version: 66.06
glider: 146
mission: 7
dive: 215
start: 6 27 112 8 48 32
data:
$ID,146
$MISSION,7
$DIVE,215
$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,-294666.66
$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,26
$R_STBD_OVSHOOT,40
$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
$GPS1,084037,2217.149,-15803.488,79,1.1,79,10.0
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-70.8
$GPS2,084738,2217.184,-15803.615,11,1.5,11,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.138,-0.212
$KALMAN_X,-2932.9,-267.8,85.6,3303.6,-1093.4
$KALMAN_Y,132860.8,425.6,156.2,-176788.3,972.6
$MHEAD_RNG_PITCHd_Wd,137.0,33254,-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,-87.18,0.000,6,0.000,0.000,464,2202,3747,0,0,0,0,0,0
$GC,119,-1.32,-136.3,4.7,-12.3,12,145,13.18,2.72,0.00,0.000,4,0.174,0.039,2850,584,3748,0,0,0,0,0,0
$GC,163,-0.52,-136.3,23.5,-39.4,17,173,0.77,2.53,0.00,0.000,6,0.087,0.018,3024,2182,3748,0,0,0,0,0,0
$GC,452,-0.74,-136.3,48.3,-6.6,46,461,0.17,0.00,0.00,0.000,6,0.053,0.000,2959,2184,3748,0,0,0,0,0,0
$GC,721,-0.84,-136.3,75.3,-10.4,71,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2184,3749,0,0,0,0,0,0
$GC,984,-0.95,-136.3,99.3,-7.3,96,988,0.00,2.60,0.00,0.000,4,0.000,0.052,2958,595,3749,0,0,0,0,0,0
$GC,1005,-1.06,-136.3,100.9,-8.0,97,1010,0.20,2.42,0.00,0.000,6,0.049,0.024,2887,2180,3749,0,0,0,0,0,0
$GC,1269,-1.06,-136.3,130.9,-11.1,121,1275,0.10,0.00,0.00,0.000,6,0.117,0.000,2910,2180,3750,0,0,0,0,0,0
$GC,1532,-1.06,-136.3,156.3,-9.3,146,1533,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2180,3750,0,0,0,0,0,0
$GC,1787,-1.06,-136.3,178.4,-8.3,170,1789,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2181,3750,0,0,0,0,0,0
$GC,2040,-1.06,-136.3,198.5,-8.5,194,2041,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2181,3751,0,0,0,0,0,0
$GC,2305,-1.10,-136.3,222.8,-9.6,202,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2180,3751,0,0,0,0,0,0
$GC,2551,-1.16,-136.3,246.6,-9.9,208,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2180,3749,0,0,0,0,0,0
$GC,2793,-1.26,-136.3,267.8,-8.3,214,2798,0.17,2.50,0.00,0.000,4,0.054,0.040,2827,3745,3751,0,0,0,0,0,0
$GC,2825,-1.26,-136.3,270.8,-10.0,214,2832,0.12,2.50,0.00,0.000,6,0.103,0.026,2875,2154,3754,0,0,0,0,0,0
$GC,3077,-1.26,-136.3,287.8,-6.4,221,3079,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2154,3751,0,0,0,0,0,0
$GC,3319,-1.26,-136.3,306.9,-8.0,227,3324,0.00,2.58,0.00,0.000,4,0.000,0.044,2854,3747,3751,0,0,0,0,0,0
$GC,3370,-1.34,-136.3,311.6,-9.2,228,3375,0.10,2.50,0.00,0.000,6,0.079,0.032,2832,2173,3751,0,0,0,0,0,0
$GC,3644,-1.30,-136.3,340.1,-10.9,235,3649,0.12,2.72,0.00,0.000,4,0.110,0.073,2859,594,3750,0,0,0,0,0,0
