version: 66.06
glider: 146
mission: 7
dive: 176
start: 6 22 112 1 38 16
data:
$ID,146
$MISSION,7
$DIVE,176
$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,-293028.97
$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,46
$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
$GPS1,013106,2235.904,-15802.628,9,1.0,26,10.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-70.2
$GPS2,013720,2235.961,-15802.624,11,1.2,11,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.067,-0.244
$KALMAN_X,5164.5,-156.2,15.5,-3148.7,836.7
$KALMAN_Y,65157.5,-378.9,-342.2,-73005.9,1678.8
$MHEAD_RNG_PITCHd_Wd,185.3,67072,-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,-88.03,0.000,6,0.000,0.000,468,2196,3746,0,0,0,0,0,0
$GC,116,-1.32,-136.3,3.4,-8.4,11,135,13.20,2.50,0.00,0.000,4,0.174,0.030,2843,3751,3747,0,0,0,0,0,0
$GC,292,-1.20,-136.3,42.9,-16.3,31,299,1.12,2.47,0.00,0.000,6,0.091,0.025,2889,2173,3748,4,0,0,0,0,0
$GC,561,-1.80,-136.3,57.6,-7.5,55,575,1.48,2.58,0.00,0.000,4,0.047,0.042,2746,597,3752,0,0,0,0,0,0
$GC,643,-1.43,-136.3,72.1,-23.1,61,648,0.40,2.45,0.00,0.000,6,0.136,0.017,2828,2188,3748,0,0,0,0,0,0
$GC,911,-1.24,-136.3,119.6,-16.6,85,916,0.20,2.45,0.00,0.000,4,0.102,0.028,2860,3749,3749,0,0,0,0,0,0
$GC,929,-1.10,-136.3,123.3,-15.8,86,934,0.15,2.45,0.00,0.000,6,0.098,0.029,2905,2176,3752,0,0,0,0,0,0
$GC,1189,-1.10,-136.3,151.2,-10.0,110,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2176,3748,0,0,0,0,0,0
$GC,1444,-1.10,-136.3,174.4,-9.1,134,1449,0.00,2.58,0.00,0.000,4,0.000,0.051,2905,606,3750,0,0,0,0,0,0
$GC,1478,-1.10,-136.3,178.0,-10.2,136,1484,0.00,2.40,0.00,0.000,6,0.000,0.025,2905,2179,3751,0,0,0,0,0,0
$GC,1761,-1.10,-136.3,204.8,-9.7,160,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2180,3751,0,0,0,0,0,0
$GC,2002,-1.10,-136.3,227.0,-9.1,166,2004,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2179,3755,0,0,0,0,0,0
$GC,2249,-1.14,-136.3,247.1,-7.9,172,2250,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2179,3751,0,0,0,0,0,0
$GC,2490,-1.20,-136.3,264.9,-7.4,178,2495,0.10,2.53,0.00,0.000,4,0.082,0.035,2862,3751,3751,0,0,0,0,0,0
$GC,2506,-1.20,-136.3,266.4,-7.7,178,2511,0.10,2.42,0.00,0.000,6,0.114,0.025,2884,2181,3751,0,0,0,0,0,0
$GC,2769,-1.20,-136.3,288.1,-8.2,185,2770,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2181,3751,0,0,0,0,0,0
$GC,3011,-1.24,-136.3,307.8,-8.1,191,3016,0.00,2.50,0.00,0.000,4,0.000,0.040,2873,3743,3751,0,0,0,0,0,0
$GC,3039,-1.29,-136.3,309.9,-7.5,191,3044,0.00,2.42,0.00,0.000,6,0.000,0.023,2882,2202,3751,0,0,0,0,0,0
$GC,3292,-1.34,-136.3,328.0,-7.2,197,3297,0.12,2.78,0.00,0.000,4,0.067,0.073,2837,594,3750,0,0,0,0,0,0
$GC,3308,-1.34,-136.3,329.7,-7.4,197,3313,0.00,2.50,0.00,0.000,6,0.000,0.025,2837,2177,3750,0,0,0,0,0,0
