version: 66.06
glider: 146
mission: 7
dive: 172
start: 6 21 112 12 41 25
data:
$ID,146
$MISSION,7
$DIVE,172
$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,-292942.47
$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,29
$R_STBD_OVSHOOT,41
$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
$GPS1,123406,2239.169,-15803.201,38,1.3,50,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-68.0
$GPS2,124031,2239.178,-15803.209,14,1.3,14,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.071,-0.243
$KALMAN_X,1449.4,259.8,15.3,-848.4,895.8
$KALMAN_Y,59744.2,485.5,-484.7,-62344.5,1540.8
$MHEAD_RNG_PITCHd_Wd,186.2,73107,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.32,-136.3,0.0,0.0,0,113,0.00,0.00,-88.60,0.000,6,0.000,0.000,469,2196,3746,0,0,0,0,0,0
$GC,118,-1.32,-136.3,3.2,-7.9,11,137,13.10,2.62,0.00,0.000,4,0.173,0.038,2778,589,3747,0,0,0,0,0,0
$GC,175,-1.03,-136.3,24.0,-26.2,18,185,0.32,2.53,0.00,0.000,6,0.096,0.025,2915,2189,3748,0,0,0,0,0,0
$GC,454,-1.03,-136.3,60.2,-12.5,45,459,0.00,2.62,0.00,0.000,4,0.000,0.043,2915,593,3748,0,0,0,0,0,0
$GC,490,-1.03,-136.3,65.6,-15.2,47,494,0.00,2.47,0.00,0.000,6,0.000,0.017,2915,2197,3748,0,0,0,0,0,0
$GC,754,-1.03,-136.3,98.6,-11.8,71,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2197,3749,0,0,0,0,0,0
$GC,1017,-1.03,-136.3,129.4,-10.8,96,1022,0.00,2.60,0.00,0.000,4,0.000,0.048,2915,598,3750,0,0,0,0,0,0
$GC,1069,-1.03,-136.3,135.2,-11.3,100,1073,0.00,2.42,0.00,0.000,6,0.000,0.018,2915,2185,3750,0,0,0,0,0,0
$GC,1338,-1.03,-136.3,161.0,-9.5,124,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2185,3751,0,0,0,0,0,0
$GC,1601,-1.07,-136.3,185.7,-9.3,149,1605,0.00,2.47,0.00,0.000,4,0.000,0.032,2915,3751,3751,0,0,0,0,0,0
$GC,1623,-1.12,-136.3,187.9,-8.9,150,1632,0.00,2.50,0.00,0.000,6,0.000,0.030,2915,2175,3751,0,0,0,0,0,0
$GC,1891,-1.15,-136.3,211.6,-8.9,167,1893,0.10,0.00,0.00,0.000,6,0.079,0.000,2870,2175,3752,0,0,0,0,0,0
$GC,2132,-1.15,-136.3,235.7,-9.7,173,2134,0.10,0.00,0.00,0.000,6,0.117,0.000,2891,2175,3751,0,0,0,0,0,0
$GC,2376,-1.15,-136.3,257.2,-8.8,179,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2175,3752,0,0,0,0,0,0
$GC,2622,-1.19,-136.3,279.6,-9.2,185,2626,0.00,2.53,0.00,0.000,4,0.000,0.038,2884,3745,3752,0,0,0,0,0,0
$GC,2683,-1.25,-136.3,285.5,-9.9,186,2687,0.00,2.45,0.00,0.000,6,0.000,0.030,2891,2185,3752,0,0,0,0,0,0
$GC,2946,-1.30,-136.3,306.1,-7.8,193,2947,0.12,0.00,0.00,0.000,6,0.071,0.000,2845,2185,3752,0,0,0,0,0,0
$GC,3187,-1.30,-136.3,329.6,-9.8,199,3188,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2185,3752,0,0,0,0,0,0
$GC,3431,-1.30,-136.3,351.4,-8.8,205,3432,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2185,3751,0,0,0,0,0,0
$GC,3674,-1.30,-136.3,372.8,-9.1,211,3679,0.00,2.75,0.00,0.000,4,0.000,0.085,2845,605,3750,0,0,0,0,0,0
