version: 66.06
glider: 146
mission: 7
dive: 181
start: 6 22 112 17 50 57
data:
$ID,146
$MISSION,7
$DIVE,181
$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,-293158.22
$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,67
$R_STBD_OVSHOOT,16
$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
$GPS1,173557,2233.292,-15802.021,10,2.0,16,10.0
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-69.6
$GPS2,175004,2233.360,-15802.047,11,99.0,30,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.030,-0.251
$KALMAN_X,8141.3,12.8,-41.4,-5255.6,470.5
$KALMAN_Y,72811.5,91.5,-5.8,-86290.3,1399.2
$MHEAD_RNG_PITCHd_Wd,176.8,62172,-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,-87.30,0.000,6,0.000,0.000,473,2131,3746,0,0,0,0,0,0
$GC,117,-1.32,-136.3,4.5,-12.7,12,136,13.23,2.50,0.00,0.000,4,0.173,0.041,2849,624,3750,0,0,0,0,0,0
$GC,188,-1.14,-136.3,26.0,-17.7,21,197,0.17,2.50,0.00,0.000,6,0.109,0.018,2889,2213,3747,0,0,0,0,0,0
$GC,461,-1.05,-136.3,61.1,-13.0,47,466,0.12,2.60,0.00,0.000,4,0.120,0.043,2915,631,3747,0,0,0,0,0,0
$GC,498,-1.00,-136.3,65.7,-11.9,49,502,0.00,2.38,0.00,0.000,6,0.000,0.017,2915,2181,3747,0,0,0,0,0,0
$GC,764,-1.00,-136.3,93.7,-10.0,73,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2182,3748,0,0,0,0,0,0
$GC,1027,-1.00,-136.3,120.8,-10.5,98,1031,0.00,2.53,0.00,0.000,4,0.000,0.046,2915,633,3748,0,0,0,0,0,0
$GC,1079,-1.03,-136.3,126.6,-10.3,102,1083,0.00,2.38,0.00,0.000,6,0.000,0.024,2915,2184,3748,0,0,0,0,0,0
$GC,1342,-1.03,-136.3,152.9,-10.0,126,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2184,3749,0,0,0,0,0,0
$GC,1599,-1.07,-136.3,178.3,-10.0,150,1603,0.00,2.53,0.00,0.000,4,0.000,0.047,2915,638,3749,0,0,0,0,0,0
$GC,1627,-1.07,-136.3,181.6,-10.8,152,1631,0.00,2.35,0.00,0.000,6,0.000,0.025,2915,2175,3749,0,0,0,0,0,0
$GC,1910,-1.12,-136.3,208.4,-9.7,172,1911,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2175,3749,0,0,0,0,0,0
$GC,2150,-1.18,-136.3,230.8,-9.2,178,2152,0.12,0.00,0.00,0.000,6,0.068,0.000,2861,2175,3749,0,0,0,0,0,0
$GC,2393,-1.18,-136.3,254.7,-9.5,184,2398,0.12,2.55,0.00,0.000,4,0.107,0.050,2888,638,3749,0,0,0,0,0,0
$GC,2417,-1.18,-136.3,256.5,-7.7,184,2421,0.00,2.35,0.00,0.000,6,0.000,0.019,2889,2166,3749,0,0,0,0,0,0
$GC,2672,-1.22,-136.3,274.0,-6.5,191,2673,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2166,3749,0,0,0,0,0,0
$GC,2916,-1.27,-136.3,290.9,-7.0,197,2921,0.00,2.53,0.00,0.000,4,0.000,0.044,2877,3752,3749,0,0,0,0,0,0
$GC,2952,-1.34,-136.3,293.7,-8.1,197,2958,0.15,2.42,0.00,0.000,6,0.060,0.032,2833,2209,3748,0,0,0,0,0,0
$GC,3202,-1.29,-136.3,317.2,-9.5,204,3207,0.15,2.78,0.00,0.000,4,0.110,0.074,2865,598,3748,0,0,0,0,0,0
$GC,3248,-1.29,-136.3,321.3,-8.8,205,3253,0.00,2.45,0.00,0.000,6,0.000,0.030,2865,2157,3748,0,0,0,0,0,0
$GC,3527,-1.29,-136.3,345.4,-8.7,212,3531,0.00,2.62,0.00,0.000,4,0.000,0.049,2851,3764,3747,0,0,0,0,0,0
