version: 66.06
glider: 146
mission: 7
dive: 227
start: 6 29 112 1 19 45
data:
$ID,146
$MISSION,7
$DIVE,227
$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,-295086.53
$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,42
$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
$GPS1,011228,2215.396,-15805.493,17,2.2,36,10.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-69.5
$GPS2,011849,2215.438,-15805.568,10,1.6,15,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.174,-0.184
$KALMAN_X,-27811.2,-25.4,-288.6,24969.3,-1525.9
$KALMAN_Y,155478.7,341.6,102.7,-202500.6,1212.9
$MHEAD_RNG_PITCHd_Wd,126.7,31406,-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,-136.3,0.0,0.0,0,111,0.00,0.00,-87.20,0.000,6,0.000,0.000,471,2188,3747,0,0,0,0,0,0
$GC,116,-1.32,-136.3,4.0,-10.3,11,135,13.27,2.60,0.00,0.000,4,0.175,0.033,2785,587,3747,0,0,0,0,0,0
$GC,214,-1.16,-136.3,31.1,-16.1,23,219,0.20,2.50,0.00,0.000,6,0.123,0.018,2886,2189,3748,0,0,0,0,0,0
$GC,479,-1.06,-136.3,66.7,-13.1,47,489,0.12,0.00,0.00,0.000,6,0.123,0.000,2911,2191,3749,0,0,0,0,0,0
$GC,743,-1.06,-136.3,95.1,-9.4,72,748,0.00,2.47,0.00,0.000,4,0.000,0.033,2880,3750,3750,0,0,0,0,0,0
$GC,814,-1.13,-136.3,101.4,-9.8,77,818,0.00,2.47,0.00,0.000,6,0.000,0.023,2911,2182,3750,0,0,0,0,0,0
$GC,1080,-1.13,-136.3,127.8,-10.0,101,1085,0.00,2.58,0.00,0.000,4,0.000,0.053,2911,606,3751,0,0,0,0,0,0
$GC,1114,-1.13,-136.3,131.2,-10.4,103,1118,0.00,2.47,0.00,0.000,6,0.000,0.017,2913,2206,3751,0,0,0,0,0,0
$GC,1382,-1.13,-136.3,156.6,-9.8,127,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2206,3751,0,0,0,0,0,0
$GC,1644,-1.13,-136.3,183.2,-10.1,152,1648,0.00,2.65,0.00,0.000,4,0.000,0.053,2906,608,3751,0,0,0,0,0,0
$GC,1678,-1.13,-136.3,186.1,-10.7,154,1683,0.00,2.45,0.00,0.000,6,0.000,0.025,2911,2192,3752,0,0,0,0,0,0
$GC,1934,-1.13,-136.3,212.5,-10.1,169,1938,0.00,2.62,0.00,0.000,4,0.000,0.051,2911,608,3752,0,0,0,0,0,0
$GC,1955,-1.13,-136.3,214.9,-10.5,169,1959,0.00,2.42,0.00,0.000,6,0.000,0.024,2912,2181,3752,0,0,0,0,0,0
$GC,2213,-1.19,-136.3,239.5,-9.1,176,2215,0.12,0.00,0.00,0.000,6,0.067,0.000,2861,2181,3752,0,0,0,0,0,0
$GC,2454,-1.19,-136.3,263.8,-10.3,182,2456,0.10,0.00,0.00,0.000,6,0.114,0.000,2884,2181,3752,0,0,0,0,0,0
$GC,2699,-1.23,-136.3,281.9,-7.3,188,2703,0.00,2.62,0.00,0.000,4,0.000,0.054,2812,606,3752,0,0,0,0,0,0
$GC,2740,-1.30,-136.3,285.3,-9.0,189,2745,0.10,2.42,0.00,0.000,6,0.080,0.023,2842,2170,3752,0,0,0,0,0,0
$GC,3024,-1.30,-136.3,314.1,-10.3,196,3028,0.00,2.55,0.00,0.000,4,0.000,0.043,2813,3759,3752,0,0,0,0,0,0
$GC,3075,-1.30,-136.3,319.2,-10.6,197,3079,0.00,2.50,0.00,0.000,6,0.000,0.032,2841,2191,3753,0,0,0,0,0,0
