version: 66.06
glider: 146
mission: 7
dive: 226
start: 6 28 112 22 6 20
data:
$ID,146
$MISSION,7
$DIVE,226
$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,-295068.72
$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,57
$R_STBD_OVSHOOT,46
$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
$GPS1,215759,2215.306,-15805.386,16,3.6,35,10.0
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-70.6
$GPS2,220525,2215.373,-15805.493,41,1.2,41,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.201,-0.154
$KALMAN_X,-26085.8,-280.7,536.0,22801.1,-2160.2
$KALMAN_Y,154153.1,61.8,-71.1,-200840.9,1638.4
$MHEAD_RNG_PITCHd_Wd,117.4,31243,-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,-136.3,0.0,0.0,0,107,0.00,0.00,-86.03,0.000,2,0.000,0.000,469,2149,3732,0,0,0,0,0,0
$GC,112,-1.32,-136.3,3.0,-7.5,11,129,13.15,0.00,-0.28,0.000,6,0.174,0.000,2849,2149,3747,0,0,0,0,0,0
$GC,417,-1.15,-136.3,61.0,-15.6,44,422,0.20,2.55,0.00,0.000,4,0.124,0.029,2837,3750,3748,0,0,0,0,0,0
$GC,440,-1.00,-136.3,64.0,-15.2,45,445,0.15,2.42,0.00,0.000,6,0.106,0.021,2923,2196,3749,0,0,0,0,0,0
$GC,706,-1.00,-136.3,93.8,-11.0,69,710,0.00,2.50,0.00,0.000,4,0.000,0.035,2871,3750,3749,0,0,0,0,0,0
$GC,728,-1.00,-136.3,96.7,-10.6,70,738,0.00,2.50,0.00,0.000,6,0.000,0.022,2924,2170,3750,0,0,0,0,0,0
$GC,995,-1.04,-136.3,122.9,-9.7,95,1000,0.00,2.53,0.00,0.000,4,0.000,0.032,2902,3755,3750,0,0,0,0,0,0
$GC,1028,-1.10,-136.3,126.3,-9.6,97,1032,0.00,2.45,0.00,0.000,6,0.000,0.021,2923,2183,3750,0,0,0,0,0,0
$GC,1297,-1.15,-136.3,150.9,-9.0,121,1302,0.12,2.60,0.00,0.000,4,0.066,0.051,2870,608,3751,0,0,0,0,0,0
$GC,1326,-1.09,-136.3,154.7,-11.5,123,1331,0.17,2.42,0.00,0.000,6,0.104,0.023,2906,2186,3751,0,0,0,0,0,0
$GC,1586,-1.09,-136.3,180.1,-9.7,147,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2186,3751,0,0,0,0,0,0
$GC,1869,-1.09,-136.3,208.0,-9.8,168,1874,0.00,2.60,0.00,0.000,4,0.000,0.054,2906,605,3754,0,0,0,0,0,0
$GC,1887,-1.09,-136.3,209.8,-10.2,168,1891,0.00,2.42,0.00,0.000,6,0.000,0.022,2906,2174,3751,0,0,0,0,0,0
$GC,2148,-1.13,-136.3,234.8,-9.3,175,2152,0.00,2.50,0.00,0.000,4,0.000,0.040,2866,3747,3751,0,0,0,0,0,0
$GC,2175,-1.20,-136.3,237.3,-8.8,175,2180,0.10,2.45,0.00,0.000,6,0.077,0.021,2856,2181,3751,0,0,0,0,0,0
$GC,2427,-1.15,-136.3,264.8,-11.3,181,2429,0.15,0.00,0.00,0.000,6,0.104,0.000,2890,2180,3755,0,0,0,0,0,0
$GC,2669,-1.20,-136.3,282.4,-6.4,187,2674,0.00,2.67,0.00,0.000,4,0.000,0.062,2832,605,3752,0,0,0,0,0,0
$GC,2750,-1.27,-136.3,289.1,-9.4,188,2756,0.10,2.45,0.00,0.000,6,0.082,0.022,2848,2185,3752,0,0,0,0,0,0
$GC,3000,-1.27,-136.3,313.2,-9.4,195,3005,0.00,2.53,0.00,0.000,4,0.000,0.041,2825,3757,3752,0,0,0,0,0,0
$GC,3095,-1.27,-136.3,321.4,-8.2,197,3100,0.17,2.47,0.00,0.000,6,0.094,0.032,2886,2208,3752,0,0,0,0,0,0
