version: 66.06
glider: 146
mission: 7
dive: 225
start: 6 28 112 18 45 38
data:
$ID,146
$MISSION,7
$DIVE,225
$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,-295024.06
$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,30
$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
$GPS1,183406,2215.579,-15805.574,33,1.0,38,10.0
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.24
$_SM_ANGLEo,-68.0
$GPS2,184444,2215.627,-15805.677,13,1.4,13,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.155,-0.200
$KALMAN_X,-24291.9,-362.6,191.9,21125.0,-1434.8
$KALMAN_Y,152757.2,-242.7,-59.1,-198680.2,1631.9
$MHEAD_RNG_PITCHd_Wd,132.2,31803,-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,-87.95,0.000,6,0.000,0.000,468,2177,3745,0,0,0,0,0,0
$GC,121,-1.32,-136.3,4.2,-11.0,12,139,13.15,2.67,0.00,0.000,4,0.173,0.045,2796,591,3747,0,0,0,0,0,0
$GC,171,-0.84,-136.3,23.4,-32.0,18,181,0.47,2.50,0.00,0.000,6,0.090,0.023,2956,2179,3747,0,0,0,0,0,0
$GC,453,-0.88,-136.3,49.2,-10.0,46,462,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2180,3747,0,0,0,0,0,0
$GC,721,-0.94,-136.3,71.3,-7.6,71,730,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2179,3748,0,0,0,0,0,0
$GC,985,-1.04,-136.3,91.9,-8.3,96,986,0.17,0.00,0.00,0.000,6,0.054,0.000,2892,2179,3748,0,0,0,0,0,0
$GC,1239,-1.04,-136.3,119.1,-11.4,120,1241,0.12,0.00,0.00,0.000,6,0.104,0.000,2920,2180,3749,0,0,0,0,0,0
$GC,1495,-1.04,-136.3,143.1,-9.1,144,1499,0.00,2.60,0.00,0.000,4,0.000,0.048,2921,598,3749,0,0,0,0,0,0
$GC,1517,-1.04,-136.3,145.0,-9.6,145,1521,0.00,2.45,0.00,0.000,6,0.000,0.017,2920,2187,3749,0,0,0,0,0,0
$GC,1784,-1.04,-136.3,170.4,-9.3,169,1788,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2187,3749,0,0,0,0,0,0
$GC,2049,-1.07,-136.3,194.6,-9.0,194,2053,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2187,3749,0,0,0,0,0,0
$GC,2312,-1.11,-136.3,219.7,-9.5,205,2316,0.00,2.62,0.00,0.000,4,0.000,0.055,2920,592,3750,0,0,0,0,0,0
$GC,2358,-1.21,-136.3,224.2,-9.8,206,2363,0.17,2.40,0.00,0.000,6,0.053,0.024,2859,2161,3750,0,0,0,0,0,0
$GC,2636,-1.15,-136.3,254.5,-10.5,213,2638,0.12,0.00,0.00,0.000,6,0.106,0.000,2891,2161,3750,0,0,0,0,0,0
$GC,2879,-1.15,-136.3,273.5,-7.9,219,2880,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2162,3750,0,0,0,0,0,0
$GC,3125,-1.20,-136.3,294.8,-8.8,225,3130,0.00,2.55,0.00,0.000,4,0.000,0.043,2828,3753,3750,0,0,0,0,0,0
$GC,3187,-1.29,-136.3,300.4,-8.3,226,3192,0.12,2.50,0.00,0.000,6,0.067,0.032,2840,2163,3750,0,0,0,0,0,0
$GC,3450,-1.24,-136.3,322.4,-7.8,233,3455,0.15,2.58,0.00,0.000,4,0.102,0.043,2866,3744,3749,0,0,0,0,0,0
$GC,3478,-1.24,-136.3,324.6,-7.3,233,3482,0.00,2.50,0.00,0.000,6,0.000,0.025,2874,2176,3749,0,0,0,0,0,0
$GC,3728,-1.29,-136.3,344.0,-8.0,239,3729,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2175,3749,0,0,0,0,0,0
