version: 66.06
glider: 146
mission: 7
dive: 175
start: 6 21 112 22 39 38
data:
$ID,146
$MISSION,7
$DIVE,175
$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,-293015.47
$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,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
$GPS1,223224,2236.838,-15802.689,36,1.2,36,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-69.6
$GPS2,223844,2236.878,-15802.711,15,1.2,15,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.056,-0.247
$KALMAN_X,4405.7,-266.3,125.0,-2539.7,845.4
$KALMAN_Y,63772.7,-704.8,412.7,-70349.7,637.4
$MHEAD_RNG_PITCHd_Wd,182.8,68776,-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,21,-1.32,-136.3,0.0,0.0,0,114,0.00,0.00,-88.85,0.000,6,0.000,0.000,466,2150,3746,0,0,0,0,0,0
$GC,119,-1.32,-136.3,2.8,-6.8,11,137,13.15,2.53,0.00,0.000,4,0.172,0.043,2847,616,3747,0,0,0,0,0,0
$GC,207,-1.16,-136.3,27.5,-16.8,23,217,0.15,2.47,0.00,0.000,6,0.102,0.018,2884,2186,3747,0,0,0,0,0,0
$GC,486,-1.06,-136.3,64.9,-13.2,49,491,0.12,2.62,0.00,0.000,4,0.117,0.047,2909,616,3748,0,0,0,0,0,0
$GC,509,-0.98,-136.3,68.4,-13.3,50,513,0.00,2.42,0.00,0.000,6,0.000,0.025,2911,2180,3748,0,0,0,0,0,0
$GC,770,-0.98,-136.3,97.9,-11.0,74,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2180,3749,0,0,0,0,0,0
$GC,1027,-0.98,-136.3,124.4,-10.5,98,1031,0.00,2.58,0.00,0.000,4,0.000,0.054,2859,620,3749,0,0,0,0,0,0
$GC,1047,-0.98,-136.3,126.5,-10.4,99,1051,0.00,2.40,0.00,0.000,6,0.000,0.023,2911,2179,3749,0,0,0,0,0,0
$GC,1311,-0.98,-136.3,155.3,-10.7,123,1315,0.00,2.58,0.00,0.000,4,0.000,0.052,2910,611,3750,0,0,0,0,0,0
$GC,1333,-0.98,-136.3,157.4,-10.2,124,1337,0.00,2.38,0.00,0.000,6,0.000,0.018,2912,2173,3750,0,0,0,0,0,0
$GC,1599,-0.98,-136.3,184.1,-9.5,148,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2173,3751,0,0,0,0,0,0
$GC,1889,-1.02,-136.3,212.9,-10.0,167,1893,0.00,2.47,0.00,0.000,4,0.000,0.035,2905,3742,3750,0,0,0,0,0,0
$GC,1916,-1.08,-136.3,215.8,-9.9,167,1921,0.00,2.42,0.00,0.000,6,0.000,0.022,2909,2179,3750,0,0,0,0,0,0
$GC,2169,-1.14,-136.3,236.3,-8.0,173,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2178,3751,0,0,0,0,0,0
$GC,2410,-1.20,-136.3,254.6,-7.6,179,2412,0.12,0.00,0.00,0.000,6,0.070,0.000,2861,2179,3751,0,0,0,0,0,0
$GC,2654,-1.20,-136.3,277.3,-9.4,185,2658,0.00,2.50,0.00,0.000,4,0.000,0.041,2854,3740,3751,0,0,0,0,0,0
$GC,2680,-1.20,-136.3,279.8,-8.9,185,2685,0.00,2.45,0.00,0.000,6,0.000,0.028,2861,2183,3750,0,0,0,0,0,0
$GC,2932,-1.20,-136.3,303.4,-9.8,191,2934,0.10,0.00,0.00,0.000,6,0.115,0.000,2884,2183,3750,0,0,0,0,0,0
