version: 66.06
glider: 146
mission: 7
dive: 230
start: 6 29 112 11 4 25
data:
$ID,146
$MISSION,7
$DIVE,230
$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,-295134.44
$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,3115
$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,29
$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
$GPS1,105325,2214.421,-15804.934,38,1.5,38,10.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-68.8
$GPS2,110331,2214.428,-15805.083,10,1.4,15,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.230,-0.106
$KALMAN_X,-32879.1,134.8,478.2,29941.1,-2398.9
$KALMAN_Y,160333.1,130.1,-14.1,-208898.4,948.7
$MHEAD_RNG_PITCHd_Wd,104.6,29359,-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,-136.3,0.0,0.0,0,107,0.00,0.00,-85.90,0.000,6,0.000,0.000,467,2186,3747,0,0,0,0,0,0
$GC,110,-1.32,-136.3,3.3,-9.3,11,127,13.12,0.00,0.00,0.000,6,0.173,0.000,2822,2186,3748,0,0,0,0,0,0
$GC,419,-1.12,-136.3,61.4,-15.8,44,424,0.22,2.53,0.00,0.000,4,0.120,0.028,2828,3754,3749,0,0,0,0,0,0
$GC,440,-0.97,-136.3,64.6,-15.0,45,445,0.15,2.53,0.00,0.000,6,0.104,0.023,2903,2163,3749,0,0,0,0,0,0
$GC,706,-0.97,-136.3,93.7,-11.0,69,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2163,3750,0,0,0,0,0,0
$GC,968,-0.97,-136.3,121.6,-10.8,94,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2163,3751,0,0,0,0,0,0
$GC,1223,-0.97,-136.3,148.9,-10.5,118,1228,0.00,2.58,0.00,0.000,4,0.000,0.038,2868,3760,3751,0,0,0,0,0,0
$GC,1252,-0.97,-136.3,152.5,-11.1,120,1257,0.00,2.50,0.00,0.000,6,0.000,0.029,2903,2164,3751,0,0,0,0,0,0
$GC,1517,-0.97,-136.3,178.3,-9.4,144,1525,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2163,3751,0,0,0,0,0,0
$GC,1782,-0.97,-136.3,199.9,-8.0,169,1786,0.00,2.55,0.00,0.000,4,0.000,0.037,2903,3757,3751,0,0,0,0,0,0
$GC,1800,-0.97,-136.3,201.6,-8.5,169,1804,0.00,2.47,0.00,0.000,6,0.000,0.024,2903,2174,3752,0,0,0,0,0,0
$GC,2060,-0.97,-136.3,225.2,-9.4,176,2062,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2174,3752,0,0,0,0,0,0
$GC,2304,-1.02,-136.3,248.8,-9.6,182,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2174,3752,0,0,0,0,0,0
$GC,2550,-1.09,-136.3,267.9,-7.5,188,2552,0.12,0.00,0.00,0.000,6,0.067,0.000,2853,2174,3752,0,0,0,0,0,0
$GC,2791,-1.09,-136.3,290.4,-9.5,194,2796,0.10,2.55,0.00,0.000,4,0.117,0.044,2876,3750,3752,0,0,0,0,0,0
$GC,2881,-1.15,-136.3,298.6,-7.9,196,2886,0.00,2.47,0.00,0.000,6,0.000,0.025,2876,2192,3751,0,0,0,0,0,0
$GC,3161,-1.20,-136.3,316.5,-6.3,203,3163,0.10,0.00,0.00,0.000,6,0.081,0.000,2834,2192,3751,0,0,0,0,0,0
$GC,3402,-1.20,-136.3,339.8,-9.9,209,3407,0.00,2.75,0.00,0.000,4,0.000,0.078,2834,604,3750,0,0,0,0,0,0
