version: 66.06
glider: 146
mission: 7
dive: 239
start: 6 30 112 15 22 31
data:
$ID,146
$MISSION,7
$DIVE,239
$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,-295354.47
$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,30
$R_STBD_OVSHOOT,38
$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
$GPS1,151424,2210.716,-15804.916,23,1.9,40,10.0
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,1
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-71.1
$GPS2,152137,2210.713,-15805.031,9,1.8,14,10.0
$SPEED_LIMITS,0.172,0.267
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.216,-0.156
$KALMAN_X,-49271.5,-270.2,-512.1,47821.1,-1868.1
$KALMAN_Y,170416.7,-250.8,-140.9,-225354.7,921.3
$MHEAD_RNG_PITCHd_Wd,115.9,23225,-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,-136.3,0.0,0.0,0,114,0.00,0.00,-87.00,0.000,6,0.000,0.000,471,2193,3746,0,0,0,0,0,0
$GC,119,-1.50,-136.3,4.3,-9.3,10,140,12.77,2.62,0.00,0.000,4,0.172,0.035,2779,598,3748,0,0,0,0,0,0
$GC,193,-1.27,-136.3,32.1,-23.4,18,204,0.25,2.53,0.00,0.000,6,0.107,0.020,2834,2192,3748,0,0,0,0,0,0
$GC,461,-1.19,-136.3,74.6,-13.7,43,466,0.00,2.47,0.00,0.000,4,0.000,0.031,2809,3750,3748,0,0,0,0,0,0
$GC,500,-1.14,-136.3,80.7,-13.7,45,511,0.10,2.53,0.00,0.000,6,0.086,0.024,2857,2178,3749,0,0,0,0,0,0
$GC,761,-1.14,-136.3,112.9,-12.2,70,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2178,3749,0,0,0,0,0,0
$GC,1019,-1.14,-136.3,144.3,-12.3,94,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2175,3750,0,0,0,0,0,0
$GC,1281,-1.14,-136.3,175.8,-11.7,119,1286,0.00,2.58,0.00,0.000,4,0.000,0.053,2790,599,3751,0,0,0,0,0,0
$GC,1300,-1.14,-136.3,178.2,-12.1,120,1304,0.00,2.47,0.00,0.000,6,0.000,0.023,2861,2204,3751,0,0,0,0,0,0
$GC,1584,-1.14,-136.3,209.6,-11.0,140,1588,0.00,2.62,0.00,0.000,4,0.000,0.051,2861,606,3751,0,0,0,0,0,0
$GC,1616,-1.14,-136.3,214.5,-13.2,140,1622,0.00,2.45,0.00,0.000,6,0.000,0.019,2861,2192,3751,0,0,0,0,0,0
$GC,1869,-1.20,-136.3,242.1,-10.8,147,1873,0.00,2.62,0.00,0.000,4,0.000,0.050,2853,597,3752,0,0,0,0,0,0
$GC,1947,-1.27,-136.3,251.0,-11.0,148,1952,0.00,2.42,0.00,0.000,6,0.000,0.018,2861,2160,3752,0,0,0,0,0,0
$GC,2199,-1.35,-136.3,275.7,-9.6,155,2204,0.17,2.62,0.00,0.000,4,0.054,0.054,2795,602,3752,0,0,0,0,0,0
$GC,2217,-1.35,-136.3,277.7,-9.6,155,2222,0.12,2.42,0.00,0.000,6,0.114,0.024,2821,2161,3752,0,0,0,0,0,0
$GC,2478,-1.35,-136.3,305.8,-10.6,162,2482,0.00,2.55,0.00,0.000,4,0.000,0.038,2777,3750,3752,0,0,0,0,0,0
$GC,2564,-1.35,-136.3,314.5,-10.9,164,2568,0.00,2.50,0.00,0.000,6,0.000,0.025,2821,2177,3752,0,0,0,0,0,0
$GC,2847,-1.35,-136.3,341.5,-9.7,171,2851,0.00,2.72,0.00,0.000,4,0.000,0.077,2821,605,3751,0,0,0,0,0,0
$GC,2879,-1.35,-136.3,344.9,-10.5,171,2885,0.00,2.45,0.00,0.000,6,0.000,0.032,2821,2143,3751,0,0,0,0,0,0
$GC,3132,-1.35,-136.3,368.4,-9.2,178,3136,0.00,2.67,0.00,0.000,4,0.000,0.053,2761,3762,3751,0,0,0,0,0,0
$GC,3153,-1.35,-136.3,370.9,-9.9,178,3159,0.65,2.58,0.00,0.000,6,0.079,0.036,2828,2178,3750,2,0,0,0,0,0
$GC,3409,-1.72,-136.3,382.9,-4.5,185,3415,0.95,2.62,0.00,0.000,4,0.025,0.043,2681,3760,3749,0,0,0,0,0,0
