version: 66.06
glider: 146
mission: 7
dive: 180
start: 6 22 112 14 39 3
data:
$ID,146
$MISSION,7
$DIVE,180
$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,-293124.88
$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,57
$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
$GPS1,142801,2233.876,-15802.368,66,1.7,66,10.0
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-70.6
$GPS2,143810,2233.926,-15802.353,8,2.1,27,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.003,-0.253
$KALMAN_X,7408.3,85.2,133.7,-5293.0,200.5
$KALMAN_Y,70899.4,494.4,-155.9,-83586.0,812.6
$MHEAD_RNG_PITCHd_Wd,169.4,63274,-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,-88.07,0.000,6,0.000,0.000,471,2138,3746,0,0,0,0,0,0
$GC,117,-1.32,-136.3,4.0,-10.6,12,135,13.18,2.53,0.00,0.000,4,0.173,0.037,2844,622,3747,0,0,0,0,0,0
$GC,234,-1.14,-136.3,33.1,-16.2,28,242,0.17,2.45,0.00,0.000,6,0.104,0.018,2887,2185,3747,0,0,0,0,0,0
$GC,502,-1.05,-136.3,69.8,-14.1,53,511,0.12,0.00,0.00,0.000,6,0.116,0.000,2914,2186,3748,0,0,0,0,0,0
$GC,766,-1.05,-136.3,100.9,-10.7,78,770,0.00,2.55,0.00,0.000,4,0.000,0.050,2914,624,3749,0,0,0,0,0,0
$GC,786,-1.05,-136.3,102.9,-10.5,79,790,0.00,2.38,0.00,0.000,6,0.000,0.016,2914,2181,3749,0,0,0,0,0,0
$GC,1054,-1.05,-136.3,129.6,-9.7,103,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2181,3749,0,0,0,0,0,0
$GC,1315,-1.05,-136.3,156.0,-10.0,128,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2181,3750,0,0,0,0,0,0
$GC,1572,-1.05,-136.3,180.2,-9.2,152,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2181,3750,0,0,0,0,0,0
$GC,1844,-1.05,-136.3,203.9,-8.2,175,1848,0.00,2.58,0.00,0.000,4,0.000,0.051,2914,624,3750,0,0,0,0,0,0
$GC,1896,-1.11,-136.3,208.4,-9.0,176,1900,0.00,2.38,0.00,0.000,6,0.000,0.018,2914,2175,3750,0,0,0,0,0,0
$GC,2168,-1.15,-136.3,233.3,-9.3,183,2172,0.00,2.47,0.00,0.000,4,0.000,0.035,2914,3747,3750,0,0,0,0,0,0
$GC,2195,-1.22,-136.3,235.9,-9.7,183,2200,0.15,2.42,0.00,0.000,6,0.059,0.028,2853,2195,3751,0,0,0,0,0,0
$GC,2447,-1.17,-136.3,268.3,-13.1,189,2452,0.15,2.65,0.00,0.000,4,0.102,0.055,2887,600,3750,0,0,0,0,0,0
$GC,2463,-1.17,-136.3,270.7,-12.6,189,2467,0.00,2.45,0.00,0.000,6,0.000,0.022,2887,2184,3751,0,0,0,0,0,0
$GC,2725,-1.21,-136.3,294.7,-8.5,196,2730,0.00,2.65,0.00,0.000,4,0.000,0.061,2858,605,3750,0,0,0,0,0,0
$GC,2772,-1.27,-136.3,298.2,-7.7,197,2776,0.00,2.42,0.00,0.000,6,0.000,0.023,2887,2165,3750,0,0,0,0,0,0
$GC,3050,-1.32,-136.3,316.5,-6.7,204,3052,0.12,0.00,0.00,0.000,6,0.069,0.000,2839,2166,3750,0,0,0,0,0,0
$GC,3293,-1.32,-136.3,338.5,-9.1,210,3298,0.00,2.65,0.00,0.000,4,0.000,0.067,2839,608,3749,0,0,0,0,0,0
