version: 66.06
glider: 146
mission: 7
dive: 217
start: 6 27 112 15 25 44
data:
$ID,146
$MISSION,7
$DIVE,217
$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,-294743.59
$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,29
$R_STBD_OVSHOOT,45
$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
$GPS1,151325,2216.740,-15804.415,53,1.0,53,10.0
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-66.0
$GPS2,152450,2216.789,-15804.521,12,1.1,12,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.117,-0.225
$KALMAN_X,-7152.5,-163.6,-468.0,6424.3,-747.1
$KALMAN_Y,136559.9,315.1,188.6,-181151.1,995.5
$MHEAD_RNG_PITCHd_Wd,142.6,33048,-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,-86.70,0.000,6,0.000,0.000,470,2192,3743,0,0,0,0,0,0
$GC,117,-1.32,-136.3,4.6,-12.1,12,143,13.20,2.67,0.00,0.000,4,0.174,0.042,2850,593,3743,0,0,0,0,0,0
$GC,203,-1.17,-136.3,29.8,-16.9,23,214,0.15,2.50,0.00,0.000,6,0.104,0.019,2886,2180,3744,0,0,0,0,0,0
$GC,471,-1.07,-136.3,64.4,-13.2,48,480,0.10,0.00,0.00,0.000,6,0.131,0.000,2907,2180,3744,0,0,0,0,0,0
$GC,739,-1.07,-136.3,92.1,-8.5,73,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2180,3745,0,0,0,0,0,0
$GC,1000,-1.07,-136.3,114.1,-8.6,98,1004,0.00,2.53,0.00,0.000,4,0.000,0.039,2875,3754,3745,0,0,0,0,0,0
$GC,1034,-1.11,-136.3,117.1,-8.6,100,1043,0.00,2.53,0.00,0.000,6,0.000,0.023,2907,2179,3745,0,0,0,0,0,0
$GC,1302,-1.11,-136.3,140.4,-9.6,125,1306,0.00,2.58,0.00,0.000,4,0.000,0.048,2907,598,3745,0,0,0,0,0,0
$GC,1335,-1.11,-136.3,144.5,-10.5,127,1341,0.00,2.45,0.00,0.000,6,0.000,0.025,2907,2186,3746,0,0,0,0,0,0
$GC,1600,-1.11,-136.3,169.9,-9.7,152,1604,0.00,2.62,0.00,0.000,4,0.000,0.051,2906,598,3746,0,0,0,0,0,0
$GC,1621,-1.11,-136.3,172.4,-9.7,153,1631,0.00,2.45,0.00,0.000,6,0.000,0.023,2907,2170,3746,0,0,0,0,0,0
$GC,1886,-1.11,-136.3,198.3,-10.2,178,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2171,3746,0,0,0,0,0,0
$GC,2149,-1.11,-136.3,224.9,-10.0,186,2150,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2171,3746,0,0,0,0,0,0
$GC,2391,-1.15,-136.3,249.8,-9.9,192,2395,0.00,2.53,0.00,0.000,4,0.000,0.038,2907,3751,3747,0,0,0,0,0,0
$GC,2418,-1.24,-136.3,252.3,-8.6,192,2423,0.15,2.47,0.00,0.000,6,0.061,0.026,2850,2178,3746,0,0,0,0,0,0
$GC,2670,-1.19,-136.3,278.9,-10.8,198,2676,0.15,2.62,0.00,0.000,4,0.101,0.058,2883,604,3747,0,0,0,0,0,0
$GC,2760,-1.19,-136.3,287.6,-9.3,200,2764,0.00,2.42,0.00,0.000,6,0.000,0.021,2883,2167,3747,0,0,0,0,0,0
$GC,3045,-1.24,-136.3,310.6,-7.7,207,3050,0.00,2.55,0.00,0.000,4,0.000,0.046,2883,3755,3747,0,0,0,0,0,0
$GC,3086,-1.29,-136.3,314.0,-7.9,208,3090,0.00,2.47,0.00,0.000,6,0.000,0.025,2883,2196,3747,0,0,0,0,0,0
$GC,3371,-1.34,-136.3,335.0,-7.3,215,3376,0.12,2.53,0.00,0.000,4,0.070,0.038,2785,3750,3746,0,0,0,0,0,0
