version: 66.06
glider: 146
mission: 7
dive: 223
start: 6 28 112 12 28 8
data:
$ID,146
$MISSION,7
$DIVE,223
$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,-294995.5
$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,50
$R_STBD_OVSHOOT,14
$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
$GPS1,122107,2216.218,-15805.408,27,1.1,27,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-70.1
$GPS2,122714,2216.227,-15805.514,12,1.9,12,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.209,-0.144
$KALMAN_X,-20206.3,-68.7,-322.2,17545.7,-2320.8
$KALMAN_Y,149965.4,-335.5,-0.8,-194739.4,1709.4
$MHEAD_RNG_PITCHd_Wd,114.5,32705,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.32,-136.3,0.0,0.0,0,117,0.00,0.00,-89.47,0.000,6,0.000,0.000,464,2114,3747,0,0,0,0,0,0
$GC,120,-1.32,-136.3,3.6,-8.9,12,138,13.12,2.70,0.00,0.000,4,0.173,0.031,2847,3785,3748,0,0,0,0,0,0
$GC,209,-1.21,-136.3,27.9,-15.9,23,218,3.08,2.55,0.00,0.000,6,0.078,0.025,2959,2205,3748,11,0,0,0,0,0
$GC,488,-2.50,-136.3,53.1,-11.1,50,503,4.43,2.65,0.00,0.000,4,0.086,0.038,2433,594,3749,0,0,0,0,0,0
$GC,557,-1.83,-136.3,66.0,-27.8,55,563,0.77,2.53,0.00,0.000,6,0.105,0.018,2747,2244,3749,0,0,0,0,0,0
$GC,826,-1.52,-136.3,117.1,-17.6,79,831,0.30,2.70,0.00,0.000,4,0.101,0.046,2741,600,3750,0,0,0,0,0,0
$GC,867,-1.31,-136.3,125.3,-16.2,82,872,0.70,2.53,0.00,0.000,6,0.087,0.025,2918,2235,3750,0,0,0,0,0,0
$GC,1132,-1.44,-136.3,145.0,-6.8,106,1141,0.52,0.00,0.00,0.000,6,0.031,0.000,2807,2235,3751,0,0,0,0,0,0
$GC,1395,-1.25,-136.3,180.8,-14.2,131,1397,0.30,0.00,0.00,0.000,6,0.090,0.000,2872,2235,3751,0,0,0,0,0,0
$GC,1646,-1.19,-136.3,210.9,-12.3,149,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2235,3752,0,0,0,0,0,0
$GC,1889,-1.19,-136.3,238.4,-10.7,155,1894,0.00,2.70,0.00,0.000,4,0.000,0.050,2817,601,3752,0,0,0,0,0,0
$GC,1911,-1.19,-136.3,240.7,-9.0,155,1916,0.00,2.55,0.00,0.000,6,0.000,0.025,2872,2243,3752,0,0,0,0,0,0
$GC,2167,-1.19,-136.3,261.4,-8.3,162,2171,0.00,2.47,0.00,0.000,4,0.000,0.041,2869,3783,3753,0,0,0,0,0,0
$GC,2229,-1.19,-136.3,267.1,-9.6,163,2234,0.00,2.47,0.00,0.000,6,0.000,0.028,2872,2208,3753,0,0,0,0,0,0
$GC,2490,-1.19,-136.3,293.8,-10.2,170,2494,0.00,2.70,0.00,0.000,4,0.000,0.064,2816,602,3752,0,0,0,0,0,0
$GC,2517,-1.19,-136.3,296.4,-9.5,170,2521,0.00,2.58,0.00,0.000,6,0.000,0.029,2872,2236,3753,0,0,0,0,0,0
$GC,2769,-1.19,-136.3,316.3,-7.8,176,2770,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2236,3752,0,0,0,0,0,0
$GC,3011,-1.23,-136.3,332.9,-6.5,182,3012,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2236,3752,0,0,0,0,0,0
$GC,3255,-1.28,-136.3,349.9,-7.1,188,3259,0.00,2.80,0.00,0.000,4,0.000,0.068,2872,608,3751,0,0,0,0,0,0
