version: 66.06
glider: 146
mission: 7
dive: 201
start: 6 25 112 10 21 28
data:
$ID,146
$MISSION,7
$DIVE,201
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$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,200
$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,-294292.91
$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,28
$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
$GPS1,101627,2224.914,-15801.555,6,1.4,13,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-61.1
$GPS2,102037,2224.926,-15801.604,9,1.3,14,10.0
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.053,-0.246
$KALMAN_X,11921.2,128.1,-109.8,-8317.4,-442.8
$KALMAN_Y,110551.6,1000.2,-143.9,-140416.4,1465.0
$MHEAD_RNG_PITCHd_Wd,157.7,46576,-18.2,-10.000
$D_GRID,600
$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,18,-1.30,-136.3,0.0,0.0,0,153,0.00,0.00,-131.95,0.000,6,0.000,0.000,473,2183,3746,0,0,0,0,0,0
$GC,158,-1.30,-136.3,2.9,-6.9,17,176,13.10,2.65,0.00,0.000,4,0.172,0.038,2850,595,3748,0,0,0,0,0,0
$GC,272,-1.13,-136.3,31.5,-16.3,33,277,0.20,2.47,0.00,0.000,6,0.117,0.017,2893,2204,3748,0,0,0,0,0,0
$GC,541,-1.08,-136.3,65.7,-12.5,57,545,0.00,2.65,0.00,0.000,4,0.000,0.044,2893,597,3747,0,0,0,0,0,0
$GC,563,-1.02,-136.3,69.2,-13.4,58,568,0.12,2.42,0.00,0.000,6,0.117,0.017,2920,2175,3747,0,0,0,0,0,0
$GC,827,-1.02,-136.3,96.4,-10.5,82,831,0.00,2.50,0.00,0.000,4,0.000,0.032,2904,3754,3747,0,0,0,0,0,0
$GC,849,-1.02,-136.3,99.2,-10.3,83,855,0.00,2.50,0.00,0.000,6,0.000,0.021,2919,2150,3748,0,0,0,0,0,0
$GC,1112,-1.02,-136.3,123.2,-9.1,108,1116,0.00,2.53,0.00,0.000,4,0.000,0.048,2885,601,3748,0,0,0,0,0,0
$GC,1134,-1.02,-136.3,125.1,-9.5,109,1138,0.00,2.40,0.00,0.000,6,0.000,0.022,2919,2174,3748,0,0,0,0,0,0
$GC,1401,-1.02,-136.3,150.6,-9.4,133,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2170,3748,0,0,0,0,0,0
$GC,1662,-1.02,-136.3,174.7,-8.5,158,1666,0.00,2.47,0.00,0.000,4,0.000,0.039,2907,3741,3747,0,0,0,0,0,0
$GC,1683,-1.02,-136.3,176.7,-9.0,159,1693,0.00,2.50,0.00,0.000,6,0.000,0.028,2920,2163,3748,0,0,0,0,0,0
$GC,1952,-1.02,-136.3,198.2,-8.1,184,1957,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2163,3747,0,0,0,0,0,0
$GC,2213,-1.06,-136.3,219.0,-7.6,192,2214,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2163,3747,0,0,0,0,0,0
$GC,2456,-1.12,-136.3,237.4,-7.8,198,2458,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2163,3747,0,0,0,0,0,0
$GC,2700,-1.20,-136.3,256.4,-7.9,204,2702,0.17,0.00,0.00,0.000,6,0.055,0.000,2858,2163,3747,0,0,0,0,0,0
$GC,2945,-1.20,-136.3,278.1,-8.9,210,2947,0.12,0.00,0.00,0.000,6,0.107,0.000,2887,2163,3747,0,0,0,0,0,0
$GC,3188,-1.25,-136.3,298.6,-8.4,216,3192,0.00,2.53,0.00,0.000,4,0.000,0.044,2887,3736,3746,0,0,0,0,0,0
$GC,3249,-1.31,-136.3,304.2,-8.9,217,3254,0.12,2.47,0.00,0.000,6,0.066,0.028,2834,2177,3746,0,0,0,0,0,0
$GC,3512,-1.26,-136.3,331.4,-10.6,224,3517,0.15,2.70,0.00,0.000,4,0.105,0.070,2868,602,3746,0,0,0,0,0,0
