version: 66.06
glider: 146
mission: 7
dive: 222
start: 6 28 112 9 11 20
data:
$ID,146
$MISSION,7
$DIVE,222
$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,-294980.44
$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,31
$R_STBD_OVSHOOT,53
$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
$GPS1,090301,2216.263,-15804.596,52,1.4,52,10.0
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-68.1
$GPS2,091026,2216.267,-15804.723,13,1.3,13,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.203,-0.152
$KALMAN_X,-17600.1,91.6,431.2,15366.2,-2312.9
$KALMAN_Y,148383.9,-137.7,-185.2,-193096.7,1966.2
$MHEAD_RNG_PITCHd_Wd,116.8,32262,-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,-87.05,0.000,6,0.000,0.000,470,2204,3746,0,0,0,0,0,0
$GC,119,-1.32,-136.3,4.6,-12.3,12,137,13.07,2.65,0.00,0.000,4,0.171,0.036,2843,594,3747,0,0,0,0,0,0
$GC,253,-1.16,-136.3,39.4,-16.7,26,258,0.20,2.47,0.00,0.000,6,0.115,0.018,2888,2182,3747,0,0,0,0,0,0
$GC,519,-1.10,-136.3,74.4,-11.6,50,523,0.00,2.60,0.00,0.000,4,0.000,0.044,2872,600,3749,0,0,0,0,0,0
$GC,565,-1.07,-136.3,80.0,-11.7,53,570,0.10,2.42,0.00,0.000,6,0.123,0.017,2909,2168,3748,0,0,0,0,0,0
$GC,831,-1.07,-136.3,105.1,-9.6,77,835,0.00,2.50,0.00,0.000,4,0.000,0.035,2889,3747,3749,0,0,0,0,0,0
$GC,852,-1.07,-136.3,107.9,-10.4,78,864,0.00,2.53,0.00,0.000,6,0.000,0.022,2909,2160,3749,0,0,0,0,0,0
$GC,1122,-1.07,-136.3,136.0,-11.0,103,1126,0.00,2.55,0.00,0.000,4,0.000,0.036,2888,3749,3749,0,0,0,0,0,0
$GC,1154,-1.07,-136.3,139.8,-11.0,105,1159,0.00,2.45,0.00,0.000,6,0.000,0.030,2909,2177,3750,0,0,0,0,0,0
$GC,1417,-1.07,-136.3,165.8,-8.7,129,1422,0.00,2.60,0.00,0.000,4,0.000,0.049,2836,602,3750,0,0,0,0,0,0
$GC,1442,-1.07,-136.3,167.6,-8.9,130,1446,0.00,2.45,0.00,0.000,6,0.000,0.016,2909,2188,3750,0,0,0,0,0,0
$GC,1708,-1.07,-136.3,192.2,-9.6,154,1713,0.00,2.45,0.00,0.000,4,0.000,0.033,2888,3746,3750,0,0,0,0,0,0
$GC,1743,-1.07,-136.3,195.6,-10.1,156,1747,0.00,2.45,0.00,0.000,6,0.000,0.027,2909,2180,3751,0,0,0,0,0,0
$GC,2025,-1.10,-136.3,225.8,-10.4,165,2029,0.00,2.60,0.00,0.000,4,0.000,0.050,2833,610,3750,0,0,0,0,0,0
$GC,2052,-1.15,-136.3,228.3,-9.0,165,2056,0.00,2.42,0.00,0.000,6,0.000,0.021,2908,2182,3748,0,0,0,0,0,0
$GC,2305,-1.21,-136.3,248.3,-7.7,171,2306,0.12,0.00,0.00,0.000,6,0.069,0.000,2859,2182,3750,0,0,0,0,0,0
$GC,2545,-1.21,-136.3,272.2,-10.3,177,2550,0.10,2.53,0.00,0.000,4,0.114,0.042,2861,3742,3750,0,0,0,0,0,0
$GC,2661,-1.26,-136.3,283.2,-9.5,179,2666,0.00,2.45,0.00,0.000,6,0.000,0.027,2882,2180,3751,0,0,0,0,0,0
$GC,2917,-1.30,-136.3,303.9,-7.2,186,2918,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2180,3750,0,0,0,0,0,0
$GC,3161,-1.35,-136.3,320.3,-6.9,192,3166,0.15,2.55,0.00,0.000,4,0.061,0.041,2808,3745,3750,0,0,0,0,0,0
$GC,3205,-1.29,-136.3,323.9,-9.7,193,3210,0.20,2.50,0.00,0.000,6,0.090,0.026,2873,2181,3749,0,0,0,0,0,0