$GC,3175,-1.26,-136.3,325.2,-8.9,197,3179,0.00,2.70,0.00,0.000,4,0.000,0.070,2842,603,3750,0,0,0,0,0,0
$GC,3191,-1.30,-136.3,327.0,-9.5,197,3196,0.10,2.42,0.00,0.000,6,0.082,0.032,2842,2149,3753,0,0,0,0,0,0
$GC,3453,-1.30,-136.3,354.5,-10.5,204,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2150,3749,0,0,0,0,0,0
$GC,3696,-1.30,-136.3,378.8,-9.8,210,3700,0.00,2.62,0.00,0.000,4,0.000,0.048,2832,3762,3748,0,0,0,0,0,0
$GC,3722,-1.30,-136.3,381.7,-10.5,210,3734,3.30,2.55,0.00,0.000,6,0.064,0.044,2982,2188,3748,11,0,0,0,0,0
$GC,3980,-2.85,-136.3,409.6,-12.6,217,3990,5.55,2.83,0.00,0.000,4,0.137,0.086,2530,592,3747,0,0,0,0,0,0
$GC,3996,-2.85,-136.3,411.8,-12.7,217,4001,0.00,2.58,0.00,0.000,6,0.000,0.038,2530,2193,3747,0,0,0,0,0,0
$GC,4260,-2.29,-136.3,463.2,-21.2,224,4262,0.52,0.00,0.00,0.000,6,0.111,0.000,2640,2190,3743,0,0,0,0,0,0
$GC,4501,-1.92,-136.3,505.8,-16.8,230,4503,0.40,0.00,0.00,0.000,6,0.110,0.000,2724,2193,3743,0,0,0,0,0,0
$GC,4745,-1.71,-136.3,539.2,-13.6,236,4750,0.22,2.78,0.00,0.000,4,0.116,0.084,2765,3754,3742,0,0,0,0,0,0
$GC,4797,-1.59,-136.3,545.6,-12.5,237,4802,0.12,2.67,0.00,0.000,6,0.123,0.061,2795,2197,3741,0,0,0,0,0,0
$STATE,4864,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4864,begin apogee
$GC,4869,-0.31,0.0,553.3,10.7,239,4986,1.23,0.00,111.35,0.950,6,0.087,0.000,3073,2197,3190,0,0,0,0,0,0
$STATE,4987,end apogee,CONTROL_FINISHED_OK
$STATE,4987,begin climb
$GC,4990,1.32,136.3,555.7,0.0,242,5111,1.50,0.00,113.15,0.920,6,0.044,0.000,3434,2197,2633,0,0,0,0,0,0
$GC,5355,1.19,136.3,517.4,12.6,251,5360,0.15,2.65,0.00,0.000,4,0.128,0.055,3401,3758,2626,0,0,0,0,0,0
$GC,5399,1.11,136.3,512.0,11.8,252,5404,0.00,2.70,0.00,0.000,6,0.000,0.048,3385,2179,2625,0,0,0,0,0,0
$GC,5679,1.04,136.3,481.8,10.9,259,5681,0.17,0.00,0.00,0.000,6,0.117,0.000,3368,2179,2620,0,0,0,0,0,0
$GC,5921,1.08,169.7,460.1,8.5,265,5951,0.00,0.00,28.17,0.871,6,0.000,0.000,3371,2179,2498,0,0,0,0,0,0
$GC,6164,1.11,192.3,438.2,9.0,271,6190,0.00,2.70,20.17,0.849,4,0.000,0.050,3360,3766,2406,0,0,0,0,0,0
$GC,6225,1.11,192.3,432.3,10.6,272,6229,0.00,2.70,0.00,0.000,6,0.000,0.048,3371,2171,2404,0,0,0,0,0,0
$GC,6488,1.13,209.5,408.0,9.3,279,6511,0.00,2.88,16.20,0.822,4,0.000,0.084,3370,590,2334,0,0,0,0,0,0
$GC,6531,1.13,209.5,403.6,10.2,280,6535,0.00,2.58,0.00,0.000,6,0.000,0.031,3370,2180,2333,0,0,0,0,0,0
$GC,6814,1.17,209.5,374.1,10.3,287,6819,0.12,2.62,0.00,0.000,4,0.077,0.049,3384,3763,2329,0,0,0,0,0,0
$GC,6898,1.17,209.5,363.6,12.0,289,6903,0.00,2.60,0.00,0.000,6,0.000,0.038,3405,2172,2329,0,0,0,0,0,0
$GC,7183,1.18,214.9,334.2,9.9,296,7190,0.00,0.00,5.10,0.617,6,0.000,0.000,3405,2172,2314,0,0,0,0,0,0
