version: 66.06
glider: 146
mission: 7
dive: 171
start: 6 21 112 9 33 55
data:
$ID,146
$MISSION,7
$DIVE,171
$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,-292925.81
$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,14
$R_STBD_OVSHOOT,21
$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
$GPS1,092840,2240.257,-15803.156,7,2.1,26,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-64.5
$GPS2,093302,2240.253,-15803.164,15,2.0,15,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.095,-0.235
$KALMAN_X,441.8,343.8,-20.7,176.2,1129.5
$KALMAN_Y,58384.0,664.3,102.4,-59784.5,1620.2
$MHEAD_RNG_PITCHd_Wd,191.9,75075,-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,-136.3,0.0,0.0,0,160,0.00,0.00,-134.07,0.000,6,0.000,0.000,480,2169,3745,0,0,0,0,0,0
$GC,165,-1.32,-136.3,4.4,-11.6,17,183,13.10,2.60,0.00,0.000,4,0.175,0.042,2847,581,3747,0,0,0,0,0,0
$GC,329,-1.16,-136.3,43.2,-16.7,36,339,0.15,2.55,0.00,0.000,6,0.107,0.018,2883,2202,3746,0,0,0,0,0,0
$GC,597,-1.08,-136.3,80.4,-14.4,61,603,0.12,0.00,0.00,0.000,6,0.123,0.000,2909,2203,3746,0,0,0,0,0,0
$GC,858,-1.08,-136.3,112.8,-11.4,86,863,0.00,2.65,0.00,0.000,4,0.000,0.051,2909,584,3746,0,0,0,0,0,0
$GC,905,-1.08,-136.3,117.2,-11.3,89,909,0.00,2.47,0.00,0.000,6,0.000,0.016,2909,2188,3746,0,0,0,0,0,0
$GC,1171,-1.08,-136.3,145.6,-10.6,113,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2188,3747,0,0,0,0,0,0
$GC,1433,-1.08,-136.3,174.2,-10.5,138,1434,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2188,3747,0,0,0,0,0,0
$GC,1689,-1.13,-136.3,196.7,-8.8,162,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2189,3748,0,0,0,0,0,0
$GC,1935,-1.19,-136.3,217.1,-8.3,171,1940,0.10,2.67,0.00,0.000,4,0.083,0.051,2867,582,3748,0,0,0,0,0,0
$GC,1967,-1.19,-136.3,220.6,-10.6,171,1973,0.00,2.42,0.00,0.000,6,0.000,0.025,2867,2168,3748,0,0,0,0,0,0
$GC,2218,-1.19,-136.3,248.1,-11.1,178,2222,0.00,2.53,0.00,0.000,4,0.000,0.041,2857,3751,3748,0,0,0,0,0,0
$GC,2268,-1.19,-136.3,254.0,-11.3,179,2273,0.00,2.47,0.00,0.000,6,0.000,0.029,2867,2164,3748,0,0,0,0,0,0
$GC,2541,-1.19,-136.3,280.8,-9.5,186,2542,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2164,3748,0,0,0,0,0,0
$GC,2785,-1.19,-136.3,301.3,-8.1,192,2789,0.00,2.55,0.00,0.000,4,0.000,0.037,2859,3746,3747,0,0,0,0,0,0
$GC,2802,-1.19,-136.3,302.6,-7.7,192,2811,2.20,2.47,0.00,0.000,6,0.065,0.029,3050,2195,3747,7,0,0,0,0,0
$GC,3070,-2.52,-136.3,316.9,-6.4,199,3079,3.38,2.58,0.00,0.000,4,0.046,0.038,2557,3749,3746,0,0,0,0,0,0
$GC,3107,-1.98,-136.3,320.4,-10.4,199,3114,0.62,2.62,0.00,0.000,6,0.106,0.035,2712,2119,3746,0,0,0,0,0,0
$GC,3359,-1.72,-136.3,357.6,-15.1,206,3365,0.25,2.65,0.00,0.000,4,0.117,0.044,2766,3750,3745,0,0,0,0,0,0
$GC,3376,-1.49,-136.3,360.7,-15.4,206,3381,0.25,2.67,0.00,0.000,6,0.113,0.037,2816,2122,3745,0,0,0,0,0,0