$GC,3570,-1.34,-136.3,354.3,-9.7,204,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2177,3749,0,0,0,0,0,0
$GC,3815,-1.34,-136.3,377.8,-9.6,210,3816,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2177,3749,0,0,0,0,0,0
$GC,4057,-1.34,-136.3,400.4,-9.3,216,4061,0.00,2.62,0.00,0.000,4,0.000,0.050,2831,3761,3748,0,0,0,0,0,0
$GC,4078,-1.34,-136.3,402.5,-9.3,216,4083,0.00,2.60,0.00,0.000,6,0.000,0.048,2837,2185,3748,0,0,0,0,0,0
$GC,4334,-1.34,-136.3,426.0,-9.2,223,4335,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2185,3746,0,0,0,0,0,0
$GC,4579,-1.34,-136.3,446.5,-8.3,229,4584,0.00,2.90,0.00,0.000,4,0.000,0.100,2837,589,3745,0,0,0,0,0,0
$GC,4601,-1.34,-136.3,448.7,-9.1,229,4605,0.00,2.55,0.00,0.000,6,0.000,0.042,2837,2164,3745,0,0,0,0,0,0
$GC,4856,-1.34,-136.3,470.7,-8.7,236,4857,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2164,3743,0,0,0,0,0,0
$GC,5101,-1.34,-136.3,492.7,-8.8,242,5103,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2164,3741,0,0,0,0,0,0
$GC,5343,-1.34,-136.3,514.7,-9.1,248,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2164,3740,0,0,0,0,0,0
$GC,5587,-1.34,-136.3,536.5,-9.0,254,5588,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2164,3737,0,0,0,0,0,0
$STATE,5748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5748,begin apogee
$GC,5754,-0.31,0.0,550.3,8.4,258,5869,1.02,0.00,111.05,0.957,6,0.074,0.000,3074,2164,3190,0,0,0,0,0,0
$STATE,5870,end apogee,CONTROL_FINISHED_OK
$STATE,5870,begin climb
$GC,5875,1.32,136.3,553.0,0.0,261,5998,1.52,2.95,114.53,0.929,4,0.042,0.080,3435,3760,2630,0,0,0,0,0,0
$GC,6026,1.17,136.3,543.1,11.1,264,6032,0.00,2.75,0.00,0.000,6,0.000,0.059,3331,2177,2630,0,0,0,0,0,0
$GC,6278,1.03,136.3,516.2,10.7,271,6280,0.32,0.00,0.00,0.000,6,0.112,0.000,3371,2177,2626,0,0,0,0,0,0
$GC,6520,1.06,154.6,493.7,9.3,277,6537,0.00,0.00,15.98,0.852,6,0.000,0.000,3370,2176,2559,0,0,0,0,0,0
$GC,6763,1.06,157.9,469.3,10.0,283,6765,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,2177,2554,0,0,0,0,0,0
$GC,7007,1.07,167.4,445.6,9.7,289,7026,0.00,2.70,11.82,0.812,4,0.000,0.045,3277,3767,2505,0,0,0,0,0,0
$GC,7062,1.07,167.4,440.0,10.5,290,7066,0.00,2.65,0.00,0.000,6,0.000,0.043,3370,2181,2504,0,0,0,0,0,0
$GC,7333,1.09,185.8,414.4,9.3,297,7358,0.00,2.97,16.73,0.830,4,0.000,0.090,3370,586,2431,0,0,0,0,0,0
$GC,7394,1.10,194.1,408.8,9.8,298,7409,0.00,2.60,8.88,0.758,6,0.000,0.028,3370,2189,2397,0,0,0,0,0,0
$GC,7665,1.19,222.5,384.6,8.8,305,7699,0.12,2.67,26.08,0.838,4,0.078,0.042,3312,3769,2281,0,0,0,0,0,0
$GC,7740,1.19,222.5,376.5,11.6,306,7744,0.00,2.65,0.00,0.000,6,0.000,0.041,3405,2179,2279,0,0,0,0,0,0
$GC,7989,1.19,222.5,347.3,11.8,312,7991,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2179,2275,0,0,0,0,0,0
$GC,8233,1.19,222.5,319.4,11.1,318,8237,0.00,2.62,0.00,0.000,4,0.000,0.039,3389,3770,2275,0,0,0,0,0,0
