version: 66.06
glider: 146
mission: 7
dive: 233
start: 6 29 112 19 52 12
data:
$ID,146
$MISSION,7
$DIVE,233
$D_SURF,4
$D_FLARE,3
$D_TGT,650
$D_ABORT,720
$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,-295261.44
$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,14
$R_STBD_OVSHOOT,18
$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
$GPS1,193754,2213.289,-15804.784,42,1.0,60,10.0
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-65.0
$GPS2,195119,2213.295,-15804.915,8,1.6,14,10.0
$SPEED_LIMITS,0.172,0.267
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.149,-0.221
$KALMAN_X,-37434.0,-420.5,209.8,35607.5,-1326.8
$KALMAN_Y,163846.5,-301.9,217.9,-214316.6,1798.8
$MHEAD_RNG_PITCHd_Wd,136.0,27336,-21.4,-12.037
$D_GRID,650
$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,-1.50,-136.3,0.0,0.0,0,157,0.00,0.00,-134.85,0.000,6,0.000,0.000,472,2178,3747,0,0,0,0,0,0
$GC,161,-1.50,-136.3,3.1,-7.2,15,181,12.82,2.65,0.00,0.000,4,0.175,0.038,2779,580,3748,0,0,0,0,0,0
$GC,243,-1.28,-136.3,28.0,-24.0,24,254,0.25,2.58,0.00,0.000,6,0.115,0.021,2831,2199,3749,0,0,0,0,0,0
$GC,510,-1.16,-136.3,73.6,-16.2,49,515,0.15,2.67,0.00,0.000,4,0.126,0.044,2861,580,3749,0,0,0,0,0,0
$GC,523,-1.03,-136.3,76.6,-15.9,49,532,0.10,2.50,0.00,0.000,6,0.103,0.016,2885,2188,3748,0,0,0,0,0,0
$GC,786,-1.08,-136.3,107.7,-11.1,74,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2188,3749,0,0,0,0,0,0
$GC,1039,-1.13,-136.3,135.2,-10.7,98,1043,0.00,2.62,0.00,0.000,4,0.000,0.045,2885,584,3750,0,0,0,0,0,0
$GC,1060,-1.17,-136.3,137.3,-11.3,99,1065,0.10,2.47,0.00,0.000,6,0.079,0.021,2841,2182,3750,0,0,0,0,0,0
$GC,1321,-1.12,-136.3,171.0,-13.1,123,1322,0.12,0.00,0.00,0.000,6,0.114,0.000,2868,2182,3750,0,0,0,0,0,0
$GC,1605,-1.12,-136.3,205.8,-12.6,147,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2182,3751,0,0,0,0,0,0
$GC,1849,-1.12,-136.3,236.3,-12.2,153,1850,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2182,3751,0,0,0,0,0,0
$GC,2093,-1.17,-136.3,260.7,-9.8,159,2098,0.00,2.65,0.00,0.000,4,0.000,0.051,2868,583,3751,0,0,0,0,0,0
$GC,2145,-1.23,-136.3,265.8,-10.9,160,2149,0.00,2.47,0.00,0.000,6,0.000,0.022,2868,2174,3751,0,0,0,0,0,0
$GC,2417,-1.33,-136.3,291.4,-8.4,167,2422,0.17,2.53,0.00,0.000,4,0.054,0.040,2788,3746,3752,0,0,0,0,0,0
$GC,2544,-1.33,-136.3,305.1,-11.3,169,2550,0.10,2.47,0.00,0.000,6,0.122,0.031,2826,2179,3751,0,0,0,0,0,0
$GC,2794,-1.33,-136.3,329.1,-9.0,176,2795,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2179,3751,0,0,0,0,0,0
$GC,3038,-1.37,-136.3,352.7,-9.9,182,3042,0.00,2.75,0.00,0.000,4,0.000,0.078,2825,605,3751,0,0,0,0,0,0
$GC,3084,-1.42,-136.3,357.7,-11.3,183,3089,0.00,2.55,0.00,0.000,6,0.000,0.032,2826,2173,3751,0,0,0,0,0,0
$GC,3362,-1.47,-136.3,386.4,-10.2,190,3364,0.15,0.00,0.00,0.000,6,0.061,0.000,2775,2173,3750,0,0,0,0,0,0
$GC,3606,-1.42,-136.3,415.0,-11.6,196,3608,0.15,0.00,0.00,0.000,6,0.108,0.000,2806,2173,3748,0,0,0,0,0,0