$GC,3429,-1.86,-136.3,384.5,-5.2,185,3433,0.00,2.62,0.00,0.000,6,0.000,0.044,2721,2166,3747,0,0,0,0,0,0
$GC,3690,-1.72,-136.3,419.9,-13.2,192,3694,0.00,2.65,0.00,0.000,4,0.000,0.054,2680,3750,3748,0,0,0,0,0,0
$GC,3717,-1.56,-136.3,423.8,-13.4,192,3722,0.25,2.62,0.00,0.000,6,0.099,0.049,2772,2182,3747,0,0,0,0,0,0
$GC,3969,-1.52,-136.3,452.0,-11.1,198,3974,0.00,2.90,0.00,0.000,4,0.000,0.099,2773,597,3746,0,0,0,0,0,0
$GC,3991,-1.46,-136.3,455.0,-11.9,198,3996,0.12,2.58,0.00,0.000,6,0.125,0.041,2797,2163,3746,0,0,0,0,0,0
$GC,4249,-1.46,-136.3,482.6,-10.5,205,4250,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2163,3744,0,0,0,0,0,0
$GC,4490,-1.46,-136.3,508.5,-10.5,211,4495,0.00,2.80,0.00,0.000,4,0.000,0.077,2766,3761,3743,0,0,0,0,0,0
$GC,4512,-1.46,-136.3,510.9,-10.2,211,4518,0.90,2.67,0.00,0.000,6,0.080,0.051,2816,2181,3743,3,0,0,0,0,0
$GC,4771,-1.96,-136.3,521.0,-4.0,218,4774,1.33,0.00,0.00,0.000,6,0.048,0.000,2676,2181,3741,0,0,0,0,0,0
$GC,5012,-1.75,-136.3,554.5,-14.7,224,5018,0.25,3.00,0.00,0.000,4,0.153,0.116,2731,591,3738,0,0,0,0,0,0
$GC,5036,-1.58,-136.3,558.0,-15.0,224,5041,0.28,2.67,0.00,0.000,6,0.106,0.053,2788,2170,3738,0,0,0,0,0,0
$GC,5294,-1.58,-136.3,583.6,-9.7,231,5299,0.00,2.88,0.00,0.000,4,0.000,0.092,2749,3765,3737,0,0,0,0,0,0
$GC,5355,-1.58,-136.3,589.9,-9.9,232,5359,0.00,2.75,0.00,0.000,6,0.000,0.074,2792,2194,3736,0,0,0,0,0,0
$GC,5615,-1.58,-136.3,614.1,-9.1,239,5616,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2194,3734,0,0,0,0,0,0
$GC,5861,-1.58,-136.3,637.3,-9.7,245,5865,0.00,2.85,0.00,0.000,4,0.000,0.092,2754,3762,3733,0,0,0,0,0,0
$GC,5888,-1.58,-136.3,640.5,-11.4,245,5892,0.00,2.88,0.00,0.000,6,0.000,0.094,2792,2182,3732,0,0,0,0,0,0
$STATE,6015,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6016,begin apogee
$GC,6021,-0.31,0.0,653.2,10.1,248,6137,1.12,0.00,112.28,1.057,6,0.096,0.000,3044,2182,3190,0,0,0,0,0,0
$STATE,6138,end apogee,CONTROL_FINISHED_OK
$STATE,6138,begin climb
$GC,6142,1.50,136.3,656.5,0.0,251,6264,1.67,0.00,116.53,1.023,6,0.046,0.000,3441,2182,2634,0,0,0,0,0,0
$GC,6508,1.43,136.3,617.9,12.7,260,6512,0.00,2.85,0.00,0.000,4,0.000,0.079,3442,3762,2625,0,0,0,0,0,0
$GC,6570,1.35,136.3,609.5,13.3,261,6576,0.15,2.83,0.00,0.000,6,0.131,0.074,3412,2189,2624,0,0,0,0,0,0
$GC,6834,1.37,153.9,579.6,11.0,268,6854,0.00,2.83,15.00,0.930,4,0.000,0.074,3351,3766,2563,0,0,0,0,0,0
$GC,6895,1.38,158.0,572.9,11.8,269,6906,0.00,2.75,5.40,0.737,6,0.000,0.064,3412,2198,2545,0,0,0,0,0,0
$GC,7156,1.40,179.9,544.8,10.7,276,7178,0.00,0.00,20.27,0.947,6,0.000,0.000,3412,2197,2456,0,0,0,0,0,0
$GC,7400,1.42,194.2,517.5,11.2,282,7415,0.00,0.00,13.60,0.907,6,0.000,0.000,3412,2197,2398,0,0,0,0,0,0
$GC,7645,1.43,197.8,488.9,11.8,288,7652,0.00,0.00,4.50,0.657,6,0.000,0.000,3412,2197,2383,0,0,0,0,0,0
$GC,7887,1.43,197.8,457.5,13.0,294,7891,0.00,2.65,0.00,0.000,4,0.000,0.049,3371,3777,2380,0,0,0,0,0,0
$GC,7936,1.43,197.8,450.8,13.2,295,7941,0.00,2.67,0.00,0.000,6,0.000,0.049,3412,2195,2380,0,0,0,0,0,0
$GC,8211,1.47,199.1,417.8,12.0,302,8216,0.10,2.92,0.00,0.000,4,0.097,0.091,3438,583,2379,0,0,0,0,0,0
$GC,8227,1.48,203.9,415.3,11.8,302,8241,0.00,2.62,6.62,0.752,6,0.000,0.034,3438,2209,2358,0,0,0,0,0,0
