version: 66.06
glider: 146
mission: 7
dive: 235
start: 6 30 112 2 24 27
data:
$ID,146
$MISSION,7
$DIVE,235
$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,-295291.44
$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,27
$R_STBD_OVSHOOT,37
$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
$GPS1,021636,2212.346,-15804.910,37,1.0,42,10.0
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-68.8
$GPS2,022332,2212.366,-15805.035,13,1.4,13,10.0
$SPEED_LIMITS,0.172,0.267
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.194,-0.183
$KALMAN_X,-41424.7,-82.9,-320.2,39584.9,-1697.1
$KALMAN_Y,166007.1,290.5,-227.4,-218335.6,1221.0
$MHEAD_RNG_PITCHd_Wd,123.4,25894,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.50,-136.3,0.0,0.0,0,109,0.00,0.00,-87.75,0.000,6,0.000,0.000,468,2212,3747,0,0,0,0,0,0
$GC,114,-1.50,-136.3,2.8,-6.1,10,134,12.85,2.65,0.00,0.000,4,0.173,0.038,2779,597,3748,0,0,0,0,0,0
$GC,154,-0.60,-136.3,19.1,-36.9,14,165,0.93,2.53,0.00,0.000,6,0.096,0.020,2980,2186,3749,0,0,0,0,0,0
$GC,452,-0.79,-136.3,47.6,-8.1,44,462,0.17,0.00,0.00,0.000,6,0.054,0.000,2918,2186,3750,0,0,0,0,0,0
$GC,723,-0.87,-136.3,77.0,-10.6,69,727,0.00,2.62,0.00,0.000,4,0.000,0.045,2878,587,3748,0,0,0,0,0,0
$GC,733,-0.95,-136.3,79.0,-11.1,69,743,0.00,2.50,0.00,0.000,6,0.000,0.016,2918,2191,3750,0,0,0,0,0,0
$GC,996,-1.05,-136.3,107.6,-11.2,94,1001,0.12,2.47,0.00,0.000,4,0.068,0.037,2834,3740,3752,0,0,0,0,0,0
$GC,1018,-1.12,-136.3,109.8,-11.4,95,1022,0.00,2.47,0.00,0.000,6,0.000,0.026,2865,2167,3752,0,0,0,0,0,0
$GC,1283,-1.12,-136.3,143.6,-12.2,119,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2167,3752,0,0,0,0,0,0
$GC,1544,-1.12,-136.3,174.0,-11.4,144,1548,0.00,2.58,0.00,0.000,4,0.000,0.050,2792,610,3753,0,0,0,0,0,0
$GC,1566,-1.12,-136.3,175.9,-11.0,145,1570,0.00,2.40,0.00,0.000,6,0.000,0.021,2865,2182,3753,0,0,0,0,0,0
$GC,1859,-1.12,-136.3,209.7,-11.5,166,1863,0.00,2.58,0.00,0.000,4,0.000,0.051,2865,608,3754,0,0,0,0,0,0
$GC,1880,-1.12,-136.3,212.8,-11.8,166,1884,0.00,2.42,0.00,0.000,6,0.000,0.025,2865,2178,3753,0,0,0,0,0,0
$GC,2138,-1.17,-136.3,238.5,-9.8,173,2139,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2178,3754,0,0,0,0,0,0
$GC,2380,-1.26,-136.3,260.7,-9.2,179,2385,0.10,2.53,0.00,0.000,4,0.082,0.041,2784,3745,3754,0,0,0,0,0,0
$GC,2441,-1.26,-136.3,268.0,-12.0,180,2445,0.00,2.47,0.00,0.000,6,0.000,0.026,2822,2186,3754,0,0,0,0,0,0
$GC,2704,-1.26,-136.3,293.5,-9.3,187,2708,0.00,2.67,0.00,0.000,4,0.000,0.068,2823,596,3754,0,0,0,0,0,0
$GC,2743,-1.26,-136.3,297.7,-10.2,188,2747,0.00,2.47,0.00,0.000,6,0.000,0.025,2823,2167,3754,0,0,0,0,0,0
$GC,3026,-1.26,-136.3,325.2,-9.5,195,3030,0.00,2.55,0.00,0.000,4,0.000,0.040,2799,3752,3754,0,0,0,0,0,0
$GC,3060,-1.26,-136.3,328.6,-10.6,195,3066,0.00,2.53,0.00,0.000,6,0.000,0.034,2823,2179,3753,0,0,0,0,0,0
$GC,3311,-1.26,-136.3,352.9,-9.9,202,3315,0.00,2.58,0.00,0.000,4,0.000,0.046,2767,3760,3753,0,0,0,0,0,0
