version: 66.06
glider: 146
mission: 7
dive: 178
start: 6 22 112 8 11 33
data:
$ID,146
$MISSION,7
$DIVE,178
$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,-293074.97
$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,28
$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
$GPS1,080007,2235.360,-15802.838,31,0.9,31,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-71.7
$GPS2,081040,2235.442,-15802.864,10,2.4,29,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.055,-0.247
$KALMAN_X,6200.8,126.7,-103.1,-4759.3,789.2
$KALMAN_Y,67751.6,595.4,353.9,-78228.0,1162.8
$MHEAD_RNG_PITCHd_Wd,182.6,66169,-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,-136.3,0.0,0.0,0,107,0.00,0.00,-86.10,0.000,6,0.000,0.000,466,2204,3743,0,0,0,0,0,0
$GC,110,-1.32,-136.3,3.1,-8.7,11,128,13.15,2.67,0.00,0.000,4,0.172,0.040,2849,592,3745,0,0,0,0,0,0
$GC,263,-1.16,-136.3,38.4,-17.3,29,269,0.20,2.47,0.00,0.000,6,0.117,0.018,2890,2191,3745,0,0,0,0,0,0
$GC,530,-1.08,-136.3,76.3,-13.9,53,538,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2191,3745,0,0,0,0,0,0
$GC,793,-1.04,-136.3,107.7,-11.8,78,795,0.12,0.00,0.00,0.000,6,0.113,0.000,2917,2191,3745,0,0,0,0,0,0
$GC,1050,-1.08,-136.3,130.6,-8.7,102,1054,0.00,2.62,0.00,0.000,4,0.000,0.048,2886,594,3747,0,0,0,0,0,0
$GC,1083,-1.08,-136.3,133.9,-8.8,104,1092,0.00,2.47,0.00,0.000,6,0.000,0.022,2917,2185,3747,0,0,0,0,0,0
$GC,1345,-1.11,-136.3,158.3,-9.1,129,1347,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2185,3748,0,0,0,0,0,0
$GC,1602,-1.16,-136.3,181.5,-8.8,153,1611,0.12,0.00,0.00,0.000,6,0.072,0.000,2868,2185,3748,0,0,0,0,0,0
$GC,1889,-1.16,-136.3,215.0,-12.0,172,1891,0.10,0.00,0.00,0.000,6,0.117,0.000,2890,2185,3748,0,0,0,0,0,0
$GC,2136,-1.16,-136.3,239.8,-10.0,178,2137,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2185,3748,0,0,0,0,0,0
$GC,2378,-1.20,-136.3,261.4,-8.8,184,2382,0.00,2.47,0.00,0.000,4,0.000,0.040,2869,3746,3748,0,0,0,0,0,0
$GC,2400,-1.25,-136.3,263.3,-8.5,184,2404,0.00,2.45,0.00,0.000,6,0.000,0.023,2890,2181,3749,0,0,0,0,0,0
$GC,2657,-1.30,-136.3,282.2,-7.2,191,2662,0.12,2.67,0.00,0.000,4,0.071,0.068,2833,597,3748,0,0,0,0,0,0
$GC,2697,-1.24,-136.3,286.1,-9.8,192,2703,0.12,2.45,0.00,0.000,6,0.111,0.020,2871,2174,3747,0,0,0,0,0,0
$GC,2983,-1.24,-136.3,310.5,-8.5,199,2984,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2174,3748,0,0,0,0,0,0
$GC,3225,-1.24,-136.3,330.1,-7.9,205,3229,0.00,2.55,0.00,0.000,4,0.000,0.041,2845,3755,3747,0,0,0,0,0,0
$GC,3292,-1.30,-136.3,336.1,-8.7,206,3296,0.00,2.50,0.00,0.000,6,0.000,0.029,2871,2205,3747,0,0,0,0,0,0
$GC,3549,-1.34,-136.3,354.3,-6.8,213,3554,0.00,2.80,0.00,0.000,4,0.000,0.077,2871,598,3746,0,0,0,0,0,0
