version: 66.06
glider: 146
mission: 7
dive: 216
start: 6 27 112 12 13 52
data:
$ID,146
$MISSION,7
$DIVE,216
$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,-294729.38
$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,25
$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
$GPS1,115628,2216.733,-15804.045,37,99.0,56,10.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-69.2
$GPS2,121257,2216.830,-15804.345,59,1.8,59,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.158,-0.198
$KALMAN_X,-5213.9,-206.8,-379.2,4748.3,-1171.6
$KALMAN_Y,134453.9,412.2,192.5,-179062.0,604.6
$MHEAD_RNG_PITCHd_Wd,131.4,33019,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.32,-136.3,0.0,0.0,0,108,0.00,0.00,-86.78,0.000,6,0.000,0.000,466,2205,3747,0,0,0,0,0,0
$GC,113,-1.32,-136.3,2.8,-6.5,11,132,13.12,2.67,0.00,0.000,4,0.172,0.038,2849,584,3748,0,0,0,0,0,0
$GC,144,-0.01,-136.3,16.1,-35.1,14,153,1.30,2.53,0.00,0.000,6,0.089,0.018,3138,2193,3748,0,0,0,0,0,0
$GC,479,-0.63,-136.3,38.1,-7.2,55,484,0.55,2.47,0.00,0.000,4,0.058,0.032,2965,3746,3749,0,0,0,0,0,0
$GC,527,-0.99,-136.3,41.9,-7.6,58,532,0.30,2.47,0.00,0.000,6,0.039,0.019,2906,2160,3749,0,0,0,0,0,0
$GC,796,-0.99,-136.3,71.2,-12.1,82,801,0.10,2.58,0.00,0.000,4,0.114,0.034,2929,3749,3749,0,0,0,0,0,0
$GC,829,-0.99,-136.3,75.5,-11.4,84,834,0.00,2.47,0.00,0.000,6,0.000,0.023,2929,2182,3749,0,0,0,0,0,0
$GC,1094,-1.04,-136.3,100.3,-8.7,108,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2183,3750,0,0,0,0,0,0
$GC,1361,-1.10,-136.3,122.7,-8.5,133,1366,0.10,2.60,0.00,0.000,4,0.081,0.047,2886,608,3749,0,0,0,0,0,0
$GC,1385,-1.10,-136.3,125.5,-9.7,134,1394,0.00,2.47,0.00,0.000,6,0.000,0.016,2886,2197,3750,0,0,0,0,0,0
$GC,1647,-1.06,-136.3,153.9,-11.0,159,1649,0.12,0.00,0.00,0.000,6,0.103,0.000,2915,2198,3750,0,0,0,0,0,0
$GC,1903,-1.06,-136.3,178.2,-9.8,183,1908,0.00,2.60,0.00,0.000,4,0.000,0.048,2915,608,3751,0,0,0,0,0,0
$GC,1932,-1.06,-136.3,181.7,-10.6,185,1936,0.00,2.42,0.00,0.000,6,0.000,0.023,2915,2191,3750,0,0,0,0,0,0
$GC,2202,-1.10,-136.3,208.9,-9.9,204,2203,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2191,3750,0,0,0,0,0,0
$GC,2446,-1.16,-136.3,229.6,-7.9,210,2451,0.10,2.47,0.00,0.000,4,0.079,0.033,2846,3749,3750,0,0,0,0,0,0
$GC,2462,-1.16,-136.3,231.3,-7.9,210,2471,2.65,2.45,0.00,0.000,6,0.063,0.020,3035,2183,3751,9,0,0,0,0,0
$GC,2730,-2.58,-136.3,250.8,-9.3,217,2740,4.47,2.65,0.00,0.000,4,0.118,0.057,2583,604,3751,0,0,0,0,0,0
$GC,2751,-3.03,-136.3,252.4,-6.8,217,2756,0.40,2.50,0.00,0.000,6,0.037,0.022,2468,2243,3751,0,0,0,0,0,0
$GC,3007,-2.35,-136.3,314.6,-26.9,224,3013,0.75,2.75,0.00,0.000,4,0.119,0.054,2609,612,3750,0,0,0,0,0,0
$GC,3129,-1.91,-136.3,336.9,-17.5,226,3134,0.47,2.58,0.00,0.000,6,0.113,0.031,2724,2225,3750,0,0,0,0,0,0
