version: 66.06
glider: 146
mission: 7
dive: 234
start: 6 29 112 23 18 4
data:
$ID,146
$MISSION,7
$DIVE,234
$D_SURF,4
$D_FLARE,3
$D_TGT,650
$D_ABORT,720
$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,-295275.62
$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,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
$GPS1,231036,2212.624,-15804.808,34,1.0,39,10.0
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-70.3
$GPS2,231708,2212.624,-15804.933,12,1.6,12,10.0
$SPEED_LIMITS,0.172,0.267
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.220,-0.151
$KALMAN_X,-39459.1,-311.9,483.7,37218.9,-2083.2
$KALMAN_Y,164836.0,-113.2,197.0,-216701.7,1066.4
$MHEAD_RNG_PITCHd_Wd,114.6,26236,-21.4,-12.037
$D_GRID,650
$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,-1.50,-136.3,0.0,0.0,0,115,0.00,0.00,-86.95,0.000,6,0.000,0.000,468,2184,3746,0,0,0,0,0,0
$GC,120,-1.50,-136.3,4.6,-11.4,11,141,12.88,2.60,0.00,0.000,4,0.173,0.033,2781,598,3747,0,0,0,0,0,0
$GC,192,-1.26,-136.3,29.8,-21.6,19,203,0.25,2.50,0.00,0.000,6,0.110,0.021,2831,2185,3748,0,0,0,0,0,0
$GC,460,-1.16,-136.3,72.9,-14.2,44,469,0.15,0.00,0.00,0.000,6,0.123,0.000,2861,2187,3748,0,0,0,0,0,0
$GC,727,-1.16,-136.3,108.1,-13.2,69,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2187,3749,0,0,0,0,0,0
$GC,991,-1.16,-136.3,141.5,-12.3,94,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2187,3750,0,0,0,0,0,0
$GC,1255,-1.16,-136.3,174.8,-12.5,119,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2187,3751,0,0,0,0,0,0
$GC,1522,-1.16,-136.3,210.8,-13.2,139,1527,0.00,2.65,0.00,0.000,4,0.000,0.056,2861,595,3751,0,0,0,0,0,0
$GC,1543,-1.16,-136.3,213.8,-13.9,139,1548,0.00,2.47,0.00,0.000,6,0.000,0.017,2861,2196,3751,0,0,0,0,0,0
$GC,1801,-1.16,-136.3,242.3,-10.3,146,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2196,3751,0,0,0,0,0,0
$GC,2043,-1.23,-136.3,263.0,-8.6,152,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2196,3752,0,0,0,0,0,0
$GC,2287,-1.31,-136.3,287.0,-10.1,158,2292,0.12,2.50,0.00,0.000,4,0.074,0.038,2769,3739,3752,0,0,0,0,0,0
$GC,2437,-1.31,-136.3,306.0,-12.5,161,2444,1.45,2.47,0.00,0.000,6,0.075,0.034,2831,2178,3752,5,0,0,0,0,0
$GC,2701,-2.08,-136.3,322.0,-7.1,168,2709,2.10,2.60,0.00,0.000,4,0.053,0.046,2578,3742,3752,0,0,0,0,0,0
$GC,2963,-1.79,-136.3,364.4,-16.9,173,2969,0.32,2.47,0.00,0.000,6,0.102,0.036,2724,2232,3751,0,0,0,0,0,0
$GC,3213,-1.65,-136.3,396.4,-12.3,180,3218,0.15,2.53,0.00,0.000,4,0.129,0.047,2740,3745,3750,0,0,0,0,0,0
$GC,3282,-1.57,-136.3,404.5,-11.2,181,3288,0.12,2.50,0.00,0.000,6,0.130,0.047,2779,2239,3750,0,0,0,0,0,0