$GC,3311,-1.28,-136.3,340.2,-9.8,210,3316,0.12,2.45,0.00,0.000,6,0.112,0.029,2865,2156,3749,0,0,0,0,0,0
$GC,3572,-1.28,-136.3,363.2,-8.6,217,3577,0.00,2.62,0.00,0.000,4,0.000,0.045,2855,3757,3749,0,0,0,0,0,0
$GC,3614,-1.32,-136.3,366.6,-8.8,218,3618,0.00,2.55,0.00,0.000,6,0.000,0.035,2830,2178,3748,0,0,0,0,0,0
$GC,3897,-1.32,-136.3,390.4,-8.5,225,3902,0.00,2.58,0.00,0.000,4,0.000,0.047,2854,3757,3747,0,0,0,0,0,0
$GC,3941,-1.38,-136.3,394.5,-9.8,226,3946,0.00,2.62,0.00,0.000,6,0.000,0.044,2865,2169,3747,0,0,0,0,0,0
$GC,4221,-1.42,-136.3,416.7,-8.0,233,4226,0.15,2.85,0.00,0.000,4,0.063,0.099,2768,591,3746,0,0,0,0,0,0
$GC,4237,-1.42,-136.3,418.5,-8.1,233,4242,0.00,2.58,0.00,0.000,6,0.000,0.038,2814,2173,3745,0,0,0,0,0,0
$GC,4502,-1.37,-136.3,444.6,-10.3,240,4504,0.15,0.00,0.00,0.000,6,0.104,0.000,2845,2174,3743,0,0,0,0,0,0
$GC,4744,-1.37,-136.3,465.1,-8.2,246,4748,0.00,2.70,0.00,0.000,4,0.000,0.070,2831,3766,3741,0,0,0,0,0,0
$GC,4788,-1.37,-136.3,469.1,-8.1,247,4797,3.12,2.65,0.00,0.000,6,0.065,0.053,2928,2181,3741,11,0,0,0,0,0
$GC,5072,-2.86,-136.3,495.3,-10.9,254,5083,5.18,2.72,0.00,0.000,4,0.113,0.060,2500,3766,3739,0,0,0,0,0,0
$GC,5337,-2.28,-136.3,547.5,-21.2,260,5345,1.08,2.72,0.00,0.000,6,0.120,0.066,2722,2187,3737,2,0,0,0,0,0
$STATE,5349,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5349,begin apogee
$GC,5356,-0.31,0.0,550.8,20.4,260,5471,1.52,0.00,110.60,0.953,6,0.094,0.000,3069,2186,3190,0,0,0,0,0,0
$STATE,5472,end apogee,CONTROL_FINISHED_OK
$STATE,5472,begin climb
$GC,5474,1.32,136.3,553.5,0.0,263,5600,1.50,3.12,112.75,0.925,4,0.044,0.112,3432,587,2633,0,0,0,0,0,0
$GC,5639,1.16,136.3,540.5,13.0,266,5646,0.17,2.72,0.00,0.000,6,0.124,0.051,3399,2182,2629,0,0,0,0,0,0
$GC,5890,1.10,139.5,514.5,10.0,273,5891,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2182,2625,0,0,0,0,0,0
$GC,6135,1.05,151.1,491.0,9.6,279,6150,0.12,0.00,12.30,0.828,6,0.127,0.000,3374,2181,2575,0,0,0,0,0,0
$GC,6377,1.09,180.0,469.9,8.7,285,6405,0.00,0.00,26.27,0.871,6,0.000,0.000,3375,2182,2456,0,0,0,0,0,0
$GC,6620,1.10,190.7,446.5,9.7,291,6636,0.00,2.70,10.30,0.792,4,0.000,0.057,3353,3769,2412,0,0,0,0,0,0
$GC,6671,1.10,190.7,441.3,10.6,292,6677,0.77,2.67,0.00,0.000,6,0.044,0.041,3461,2171,2411,2,0,0,0,0,0
$GC,6945,0.75,190.7,389.6,19.4,299,6953,1.27,2.65,0.00,0.000,4,0.114,0.044,3223,3777,2407,0,0,0,0,0,0
$GC,6984,0.95,224.3,385.4,8.5,299,7021,0.17,2.65,30.27,0.835,6,0.063,0.038,3360,2172,2275,0,0,0,0,0,0
$GC,7273,1.04,224.3,357.1,10.2,307,7277,0.00,2.65,0.00,0.000,4,0.000,0.040,3348,3772,2269,0,0,0,0,0,0
$GC,7324,1.13,224.3,351.6,10.8,308,7330,0.55,2.60,0.00,0.000,6,0.046,0.031,3416,2188,2269,1,0,0,0,0,0
