version: 66.06
glider: 146
mission: 7
dive: 174
start: 6 21 112 19 21 49
data:
$ID,146
$MISSION,7
$DIVE,174
$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,-292998.19
$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,27
$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
$GPS1,191034,2237.637,-15802.864,9,2.6,28,10.0
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-72.6
$GPS2,192055,2237.701,-15802.894,10,1.2,15,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.063,-0.245
$KALMAN_X,3448.7,-148.9,-27.2,-1864.5,874.1
$KALMAN_Y,62429.6,-406.2,331.3,-67702.9,1010.8
$MHEAD_RNG_PITCHd_Wd,184.3,70326,-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,-136.3,0.0,0.0,0,111,0.00,0.00,-87.03,0.000,6,0.000,0.000,466,2199,3747,0,0,0,0,0,0
$GC,115,-1.32,-136.3,3.7,-9.9,11,133,13.12,2.62,0.00,0.000,4,0.171,0.044,2846,591,3748,0,0,0,0,0,0
$GC,268,-1.17,-136.3,38.3,-15.7,29,273,0.20,2.47,0.00,0.000,6,0.120,0.019,2887,2187,3748,0,0,0,0,0,0
$GC,537,-1.09,-136.3,75.7,-13.4,53,541,0.00,2.62,0.00,0.000,4,0.000,0.046,2822,597,3748,0,0,0,0,0,0
$GC,561,-1.01,-136.3,79.8,-12.4,54,570,0.12,2.47,0.00,0.000,6,0.086,0.017,2918,2184,3749,0,0,0,0,0,0
$GC,827,-1.01,-136.3,106.3,-9.8,79,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2184,3749,0,0,0,0,0,0
$GC,1092,-1.05,-136.3,132.9,-9.7,104,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2184,3750,0,0,0,0,0,0
$GC,1353,-1.05,-136.3,156.7,-8.5,129,1354,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2184,3750,0,0,0,0,0,0
$GC,1611,-1.10,-136.3,178.4,-8.6,153,1616,0.00,2.62,0.00,0.000,4,0.000,0.050,2918,591,3751,0,0,0,0,0,0
$GC,1636,-1.14,-136.3,180.7,-8.3,154,1641,0.00,2.45,0.00,0.000,6,0.000,0.020,2918,2177,3751,0,0,0,0,0,0
$GC,1920,-1.20,-136.3,204.2,-8.2,178,1925,0.15,2.50,0.00,0.000,4,0.061,0.039,2855,3754,3751,0,0,0,0,0,0
$GC,1936,-1.20,-136.3,206.2,-8.4,178,1941,0.10,2.45,0.00,0.000,6,0.115,0.026,2884,2163,3751,0,0,0,0,0,0
$GC,2199,-1.20,-136.3,231.3,-9.3,185,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2163,3751,0,0,0,0,0,0
$GC,2441,-1.20,-136.3,252.6,-8.6,191,2445,0.00,2.58,0.00,0.000,4,0.000,0.058,2884,604,3751,0,0,0,0,0,0
$GC,2456,-1.20,-136.3,254.1,-8.7,191,2461,0.00,2.40,0.00,0.000,6,0.000,0.026,2884,2171,3751,0,0,0,0,0,0
$GC,2718,-1.24,-136.3,275.6,-8.1,198,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2172,3751,0,0,0,0,0,0
$GC,2964,-1.29,-136.3,295.4,-8.0,204,2965,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2172,3750,0,0,0,0,0,0
$GC,3205,-1.35,-136.3,314.5,-8.1,210,3207,0.15,0.00,0.00,0.000,6,0.061,0.000,2831,2172,3750,0,0,0,0,0,0
$GC,3449,-1.31,-136.3,339.6,-10.5,216,3451,0.12,0.00,0.00,0.000,6,0.112,0.000,2858,2172,3749,0,0,0,0,0,0