$GC,3418,-1.16,-136.3,341.6,-10.3,209,3423,0.12,2.53,0.00,0.000,6,0.107,0.029,2861,2186,3750,0,0,0,0,0,0
$GC,3681,-1.16,-136.3,365.3,-8.9,216,3682,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2187,3749,0,0,0,0,0,0
$GC,3923,-1.20,-136.3,387.0,-8.8,222,3928,0.00,2.60,0.00,0.000,4,0.000,0.048,2861,3760,3748,0,0,0,0,0,0
$GC,3953,-1.24,-136.3,389.5,-9.0,222,3958,0.00,2.55,0.00,0.000,6,0.000,0.038,2861,2198,3748,0,0,0,0,0,0
$GC,4204,-1.28,-136.3,410.1,-8.1,228,4209,0.10,2.60,0.00,0.000,4,0.081,0.052,2821,3758,3746,0,0,0,0,0,0
$GC,4220,-1.28,-136.3,411.8,-8.3,228,4224,0.00,2.60,0.00,0.000,6,0.000,0.041,2820,2184,3746,0,0,0,0,0,0
$GC,4483,-1.28,-136.3,436.8,-9.8,235,4487,0.00,2.62,0.00,0.000,4,0.000,0.054,2820,3758,3742,0,0,0,0,0,0
$GC,4526,-1.28,-136.3,441.8,-10.5,236,4530,0.00,2.58,0.00,0.000,6,0.000,0.050,2821,2196,3745,0,0,0,0,0,0
$GC,4805,-1.28,-136.3,468.1,-9.2,243,4806,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2196,3742,0,0,0,0,0,0
$GC,5050,-1.28,-136.3,489.5,-8.7,249,5051,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2196,3741,0,0,0,0,0,0
$GC,5292,-1.28,-136.3,509.4,-8.2,255,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2196,3739,0,0,0,0,0,0
$GC,5536,-1.28,-136.3,529.8,-8.5,261,5540,0.00,2.70,0.00,0.000,4,0.000,0.071,2791,3752,3737,0,0,0,0,0,0
$GC,5557,-1.28,-136.3,531.8,-9.0,261,5565,1.25,2.65,0.00,0.000,6,0.074,0.060,2947,2189,3736,4,0,0,0,0,0
$GC,5819,-1.97,-136.3,545.4,-6.4,268,5828,1.80,3.12,0.00,0.000,4,0.056,0.124,2680,594,3735,0,0,0,0,0,0
$STATE,5860,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5860,begin apogee
$GC,5869,-0.31,0.0,550.2,11.8,269,5984,1.67,0.00,110.55,0.975,6,0.093,0.000,3048,2170,3190,0,0,0,0,0,0
$STATE,5984,end apogee,CONTROL_FINISHED_OK
$STATE,5984,begin climb
$GC,5989,1.32,136.3,554.3,0.0,272,6113,1.50,2.88,113.62,0.942,4,0.047,0.075,3357,3770,2633,0,0,0,0,0,0
$GC,6216,1.25,136.3,536.1,12.0,277,6221,0.00,2.72,0.00,0.000,6,0.000,0.052,3363,2177,2627,0,0,0,0,0,0
$GC,6488,1.18,136.3,506.5,10.9,284,6490,0.15,0.00,0.00,0.000,6,0.120,0.000,3372,2177,2623,0,0,0,0,0,0
$GC,6732,1.19,142.9,482.3,9.9,290,6738,0.00,0.00,4.97,0.662,6,0.000,0.000,3372,2177,2607,0,0,0,0,0,0
$GC,6977,1.20,152.9,458.4,9.7,296,6991,0.00,0.00,10.32,0.820,6,0.000,0.000,3372,2177,2567,0,0,0,0,0,0
$GC,7265,1.20,152.9,429.2,10.2,303,7266,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,2177,2563,0,0,0,0,0,0
$GC,7509,1.22,167.1,406.1,9.5,309,7528,0.00,2.75,13.38,0.825,4,0.000,0.051,3372,3768,2505,0,0,0,0,0,0
$GC,7554,1.22,167.1,402.0,10.3,310,7558,0.00,2.70,0.00,0.000,6,0.000,0.045,3371,2167,2506,0,0,0,0,0,0
$GC,7837,1.25,193.9,376.1,8.8,317,7866,0.00,2.75,24.02,0.840,4,0.000,0.049,3341,3776,2399,0,0,0,0,0,0