$GC,3582,-1.33,-136.3,350.8,-9.7,213,3586,0.00,2.58,0.00,0.000,6,0.000,0.035,2863,2176,3747,0,0,0,0,0,0
$GC,3850,-1.33,-136.3,375.0,-9.2,220,3855,0.00,2.60,0.00,0.000,4,0.000,0.043,2853,3757,3745,0,0,0,0,0,0
$GC,3912,-1.38,-136.3,381.9,-11.4,221,3917,0.10,2.55,0.00,0.000,6,0.081,0.039,2825,2185,3745,0,0,0,0,0,0
$GC,4175,-1.34,-136.3,412.2,-11.5,228,4180,0.12,2.88,0.00,0.000,4,0.117,0.098,2839,597,3742,0,0,0,0,0,0
$GC,4202,-1.34,-136.3,415.4,-10.2,228,4207,0.00,2.53,0.00,0.000,6,0.000,0.037,2850,2169,3743,0,0,0,0,0,0
$GC,4452,-1.34,-136.3,435.8,-7.7,234,4454,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2169,3741,0,0,0,0,0,0
$GC,4698,-1.34,-136.3,454.0,-7.5,240,4702,0.00,2.72,0.00,0.000,4,0.000,0.065,2829,3762,3740,0,0,0,0,0,0
$GC,4715,-1.34,-136.3,455.4,-7.7,240,4720,0.00,2.65,0.00,0.000,6,0.000,0.051,2833,2183,3740,0,0,0,0,0,0
$GC,4977,-1.34,-136.3,475.7,-7.7,247,4981,0.00,2.67,0.00,0.000,4,0.000,0.055,2836,3764,3738,0,0,0,0,0,0
$GC,5032,-1.34,-136.3,480.5,-8.7,248,5041,3.65,2.65,0.00,0.000,6,0.064,0.052,2914,2192,3737,13,0,0,0,0,0
$GC,5305,-3.02,-136.3,515.9,-15.6,255,5316,5.62,2.67,0.00,0.000,4,0.080,0.060,2465,3765,3735,0,0,0,0,0,0
$GC,5384,-2.37,-136.3,528.5,-21.5,256,5390,0.75,2.65,0.00,0.000,6,0.127,0.057,2622,2201,3735,0,0,0,0,0,0
$STATE,5509,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5509,begin apogee
$GC,5516,-0.31,0.0,551.8,18.3,260,5632,2.12,0.00,110.32,0.956,6,0.109,0.000,3072,2201,3190,0,0,0,0,0,0
$STATE,5632,end apogee,CONTROL_FINISHED_OK
$STATE,5633,begin climb
$GC,5635,1.32,136.3,556.0,0.0,263,5761,1.50,3.12,113.40,0.926,4,0.042,0.114,3432,592,2632,0,0,0,0,0,0
$GC,5800,1.16,136.3,543.2,12.1,266,5807,0.38,2.70,0.00,0.000,6,0.110,0.046,3343,2182,2629,1,0,0,0,0,0
$GC,6050,1.21,173.4,522.1,8.3,273,6085,0.22,0.00,32.20,0.888,6,0.057,0.000,3410,2183,2482,0,0,0,0,0,0
$GC,6297,1.14,173.4,494.2,11.6,279,6298,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2183,2474,0,0,0,0,0,0
$GC,6539,1.08,173.4,466.3,11.4,285,6544,0.15,2.70,0.00,0.000,4,0.229,0.055,3354,3773,2474,0,0,0,0,0,0
$GC,6578,1.08,173.4,462.0,10.8,286,6583,0.00,2.67,0.00,0.000,6,0.000,0.049,3381,2187,2473,0,0,0,0,0,0
$GC,6863,1.08,176.4,433.6,10.0,293,6867,0.00,2.65,0.00,0.000,4,0.000,0.049,3354,3775,2472,0,0,0,0,0,0
$GC,6947,1.08,176.4,424.2,10.9,295,6951,0.00,2.65,0.00,0.000,6,0.000,0.047,3381,2193,2471,0,0,0,0,0,0
$GC,7230,1.09,186.8,396.6,9.7,302,7246,0.00,2.88,10.95,0.789,4,0.000,0.083,3380,590,2427,0,0,0,0,0,0
$GC,7289,1.09,186.8,390.8,10.6,303,7294,0.00,2.62,0.00,0.000,6,0.000,0.031,3381,2205,2426,0,0,0,0,0,0
$GC,7555,1.11,202.4,365.5,9.4,310,7572,0.00,0.00,14.95,0.798,6,0.000,0.000,3381,2205,2364,0,0,0,0,0,0
$GC,7801,1.12,207.6,341.3,9.9,316,7812,0.00,2.58,6.05,0.661,4,0.000,0.044,3354,3762,2342,0,0,0,0,0,0
