version: 66.06
glider: 146
mission: 7
dive: 236
start: 6 30 112 5 41 40
data:
$ID,146
$MISSION,7
$DIVE,236
$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,-295310.47
$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,29
$R_STBD_OVSHOOT,10
$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
$GPS1,053406,2212.047,-15804.835,11,0.9,27,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-70.5
$GPS2,054044,2212.066,-15804.915,16,2.0,16,10.0
$SPEED_LIMITS,0.172,0.267
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.106,-0.245
$KALMAN_X,-43265.4,151.8,-603.0,41676.7,-498.0
$KALMAN_Y,167251.9,445.9,-209.8,-220310.6,1424.2
$MHEAD_RNG_PITCHd_Wd,146.6,25306,-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,-136.3,0.0,0.0,0,111,0.00,0.00,-87.85,0.000,6,0.000,0.000,470,2211,3747,0,0,0,0,0,0
$GC,116,-1.50,-136.3,3.5,-7.5,10,136,12.90,0.00,0.00,0.000,6,0.176,0.000,2779,2212,3748,0,0,0,0,0,0
$GC,416,-1.26,-136.3,72.3,-20.7,40,427,0.25,0.00,0.00,0.000,6,0.124,0.000,2831,2212,3749,0,0,0,0,0,0
$GC,684,-1.18,-136.3,112.7,-14.6,65,689,0.12,2.55,0.00,0.000,4,0.140,0.039,2803,3787,3750,0,0,0,0,0,0
$GC,726,-1.18,-136.3,118.8,-12.2,68,730,0.00,2.55,0.00,0.000,6,0.000,0.028,2848,2174,3751,0,0,0,0,0,0
$GC,988,-1.18,-136.3,151.5,-12.1,92,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2172,3752,0,0,0,0,0,0
$GC,1245,-1.18,-136.3,181.4,-12.0,116,1246,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2171,3753,0,0,0,0,0,0
$GC,1524,-1.18,-136.3,214.2,-11.6,134,1528,0.00,2.60,0.00,0.000,4,0.000,0.051,2855,600,3753,0,0,0,0,0,0
$GC,1585,-1.22,-136.3,222.1,-12.6,135,1589,0.00,2.50,0.00,0.000,6,0.000,0.021,2855,2224,3753,0,0,0,0,0,0
$GC,1847,-1.22,-136.3,251.3,-11.1,142,1848,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2224,3754,0,0,0,0,0,0
$GC,2090,-1.28,-136.3,275.6,-9.9,148,2094,0.00,2.70,0.00,0.000,4,0.000,0.058,2855,605,3754,0,0,0,0,0,0
$GC,2116,-1.28,-136.3,278.8,-11.0,148,2121,0.00,2.42,0.00,0.000,6,0.000,0.025,2855,2166,3754,0,0,0,0,0,0
$GC,2369,-1.35,-136.3,302.9,-9.5,154,2374,0.15,2.62,0.00,0.000,4,0.063,0.062,2800,608,3754,0,0,0,0,0,0
$GC,2425,-1.30,-136.3,309.2,-11.2,155,2430,0.15,2.42,0.00,0.000,6,0.110,0.025,2832,2156,3754,0,0,0,0,0,0
$GC,2692,-1.34,-136.3,336.4,-10.1,162,2697,0.00,2.62,0.00,0.000,4,0.000,0.063,2831,611,3754,0,0,0,0,0,0
$GC,2715,-1.38,-136.3,339.1,-11.1,162,2719,0.00,2.45,0.00,0.000,6,0.000,0.033,2832,2148,3754,0,0,0,0,0,0
$GC,2970,-1.43,-136.3,366.1,-10.4,169,2975,0.12,2.65,0.00,0.000,4,0.067,0.052,2745,3758,3753,0,0,0,0,0,0
$GC,3039,-1.39,-136.3,374.6,-12.4,170,3044,0.15,2.60,0.00,0.000,6,0.106,0.042,2810,2173,3753,0,0,0,0,0,0
$GC,3295,-1.39,-136.3,402.2,-10.7,177,3296,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2172,3752,0,0,0,0,0,0