$GC,3307,-1.33,-136.3,354.1,-8.7,189,3311,0.00,2.60,0.00,0.000,6,0.000,0.031,2872,2226,3751,0,0,0,0,0,0
$GC,3579,-1.38,-136.3,376.8,-8.3,196,3584,0.12,2.80,0.00,0.000,4,0.072,0.071,2825,610,3750,0,0,0,0,0,0
$GC,3614,-1.32,-136.3,380.4,-11.0,196,3621,0.15,2.55,0.00,0.000,6,0.107,0.035,2857,2213,3750,0,0,0,0,0,0
$GC,3864,-1.32,-136.3,404.4,-9.5,203,3865,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2217,3748,0,0,0,0,0,0
$GC,4108,-1.36,-136.3,425.0,-8.2,209,4113,0.00,2.60,0.00,0.000,4,0.000,0.058,2856,3762,3747,0,0,0,0,0,0
$GC,4161,-1.40,-136.3,428.8,-7.8,210,4170,1.88,2.53,0.00,0.000,6,0.067,0.046,2919,2223,3746,6,0,0,0,0,0
$GC,4438,-2.43,-136.3,438.6,-3.8,217,4447,3.03,2.62,0.00,0.000,4,0.071,0.052,2598,3764,3744,0,0,0,0,0,0
$GC,4702,-2.02,-136.3,479.7,-16.8,222,4708,0.45,2.65,0.00,0.000,6,0.100,0.060,2703,2196,3743,0,0,0,0,0,0
$GC,4952,-1.77,-136.3,511.9,-12.5,229,4957,0.25,2.65,0.00,0.000,4,0.110,0.064,2754,3758,3741,0,0,0,0,0,0
$GC,5055,-1.63,-136.3,523.7,-11.4,231,5060,0.15,2.70,0.00,0.000,6,0.124,0.058,2787,2182,3740,0,0,0,0,0,0
$STATE,5319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5319,begin apogee
$GC,5325,-0.31,0.0,552.0,10.9,238,5441,1.27,0.00,111.30,0.966,6,0.093,0.000,3075,2182,3190,0,0,0,0,0,0
$STATE,5442,end apogee,CONTROL_FINISHED_OK
$STATE,5442,begin climb
$GC,5447,1.32,136.3,555.4,0.0,241,5565,1.52,0.00,113.80,0.936,6,0.051,0.000,3439,2182,2634,0,0,0,0,0,0
$GC,5806,1.18,136.3,523.7,11.1,250,5811,0.17,3.08,0.00,0.000,4,0.124,0.119,3404,593,2625,0,0,0,0,0,0
$GC,5824,1.04,136.3,521.6,11.5,250,5830,0.30,2.65,0.00,0.000,6,0.110,0.046,3349,2173,2625,1,0,0,0,0,0
$GC,6086,1.15,184.7,500.6,7.7,257,6136,0.22,2.88,41.22,0.906,4,0.058,0.064,3308,3764,2436,0,0,0,0,0,0
$GC,6203,1.11,184.7,487.4,12.9,259,6208,0.00,2.70,0.00,0.000,6,0.000,0.053,3399,2189,2432,0,0,0,0,0,0
$GC,6453,1.07,184.7,460.0,11.1,265,6459,0.10,2.65,0.00,0.000,4,0.133,0.052,3361,3772,2429,0,0,0,0,0,0
$GC,6503,1.07,184.7,454.7,10.6,266,6507,0.00,2.65,0.00,0.000,6,0.000,0.051,3379,2208,2428,0,0,0,0,0,0
$GC,6778,1.10,206.6,429.7,9.1,273,6803,0.00,3.05,19.33,0.855,4,0.000,0.104,3380,590,2346,0,0,0,0,0,0
$GC,6830,1.10,206.6,424.0,10.8,274,6835,0.00,2.67,0.00,0.000,6,0.000,0.032,3372,2218,2344,0,0,0,0,0,0
$GC,7098,1.12,223.9,399.0,9.3,281,7119,0.00,2.62,16.17,0.831,4,0.000,0.051,3362,3765,2277,0,0,0,0,0,0
$GC,7152,1.12,223.9,393.3,10.5,282,7157,0.00,2.60,0.00,0.000,6,0.000,0.037,3379,2211,2275,0,0,0,0,0,0
$GC,7420,1.17,233.8,367.6,9.7,289,7435,0.00,2.92,10.02,0.768,4,0.000,0.082,3379,590,2235,0,0,0,0,0,0
$GC,7510,1.21,233.8,358.1,10.8,291,7518,1.35,2.60,0.00,0.000,6,0.038,0.028,3725,2212,2233,4,0,0,0,0,0
