version: 66.06
glider: 146
mission: 7
dive: 197
start: 6 24 112 21 3 27
data:
$ID,146
$MISSION,7
$DIVE,197
$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,-293808.62
$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,3144
$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,45
$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
$GPS1,205525,2225.410,-15801.099,89,1.1,89,10.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-69.8
$GPS2,210231,2225.461,-15801.185,12,1.7,12,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.030,-0.251
$KALMAN_X,13326.3,-245.2,-125.9,-8616.1,-149.3
$KALMAN_Y,101849.6,-436.3,206.3,-129633.3,1217.2
$MHEAD_RNG_PITCHd_Wd,163.2,47471,-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,-136.3,0.0,0.0,0,115,0.00,0.00,-87.28,0.000,6,0.000,0.000,467,2212,3746,0,0,0,0,0,0
$GC,119,-1.32,-136.3,4.9,-13.1,12,137,13.10,2.65,0.00,0.000,4,0.173,0.035,2787,596,3747,0,0,0,0,0,0
$GC,220,-1.14,-136.3,32.6,-16.9,25,225,0.22,2.50,0.00,0.000,6,0.112,0.018,2893,2192,3748,0,0,0,0,0,0
$GC,488,-1.08,-136.3,66.9,-12.7,49,493,0.00,2.62,0.00,0.000,4,0.000,0.044,2893,595,3748,0,0,0,0,0,0
$GC,510,-1.03,-136.3,70.1,-12.5,50,515,0.12,2.42,0.00,0.000,6,0.113,0.022,2925,2178,3749,0,0,0,0,0,0
$GC,773,-1.03,-136.3,94.9,-9.1,74,777,0.00,2.62,0.00,0.000,4,0.000,0.045,2920,591,3749,0,0,0,0,0,0
$GC,828,-1.08,-136.3,99.8,-8.7,78,832,0.00,2.42,0.00,0.000,6,0.000,0.025,2920,2173,3749,0,0,0,0,0,0
$GC,1090,-1.08,-136.3,123.3,-8.9,102,1095,0.00,2.50,0.00,0.000,4,0.000,0.039,2908,3752,3750,0,0,0,0,0,0
$GC,1122,-1.13,-136.3,126.1,-9.1,104,1127,0.00,2.50,0.00,0.000,6,0.000,0.027,2877,2157,3751,0,0,0,0,0,0
$GC,1385,-1.17,-136.3,150.0,-9.2,128,1390,0.15,2.55,0.00,0.000,4,0.059,0.054,2862,608,3751,0,0,0,0,0,0
$GC,1421,-1.11,-136.3,153.4,-11.6,130,1426,0.17,2.38,0.00,0.000,6,0.099,0.021,2901,2170,3751,0,0,0,0,0,0
$GC,1686,-1.11,-136.3,180.1,-9.3,154,1690,0.00,2.47,0.00,0.000,4,0.000,0.037,2896,3744,3752,0,0,0,0,0,0
$GC,1704,-1.11,-136.3,182.1,-9.5,155,1709,0.00,2.47,0.00,0.000,6,0.000,0.027,2901,2162,3751,0,0,0,0,0,0
$GC,1974,-1.11,-136.3,208.9,-10.0,174,1978,0.00,2.58,0.00,0.000,4,0.000,0.050,2848,602,3751,0,0,0,0,0,0
$GC,1995,-1.11,-136.3,211.3,-9.9,174,2000,0.00,2.42,0.00,0.000,6,0.000,0.020,2900,2172,3752,0,0,0,0,0,0
$GC,2254,-1.16,-136.3,235.1,-9.0,181,2258,0.00,2.60,0.00,0.000,4,0.000,0.051,2900,604,3752,0,0,0,0,0,0
$GC,2270,-1.21,-136.3,236.6,-7.8,181,2274,0.00,2.42,0.00,0.000,6,0.000,0.021,2900,2173,3751,0,0,0,0,0,0
$GC,2531,-1.27,-136.3,258.2,-8.4,188,2536,0.15,2.53,0.00,0.000,4,0.060,0.035,2844,3743,3751,0,0,0,0,0,0
$GC,2650,-1.27,-136.3,271.1,-10.5,190,2655,0.22,2.45,0.00,0.000,6,0.084,0.023,2884,2189,3752,0,0,0,0,0,0
$GC,2900,-1.34,-136.3,290.7,-7.7,196,2906,0.20,2.67,0.00,0.000,4,0.050,0.066,2834,597,3752,0,0,0,0,0,0
$GC,2924,-1.34,-136.3,292.9,-9.2,196,2929,0.00,2.47,0.00,0.000,6,0.000,0.028,2834,2177,3752,0,0,0,0,0,0
