version: 66.06
glider: 146
mission: 7
dive: 173
start: 6 21 112 16 2 29
data:
$ID,146
$MISSION,7
$DIVE,173
$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,-292981.03
$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,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,49
$R_STBD_OVSHOOT,44
$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
$GPS1,155146,2238.124,-15803.335,15,2.3,34,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-70.4
$GPS2,160136,2238.185,-15803.327,36,1.5,36,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.024,-0.252
$KALMAN_X,2213.6,82.8,-2.5,-1618.1,423.9
$KALMAN_Y,60839.7,99.8,-394.0,-64986.4,1409.9
$MHEAD_RNG_PITCHd_Wd,175.3,71308,-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,-136.3,0.0,0.0,0,112,0.00,0.00,-88.57,0.000,6,0.000,0.000,469,2152,3747,0,0,0,0,0,0
$GC,115,-1.32,-136.3,2.5,-5.7,11,134,13.12,2.50,0.00,0.000,4,0.172,0.040,2844,610,3748,0,0,0,0,0,0
$GC,204,-1.15,-136.3,27.1,-17.2,23,213,2.17,2.47,0.00,0.000,6,0.084,0.018,3014,2189,3748,7,0,0,0,0,0
$GC,483,-1.89,-136.3,39.4,-3.5,52,498,2.72,2.53,0.00,0.000,4,0.077,0.033,2729,3743,3749,0,0,0,0,0,0
$GC,518,-1.79,-136.3,42.3,-8.2,54,527,0.10,2.45,0.00,0.000,6,0.091,0.021,2753,2200,3749,0,0,0,0,0,0
$GC,785,-1.48,-136.3,95.4,-18.9,79,793,0.28,0.00,0.00,0.000,6,0.106,0.000,2814,2200,3749,0,0,0,0,0,0
$GC,1048,-1.30,-136.3,136.3,-15.9,104,1050,0.20,0.00,0.00,0.000,6,0.107,0.000,2857,2200,3750,0,0,0,0,0,0
$GC,1304,-1.23,-136.3,168.7,-12.5,128,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2200,3750,0,0,0,0,0,0
$GC,1568,-1.16,-136.3,200.6,-11.3,153,1569,0.15,0.00,0.00,0.000,6,0.105,0.000,2890,2200,3750,0,0,0,0,0,0
$GC,1809,-1.16,-136.3,223.9,-9.4,159,1814,0.00,2.45,0.00,0.000,4,0.000,0.038,2890,3748,3751,0,0,0,0,0,0
$GC,1837,-1.16,-136.3,226.4,-9.2,159,1841,0.00,2.42,0.00,0.000,6,0.000,0.025,2890,2182,3751,0,0,0,0,0,0
$GC,2087,-1.16,-136.3,248.9,-9.1,165,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2182,3751,0,0,0,0,0,0
$GC,2333,-1.20,-136.3,272.1,-9.4,171,2337,0.00,2.62,0.00,0.000,4,0.000,0.058,2890,605,3751,0,0,0,0,0,0
$GC,2362,-1.24,-136.3,274.8,-9.0,171,2366,0.00,2.45,0.00,0.000,6,0.000,0.026,2890,2171,3751,0,0,0,0,0,0
$GC,2612,-1.29,-136.3,294.3,-7.5,177,2617,0.12,2.58,0.00,0.000,4,0.071,0.044,2836,3761,3751,0,0,0,0,0,0
$GC,2675,-1.29,-136.3,300.4,-9.7,178,2680,0.00,2.47,0.00,0.000,6,0.000,0.024,2843,2190,3751,0,0,0,0,0,0
$GC,2936,-1.29,-136.3,324.8,-9.2,185,2938,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2190,3750,0,0,0,0,0,0
$GC,3180,-1.29,-136.3,347.2,-9.1,191,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2190,3749,0,0,0,0,0,0
$GC,3426,-1.29,-136.3,368.7,-8.8,197,3427,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2190,3748,0,0,0,0,0,0