$GC,3694,-1.31,-136.3,362.5,-9.4,222,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2172,3748,0,0,0,0,0,0
$GC,3936,-1.31,-136.3,385.0,-9.3,228,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2172,3747,0,0,0,0,0,0
$GC,4180,-1.31,-136.3,408.2,-9.4,234,4184,0.00,2.60,0.00,0.000,4,0.000,0.054,2840,3743,3745,0,0,0,0,0,0
$GC,4232,-1.35,-136.3,412.9,-9.6,235,4236,0.00,2.55,0.00,0.000,6,0.000,0.041,2823,2193,3745,0,0,0,0,0,0
$GC,4504,-1.35,-136.3,435.2,-7.9,242,4508,0.00,2.88,0.00,0.000,4,0.000,0.096,2858,593,3743,0,0,0,0,0,0
$GC,4532,-1.35,-136.3,437.6,-8.7,242,4537,0.00,2.53,0.00,0.000,6,0.000,0.036,2858,2146,3742,0,0,0,0,0,0
$GC,4784,-1.39,-136.3,459.3,-8.6,248,4789,0.00,2.72,0.00,0.000,4,0.000,0.061,2859,3760,3741,0,0,0,0,0,0
$GC,4840,-1.45,-136.3,464.8,-10.0,249,4845,0.40,2.67,0.00,0.000,6,0.037,0.049,2812,2167,3740,1,0,0,0,0,0
$GC,5107,-1.25,-136.3,499.6,-13.6,256,5110,0.62,0.00,0.00,0.000,6,0.098,0.000,2872,2167,3739,0,0,0,0,0,0
$GC,5353,-1.32,-136.3,518.9,-7.4,262,5354,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2167,3736,0,0,0,0,0,0
$GC,5595,-1.40,-136.3,536.2,-7.0,268,5597,0.15,0.00,0.00,0.000,6,0.067,0.000,2825,2167,3735,0,0,0,0,0,0
$STATE,5795,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5795,begin apogee
$GC,5800,-0.31,0.0,552.5,8.3,273,5917,1.10,0.00,110.70,0.963,6,0.077,0.000,3076,2167,3189,0,0,0,0,0,0
$STATE,5918,end apogee,CONTROL_FINISHED_OK
$STATE,5918,begin climb
$GC,5923,1.32,136.3,553.6,0.0,276,6041,1.52,0.00,114.55,0.935,6,0.042,0.000,3439,2167,2634,0,0,0,0,0,0
$GC,6282,1.18,136.3,517.1,11.9,285,6287,0.17,2.78,0.00,0.000,4,0.123,0.062,3381,3765,2626,0,0,0,0,0,0
$GC,6318,1.10,136.3,513.2,11.2,285,6324,0.00,2.72,0.00,0.000,6,0.000,0.057,3404,2181,2625,0,0,0,0,0,0
$GC,6569,1.05,152.8,489.1,9.4,292,6589,0.15,2.72,14.27,0.848,4,0.122,0.052,3356,3762,2566,0,0,0,0,0,0
$GC,6647,1.07,172.2,481.9,9.2,293,6671,0.00,2.70,17.60,0.856,6,0.000,0.053,3375,2183,2489,0,0,0,0,0,0
$GC,6941,1.09,190.0,454.7,9.3,301,6959,0.00,0.00,16.98,0.844,6,0.000,0.000,3375,2183,2415,0,0,0,0,0,0
$GC,7182,1.10,198.8,431.4,9.7,307,7193,0.00,0.00,8.73,0.769,6,0.000,0.000,3375,2183,2379,0,0,0,0,0,0
$GC,7428,1.10,198.8,406.3,10.3,313,7429,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,2182,2376,0,0,0,0,0,0
$GC,7669,1.10,198.8,380.7,10.5,319,7674,0.00,2.65,0.00,0.000,4,0.000,0.041,3358,3775,2375,0,0,0,0,0,0
$GC,7719,1.15,198.8,375.2,10.9,320,7724,0.00,2.62,0.00,0.000,6,0.000,0.035,3375,2189,2374,0,0,0,0,0,0
$GC,7994,1.20,202.6,347.9,10.0,327,8000,0.12,0.00,4.07,0.557,6,0.078,0.000,3408,2189,2363,0,0,0,0,0,0
$GC,8235,1.20,202.6,321.1,11.0,333,8239,0.00,2.60,0.00,0.000,4,0.000,0.044,3394,3766,2362,0,0,0,0,0,0
$GC,8251,1.20,202.6,318.9,10.9,333,8256,0.00,2.55,0.00,0.000,6,0.000,0.031,3408,2204,2362,0,0,0,0,0,0
