version: 66.06
glider: 146
mission: 7
dive: 237
start: 6 30 112 8 58 31
data:
$ID,146
$MISSION,7
$DIVE,237
$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,-295325.03
$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,27
$R_STBD_OVSHOOT,36
$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
$GPS1,085137,2211.204,-15804.750,35,1.1,35,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.28
$_SM_ANGLEo,-71.8
$GPS2,085737,2211.206,-15804.822,7,1.1,12,10.0
$SPEED_LIMITS,0.172,0.267
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.205,-0.171
$KALMAN_X,-45171.4,205.8,277.0,42810.6,-1426.5
$KALMAN_Y,168042.9,246.4,260.7,-222961.2,446.9
$MHEAD_RNG_PITCHd_Wd,119.8,23831,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.50,-136.3,0.0,0.0,0,110,0.00,0.00,-86.50,0.000,6,0.000,0.000,471,2182,3746,0,0,0,0,0,0
$GC,113,-1.50,-136.3,3.2,-7.0,10,134,12.75,2.62,0.00,0.000,4,0.173,0.043,2779,597,3747,0,0,0,0,0,0
$GC,273,-1.30,-136.3,43.5,-19.1,25,278,0.25,2.47,0.00,0.000,6,0.120,0.020,2828,2192,3748,0,0,0,0,0,0
$GC,539,-1.20,-136.3,85.0,-12.8,49,544,0.12,0.00,0.00,0.000,6,0.136,0.000,2852,2192,3749,0,0,0,0,0,0
$GC,800,-1.20,-136.3,119.0,-12.3,74,804,0.00,2.47,0.00,0.000,4,0.000,0.032,2818,3754,3750,0,0,0,0,0,0
$GC,825,-1.20,-136.3,122.1,-13.0,75,830,0.00,2.50,0.00,0.000,6,0.000,0.028,2852,2168,3750,0,0,0,0,0,0
$GC,1090,-1.20,-136.3,157.4,-14.1,100,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2168,3751,0,0,0,0,0,0
$GC,1354,-1.20,-136.3,193.9,-12.8,125,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2168,3752,0,0,0,0,0,0
$GC,1606,-1.20,-136.3,224.0,-11.2,135,1610,0.00,2.58,0.00,0.000,4,0.000,0.048,2782,607,3752,0,0,0,0,0,0
$GC,1627,-1.20,-136.3,226.8,-12.6,135,1631,0.00,2.42,0.00,0.000,6,0.000,0.025,2851,2177,3752,0,0,0,0,0,0
$GC,1885,-1.20,-136.3,252.7,-9.7,142,1889,0.00,2.50,0.00,0.000,4,0.000,0.041,2834,3748,3752,0,0,0,0,0,0
$GC,1906,-1.20,-136.3,255.0,-9.7,142,1911,0.00,2.47,0.00,0.000,6,0.000,0.025,2851,2173,3752,0,0,0,0,0,0
$GC,2163,-1.26,-136.3,277.2,-8.1,149,2167,0.00,2.62,0.00,0.000,4,0.000,0.062,2851,612,3753,0,0,0,0,0,0
$GC,2243,-1.32,-136.3,284.8,-9.6,150,2249,0.10,2.42,0.00,0.000,6,0.081,0.020,2806,2162,3753,0,0,0,0,0,0
$GC,2493,-1.32,-136.3,312.4,-11.2,157,2494,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2161,3752,0,0,0,0,0,0
$GC,2740,-1.32,-136.3,338.2,-10.8,163,2745,0.00,2.60,0.00,0.000,4,0.000,0.043,2762,3750,3752,0,0,0,0,0,0
$GC,2801,-1.32,-136.3,345.4,-10.7,164,2805,0.00,2.55,0.00,0.000,6,0.000,0.032,2807,2175,3752,0,0,0,0,0,0
$GC,3061,-1.32,-136.3,370.7,-9.5,171,3066,0.00,2.60,0.00,0.000,4,0.000,0.044,2746,3753,3752,0,0,0,0,0,0
$GC,3085,-1.32,-136.3,372.8,-9.5,171,3089,0.00,2.60,0.00,0.000,6,0.000,0.037,2806,2170,3751,0,0,0,0,0,0
