version: 66.06
glider: 146
mission: 7
dive: 177
start: 6 22 112 4 54 22
data:
$ID,146
$MISSION,7
$DIVE,177
$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,-293042.03
$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,30
$R_STBD_OVSHOOT,47
$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
$GPS1,044700,2235.517,-15802.721,36,1.4,36,10.0
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-69.7
$GPS2,045326,2235.576,-15802.729,10,1.5,10,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.082,-0.240
$KALMAN_X,5741.6,11.8,-180.8,-3875.5,904.6
$KALMAN_Y,66593.2,137.7,-373.3,-75640.0,2414.7
$MHEAD_RNG_PITCHd_Wd,188.8,66386,-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,-136.3,0.0,0.0,0,115,0.00,0.00,-87.53,0.000,6,0.000,0.000,471,2191,3746,0,0,0,0,0,0
$GC,119,-1.32,-136.3,4.3,-11.2,12,137,13.12,2.67,0.00,0.000,4,0.172,0.037,2845,590,3747,0,0,0,0,0,0
$GC,221,-1.14,-136.3,31.1,-15.9,26,226,0.22,2.47,0.00,0.000,6,0.116,0.017,2892,2186,3747,0,0,0,0,0,0
$GC,489,-1.06,-136.3,66.1,-12.3,50,498,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2187,3748,0,0,0,0,0,0
$GC,754,-1.02,-136.3,97.5,-11.7,75,759,0.12,2.62,0.00,0.000,4,0.114,0.050,2920,595,3749,0,0,0,0,0,0
$GC,771,-1.02,-136.3,100.0,-11.4,76,776,0.00,2.42,0.00,0.000,6,0.000,0.017,2919,2181,3749,0,0,0,0,0,0
$GC,1036,-1.06,-136.3,122.9,-9.0,100,1041,0.00,2.58,0.00,0.000,4,0.000,0.043,2919,600,3750,0,0,0,0,0,0
$GC,1083,-1.11,-136.3,127.0,-9.1,103,1087,0.00,2.40,0.00,0.000,6,0.000,0.018,2920,2172,3750,0,0,0,0,0,0
$GC,1351,-1.15,-136.3,151.1,-9.3,127,1357,0.12,0.00,0.00,0.000,6,0.067,0.000,2870,2173,3750,0,0,0,0,0,0
$GC,1614,-1.09,-136.3,182.8,-11.9,152,1616,0.15,0.00,0.00,0.000,6,0.099,0.000,2905,2172,3750,0,0,0,0,0,0
$GC,1865,-1.09,-136.3,208.3,-9.6,170,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2173,3750,0,0,0,0,0,0
$GC,2107,-1.13,-136.3,232.0,-9.7,176,2108,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2173,3751,0,0,0,0,0,0
$GC,2351,-1.19,-136.3,253.5,-8.7,182,2352,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2172,3751,0,0,0,0,0,0
$GC,2597,-1.26,-136.3,272.2,-7.5,188,2602,0.15,2.53,0.00,0.000,4,0.060,0.042,2833,3751,3751,0,0,0,0,0,0
$GC,2646,-1.26,-136.3,277.0,-9.2,189,2652,0.12,2.50,0.00,0.000,6,0.104,0.029,2870,2154,3748,0,0,0,0,0,0
$GC,2921,-1.26,-136.3,302.2,-9.3,196,2925,0.00,2.60,0.00,0.000,4,0.000,0.068,2872,607,3751,0,0,0,0,0,0
$GC,2947,-1.26,-136.3,305.2,-10.4,196,2952,0.00,2.40,0.00,0.000,6,0.000,0.021,2872,2153,3750,0,0,0,0,0,0
$GC,3198,-1.26,-136.3,327.7,-8.9,202,3199,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2153,3751,0,0,0,0,0,0
$GC,3441,-1.26,-136.3,346.6,-7.4,208,3446,0.00,2.60,0.00,0.000,4,0.000,0.048,2857,3760,3749,0,0,0,0,0,0
$GC,3471,-1.30,-136.3,348.9,-8.0,208,3476,0.00,2.55,0.00,0.000,6,0.000,0.033,2871,2171,3749,0,0,0,0,0,0
