version: 66.06
glider: 146
mission: 7
dive: 214
start: 6 27 112 5 37 9
data:
$ID,146
$MISSION,7
$DIVE,214
$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,-294651.25
$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,34
$R_STBD_OVSHOOT,39
$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
$GPS1,051810,2217.537,-15803.059,18,99.0,37,10.0
$_CALLS,4
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-70.1
$GPS2,053616,2217.670,-15803.263,11,99.0,30,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.074,-0.242
$KALMAN_X,-1316.0,-394.6,-32.4,2529.0,-438.2
$KALMAN_Y,131483.7,280.8,-25.6,-174184.6,1297.4
$MHEAD_RNG_PITCHd_Wd,153.0,33949,-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,-136.3,0.0,0.0,0,109,0.00,0.00,-87.88,0.000,6,0.000,0.000,466,2182,3746,0,0,0,0,0,0
$GC,114,-1.32,-136.3,2.5,-5.7,11,133,13.25,2.58,0.00,0.000,4,0.173,0.034,2847,591,3748,0,0,0,0,0,0
$GC,247,-1.17,-136.3,34.8,-17.1,27,252,0.20,2.47,0.00,0.000,6,0.125,0.019,2887,2186,3747,0,0,0,0,0,0
$GC,513,-1.10,-136.3,70.9,-12.2,51,517,0.00,2.60,0.00,0.000,4,0.000,0.046,2843,605,3748,0,0,0,0,0,0
$GC,547,-1.01,-136.3,75.4,-13.0,53,552,0.17,2.42,0.00,0.000,6,0.110,0.017,2923,2182,3748,0,0,0,0,0,0
$GC,812,-1.05,-136.3,103.8,-9.4,77,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2182,3749,0,0,0,0,0,0
$GC,1075,-1.09,-136.3,127.0,-9.0,102,1080,0.00,2.60,0.00,0.000,4,0.000,0.047,2923,602,3749,0,0,0,0,0,0
$GC,1135,-1.15,-136.3,132.6,-9.5,106,1145,0.10,2.45,0.00,0.000,6,0.035,0.018,2873,2169,3749,0,0,0,0,0,0
$GC,1397,-1.09,-136.3,163.3,-12.0,131,1403,0.15,2.60,0.00,0.000,4,0.100,0.054,2907,597,3750,0,0,0,0,0,0
$GC,1433,-1.09,-136.3,166.9,-11.8,133,1437,0.00,2.42,0.00,0.000,6,0.000,0.019,2906,2182,3750,0,0,0,0,0,0
$GC,1699,-1.09,-136.3,194.7,-10.3,157,1703,0.00,2.60,0.00,0.000,4,0.000,0.048,2906,598,3750,0,0,0,0,0,0
$GC,1720,-1.09,-136.3,197.6,-10.4,158,1726,0.00,2.40,0.00,0.000,6,0.000,0.017,2907,2172,3750,0,0,0,0,0,0
$GC,1993,-1.09,-136.3,225.1,-10.3,167,1998,0.00,2.60,0.00,0.000,4,0.000,0.051,2907,603,3749,0,0,0,0,0,0
$GC,2038,-1.13,-136.3,230.4,-11.1,168,2042,0.00,2.40,0.00,0.000,6,0.000,0.020,2907,2164,3749,0,0,0,0,0,0
$GC,2318,-1.18,-136.3,256.3,-8.9,175,2322,0.00,2.58,0.00,0.000,4,0.000,0.055,2907,598,3750,0,0,0,0,0,0
$GC,2345,-1.23,-136.3,258.7,-8.1,175,2350,0.12,2.40,0.00,0.000,6,0.069,0.022,2856,2161,3750,0,0,0,0,0,0
$GC,2595,-1.23,-136.3,283.3,-9.8,181,2599,0.00,2.53,0.00,0.000,4,0.000,0.037,2807,3751,3750,0,0,0,0,0,0
$GC,2657,-1.23,-136.3,290.1,-10.9,182,2662,0.00,2.50,0.00,0.000,6,0.000,0.026,2856,2161,3750,0,0,0,0,0,0
$GC,2919,-1.23,-136.3,315.1,-8.6,189,2923,0.00,2.65,0.00,0.000,4,0.000,0.064,2856,603,3749,0,0,0,0,0,0
$GC,2945,-1.23,-136.3,317.4,-8.1,189,2950,0.00,2.45,0.00,0.000,6,0.000,0.025,2856,2154,3749,0,0,0,0,0,0