$GC,7793,0.66,233.8,282.5,27.9,298,7802,2.12,2.60,0.00,0.000,4,0.128,0.036,3202,3764,2230,0,0,0,0,0,0
$GC,7862,1.04,316.4,275.7,6.0,299,7944,0.32,2.53,72.82,0.780,6,0.041,0.027,3379,2196,1899,0,0,0,0,0,0
$GC,8213,1.15,325.0,242.4,9.8,308,8228,0.00,2.62,8.07,0.647,4,0.000,0.041,3313,3755,1863,0,0,0,0,0,0
$GC,8244,1.27,325.0,238.8,10.4,308,8250,0.17,2.50,0.00,0.000,6,0.058,0.034,3427,2225,1862,0,0,0,0,0,0
$GC,8494,1.27,325.0,209.0,12.0,314,8499,0.00,2.78,0.00,0.000,4,0.000,0.060,3426,590,1860,0,0,0,0,0,0
$GC,8545,1.27,325.0,202.7,12.5,315,8550,0.00,2.60,0.00,0.000,6,0.000,0.023,3426,2223,1858,0,0,0,0,0,0
$GC,8808,1.27,325.0,169.9,12.7,338,8813,0.00,2.75,0.00,0.000,4,0.000,0.052,3397,595,1858,0,0,0,0,0,0
$GC,8841,1.27,325.0,165.8,14.4,340,8845,0.00,2.55,0.00,0.000,6,0.000,0.026,3426,2206,1857,0,0,0,0,0,0
$GC,9105,1.27,325.0,130.8,12.8,364,9109,0.00,2.47,0.00,0.000,4,0.000,0.035,3399,3754,1857,0,0,0,0,0,0
$GC,9134,1.27,325.0,126.6,13.8,366,9138,0.00,2.50,0.00,0.000,6,0.000,0.028,3427,2198,1857,0,0,0,0,0,0
$GC,9398,1.27,325.0,93.8,12.0,390,9402,0.00,2.67,0.00,0.000,4,0.000,0.051,3345,592,1857,0,0,0,0,0,0
$GC,9426,1.27,325.0,89.7,13.0,392,9431,0.00,2.53,0.00,0.000,6,0.000,0.019,3426,2203,1857,0,0,0,0,0,0
$GC,9694,1.27,325.0,59.0,12.1,416,9699,0.00,2.67,0.00,0.000,4,0.000,0.048,3426,598,1857,0,0,0,0,0,0
$GC,9714,1.27,325.0,56.3,11.6,417,9719,0.00,2.47,0.00,0.000,6,0.000,0.019,3425,2196,1857,0,0,0,0,0,0
$GC,9980,1.33,332.9,31.6,9.8,441,9989,0.00,0.00,7.43,0.471,6,0.000,0.000,3426,2199,1832,0,0,0,0,0,0
$STATE,10235,end climb,SURFACE_DEPTH_REACHED
$STATE,10235,begin surface coast
$FINISH,-0.5,1.008191
$STATE,10279,end surface coast,CONTROL_FINISHED_OK
$STATE,10279,begin surface
$SM_CCo,10302,38.22,0.515,0,0,1639,380.21
$SM_GC,0.11,0.00,0.00,38.22,0.000,0.000,0.515,468,2199,1639,-12.31,0.54,380.21
$IRIDIUM_FIX,2209.02,-15807.59,220901,090926
$TT8_MAMPS,0.026845
$HUMID,62.56
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,21.80
$XPDR_PINGS,48
$24V_AH,23.4,31.895
$10V_AH,10.3,28.268
$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,48.700,126.950,400.175,38.225,0.000,28.940,32.820,158.323,12.000,0.000,14.423,1011.139,6697.211,516.946,1945.622,534.202,33.369,1253.369,0.000,1950.188,0.000,0.534,0.000
$DEVICE_MAMPS,172.575,118.885,966.420,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,325.427,257.156,353.096,711.953,1084.467,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355980
$DATA_FILE_SIZE,38323,480
$CAP_FILE_SIZE,111943,0
$CFSIZE,260165632,133386240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,22,0,0,0
$GPS,280612,152140,2216.105,-15805.402,31,1.5,31,10.0