$GC,3346,-1.30,-136.3,345.7,-9.3,204,3351,0.00,2.55,0.00,0.000,4,0.000,0.041,2800,3754,3752,0,0,0,0,0,0
$GC,3368,-1.30,-136.3,347.7,-9.2,204,3373,0.00,2.55,0.00,0.000,6,0.000,0.031,2841,2179,3752,0,0,0,0,0,0
$GC,3625,-1.30,-136.3,370.2,-9.0,211,3629,0.00,2.55,0.00,0.000,4,0.000,0.048,2792,3750,3751,0,0,0,0,0,0
$GC,3669,-1.30,-136.3,374.7,-10.0,212,3678,2.45,2.55,0.00,0.000,6,0.066,0.038,3058,2187,3751,8,0,0,0,0,0
$GC,3952,-2.17,-136.3,393.9,-7.7,219,3961,3.55,2.62,0.00,0.000,4,0.100,0.054,2614,3746,3750,0,0,0,0,0,0
$GC,3970,-2.81,-136.3,395.2,-7.6,219,3975,0.55,2.55,0.00,0.000,6,0.033,0.036,2513,2188,3749,0,0,0,0,0,0
$GC,4237,-2.23,-136.3,447.5,-21.3,226,4243,0.65,2.90,0.00,0.000,4,0.109,0.102,2644,597,3748,0,0,0,0,0,0
$GC,4359,-1.87,-136.3,468.5,-17.3,228,4364,0.38,2.65,0.00,0.000,6,0.109,0.046,2731,2196,3746,0,0,0,0,0,0
$GC,4609,-1.68,-136.3,502.7,-13.4,234,4611,0.22,0.00,0.00,0.000,6,0.107,0.000,2778,2196,3745,0,0,0,0,0,0
$GC,4854,-1.58,-136.3,529.6,-10.8,240,4860,0.10,2.80,0.00,0.000,4,0.135,0.093,2748,3767,3744,0,0,0,0,0,0
$GC,4873,-1.49,-136.3,531.7,-10.5,240,4882,3.00,2.62,0.00,0.000,6,0.074,0.060,2886,2228,3743,10,0,0,0,0,0
$STATE,5095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5095,begin apogee
$GC,5101,-0.31,0.0,550.8,10.3,246,5218,1.95,0.00,111.93,0.961,6,0.068,0.000,3073,2172,3190,0,0,0,0,0,0
$STATE,5219,end apogee,CONTROL_FINISHED_OK
$STATE,5219,begin climb
$GC,5223,1.32,136.3,554.8,0.0,249,5344,1.50,0.00,113.80,0.930,6,0.049,0.000,3434,2172,2633,0,0,0,0,0,0
$GC,5588,1.18,136.3,518.4,12.5,258,5590,0.17,0.00,0.00,0.000,6,0.127,0.000,3401,2172,2625,0,0,0,0,0,0
$GC,5835,1.12,140.8,493.4,10.0,264,5839,0.00,2.72,0.00,0.000,4,0.000,0.058,3356,3767,2623,0,0,0,0,0,0
$GC,5901,1.04,141.3,486.4,10.2,265,5906,0.00,2.67,0.00,0.000,6,0.000,0.047,3389,2193,2622,0,0,0,0,0,0
$GC,6157,0.99,157.1,462.4,9.4,272,6176,0.20,0.00,17.27,0.857,6,0.117,0.000,3361,2193,2549,0,0,0,0,0,0
$GC,6402,1.08,198.8,442.6,8.1,278,6446,0.00,3.08,36.92,0.882,4,0.000,0.100,3310,591,2378,0,0,0,0,0,0
$GC,6475,1.08,198.8,435.5,10.7,279,6480,0.00,2.67,0.00,0.000,6,0.000,0.033,3345,2203,2375,0,0,0,0,0,0
$GC,6729,1.16,212.9,411.9,9.5,285,6745,0.15,0.00,12.98,0.814,6,0.068,0.000,3402,2198,2321,0,0,0,0,0,0
$GC,7012,1.16,212.9,379.0,11.5,292,7016,0.00,2.60,0.00,0.000,4,0.000,0.045,3366,3762,2317,0,0,0,0,0,0
$GC,7051,1.16,212.9,374.3,12.3,293,7055,0.00,2.62,0.00,0.000,6,0.000,0.038,3402,2182,2317,0,0,0,0,0,0
$GC,7335,1.16,212.9,343.0,10.9,300,7340,0.00,2.62,0.00,0.000,4,0.000,0.040,3380,3767,2315,0,0,0,0,0,0
$GC,7356,1.16,212.9,340.4,10.3,300,7361,0.00,2.60,0.00,0.000,6,0.000,0.032,3402,2184,2315,0,0,0,0,0,0
$GC,7613,1.16,214.2,314.7,10.1,307,7617,0.00,2.62,0.00,0.000,4,0.000,0.044,3382,3773,2314,0,0,0,0,0,0