$GC,3637,-1.44,-136.3,387.9,-10.0,213,3639,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2123,3744,0,0,0,0,0,0
$GC,3883,-1.39,-136.3,413.1,-10.3,219,3888,0.10,2.72,0.00,0.000,4,0.137,0.055,2836,3742,3742,0,0,0,0,0,0
$GC,3916,-1.39,-136.3,416.9,-10.2,219,3921,0.00,2.70,0.00,0.000,6,0.000,0.051,2836,2128,3741,0,0,0,0,0,0
$GC,4166,-1.39,-136.3,440.4,-9.5,226,4170,0.00,2.70,0.00,0.000,4,0.000,0.053,2837,3736,3739,0,0,0,0,0,0
$GC,4240,-1.39,-136.3,447.6,-9.7,227,4244,0.00,2.65,0.00,0.000,6,0.000,0.053,2837,2147,3739,0,0,0,0,0,0
$GC,4490,-1.39,-136.3,469.0,-8.4,233,4491,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2148,3738,0,0,0,0,0,0
$GC,4736,-1.39,-136.3,487.6,-7.6,239,4740,0.00,2.67,0.00,0.000,4,0.000,0.060,2837,3732,3736,0,0,0,0,0,0
$GC,4759,-1.39,-136.3,489.4,-7.2,239,4764,0.00,2.70,0.00,0.000,6,0.000,0.056,2837,2141,3735,0,0,0,0,0,0
$GC,5015,-1.39,-136.3,507.9,-7.1,246,5016,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2141,3734,0,0,0,0,0,0
$GC,5259,-1.39,-136.3,525.9,-7.5,252,5263,0.00,2.72,0.00,0.000,4,0.000,0.069,2836,3731,3732,0,0,0,0,0,0
$GC,5276,-1.39,-136.3,527.2,-7.6,252,5281,0.00,2.67,0.00,0.000,6,0.000,0.054,2833,2147,3732,0,0,0,0,0,0
$GC,5538,-1.39,-136.3,547.8,-8.0,259,5539,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2146,3730,0,0,0,0,0,0
$STATE,5575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5576,begin apogee
$GC,5581,-0.31,0.0,551.2,8.1,260,5698,1.05,0.00,110.12,0.966,6,0.081,0.000,3074,2146,3190,0,0,0,0,0,0
$STATE,5699,end apogee,CONTROL_FINISHED_OK
$STATE,5699,begin climb
$GC,5701,1.32,136.3,554.0,0.0,263,5821,1.52,0.00,115.40,0.934,6,0.043,0.000,3434,2146,2634,0,0,0,0,0,0
$GC,6064,1.19,136.3,519.0,12.2,272,6070,0.15,2.72,0.00,0.000,4,0.138,0.058,3406,3737,2625,0,0,0,0,0,0
$GC,6109,1.10,136.3,513.5,11.2,273,6114,0.10,2.65,0.00,0.000,6,0.146,0.050,3387,2177,2624,0,0,0,0,0,0
$GC,6389,1.12,146.6,486.4,9.7,280,6403,0.00,2.70,8.55,0.788,4,0.000,0.048,3363,3739,2591,0,0,0,0,0,0
$GC,6435,1.08,147.3,482.0,10.2,281,6439,0.00,2.62,0.00,0.000,6,0.000,0.045,3387,2185,2590,0,0,0,0,0,0
$GC,6720,1.13,189.2,457.9,8.1,288,6761,0.00,0.00,37.85,0.893,6,0.000,0.000,3387,2184,2418,0,0,0,0,0,0
$GC,7005,1.15,203.1,431.1,9.5,295,7024,0.00,2.67,12.70,0.821,4,0.000,0.044,3368,3740,2362,0,0,0,0,0,0
$GC,7063,1.15,203.1,425.1,10.6,296,7068,0.00,2.60,0.00,0.000,6,0.000,0.044,3387,2186,2360,0,0,0,0,0,0
$GC,7332,1.15,203.9,398.1,10.1,303,7333,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,2186,2357,0,0,0,0,0,0
$GC,7574,1.15,208.5,373.1,10.0,309,7585,0.00,2.58,5.50,0.659,4,0.000,0.044,3387,3750,2339,0,0,0,0,0,0
$GC,7603,1.15,208.5,370.0,10.5,309,7607,0.00,2.58,0.00,0.000,6,0.000,0.035,3387,2190,2339,0,0,0,0,0,0