$GC,3340,-1.32,-136.3,396.9,-9.3,178,3344,0.00,2.60,0.00,0.000,4,0.000,0.049,2761,3749,3750,0,0,0,0,0,0
$GC,3389,-1.32,-136.3,402.1,-10.8,179,3398,2.92,2.62,0.00,0.000,6,0.071,0.046,2935,2166,3750,10,0,0,0,0,0
$GC,3669,-2.79,-136.3,425.9,-10.1,186,3678,4.15,2.67,0.00,0.000,4,0.045,0.050,2460,3752,3748,0,0,0,0,0,0
$GC,3686,-3.51,-136.3,427.9,-11.0,186,3691,0.55,2.65,0.00,0.000,6,0.033,0.048,2337,2160,3748,0,0,0,0,0,0
$GC,3955,-2.78,-136.3,495.8,-27.8,193,3961,0.80,2.85,0.00,0.000,4,0.143,0.094,2496,595,3746,0,0,0,0,0,0
$GC,4135,-2.23,-136.3,538.7,-22.4,197,4141,0.62,2.62,0.00,0.000,6,0.137,0.058,2623,2160,3745,0,0,0,0,0,0
$GC,4416,-1.94,-136.3,581.4,-14.6,204,4422,0.28,2.92,0.00,0.000,4,0.120,0.103,2684,3761,3743,0,0,0,0,0,0
$GC,4433,-1.68,-136.3,584.2,-14.2,204,4442,1.95,2.78,0.00,0.000,6,0.106,0.080,2871,2195,3743,7,0,0,0,0,0
$GC,4699,-2.45,-136.3,595.0,-5.0,211,4708,2.20,3.05,0.00,0.000,4,0.053,0.112,2572,591,3741,0,0,0,0,0,0
$GC,4739,-2.03,-136.3,598.9,-12.2,211,4745,0.45,2.75,0.00,0.000,6,0.110,0.064,2667,2173,3740,0,0,0,0,0,0
$GC,4989,-1.82,-136.3,632.9,-13.5,218,4994,0.25,3.03,0.00,0.000,4,0.107,0.117,2723,592,3741,0,0,0,0,0,0
$GC,5015,-1.64,-136.3,636.1,-12.7,218,5020,0.15,2.80,0.00,0.000,6,0.120,0.081,2754,2170,3738,0,0,0,0,0,0
$STATE,5146,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5146,begin apogee
$GC,5152,-0.31,0.0,650.2,10.3,222,5269,1.30,0.00,113.40,1.042,6,0.084,0.000,3043,2170,3190,0,0,0,0,0,0
$STATE,5270,end apogee,CONTROL_FINISHED_OK
$STATE,5270,begin climb
$GC,5272,1.50,136.3,652.6,0.0,225,5394,1.67,0.00,116.30,1.009,6,0.044,0.000,3441,2170,2634,0,0,0,0,0,0
$GC,5638,1.43,136.3,612.4,12.8,234,5639,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,2169,2626,0,0,0,0,0,0
$GC,5881,1.35,136.3,581.4,12.5,240,5887,0.15,2.85,0.00,0.000,4,0.133,0.078,3414,3770,2623,0,0,0,0,0,0
$GC,6008,1.36,140.2,566.0,11.8,242,6016,0.00,2.72,0.00,0.000,6,0.000,0.061,3414,2174,2622,0,0,0,0,0,0
$GC,6258,1.37,151.5,537.0,11.4,249,6277,0.00,2.83,12.57,0.895,4,0.000,0.056,3414,3768,2572,0,0,0,0,0,0
$GC,6294,1.37,151.7,532.6,12.0,249,6300,0.00,2.75,0.00,0.000,6,0.000,0.058,3414,2178,2571,0,0,0,0,0,0
$GC,6546,1.40,177.8,505.4,10.5,256,6572,0.00,0.00,24.08,0.927,6,0.000,0.000,3413,2177,2465,0,0,0,0,0,0
$GC,6788,1.44,203.4,479.7,10.5,262,6817,0.00,2.78,23.65,0.910,4,0.000,0.052,3414,3782,2360,0,0,0,0,0,0
$GC,6864,1.45,211.4,471.6,11.6,263,6878,0.00,2.75,8.45,0.798,6,0.000,0.049,3414,2181,2327,0,0,0,0,0,0
$GC,7163,1.49,250.8,441.6,9.7,271,7203,0.10,0.00,36.30,0.897,6,0.092,0.000,3442,2181,2167,0,0,0,0,0,0
$GC,7447,1.49,250.8,407.1,12.5,278,7448,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,2181,2161,0,0,0,0,0,0
$GC,7693,1.49,250.8,376.9,12.4,284,7697,0.00,2.67,0.00,0.000,4,0.000,0.041,3415,3783,2159,0,0,0,0,0,0