$GC,7647,1.16,214.2,310.9,11.6,307,7653,0.00,2.58,0.00,0.000,6,0.000,0.036,3402,2198,2315,0,0,0,0,0,0
$GC,7897,1.16,214.2,283.5,10.9,314,7901,0.00,2.58,0.00,0.000,4,0.000,0.043,3387,3764,2313,0,0,0,0,0,0
$GC,7957,1.20,214.2,277.0,10.7,315,7962,0.00,2.53,0.00,0.000,6,0.000,0.035,3402,2218,2313,0,0,0,0,0,0
$GC,8221,1.24,246.0,254.0,8.6,322,8255,0.00,2.83,28.62,0.749,4,0.000,0.064,3390,597,2186,0,0,0,0,0,0
$GC,8320,1.30,246.0,244.4,10.2,324,8325,0.10,2.65,0.00,0.000,6,0.088,0.025,3432,2246,2183,0,0,0,0,0,0
$GC,8594,1.30,246.0,214.5,11.1,331,8598,0.00,2.50,0.00,0.000,4,0.000,0.041,3396,3773,2182,0,0,0,0,0,0
$GC,8621,1.30,246.0,211.1,11.6,331,8627,0.88,2.50,0.00,0.000,6,0.039,0.028,3446,2228,2181,3,0,0,0,0,0
$GC,8884,0.87,246.0,153.6,23.1,349,8894,1.60,2.58,0.00,0.000,4,0.120,0.037,3195,3766,2180,0,0,0,0,0,0
$GC,8920,1.00,256.8,147.8,9.6,352,8936,0.10,2.47,9.98,0.604,6,0.082,0.029,3373,2226,2143,0,0,0,0,0,0
$GC,9193,1.20,320.9,127.1,7.0,377,9256,0.15,2.78,56.58,0.631,4,0.064,0.054,3416,599,1880,0,0,0,0,0,0
$GC,9297,1.25,320.9,116.4,10.7,385,9303,0.00,2.62,0.00,0.000,6,0.000,0.026,3417,2247,1877,0,0,0,0,0,0
$GC,9562,1.30,320.9,89.1,10.4,410,9567,0.00,2.75,0.00,0.000,4,0.000,0.048,3417,594,1878,0,0,0,0,0,0
$GC,9582,1.30,320.9,86.7,11.1,411,9587,0.00,2.58,0.00,0.000,6,0.000,0.018,3414,2243,1873,0,0,0,0,0,0
$GC,9851,1.39,326.6,59.0,9.9,435,9861,0.12,0.00,5.30,0.441,6,0.072,0.000,3456,2243,1858,0,0,0,0,0,0
$GC,10127,1.39,326.6,23.7,12.3,463,10136,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,2243,1858,0,0,0,0,0,0
$STATE,10276,end climb,SURFACE_DEPTH_REACHED
$STATE,10276,begin surface coast
$FINISH,-0.6,1.005361
$STATE,10317,end surface coast,CONTROL_FINISHED_OK
$STATE,10317,begin surface
$SM_CCo,10339,44.25,0.517,0,0,1639,380.21
$SM_GC,0.09,0.00,0.00,44.25,0.000,0.000,0.517,468,2160,1639,-12.31,-0.57,380.21
$IRIDIUM_FIX,2209.02,-15807.59,220901,222203
$TT8_MAMPS,0.027612
$HUMID,62.64
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,21.60
$XPDR_PINGS,43
$24V_AH,23.5,32.381
$10V_AH,10.2,28.732
$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,43.800,120.050,393.375,44.250,0.000,24.735,32.279,172.387,10.750,0.000,17.189,1007.620,6834.208,515.038,1858.428,549.739,33.368,1221.436,0.000,1860.882,0.000,0.534,0.000
$DEVICE_MAMPS,174.876,139.594,961.051,516.958,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,331.055,261.804,364.180,706.592,1077.420,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355980
$DATA_FILE_SIZE,38455,489
$CAP_FILE_SIZE,109271,0
$CFSIZE,260165632,133160960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,21,0,0,0
$GPS,290612,041407,2215.302,-15805.447,38,1.3,38,10.0