$GC,3668,-1.29,-136.3,389.9,-9.0,203,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2190,3747,0,0,0,0,0,0
$GC,3911,-1.29,-136.3,411.6,-8.9,209,3916,0.00,2.60,0.00,0.000,4,0.000,0.055,2843,3751,3746,0,0,0,0,0,0
$GC,3946,-1.29,-136.3,414.9,-9.7,209,3953,0.40,2.58,0.00,0.000,6,0.079,0.045,2919,2196,3746,1,0,0,0,0,0
$GC,4197,-1.50,-136.3,429.7,-5.7,216,4199,0.52,0.00,0.00,0.000,6,0.031,0.000,2795,2196,3744,0,0,0,0,0,0
$GC,4440,-1.42,-136.3,455.1,-10.7,222,4442,0.17,0.00,0.00,0.000,6,0.100,0.000,2833,2196,3742,0,0,0,0,0,0
$GC,4686,-1.42,-136.3,477.6,-9.4,228,4687,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2196,3740,0,0,0,0,0,0
$GC,4927,-1.42,-136.3,500.1,-9.0,234,4929,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2196,3739,0,0,0,0,0,0
$GC,5171,-1.42,-136.3,521.7,-8.7,240,5176,0.00,2.67,0.00,0.000,4,0.000,0.067,2832,3743,3736,0,0,0,0,0,0
$GC,5211,-1.42,-136.3,525.3,-9.1,241,5217,0.75,2.62,0.00,0.000,6,0.077,0.058,2829,2183,3736,2,0,0,0,0,0
$GC,5498,-1.86,-136.3,536.0,-3.9,248,5506,1.10,2.97,0.00,0.000,4,0.051,0.114,2690,594,3733,0,0,0,0,0,0
$STATE,5611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5613,begin apogee
$GC,5623,-0.31,0.0,550.1,14.3,250,5738,1.55,0.00,110.28,0.963,6,0.088,0.000,3071,2160,3190,0,0,0,0,0,0
$STATE,5739,end apogee,CONTROL_FINISHED_OK
$STATE,5739,begin climb
$GC,5741,1.32,136.3,553.5,0.0,253,5863,1.55,2.90,114.15,0.932,4,0.049,0.076,3439,3759,2633,0,0,0,0,0,0
$GC,5912,1.17,136.3,539.8,13.3,257,5917,0.20,2.70,0.00,0.000,6,0.130,0.053,3402,2180,2629,0,0,0,0,0,0
$GC,6168,1.10,136.3,513.3,10.2,264,6172,0.00,2.70,0.00,0.000,4,0.000,0.053,3401,3763,2625,0,0,0,0,0,0
$GC,6200,1.03,136.3,509.6,10.8,264,6207,0.17,2.67,0.00,0.000,6,0.121,0.055,3368,2188,2624,0,0,0,0,0,0
$GC,6452,1.08,176.3,488.8,8.2,271,6493,0.00,2.72,33.95,0.890,4,0.000,0.053,3367,3766,2470,0,0,0,0,0,0
$GC,6556,1.08,176.3,478.2,11.1,273,6561,0.00,2.65,0.00,0.000,6,0.000,0.051,3367,2196,2467,0,0,0,0,0,0
$GC,6824,1.09,185.7,452.3,9.7,280,6835,0.00,0.00,9.07,0.783,6,0.000,0.000,3368,2196,2432,0,0,0,0,0,0
$GC,7067,1.13,193.6,428.4,9.8,286,7077,0.10,0.00,8.18,0.763,6,0.093,0.000,3396,2196,2400,0,0,0,0,0,0
$GC,7310,1.13,193.6,402.0,10.9,292,7311,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,2195,2397,0,0,0,0,0,0
$GC,7555,1.13,193.6,376.3,10.5,298,7559,0.00,2.62,0.00,0.000,4,0.000,0.044,3379,3777,2395,0,0,0,0,0,0
$GC,7621,1.13,193.6,368.1,12.1,299,7625,0.00,2.60,0.00,0.000,6,0.000,0.040,3396,2200,2395,0,0,0,0,0,0
$GC,7877,1.13,193.6,341.1,10.3,306,7878,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,2200,2394,0,0,0,0,0,0
$GC,8121,1.15,204.9,317.2,9.6,312,8136,0.00,2.62,10.68,0.749,4,0.000,0.040,3382,3771,2353,0,0,0,0,0,0
$GC,8201,1.15,204.9,309.1,10.4,313,8207,0.00,2.58,0.00,0.000,6,0.000,0.035,3396,2197,2352,0,0,0,0,0,0
