,0,0,0
$GC,966,-0.88,-136.3,116.8,-8.8,92,970,0.00,2.58,0.00,0.000,4,0.000,0.048,2920,599,3751,0,0,0,0,0,0
$GC,988,-0.88,-136.3,119.4,-9.5,93,994,0.00,2.42,0.00,0.000,6,0.000,0.018,2920,2193,3750,0,0,0,0,0,0
$GC,1251,-0.88,-136.3,142.9,-9.1,118,1255,0.00,2.62,0.00,0.000,4,0.000,0.050,2921,606,3750,0,0,0,0,0,0
$GC,1274,-0.88,-136.3,144.6,-9.3,119,1279,0.00,2.42,0.00,0.000,6,0.000,0.018,2920,2189,3751,0,0,0,0,0,0
$GC,1538,-0.92,-136.3,170.8,-10.2,143,1542,0.00,2.45,0.00,0.000,4,0.000,0.039,2886,3750,3751,0,0,0,0,0,0
$GC,1573,-0.98,-136.3,174.0,-10.3,145,1577,0.00,2.45,0.00,0.000,6,0.000,0.029,2920,2176,3751,0,0,0,0,0,0
$GC,1840,-1.02,-136.3,199.9,-8.6,169,1845,0.12,2.62,0.00,0.000,4,0.067,0.054,2841,600,3751,0,0,0,0,0,0
$GC,1869,-0.97,-136.3,203.3,-10.3,169,1874,0.15,2.45,0.00,0.000,6,0.107,0.023,2902,2191,3751,0,0,0,0,0,0
$GC,2119,-0.97,-136.3,222.4,-7.4,175,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2191,3751,0,0,0,0,0,0
$GC,2363,-0.97,-136.3,240.4,-7.8,181,2367,0.00,2.45,0.00,0.000,4,0.000,0.036,2871,3743,3752,0,0,0,0,0,0
$GC,2392,-1.02,-136.3,242.7,-8.7,181,2397,0.00,2.45,0.00,0.000,6,0.000,0.021,2902,2182,3752,0,0,0,0,0,0
$GC,2643,-1.09,-136.3,262.1,-7.8,187,2648,0.10,2.62,0.00,0.000,4,0.081,0.054,2859,604,3752,0,0,0,0,0,0
$GC,2709,-1.09,-136.3,268.1,-9.0,188,2713,0.00,2.42,0.00,0.000,6,0.000,0.018,2858,2174,3752,0,0,0,0,0,0
$GC,2973,-1.09,-136.3,289.7,-8.2,195,2977,0.00,2.53,0.00,0.000,4,0.000,0.041,2859,3743,3752,0,0,0,0,0,0
$GC,3005,-1.09,-136.3,292.7,-8.4,195,3011,0.00,2.42,0.00,0.000,6,0.000,0.021,2859,2195,3752,0,0,0,0,0,0
$GC,3255,-1.09,-136.3,310.6,-7.1,202,3259,0.00,2.50,0.00,0.000,4,0.000,0.038,2859,3746,3752,0,0,0,0,0,0
$GC,3273,-1.09,-136.3,311.7,-7.1,202,3277,0.00,2.50,0.00,0.000,6,0.000,0.031,2859,2177,3752,0,0,0,0,0,0
$GC,3533,-1.09,-136.3,329.6,-7.0,209,3538,0.00,2.67,0.00,0.000,4,0.000,0.067,2859,602,3751,0,0,0,0,0,0
$GC,3560,-1.09,-136.3,331.8,-7.9,209,3565,0.00,2.47,0.00,0.000,6,0.000,0.028,2859,2173,3751,0,0,0,0,0,0
$GC,3812,-1.09,-136.3,351.4,-8.0,215,3813,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2173,3750,0,0,0,0,0,0
$GC,4054,-1.09,-136.3,372.5,-8.9,221,4055,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2173,3750,0,0,0,0,0,0
$GC,4298,-1.09,-136.3,393.3,-8.3,227,4302,0.00,2.60,0.00,0.000,4,0.000,0.054,2859,3756,3748,0,0,0,0,0,0
$GC,4378,-1.14,-136.3,399.5,-7.7,228,4383,0.00,2.55,0.00,0.000,6,0.000,0.038,2859,2188,3748,0,0,0,0,0,0
$GC,4628,-1.14,-136.3,415.6,-5.9,235,4632,0.00,2.85,0.00,0.000,4,0.000,0.091,2859,586,3746,0,0,0,0,0,0