$GC,3489,-1.34,-136.3,345.3,-7.4,200,3494,0.00,2.72,0.00,0.000,4,0.000,0.070,2873,591,3749,0,0,0,0,0,0
$GC,3541,-1.40,-136.3,349.5,-8.7,201,3546,0.15,2.47,0.00,0.000,6,0.060,0.026,2818,2156,3748,0,0,0,0,0,0
$GC,3814,-1.34,-136.3,375.1,-9.6,208,3819,0.15,2.70,0.00,0.000,4,0.104,0.072,2850,593,3748,0,0,0,0,0,0
$GC,3847,-1.34,-136.3,378.4,-9.7,208,3853,0.00,2.53,0.00,0.000,6,0.000,0.030,2850,2159,3747,0,0,0,0,0,0
$GC,4099,-1.34,-136.3,398.8,-7.9,215,4100,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2159,3746,0,0,0,0,0,0
$GC,4341,-1.34,-136.3,417.8,-7.8,221,4345,0.00,2.65,0.00,0.000,4,0.000,0.056,2820,3761,3744,0,0,0,0,0,0
$GC,4437,-1.34,-136.3,425.7,-8.5,223,4443,1.10,2.62,0.00,0.000,6,0.069,0.041,2887,2180,3743,3,0,0,0,0,0
$GC,4713,-1.99,-136.3,438.5,-6.0,230,4716,1.70,0.00,0.00,0.000,6,0.045,0.000,2704,2180,3742,0,0,0,0,0,0
$GC,4954,-1.73,-136.3,471.0,-14.5,236,4959,0.25,2.65,0.00,0.000,4,0.104,0.057,2753,3758,3740,0,0,0,0,0,0
$GC,5023,-1.59,-136.3,480.4,-12.7,237,5028,0.17,2.70,0.00,0.000,6,0.116,0.057,2791,2168,3739,0,0,0,0,0,0
$GC,5279,-1.51,-136.3,507.8,-10.6,244,5280,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2168,3738,0,0,0,0,0,0
$GC,5523,-1.44,-136.3,530.9,-9.3,250,5528,0.17,2.75,0.00,0.000,4,0.110,0.069,2806,3758,3736,0,0,0,0,0,0
$GC,5560,-1.44,-136.3,534.1,-9.2,250,5566,0.00,2.70,0.00,0.000,6,0.000,0.061,2830,2177,3736,0,0,0,0,0,0
$STATE,5807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5807,begin apogee
$GC,5813,-0.31,0.0,552.3,6.9,257,5930,1.08,0.00,110.43,0.966,6,0.090,0.000,3076,2177,3191,0,0,0,0,0,0
$STATE,5930,end apogee,CONTROL_FINISHED_OK
$STATE,5930,begin climb
$GC,5933,1.32,136.3,553.0,0.0,260,6062,1.50,3.15,114.43,0.937,4,0.051,0.120,3436,591,2631,0,0,0,0,0,0
$GC,6068,1.16,136.3,542.9,11.3,263,6073,0.52,2.70,0.00,0.000,6,0.106,0.048,3390,2178,2629,1,0,0,0,0,0
$GC,6343,1.34,218.3,524.8,6.1,270,6422,0.47,2.88,70.85,0.920,4,0.067,0.076,3367,3770,2299,0,0,0,0,0,0
$GC,6676,1.18,218.3,490.4,10.5,277,6682,0.20,2.70,0.00,0.000,6,0.125,0.050,3405,2171,2291,0,0,0,0,0,0
$GC,6933,1.16,235.1,467.0,9.3,284,6953,0.00,2.75,14.77,0.846,4,0.000,0.049,3373,3776,2230,0,0,0,0,0,0
$GC,7207,1.12,235.1,434.6,11.8,290,7211,0.00,2.58,0.00,0.000,6,0.000,0.044,3405,2257,2226,0,0,0,0,0,0
$GC,7478,1.12,235.1,404.9,10.9,297,7479,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2257,2225,0,0,0,0,0,0
$GC,7724,1.12,237.1,379.9,10.1,303,7729,0.00,2.92,0.00,0.000,4,0.000,0.078,3404,590,2223,0,0,0,0,0,0
$GC,7770,1.12,242.0,375.0,9.9,304,7783,0.00,2.83,6.30,0.701,6,0.000,0.029,3375,2347,2203,0,0,0,0,0,0
$GC,8051,1.14,253.7,347.8,9.6,311,8065,0.00,0.00,12.18,0.785,6,0.000,0.000,3405,2347,2155,0,0,0,0,0,0
$GC,8341,1.15,265.4,320.0,9.6,318,8359,0.00,3.08,11.52,0.762,4,0.000,0.061,3403,587,2106,0,0,0,0,0,0