$GC,3851,-1.42,-136.3,440.3,-10.4,202,3855,0.00,2.67,0.00,0.000,4,0.000,0.064,2780,3763,3748,0,0,0,0,0,0
$GC,3923,-1.42,-136.3,448.3,-10.7,203,3927,0.00,2.65,0.00,0.000,6,0.000,0.054,2806,2191,3748,0,0,0,0,0,0
$GC,4173,-1.42,-136.3,473.1,-9.8,209,4174,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2191,3746,0,0,0,0,0,0
$GC,4419,-1.42,-136.3,496.6,-9.5,215,4423,0.00,2.70,0.00,0.000,4,0.000,0.069,2787,3757,3744,0,0,0,0,0,0
$GC,4440,-1.42,-136.3,499.0,-9.5,215,4445,0.00,2.67,0.00,0.000,6,0.000,0.061,2806,2188,3744,0,0,0,0,0,0
$GC,4695,-1.42,-136.3,521.5,-8.7,222,4700,0.00,3.00,0.00,0.000,4,0.000,0.114,2806,589,3741,0,0,0,0,0,0
$GC,4713,-1.42,-136.3,523.1,-8.8,222,4718,0.00,2.67,0.00,0.000,6,0.000,0.051,2806,2174,3741,0,0,0,0,0,0
$GC,4974,-1.46,-136.3,544.1,-7.9,229,4979,0.00,2.80,0.00,0.000,4,0.000,0.087,2788,3766,3740,0,0,0,0,0,0
$GC,4990,-1.46,-136.3,545.6,-8.1,229,4994,0.00,2.70,0.00,0.000,6,0.000,0.058,2806,2188,3740,0,0,0,0,0,0
$GC,5253,-1.50,-136.3,568.3,-8.9,236,5257,0.00,2.78,0.00,0.000,4,0.000,0.074,2788,3766,3737,0,0,0,0,0,0
$GC,5274,-1.50,-136.3,570.5,-8.7,236,5279,0.00,2.70,0.00,0.000,6,0.000,0.064,2806,2196,3737,0,0,0,0,0,0
$GC,5530,-1.54,-136.3,593.2,-9.0,243,5535,0.12,2.80,0.00,0.000,4,0.073,0.077,2748,3771,3734,0,0,0,0,0,0
$GC,5548,-1.54,-136.3,594.9,-9.2,243,5553,0.00,2.78,0.00,0.000,6,0.000,0.077,2763,2186,3734,0,0,0,0,0,0
$GC,5809,-1.50,-136.3,624.6,-11.4,250,5811,0.12,0.00,0.00,0.000,6,0.116,0.000,2788,2186,3733,0,0,0,0,0,0
$GC,6052,-1.50,-136.3,649.2,-10.1,256,6053,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2186,3731,0,0,0,0,0,0
$STATE,6092,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6092,begin apogee
$GC,6099,-0.31,0.0,653.3,10.1,257,6214,1.15,0.00,111.50,1.055,6,0.080,0.000,3046,2186,3190,0,0,0,0,0,0
$STATE,6215,end apogee,CONTROL_FINISHED_OK
$STATE,6215,begin climb
$GC,6218,1.50,136.3,657.4,0.0,260,6339,1.70,0.00,116.70,1.022,6,0.044,0.000,3446,2186,2634,0,0,0,0,0,0
$GC,6577,1.43,149.2,624.3,11.3,269,6596,0.00,2.97,11.73,0.908,4,0.000,0.088,3348,3766,2580,0,0,0,0,0,0
$GC,6649,1.35,149.2,615.8,12.4,270,6655,0.25,2.88,0.00,0.000,6,0.126,0.080,3398,2174,2577,0,0,0,0,0,0
$GC,6905,1.38,175.2,589.0,10.5,277,6931,0.00,0.00,23.65,0.966,6,0.000,0.000,3397,2174,2475,0,0,0,0,0,0
$GC,7148,1.38,175.2,560.1,12.1,283,7153,0.00,2.78,0.00,0.000,4,0.000,0.067,3371,3769,2469,0,0,0,0,0,0
$GC,7182,1.38,175.2,555.9,12.6,283,7188,0.00,2.75,0.00,0.000,6,0.000,0.056,3397,2181,2469,0,0,0,0,0,0
$GC,7435,1.42,175.2,524.8,12.5,290,7440,0.12,2.72,0.00,0.000,4,0.082,0.061,3410,3771,2467,0,0,0,0,0,0
$GC,7468,1.39,175.2,519.5,14.6,290,7474,0.00,2.72,0.00,0.000,6,0.000,0.058,3429,2189,2466,0,0,0,0,0,0
$GC,7720,1.39,175.2,485.6,13.5,297,7724,0.00,3.08,0.00,0.000,4,0.000,0.120,3430,589,2465,0,0,0,0,0,0
$GC,7752,1.33,175.2,480.5,15.1,297,7758,0.00,2.67,0.00,0.000,6,0.000,0.044,3429,2191,2465,0,0,0,0,0,0
$GC,8002,1.33,175.2,449.5,12.1,304,8007,0.12,2.65,0.00,0.000,4,0.132,0.051,3371,3770,2464,0,0,0,0,0,0