$GC,3610,-1.39,-136.3,359.0,-7.9,214,3615,0.20,2.53,0.00,0.000,6,0.054,0.029,2804,2179,3745,0,0,0,0,0,0
$GC,3872,-1.30,-136.3,383.7,-9.6,221,3877,0.25,2.62,0.00,0.000,4,0.094,0.054,2843,3764,3744,0,0,0,0,0,0
$GC,3964,-1.36,-136.3,391.3,-8.2,223,3968,0.00,2.55,0.00,0.000,6,0.000,0.041,2863,2203,3743,0,0,0,0,0,0
$GC,4241,-1.40,-136.3,414.2,-8.3,230,4243,0.10,0.00,0.00,0.000,6,0.087,0.000,2825,2203,3741,0,0,0,0,0,0
$GC,4487,-1.40,-136.3,437.7,-9.8,236,4488,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2203,3740,0,0,0,0,0,0
$GC,4729,-1.40,-136.3,460.6,-9.4,242,4730,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2203,3739,0,0,0,0,0,0
$GC,4972,-1.40,-136.3,482.4,-8.9,248,4977,0.00,2.65,0.00,0.000,4,0.000,0.059,2811,3758,3736,0,0,0,0,0,0
$GC,5001,-1.40,-136.3,485.0,-9.3,248,5006,0.00,2.60,0.00,0.000,6,0.000,0.058,2825,2208,3736,0,0,0,0,0,0
$GC,5251,-1.40,-136.3,507.6,-9.0,254,5255,0.00,2.62,0.00,0.000,4,0.000,0.061,2820,3757,3734,0,0,0,0,0,0
$GC,5272,-1.40,-136.3,509.7,-9.6,254,5277,0.00,2.62,0.00,0.000,6,0.000,0.061,2826,2204,3734,0,0,0,0,0,0
$GC,5528,-1.40,-136.3,534.2,-9.5,261,5529,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2202,3733,0,0,0,0,0,0
$STATE,5728,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5728,begin apogee
$GC,5736,-0.31,0.0,553.1,9.3,266,5850,1.10,0.00,109.43,0.967,6,0.077,0.000,3076,2182,3191,0,0,0,0,0,0
$STATE,5851,end apogee,CONTROL_FINISHED_OK
$STATE,5851,begin climb
$GC,5854,1.32,136.3,556.3,0.0,269,5972,1.52,0.00,114.55,0.935,6,0.041,0.000,3439,2177,2634,0,0,0,0,0,0
$GC,6216,1.18,136.3,522.3,11.6,278,6218,0.20,0.00,0.00,0.000,6,0.125,0.000,3400,2177,2626,0,0,0,0,0,0
$GC,6458,1.13,139.1,497.9,10.0,284,6463,0.00,2.67,0.00,0.000,4,0.000,0.052,3378,3755,2623,0,0,0,0,0,0
$GC,6491,1.05,139.1,494.3,10.4,284,6497,0.15,2.70,0.00,0.000,6,0.127,0.050,3372,2176,2623,0,0,0,0,0,0
$GC,6743,1.07,156.6,470.7,9.3,291,6767,0.00,2.78,16.88,0.864,4,0.000,0.048,3281,3763,2551,0,0,0,0,0,0
$GC,6812,1.07,156.6,463.1,11.0,292,6818,0.65,2.67,0.00,0.000,6,0.048,0.045,3415,2185,2549,2,0,0,0,0,0
$GC,7068,0.76,156.6,421.0,16.8,299,7074,1.10,2.62,0.00,0.000,4,0.125,0.041,3297,3769,2546,0,0,0,0,0,0
$GC,7150,0.97,217.0,414.0,7.1,300,7210,0.17,2.60,52.83,0.870,6,0.065,0.038,3360,2202,2305,0,0,0,0,0,0
$GC,7485,1.05,226.4,382.2,9.7,309,7499,0.00,2.88,9.00,0.752,4,0.000,0.081,3359,591,2265,0,0,0,0,0,0
$GC,7523,1.11,226.4,378.0,10.5,309,7529,0.10,2.65,0.00,0.000,6,0.091,0.025,3389,2222,2264,0,0,0,0,0,0
$GC,7773,1.11,226.4,348.7,11.7,316,7777,0.00,2.53,0.00,0.000,4,0.000,0.047,3364,3761,2263,0,0,0,0,0,0
$GC,7824,1.15,226.4,342.9,11.2,317,7828,0.00,2.55,0.00,0.000,6,0.000,0.038,3388,2213,2262,0,0,0,0,0,0