$GC,3370,-1.35,-136.3,336.7,-5.6,204,3375,0.17,2.50,0.00,0.000,4,0.054,0.047,2815,3750,3751,0,0,0,0,0,0
$GC,3386,-1.35,-136.3,338.2,-6.3,204,3391,0.10,2.47,0.00,0.000,6,0.117,0.030,2846,2208,3751,0,0,0,0,0,0
$GC,3649,-1.35,-136.3,359.6,-8.3,211,3650,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2208,3750,0,0,0,0,0,0
$GC,3891,-1.35,-136.3,381.4,-9.1,217,3895,0.00,2.53,0.00,0.000,4,0.000,0.049,2845,3747,3749,0,0,0,0,0,0
$GC,3947,-1.35,-136.3,387.1,-10.2,218,3956,2.22,2.50,0.00,0.000,6,0.067,0.037,2977,2221,3749,8,0,0,0,0,0
$GC,4222,-2.37,-136.3,406.9,-7.9,225,4231,3.22,2.58,0.00,0.000,4,0.053,0.046,2565,3749,3747,0,0,0,0,0,0
$GC,4346,-1.94,-136.3,425.4,-16.2,227,4351,0.73,2.58,0.00,0.000,6,0.100,0.051,2753,2205,3746,1,0,0,0,0,0
$GC,4598,-1.79,-136.3,452.8,-10.2,233,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2205,3744,0,0,0,0,0,0
$GC,4842,-1.65,-136.3,475.8,-9.2,239,4844,0.10,0.00,0.00,0.000,6,0.147,0.000,2779,2210,3742,0,0,0,0,0,0
$GC,5083,-1.55,-136.3,497.3,-8.8,245,5089,0.12,2.65,0.00,0.000,4,0.132,0.069,2783,3747,3741,0,0,0,0,0,0
$GC,5126,-1.51,-136.3,500.8,-9.1,246,5130,0.00,2.60,0.00,0.000,6,0.000,0.052,2804,2208,3740,0,0,0,0,0,0
$GC,5409,-1.46,-136.3,525.3,-8.8,253,5414,0.10,2.65,0.00,0.000,4,0.134,0.064,2797,3739,3739,0,0,0,0,0,0
$GC,5461,-1.46,-136.3,530.0,-9.7,254,5465,0.00,2.58,0.00,0.000,6,0.000,0.057,2824,2214,3739,0,0,0,0,0,0
$STATE,5689,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5689,begin apogee
$GC,5697,-0.31,0.0,550.1,8.8,260,5812,1.10,0.00,111.25,0.969,6,0.093,0.000,3074,2176,3189,0,0,0,0,0,0
$STATE,5813,end apogee,CONTROL_FINISHED_OK
$STATE,5813,begin climb
$GC,5815,1.32,136.3,553.3,0.0,263,5941,1.48,2.78,113.43,0.937,4,0.045,0.064,3392,3747,2633,0,0,0,0,0,0
$GC,5969,1.18,136.3,543.0,12.2,266,5974,0.00,2.72,0.00,0.000,6,0.000,0.061,3405,2184,2630,0,0,0,0,0,0
$GC,6225,1.07,136.3,513.5,11.6,273,6227,0.25,0.00,0.00,0.000,6,0.113,0.000,3378,2183,2625,0,0,0,0,0,0
$GC,6470,1.08,151.9,490.0,9.4,279,6489,0.00,2.75,13.40,0.849,4,0.000,0.058,3347,3750,2570,0,0,0,0,0,0
$GC,6523,1.08,151.9,484.3,11.2,280,6527,0.00,2.70,0.00,0.000,6,0.000,0.050,3378,2180,2568,0,0,0,0,0,0
$GC,6796,1.10,164.8,458.3,9.5,287,6809,0.00,0.00,11.80,0.834,6,0.000,0.000,3378,2180,2519,0,0,0,0,0,0
$GC,7041,1.12,178.0,434.8,9.5,293,7056,0.00,0.00,12.65,0.830,6,0.000,0.000,3378,2180,2464,0,0,0,0,0,0
$GC,7283,1.13,190.5,411.2,9.6,299,7302,0.00,3.00,12.38,0.817,4,0.000,0.095,3378,593,2412,0,0,0,0,0,0
$GC,7336,1.13,190.5,405.7,10.3,300,7340,0.00,2.60,0.00,0.000,6,0.000,0.031,3359,2179,2411,0,0,0,0,0,0
$GC,7611,1.15,207.1,380.3,9.3,307,7633,0.00,2.83,15.73,0.821,4,0.000,0.071,3377,585,2344,0,0,0,0,0,0
$GC,7660,1.15,207.1,375.0,11.0,308,7665,0.00,2.62,0.00,0.000,6,0.000,0.026,3364,2192,2341,0,0,0,0,0,0
