version: 66.06
glider: 146
mission: 7
dive: 179
start: 6 22 112 11 29 21
data:
$ID,146
$MISSION,7
$DIVE,179
$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,-293094.47
$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,65
$R_STBD_OVSHOOT,32
$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
$GPS1,111807,2234.667,-15802.748,26,1.5,26,10.0
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-70.0
$GPS2,112825,2234.706,-15802.771,9,1.4,14,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.005,-0.253
$KALMAN_X,6705.3,146.3,130.8,-5358.3,307.4
$KALMAN_Y,68939.6,713.8,348.6,-80894.7,-121.2
$MHEAD_RNG_PITCHd_Wd,168.9,64796,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.32,-136.3,0.0,0.0,0,116,0.00,0.00,-87.45,0.000,6,0.000,0.000,465,2135,3745,0,0,0,0,0,0
$GC,118,-1.32,-136.3,4.4,-12.0,12,136,13.15,2.53,0.00,0.000,4,0.173,0.038,2849,624,3746,0,0,0,0,0,0
$GC,221,-1.15,-136.3,32.4,-16.8,25,226,0.20,2.45,0.00,0.000,6,0.122,0.019,2889,2202,3746,0,0,0,0,0,0
$GC,487,-1.06,-136.3,69.3,-13.2,49,492,0.10,2.58,0.00,0.000,4,0.130,0.044,2909,636,3747,0,0,0,0,0,0
$GC,510,-0.99,-136.3,72.2,-12.0,50,514,0.00,2.38,0.00,0.000,6,0.000,0.016,2909,2186,3746,0,0,0,0,0,0
$GC,773,-0.99,-136.3,101.1,-10.4,74,774,0.08,0.00,0.00,0.000,6,0.146,0.000,2925,2186,3747,0,0,0,0,0,0
$GC,1029,-1.04,-136.3,126.4,-9.7,98,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2186,3748,0,0,0,0,0,0
$GC,1293,-1.09,-136.3,151.8,-9.7,123,1297,0.00,2.55,0.00,0.000,4,0.000,0.045,2925,628,3749,0,0,0,0,0,0
$GC,1315,-1.13,-136.3,153.5,-9.6,124,1320,0.12,2.38,0.00,0.000,6,0.070,0.017,2877,2173,3748,0,0,0,0,0,0
$GC,1580,-1.08,-136.3,185.6,-11.8,148,1585,0.15,0.00,0.00,0.000,6,0.100,0.000,2910,2173,3748,0,0,0,0,0,0
$GC,1848,-1.08,-136.3,210.8,-8.7,165,1849,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2173,3749,0,0,0,0,0,0
$GC,2092,-1.12,-136.3,230.8,-8.5,171,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2169,3749,0,0,0,0,0,0
$GC,2334,-1.19,-136.3,253.0,-9.1,177,2339,0.10,2.53,0.00,0.000,4,0.082,0.036,2858,3747,3749,0,0,0,0,0,0
$GC,2361,-1.19,-136.3,256.1,-11.1,177,2367,1.40,2.40,0.00,0.000,6,0.067,0.021,2905,2199,3749,5,0,0,0,0,0
$GC,2614,-1.89,-136.3,272.5,-7.3,183,2622,1.98,2.53,0.00,0.000,4,0.055,0.033,2720,3745,3749,0,0,0,0,0,0
$GC,2641,-1.79,-136.3,274.7,-7.6,183,2646,0.15,2.42,0.00,0.000,6,0.112,0.028,2749,2201,3749,0,0,0,0,0,0
$GC,2898,-1.57,-136.3,306.1,-12.1,190,2900,0.25,0.00,0.00,0.000,6,0.103,0.000,2801,2201,3749,0,0,0,0,0,0
$GC,3140,-1.46,-136.3,332.9,-10.8,196,3142,0.10,0.00,0.00,0.000,6,0.132,0.000,2822,2201,3748,0,0,0,0,0,0
$GC,3384,-1.40,-136.3,356.5,-9.6,202,3388,0.00,2.50,0.00,0.000,4,0.000,0.043,2812,3738,3748,0,0,0,0,0,0
$GC,3419,-1.35,-136.3,359.7,-10.0,202,3425,0.12,2.47,0.00,0.000,6,0.121,0.038,2848,2210,3747,0,0,0,0,0,0