$GC,3721,-1.34,-136.3,369.6,-8.3,214,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2171,3748,0,0,0,0,0,0
$GC,3965,-1.39,-136.3,389.7,-8.2,220,3970,0.12,2.62,0.00,0.000,4,0.073,0.051,2819,3753,3747,0,0,0,0,0,0
$GC,3989,-1.39,-136.3,391.9,-9.5,220,3993,0.00,2.58,0.00,0.000,6,0.000,0.044,2827,2169,3747,0,0,0,0,0,0
$GC,4244,-1.39,-136.3,416.1,-9.1,227,4245,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2168,3746,0,0,0,0,0,0
$GC,4488,-1.39,-136.3,437.5,-8.7,233,4489,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2169,3744,0,0,0,0,0,0
$GC,4733,-1.39,-136.3,459.7,-9.2,239,4738,0.00,2.88,0.00,0.000,4,0.000,0.105,2792,588,3742,0,0,0,0,0,0
$GC,4749,-1.39,-136.3,461.6,-9.3,239,4753,0.00,2.55,0.00,0.000,6,0.000,0.044,2828,2147,3742,0,0,0,0,0,0
$GC,5009,-1.39,-136.3,486.0,-9.5,246,5011,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2147,3740,0,0,0,0,0,0
$GC,5255,-1.39,-136.3,511.4,-10.6,252,5259,0.00,2.80,0.00,0.000,4,0.000,0.081,2818,3758,3739,0,0,0,0,0,0
$GC,5298,-1.39,-136.3,516.4,-11.3,253,5308,2.70,2.67,0.00,0.000,6,0.071,0.055,2933,2171,3739,9,0,0,0,0,0
$GC,5582,-2.60,-136.3,540.8,-9.3,260,5591,3.97,2.95,0.00,0.000,4,0.073,0.110,2553,593,3735,0,0,0,0,0,0
$GC,5611,-2.36,-136.3,543.6,-7.8,260,5616,0.35,2.65,0.00,0.000,6,0.114,0.048,2624,2174,3736,0,0,0,0,0,0
$STATE,5661,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5661,begin apogee
$GC,5666,-0.31,0.0,551.7,14.7,262,5783,2.08,0.00,110.70,0.963,6,0.101,0.000,3074,2173,3190,0,0,0,0,0,0
$STATE,5784,end apogee,CONTROL_FINISHED_OK
$STATE,5784,begin climb
$GC,5787,1.32,136.3,554.6,0.0,265,5905,1.52,0.00,114.28,0.930,6,0.051,0.000,3436,2173,2634,0,0,0,0,0,0
$GC,6150,1.18,136.3,517.2,12.4,274,6155,0.17,2.75,0.00,0.000,4,0.132,0.064,3382,3762,2626,0,0,0,0,0,0
$GC,6190,1.11,136.3,511.9,12.6,275,6194,0.00,2.70,0.00,0.000,6,0.000,0.053,3373,2181,2625,0,0,0,0,0,0
$GC,6473,1.04,136.3,481.1,10.8,282,6478,0.15,2.65,0.00,0.000,4,0.124,0.051,3354,3766,2623,0,0,0,0,0,0
$GC,6528,1.04,136.3,475.0,10.5,283,6533,0.00,2.65,0.00,0.000,6,0.000,0.048,3373,2191,2623,0,0,0,0,0,0
$GC,6795,1.05,148.0,449.1,9.6,290,6807,0.00,0.00,9.62,0.794,6,0.000,0.000,3373,2190,2586,0,0,0,0,0,0
$GC,7041,1.07,162.5,426.1,9.5,296,7056,0.00,0.00,13.77,0.825,6,0.000,0.000,3373,2190,2527,0,0,0,0,0,0
$GC,7283,1.09,183.0,403.6,9.2,302,7307,0.00,2.97,18.77,0.834,4,0.000,0.087,3372,591,2443,0,0,0,0,0,0
$GC,7330,1.11,194.9,399.0,9.6,303,7349,0.00,2.62,11.77,0.787,6,0.000,0.031,3373,2201,2395,0,0,0,0,0,0
$GC,7613,1.16,200.9,371.6,9.9,310,7627,0.12,2.60,6.28,0.686,4,0.077,0.043,3310,3771,2371,0,0,0,0,0,0
$GC,7692,1.16,200.9,361.9,12.5,311,7697,0.00,2.60,0.00,0.000,6,0.000,0.038,3406,2185,2369,0,0,0,0,0,0
$GC,7943,1.16,200.9,334.1,10.9,317,7948,0.00,2.75,0.00,0.000,4,0.000,0.071,3406,594,2368,0,0,0,0,0,0