$GC,8492,1.48,210.6,383.7,11.6,309,8501,0.00,0.00,7.57,0.767,6,0.000,0.000,3443,2210,2330,0,0,0,0,0,0
$GC,8737,1.50,223.0,356.5,11.3,315,8756,0.00,2.67,12.32,0.809,4,0.000,0.044,3438,3766,2280,0,0,0,0,0,0
$GC,8836,1.50,223.0,343.8,12.7,317,8840,0.00,2.65,0.00,0.000,6,0.000,0.040,3437,2169,2279,0,0,0,0,0,0
$GC,9108,1.51,230.9,312.1,11.6,324,9122,0.00,2.70,8.48,0.730,4,0.000,0.046,3402,3757,2248,0,0,0,0,0,0
$GC,9186,1.55,230.9,302.5,13.1,325,9191,0.00,2.58,0.00,0.000,6,0.000,0.040,3438,2189,2246,0,0,0,0,0,0
$GC,9437,1.61,242.0,273.1,11.4,331,9456,0.12,2.62,11.27,0.732,4,0.081,0.045,3365,3762,2202,0,0,0,0,0,0
$GC,9481,1.61,242.0,268.0,12.7,332,9485,0.00,2.58,0.00,0.000,6,0.000,0.032,3471,2201,2200,0,0,0,0,0,0
$GC,9764,1.65,270.2,237.5,10.4,339,9795,0.00,2.78,25.65,0.739,4,0.000,0.062,3471,596,2087,0,0,0,0,0,0
$GC,9841,1.65,270.2,228.1,13.0,340,9847,0.00,2.60,0.00,0.000,6,0.000,0.025,3471,2207,2085,0,0,0,0,0,0
$GC,10091,1.65,270.2,196.0,12.9,347,10095,0.00,2.55,0.00,0.000,4,0.000,0.044,3447,3762,2083,0,0,0,0,0,0
$GC,10147,1.65,270.2,188.0,13.7,351,10157,0.00,2.58,0.00,0.000,6,0.000,0.035,3471,2193,2083,0,0,0,0,0,0
$GC,10416,1.65,270.2,151.7,14.5,376,10421,0.00,2.67,0.00,0.000,4,0.000,0.058,3471,597,2083,0,0,0,0,0,0
$GC,10438,1.65,270.2,147.9,15.2,377,10442,0.00,2.53,0.00,0.000,6,0.000,0.027,3471,2206,2082,0,0,0,0,0,0
$GC,10704,1.65,270.2,110.1,13.9,401,10709,0.00,2.53,0.00,0.000,4,0.000,0.041,3447,3760,2082,0,0,0,0,0,0
$GC,10726,1.65,270.2,106.1,14.5,402,10737,0.00,2.55,0.00,0.000,6,0.000,0.028,3470,2195,2081,0,0,0,0,0,0
$GC,10995,1.70,270.2,70.2,12.4,427,10999,0.00,2.53,0.00,0.000,4,0.000,0.035,3456,3759,2082,0,0,0,0,0,0
$GC,11043,1.76,270.2,63.7,12.9,430,11048,0.12,2.50,0.00,0.000,6,0.076,0.028,3508,2205,2082,0,0,0,0,0,0
$GC,11320,1.76,270.2,24.1,14.3,456,11330,0.00,2.53,0.00,0.000,4,0.000,0.033,3508,3753,2083,0,0,0,0,0,0
$GC,11342,1.76,270.2,20.9,14.7,458,11352,0.00,2.50,0.00,0.000,6,0.000,0.029,3508,2216,2082,0,0,0,0,0,0
$STATE,11484,end climb,SURFACE_DEPTH_REACHED
$STATE,11485,begin surface coast
$FINISH,-0.4,1.023794
$STATE,11534,end surface coast,CONTROL_FINISHED_OK
$STATE,11534,begin surface
$SM_CCo,11557,89.25,0.527,0,0,1639,380.21
$SM_GC,0.18,0.00,0.00,89.25,0.000,0.000,0.527,467,2151,1639,-12.18,-0.82,380.21
$IRIDIUM_FIX,2204.37,-15803.27,240901,121211
$TT8_MAMPS,0.027612
$HUMID,62.04
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,21.40
$XPDR_PINGS,52
$24V_AH,23.4,33.954
$10V_AH,10.2,30.064
$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,33.750,153.125,359.500,89.250,0.000,30.855,36.944,215.657,13.000,0.000,15.714,1039.983,7931.866,566.343,1923.565,617.886,33.378,1309.792,0.000,1931.778,0.000,0.534,0.000
$DEVICE_MAMPS,171.808,227.032,1056.926,526.929,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,326.755,227.365,321.496,676.041,1075.989,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355924
$DATA_FILE_SIZE,35171,481
$CAP_FILE_SIZE,126858,0
$CFSIZE,260165632,132493312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,5,0,0,0
$GPS,300612,183816,2210.374,-15804.661,36,99.0,55,10.0