$GC,8097,1.17,243.4,316.4,9.3,324,8115,0.00,0.00,15.80,0.776,6,0.000,0.000,3389,2213,2197,0,0,0,0,0,0
$GC,8341,1.21,247.9,292.1,10.0,330,8348,0.00,0.00,4.95,0.590,6,0.000,0.000,3389,2213,2179,0,0,0,0,0,0
$GC,8587,1.28,255.5,268.1,9.8,336,8602,0.15,2.83,8.35,0.680,4,0.070,0.064,3431,598,2148,0,0,0,0,0,0
$GC,8652,1.28,255.5,259.7,14.0,337,8656,0.00,2.60,0.00,0.000,6,0.000,0.028,3428,2238,2146,0,0,0,0,0,0
$GC,8915,1.28,255.5,229.6,11.5,344,8919,0.00,2.47,0.00,0.000,4,0.000,0.038,3416,3766,2148,0,0,0,0,0,0
$GC,8938,1.28,255.5,226.6,12.7,344,8942,0.00,2.50,0.00,0.000,6,0.000,0.028,3428,2227,2145,0,0,0,0,0,0
$GC,9192,1.28,255.5,197.6,11.5,351,9193,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,2227,2145,0,0,0,0,0,0
$GC,9449,1.28,255.5,167.4,11.8,375,9450,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,2227,2144,0,0,0,0,0,0
$GC,9706,1.28,255.5,138.0,11.5,399,9711,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,2227,2143,0,0,0,0,0,0
$GC,9967,1.28,255.5,108.0,11.2,424,9972,0.00,2.72,0.00,0.000,4,0.000,0.051,3427,590,2145,0,0,0,0,0,0
$GC,10014,1.28,255.5,103.5,10.7,427,10018,0.00,2.58,0.00,0.000,6,0.000,0.020,3428,2245,2144,0,0,0,0,0,0
$GC,10281,1.31,279.6,77.1,9.0,451,10310,0.00,0.00,21.73,0.568,6,0.000,0.000,3428,2245,2049,0,0,0,0,0,0
$GC,10570,1.36,282.3,49.0,10.0,478,10585,0.00,2.80,3.85,0.367,4,0.000,0.054,3428,596,2038,0,0,0,0,0,0
$GC,10602,1.36,282.3,44.9,11.5,480,10607,0.00,2.58,0.00,0.000,6,0.000,0.021,3428,2237,2038,0,0,0,0,0,0
$GC,10909,1.42,282.3,11.7,11.0,516,10918,0.10,0.00,0.00,0.000,6,0.089,0.000,3460,2237,2038,0,0,0,0,0,0
$STATE,10973,end climb,SURFACE_DEPTH_REACHED
$STATE,10973,begin surface coast
$FINISH,-0.5,1.019612
$STATE,11023,end surface coast,CONTROL_FINISHED_OK
$STATE,11023,begin surface
$SM_CCo,11047,80.25,0.514,0,0,1640,380.46
$SM_GC,0.26,0.00,0.00,80.25,0.000,0.000,0.514,466,2135,1640,-12.32,-1.27,380.46
$IRIDIUM_FIX,2227.67,-15804.11,160901,080821
$TT8_MAMPS,0.027612
$HUMID,60.71
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,22.20
$XPDR_PINGS,34
$24V_AH,23.5,25.486
$10V_AH,10.3,23.188
$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,31.725,94.225,357.350,80.250,0.000,63.163,70.102,264.544,8.500,0.000,32.309,1059.028,7559.662,530.714,1887.124,723.537,33.371,1203.908,0.000,1882.047,0.000,0.535,0.000
$DEVICE_MAMPS,171.808,198.653,967.187,513.890,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,360.795,292.830,397.056,738.098,1116.311,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355996
$DATA_FILE_SIZE,41613,532
$CAP_FILE_SIZE,108383,0
$CFSIZE,260165632,135831552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,220612,111807,2234.667,-15802.748,26,1.5,26,10.0