$GC,3974,-1.34,-136.3,366.0,-9.3,245,3975,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2175,3748,0,0,0,0,0,0
$GC,4216,-1.39,-136.3,387.4,-8.5,251,4218,0.15,0.00,0.00,0.000,6,0.062,0.000,2822,2175,3747,0,0,0,0,0,0
$GC,4459,-1.34,-136.3,410.0,-9.2,257,4464,0.12,2.60,0.00,0.000,4,0.110,0.052,2822,3739,3746,0,0,0,0,0,0
$GC,4483,-1.34,-136.3,412.3,-9.8,257,4488,0.00,2.55,0.00,0.000,6,0.000,0.040,2850,2186,3746,0,0,0,0,0,0
$GC,4738,-1.34,-136.3,434.1,-8.3,264,4742,0.00,2.58,0.00,0.000,4,0.000,0.050,2851,3743,3742,0,0,0,0,0,0
$GC,4754,-1.34,-136.3,435.5,-7.7,264,4759,0.00,2.60,0.00,0.000,6,0.000,0.045,2850,2178,3744,0,0,0,0,0,0
$GC,5017,-1.34,-136.3,454.6,-7.3,271,5018,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2178,3742,0,0,0,0,0,0
$GC,5258,-1.34,-136.3,471.9,-7.1,277,5259,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2178,3740,0,0,0,0,0,0
$GC,5504,-1.34,-136.3,489.5,-7.3,283,5505,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2178,3738,0,0,0,0,0,0
$GC,5746,-1.34,-136.3,508.3,-7.8,289,5750,0.00,2.67,0.00,0.000,4,0.000,0.066,2850,3738,3736,0,0,0,0,0,0
$GC,5781,-1.38,-136.3,511.3,-9.2,289,5790,3.05,2.62,0.00,0.000,6,0.064,0.059,2886,2185,3736,11,0,0,0,0,0
$GC,6075,-2.95,-136.3,544.0,-12.8,297,6084,4.70,2.70,0.00,0.000,4,0.062,0.067,2478,3742,3733,0,0,0,0,0,0
$STATE,6121,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6121,begin apogee
$GC,6131,-0.31,0.0,550.3,16.1,298,6247,2.88,0.00,109.90,0.963,6,0.127,0.000,3072,2178,3190,0,0,0,0,0,0
$STATE,6248,end apogee,CONTROL_FINISHED_OK
$STATE,6248,begin climb
$GC,6250,1.32,136.3,554.9,0.0,301,6376,1.50,3.12,112.93,0.933,4,0.048,0.117,3412,594,2635,0,0,0,0,0,0
$GC,6422,1.15,136.3,540.9,13.2,305,6428,0.20,2.65,0.00,0.000,6,0.120,0.044,3393,2151,2630,0,0,0,0,0,0
$GC,6706,1.10,139.2,511.7,10.0,312,6711,0.00,2.83,0.00,0.000,4,0.000,0.074,3372,3764,2626,0,0,0,0,0,0
$GC,6839,1.04,139.2,497.6,11.4,315,6844,0.00,2.67,0.00,0.000,6,0.000,0.047,3359,2194,2625,0,0,0,0,0,0
$GC,7122,0.99,139.2,467.5,10.6,322,7124,0.17,0.00,0.00,0.000,6,0.117,0.000,3359,2194,2622,0,0,0,0,0,0
$GC,7368,1.02,160.4,445.1,9.1,328,7394,0.00,3.05,20.25,0.861,4,0.000,0.108,3359,587,2535,0,0,0,0,0,0
$GC,7410,1.04,180.9,441.0,9.2,329,7435,0.00,2.67,18.90,0.841,6,0.000,0.034,3359,2200,2452,0,0,0,0,0,0
$GC,7694,1.13,217.1,416.3,8.4,336,7731,0.12,0.00,33.03,0.856,6,0.075,0.000,3396,2199,2304,0,0,0,0,0,0
$GC,7975,1.13,217.1,386.6,10.7,343,7979,0.00,2.62,0.00,0.000,4,0.000,0.045,3371,3773,2298,0,0,0,0,0,0
$GC,8029,1.13,217.1,380.6,10.7,344,8034,0.00,2.62,0.00,0.000,6,0.000,0.038,3396,2184,2297,0,0,0,0,0,0
$GC,8299,1.16,236.2,356.0,9.2,351,8324,0.00,2.92,16.83,0.798,4,0.000,0.077,3396,587,2226,0,0,0,0,0,0
$GC,8351,1.16,236.2,350.1,11.3,352,8356,0.00,2.62,0.00,0.000,6,0.000,0.025,3369,2212,2224,0,0,0,0,0,0