$GC,3669,-1.35,-136.3,380.0,-8.1,209,3670,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2210,3747,0,0,0,0,0,0
$GC,3912,-1.35,-136.3,401.3,-8.9,215,3917,0.00,2.53,0.00,0.000,4,0.000,0.048,2837,3739,3746,0,0,0,0,0,0
$GC,3952,-1.35,-136.3,405.0,-9.5,216,3961,2.65,2.53,0.00,0.000,6,0.066,0.049,2874,2202,3745,9,0,0,0,0,0
$GC,4243,-2.75,-136.3,429.4,-9.8,223,4252,4.62,2.55,0.00,0.000,4,0.128,0.048,2546,3734,3743,0,0,0,0,0,0
$GC,4320,-2.21,-136.3,439.9,-18.1,224,4325,0.55,2.53,0.00,0.000,6,0.117,0.052,2659,2224,3742,0,0,0,0,0,0
$GC,4572,-1.87,-136.3,479.7,-15.9,230,4577,0.32,2.55,0.00,0.000,4,0.117,0.060,2730,3729,3740,0,0,0,0,0,0
$GC,4650,-1.67,-136.3,491.6,-13.2,231,4656,0.22,2.55,0.00,0.000,6,0.111,0.061,2776,2221,3740,0,0,0,0,0,0
$GC,4902,-1.56,-136.3,520.5,-11.4,238,4907,0.12,2.62,0.00,0.000,4,0.130,0.067,2800,3729,3738,0,0,0,0,0,0
$GC,4924,-1.48,-136.3,523.2,-11.0,238,4929,0.10,2.55,0.00,0.000,6,0.143,0.061,2819,2225,3738,0,0,0,0,0,0
$GC,5179,-1.48,-136.3,546.6,-8.9,245,5184,0.00,3.12,0.00,0.000,4,0.000,0.123,2818,594,3736,0,0,0,0,0,0
$GC,5205,-1.43,-136.3,548.7,-9.0,245,5209,0.00,2.67,0.00,0.000,6,0.000,0.054,2819,2189,3735,0,0,0,0,0,0
$STATE,5213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5213,begin apogee
$GC,5219,-0.31,0.0,550.0,9.9,246,5336,1.12,0.00,110.43,0.953,6,0.094,0.000,3075,2189,3193,0,0,0,0,0,0
$STATE,5336,end apogee,CONTROL_FINISHED_OK
$STATE,5336,begin climb
$GC,5339,1.32,136.3,552.0,0.0,249,5457,1.52,0.00,113.93,0.923,6,0.048,0.000,3437,2189,2633,0,0,0,0,0,0
$GC,5702,1.18,136.3,516.4,11.3,258,5703,0.17,0.00,0.00,0.000,6,0.124,0.000,3404,2189,2625,0,0,0,0,0,0
$GC,5944,1.14,157.8,493.7,9.1,264,5964,0.00,0.00,18.30,0.860,6,0.000,0.000,3404,2189,2547,0,0,0,0,0,0
$GC,6188,1.10,175.4,471.4,9.3,270,6211,0.00,2.70,16.27,0.848,4,0.000,0.057,3308,3766,2474,0,0,0,0,0,0
$GC,6253,1.05,175.4,464.6,10.9,271,6257,0.00,2.67,0.00,0.000,6,0.000,0.043,3360,2187,2471,0,0,0,0,0,0
$GC,6513,1.00,175.4,437.2,10.5,278,6519,0.20,2.65,0.00,0.000,4,0.114,0.041,3347,3771,2469,0,0,0,0,0,0
$GC,6588,1.05,175.4,429.6,10.3,279,6592,0.00,2.62,0.00,0.000,6,0.000,0.041,3363,2198,2468,0,0,0,0,0,0
$GC,6838,1.12,201.5,407.0,8.9,285,6868,0.10,2.95,23.02,0.848,4,0.091,0.080,3391,592,2367,0,0,0,0,0,0
$GC,6903,1.12,206.5,400.3,9.9,286,6914,0.00,2.62,5.62,0.663,6,0.000,0.032,3389,2214,2348,0,0,0,0,0,0
$GC,7165,1.14,220.3,375.5,9.5,293,7184,0.00,2.62,13.55,0.796,4,0.000,0.044,3341,3757,2291,0,0,0,0,0,0
$GC,7223,1.14,220.3,369.0,11.0,294,7228,0.00,2.58,0.00,0.000,6,0.000,0.040,3390,2203,2290,0,0,0,0,0,0
$GC,7493,1.16,234.0,343.1,9.5,301,7512,0.00,2.65,13.07,0.772,4,0.000,0.044,3335,3755,2235,0,0,0,0,0,0
$GC,7552,1.20,235.3,336.9,10.1,302,7556,0.00,2.50,0.00,0.000,6,0.000,0.034,3389,2220,2237,0,0,0,0,0,0
$GC,7820,1.21,242.1,310.5,9.8,309,7835,0.00,2.85,8.10,0.701,4,0.000,0.067,3391,596,2203,0,0,0,0,0,0