$GC,7851,1.16,207.6,335.6,10.4,317,7856,0.00,2.60,0.00,0.000,6,0.000,0.037,3379,2183,2341,0,0,0,0,0,0
$GC,8123,1.22,227.2,310.1,9.2,324,8145,0.12,0.00,18.62,0.772,6,0.077,0.000,3415,2183,2263,0,0,0,0,0,0
$GC,8368,1.22,227.2,281.7,11.9,330,8373,0.00,2.72,0.00,0.000,4,0.000,0.061,3416,591,2259,0,0,0,0,0,0
$GC,8383,1.22,227.2,279.3,11.9,330,8388,0.00,2.58,0.00,0.000,6,0.000,0.022,3415,2203,2258,0,0,0,0,0,0
$GC,8644,1.22,227.2,250.6,10.6,337,8649,0.00,2.55,0.00,0.000,4,0.000,0.043,3397,3761,2258,0,0,0,0,0,0
$GC,8735,1.22,227.2,241.5,10.2,339,8740,0.00,2.53,0.00,0.000,6,0.000,0.029,3415,2193,2257,0,0,0,0,0,0
$GC,9013,1.23,237.8,214.8,9.7,346,9028,0.00,2.75,9.82,0.652,4,0.000,0.062,3415,592,2219,0,0,0,0,0,0
$GC,9061,1.23,237.8,209.3,11.3,347,9066,0.00,2.58,0.00,0.000,6,0.000,0.023,3420,2207,2218,0,0,0,0,0,0
$GC,9326,1.23,237.8,181.5,10.6,364,9330,0.00,2.53,0.00,0.000,4,0.000,0.044,3384,3762,2217,0,0,0,0,0,0
$GC,9377,1.28,237.8,175.4,10.4,368,9382,0.00,2.53,0.00,0.000,6,0.000,0.028,3415,2199,2216,0,0,0,0,0,0
$GC,9642,1.29,245.5,148.7,9.8,392,9652,0.00,0.00,8.05,0.568,6,0.000,0.000,3415,2199,2189,0,0,0,0,0,0
$GC,9906,1.29,245.5,120.9,10.7,417,9911,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,2199,2188,0,0,0,0,0,0
$GC,10170,1.33,245.5,91.8,11.1,442,10174,0.00,2.65,0.00,0.000,4,0.000,0.051,3415,592,2188,0,0,0,0,0,0
$GC,10215,1.33,245.5,86.7,12.5,445,10219,0.00,2.53,0.00,0.000,6,0.000,0.020,3415,2214,2187,0,0,0,0,0,0
$GC,10484,1.41,256.4,59.6,9.6,469,10502,0.15,2.75,11.00,0.522,4,0.066,0.048,3449,598,2145,0,0,0,0,0,0
$GC,10538,1.41,256.4,53.0,12.8,473,10542,0.00,2.50,0.00,0.000,6,0.000,0.021,3461,2198,2143,0,0,0,0,0,0
$GC,10821,1.41,256.4,20.6,11.5,502,10829,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,2198,2143,0,0,0,0,0,0
$STATE,10968,end climb,SURFACE_DEPTH_REACHED
$STATE,10968,begin surface coast
$FINISH,-0.5,1.010240
$STATE,11012,end surface coast,CONTROL_FINISHED_OK
$STATE,11012,begin surface
$SM_CCo,11033,100.20,0.514,0,0,1639,380.21
$SM_GC,0.10,0.00,0.00,100.20,0.000,0.000,0.514,471,2201,1639,-12.30,0.62,380.21
$IRIDIUM_FIX,2225.34,-15804.98,160901,171732
$TT8_MAMPS,0.027612
$HUMID,60.78
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,22.00
$XPDR_PINGS,43
$24V_AH,23.5,25.860
$10V_AH,10.3,23.535
$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,40.850,124.950,335.375,100.200,0.000,89.410,103.158,348.013,10.750,0.000,32.734,1087.648,7505.600,540.220,1966.477,882.405,33.371,1257.883,0.000,1952.571,0.000,0.536,0.000
$DEVICE_MAMPS,228.566,114.283,956.449,513.890,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,358.952,294.032,393.945,730.868,1105.447,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355996
$DATA_FILE_SIZE,41361,529
$CAP_FILE_SIZE,120050,0
$CFSIZE,260165632,135655424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,14,0,0,0
$GPS,220612,205754,2233.072,-15801.824,22,1.6,40,10.0