$GC,3379,-1.67,-136.3,369.0,-12.3,232,3384,0.25,2.55,0.00,0.000,4,0.106,0.057,2741,3760,3749,0,0,0,0,0,0
$GC,3403,-1.50,-136.3,371.6,-11.3,232,3408,0.22,2.45,0.00,0.000,6,0.107,0.042,2827,2268,3750,0,0,0,0,0,0
$GC,3658,-1.50,-136.3,392.3,-7.8,239,3663,0.00,2.97,0.00,0.000,4,0.000,0.097,2831,611,3748,0,0,0,0,0,0
$GC,3674,-1.50,-136.3,393.7,-8.1,239,3678,0.00,2.67,0.00,0.000,6,0.000,0.041,2831,2249,3748,0,0,0,0,0,0
$GC,3937,-1.50,-136.3,415.8,-8.5,246,3941,0.00,2.85,0.00,0.000,4,0.000,0.076,2831,618,3747,0,0,0,0,0,0
$GC,3952,-1.50,-136.3,417.5,-8.3,246,3957,0.00,2.67,0.00,0.000,6,0.000,0.048,2831,2248,3747,0,0,0,0,0,0
$GC,4214,-1.50,-136.3,440.6,-9.0,253,4218,0.00,2.90,0.00,0.000,4,0.000,0.090,2831,613,3745,0,0,0,0,0,0
$GC,4293,-1.50,-136.3,448.1,-9.9,254,4299,0.00,2.67,0.00,0.000,6,0.000,0.048,2831,2229,3744,0,0,0,0,0,0
$GC,4543,-1.50,-136.3,469.4,-8.3,261,4544,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2229,3742,0,0,0,0,0,0
$GC,4787,-1.50,-136.3,490.8,-9.0,267,4791,0.00,2.65,0.00,0.000,4,0.000,0.071,2802,3764,3740,0,0,0,0,0,0
$GC,4809,-1.50,-136.3,493.2,-10.3,267,4818,3.12,2.53,0.00,0.000,6,0.067,0.049,2911,2270,3740,11,0,0,0,0,0
$GC,5070,-3.13,-136.3,522.7,-13.5,274,5080,4.90,2.60,0.00,0.000,4,0.065,0.065,2434,3764,3737,0,0,0,0,0,0
$STATE,5207,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5207,begin apogee
$GC,5217,-0.31,0.0,550.4,24.9,277,5334,3.05,0.00,110.53,0.960,6,0.134,0.000,3070,2204,3191,0,0,0,0,0,0
$STATE,5334,end apogee,CONTROL_FINISHED_OK
$STATE,5335,begin climb
$GC,5337,1.32,136.3,556.5,0.0,280,5463,1.50,3.15,113.82,0.928,4,0.043,0.114,3432,594,2633,0,0,0,0,0,0
$GC,5547,1.16,136.3,538.1,12.4,284,5554,0.25,2.72,0.00,0.000,6,0.113,0.049,3357,2190,2627,0,0,0,0,0,0
$GC,5797,1.20,166.9,516.2,8.6,291,5832,0.10,2.88,26.58,0.886,4,0.088,0.075,3298,3766,2508,0,0,0,0,0,0
$GC,5887,1.13,166.9,507.0,11.3,293,5892,0.00,2.70,0.00,0.000,6,0.000,0.053,3409,2196,2505,0,0,0,0,0,0
$GC,6171,1.06,166.9,476.0,11.0,300,6176,0.17,2.65,0.00,0.000,4,0.114,0.051,3343,3773,2501,0,0,0,0,0,0
$GC,6206,1.06,167.8,472.3,10.1,300,6211,0.00,2.67,0.00,0.000,6,0.000,0.050,3375,2198,2500,0,0,0,0,0,0
$GC,6456,1.09,197.2,450.0,8.7,307,6484,0.00,0.00,26.30,0.870,6,0.000,0.000,3374,2198,2386,0,0,0,0,0,0
$GC,6699,1.11,210.0,427.3,9.5,313,6718,0.00,3.05,12.25,0.812,4,0.000,0.096,3373,587,2333,0,0,0,0,0,0
$GC,6732,1.11,210.0,424.0,10.4,313,6737,0.00,2.67,0.00,0.000,6,0.000,0.031,3355,2211,2331,0,0,0,0,0,0
$GC,6984,1.13,226.1,400.3,9.4,319,7002,0.00,0.00,15.52,0.818,6,0.000,0.000,3373,2211,2268,0,0,0,0,0,0
$GC,7226,1.17,226.1,375.7,10.3,325,7228,0.10,0.00,0.00,0.000,6,0.088,0.000,3402,2211,2264,0,0,0,0,0,0
$GC,7471,1.17,226.1,347.4,11.5,331,7475,0.00,2.58,0.00,0.000,4,0.000,0.043,3360,3773,2262,0,0,0,0,0,0