$GC,7885,1.26,242.1,302.7,12.1,310,7891,0.17,2.62,0.00,0.000,6,0.064,0.027,3440,2230,2201,0,0,0,0,0,0
$GC,8147,1.22,242.1,271.0,12.1,317,8152,0.15,2.53,0.00,0.000,4,0.120,0.041,3382,3760,2200,0,0,0,0,0,0
$GC,8181,1.22,242.1,267.1,11.0,317,8187,0.00,2.50,0.00,0.000,6,0.000,0.031,3411,2206,2200,0,0,0,0,0,0
$GC,8431,1.23,257.1,242.9,9.4,324,8451,0.00,2.75,14.12,0.701,4,0.000,0.061,3410,595,2142,0,0,0,0,0,0
$GC,8481,1.23,257.1,237.9,10.8,325,8485,0.00,2.60,0.00,0.000,6,0.000,0.028,3411,2232,2139,0,0,0,0,0,0
$GC,8753,1.30,272.7,211.7,9.4,332,8773,0.00,2.53,14.75,0.667,4,0.000,0.044,3388,3758,2078,0,0,0,0,0,0
$GC,8842,1.38,272.7,202.5,10.9,334,8847,0.57,2.45,0.00,0.000,6,0.044,0.027,3528,2232,2077,2,0,0,0,0,0
$GC,9105,1.14,272.7,152.3,20.4,356,9111,0.77,2.72,0.00,0.000,4,0.104,0.051,3396,595,2077,0,0,0,0,0,0
$GC,9134,1.14,272.7,147.7,15.0,358,9138,0.00,2.60,0.00,0.000,6,0.000,0.020,3396,2246,2075,0,0,0,0,0,0
$GC,9399,1.21,272.7,119.6,10.4,382,9407,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,2246,2075,0,0,0,0,0,0
$GC,9664,1.31,272.7,92.6,10.3,407,9669,0.15,2.75,0.00,0.000,4,0.069,0.048,3441,592,2078,0,0,0,0,0,0
$GC,9698,1.31,272.7,89.1,11.7,409,9702,0.00,2.55,0.00,0.000,6,0.000,0.020,3441,2232,2075,0,0,0,0,0,0
$GC,9964,1.31,272.7,57.3,11.7,433,9968,0.00,2.45,0.00,0.000,4,0.000,0.035,3431,3759,2075,0,0,0,0,0,0
$GC,10011,1.36,272.7,51.8,12.4,436,10015,0.00,2.45,0.00,0.000,6,0.000,0.028,3441,2216,2073,0,0,0,0,0,0
$GC,10295,1.36,272.7,19.7,12.0,467,10304,0.00,2.70,0.00,0.000,4,0.000,0.048,3441,592,2075,0,0,0,0,0,0
$GC,10321,1.36,272.7,16.5,11.7,470,10330,0.00,2.58,0.00,0.000,6,0.000,0.019,3442,2229,2075,0,0,0,0,0,0
$STATE,10448,end climb,SURFACE_DEPTH_REACHED
$STATE,10449,begin surface coast
$FINISH,-0.6,1.023716
$STATE,10501,end surface coast,CONTROL_FINISHED_OK
$STATE,10501,begin surface
$SM_CCo,10523,88.47,0.511,0,0,1640,380.21
$SM_GC,0.27,0.00,0.00,88.47,0.000,0.000,0.511,471,2137,1640,-12.30,-1.22,380.21
$IRIDIUM_FIX,2227.67,-15801.95,160901,111113
$TT8_MAMPS,0.027612
$HUMID,59.09
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.30
$XPDR_PINGS,43
$24V_AH,23.5,25.610
$10V_AH,10.3,23.299
$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,43.275,124.200,351.175,88.475,0.000,59.767,70.113,276.293,10.750,0.000,18.877,1039.766,7078.479,566.287,1820.036,730.122,33.368,1245.263,0.000,1824.050,0.000,0.535,0.000
$DEVICE_MAMPS,172.575,123.487,953.381,510.822,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,335.679,271.453,364.081,696.573,1053.506,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355988
$DATA_FILE_SIZE,38345,495
$CAP_FILE_SIZE,114848,0
$CFSIZE,260165632,135774208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,16,0,0,0
$GPS,220612,142801,2233.876,-15802.368,66,1.7,66,10.0