$GC,3338,-1.30,-136.3,355.7,-10.2,202,3342,0.00,2.55,0.00,0.000,6,0.000,0.038,2823,2189,3753,0,0,0,0,0,0
$GC,3590,-1.34,-136.3,378.8,-9.2,208,3591,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2189,3752,0,0,0,0,0,0
$GC,3832,-1.39,-136.3,399.1,-8.1,214,3836,0.00,2.58,0.00,0.000,4,0.000,0.051,2788,3756,3751,0,0,0,0,0,0
$GC,3854,-1.44,-136.3,401.1,-8.6,214,3858,0.00,2.58,0.00,0.000,6,0.000,0.039,2823,2193,3751,0,0,0,0,0,0
$GC,4111,-1.49,-136.3,422.1,-8.1,221,4117,0.15,2.90,0.00,0.000,4,0.059,0.100,2767,593,3750,0,0,0,0,0,0
$GC,4128,-1.49,-136.3,424.0,-8.4,221,4133,0.10,2.58,0.00,0.000,6,0.127,0.036,2788,2173,3750,0,0,0,0,0,0
$GC,4391,-1.49,-136.3,450.3,-10.0,228,4395,0.00,2.67,0.00,0.000,4,0.000,0.058,2755,3767,3748,0,0,0,0,0,0
$GC,4423,-1.49,-136.3,454.6,-12.6,228,4432,2.08,2.60,0.00,0.000,6,0.074,0.049,2886,2199,3748,7,0,0,0,0,0
$GC,4719,-2.38,-136.3,468.5,-5.3,236,4728,3.00,2.67,0.00,0.000,4,0.076,0.053,2527,3758,3744,0,0,0,0,0,0
$GC,4736,-2.82,-136.3,469.9,-6.1,236,4742,0.50,2.67,0.00,0.000,6,0.037,0.048,2454,2139,3745,1,0,0,0,0,0
$GC,5004,-2.25,-136.3,530.9,-24.4,243,5010,0.80,2.78,0.00,0.000,4,0.122,0.070,2590,3758,3743,0,0,0,0,0,0
$GC,5118,-1.93,-136.3,553.6,-18.8,245,5127,1.40,2.75,0.00,0.000,6,0.120,0.067,2771,2152,3742,5,0,0,0,0,0
$GC,5378,-2.21,-136.3,569.1,-5.0,252,5386,1.12,2.80,0.00,0.000,4,0.043,0.071,2546,3758,3740,0,0,0,0,0,0
$GC,5392,-2.25,-136.3,570.5,-5.1,252,5401,3.22,2.80,0.00,0.000,6,0.108,0.071,2669,2150,3740,11,0,0,0,0,0
$GC,5667,-3.60,-136.3,581.2,-4.4,259,5676,4.12,2.83,0.00,0.000,4,0.040,0.070,2318,3758,3738,0,0,0,0,0,0
$GC,5931,-2.83,-136.3,645.4,-29.5,264,5938,0.93,3.08,0.00,0.000,6,0.133,0.100,2493,2094,3734,0,0,0,0,0,0
$STATE,5975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5975,begin apogee
$GC,5982,-0.31,0.0,656.0,23.0,266,6100,2.72,0.00,112.88,1.051,6,0.131,0.000,3041,2178,3190,0,0,0,0,0,0
$STATE,6100,end apogee,CONTROL_FINISHED_OK
$STATE,6101,begin climb
$GC,6103,1.50,136.3,660.0,0.0,269,6232,1.70,3.28,116.12,1.020,4,0.057,0.130,3442,596,2633,0,0,0,0,0,0
$GC,6255,1.39,136.3,647.1,13.6,272,6260,0.25,2.85,0.00,0.000,6,0.121,0.074,3392,2176,2630,0,0,0,0,0,0
$GC,6513,1.43,166.0,620.3,10.3,279,6542,0.15,0.00,26.25,0.964,6,0.074,0.000,3430,2176,2513,0,0,0,0,0,0
$GC,6798,1.38,166.0,583.7,13.0,286,6800,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2177,2505,0,0,0,0,0,0
$GC,7042,1.38,166.0,551.2,13.5,292,7043,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,2176,2504,0,0,0,0,0,0
$GC,7287,1.38,166.0,518.7,13.3,298,7289,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2177,2502,0,0,0,0,0,0
$GC,7529,1.38,166.0,486.9,13.0,304,7534,0.00,2.75,0.00,0.000,4,0.000,0.064,3381,3779,2500,0,0,0,0,0,0
$GC,7585,1.38,166.0,479.1,13.6,305,7589,0.00,2.72,0.00,0.000,6,0.000,0.053,3430,2166,2500,0,0,0,0,0,0
$GC,7853,1.38,166.0,446.1,12.1,312,7857,0.00,2.70,0.00,0.000,4,0.000,0.051,3404,3778,2501,0,0,0,0,0,0
$GC,7885,1.38,166.0,441.9,12.4,312,7891,0.00,2.70,0.00,0.000,6,0.000,0.044,3430,2175,2499,0,0,0,0,0,0