$GC,3415,-1.34,-136.3,339.0,-8.9,216,3420,0.00,2.50,0.00,0.000,6,0.000,0.028,2837,2190,3747,0,0,0,0,0,0
$GC,3693,-1.34,-136.3,363.7,-9.0,223,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2190,3745,0,0,0,0,0,0
$GC,3939,-1.34,-136.3,386.5,-9.6,229,3944,0.00,2.55,0.00,0.000,4,0.000,0.051,2810,3751,3744,0,0,0,0,0,0
$GC,3961,-1.34,-136.3,389.1,-10.2,229,3967,0.82,2.55,0.00,0.000,6,0.071,0.043,2863,2195,3744,2,0,0,0,0,0
$GC,4218,-1.83,-136.3,402.6,-5.9,236,4226,1.17,2.85,0.00,0.000,4,0.037,0.089,2733,587,3742,0,0,0,0,0,0
$GC,4365,-1.59,-136.3,422.8,-15.5,239,4371,0.30,2.55,0.00,0.000,6,0.097,0.044,2796,2149,3741,0,0,0,0,0,0
$GC,4638,-1.51,-136.3,454.1,-10.8,246,4642,0.00,2.75,0.00,0.000,4,0.000,0.085,2781,596,3740,0,0,0,0,0,0
$GC,4684,-1.40,-136.3,459.1,-10.8,247,4689,0.20,2.60,0.00,0.000,6,0.104,0.045,2838,2163,3739,0,0,0,0,0,0
$GC,4962,-1.40,-136.3,483.3,-8.3,254,4967,0.00,2.78,0.00,0.000,4,0.000,0.069,2805,3772,3737,0,0,0,0,0,0
$GC,4989,-1.40,-136.3,485.7,-8.8,254,5000,2.90,2.70,0.00,0.000,6,0.067,0.051,2915,2177,3737,10,0,0,0,0,0
$GC,5246,-2.75,-136.3,508.8,-11.2,261,5256,4.32,2.92,0.00,0.000,4,0.065,0.104,2520,588,3735,0,0,0,0,0,0
$STATE,5446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5446,begin apogee
$GC,5456,-0.31,0.0,550.1,21.0,265,5572,2.60,0.00,110.78,0.953,6,0.112,0.000,3071,2184,3190,0,0,0,0,0,0
$STATE,5573,end apogee,CONTROL_FINISHED_OK
$STATE,5573,begin climb
$GC,5576,1.32,136.3,555.9,0.0,268,5702,1.52,2.90,114.07,0.930,4,0.048,0.078,3375,3770,2634,0,0,0,0,0,0
$GC,5735,1.17,136.3,544.9,12.2,272,5741,0.17,2.78,0.00,0.000,6,0.126,0.060,3402,2173,2630,0,0,0,0,0,0
$GC,5999,1.13,164.0,521.7,8.8,279,6025,0.00,0.00,24.40,0.883,6,0.000,0.000,3401,2174,2519,0,0,0,0,0,0
$GC,6242,1.08,168.1,497.7,10.0,285,6249,0.00,0.00,4.47,0.614,6,0.000,0.000,3401,2174,2504,0,0,0,0,0,0
$GC,6484,1.04,168.1,472.7,10.4,291,6489,0.15,2.72,0.00,0.000,4,0.127,0.056,3339,3776,2500,0,0,0,0,0,0
$GC,6573,1.04,168.1,463.3,10.7,293,6578,0.00,2.70,0.00,0.000,6,0.000,0.044,3373,2182,2500,0,0,0,0,0,0
$GC,6859,1.05,174.4,435.5,9.9,300,6872,0.00,2.95,6.10,0.712,4,0.000,0.103,3368,588,2478,0,0,0,0,0,0
$GC,6895,1.05,174.4,431.3,10.7,300,6901,0.00,2.65,0.00,0.000,6,0.000,0.037,3372,2197,2478,0,0,0,0,0,0
$GC,7145,1.07,194.8,408.0,9.2,307,7166,0.00,0.00,19.38,0.844,6,0.000,0.000,3372,2197,2395,0,0,0,0,0,0
$GC,7391,1.14,222.7,386.3,8.8,313,7423,0.10,2.65,25.67,0.838,4,0.087,0.043,3390,3766,2280,0,0,0,0,0,0
$GC,7439,1.14,222.7,381.2,10.6,314,7444,0.00,2.62,0.00,0.000,6,0.000,0.036,3401,2196,2279,0,0,0,0,0,0
$GC,7714,1.14,222.7,351.0,11.1,321,7715,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,2195,2276,0,0,0,0,0,0