$GC,7492,1.17,226.1,344.3,12.6,331,7496,0.00,2.60,0.00,0.000,6,0.000,0.036,3403,2198,2262,0,0,0,0,0,0
$GC,7747,1.17,226.1,314.3,11.8,338,7749,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2198,2260,0,0,0,0,0,0
$GC,7991,1.17,226.1,286.7,11.3,344,7996,0.00,2.60,0.00,0.000,4,0.000,0.042,3384,3775,2260,0,0,0,0,0,0
$GC,8111,1.22,226.1,272.6,10.8,346,8115,0.00,2.53,0.00,0.000,6,0.000,0.037,3403,2229,2259,0,0,0,0,0,0
$GC,8361,1.29,283.2,253.0,7.3,352,8415,0.10,0.00,49.40,0.752,6,0.091,0.000,3431,2228,2035,0,0,0,0,0,0
$GC,8688,1.29,283.2,217.6,11.3,360,8692,0.00,2.75,0.00,0.000,4,0.000,0.057,3431,594,2029,0,0,0,0,0,0
$GC,8731,1.29,283.2,211.9,13.0,361,8736,0.00,2.62,0.00,0.000,6,0.000,0.022,3419,2242,2028,0,0,0,0,0,0
$GC,8998,1.29,283.2,178.9,12.7,378,8999,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2243,2027,0,0,0,0,0,0
$GC,9250,1.29,283.2,147.6,11.7,402,9255,0.00,2.78,0.00,0.000,4,0.000,0.055,3431,588,2027,0,0,0,0,0,0
$GC,9279,1.29,283.2,144.0,12.7,404,9283,0.00,2.60,0.00,0.000,6,0.000,0.023,3431,2239,2026,0,0,0,0,0,0
$GC,9543,1.29,283.2,113.7,11.0,428,9548,0.00,2.75,0.00,0.000,4,0.000,0.054,3431,592,2026,0,0,0,0,0,0
$GC,9587,1.29,283.2,108.5,11.8,431,9591,0.00,2.58,0.00,0.000,6,0.000,0.022,3431,2228,2026,0,0,0,0,0,0
$GC,9855,1.29,283.2,78.8,11.6,455,9859,0.00,2.42,0.00,0.000,4,0.000,0.035,3378,3751,2027,0,0,0,0,0,0
$GC,9888,1.29,283.2,74.5,12.5,457,9893,0.00,2.47,0.00,0.000,6,0.000,0.028,3430,2197,2027,0,0,0,0,0,0
$GC,10156,1.34,283.2,44.8,11.3,481,10165,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2197,2027,0,0,0,0,0,0
$GC,10483,1.40,283.2,10.0,10.9,519,10492,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2197,2028,0,0,0,0,0,0
$STATE,10536,end climb,SURFACE_DEPTH_REACHED
$STATE,10536,begin surface coast
$FINISH,-0.5,1.023843
$STATE,10580,end surface coast,CONTROL_FINISHED_OK
$STATE,10580,begin surface
$SM_CCo,10601,77.82,0.517,0,0,1640,380.21
$SM_GC,0.07,0.00,0.00,77.82,0.000,0.000,0.517,470,2193,1640,-12.30,0.37,380.21
$IRIDIUM_FIX,2209.02,-15802.40,210901,121235
$TT8_MAMPS,0.027612
$HUMID,61.34
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,22.00
$XPDR_PINGS,44
$24V_AH,23.5,30.862
$10V_AH,10.2,27.442
$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,50.075,126.725,354.400,77.825,0.000,112.508,237.999,257.908,11.000,0.000,62.100,1079.211,6944.390,526.391,2169.935,949.445,33.370,1270.579,0.000,2130.249,0.000,0.535,0.000
$DEVICE_MAMPS,171.808,113.516,959.517,516.958,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,361.188,299.580,411.416,841.387,1286.123,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355972
$DATA_FILE_SIZE,41490,532
$CAP_FILE_SIZE,118361,0
$CFSIZE,260165632,133779456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,20,0,0,0
$GPS,270612,151325,2216.740,-15804.415,53,1.0,53,10.0