$GC,8512,1.20,202.6,289.9,11.4,340,8517,0.00,2.75,0.00,0.000,4,0.000,0.067,3367,594,2361,0,0,0,0,0,0
$GC,8542,1.16,202.6,286.3,12.5,340,8547,0.00,2.60,0.00,0.000,6,0.000,0.023,3408,2225,2361,0,0,0,0,0,0
$GC,8792,1.16,202.6,257.2,11.5,346,8796,0.00,2.50,0.00,0.000,4,0.000,0.041,3388,3756,2360,0,0,0,0,0,0
$GC,8824,1.16,202.6,253.7,10.7,346,8830,0.00,2.53,0.00,0.000,6,0.000,0.035,3408,2195,2360,0,0,0,0,0,0
$GC,9076,1.17,218.1,229.5,9.4,353,9096,0.00,2.75,14.75,0.709,4,0.000,0.063,3408,602,2300,0,0,0,0,0,0
$GC,9159,1.18,219.9,221.0,10.1,355,9163,0.00,2.55,0.00,0.000,6,0.000,0.026,3407,2201,2297,0,0,0,0,0,0
$GC,9415,1.25,246.3,198.1,8.9,362,9449,0.00,2.62,25.50,0.693,4,0.000,0.043,3409,3755,2185,0,0,0,0,0,0
$GC,9514,1.31,246.3,188.2,10.7,370,9518,0.00,2.53,0.00,0.000,6,0.000,0.028,3408,2198,2183,0,0,0,0,0,0
$GC,9780,1.36,246.3,160.5,10.3,394,9785,0.12,2.70,0.00,0.000,4,0.075,0.058,3446,598,2182,0,0,0,0,0,0
$GC,9825,1.32,246.3,155.0,12.9,397,9829,0.00,2.58,0.00,0.000,6,0.000,0.021,3446,2227,2181,0,0,0,0,0,0
$GC,10092,1.32,246.3,122.8,12.1,421,10096,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2228,2181,0,0,0,0,0,0
$GC,10352,1.32,246.3,92.2,10.5,446,10357,0.00,2.70,0.00,0.000,4,0.000,0.047,3445,595,2180,0,0,0,0,0,0
$GC,10377,1.32,246.3,89.4,11.9,447,10383,0.00,2.53,0.00,0.000,6,0.000,0.020,3446,2220,2180,0,0,0,0,0,0
$GC,10644,1.34,263.5,63.0,9.3,472,10663,0.00,0.00,15.85,0.546,6,0.000,0.000,3446,2221,2115,0,0,0,0,0,0
$GC,10923,1.34,263.5,34.7,10.8,498,10931,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2221,2114,0,0,0,0,0,0
$STATE,11197,end climb,SURFACE_DEPTH_REACHED
$STATE,11197,begin surface coast
$FINISH,-0.5,1.023681
$STATE,11240,end surface coast,CONTROL_FINISHED_OK
$STATE,11240,begin surface
$SM_CCo,11263,93.95,0.515,0,0,1639,380.21
$SM_GC,0.16,0.00,0.00,93.95,0.000,0.000,0.515,466,2149,1639,-12.32,-0.88,380.21
$IRIDIUM_FIX,2227.67,-15804.11,150901,191955
$TT8_MAMPS,0.027612
$HUMID,60.43
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,22.10
$XPDR_PINGS,30
$24V_AH,23.5,25.021
$10V_AH,10.3,22.745
$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,30.350,93.900,343.000,93.950,0.000,55.973,85.598,259.136,7.500,0.000,16.546,1063.052,7760.074,537.248,1888.433,729.079,33.366,1193.270,0.000,1903.147,0.000,0.536,0.000
$DEVICE_MAMPS,171.041,118.118,963.352,514.657,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,367.359,294.409,404.998,759.400,1159.545,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355992
$DATA_FILE_SIZE,41430,542
$CAP_FILE_SIZE,108200,0
$CFSIZE,260165632,136044544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,210612,223224,2236.838,-15802.689,36,1.2,36,10.0