$GC,8307,1.19,229.9,311.5,9.8,319,8320,0.00,2.60,6.55,0.663,6,0.000,0.033,3405,2175,2254,0,0,0,0,0,0
$GC,8605,1.22,247.0,283.3,9.3,327,8623,0.00,0.00,16.60,0.742,6,0.000,0.000,3405,2175,2184,0,0,0,0,0,0
$GC,8848,1.22,247.0,257.3,10.8,333,8852,0.00,2.62,0.00,0.000,4,0.000,0.037,3394,3771,2179,0,0,0,0,0,0
$GC,8950,1.27,247.0,245.6,11.3,335,8955,0.00,2.58,0.00,0.000,6,0.000,0.031,3405,2178,2179,0,0,0,0,0,0
$GC,9216,1.32,247.0,217.1,10.5,342,9218,0.10,0.00,0.00,0.000,6,0.088,0.000,3436,2178,2179,0,0,0,0,0,0
$GC,9463,1.32,247.0,188.3,11.3,354,9468,0.00,2.55,0.00,0.000,4,0.000,0.041,3436,3765,2179,0,0,0,0,0,0
$GC,9521,1.32,247.0,182.1,11.8,358,9525,0.00,2.53,0.00,0.000,6,0.000,0.028,3436,2181,2178,0,0,0,0,0,0
$GC,9787,1.32,247.0,151.3,12.5,382,9792,0.00,2.60,0.00,0.000,4,0.000,0.051,3436,599,2178,0,0,0,0,0,0
$GC,9818,1.32,247.0,146.8,14.4,384,9822,0.00,2.50,0.00,0.000,6,0.000,0.021,3436,2198,2177,0,0,0,0,0,0
$GC,10080,1.32,247.0,113.8,13.3,408,10084,0.00,2.65,0.00,0.000,4,0.000,0.047,3436,598,2178,0,0,0,0,0,0
$GC,10113,1.32,247.0,108.8,14.0,410,10122,0.00,2.50,0.00,0.000,6,0.000,0.020,3436,2176,2177,0,0,0,0,0,0
$GC,10382,1.32,247.0,79.2,11.4,435,10386,0.00,2.50,0.00,0.000,4,0.000,0.035,3435,3752,2177,0,0,0,0,0,0
$GC,10429,1.37,247.0,73.7,11.8,438,10434,0.12,2.47,0.00,0.000,6,0.077,0.027,3475,2187,2178,0,0,0,0,0,0
$GC,10695,1.32,247.0,42.1,11.6,462,10704,0.22,0.00,0.00,0.000,6,0.100,0.000,3431,2187,2178,0,0,0,0,0,0
$GC,11004,1.39,250.4,11.4,10.0,500,11014,0.00,2.62,4.50,0.380,4,0.000,0.048,3345,599,2168,0,0,0,0,0,0
$GC,11045,1.40,264.7,7.5,9.5,505,11071,0.00,2.50,13.60,0.489,6,0.000,0.019,3431,2190,2112,0,0,0,0,0,0
$STATE,11080,end climb,SURFACE_DEPTH_REACHED
$STATE,11080,begin surface coast
$FINISH,-0.6,1.015520
$STATE,11133,end surface coast,CONTROL_FINISHED_OK
$STATE,11133,begin surface
$SM_CCo,11154,93.03,0.510,0,0,1640,380.21
$SM_GC,0.26,0.00,0.00,93.03,0.000,0.000,0.510,472,2191,1640,-12.29,0.31,380.21
$IRIDIUM_FIX,2227.67,-15801.95,150901,222223
$TT8_MAMPS,0.027612
$HUMID,58.50
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.40
$XPDR_PINGS,34
$24V_AH,23.5,25.249
$10V_AH,10.3,22.959
$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,32.200,103.500,346.300,93.025,0.000,24.484,36.868,171.742,8.500,0.000,12.878,1037.729,7708.788,540.586,1788.864,547.805,33.387,1196.579,0.000,1803.129,0.000,0.535,0.000
$DEVICE_MAMPS,174.109,100.477,957.216,510.055,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,349.996,279.243,376.903,713.125,1078.362,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355956
$DATA_FILE_SIZE,38408,516
$CAP_FILE_SIZE,104452,0
$CFSIZE,260165632,135946240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,4,0,0,0
$GPS,220612,044700,2235.517,-15802.721,36,1.4,36,10.0