$GC,3180,-1.29,-136.3,318.9,-10.4,203,3185,0.12,2.67,0.00,0.000,4,0.109,0.064,2861,605,3751,0,0,0,0,0,0
$GC,3207,-1.29,-136.3,321.7,-9.8,203,3212,0.00,2.45,0.00,0.000,6,0.000,0.026,2861,2162,3751,0,0,0,0,0,0
$GC,3460,-1.29,-136.3,343.0,-8.3,209,3464,0.00,2.58,0.00,0.000,4,0.000,0.049,2844,3757,3750,0,0,0,0,0,0
$GC,3481,-1.29,-136.3,345.2,-8.8,209,3485,0.00,2.53,0.00,0.000,6,0.000,0.032,2861,2187,3750,0,0,0,0,0,0
$GC,3736,-1.29,-136.3,366.1,-8.3,216,3741,0.00,2.78,0.00,0.000,4,0.000,0.084,2862,591,3749,0,0,0,0,0,0
$GC,3787,-1.29,-136.3,370.8,-9.7,217,3792,0.00,2.53,0.00,0.000,6,0.000,0.035,2861,2175,3749,0,0,0,0,0,0
$GC,4059,-1.29,-136.3,393.2,-7.9,224,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2175,3748,0,0,0,0,0,0
$GC,4303,-1.29,-136.3,411.5,-7.5,230,4307,0.00,2.65,0.00,0.000,4,0.000,0.058,2832,3769,3746,0,0,0,0,0,0
$GC,4411,-1.34,-136.3,419.2,-7.5,232,4415,0.00,2.62,0.00,0.000,6,0.000,0.042,2853,2175,3746,0,0,0,0,0,0
$GC,4672,-1.37,-136.3,436.9,-6.7,239,4673,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2175,3744,0,0,0,0,0,0
$GC,4918,-1.41,-136.3,454.5,-7.3,245,4923,0.12,2.92,0.00,0.000,4,0.074,0.100,2816,587,3743,0,0,0,0,0,0
$GC,4968,-1.35,-136.3,459.5,-10.4,246,4973,0.15,2.60,0.00,0.000,6,0.105,0.041,2847,2162,3742,0,0,0,0,0,0
$GC,5241,-1.35,-136.3,482.0,-8.0,253,5242,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2159,3741,0,0,0,0,0,0
$GC,5486,-1.35,-136.3,502.9,-8.6,259,5491,0.00,2.75,0.00,0.000,4,0.000,0.071,2806,3762,3739,0,0,0,0,0,0
$GC,5519,-1.35,-136.3,505.9,-8.5,259,5525,1.52,2.67,0.00,0.000,6,0.071,0.054,2845,2160,3739,5,0,0,0,0,0
$GC,5769,-2.16,-136.3,517.7,-5.2,266,5778,2.28,2.95,0.00,0.000,4,0.057,0.108,2670,598,3736,0,0,0,0,0,0
$STATE,6002,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6002,begin apogee
$GC,6010,-0.31,0.0,550.3,14.7,271,6125,1.85,0.00,110.68,0.965,6,0.100,0.000,3067,2179,3188,0,0,0,0,0,0
$STATE,6126,end apogee,CONTROL_FINISHED_OK
$STATE,6126,begin climb
$GC,6131,1.32,136.3,552.9,0.0,274,6252,1.50,0.00,114.20,0.937,6,0.051,0.000,3433,2179,2633,0,0,0,0,0,0
$GC,6496,1.19,136.3,513.4,12.4,283,6498,0.15,0.00,0.00,0.000,6,0.127,0.000,3405,2179,2625,0,0,0,0,0,0
$GC,6742,1.11,136.3,486.5,11.0,289,6746,0.00,2.70,0.00,0.000,4,0.000,0.059,3369,3767,2623,0,0,0,0,0,0
$GC,6836,1.02,136.3,476.0,10.6,291,6842,0.17,2.67,0.00,0.000,6,0.120,0.043,3370,2173,2622,0,0,0,0,0,0
$GC,7111,1.07,170.5,452.4,8.5,298,7141,0.00,0.00,28.83,0.877,6,0.000,0.000,3370,2172,2494,0,0,0,0,0,0
$GC,7353,1.09,189.6,430.3,9.2,304,7377,0.00,2.97,17.20,0.838,4,0.000,0.093,3370,595,2417,0,0,0,0,0,0
$GC,7433,1.09,189.6,421.9,10.4,305,7439,0.00,2.62,0.00,0.000,6,0.000,0.030,3370,2195,2414,0,0,0,0,0,0
$GC,7685,1.14,226.6,400.5,8.3,312,7727,0.00,2.70,33.58,0.853,4,0.000,0.045,3260,3759,2266,0,0,0,0,0,0