$GC,8624,1.16,238.6,322.5,10.1,359,8628,0.00,2.55,0.00,0.000,4,0.000,0.047,3373,3759,2225,0,0,0,0,0,0
$GC,8716,1.16,238.6,312.8,10.6,361,8720,0.00,2.55,0.00,0.000,6,0.000,0.037,3396,2202,2221,0,0,0,0,0,0
$GC,8993,1.16,238.6,282.7,10.8,368,8997,0.00,2.72,0.00,0.000,4,0.000,0.067,3356,596,2221,0,0,0,0,0,0
$GC,9067,1.16,239.7,275.0,10.1,369,9071,0.00,2.55,0.00,0.000,6,0.000,0.027,3378,2198,2219,0,0,0,0,0,0
$GC,9317,1.22,249.7,251.2,9.7,375,9336,0.00,2.65,12.18,0.701,4,0.000,0.040,3300,3761,2171,0,0,0,0,0,0
$GC,9376,1.29,249.7,245.1,10.8,376,9381,0.12,2.55,0.00,0.000,6,0.078,0.033,3431,2195,2170,0,0,0,0,0,0
$GC,9645,1.29,250.4,217.1,10.1,383,9649,0.00,2.67,0.00,0.000,4,0.000,0.056,3431,598,2169,0,0,0,0,0,0
$GC,9688,1.29,250.4,212.1,10.4,384,9692,0.00,2.55,0.00,0.000,6,0.000,0.028,3431,2205,2168,0,0,0,0,0,0
$GC,9953,1.29,252.2,186.1,10.1,398,9957,0.00,2.67,0.00,0.000,4,0.000,0.051,3430,598,2168,0,0,0,0,0,0
$GC,10004,1.29,252.2,180.2,11.1,402,10008,0.00,2.53,0.00,0.000,6,0.000,0.028,3430,2197,2169,0,0,0,0,0,0
$GC,10266,1.29,252.2,153.5,10.4,426,10270,0.00,2.53,0.00,0.000,4,0.000,0.041,3358,3766,2167,0,0,0,0,0,0
$GC,10308,1.29,252.2,149.0,11.5,429,10314,1.10,2.53,0.00,0.000,6,0.037,0.031,3457,2185,2167,3,0,0,0,0,0
$GC,10573,0.78,252.2,86.6,23.8,453,10585,1.92,2.55,3.15,0.331,4,0.117,0.035,3244,3754,2163,0,0,0,0,0,0
$GC,10627,1.17,328.8,80.4,6.3,457,10705,0.35,2.45,66.25,0.591,6,0.037,0.025,3416,2214,1852,0,0,0,0,0,0
$GC,10962,1.26,334.6,48.0,9.9,487,10975,0.00,2.70,6.55,0.465,4,0.000,0.049,3411,599,1825,0,0,0,0,0,0
$GC,11005,1.34,334.6,43.2,10.8,490,11009,0.00,2.55,0.00,0.000,6,0.000,0.019,3416,2217,1824,0,0,0,0,0,0
$GC,11316,1.41,334.6,10.0,10.8,526,11325,0.15,0.00,0.00,0.000,6,0.066,0.000,3461,2217,1824,0,0,0,0,0,0
$STATE,11363,end climb,SURFACE_DEPTH_REACHED
$STATE,11363,begin surface coast
$FINISH,-0.4,1.023810
$STATE,11403,end surface coast,CONTROL_FINISHED_OK
$STATE,11403,begin surface
$SM_CCo,11427,36.38,0.514,0,0,1639,380.21
$SM_GC,0.18,0.00,0.00,36.38,0.000,0.000,0.514,469,2149,1639,-12.31,-0.88,380.21
$IRIDIUM_FIX,2206.70,-15805.43,220901,181815
$TT8_MAMPS,0.027612
$HUMID,62.83
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,21.60
$XPDR_PINGS,39
$24V_AH,23.5,32.145
$10V_AH,10.3,28.512
$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,43.050,115.575,399.950,36.375,0.000,51.254,77.746,293.109,9.750,0.000,15.112,1091.509,7682.335,500.842,2066.872,759.978,33.367,1278.224,0.000,2070.933,0.000,0.535,0.000
$DEVICE_MAMPS,172.575,161.070,963.352,513.890,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,363.700,286.012,396.144,779.643,1189.741,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355944
$DATA_FILE_SIZE,41630,537
$CAP_FILE_SIZE,120377,0
$CFSIZE,260165632,133259264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,14,0,0,0
$GPS,280612,215759,2215.306,-15805.386,16,3.6,35,10.0