$GC,8451,1.17,222.5,285.4,9.3,320,8475,0.00,2.80,16.45,0.755,4,0.000,0.061,3396,590,2282,0,0,0,0,0,0
$GC,8505,1.17,222.5,280.2,10.4,321,8509,0.00,2.60,0.00,0.000,6,0.000,0.024,3396,2219,2280,0,0,0,0,0,0
$GC,8777,1.22,234.1,254.0,9.6,328,8795,0.00,2.53,11.55,0.703,4,0.000,0.038,3311,3757,2234,0,0,0,0,0,0
$GC,8820,1.28,234.1,249.4,10.8,329,8825,0.12,2.53,0.00,0.000,6,0.080,0.028,3428,2195,2233,0,0,0,0,0,0
$GC,9105,1.28,234.1,216.8,11.3,336,9110,0.00,2.70,0.00,0.000,4,0.000,0.055,3428,593,2231,0,0,0,0,0,0
$GC,9144,1.28,234.1,212.1,11.7,337,9149,0.00,2.53,0.00,0.000,6,0.000,0.023,3428,2196,2230,0,0,0,0,0,0
$GC,9406,1.28,234.1,183.6,10.7,353,9410,0.00,2.50,0.00,0.000,4,0.000,0.038,3426,3755,2230,0,0,0,0,0,0
$GC,9474,1.28,234.1,176.1,11.5,358,9479,0.00,2.53,0.00,0.000,6,0.000,0.032,3428,2194,2230,0,0,0,0,0,0
$GC,9735,1.28,235.6,148.8,10.1,382,9740,0.00,2.67,0.00,0.000,4,0.000,0.056,3428,587,2230,0,0,0,0,0,0
$GC,9770,1.28,235.6,145.1,10.7,384,9781,0.00,2.58,0.00,0.000,6,0.000,0.023,3428,2212,2229,0,0,0,0,0,0
$GC,10039,1.28,239.1,118.8,10.0,409,10046,0.00,0.00,5.25,0.481,6,0.000,0.000,3428,2212,2215,0,0,0,0,0,0
$GC,10301,1.28,239.1,89.8,10.9,434,10302,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,2213,2215,0,0,0,0,0,0
$GC,10562,1.37,271.6,65.4,8.5,458,10603,0.00,2.78,29.35,0.561,4,0.000,0.048,3427,597,2081,0,0,0,0,0,0
$GC,10633,1.39,286.4,59.4,9.4,463,10652,0.00,2.50,13.95,0.528,6,0.000,0.020,3428,2198,2022,0,0,0,0,0,0
$GC,10912,1.44,286.4,31.2,10.6,488,10917,0.12,2.53,0.00,0.000,4,0.075,0.035,3454,3759,2019,0,0,0,0,0,0
$GC,10953,1.44,286.4,25.8,13.1,492,10962,0.25,2.53,0.00,0.000,6,0.036,0.028,3532,2202,2019,0,0,0,0,0,0
$STATE,11085,end climb,SURFACE_DEPTH_REACHED
$STATE,11086,begin surface coast
$FINISH,-0.5,1.023740
$STATE,11118,end surface coast,CONTROL_FINISHED_OK
$STATE,11118,begin surface
$SM_CCo,11140,75.07,0.512,0,0,1640,380.21
$SM_GC,0.18,0.00,0.00,75.07,0.000,0.000,0.512,467,2198,1640,-12.31,0.51,380.21
$IRIDIUM_FIX,2227.67,-15804.11,150901,161649
$TT8_MAMPS,0.026078
$HUMID,60.31
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,22.00
$XPDR_PINGS,38
$24V_AH,23.5,24.899
$10V_AH,10.3,22.627
$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,38.275,104.100,362.850,75.075,0.000,60.933,66.047,222.434,9.500,0.000,37.935,1037.023,7693.389,517.470,1882.895,674.698,33.368,1223.962,0.000,1863.996,0.000,0.536,0.000
$DEVICE_MAMPS,171.808,114.283,963.352,511.589,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,348.811,277.260,373.335,715.431,1088.352,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355988
$DATA_FILE_SIZE,38292,515
$CAP_FILE_SIZE,108940,0
$CFSIZE,260165632,136101888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,10,0,0,0
$GPS,210612,191034,2237.637,-15802.864,9,2.6,28,10.0