version: 66.06
glider: 146
mission: 7
dive: 213
start: 6 27 112 2 15 10
data:
$ID,146
$MISSION,7
$DIVE,213
$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,-294617.59
$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,27
$R_STBD_OVSHOOT,52
$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
$GPS1,020130,2218.142,-15803.021,38,1.1,38,10.0
$_CALLS,3
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-69.2
$GPS2,021414,2218.162,-15803.223,11,1.1,11,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.084,-0.239
$KALMAN_X,-43.2,-399.5,-336.6,1636.4,-573.9
$KALMAN_Y,130100.4,-6.9,-11.4,-171613.3,1335.2
$MHEAD_RNG_PITCHd_Wd,150.7,34811,-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,-136.3,0.0,0.0,0,107,0.00,0.00,-85.88,0.000,6,0.000,0.000,471,2193,3747,0,0,0,0,0,0
$GC,112,-1.32,-136.3,3.2,-8.3,11,130,13.12,2.67,0.00,0.000,4,0.173,0.040,2843,586,3748,0,0,0,0,0,0
$GC,276,-1.15,-136.3,38.7,-15.8,31,281,0.20,2.45,0.00,0.000,6,0.114,0.018,2892,2177,3748,0,0,0,0,0,0
$GC,545,-1.07,-136.3,70.5,-10.4,55,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2177,3749,0,0,0,0,0,0
$GC,808,-1.07,-136.3,95.2,-7.4,80,813,0.00,2.60,0.00,0.000,4,0.000,0.050,2892,595,3750,0,0,0,0,0,0
$GC,886,-1.07,-136.3,101.8,-8.8,86,890,0.00,2.42,0.00,0.000,6,0.000,0.020,2891,2175,3750,0,0,0,0,0,0
$GC,1148,-1.07,-136.3,128.5,-11.2,110,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2175,3751,0,0,0,0,0,0
$GC,1404,-1.07,-136.3,157.5,-11.5,134,1408,0.00,2.60,0.00,0.000,4,0.000,0.048,2891,597,3751,0,0,0,0,0,0
$GC,1420,-1.03,-136.3,159.6,-11.5,135,1425,0.12,2.42,0.00,0.000,6,0.115,0.021,2918,2178,3751,0,0,0,0,0,0
$GC,1681,-1.03,-136.3,184.5,-9.1,159,1682,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2178,3751,0,0,0,0,0,0
$GC,1945,-1.03,-136.3,207.7,-8.9,178,1950,0.00,2.60,0.00,0.000,4,0.000,0.046,2918,591,3751,0,0,0,0,0,0
$GC,1978,-1.03,-136.3,211.3,-10.0,178,1984,0.00,2.40,0.00,0.000,6,0.000,0.025,2918,2150,3751,0,0,0,0,0,0
$GC,2231,-1.07,-136.3,235.9,-9.9,185,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2150,3751,0,0,0,0,0,0
$GC,2473,-1.14,-136.3,257.8,-8.7,191,2474,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2150,3751,0,0,0,0,0,0
$GC,2716,-1.23,-136.3,274.8,-6.7,197,2721,0.17,2.55,0.00,0.000,4,0.055,0.035,2833,3747,3751,0,0,0,0,0,0
$GC,2738,-1.23,-136.3,276.5,-7.2,197,2742,0.00,2.50,0.00,0.000,6,0.000,0.025,2855,2149,3751,0,0,0,0,0,0
$GC,2995,-1.23,-136.3,299.0,-9.1,204,3000,0.10,2.58,0.00,0.000,4,0.120,0.042,2858,3747,3751,0,0,0,0,0,0
$GC,3103,-1.30,-136.3,308.3,-8.6,206,3108,0.00,2.47,0.00,0.000,6,0.000,0.028,2878,2178,3752,0,0,0,0,0,0
$GC,3366,-1.35,-136.3,329.7,-8.4,213,3368,0.12,0.00,0.00,0.000,6,0.068,0.000,2830,2178,3750,0,0,0,0,0,0