$GC,8135,1.42,197.9,415.7,10.1,319,8169,0.00,2.80,26.65,0.886,4,0.000,0.048,3313,3778,2382,0,0,0,0,0,0
$GC,8189,1.44,207.9,410.1,11.4,320,8205,0.00,2.70,10.43,0.805,6,0.000,0.045,3430,2180,2342,0,0,0,0,0,0
$GC,8461,1.45,220.7,379.1,11.3,327,8475,0.00,0.00,12.40,0.817,6,0.000,0.000,3430,2177,2291,0,0,0,0,0,0
$GC,8704,1.45,220.7,349.2,12.3,333,8709,0.00,2.67,0.00,0.000,4,0.000,0.042,3416,3783,2287,0,0,0,0,0,0
$GC,8778,1.45,220.7,339.3,13.7,334,8782,0.00,2.65,0.00,0.000,6,0.000,0.040,3430,2184,2284,0,0,0,0,0,0
$GC,9028,1.49,220.7,306.1,12.9,340,9032,0.00,2.67,0.00,0.000,4,0.000,0.043,3417,3784,2285,0,0,0,0,0,0
$GC,9083,1.55,220.7,298.8,13.1,341,9087,0.00,2.60,0.00,0.000,6,0.000,0.035,3430,2197,2284,0,0,0,0,0,0
$GC,9351,1.64,260.3,270.9,9.7,348,9393,0.17,2.80,35.40,0.781,4,0.071,0.061,3476,590,2127,0,0,0,0,0,0
$GC,9423,1.58,260.3,262.2,13.4,349,9427,0.00,2.67,0.00,0.000,6,0.000,0.025,3447,2240,2125,0,0,0,0,0,0
$GC,9680,1.58,260.3,228.1,13.5,356,9684,0.00,2.55,0.00,0.000,4,0.000,0.043,3464,3779,2122,0,0,0,0,0,0
$GC,9768,1.58,260.3,216.1,13.0,358,9772,0.00,2.55,0.00,0.000,6,0.000,0.036,3475,2210,2121,0,0,0,0,0,0
$GC,10027,1.58,260.3,184.2,12.3,371,10031,0.00,2.70,0.00,0.000,4,0.000,0.060,3475,594,2121,0,0,0,0,0,0
$GC,10093,1.58,260.3,175.8,13.2,376,10098,0.00,2.62,0.00,0.000,6,0.000,0.021,3450,2246,2120,0,0,0,0,0,0
$GC,10356,1.58,263.6,143.9,11.8,400,10357,0.00,0.00,0.00,0.000,6,0.000,0.000,3475,2246,2120,0,0,0,0,0,0
$GC,10611,1.61,287.0,115.0,10.6,424,10640,0.00,2.55,23.27,0.614,4,0.000,0.036,3461,3781,2018,0,0,0,0,0,0
$GC,10680,1.61,287.0,107.4,12.4,429,10692,6.10,2.55,0.00,0.000,6,0.440,0.028,3458,2212,2017,22,0,0,0,0,0
$GC,10953,1.16,287.0,39.0,26.7,454,10968,2.20,2.65,0.00,0.000,4,0.110,0.039,3065,3782,2015,0,0,0,0,0,0
$GC,11014,1.54,357.2,30.5,7.9,458,11086,0.32,2.53,59.95,0.554,6,0.043,0.027,3461,2215,1734,0,0,0,0,0,0
$STATE,11226,end climb,SURFACE_DEPTH_REACHED
$STATE,11226,begin surface coast
$FINISH,-0.4,1.021042
$STATE,11271,end surface coast,CONTROL_FINISHED_OK
$STATE,11272,begin surface
$SM_CCo,11293,17.75,0.506,0,0,1640,380.21
$SM_GC,0.52,0.00,0.00,17.75,0.000,0.000,0.506,470,2212,1640,-12.17,0.90,380.21
$IRIDIUM_FIX,2202.04,-15806.30,230901,232340
$TT8_MAMPS,0.026845
$HUMID,64.53
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,20.60
$XPDR_PINGS,47
$24V_AH,23.4,33.441
$10V_AH,10.1,29.624
$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,57.250,143.300,423.350,17.750,0.000,23.024,33.780,211.527,11.750,0.000,15.198,1034.719,7568.913,502.592,2016.052,606.812,33.371,1322.177,0.000,2029.388,0.000,0.534,0.000
$DEVICE_MAMPS,440.258,130.390,1050.790,506.220,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,329.696,237.619,336.710,703.498,1104.160,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355984
$DATA_FILE_SIZE,38435,487
$CAP_FILE_SIZE,125314,0
$CFSIZE,260165632,132714496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,46,0,0,0
$GPS,300612,053406,2212.047,-15804.835,11,0.9,27,10.0