$GC,7725,1.49,250.8,372.1,13.7,284,7731,0.00,2.65,0.00,0.000,6,0.000,0.037,3442,2185,2159,0,0,0,0,0,0
$GC,7975,1.49,250.8,337.3,14.0,291,7976,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,2186,2158,0,0,0,0,0,0
$GC,8219,1.49,250.8,300.9,15.3,297,8223,0.00,2.62,0.00,0.000,4,0.000,0.041,3422,3778,2157,0,0,0,0,0,0
$GC,8309,1.54,250.8,287.9,14.6,299,8314,0.00,2.60,0.00,0.000,6,0.000,0.038,3442,2192,2156,0,0,0,0,0,0
$GC,8587,1.61,270.2,255.3,10.9,306,8612,0.10,2.78,16.30,0.745,4,0.091,0.065,3470,590,2088,0,0,0,0,0,0
$GC,8712,1.61,270.2,240.2,12.1,308,8718,0.00,2.62,0.00,0.000,6,0.000,0.029,3470,2224,2086,0,0,0,0,0,0
$GC,8962,1.61,270.2,210.5,12.2,315,8963,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,2224,2085,0,0,0,0,0,0
$GC,9215,1.61,270.2,176.3,13.7,333,9220,0.00,2.75,0.00,0.000,4,0.000,0.048,3454,585,2085,0,0,0,0,0,0
$GC,9237,1.61,270.2,172.8,14.1,334,9243,0.00,2.55,0.00,0.000,6,0.000,0.023,3470,2192,2084,0,0,0,0,0,0
$GC,9504,1.61,270.2,139.2,12.5,359,9509,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,2192,2084,0,0,0,0,0,0
$GC,9768,1.61,270.2,104.7,13.0,384,9777,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,2192,2084,0,0,0,0,0,0
$GC,10034,1.61,270.2,70.5,12.8,409,10038,0.00,2.53,0.00,0.000,4,0.000,0.035,3450,3759,2085,0,0,0,0,0,0
$GC,10059,1.65,270.2,66.5,13.6,410,10070,0.00,2.58,0.00,0.000,6,0.000,0.031,3470,2171,2084,0,0,0,0,0,0
$GC,10328,1.72,282.3,35.3,11.3,435,10347,0.00,2.62,12.12,0.522,4,0.000,0.035,3374,3750,2038,0,0,0,0,0,0
$GC,10399,1.79,282.3,26.0,13.7,441,10408,0.10,2.55,0.00,0.000,6,0.046,0.029,3508,2187,2037,0,0,0,0,0,0
$STATE,10556,end climb,SURFACE_DEPTH_REACHED
$STATE,10556,begin surface coast
$FINISH,-0.5,1.003993
$STATE,10590,end surface coast,CONTROL_FINISHED_OK
$STATE,10590,begin surface
$SM_CCo,10611,79.22,0.527,0,0,1641,380.46
$SM_GC,0.22,0.00,0.00,79.22,0.000,0.000,0.527,467,2183,1641,-12.19,0.08,380.46
$IRIDIUM_FIX,2204.37,-15622.10,240901,050522
$TT8_MAMPS,0.027612
$HUMID,61.97
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,21.10
$XPDR_PINGS,39
$24V_AH,23.4,33.689
$10V_AH,10.1,29.839
$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,43.175,117.000,363.175,79.225,0.000,30.242,31.879,153.525,9.750,0.000,13.934,964.715,7127.031,553.502,1877.205,528.369,33.372,1241.003,0.000,1893.493,0.000,0.534,0.000
$DEVICE_MAMPS,172.575,116.584,1041.586,526.929,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,314.050,230.062,322.497,676.781,1068.863,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355952
$DATA_FILE_SIZE,35146,464
$CAP_FILE_SIZE,110144,0
$CFSIZE,260165632,132624384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,17,0,0,0
$GPS,300612,115806,2210.706,-15804.524,39,1.1,44,10.0