$GC,3528,-1.26,-136.3,333.4,-10.1,224,3532,0.00,2.40,0.00,0.000,6,0.000,0.027,2868,2135,3745,0,0,0,0,0,0
$GC,3796,-1.26,-136.3,356.0,-8.3,231,3801,0.00,2.65,0.00,0.000,4,0.000,0.048,2867,3762,3744,0,0,0,0,0,0
$GC,3852,-1.32,-136.3,360.7,-8.1,232,3856,0.00,2.58,0.00,0.000,6,0.000,0.038,2868,2171,3744,0,0,0,0,0,0
$GC,4120,-1.36,-136.3,379.2,-6.8,239,4122,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2171,3742,0,0,0,0,0,0
$GC,4364,-1.40,-136.3,398.0,-8.0,245,4369,0.12,2.83,0.00,0.000,4,0.069,0.094,2818,586,3741,0,0,0,0,0,0
$GC,4404,-1.33,-136.3,402.4,-11.3,246,4409,0.15,2.55,0.00,0.000,6,0.107,0.035,2850,2158,3740,0,0,0,0,0,0
$GC,4690,-1.33,-136.3,429.2,-9.3,253,4694,0.00,2.67,0.00,0.000,4,0.000,0.058,2850,3764,3739,0,0,0,0,0,0
$GC,4722,-1.33,-136.3,432.8,-10.3,253,4729,1.88,2.62,0.00,0.000,6,0.068,0.045,2881,2177,3738,6,0,0,0,0,0
$GC,4973,-2.51,-136.3,446.0,-5.7,260,4982,2.88,2.70,0.00,0.000,4,0.035,0.049,2581,3764,3736,0,0,0,0,0,0
$GC,5235,-2.02,-136.3,491.8,-18.2,265,5241,0.57,2.88,0.00,0.000,6,0.103,0.058,2702,2080,3734,0,0,0,0,0,0
$GC,5485,-1.75,-136.3,523.4,-12.3,272,5491,0.25,2.90,0.00,0.000,4,0.114,0.065,2751,3762,3731,0,0,0,0,0,0
$GC,5660,-1.60,-136.3,542.0,-11.1,276,5665,0.17,2.85,0.00,0.000,6,0.122,0.060,2791,2089,3730,0,0,0,0,0,0
$GC,5944,-1.52,-136.3,567.7,-8.9,283,5950,0.10,2.97,0.00,0.000,4,0.140,0.077,2810,3762,3729,0,0,0,0,0,0
$GC,6006,-1.48,-136.3,573.6,-9.3,284,6011,0.00,2.92,0.00,0.000,6,0.000,0.071,2810,2086,3728,0,0,0,0,0,0
$GC,6267,-1.43,-136.3,596.9,-9.1,291,6273,0.10,2.97,0.00,0.000,4,0.133,0.085,2827,3756,3727,0,0,0,0,0,0
$STATE,6298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6298,begin apogee
$GC,6309,-0.31,0.0,600.1,9.6,291,6423,1.05,0.00,110.50,1.002,6,0.081,0.000,3070,2176,3190,0,0,0,0,0,0
$STATE,6424,end apogee,CONTROL_FINISHED_OK
$STATE,6424,begin climb
$GC,6426,1.30,136.3,602.6,0.0,294,6551,1.50,0.00,116.10,0.973,6,0.042,0.000,3430,2176,2634,0,0,0,0,0,0
$GC,6792,1.16,136.3,565.9,12.2,303,6797,0.15,2.78,0.00,0.000,4,0.137,0.067,3398,3755,2624,0,0,0,0,0,0
$GC,6881,1.08,136.3,555.5,11.2,305,6887,0.10,2.72,0.00,0.000,6,0.145,0.061,3383,2181,2623,0,0,0,0,0,0
$GC,7162,1.07,164.9,530.4,8.6,312,7192,0.00,2.80,24.55,0.919,4,0.000,0.060,3386,3770,2516,0,0,0,0,0,0
$GC,7290,1.07,164.9,518.1,10.0,315,7294,0.00,2.72,0.00,0.000,6,0.000,0.056,3383,2195,2514,0,0,0,0,0,0
$GC,7573,1.08,170.8,491.1,9.7,322,7586,0.00,3.12,5.85,0.729,4,0.000,0.118,3382,583,2492,0,0,0,0,0,0
$GC,7625,1.04,170.8,485.3,11.5,323,7630,0.00,2.70,0.00,0.000,6,0.000,0.046,3364,2190,2490,0,0,0,0,0,0
$GC,7900,1.04,170.8,455.9,10.8,330,7901,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,2190,2488,0,0,0,0,0,0
$GC,8142,1.04,170.8,431.0,10.0,336,8143,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,2190,2487,0,0,0,0,0,0
$GC,8386,1.04,170.9,406.7,10.0,342,8390,0.00,2.65,0.00,0.000,4,0.000,0.054,3370,3779,2487,0,0,0,0,0,0