$GC,7949,1.34,235.4,366.7,8.1,319,7994,0.15,2.65,37.85,0.838,6,0.070,0.036,3412,2190,2229,0,0,0,0,0,0
$GC,8257,1.34,235.4,334.1,11.2,327,8262,0.00,2.78,0.00,0.000,4,0.000,0.071,3351,590,2222,0,0,0,0,0,0
$GC,8272,1.34,235.4,331.9,12.2,327,8277,0.00,2.60,0.00,0.000,6,0.000,0.023,3412,2226,2222,0,0,0,0,0,0
$GC,8535,1.34,235.4,299.9,12.4,334,8540,0.00,2.80,0.00,0.000,4,0.000,0.058,3415,591,2220,0,0,0,0,0,0
$GC,8590,1.34,235.4,292.6,12.4,335,8595,0.00,2.55,0.00,0.000,6,0.000,0.029,3412,2182,2219,0,0,0,0,0,0
$GC,8857,1.34,235.4,263.4,10.3,342,8861,0.00,2.60,0.00,0.000,4,0.000,0.043,3369,3761,2218,0,0,0,0,0,0
$GC,8975,1.34,235.4,249.4,12.4,344,8986,1.70,2.55,0.00,0.000,6,0.061,0.030,3527,2193,2216,6,0,0,0,0,0
$GC,9232,0.78,235.4,188.5,24.0,354,9247,2.53,2.60,0.00,0.000,4,0.122,0.041,3156,3753,2214,0,0,0,0,0,0
$GC,9312,1.27,372.4,183.4,3.3,360,9437,0.38,2.50,116.90,0.701,6,0.025,0.026,3400,2219,1670,0,0,0,0,0,0
$GC,9703,1.35,372.4,145.1,11.7,396,9707,0.00,2.75,0.00,0.000,4,0.000,0.055,3399,589,1663,0,0,0,0,0,0
$GC,9794,1.46,372.4,133.6,12.7,403,9800,0.12,2.58,0.00,0.000,6,0.074,0.020,3438,2226,1662,0,0,0,0,0,0
$GC,10061,1.46,372.4,94.5,14.9,427,10065,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2226,1661,0,0,0,0,0,0
$GC,10326,1.46,372.4,56.1,13.1,452,10330,0.00,2.72,0.00,0.000,4,0.000,0.050,3438,592,1662,0,0,0,0,0,0
$GC,10376,1.52,372.4,50.0,12.9,455,10380,0.00,2.53,0.00,0.000,6,0.000,0.020,3438,2205,1660,0,0,0,0,0,0
$GC,10701,1.52,372.4,7.3,13.4,489,10711,0.00,2.72,0.00,0.000,4,0.000,0.053,3248,602,1660,0,0,0,0,0,0
$STATE,10720,end climb,SURFACE_DEPTH_REACHED
$STATE,10721,begin surface coast
$FINISH,0.5,1.023733
$STATE,10738,end surface coast,CONTROL_FINISHED_OK
$STATE,10738,begin surface
$SM_CCo,10762,4.60,0.389,0,0,1641,380.21
$SM_GC,0.20,0.00,0.00,4.60,0.000,0.000,0.389,469,2192,1641,-12.18,0.34,380.21
$IRIDIUM_FIX,2206.70,-15805.43,230901,111134
$TT8_MAMPS,0.027612
$HUMID,65.12
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,20.80
$XPDR_PINGS,42
$24V_AH,23.4,32.746
$10V_AH,10.2,29.086
$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,37.250,105.425,431.625,4.600,0.000,55.482,78.918,252.577,10.500,0.000,17.297,983.487,7300.327,473.359,1916.178,699.854,33.376,1195.061,0.000,1912.073,0.000,0.535,0.000
$DEVICE_MAMPS,173.342,124.254,974.857,388.869,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,333.752,252.242,355.923,691.526,1079.094,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355980
$DATA_FILE_SIZE,38311,493
$CAP_FILE_SIZE,110911,0
$CFSIZE,260165632,132988928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,10,0,0,0
$GPS,290612,140506,2214.070,-15804.959,31,1.2,31,10.0