$GC,3608,-1.30,-136.3,354.8,-9.9,219,3610,0.15,0.00,0.00,0.000,6,0.102,0.000,2863,2178,3750,0,0,0,0,0,0
$GC,3851,-1.30,-136.3,374.1,-7.5,225,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2178,3749,0,0,0,0,0,0
$GC,4097,-1.30,-136.3,392.5,-7.7,231,4098,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2178,3748,0,0,0,0,0,0
$GC,4339,-1.30,-136.3,413.5,-8.7,237,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2178,3747,0,0,0,0,0,0
$GC,4583,-1.34,-136.3,435.0,-8.9,243,4584,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2178,3745,0,0,0,0,0,0
$GC,4826,-1.38,-136.3,455.1,-8.1,249,4831,0.00,2.65,0.00,0.000,4,0.000,0.058,2823,3743,3743,0,0,0,0,0,0
$GC,4861,-1.42,-136.3,458.0,-9.3,249,4868,1.45,2.62,0.00,0.000,6,0.066,0.052,2827,2182,3743,5,0,0,0,0,0
$GC,5112,-2.18,-136.3,469.2,-5.0,256,5121,2.30,2.95,0.00,0.000,4,0.051,0.106,2661,592,3741,0,0,0,0,0,0
$GC,5159,-1.80,-136.3,472.6,-10.0,257,5164,0.43,2.55,0.00,0.000,6,0.103,0.044,2749,2133,3740,0,0,0,0,0,0
$GC,5443,-1.63,-136.3,502.4,-9.7,264,5448,0.17,2.80,0.00,0.000,4,0.111,0.093,2786,591,3739,0,0,0,0,0,0
$GC,5462,-1.48,-136.3,504.1,-9.3,264,5467,0.17,2.62,0.00,0.000,6,0.109,0.051,2822,2164,3739,0,0,0,0,0,0
$GC,5725,-1.48,-136.3,521.8,-6.8,271,5726,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2163,3737,0,0,0,0,0,0
$GC,5966,-1.48,-136.3,540.4,-7.9,277,5968,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2163,3735,0,0,0,0,0,0
$STATE,6086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6086,begin apogee
$GC,6091,-0.31,0.0,551.0,8.5,280,6210,1.10,0.00,110.80,0.969,6,0.074,0.000,3073,2163,3189,0,0,0,0,0,0
$STATE,6211,end apogee,CONTROL_FINISHED_OK
$STATE,6211,begin climb
$GC,6214,1.32,136.3,553.6,0.0,283,6332,1.52,0.00,114.40,0.939,6,0.040,0.000,3436,2163,2636,0,0,0,0,0,0
$GC,6573,1.20,151.6,525.4,9.4,292,6592,0.15,2.85,13.80,0.851,4,0.127,0.072,3353,3762,2573,0,0,0,0,0,0
$GC,6628,1.14,172.0,520.4,9.2,293,6654,0.80,2.72,18.98,0.871,6,0.045,0.056,3567,2183,2488,2,0,0,0,0,0
$GC,6900,0.71,172.0,471.4,18.7,299,6908,1.52,2.67,0.00,0.000,4,0.119,0.050,3194,3771,2479,0,0,0,0,0,0
$GC,6957,0.98,249.6,466.3,6.3,300,7032,0.22,2.67,68.20,0.890,6,0.054,0.051,3362,2182,2171,0,0,0,0,0,0
$GC,7318,1.04,249.6,431.7,10.3,309,7322,0.00,2.65,0.00,0.000,4,0.000,0.047,3328,3769,2163,0,0,0,0,0,0
$GC,7347,1.11,249.6,428.7,11.1,309,7352,0.10,2.67,0.00,0.000,6,0.087,0.046,3390,2184,2162,0,0,0,0,0,0
$GC,7596,1.11,249.6,398.2,12.2,315,7601,0.00,2.83,0.00,0.000,4,0.000,0.081,3390,591,2160,0,0,0,0,0,0
$GC,7623,1.11,249.6,394.6,13.2,315,7627,0.00,2.62,0.00,0.000,6,0.000,0.026,3377,2211,2159,0,0,0,0,0,0
$GC,7875,1.11,249.6,364.4,11.9,321,7876,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,2211,2159,0,0,0,0,0,0