$GC,3539,-1.39,-136.3,426.5,-9.8,183,3540,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2172,3751,0,0,0,0,0,0
$GC,3784,-1.39,-136.3,450.6,-10.1,189,3789,0.00,2.90,0.00,0.000,4,0.000,0.102,2810,589,3749,0,0,0,0,0,0
$GC,3800,-1.39,-136.3,452.6,-10.4,189,3804,0.00,2.55,0.00,0.000,6,0.000,0.039,2810,2145,3748,0,0,0,0,0,0
$GC,4061,-1.39,-136.3,478.5,-9.7,196,4062,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2145,3748,0,0,0,0,0,0
$GC,4307,-1.42,-136.3,501.6,-9.4,202,4311,0.00,2.80,0.00,0.000,4,0.000,0.080,2799,3764,3747,0,0,0,0,0,0
$GC,4323,-1.42,-136.3,503.6,-9.8,202,4327,0.00,2.72,0.00,0.000,6,0.000,0.055,2810,2156,3746,0,0,0,0,0,0
$GC,4584,-1.46,-136.3,528.7,-9.7,209,4588,0.00,2.75,0.00,0.000,4,0.000,0.067,2810,3758,3747,0,0,0,0,0,0
$GC,4630,-1.51,-136.3,533.2,-10.7,210,4635,0.10,2.75,0.00,0.000,6,0.086,0.063,2774,2152,3744,0,0,0,0,0,0
$GC,4908,-1.51,-136.3,563.8,-10.9,217,4913,0.00,2.80,0.00,0.000,4,0.000,0.077,2774,3758,3742,0,0,0,0,0,0
$GC,4935,-1.51,-136.3,566.9,-11.7,217,4939,0.00,2.78,0.00,0.000,6,0.000,0.065,2775,2157,3742,0,0,0,0,0,0
$GC,5187,-1.51,-136.3,591.9,-9.9,223,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2157,3740,0,0,0,0,0,0
$GC,5429,-1.51,-136.3,615.6,-9.8,229,5430,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2157,3738,0,0,0,0,0,0
$GC,5672,-1.51,-136.3,639.8,-10.0,235,5674,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2157,3736,0,0,0,0,0,0
$STATE,5793,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5793,begin apogee
$GC,5799,-0.31,0.0,650.9,9.3,238,5915,1.23,0.00,112.85,1.051,6,0.085,0.000,3046,2157,3191,0,0,0,0,0,0
$STATE,5916,end apogee,CONTROL_FINISHED_OK
$STATE,5916,begin climb
$GC,5921,1.50,136.3,652.2,0.0,241,6042,1.70,0.00,117.15,1.015,6,0.048,0.000,3442,2157,2635,0,0,0,0,0,0
$GC,6278,1.43,136.3,611.7,12.9,250,6283,0.00,2.90,0.00,0.000,4,0.000,0.080,3442,3761,2626,0,0,0,0,0,0
$GC,6319,1.35,136.3,606.4,13.5,251,6325,0.17,2.85,0.00,0.000,6,0.130,0.078,3410,2175,2625,0,0,0,0,0,0
$GC,6604,1.38,165.7,576.1,10.3,258,6631,0.00,0.00,25.80,0.953,6,0.000,0.000,3410,2175,2514,0,0,0,0,0,0
$GC,6847,1.42,198.4,551.6,10.1,264,6878,0.00,0.00,29.35,0.948,6,0.000,0.000,3410,2175,2383,0,0,0,0,0,0
$GC,7093,1.44,214.7,524.9,11.1,270,7110,0.00,0.00,15.73,0.904,6,0.000,0.000,3410,2175,2316,0,0,0,0,0,0
$GC,7335,1.49,216.0,496.1,12.0,276,7340,0.12,2.75,0.00,0.000,4,0.199,0.052,3391,3773,2312,0,0,0,0,0,0
$GC,7375,1.49,216.0,490.4,14.9,277,7379,0.00,2.70,0.00,0.000,6,0.000,0.050,3443,2182,2310,0,0,0,0,0,0
$GC,7659,1.49,216.0,451.5,13.5,284,7664,0.00,2.67,0.00,0.000,4,0.000,0.048,3442,3775,2309,0,0,0,0,0,0
$GC,7689,1.49,216.0,447.0,15.0,284,7694,0.00,2.70,0.00,0.000,6,0.000,0.049,3430,2183,2309,0,0,0,0,0,0
$GC,7939,1.49,216.0,411.9,14.2,290,7940,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,2183,2308,0,0,0,0,0,0