$GC,7976,1.11,200.9,330.4,11.1,317,7982,0.00,2.58,0.00,0.000,6,0.000,0.022,3406,2204,2367,0,0,0,0,0,0
$GC,8226,1.12,206.0,305.1,9.9,324,8236,0.00,2.55,5.35,0.621,4,0.000,0.039,3387,3762,2351,0,0,0,0,0,0
$GC,8365,1.12,206.0,291.0,10.6,327,8369,0.00,2.55,0.00,0.000,6,0.000,0.033,3405,2194,2350,0,0,0,0,0,0
$GC,8642,1.12,211.1,263.6,9.9,334,8656,0.00,2.72,6.50,0.636,4,0.000,0.058,3406,598,2328,0,0,0,0,0,0
$GC,8709,1.12,211.1,256.4,11.7,335,8713,0.00,2.58,0.00,0.000,6,0.000,0.024,3406,2208,2326,0,0,0,0,0,0
$GC,8969,1.12,211.1,228.9,10.7,342,8973,0.00,2.53,0.00,0.000,4,0.000,0.044,3391,3760,2326,0,0,0,0,0,0
$GC,9053,1.12,211.1,220.1,10.4,344,9058,0.60,2.50,0.00,0.000,6,0.045,0.035,3426,2202,2325,2,0,0,0,0,0
$GC,9314,0.85,211.1,178.3,16.8,357,9320,1.10,2.53,0.00,0.000,4,0.118,0.035,3324,3763,2325,0,0,0,0,0,0
$GC,9390,1.13,268.4,171.0,7.3,363,9448,0.22,2.47,49.90,0.679,6,0.051,0.031,3399,2208,2094,0,0,0,0,0,0
$GC,9703,1.20,270.0,139.9,10.1,392,9704,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2208,2090,0,0,0,0,0,0
$GC,9960,1.28,270.0,112.9,10.3,416,9965,0.10,2.70,0.00,0.000,4,0.084,0.051,3430,597,2089,0,0,0,0,0,0
$GC,10036,1.28,270.0,103.2,12.5,422,10040,0.00,2.53,0.00,0.000,6,0.000,0.020,3430,2215,2088,0,0,0,0,0,0
$GC,10304,1.32,270.0,73.5,11.4,446,10313,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2214,2088,0,0,0,0,0,0
$GC,10569,1.37,270.0,44.9,10.3,471,10574,0.00,2.67,0.00,0.000,4,0.000,0.046,3430,589,2088,0,0,0,0,0,0
$GC,10594,1.40,270.0,41.8,10.7,472,10603,0.00,2.55,0.00,0.000,6,0.000,0.020,3430,2198,2087,0,0,0,0,0,0
$GC,10893,1.50,314.9,12.8,7.9,510,10938,0.17,0.00,39.95,0.521,6,0.065,0.000,3479,2198,1905,0,0,0,0,0,0
$STATE,10960,end climb,SURFACE_DEPTH_REACHED
$STATE,10960,begin surface coast
$FINISH,-0.4,1.023692
$STATE,11000,end surface coast,CONTROL_FINISHED_OK
$STATE,11000,begin surface
$SM_CCo,11021,51.53,0.512,0,0,1640,380.21
$SM_GC,0.18,0.00,0.00,51.53,0.000,0.000,0.512,466,2201,1640,-12.32,0.59,380.21
$IRIDIUM_FIX,2227.67,-15804.11,160901,010109
$TT8_MAMPS,0.027612
$HUMID,60.63
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,22.10
$XPDR_PINGS,37
$24V_AH,23.5,25.363
$10V_AH,10.3,23.073
$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,39.575,109.800,386.900,51.525,0.000,27.161,41.186,170.279,9.250,0.000,12.426,1064.173,7427.250,523.747,1889.917,555.942,33.372,1237.289,0.000,1899.776,0.000,0.535,0.000
$DEVICE_MAMPS,171.808,110.448,963.352,511.589,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,354.191,291.455,387.685,734.947,1111.554,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355968
$DATA_FILE_SIZE,41461,523
$CAP_FILE_SIZE,109377,0
$CFSIZE,260165632,135884800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,11,0,0,0
$GPS,220612,080007,2235.360,-15802.838,31,0.9,31,10.0