$GC,3198,-1.23,-136.3,336.6,-8.0,195,3202,0.00,2.60,0.00,0.000,4,0.000,0.041,2799,3764,3749,0,0,0,0,0,0
$GC,3219,-1.23,-136.3,338.5,-7.8,195,3223,0.00,2.55,0.00,0.000,6,0.000,0.028,2855,2171,3749,0,0,0,0,0,0
$GC,3474,-1.23,-136.3,359.6,-8.6,202,3478,0.00,2.58,0.00,0.000,4,0.000,0.047,2798,3754,3748,0,0,0,0,0,0
$GC,3508,-1.23,-136.3,362.8,-9.6,202,3514,0.00,2.58,0.00,0.000,6,0.000,0.035,2856,2162,3748,0,0,0,0,0,0
$GC,3758,-1.23,-136.3,383.7,-8.3,209,3760,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2162,3747,0,0,0,0,0,0
$GC,4002,-1.23,-136.3,403.0,-8.0,215,4007,0.00,2.78,0.00,0.000,4,0.000,0.093,2856,597,3745,0,0,0,0,0,0
$GC,4018,-1.23,-136.3,404.3,-7.9,215,4022,0.00,2.53,0.00,0.000,6,0.000,0.033,2856,2161,3746,0,0,0,0,0,0
$GC,4280,-1.23,-136.3,423.6,-7.3,222,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2161,3744,0,0,0,0,0,0
$GC,4522,-1.23,-136.3,440.9,-7.1,228,4527,0.00,2.67,0.00,0.000,4,0.000,0.058,2825,3758,3742,0,0,0,0,0,0
$GC,4555,-1.27,-136.3,443.4,-7.7,228,4565,3.45,2.65,0.00,0.000,6,0.063,0.046,2964,2170,3741,12,0,0,0,0,0
$GC,4851,-2.99,-136.3,479.3,-14.6,236,4862,5.43,2.67,0.00,0.000,4,0.085,0.053,2470,3758,3739,0,0,0,0,0,0
$GC,5119,-2.37,-136.3,536.4,-22.9,242,5128,2.90,2.67,0.00,0.000,6,0.129,0.064,2740,2190,3737,10,0,0,0,0,0
$STATE,5363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5363,begin apogee
$GC,5369,-0.31,0.0,552.6,6.7,248,5486,0.15,0.00,111.22,0.955,6,0.208,0.000,3073,2190,3190,0,0,0,0,0,0
$STATE,5487,end apogee,CONTROL_FINISHED_OK
$STATE,5487,begin climb
$GC,5491,1.32,136.3,558.0,0.0,251,5615,1.50,3.10,113.53,0.930,4,0.050,0.120,3433,594,2634,0,0,0,0,0,0
$GC,5643,1.14,136.3,547.1,12.8,254,5649,0.20,2.70,0.00,0.000,6,0.117,0.052,3395,2172,2629,0,0,0,0,0,0
$GC,5901,1.08,138.9,520.8,10.1,261,5906,0.00,2.78,0.00,0.000,4,0.000,0.071,3343,3769,2625,0,0,0,0,0,0
$GC,6024,1.02,138.9,506.6,11.2,263,6030,0.15,2.70,0.00,0.000,6,0.121,0.056,3367,2197,2623,0,0,0,0,0,0
$GC,6276,1.04,148.5,482.4,9.7,270,6292,0.00,3.10,10.18,0.809,4,0.000,0.115,3366,590,2583,0,0,0,0,0,0
$GC,6331,1.04,148.5,476.4,10.5,271,6335,0.00,2.70,0.00,0.000,6,0.000,0.044,3342,2200,2582,0,0,0,0,0,0
$GC,6599,1.05,161.9,450.9,9.5,278,6619,0.00,2.72,12.82,0.828,4,0.000,0.058,3283,3766,2528,0,0,0,0,0,0
$GC,6660,1.05,161.9,444.7,10.3,279,6666,0.17,2.65,0.00,0.000,6,0.067,0.047,3411,2193,2526,0,0,0,0,0,0
$GC,6927,0.98,161.9,415.4,10.7,286,6929,0.28,0.00,0.00,0.000,6,0.106,0.000,3358,2193,2524,0,0,0,0,0,0
$GC,7173,1.12,229.5,397.9,6.8,292,7240,0.12,2.70,59.28,0.861,4,0.081,0.047,3306,3765,2253,0,0,0,0,0,0
$GC,7259,1.14,246.0,390.6,9.4,294,7279,0.00,2.60,15.40,0.792,6,0.000,0.038,3392,2202,2188,0,0,0,0,0,0
$GC,7537,1.14,246.0,362.3,10.3,301,7542,0.00,2.85,0.00,0.000,4,0.000,0.079,3392,590,2181,0,0,0,0,0,0
$GC,7586,1.14,246.0,356.4,12.0,302,7591,0.00,2.62,0.00,0.000,6,0.000,0.028,3371,2211,2179,0,0,0,0,0,0