$GC,7425,1.18,217.8,310.0,10.0,302,7431,0.00,0.00,3.95,0.523,6,0.000,0.000,3405,2172,2302,0,0,0,0,0,0
$GC,7668,1.18,217.8,283.6,10.5,308,7673,0.00,2.60,0.00,0.000,4,0.000,0.038,3387,3769,2301,0,0,0,0,0,0
$GC,7702,1.18,217.8,280.0,11.6,308,7708,0.00,2.58,0.00,0.000,6,0.000,0.034,3405,2178,2301,0,0,0,0,0,0
$GC,7952,1.19,227.6,254.5,9.7,315,7968,0.00,2.62,10.55,0.689,4,0.000,0.036,3406,3768,2261,0,0,0,0,0,0
$GC,8024,1.21,238.8,247.3,9.6,316,8040,0.00,2.53,11.25,0.682,6,0.000,0.034,3405,2203,2216,0,0,0,0,0,0
$GC,8321,1.30,276.8,221.3,8.3,324,8358,0.00,0.00,33.88,0.703,6,0.000,0.000,3405,2203,2061,0,0,0,0,0,0
$GC,8608,1.37,290.4,194.6,9.5,334,8625,0.15,0.00,12.90,0.635,6,0.069,0.000,3449,2204,2006,0,0,0,0,0,0
$GC,8879,1.37,290.4,160.3,13.1,360,8884,0.00,2.70,0.00,0.000,4,0.000,0.059,3449,590,2003,0,0,0,0,0,0
$GC,8909,1.32,290.4,156.1,14.7,362,8913,0.00,2.58,0.00,0.000,6,0.000,0.027,3449,2221,2002,0,0,0,0,0,0
$GC,9173,1.32,290.4,118.9,14.5,386,9182,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2221,2002,0,0,0,0,0,0
$GC,9438,1.32,290.4,83.7,13.3,411,9443,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2221,2002,0,0,0,0,0,0
$GC,9704,1.32,290.4,50.9,12.4,436,9713,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,2221,2002,0,0,0,0,0,0
$GC,9997,1.32,290.4,14.9,12.5,470,10006,0.00,2.70,0.00,0.000,4,0.000,0.047,3449,606,2003,0,0,0,0,0,0
$GC,10052,1.32,290.4,8.0,11.6,477,10062,0.00,2.50,0.00,0.000,6,0.000,0.019,3449,2193,2002,0,0,0,0,0,0
$STATE,10083,end climb,SURFACE_DEPTH_REACHED
$STATE,10083,begin surface coast
$FINISH,-0.5,1.023674
$STATE,10126,end surface coast,CONTROL_FINISHED_OK
$STATE,10126,begin surface
$SM_CCo,10149,72.22,0.511,0,0,1640,380.21
$SM_GC,0.05,0.00,0.00,72.22,0.000,0.000,0.511,469,2196,1640,-12.31,0.45,380.21
$IRIDIUM_FIX,2230.01,-15801.07,150901,191930
$TT8_MAMPS,0.028379
$HUMID,60.71
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.20
$XPDR_PINGS,36
$24V_AH,23.5,25.135
$10V_AH,10.3,22.850
$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,39.100,93.200,366.675,72.225,0.000,24.943,33.528,175.312,9.000,0.000,16.659,966.496,6856.042,538.672,1720.370,520.509,33.364,1169.630,0.000,1725.667,0.000,0.535,0.000
$DEVICE_MAMPS,171.808,85.904,949.546,510.822,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,329.707,259.574,362.313,681.218,1030.635,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356012
$DATA_FILE_SIZE,38368,487
$CAP_FILE_SIZE,97720,0
$CFSIZE,260165632,136007680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,11,0,0,0
$GPS,220612,013106,2235.904,-15802.628,9,1.0,26,10.0