version: 66.06
glider: 146
mission: 7
dive: 231
start: 6 29 112 14 12 50
data:
$ID,146
$MISSION,7
$DIVE,231
$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,-295147.59
$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,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,27
$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
$GPS1,140506,2214.070,-15804.959,31,1.2,31,10.0
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-70.0
$GPS2,141156,2214.053,-15805.052,9,1.4,9,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.190,-0.167
$KALMAN_X,-34263.1,-119.1,-318.3,32426.1,-1645.7
$KALMAN_Y,161234.8,-237.8,-86.8,-210046.6,913.5
$MHEAD_RNG_PITCHd_Wd,121.2,28706,-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,-136.3,0.0,0.0,0,114,0.00,0.00,-87.80,0.000,6,0.000,0.000,468,2192,3746,0,0,0,0,0,0
$GC,119,-1.32,-136.3,4.0,-8.8,11,140,13.05,2.65,0.00,0.000,4,0.175,0.040,2817,594,3747,0,0,0,0,0,0
$GC,160,-0.35,-136.3,22.8,-43.7,15,171,0.98,2.53,0.00,0.000,6,0.091,0.018,3033,2189,3748,0,0,0,0,0,0
$GC,448,-0.58,-136.3,42.5,-6.2,43,459,0.20,0.00,0.00,0.000,6,0.048,0.000,2962,2189,3749,0,0,0,0,0,0
$GC,718,-0.69,-136.3,69.4,-9.5,68,722,0.00,2.62,0.00,0.000,4,0.000,0.044,2920,587,3750,0,0,0,0,0,0
$GC,751,-0.83,-136.3,72.7,-9.5,70,756,0.12,2.45,0.00,0.000,6,0.067,0.017,2913,2182,3749,0,0,0,0,0,0
$GC,1012,-0.83,-136.3,102.4,-10.9,94,1017,0.10,2.47,0.00,0.000,4,0.114,0.034,2903,3750,3750,0,0,0,0,0,0
$GC,1033,-0.87,-136.3,104.1,-10.7,95,1038,0.00,2.50,0.00,0.000,6,0.000,0.022,2936,2151,3750,0,0,0,0,0,0
$GC,1298,-0.94,-136.3,126.9,-8.3,119,1304,0.10,0.00,0.00,0.000,6,0.084,0.000,2890,2152,3751,0,0,0,0,0,0
$GC,1558,-0.94,-136.3,154.2,-10.4,144,1559,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2152,3751,0,0,0,0,0,0
$GC,1816,-0.94,-136.3,180.6,-10.1,168,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2151,3752,0,0,0,0,0,0
$GC,2097,-0.94,-136.3,208.9,-9.8,189,2099,0.10,0.00,0.00,0.000,6,0.113,0.000,2912,2152,3753,0,0,0,0,0,0
$GC,2343,-0.98,-136.3,231.6,-9.5,195,2347,0.00,2.55,0.00,0.000,4,0.000,0.055,2833,605,3753,0,0,0,0,0,0
$GC,2370,-1.04,-136.3,234.4,-9.5,195,2375,0.10,2.42,0.00,0.000,6,0.080,0.021,2869,2175,3753,0,0,0,0,0,0
$GC,2620,-1.04,-136.3,260.1,-10.1,201,2625,0.00,2.50,0.00,0.000,4,0.000,0.035,2832,3743,3753,0,0,0,0,0,0
$GC,2638,-1.04,-136.3,261.8,-9.9,201,2642,0.00,2.45,0.00,0.000,6,0.000,0.023,2869,2176,3753,0,0,0,0,0,0
$GC,2899,-1.04,-136.3,284.4,-8.4,208,2903,0.00,2.55,0.00,0.000,4,0.000,0.038,2811,3743,3754,0,0,0,0,0,0
$GC,3021,-1.04,-136.3,295.9,-9.7,210,3027,0.00,2.45,0.00,0.000,6,0.000,0.023,2869,2197,3754,0,0,0,0,0,0
$GC,3273,-1.04,-136.3,316.3,-8.2,217,3278,0.00,2.70,0.00,0.000,4,0.000,0.069,2799,601,3754,0,0,0,0,0,0
$GC,3300,-1.04,-136.3,319.2,-9.7,217,3305,0.00,2.47,0.00,0.000,6,0.000,0.027,2868,2172,3753,0,0,0,0,0,0