$GC,7855,1.17,220.7,346.0,9.6,315,7869,0.00,0.00,12.45,0.781,6,0.000,0.000,3387,2190,2290,0,0,0,0,0,0
$GC,8097,1.19,234.9,322.5,9.5,321,8116,0.00,2.83,13.60,0.769,4,0.000,0.067,3386,594,2232,0,0,0,0,0,0
$GC,8150,1.22,234.9,316.8,11.6,322,8155,0.10,2.53,0.00,0.000,6,0.090,0.029,3415,2174,2229,0,0,0,0,0,0
$GC,8424,1.22,234.9,286.0,11.4,329,8428,0.00,2.58,0.00,0.000,4,0.000,0.047,3416,3763,2227,0,0,0,0,0,0
$GC,8478,1.22,234.9,278.6,12.2,330,8483,0.00,2.55,0.00,0.000,6,0.000,0.036,3415,2190,2227,0,0,0,0,0,0
$GC,8745,1.23,237.3,250.7,10.1,337,8750,0.00,2.55,0.00,0.000,4,0.000,0.039,3415,3764,2226,0,0,0,0,0,0
$GC,8787,1.23,237.3,246.7,10.9,338,8791,0.00,2.53,0.00,0.000,6,0.000,0.035,3415,2194,2226,0,0,0,0,0,0
$GC,9070,1.23,240.7,218.2,10.0,345,9081,0.00,2.70,5.90,0.581,4,0.000,0.054,3403,595,2207,0,0,0,0,0,0
$GC,9133,1.23,240.7,211.1,11.4,346,9137,0.00,2.53,0.00,0.000,6,0.000,0.027,3415,2193,2206,0,0,0,0,0,0
$GC,9395,1.27,240.7,183.4,11.6,361,9399,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,2193,2206,0,0,0,0,0,0
$GC,9658,1.31,240.7,154.3,10.9,386,9662,0.00,2.50,0.00,0.000,4,0.000,0.042,3416,3754,2206,0,0,0,0,0,0
$GC,9724,1.36,240.7,147.6,10.4,391,9739,8.57,2.53,0.00,0.000,6,0.459,0.031,3425,2170,2205,31,0,0,0,0,0
$GC,10007,0.83,240.7,80.3,23.4,417,10018,2.42,2.65,0.00,0.000,4,0.111,0.040,3234,3757,2205,0,0,0,0,0,0
$GC,10060,1.22,315.0,73.6,6.4,421,10131,0.35,2.47,63.95,0.584,6,0.040,0.029,3422,2195,1904,0,0,0,0,0,0
$GC,10397,1.31,352.1,39.1,8.3,451,10439,0.00,2.75,31.30,0.540,4,0.000,0.052,3412,593,1752,0,0,0,0,0,0
$GC,10480,1.40,352.1,31.2,11.5,457,10485,0.12,2.53,0.00,0.000,6,0.077,0.020,3460,2192,1750,0,0,0,0,0,0
$STATE,10648,end climb,SURFACE_DEPTH_REACHED
$STATE,10648,begin surface coast
$FINISH,-0.4,1.023750
$STATE,10677,end surface coast,CONTROL_FINISHED_OK
$STATE,10677,begin surface
$SM_CCo,10699,21.17,0.504,0,0,1640,380.21
$SM_GC,0.29,0.00,0.00,21.17,0.000,0.000,0.504,470,2195,1640,-12.30,0.42,380.21
$IRIDIUM_FIX,2232.34,-15801.07,150901,090911
$TT8_MAMPS,0.025311
$HUMID,63.03
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,21.80
$XPDR_PINGS,48
$24V_AH,23.5,24.667
$10V_AH,10.3,22.400
$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,46.675,114.800,417.325,21.175,0.000,0.000,0.000,0.000,12.000,0.000,17.137,979.458,7314.987,537.760,1730.005,234.823,33.358,1258.494,0.000,1733.538,0.000,0.534,0.000
$DEVICE_MAMPS,459.433,69.030,966.420,503.919,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,326.575,252.435,345.168,637.035,964.078,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356012
$DATA_FILE_SIZE,38472,484
$CAP_FILE_SIZE,114402,0
$CFSIZE,260165632,136204288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,38,0,0,0
$GPS,210612,123406,2239.169,-15803.201,38,1.3,50,10.0