$GC,7935,1.15,208.7,347.4,10.1,315,7939,0.00,2.58,0.00,0.000,4,0.000,0.049,3356,3761,2339,0,0,0,0,0,0
$GC,8030,1.22,220.2,337.7,9.6,317,8050,0.12,2.60,12.45,0.779,6,0.079,0.038,3413,2189,2292,0,0,0,0,0,0
$GC,8308,1.25,240.1,311.5,9.2,324,8332,0.00,2.67,18.08,0.782,4,0.000,0.045,3374,3754,2212,0,0,0,0,0,0
$GC,8377,1.25,240.1,303.9,11.5,325,8381,0.00,2.55,0.00,0.000,6,0.000,0.037,3413,2207,2210,0,0,0,0,0,0
$GC,8632,1.25,240.1,272.6,12.6,332,8636,0.00,2.78,0.00,0.000,4,0.000,0.064,3413,591,2208,0,0,0,0,0,0
$GC,8722,1.25,240.1,262.2,12.1,334,8727,0.00,2.55,0.00,0.000,6,0.000,0.022,3399,2201,2207,0,0,0,0,0,0
$GC,9000,1.27,261.7,236.4,9.1,341,9025,0.00,2.60,20.17,0.725,4,0.000,0.044,3386,3761,2121,0,0,0,0,0,0
$GC,9078,1.34,261.7,228.5,10.6,342,9084,0.10,2.58,0.00,0.000,6,0.094,0.035,3441,2189,2118,0,0,0,0,0,0
$GC,9327,1.34,261.7,197.6,12.6,349,9332,0.00,2.67,0.00,0.000,4,0.000,0.056,3441,590,2118,0,0,0,0,0,0
$GC,9356,1.31,261.7,193.5,14.2,351,9360,0.00,2.58,0.00,0.000,6,0.000,0.025,3441,2210,2116,0,0,0,0,0,0
$GC,9620,1.31,261.7,160.2,12.2,375,9628,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,2215,2117,0,0,0,0,0,0
$GC,9881,1.31,261.7,131.3,10.4,400,9882,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,2210,2117,0,0,0,0,0,0
$GC,10138,1.35,296.2,108.7,8.5,424,10172,0.00,0.00,30.27,0.607,6,0.000,0.000,3441,2210,1981,0,0,0,0,0,0
$GC,10427,1.35,296.2,80.3,11.1,451,10432,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,2210,1979,0,0,0,0,0,0
$GC,10695,1.35,296.2,52.5,10.9,476,10699,0.00,2.47,0.00,0.000,4,0.000,0.035,3399,3757,1979,0,0,0,0,0,0
$GC,10715,1.35,296.2,50.1,11.2,477,10721,0.45,2.50,0.00,0.000,6,0.043,0.027,3478,2192,1978,1,0,0,0,0,0
$STATE,10973,end climb,SURFACE_DEPTH_REACHED
$STATE,10973,begin surface coast
$FINISH,-0.6,1.023727
$STATE,10999,end surface coast,CONTROL_FINISHED_OK
$STATE,10999,begin surface
$SM_CCo,11021,67.47,0.521,0,0,1640,380.21
$SM_GC,0.11,0.00,0.00,67.47,0.000,0.000,0.521,471,2188,1640,-12.30,0.23,380.21
$IRIDIUM_FIX,2209.02,-15804.56,220901,181802
$TT8_MAMPS,0.027612
$HUMID,61.81
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,21.50
$XPDR_PINGS,54
$24V_AH,23.5,32.264
$10V_AH,10.3,28.623
$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,37.000,118.900,371.600,67.475,0.000,27.272,33.540,209.425,13.500,0.000,44.016,1056.788,7413.180,513.271,1961.144,592.307,33.370,1242.108,0.000,1934.595,0.000,0.534,0.000
$DEVICE_MAMPS,174.109,167.206,968.721,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,344.891,263.655,369.048,684.114,1049.464,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355964
$DATA_FILE_SIZE,38382,508
$CAP_FILE_SIZE,115233,0
$CFSIZE,260165632,133210112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,10,0,0,0
$GPS,290612,011228,2215.396,-15805.493,17,2.2,36,10.0