$GC,3551,-1.08,-136.3,340.4,-8.4,223,3555,0.00,2.70,0.00,0.000,4,0.000,0.068,2869,594,3753,0,0,0,0,0,0
$GC,3580,-1.12,-136.3,342.9,-9.1,223,3585,0.00,2.53,0.00,0.000,6,0.000,0.028,2868,2183,3752,0,0,0,0,0,0
$GC,3831,-1.17,-136.3,364.0,-8.2,229,3835,0.00,2.70,0.00,0.000,4,0.000,0.066,2862,604,3751,0,0,0,0,0,0
$GC,3870,-1.21,-136.3,367.7,-9.9,230,3875,0.00,2.55,0.00,0.000,6,0.000,0.035,2868,2183,3751,0,0,0,0,0,0
$GC,4156,-1.26,-136.3,392.4,-8.9,237,4158,0.12,0.00,0.00,0.000,6,0.069,0.000,2818,2188,3749,0,0,0,0,0,0
$GC,4401,-1.22,-136.3,418.0,-10.6,243,4406,0.15,2.62,0.00,0.000,4,0.103,0.059,2799,3763,3749,0,0,0,0,0,0
$GC,4470,-1.22,-136.3,425.2,-9.5,244,4479,3.28,2.60,0.00,0.000,6,0.062,0.042,2910,2196,3749,11,0,0,0,0,0
$GC,4730,-2.71,-136.3,456.1,-13.5,251,4741,5.62,2.95,0.00,0.000,4,0.135,0.101,2529,588,3747,0,0,0,0,0,0
$GC,4893,-2.11,-136.3,485.7,-21.8,254,4898,0.60,2.67,0.00,0.000,6,0.116,0.049,2650,2192,3746,0,0,0,0,0,0
$GC,5143,-1.77,-136.3,521.9,-14.0,260,5145,0.38,0.00,0.00,0.000,6,0.106,0.000,2729,2191,3744,0,0,0,0,0,0
$GC,5387,-1.58,-136.3,548.7,-10.8,266,5392,0.20,2.83,0.00,0.000,4,0.109,0.086,2732,3765,3742,0,0,0,0,0,0
$STATE,5400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5401,begin apogee
$GC,5411,-0.31,0.0,550.7,11.1,266,5527,1.20,0.00,112.10,0.962,6,0.087,0.000,3040,2182,3190,0,0,0,0,0,0
$STATE,5527,end apogee,CONTROL_FINISHED_OK
$STATE,5528,begin climb
$GC,5530,1.32,136.3,553.2,0.0,269,5655,1.50,0.00,113.50,0.930,6,0.056,0.000,3394,2182,2637,0,0,0,0,0,0
$GC,5896,1.28,149.7,522.7,9.5,278,5915,0.00,2.83,12.15,0.831,4,0.000,0.060,3321,3765,2579,0,0,0,0,0,0
$GC,5963,1.23,155.6,516.5,9.9,279,5976,0.00,2.72,6.65,0.726,6,0.000,0.052,3360,2180,2555,0,0,0,0,0,0
$GC,6228,1.21,178.3,492.1,9.0,286,6251,0.00,0.00,20.70,0.877,6,0.000,0.000,3394,2180,2462,0,0,0,0,0,0
$GC,6471,1.22,189.3,468.7,9.6,292,6484,0.00,0.00,10.30,0.809,6,0.000,0.000,3394,2180,2418,0,0,0,0,0,0
$GC,6717,1.22,189.3,442.4,11.1,298,6718,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2180,2414,0,0,0,0,0,0
$GC,6959,1.22,189.3,414.4,11.5,304,6963,0.00,2.70,0.00,0.000,4,0.000,0.052,3364,3773,2413,0,0,0,0,0,0
$GC,6991,1.22,189.3,410.5,12.0,304,6997,0.00,2.67,0.00,0.000,6,0.000,0.042,3394,2177,2412,0,0,0,0,0,0
$GC,7241,1.23,197.5,385.5,9.8,311,7255,0.00,2.72,7.53,0.745,4,0.000,0.048,3299,3768,2385,0,0,0,0,0,0
$GC,7342,1.23,197.5,375.0,10.5,313,7347,0.00,2.58,0.00,0.000,6,0.000,0.036,3394,2205,2384,0,0,0,0,0,0
$GC,7614,1.23,197.5,347.2,10.2,320,7618,0.00,2.80,0.00,0.000,4,0.000,0.070,3394,585,2382,0,0,0,0,0,0
$GC,7648,1.23,197.5,343.1,11.9,320,7654,0.00,2.62,0.00,0.000,6,0.000,0.024,3307,2222,2382,0,0,0,0,0,0
$GC,7898,1.24,206.6,318.4,9.7,327,7913,0.00,2.85,9.48,0.744,4,0.000,0.064,3394,592,2347,0,0,0,0,0,0