$GC,3712,-1.30,-136.3,348.0,-11.5,236,3717,0.00,2.47,0.00,0.000,6,0.000,0.029,2859,2148,3750,0,0,0,0,0,0
$GC,3970,-1.30,-136.3,372.8,-9.4,243,3971,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2148,3749,0,0,0,0,0,0
$GC,4211,-1.30,-136.3,393.0,-8.2,249,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2148,3747,0,0,0,0,0,0
$GC,4455,-1.30,-136.3,412.0,-7.8,255,4460,0.00,2.65,0.00,0.000,4,0.000,0.054,2832,3758,3746,0,0,0,0,0,0
$GC,4525,-1.35,-136.3,417.5,-8.4,256,4533,1.20,2.60,0.00,0.000,6,0.067,0.048,2961,2182,3745,4,0,0,0,0,0
$GC,4784,-2.06,-136.3,429.9,-5.7,263,4793,1.88,2.67,0.00,0.000,4,0.047,0.048,2621,3759,3743,0,0,0,0,0,0
$GC,4800,-2.35,-136.3,431.2,-6.1,263,4805,0.22,2.75,0.00,0.000,6,0.049,0.038,2617,2077,3742,0,0,0,0,0,0
$GC,5069,-1.93,-136.3,476.0,-17.9,270,5074,0.45,2.72,0.00,0.000,4,0.100,0.104,2716,594,3742,0,0,0,0,0,0
$GC,5271,-1.67,-136.3,508.4,-15.8,274,5276,0.30,2.47,0.00,0.000,6,0.108,0.049,2777,2089,3740,0,0,0,0,0,0
$GC,5527,-1.57,-136.3,537.6,-11.1,281,5532,0.12,2.95,0.00,0.000,4,0.125,0.081,2786,3755,3739,0,0,0,0,0,0
$GC,5624,-1.52,-136.3,547.4,-9.8,283,5628,0.00,2.83,0.00,0.000,6,0.000,0.060,2803,2116,3738,0,0,0,0,0,0
$STATE,5690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5690,begin apogee
$GC,5698,-0.31,0.0,553.5,8.8,285,5813,1.20,0.00,111.35,0.957,6,0.091,0.000,3075,2188,3190,0,0,0,0,0,0
$STATE,5814,end apogee,CONTROL_FINISHED_OK
$STATE,5814,begin climb
$GC,5816,1.32,136.3,554.7,0.0,288,5935,1.52,0.00,114.78,0.927,6,0.041,0.000,3436,2188,2634,0,0,0,0,0,0
$GC,6178,1.19,136.3,516.4,11.9,297,6184,0.17,2.67,0.00,0.000,4,0.123,0.057,3370,3761,2626,0,0,0,0,0,0
$GC,6245,1.10,136.3,508.4,11.8,298,6250,0.00,2.65,0.00,0.000,6,0.000,0.054,3403,2197,2624,0,0,0,0,0,0
$GC,6501,1.06,155.9,484.2,9.2,305,6520,0.12,0.00,16.80,0.854,6,0.128,0.000,3378,2197,2554,0,0,0,0,0,0
$GC,6746,1.09,180.3,462.2,9.0,311,6775,0.00,2.75,21.90,0.865,4,0.000,0.052,3294,3765,2454,0,0,0,0,0,0
$GC,6804,1.10,192.1,456.4,9.6,312,6824,0.20,2.65,11.82,0.808,6,0.063,0.048,3403,2199,2406,0,0,0,0,0,0
$GC,7076,1.02,192.1,423.7,12.2,319,7078,0.30,0.00,0.00,0.000,6,0.107,0.000,3368,2199,2401,0,0,0,0,0,0
$GC,7318,1.08,207.6,400.3,9.4,325,7334,0.00,0.00,14.27,0.816,6,0.000,0.000,3368,2198,2343,0,0,0,0,0,0
$GC,7562,1.13,210.0,376.0,10.1,331,7567,0.10,2.88,0.00,0.000,4,0.089,0.081,3397,590,2339,0,0,0,0,0,0
$GC,7597,1.13,210.0,372.0,12.1,331,7603,0.00,2.62,0.00,0.000,6,0.000,0.031,3383,2209,2337,0,0,0,0,0,0
$GC,7847,1.13,210.0,342.5,11.6,338,7851,0.00,2.58,0.00,0.000,4,0.000,0.049,3357,3767,2337,0,0,0,0,0,0
$GC,7907,1.13,210.0,335.0,12.6,339,7911,0.00,2.58,0.00,0.000,6,0.000,0.036,3396,2201,2337,0,0,0,0,0,0
$GC,8177,1.14,214.6,307.3,10.0,346,8190,0.00,2.78,6.55,0.670,4,0.000,0.067,3397,595,2315,0,0,0,0,0,0