$GC,3538,-1.57,-136.3,430.6,-10.2,188,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2239,3749,0,0,0,0,0,0
$GC,3783,-1.57,-136.3,455.8,-10.3,194,3785,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2239,3748,0,0,0,0,0,0
$GC,4025,-1.57,-136.3,481.3,-10.5,200,4030,0.00,2.58,0.00,0.000,4,0.000,0.062,2771,3737,3746,0,0,0,0,0,0
$GC,4041,-1.57,-136.3,483.2,-10.4,200,4051,2.50,2.50,0.00,0.000,6,0.081,0.055,2777,2248,3746,9,0,0,0,0,0
$GC,4308,-2.90,-136.3,495.8,-5.9,207,4317,3.67,2.58,0.00,0.000,4,0.041,0.059,2443,3729,3744,0,0,0,0,0,0
$GC,4572,-2.31,-136.3,551.8,-26.4,212,4578,0.73,2.62,0.00,0.000,6,0.150,0.067,2607,2225,3744,0,0,0,0,0,0
$GC,4824,-1.98,-136.3,598.3,-18.5,219,4829,0.32,2.72,0.00,0.000,4,0.124,0.094,2676,3729,3739,0,0,0,0,0,0
$GC,5084,-1.77,-136.3,640.3,-14.8,224,5090,0.25,2.80,0.00,0.000,6,0.117,0.098,2724,2215,3738,0,0,0,0,0,0
$STATE,5169,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5169,begin apogee
$GC,5175,-0.31,0.0,651.4,12.7,227,5292,1.48,0.00,112.72,1.035,6,0.097,0.000,3043,2180,3190,0,0,0,0,0,0
$STATE,5292,end apogee,CONTROL_FINISHED_OK
$STATE,5292,begin climb
$GC,5295,1.50,136.3,654.4,0.0,230,5424,1.70,3.28,115.45,1.010,4,0.046,0.134,3444,597,2632,0,0,0,0,0,0
$GC,5458,1.39,136.3,639.4,15.1,233,5464,0.22,2.80,0.00,0.000,6,0.119,0.077,3399,2146,2628,0,0,0,0,0,0
$GC,5708,1.40,145.6,610.5,11.5,240,5723,0.10,3.03,8.07,0.831,4,0.092,0.094,3395,3765,2596,0,0,0,0,0,0
$GC,5764,1.36,145.6,603.4,13.7,241,5769,0.00,2.85,0.00,0.000,6,0.000,0.078,3425,2178,2594,0,0,0,0,0,0
$GC,6035,1.36,145.6,568.2,12.6,248,6036,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2178,2592,0,0,0,0,0,0
$GC,6281,1.38,160.7,540.5,11.1,254,6301,0.00,3.00,14.12,0.903,4,0.000,0.100,3425,594,2533,0,0,0,0,0,0
$GC,6323,1.32,160.7,535.2,12.6,255,6328,0.00,2.70,0.00,0.000,6,0.000,0.047,3405,2186,2532,0,0,0,0,0,0
$GC,6601,1.33,167.7,503.5,11.6,262,6615,0.00,2.83,7.05,0.789,4,0.000,0.065,3354,3770,2504,0,0,0,0,0,0
$GC,6667,1.33,167.7,495.0,13.2,263,6672,0.00,2.70,0.00,0.000,6,0.000,0.046,3425,2188,2504,0,0,0,0,0,0
$GC,6928,1.33,169.2,463.4,11.9,270,6929,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2188,2502,0,0,0,0,0,0
$GC,7172,1.34,178.1,435.4,11.5,276,7187,0.00,2.70,9.98,0.825,4,0.000,0.051,3413,3772,2464,0,0,0,0,0,0
$GC,7261,1.34,178.1,424.8,12.2,278,7266,0.00,2.70,0.00,0.000,6,0.000,0.044,3425,2175,2462,0,0,0,0,0,0
$GC,7539,1.37,199.3,394.5,10.8,285,7564,0.00,2.90,20.12,0.854,4,0.000,0.087,3425,588,2376,0,0,0,0,0,0
$GC,7581,1.38,207.0,389.6,11.6,286,7595,0.00,2.60,8.23,0.756,6,0.000,0.031,3425,2195,2345,0,0,0,0,0,0