$GC,7981,1.24,206.6,309.6,10.4,329,7985,0.00,2.60,0.00,0.000,6,0.000,0.028,3378,2205,2345,0,0,0,0,0,0
$GC,8266,1.29,244.6,285.9,8.3,336,8307,0.00,2.60,34.55,0.783,4,0.000,0.044,3392,3755,2191,0,0,0,0,0,0
$GC,8459,1.37,252.2,268.0,9.8,340,8474,0.00,2.53,7.88,0.667,6,0.000,0.028,3394,2211,2160,0,0,0,0,0,0
$GC,8733,1.44,255.2,241.1,10.0,347,8738,0.15,2.75,0.00,0.000,4,0.071,0.062,3434,592,2157,0,0,0,0,0,0
$GC,8799,1.44,255.2,232.9,11.3,348,8804,0.00,2.60,0.00,0.000,6,0.000,0.024,3418,2225,2156,0,0,0,0,0,0
$GC,9062,1.44,255.2,204.4,10.6,355,9063,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2224,2156,0,0,0,0,0,0
$GC,9315,1.47,275.0,181.0,9.2,373,9341,0.00,2.80,20.40,0.663,4,0.000,0.049,3433,584,2067,0,0,0,0,0,0
$GC,9365,1.47,275.0,175.7,10.8,377,9370,0.00,2.62,0.00,0.000,6,0.000,0.021,3433,2225,2065,0,0,0,0,0,0
$GC,9634,1.47,275.0,148.6,10.6,401,9638,0.00,2.72,0.00,0.000,4,0.000,0.048,3433,595,2065,0,0,0,0,0,0
$GC,9656,1.47,275.0,145.2,11.3,402,9666,0.00,2.58,0.00,0.000,6,0.000,0.020,3433,2205,2064,0,0,0,0,0,0
$GC,9926,1.47,275.0,117.7,10.3,427,9931,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2205,2064,0,0,0,0,0,0
$GC,10188,1.47,278.2,90.4,10.0,452,10193,0.00,2.70,0.00,0.000,4,0.000,0.050,3434,593,2064,0,0,0,0,0,0
$GC,10213,1.47,278.2,87.6,11.0,453,10219,0.00,2.55,0.00,0.000,6,0.000,0.026,3433,2215,2065,0,0,0,0,0,0
$GC,10481,1.51,278.2,61.5,10.5,478,10490,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2215,2064,0,0,0,0,0,0
$GC,10748,1.53,288.0,35.4,9.7,503,10767,0.00,2.78,12.43,0.512,4,0.000,0.050,3433,597,2016,0,0,0,0,0,0
$GC,10792,1.53,288.0,30.6,11.7,506,10797,0.00,2.53,0.00,0.000,6,0.000,0.019,3433,2200,2015,0,0,0,0,0,0
$STATE,11007,end climb,SURFACE_DEPTH_REACHED
$STATE,11007,begin surface coast
$FINISH,-0.4,1.023757
$STATE,11049,end surface coast,CONTROL_FINISHED_OK
$STATE,11049,begin surface
$SM_CCo,11072,74.60,0.515,0,0,1639,380.21
$SM_GC,0.31,0.00,0.00,74.60,0.000,0.000,0.515,469,2202,1639,-12.17,0.65,380.21
$IRIDIUM_FIX,2206.70,-15803.27,230901,111113
$TT8_MAMPS,0.027612
$HUMID,60.63
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,22.20
$XPDR_PINGS,42
$24V_AH,23.5,32.864
$10V_AH,10.3,29.217
$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,39.950,121.075,367.650,74.600,0.000,27.863,33.322,204.420,10.500,0.000,12.526,1088.130,7067.014,526.851,2270.270,606.463,33.371,1295.335,0.000,2286.531,0.000,0.534,0.000
$DEVICE_MAMPS,174.876,101.244,961.818,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,363.801,289.540,410.469,882.851,1387.798,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355964
$DATA_FILE_SIZE,41408,537
$CAP_FILE_SIZE,120123,0
$CFSIZE,260165632,132923392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,11,0,0,0
$GPS,290612,171946,2213.516,-15804.959,8,3.7,27,10.0