$GC,3715,-1.30,-136.3,376.9,-10.3,212,3720,0.00,2.50,0.00,0.000,6,0.000,0.039,2845,2152,3750,0,0,0,0,0,0
$GC,3999,-1.30,-136.3,402.5,-8.8,219,4000,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2152,3749,0,0,0,0,0,0
$GC,4243,-1.30,-136.3,423.5,-8.6,225,4247,0.00,2.70,0.00,0.000,4,0.000,0.058,2828,3767,3748,0,0,0,0,0,0
$GC,4260,-1.30,-136.3,425.1,-9.2,225,4265,0.00,2.60,0.00,0.000,6,0.000,0.049,2845,2196,3747,0,0,0,0,0,0
$GC,4521,-1.30,-136.3,447.7,-8.4,232,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2196,3746,0,0,0,0,0,0
$GC,4764,-1.30,-136.3,467.0,-7.8,238,4766,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2197,3744,0,0,0,0,0,0
$GC,5008,-1.30,-136.3,485.7,-7.8,244,5009,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2196,3742,0,0,0,0,0,0
$GC,5254,-1.30,-136.3,506.4,-8.6,250,5258,0.00,2.70,0.00,0.000,4,0.000,0.064,2844,3764,3741,0,0,0,0,0,0
$GC,5269,-1.30,-136.3,508.0,-8.4,250,5274,0.00,2.67,0.00,0.000,6,0.000,0.053,2845,2183,3741,0,0,0,0,0,0
$GC,5530,-1.30,-136.3,528.4,-7.6,257,5535,0.00,2.70,0.00,0.000,4,0.000,0.066,2839,3760,3739,0,0,0,0,0,0
$GC,5548,-1.30,-136.3,529.7,-7.5,257,5553,0.00,2.67,0.00,0.000,6,0.000,0.058,2844,2185,3739,0,0,0,0,0,0
$GC,5809,-1.30,-136.3,549.6,-7.6,264,5813,0.00,2.05,0.00,0.000,3,0.000,0.114,2811,1072,3737,0,0,0,0,0,0
$STATE,5814,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5814,begin apogee
$GC,5822,-0.31,0.0,550.0,7.6,264,5938,0.98,0.00,111.05,0.956,6,0.077,0.000,3071,2183,3190,0,0,0,0,0,0
$STATE,5939,end apogee,CONTROL_FINISHED_OK
$STATE,5939,begin climb
$GC,5943,1.32,136.3,552.7,0.0,267,6068,1.52,2.80,114.45,0.931,4,0.045,0.071,3433,3758,2632,0,0,0,0,0,0
$GC,6120,1.18,136.3,539.3,12.1,271,6125,0.15,2.70,0.00,0.000,6,0.140,0.057,3405,2179,2627,0,0,0,0,0,0
$GC,6398,1.11,136.3,511.4,10.2,278,6403,0.00,2.70,0.00,0.000,4,0.000,0.052,3405,3769,2623,0,0,0,0,0,0
$GC,6464,1.03,136.3,504.1,10.6,279,6470,0.17,2.67,0.00,0.000,6,0.120,0.053,3371,2194,2622,0,0,0,0,0,0
$GC,6720,1.06,163.1,481.3,8.8,286,6744,0.00,0.00,22.48,0.874,6,0.000,0.000,3371,2194,2525,0,0,0,0,0,0
$GC,6964,1.08,178.8,458.6,9.4,292,6984,0.00,2.70,14.73,0.841,4,0.000,0.051,3372,3770,2460,0,0,0,0,0,0
$GC,7008,1.08,183.7,454.4,9.9,293,7019,0.00,2.65,5.55,0.674,6,0.000,0.048,3371,2196,2441,0,0,0,0,0,0
$GC,7286,1.11,205.4,428.5,9.1,300,7308,0.00,0.00,20.52,0.849,6,0.000,0.000,3371,2196,2352,0,0,0,0,0,0
$GC,7530,1.17,224.3,405.9,9.2,306,7551,0.12,0.00,17.92,0.829,6,0.078,0.000,3405,2196,2275,0,0,0,0,0,0
$GC,7775,1.17,224.3,377.8,11.7,312,7779,0.00,2.62,0.00,0.000,4,0.000,0.041,3391,3777,2270,0,0,0,0,0,0
$GC,7831,1.17,224.3,370.5,12.1,313,7836,0.00,2.62,0.00,0.000,6,0.000,0.037,3405,2191,2269,0,0,0,0,0,0
$GC,8098,1.17,224.3,339.1,11.9,320,8103,0.00,2.78,0.00,0.000,4,0.000,0.072,3395,587,2268,0,0,0,0,0,0
$GC,8139,1.17,224.3,334.2,13.0,321,8143,0.00,2.58,0.00,0.000,6,0.000,0.025,3405,2212,2267,0,0,0,0,0,0