$GC,7863,1.38,207.9,356.6,12.0,293,7867,0.00,2.60,0.00,0.000,4,0.000,0.047,3409,3760,2341,0,0,0,0,0,0
$GC,7902,1.38,214.3,352.0,11.7,294,7916,0.00,2.62,7.47,0.732,6,0.000,0.040,3421,2176,2317,0,0,0,0,0,0
$GC,8191,1.43,214.3,316.8,12.2,301,8196,0.00,2.65,0.00,0.000,4,0.000,0.048,3414,3766,2314,0,0,0,0,0,0
$GC,8288,1.50,220.5,304.6,11.7,303,8301,0.00,2.60,6.55,0.678,6,0.000,0.032,3425,2187,2292,0,0,0,0,0,0
$GC,8566,1.57,226.7,271.4,11.7,310,8581,0.12,2.80,7.40,0.679,4,0.078,0.067,3461,592,2265,0,0,0,0,0,0
$GC,8604,1.53,226.7,265.9,14.3,310,8610,0.00,2.58,0.00,0.000,6,0.000,0.028,3460,2205,2264,0,0,0,0,0,0
$GC,8856,1.53,226.7,234.5,12.6,317,8860,0.00,2.55,0.00,0.000,4,0.000,0.044,3449,3757,2263,0,0,0,0,0,0
$GC,8950,1.53,226.7,221.1,14.0,319,8954,0.00,2.53,0.00,0.000,6,0.000,0.035,3460,2209,2262,0,0,0,0,0,0
$GC,9205,1.56,252.0,191.7,10.5,330,9233,0.00,2.60,23.05,0.697,4,0.000,0.037,3470,3758,2162,0,0,0,0,0,0
$GC,9251,1.56,252.0,186.6,12.2,333,9264,5.38,2.55,0.00,0.000,6,0.426,0.028,3488,2221,2159,19,0,0,0,0,0
$GC,9531,1.08,252.0,116.8,27.0,359,9542,2.33,2.60,0.00,0.000,4,0.122,0.040,3354,3759,2157,0,0,0,0,0,0
$GC,9571,1.26,266.1,109.5,11.2,362,9590,0.15,2.50,13.10,0.602,6,0.065,0.028,3398,2216,2105,0,0,0,0,0,0
$GC,9853,1.49,315.5,83.8,9.1,387,9903,0.17,0.00,43.20,0.604,6,0.060,0.000,3449,2216,1903,0,0,0,0,0,0
$GC,10158,1.60,323.8,48.4,11.5,416,10169,0.00,0.00,8.23,0.502,6,0.000,0.000,3449,2215,1869,0,0,0,0,0,0
$GC,10485,1.69,323.8,9.0,12.1,451,10495,0.12,0.00,0.00,0.000,6,0.077,0.000,3487,2216,1867,0,0,0,0,0,0
$STATE,10520,end climb,SURFACE_DEPTH_REACHED
$STATE,10520,begin surface coast
$FINISH,-0.5,1.017243
$STATE,10561,end surface coast,CONTROL_FINISHED_OK
$STATE,10561,begin surface
$SM_CCo,10584,45.12,0.523,0,0,1639,380.21
$SM_GC,0.33,0.00,0.00,45.12,0.000,0.000,0.523,468,2212,1639,-12.18,0.90,380.21
$IRIDIUM_FIX,2206.70,-15807.59,230901,191932
$TT8_MAMPS,0.026845
$HUMID,64.60
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,21.20
$XPDR_PINGS,37
$24V_AH,23.4,33.313
$10V_AH,10.3,29.511
$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,48.875,106.425,404.750,45.125,0.000,27.870,31.425,186.247,9.250,0.000,13.572,975.284,6951.378,509.259,2028.126,559.747,33.373,1309.328,0.000,2032.425,0.000,0.535,0.000
$DEVICE_MAMPS,426.452,190.216,1035.450,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,310.719,222.505,317.563,673.354,1060.688,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355924
$DATA_FILE_SIZE,35249,460
$CAP_FILE_SIZE,113882,0
$CFSIZE,260165632,132788224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,33,0,0,0
$GPS,300612,021636,2212.346,-15804.910,37,1.0,42,10.0