$GC,7956,1.14,222.7,322.4,11.6,327,7960,0.00,2.60,0.00,0.000,4,0.000,0.044,3362,3767,2275,0,0,0,0,0,0
$GC,7983,1.14,222.7,319.3,11.3,327,7987,0.00,2.60,0.00,0.000,6,0.000,0.035,3399,2185,2274,0,0,0,0,0,0
$GC,8233,1.17,239.8,294.2,9.3,333,8254,0.00,2.65,15.38,0.752,4,0.000,0.041,3385,3777,2210,0,0,0,0,0,0
$GC,8301,1.23,242.2,287.7,10.1,334,8305,0.00,2.60,0.00,0.000,6,0.000,0.037,3401,2199,2209,0,0,0,0,0,0
$GC,8556,1.28,242.2,261.6,10.4,341,8560,0.00,2.70,0.00,0.000,4,0.000,0.062,3400,599,2208,0,0,0,0,0,0
$GC,8607,1.33,242.2,256.0,10.8,342,8613,0.85,2.60,0.00,0.000,6,0.037,0.022,3628,2226,2206,3,0,0,0,0,0
$GC,8881,0.97,242.2,200.6,20.4,349,8887,1.27,2.47,0.00,0.000,4,0.115,0.036,3345,3757,2206,0,0,0,0,0,0
$GC,8958,1.20,290.5,192.9,7.8,353,9019,0.45,2.47,44.42,0.691,6,0.041,0.033,3488,2214,2003,1,0,0,0,0,0
$GC,9270,1.09,290.5,147.9,15.4,382,9276,0.47,2.70,0.00,0.000,4,0.130,0.051,3382,600,2000,0,0,0,0,0,0
$GC,9317,1.19,290.5,143.1,10.6,385,9322,0.00,2.58,0.00,0.000,6,0.000,0.022,3383,2230,2002,0,0,0,0,0,0
$GC,9584,1.29,290.5,116.0,10.7,409,9589,0.17,2.72,0.00,0.000,4,0.062,0.053,3358,599,1998,0,0,0,0,0,0
$GC,9620,1.29,290.5,110.7,14.6,411,9625,0.00,2.55,0.00,0.000,6,0.000,0.020,3432,2218,1998,0,0,0,0,0,0
$GC,9887,1.29,290.5,75.9,12.7,436,9891,0.00,2.47,0.00,0.000,4,0.000,0.035,3343,3757,1998,0,0,0,0,0,0
$GC,9925,1.34,290.5,70.8,12.4,438,9934,0.00,2.53,0.00,0.000,6,0.000,0.029,3432,2207,1997,0,0,0,0,0,0
$GC,10189,1.37,290.5,39.9,12.2,463,10194,0.00,2.65,0.00,0.000,4,0.000,0.048,3432,593,1998,0,0,0,0,0,0
$GC,10224,1.41,290.5,35.8,12.6,465,10228,0.00,2.50,0.00,0.000,6,0.000,0.019,3432,2204,1997,0,0,0,0,0,0
$STATE,10518,end climb,SURFACE_DEPTH_REACHED
$STATE,10518,begin surface coast
$FINISH,-0.4,1.023732
$STATE,10569,end surface coast,CONTROL_FINISHED_OK
$STATE,10569,begin surface
$SM_CCo,10590,71.95,0.518,0,0,1640,380.21
$SM_GC,0.12,0.00,0.00,71.95,0.000,0.000,0.518,468,2208,1640,-12.31,0.79,380.21
$IRIDIUM_FIX,2209.02,-15807.59,210901,151525
$TT8_MAMPS,0.027612
$HUMID,61.22
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,21.90
$XPDR_PINGS,67
$24V_AH,23.5,30.992
$10V_AH,10.1,27.562
$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,43.275,130.800,364.675,71.950,0.000,45.596,65.438,360.990,16.750,0.000,13.597,1047.169,6939.499,542.220,2015.690,800.853,33.368,1302.045,0.000,2024.934,0.000,0.535,0.000
$DEVICE_MAMPS,174.109,103.545,953.381,518.492,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,342.960,271.283,379.674,745.829,1145.895,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355996
$DATA_FILE_SIZE,38319,507
$CAP_FILE_SIZE,120904,0
$CFSIZE,260165632,133722112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,16,0,0,0
$GPS,270612,182455,2216.478,-15804.359,48,1.1,48,10.0