$GC,8116,1.11,249.6,336.3,11.1,327,8118,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,2208,2158,0,0,0,0,0,0
$GC,8361,1.15,249.6,307.5,11.6,333,8365,0.00,2.75,0.00,0.000,4,0.000,0.058,3390,588,2157,0,0,0,0,0,0
$GC,8387,1.15,249.6,304.3,11.8,333,8391,0.00,2.55,0.00,0.000,6,0.000,0.028,3388,2198,2155,0,0,0,0,0,0
$GC,8640,1.21,262.3,279.8,9.5,339,8655,0.00,2.60,9.82,0.705,4,0.000,0.045,3351,3762,2120,0,0,0,0,0,0
$GC,8711,1.31,266.9,272.7,10.0,340,8723,0.17,2.55,5.57,0.603,6,0.064,0.031,3437,2196,2102,0,0,0,0,0,0
$GC,8968,1.31,266.9,244.0,11.1,347,8972,0.00,2.70,0.00,0.000,4,0.000,0.064,3438,594,2100,0,0,0,0,0,0
$GC,9039,1.31,266.9,235.6,11.2,348,9044,0.00,2.58,0.00,0.000,6,0.000,0.026,3417,2215,2099,0,0,0,0,0,0
$GC,9289,1.31,266.9,208.3,11.3,354,9290,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2215,2099,0,0,0,0,0,0
$GC,9542,1.31,266.9,177.5,12.6,372,9543,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2215,2099,0,0,0,0,0,0
$GC,9795,1.31,266.9,145.3,12.8,396,9796,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2215,2099,0,0,0,0,0,0
$GC,10052,1.31,266.9,111.9,12.7,420,10056,0.00,2.47,0.00,0.000,4,0.000,0.038,3385,3755,2099,0,0,0,0,0,0
$GC,10085,1.31,266.9,107.1,14.1,422,10095,1.45,2.53,0.00,0.000,6,0.040,0.028,3619,2196,2099,5,0,0,0,0,0
$GC,10352,0.77,266.9,39.8,27.0,447,10367,2.33,2.60,0.00,0.000,4,0.114,0.037,2951,3758,2098,0,0,0,0,0,0
$GC,10395,1.01,271.0,32.3,10.0,450,10411,0.20,2.47,5.10,0.426,6,0.051,0.025,3380,2187,2085,0,0,0,0,0,0
$GC,10725,1.20,303.4,6.5,8.6,497,10752,0.10,0.00,24.08,0.515,2,0.080,0.000,3415,2187,1979,0,0,0,0,0,0
$STATE,10753,end climb,SURFACE_DEPTH_REACHED
$STATE,10753,begin surface coast
$FINISH,-0.7,1.023867
$STATE,10811,end surface coast,CONTROL_FINISHED_OK
$STATE,10812,begin surface
$SM_CCo,10834,66.85,0.516,0,0,1640,380.46
$SM_GC,0.22,0.00,0.00,66.85,0.000,0.000,0.516,467,2183,1640,-12.31,0.08,380.46
$IRIDIUM_FIX,2209.02,-15800.24,210901,020225
$TT8_MAMPS,0.026845
$HUMID,61.89
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,21.70
$XPDR_PINGS,36
$24V_AH,23.5,30.469
$10V_AH,10.3,27.065
$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,40.050,93.975,370.750,66.850,0.000,84.856,151.377,253.754,9.000,0.000,13.384,1018.968,7556.421,518.408,1773.295,798.871,33.368,1174.779,0.000,1781.570,0.000,0.536,0.000
$DEVICE_MAMPS,173.342,105.846,969.488,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,344.317,284.390,372.172,701.467,1061.971,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355992
$DATA_FILE_SIZE,38316,508
$CAP_FILE_SIZE,107845,0
$CFSIZE,260165632,133959680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,12,0,0,0
$GPS,270612,051810,2217.537,-15803.059,18,99.0,37,10.0