$GC,8476,1.04,170.9,397.4,10.4,344,8486,3.00,2.65,0.00,0.000,6,0.268,0.042,3383,2175,2485,10,0,0,0,0,0
$GC,8759,0.40,170.9,334.4,22.5,351,8768,2.95,2.67,0.00,0.000,4,0.132,0.041,3231,3772,2484,0,0,0,0,0,0
$GC,8855,0.91,300.1,329.0,3.6,353,8977,0.43,2.53,112.00,0.828,6,0.036,0.030,3353,2200,1965,0,0,0,0,0,0
$GC,9264,1.03,303.6,293.0,9.8,363,9268,0.00,2.72,0.00,0.000,4,0.000,0.065,3353,599,1954,0,0,0,0,0,0
$GC,9285,1.14,303.6,290.2,11.2,363,9291,0.60,2.62,0.00,0.000,6,0.037,0.028,3504,2237,1954,2,0,0,0,0,0
$GC,9541,0.97,303.6,240.0,20.2,370,9547,0.73,2.53,0.00,0.000,4,0.105,0.039,3351,3775,1953,0,0,0,0,0,0
$GC,9599,1.16,303.6,232.2,11.6,371,9604,0.30,2.50,0.00,0.000,6,0.050,0.028,3435,2217,1951,1,0,0,0,0,0
$GC,9866,1.16,303.6,196.4,13.5,378,9871,0.22,2.72,0.00,0.000,4,0.107,0.058,3396,588,1951,0,0,0,0,0,0
$GC,9911,1.23,303.6,191.1,10.6,381,9920,0.00,2.62,0.00,0.000,6,0.000,0.027,3397,2230,1949,0,0,0,0,0,0
$GC,10179,1.29,303.6,164.9,10.2,406,10185,0.12,0.00,0.00,0.000,6,0.077,0.000,3433,2231,1949,0,0,0,0,0,0
$GC,10447,1.29,303.6,134.1,11.2,431,10452,0.00,2.72,0.00,0.000,4,0.000,0.053,3433,595,1949,0,0,0,0,0,0
$GC,10491,1.29,303.6,127.5,12.3,434,10501,0.00,2.55,0.00,0.000,6,0.000,0.021,3433,2203,1949,0,0,0,0,0,0
$GC,10758,1.29,303.6,95.6,12.5,459,10762,0.00,2.67,0.00,0.000,4,0.000,0.048,3433,586,1949,0,0,0,0,0,0
$GC,10792,1.29,303.6,90.9,15.2,461,10797,0.00,2.53,0.00,0.000,6,0.000,0.019,3433,2216,1949,0,0,0,0,0,0
$GC,11058,1.29,303.6,56.4,12.4,485,11063,0.00,2.67,0.00,0.000,4,0.000,0.047,3432,589,1949,0,0,0,0,0,0
$GC,11093,1.29,303.6,51.3,16.1,487,11097,0.00,2.50,0.00,0.000,6,0.000,0.018,3433,2194,1949,0,0,0,0,0,0
$GC,11384,1.31,319.9,17.8,9.2,518,11402,0.00,0.00,15.55,0.509,6,0.000,0.000,3433,2197,1887,0,0,0,0,0,0
$STATE,11508,end climb,SURFACE_DEPTH_REACHED
$STATE,11508,begin surface coast
$FINISH,-0.5,1.023758
$STATE,11554,end surface coast,CONTROL_FINISHED_OK
$STATE,11554,begin surface
$SM_CCo,11575,48.25,0.517,0,0,1639,380.21
$SM_GC,0.24,0.00,0.00,48.25,0.000,0.000,0.517,465,2197,1639,-12.32,0.48,380.21
$IRIDIUM_FIX,2216.01,-15758.50,190901,101017
$TT8_MAMPS,0.026845
$HUMID,63.03
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,22.00
$XPDR_PINGS,41
$24V_AH,23.4,28.777
$10V_AH,10.3,25.706
$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,43.250,132.850,384.550,48.250,0.000,0.000,0.000,0.000,10.250,0.000,16.239,1123.536,7681.887,525.334,2113.312,253.213,33.373,1364.532,0.000,2107.417,0.000,0.534,0.000
$DEVICE_MAMPS,268.450,118.118,1002.469,516.958,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,367.058,296.147,396.855,737.739,1116.281,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355948
$DATA_FILE_SIZE,41548,542
$CAP_FILE_SIZE,133684,0
$CFSIZE,260165632,134582272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,19,0,0,0
$GPS,250612,133650,2224.052,-15801.411,37,2.1,56,10.0