$GC,7859,1.14,246.0,326.0,11.4,309,7863,0.00,2.80,0.00,0.000,4,0.000,0.064,3392,585,2179,0,0,0,0,0,0
$GC,7899,1.14,246.0,321.4,13.0,310,7904,0.00,2.60,0.00,0.000,6,0.000,0.029,3371,2200,2178,0,0,0,0,0,0
$GC,8182,1.14,246.0,289.6,11.0,317,8187,0.00,2.53,0.00,0.000,4,0.000,0.041,3350,3755,2177,0,0,0,0,0,0
$GC,8313,1.21,246.0,274.3,12.0,320,8318,0.00,2.53,0.00,0.000,6,0.000,0.031,3392,2200,2175,0,0,0,0,0,0
$GC,8599,1.29,266.3,246.9,9.2,327,8623,0.12,2.67,17.15,0.721,4,0.076,0.041,3319,3758,2104,0,0,0,0,0,0
$GC,8657,1.29,266.3,239.8,11.2,328,8661,0.00,2.50,0.00,0.000,6,0.000,0.032,3427,2218,2102,0,0,0,0,0,0
$GC,8925,1.29,266.3,210.9,10.6,335,8930,0.00,2.75,0.00,0.000,4,0.000,0.058,3427,595,2101,0,0,0,0,0,0
$GC,8974,1.29,266.3,204.9,11.4,336,8979,0.00,2.60,0.00,0.000,6,0.000,0.028,3422,2228,2099,0,0,0,0,0,0
$GC,9238,1.29,266.3,175.2,11.6,356,9245,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,2228,2099,0,0,0,0,0,0
$GC,9503,1.29,266.3,144.2,11.8,381,9508,0.00,2.72,0.00,0.000,4,0.000,0.049,3427,595,2099,0,0,0,0,0,0
$GC,9543,1.29,266.3,138.9,11.8,384,9547,0.00,2.55,0.00,0.000,6,0.000,0.022,3426,2221,2098,0,0,0,0,0,0
$GC,9807,1.29,266.3,106.5,12.4,408,9816,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,2220,2099,0,0,0,0,0,0
$GC,10073,1.29,266.3,73.3,11.6,433,10082,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,2221,2099,0,0,0,0,0,0
$GC,10342,1.34,266.3,44.3,10.6,458,10350,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2221,2099,0,0,0,0,0,0
$GC,10652,1.37,266.3,14.0,11.8,495,10661,0.00,2.75,0.00,0.000,4,0.000,0.054,3427,598,2101,0,0,0,0,0,0
$GC,10685,1.37,266.3,9.7,11.9,499,10694,0.00,2.53,0.00,0.000,6,0.000,0.027,3427,2198,2101,0,0,0,0,0,0
$STATE,10729,end climb,SURFACE_DEPTH_REACHED
$STATE,10729,begin surface coast
$FINISH,-0.5,1.011575
$STATE,10773,end surface coast,CONTROL_FINISHED_OK
$STATE,10773,begin surface
$SM_CCo,10794,92.53,0.517,0,0,1638,380.21
$SM_GC,0.20,0.00,0.00,92.53,0.000,0.000,0.517,465,2201,1638,-12.32,0.59,380.21
$IRIDIUM_FIX,2209.02,-15804.56,210901,050551
$TT8_MAMPS,0.029146
$HUMID,60.27
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,21.90
$XPDR_PINGS,66
$24V_AH,23.5,30.610
$10V_AH,10.2,27.186
$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,40.275,136.275,339.575,92.525,0.000,113.652,182.799,424.528,16.500,0.000,33.041,1065.649,7246.121,541.927,2052.892,1068.325,33.376,1317.873,0.000,2036.943,0.000,0.536,0.000
$DEVICE_MAMPS,207.857,119.652,954.915,516.958,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,346.311,268.433,377.437,730.094,1106.368,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355976
$DATA_FILE_SIZE,38380,511
$CAP_FILE_SIZE,123828,0
$CFSIZE,260165632,133890048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,22,0,0,0
$GPS,270612,084037,2217.149,-15803.488,79,1.1,79,10.0