$GC,8230,1.16,230.6,302.0,9.4,347,8251,0.00,2.60,16.05,0.767,6,0.000,0.025,3397,2208,2249,0,0,0,0,0,0
$GC,8503,1.18,251.4,278.0,9.1,354,8528,0.00,2.65,18.65,0.753,4,0.000,0.047,3352,3757,2167,0,0,0,0,0,0
$GC,8647,1.24,254.7,263.1,10.0,357,8657,0.00,2.53,4.60,0.550,6,0.000,0.031,3396,2216,2152,0,0,0,0,0,0
$GC,8920,1.30,254.7,235.4,10.6,364,8925,0.12,2.78,0.00,0.000,4,0.077,0.064,3434,596,2149,0,0,0,0,0,0
$GC,8947,1.30,254.7,231.7,12.3,364,8952,0.00,2.62,0.00,0.000,6,0.000,0.029,3414,2231,2148,0,0,0,0,0,0
$GC,9197,1.30,254.7,202.6,11.5,370,9202,0.00,2.47,0.00,0.000,4,0.000,0.044,3416,3757,2148,0,0,0,0,0,0
$GC,9243,1.30,254.7,197.4,11.4,371,9249,0.00,2.50,0.00,0.000,6,0.000,0.029,3404,2216,2148,0,0,0,0,0,0
$GC,9506,1.30,254.7,169.2,10.5,396,9507,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2215,2148,0,0,0,0,0,0
$GC,9761,1.30,254.7,141.5,11.1,420,9765,0.00,2.70,0.00,0.000,4,0.000,0.053,3434,598,2148,0,0,0,0,0,0
$GC,9783,1.30,254.7,138.4,12.2,421,9789,0.00,2.55,0.00,0.000,6,0.000,0.026,3434,2222,2147,0,0,0,0,0,0
$GC,10046,1.30,254.7,108.7,10.6,446,10047,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2222,2147,0,0,0,0,0,0
$GC,10301,1.30,254.7,81.0,10.6,470,10302,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2222,2147,0,0,0,0,0,0
$GC,10560,1.38,285.3,56.9,8.6,494,10600,0.00,2.50,27.58,0.557,4,0.000,0.034,3346,3757,2029,0,0,0,0,0,0
$GC,10620,1.44,285.3,50.8,11.0,498,10628,0.05,2.55,0.00,0.000,6,0.055,0.028,3461,2205,2024,0,0,0,0,0,0
$GC,10925,1.44,285.5,17.0,10.2,531,10934,0.00,2.70,0.00,0.000,4,0.000,0.056,3460,595,2023,0,0,0,0,0,0
$GC,10954,1.44,285.5,12.9,12.7,534,10964,0.00,2.55,0.00,0.000,6,0.000,0.020,3460,2201,2022,0,0,0,0,0,0
$STATE,11027,end climb,SURFACE_DEPTH_REACHED
$STATE,11028,begin surface coast
$FINISH,-0.6,1.010570
$STATE,11078,end surface coast,CONTROL_FINISHED_OK
$STATE,11078,begin surface
$SM_CCo,11101,77.50,0.515,0,0,1640,380.21
$SM_GC,0.16,0.00,0.00,77.50,0.000,0.000,0.515,465,2205,1640,-12.32,0.71,380.21
$IRIDIUM_FIX,2211.35,-15804.56,210901,050539
$TT8_MAMPS,0.027612
$HUMID,60.59
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,21.80
$XPDR_PINGS,57
$24V_AH,23.5,30.728
$10V_AH,10.3,27.311
$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,34.900,105.175,364.350,77.500,0.000,28.254,33.772,209.386,14.250,0.000,14.780,1095.870,7277.730,552.798,2075.294,595.537,33.365,1280.547,0.000,2085.098,0.000,0.536,0.000
$DEVICE_MAMPS,174.109,103.545,957.216,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,372.043,300.759,418.223,818.299,1249.993,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355944
$DATA_FILE_SIZE,41610,549
$CAP_FILE_SIZE,112313,0
$CFSIZE,260165632,133840896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,0,0,0
$GPS,270612,115628,2216.733,-15804.045,37,99.0,56,10.0