$GC,4649,-1.14,-136.3,417.1,-6.4,235,4653,0.00,2.55,0.00,0.000,6,0.000,0.033,2859,2164,3746,0,0,0,0,0,0
$GC,4906,-1.14,-136.3,432.8,-6.3,242,4907,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2164,3744,0,0,0,0,0,0
$GC,5148,-1.18,-136.3,450.5,-7.6,248,5149,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2164,3743,0,0,0,0,0,0
$GC,5392,-1.22,-136.3,469.9,-8.1,254,5396,0.00,2.72,0.00,0.000,4,0.000,0.067,2834,3768,3741,0,0,0,0,0,0
$GC,5413,-1.26,-136.3,471.9,-8.7,254,5423,2.72,2.67,0.00,0.000,6,0.064,0.048,2911,2171,3742,9,0,0,0,0,0
$GC,5676,-2.68,-136.3,494.8,-10.4,261,5685,4.22,2.92,0.00,0.000,4,0.059,0.101,2526,588,3739,0,0,0,0,0,0
$GC,5861,-2.07,-136.3,528.5,-21.9,265,5867,0.65,2.65,0.00,0.000,6,0.114,0.051,2659,2175,3738,1,0,0,0,0,0
$STATE,6017,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6017,begin apogee
$GC,6023,-0.31,0.0,553.0,14.7,269,6138,1.77,0.00,111.38,0.966,6,0.096,0.000,3043,2175,3190,0,0,0,0,0,0
$STATE,6139,end apogee,CONTROL_FINISHED_OK
$STATE,6139,begin climb
$GC,6141,1.32,136.3,556.4,0.0,272,6259,1.52,0.00,114.00,0.936,6,0.043,0.000,3405,2175,2636,0,0,0,0,0,0
$GC,6504,1.24,136.3,522.5,11.1,281,6509,0.00,2.78,0.00,0.000,4,0.000,0.069,3339,3766,2628,0,0,0,0,0,0
$GC,6554,1.16,136.3,516.3,11.9,282,6559,0.20,2.70,0.00,0.000,6,0.114,0.050,3367,2194,2627,0,0,0,0,0,0
$GC,6828,1.17,148.7,490.2,9.6,289,6846,0.00,3.10,10.80,0.821,4,0.000,0.113,3367,584,2584,0,0,0,0,0,0
$GC,6871,1.17,148.7,485.5,10.6,290,6875,0.00,2.72,0.00,0.000,6,0.000,0.041,3344,2202,2582,0,0,0,0,0,0
$GC,7154,1.20,172.8,459.5,9.0,297,7183,0.00,2.78,22.00,0.873,4,0.000,0.058,3300,3774,2484,0,0,0,0,0,0
$GC,7214,1.21,180.0,454.0,9.8,298,7229,0.00,2.67,7.60,0.751,6,0.000,0.044,3367,2185,2456,0,0,0,0,0,0
$GC,7485,1.28,210.5,429.5,8.7,305,7516,0.12,0.00,27.88,0.865,6,0.080,0.000,3401,2185,2332,0,0,0,0,0,0
$GC,7730,1.28,210.5,402.4,11.5,311,7731,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,2185,2327,0,0,0,0,0,0
$GC,7972,1.28,210.5,372.8,11.9,317,7973,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,2185,2325,0,0,0,0,0,0
$GC,8216,1.28,210.5,344.5,11.8,323,8220,0.00,2.60,0.00,0.000,4,0.000,0.044,3340,3775,2324,0,0,0,0,0,0
$GC,8276,1.28,210.5,337.3,11.6,324,8281,0.00,2.58,0.00,0.000,6,0.000,0.031,3401,2188,2323,0,0,0,0,0,0
$GC,8545,1.28,210.5,308.8,10.5,331,8550,0.00,2.75,0.00,0.000,4,0.000,0.070,3401,588,2322,0,0,0,0,0,0
$GC,8571,1.28,210.5,305.7,10.8,331,8576,0.00,2.60,0.00,0.000,6,0.000,0.023,3380,2212,2321,0,0,0,0,0,0
$GC,8822,1.30,227.0,281.7,9.4,337,8838,0.00,0.00,14.27,0.750,6,0.000,0.000,3401,2212,2266,0,0,0,0,0,0