$GC,8184,1.49,216.0,377.9,13.8,296,8186,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2183,2307,0,0,0,0,0,0
$GC,8426,1.49,216.0,345.6,13.1,302,8431,0.00,2.62,0.00,0.000,4,0.000,0.045,3432,3769,2307,0,0,0,0,0,0
$GC,8498,1.49,216.0,335.8,13.5,303,8502,0.00,2.62,0.00,0.000,6,0.000,0.038,3442,2172,2306,0,0,0,0,0,0
$GC,8748,1.49,216.0,305.0,12.0,309,8749,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,2172,2306,0,0,0,0,0,0
$GC,8994,1.51,236.2,278.3,10.8,315,9018,0.00,2.78,19.00,0.769,4,0.000,0.064,3441,590,2226,0,0,0,0,0,0
$GC,9057,1.51,236.2,270.1,12.8,316,9062,0.00,2.62,0.00,0.000,6,0.000,0.025,3414,2220,2224,0,0,0,0,0,0
$GC,9319,1.58,244.0,240.2,11.6,323,9333,0.00,2.83,8.10,0.665,4,0.000,0.054,3442,597,2192,0,0,0,0,0,0
$GC,9369,1.63,257.9,234.8,11.2,324,9389,0.12,2.58,13.65,0.705,6,0.078,0.025,3478,2198,2139,0,0,0,0,0,0
$GC,9651,1.63,257.9,197.7,13.2,331,9652,0.00,0.00,0.00,0.000,6,0.000,0.000,3478,2199,2135,0,0,0,0,0,0
$GC,9911,1.63,257.9,164.3,13.4,355,9916,0.00,2.53,0.00,0.000,4,0.000,0.036,3466,3759,2136,0,0,0,0,0,0
$GC,9941,1.63,257.9,159.7,12.7,357,9946,0.00,2.58,0.00,0.000,6,0.000,0.028,3477,2170,2134,0,0,0,0,0,0
$GC,10211,1.63,257.9,125.7,12.6,381,10215,0.00,0.00,0.00,0.000,6,0.000,0.000,3478,2170,2134,0,0,0,0,0,0
$GC,10473,1.63,257.9,91.4,13.4,406,10477,0.00,2.60,0.00,0.000,4,0.000,0.035,3478,3766,2134,0,0,0,0,0,0
$GC,10533,1.67,257.9,82.4,14.6,410,10543,0.00,2.58,0.00,0.000,6,0.000,0.035,3478,2186,2134,0,0,0,0,0,0
$GC,10799,1.69,268.7,50.5,11.4,435,10816,0.00,2.58,10.85,0.528,4,0.000,0.036,3478,3755,2094,0,0,0,0,0,0
$GC,10862,1.69,268.7,42.9,12.1,439,10866,0.00,2.53,0.00,0.000,6,0.000,0.030,3478,2185,2093,0,0,0,0,0,0
$STATE,11164,end climb,SURFACE_DEPTH_REACHED
$STATE,11164,begin surface coast
$FINISH,-0.5,0.999722
$STATE,11209,end surface coast,CONTROL_FINISHED_OK
$STATE,11209,begin surface
$SM_CCo,11231,90.57,0.526,0,0,1640,380.21
$SM_GC,0.19,0.00,0.00,90.57,0.000,0.000,0.526,471,2182,1640,-12.16,0.06,380.21
$IRIDIUM_FIX,2206.70,-15805.43,240901,020234
$TT8_MAMPS,0.027612
$HUMID,61.49
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,21.40
$XPDR_PINGS,34
$24V_AH,23.4,33.565
$10V_AH,10.1,29.731
$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,29.425,100.750,352.475,90.575,0.000,25.490,45.740,174.286,8.500,0.000,18.409,983.741,7860.974,545.812,1778.720,552.265,33.374,1168.077,0.000,1788.304,0.000,0.533,0.000
$DEVICE_MAMPS,199.420,102.011,1050.790,526.162,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,325.392,228.807,325.413,664.243,1047.347,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355944
$DATA_FILE_SIZE,35084,478
$CAP_FILE_SIZE,106102,0
$CFSIZE,260165632,132681728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300612,085137,2211.204,-15804.750,35,1.1,35,10.0