$GC,8393,1.18,287.5,314.8,9.1,319,8420,0.00,2.95,20.80,0.788,6,0.000,0.026,3404,2411,2018,0,0,0,0,0,0
$GC,8666,1.27,320.4,291.4,8.5,325,8702,0.00,3.20,29.98,0.779,4,0.000,0.063,3404,588,1883,0,0,0,0,0,0
$GC,8736,1.32,326.4,284.2,9.9,325,8751,0.12,3.05,6.82,0.644,6,0.077,0.021,3441,2473,1859,0,0,0,0,0,0
$GC,9038,1.32,326.4,249.2,11.8,333,9043,0.00,3.25,0.00,0.000,4,0.000,0.061,3435,587,1855,0,0,0,0,0,0
$GC,9122,1.32,326.4,239.4,11.1,335,9127,0.00,3.08,0.00,0.000,6,0.000,0.027,3441,2506,1854,0,0,0,0,0,0
$GC,9406,1.36,326.4,210.6,10.3,342,9411,0.00,3.28,0.00,0.000,4,0.000,0.061,3441,587,1853,0,0,0,0,0,0
$GC,9463,1.41,326.4,204.6,10.7,343,9468,0.00,3.12,0.00,0.000,6,0.000,0.024,3441,2553,1852,0,0,0,0,0,0
$GC,9734,1.46,326.4,178.8,10.7,364,9739,0.00,3.35,0.00,0.000,4,0.000,0.058,3424,587,1852,0,0,0,0,0,0
$GC,9799,1.46,326.4,171.1,10.9,369,9804,0.10,3.15,0.00,0.000,6,0.087,0.024,3472,2567,1851,0,0,0,0,0,0
$GC,10064,1.46,326.4,137.4,12.8,393,10069,0.00,3.38,0.00,0.000,4,0.000,0.061,3472,581,1851,0,0,0,0,0,0
$GC,10129,1.46,326.4,128.4,12.1,398,10134,0.00,3.12,0.00,0.000,6,0.000,0.026,3472,2566,1851,0,0,0,0,0,0
$GC,10392,1.46,326.4,95.2,12.6,422,10397,0.00,3.33,0.00,0.000,4,0.000,0.058,3472,586,1851,0,0,0,0,0,0
$GC,10448,1.46,326.4,87.9,12.3,426,10453,0.00,3.10,0.00,0.000,6,0.000,0.025,3472,2559,1851,0,0,0,0,0,0
$GC,10714,1.46,326.4,58.3,11.1,450,10719,0.00,3.30,0.00,0.000,4,0.000,0.051,3472,582,1851,0,0,0,0,0,0
$GC,10785,1.46,326.4,49.5,10.9,455,10794,0.00,3.15,0.00,0.000,6,0.000,0.020,3390,2562,1851,0,0,0,0,0,0
$GC,11083,1.46,326.4,18.5,11.2,486,11094,0.00,3.35,0.00,0.000,4,0.000,0.058,3472,583,1852,0,0,0,0,0,0
$GC,11169,1.46,326.4,8.9,11.3,497,11178,0.00,3.12,0.00,0.000,6,0.000,0.019,3472,2555,1852,0,0,0,0,0,0
$STATE,11210,end climb,SURFACE_DEPTH_REACHED
$STATE,11210,begin surface coast
$FINISH,-0.6,1.023746
$STATE,11254,end surface coast,CONTROL_FINISHED_OK
$STATE,11254,begin surface
$SM_CCo,11276,42.55,0.520,0,0,1639,380.46
$SM_GC,0.13,0.00,0.00,42.55,0.000,0.000,0.520,464,2114,1639,-12.33,-1.87,380.46
$IRIDIUM_FIX,2209.02,-15802.40,220901,040424
$TT8_MAMPS,0.027612
$HUMID,63.30
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,21.70
$XPDR_PINGS,61
$24V_AH,23.5,31.775
$10V_AH,10.3,28.158
$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,33.650,152.150,398.075,42.550,0.000,28.357,37.850,218.333,15.250,0.000,14.593,1097.363,7423.312,531.983,2076.884,628.879,33.360,1342.274,0.000,2081.884,0.000,0.535,0.000
$DEVICE_MAMPS,171.041,119.652,966.420,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,344.780,263.792,367.329,706.214,1077.176,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355996
$DATA_FILE_SIZE,38282,508
$CAP_FILE_SIZE,122748,0
$CFSIZE,260165632,133435392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,0,0,0
$GPS,280612,122107,2216.218,-15805.408,27,1.1,27,10.0