$GC,7774,1.19,236.0,392.5,9.7,314,7791,1.10,2.62,9.73,0.759,6,0.038,0.041,3516,2176,2227,3,0,0,0,0,0
$GC,8060,0.74,236.0,326.3,23.9,321,8069,1.67,2.70,0.00,0.000,4,0.124,0.038,3209,3769,2221,0,0,0,0,0,0
$GC,8104,1.00,278.0,320.5,8.1,322,8149,0.22,2.58,37.30,0.802,6,0.052,0.033,3372,2188,2055,0,0,0,0,0,0
$GC,8434,1.11,292.7,288.8,9.4,330,8453,0.00,2.80,13.43,0.736,4,0.000,0.063,3372,605,1995,0,0,0,0,0,0
$GC,8540,1.25,308.6,279.1,9.4,332,8561,0.22,2.58,15.50,0.733,6,0.055,0.027,3432,2213,1930,0,0,0,0,0,0
$GC,8806,1.25,308.6,247.5,12.1,338,8811,0.00,2.53,0.00,0.000,4,0.000,0.045,3420,3753,1926,0,0,0,0,0,0
$GC,8868,1.31,308.6,238.8,12.9,339,8872,0.00,2.55,0.00,0.000,6,0.000,0.036,3432,2195,1925,0,0,0,0,0,0
$GC,9130,1.31,308.6,207.1,12.0,346,9134,0.00,2.70,0.00,0.000,4,0.000,0.057,3405,596,1925,0,0,0,0,0,0
$GC,9169,1.31,308.6,201.6,13.5,347,9173,0.00,2.53,0.00,0.000,6,0.000,0.027,3432,2186,1923,0,0,0,0,0,0
$GC,9431,1.31,308.6,167.2,13.8,369,9435,0.00,2.55,0.00,0.000,4,0.000,0.042,3433,3758,1923,0,0,0,0,0,0
$GC,9455,1.31,308.6,164.1,13.5,370,9460,0.00,2.53,0.00,0.000,6,0.000,0.027,3432,2179,1923,0,0,0,0,0,0
$GC,9720,1.31,308.6,129.6,13.0,395,9725,0.00,2.62,0.00,0.000,4,0.000,0.051,3433,593,1923,0,0,0,0,0,0
$GC,9754,1.31,308.6,125.2,13.9,397,9759,0.00,2.53,0.00,0.000,6,0.000,0.020,3432,2197,1923,0,0,0,0,0,0
$GC,10020,1.31,308.6,94.1,10.7,421,10025,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2197,1923,0,0,0,0,0,0
$GC,10287,1.31,308.6,63.4,11.1,446,10291,0.00,2.67,0.00,0.000,4,0.000,0.047,3429,591,1923,0,0,0,0,0,0
$GC,10331,1.38,308.6,57.8,12.2,449,10336,0.00,2.47,0.00,0.000,6,0.000,0.019,3432,2178,1923,0,0,0,0,0,0
$GC,10602,1.42,308.6,30.1,10.5,473,10610,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2179,1923,0,0,0,0,0,0
$STATE,10832,end climb,SURFACE_DEPTH_REACHED
$STATE,10832,begin surface coast
$FINISH,-0.5,1.016131
$STATE,10881,end surface coast,CONTROL_FINISHED_OK
$STATE,10881,begin surface
$SM_CCo,10902,57.38,0.514,0,0,1640,380.46
$SM_GC,0.01,0.00,0.00,57.38,0.000,0.000,0.514,470,2181,1640,-12.30,0.03,380.46
$IRIDIUM_FIX,2216.01,-15801.53,180901,171758
$TT8_MAMPS,0.027612
$HUMID,62.36
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,21.90
$XPDR_PINGS,47
$24V_AH,23.5,27.972
$10V_AH,10.3,25.314
$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,37.325,140.300,380.425,57.375,0.000,30.430,36.845,208.228,11.750,0.000,14.008,1092.810,7136.132,530.941,2009.939,618.618,33.372,1297.468,0.000,2015.768,0.000,0.534,0.000
$DEVICE_MAMPS,172.575,108.147,964.886,513.890,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,348.318,286.747,382.038,722.090,1092.142,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356004
$DATA_FILE_SIZE,38348,513
$CAP_FILE_SIZE,119128,0
$CFSIZE,260165632,134787072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,8,0,0,0
$GPS,250612,000730,2225.000,-15801.339,34,0.9,40,10.0