$GC,9067,1.33,248.5,260.0,9.1,343,9093,0.00,2.60,20.48,0.743,4,0.000,0.040,3344,3761,2174,0,0,0,0,0,0
$GC,9157,1.42,249.6,251.1,10.1,345,9162,0.10,2.55,0.00,0.000,6,0.088,0.028,3429,2192,2172,0,0,0,0,0,0
$GC,9436,1.42,249.6,222.4,10.5,352,9441,0.00,2.58,0.00,0.000,4,0.000,0.040,3410,3757,2171,0,0,0,0,0,0
$GC,9475,1.42,249.6,217.3,12.8,353,9480,0.00,2.50,0.00,0.000,6,0.000,0.034,3430,2206,2170,0,0,0,0,0,0
$GC,9731,1.42,249.6,189.9,11.2,363,9735,0.00,2.70,0.00,0.000,4,0.000,0.055,3428,588,2170,0,0,0,0,0,0
$GC,9777,1.42,249.6,184.4,11.9,366,9786,0.00,2.60,0.00,0.000,6,0.000,0.027,3416,2211,2169,0,0,0,0,0,0
$GC,10043,1.42,249.6,156.0,10.8,391,10047,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,2211,2169,0,0,0,0,0,0
$GC,10305,1.42,249.6,124.3,12.6,416,10306,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2211,2169,0,0,0,0,0,0
$GC,10558,1.42,249.6,92.7,11.7,440,10559,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2211,2169,0,0,0,0,0,0
$GC,10819,1.43,257.1,65.3,9.8,464,10834,0.00,2.70,8.43,0.514,4,0.000,0.048,3429,595,2139,0,0,0,0,0,0
$GC,10852,1.46,282.3,62.0,8.9,466,10880,0.00,2.55,22.58,0.559,6,0.000,0.021,3428,2194,2039,0,0,0,0,0,0
$GC,11143,1.56,306.3,36.4,9.0,492,11173,0.10,2.58,21.83,0.535,4,0.088,0.031,3306,3758,1941,0,0,0,0,0,0
$GC,11202,1.56,306.3,29.6,11.3,496,11213,0.00,2.55,0.00,0.000,6,0.000,0.027,3460,2189,1939,0,0,0,0,0,0
$STATE,11425,end climb,SURFACE_DEPTH_REACHED
$STATE,11425,begin surface coast
$FINISH,-0.5,1.023718
$STATE,11466,end surface coast,CONTROL_FINISHED_OK
$STATE,11466,begin surface
$SM_CCo,11488,59.35,0.517,0,0,1640,380.21
$SM_GC,0.29,0.00,0.00,59.35,0.000,0.000,0.517,467,2186,1640,-12.18,0.17,380.21
$IRIDIUM_FIX,2206.70,-15803.27,230901,040410
$TT8_MAMPS,0.027612
$HUMID,62.20
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,21.80
$XPDR_PINGS,49
$24V_AH,23.5,32.618
$10V_AH,10.2,28.974
$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,37.400,124.775,381.225,59.350,0.000,31.193,33.685,182.855,12.250,0.000,14.773,1084.903,7767.893,542.861,1979.757,569.326,33.371,1272.961,0.000,1984.971,0.000,0.534,0.000
$DEVICE_MAMPS,172.575,112.749,965.653,516.958,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,359.950,275.419,388.538,745.652,1143.573,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355972
$DATA_FILE_SIZE,41385,531
$CAP_FILE_SIZE,114607,0
$CFSIZE,260165632,133042176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,10,0,0,0
$GPS,290612,105325,2214.421,-15804.934,38,1.5,38,10.0