$GC,8422,1.17,224.3,303.0,10.7,328,8426,0.00,2.53,0.00,0.000,4,0.000,0.044,3405,3755,2267,0,0,0,0,0,0
$GC,8454,1.17,224.3,299.3,11.1,328,8460,0.00,2.55,0.00,0.000,6,0.000,0.030,3405,2188,2267,0,0,0,0,0,0
$GC,8706,1.17,224.3,273.0,10.4,335,8710,0.00,2.55,0.00,0.000,4,0.000,0.041,3396,3757,2266,0,0,0,0,0,0
$GC,8732,1.17,224.3,269.9,10.9,335,8737,0.00,2.50,0.00,0.000,6,0.000,0.028,3405,2207,2265,0,0,0,0,0,0
$GC,8982,1.17,224.3,243.6,10.6,341,8987,0.00,2.72,0.00,0.000,4,0.000,0.058,3406,591,2266,0,0,0,0,0,0
$GC,9011,1.17,224.3,240.2,12.1,341,9015,0.00,2.55,0.00,0.000,6,0.000,0.024,3405,2213,2265,0,0,0,0,0,0
$GC,9260,1.17,224.3,212.3,10.9,347,9265,0.00,2.50,0.00,0.000,4,0.000,0.038,3408,3759,2265,0,0,0,0,0,0
$GC,9333,1.22,224.3,204.5,10.5,348,9337,0.00,2.47,0.00,0.000,6,0.000,0.028,3405,2215,2265,0,0,0,0,0,0
$GC,9594,1.31,257.0,181.5,8.5,366,9625,0.10,0.00,27.85,0.663,6,0.087,0.000,3435,2215,2142,0,0,0,0,0,0
$GC,9880,1.31,257.0,149.6,11.6,393,9881,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2215,2139,0,0,0,0,0,0
$GC,10141,1.31,257.0,120.0,12.7,417,10145,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2215,2139,0,0,0,0,0,0
$GC,10401,1.31,257.0,86.9,12.2,442,10406,0.00,2.65,0.00,0.000,4,0.000,0.049,3435,596,2139,0,0,0,0,0,0
$GC,10448,1.31,257.0,82.0,12.4,445,10453,0.00,2.53,0.00,0.000,6,0.000,0.020,3435,2222,2138,0,0,0,0,0,0
$GC,10714,1.31,257.0,51.0,11.3,469,10718,0.00,2.45,0.00,0.000,4,0.000,0.035,3436,3757,2138,0,0,0,0,0,0
$GC,10738,1.31,257.0,48.0,11.0,470,10747,0.00,2.47,0.00,0.000,6,0.000,0.027,3436,2218,2138,0,0,0,0,0,0
$GC,11031,1.35,257.8,16.8,10.1,504,11039,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2218,2138,0,0,0,0,0,0
$STATE,11164,end climb,SURFACE_DEPTH_REACHED
$STATE,11164,begin surface coast
$FINISH,-0.6,0.999610
$STATE,11224,end surface coast,CONTROL_FINISHED_OK
$STATE,11224,begin surface
$SM_CCo,11246,99.00,0.509,0,0,1639,380.21
$SM_GC,0.20,0.00,0.00,99.00,0.000,0.000,0.509,470,2153,1639,-12.30,-0.79,380.21
$IRIDIUM_FIX,2232.34,-15801.07,150901,090910
$TT8_MAMPS,0.026078
$HUMID,59.64
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.40
$XPDR_PINGS,45
$24V_AH,23.5,24.780
$10V_AH,10.3,22.514
$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,28.675,107.800,334.550,99.000,0.000,27.874,38.540,171.586,11.250,0.000,16.019,1052.268,7721.538,513.901,1895.311,546.261,33.364,1206.130,0.000,1899.042,0.000,0.534,0.000
$DEVICE_MAMPS,172.575,163.371,956.449,508.521,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,360.097,278.738,391.035,735.881,1117.385,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355992
$DATA_FILE_SIZE,41542,531
$CAP_FILE_SIZE,105722,0
$CFSIZE,260165632,136155136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210612,155146,2238.124,-15803.335,15,2.3,34,10.0