$GC,8044,1.38,181.6,444.7,11.7,305,8055,0.00,2.65,5.20,0.706,6,0.000,0.043,3406,2189,2449,0,0,0,0,0,0
$GC,8328,1.45,212.2,414.6,10.2,312,8363,0.10,2.72,28.65,0.890,4,0.092,0.048,3412,3776,2324,0,0,0,0,0,0
$GC,8404,1.45,212.2,405.7,12.1,313,8408,0.00,2.67,0.00,0.000,6,0.000,0.044,3433,2190,2321,0,0,0,0,0,0
$GC,8654,1.47,226.8,377.2,11.2,319,8673,0.00,2.72,13.48,0.820,4,0.000,0.047,3433,3773,2265,0,0,0,0,0,0
$GC,8701,1.47,226.8,371.5,12.5,320,8705,0.00,2.65,0.00,0.000,6,0.000,0.043,3434,2188,2264,0,0,0,0,0,0
$GC,8981,1.49,239.3,340.3,11.3,327,8996,0.00,0.00,12.38,0.788,6,0.000,0.000,3433,2189,2214,0,0,0,0,0,0
$GC,9223,1.53,239.3,310.7,12.5,333,9224,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2187,2209,0,0,0,0,0,0
$GC,9467,1.59,239.3,280.9,12.4,339,9472,0.10,2.65,0.00,0.000,4,0.091,0.043,3462,3776,2208,0,0,0,0,0,0
$GC,9569,1.59,239.3,266.3,14.7,341,9573,0.00,2.60,0.00,0.000,6,0.000,0.035,3462,2190,2208,0,0,0,0,0,0
$GC,9835,1.59,246.4,233.2,11.6,348,9849,0.00,2.80,6.95,0.638,4,0.000,0.059,3462,589,2185,0,0,0,0,0,0
$GC,9979,1.61,260.4,216.2,11.2,351,9998,0.00,2.60,13.77,0.693,6,0.000,0.022,3461,2219,2128,0,0,0,0,0,0
$GC,10251,1.61,260.4,185.2,12.1,366,10255,0.00,2.70,0.00,0.000,4,0.000,0.049,3462,595,2124,0,0,0,0,0,0
$GC,10274,1.61,260.4,182.9,12.3,367,10279,0.00,2.55,0.00,0.000,6,0.000,0.024,3462,2205,2123,0,0,0,0,0,0
$GC,10540,1.61,260.4,149.1,12.7,391,10545,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,2203,2123,0,0,0,0,0,0
$GC,10805,1.61,261.7,117.0,12.0,416,10814,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,2201,2123,0,0,0,0,0,0
$GC,11072,1.67,276.5,87.0,11.2,441,11097,0.00,2.58,14.93,0.570,4,0.000,0.037,3457,3750,2061,0,0,0,0,0,0
$GC,11134,1.75,276.5,79.3,12.2,446,11140,0.15,2.53,0.00,0.000,6,0.069,0.028,3505,2186,2060,0,0,0,0,0,0
$GC,11401,1.75,276.5,42.4,14.1,470,11411,0.00,0.00,0.00,0.000,6,0.000,0.000,3505,2186,2060,0,0,0,0,0,0
$STATE,11674,end climb,SURFACE_DEPTH_REACHED
$STATE,11674,begin surface coast
$FINISH,-0.5,1.023726
$STATE,11719,end surface coast,CONTROL_FINISHED_OK
$STATE,11719,begin surface
$SM_CCo,11741,82.97,0.524,0,0,1640,380.21
$SM_GC,0.30,0.00,0.00,82.97,0.000,0.000,0.524,468,2183,1640,-12.18,0.08,380.21
$IRIDIUM_FIX,2204.37,-15805.43,230901,191933
$TT8_MAMPS,0.027612
$HUMID,62.56
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,21.30
$XPDR_PINGS,45
$24V_AH,23.4,33.188
$10V_AH,10.2,29.401
$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,30.275,123.500,358.925,82.975,0.000,0.000,0.000,0.000,11.250,0.000,16.917,1045.268,8093.736,582.108,1919.508,257.854,33.363,1298.082,0.000,1924.522,0.000,0.535,0.000
$DEVICE_MAMPS,174.876,119.652,1054.625,523.861,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,343.150,242.118,345.847,688.445,1083.661,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355948
$DATA_FILE_SIZE,38439,506
$CAP_FILE_SIZE,124919,0
$CFSIZE,260165632,132829184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290612,231036,2212.624,-15804.808,34,1.0,39,10.0