$GC,7599,0.94,224.3,309.2,15.7,315,7605,0.70,2.62,0.00,0.000,4,0.105,0.043,3342,3782,2267,0,0,0,0,0,0
$GC,7650,1.11,261.1,303.9,8.3,316,7690,0.12,2.58,31.77,0.783,6,0.076,0.031,3390,2184,2126,0,0,0,0,0,0
$GC,7969,1.17,261.1,272.8,10.2,324,7970,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,2184,2121,0,0,0,0,0,0
$GC,8212,1.23,261.1,247.1,10.5,330,8214,0.10,0.00,0.00,0.000,6,0.086,0.000,3418,2184,2119,0,0,0,0,0,0
$GC,8458,1.23,261.1,218.1,12.3,336,8462,0.00,2.62,0.00,0.000,4,0.000,0.038,3414,3780,2123,0,0,0,0,0,0
$GC,8547,1.28,261.1,206.6,12.7,338,8551,0.00,2.55,0.00,0.000,6,0.000,0.033,3419,2204,2118,0,0,0,0,0,0
$GC,8819,1.28,261.1,176.8,10.4,358,8824,0.00,2.70,0.00,0.000,4,0.000,0.058,3419,592,2118,0,0,0,0,0,0
$GC,8862,1.28,261.1,171.8,11.3,361,8867,0.00,2.58,0.00,0.000,6,0.000,0.027,3418,2240,2117,0,0,0,0,0,0
$GC,9128,1.28,261.1,144.7,10.3,385,9132,0.00,2.45,0.00,0.000,4,0.000,0.040,3419,3777,2117,0,0,0,0,0,0
$GC,9152,1.28,261.1,141.5,11.3,386,9161,0.00,2.55,0.00,0.000,6,0.000,0.028,3419,2205,2117,0,0,0,0,0,0
$GC,9417,1.28,261.1,111.6,11.9,411,9422,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,2205,2117,0,0,0,0,0,0
$GC,9680,1.33,261.1,82.0,10.8,436,9685,0.00,2.65,0.00,0.000,4,0.000,0.051,3407,595,2117,0,0,0,0,0,0
$GC,9726,1.38,261.1,76.8,11.6,439,9736,0.05,2.60,0.00,0.000,6,0.055,0.021,3447,2234,2118,0,0,0,0,0,0
$GC,9994,1.38,261.1,48.2,11.1,464,10002,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2234,2118,0,0,0,0,0,0
$GC,10287,1.38,261.1,15.1,11.4,498,10296,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2235,2119,0,0,0,0,0,0
$STATE,10391,end climb,SURFACE_DEPTH_REACHED
$STATE,10391,begin surface coast
$FINISH,-0.4,1.001011
$STATE,10436,end surface coast,CONTROL_FINISHED_OK
$STATE,10440,begin surface
$SM_CCo,10461,95.97,0.511,0,0,1640,380.71
$SM_GC,0.33,0.00,0.00,95.97,0.000,0.000,0.511,473,2130,1640,-12.29,-1.39,380.71
$IRIDIUM_FIX,2225.34,-15835.31,160901,141402
$TT8_MAMPS,0.027612
$HUMID,60.08
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.30
$XPDR_PINGS,36
$24V_AH,23.5,25.732
$10V_AH,10.3,23.417
$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,42.675,109.400,334.275,95.975,0.000,58.077,68.163,256.709,9.000,0.000,29.794,1058.345,6893.402,524.477,1982.340,708.087,33.362,1259.201,0.000,1974.604,0.000,0.536,0.000
$DEVICE_MAMPS,172.575,111.982,952.614,510.822,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,351.722,294.577,396.100,736.531,1115.092,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355992
$DATA_FILE_SIZE,41421,519
$CAP_FILE_SIZE,113391,0
$CFSIZE,260165632,135716864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,16,0,0,0
$GPS,220612,173557,2233.292,-15802.021,10,2.0,16,10.0