version: 66.06
glider: 146
mission: 7
dive: 183
start: 6 23 112 0 28 8
data:
$ID,146
$MISSION,7
$DIVE,183
$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,-293204.19
$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,27
$R_STBD_OVSHOOT,39
$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
$GPS1,002107,2232.353,-15801.714,45,1.4,45,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-70.7
$GPS2,002714,2232.414,-15801.743,11,1.6,11,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.032,-0.251
$KALMAN_X,9405.8,-25.8,76.9,-6078.4,528.7
$KALMAN_Y,76600.3,-241.7,165.6,-91664.0,1003.6
$MHEAD_RNG_PITCHd_Wd,177.3,60373,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.32,-136.3,0.0,0.0,0,117,0.00,0.00,-87.93,0.000,6,0.000,0.000,468,2176,3746,0,0,0,0,0,0
$GC,121,-1.32,-136.3,4.4,-11.3,12,139,13.15,2.65,0.00,0.000,4,0.173,0.041,2855,594,3748,0,0,0,0,0,0
$GC,235,-1.18,-136.3,32.8,-15.4,27,240,0.15,2.50,0.00,0.000,6,0.127,0.018,2886,2198,3747,0,0,0,0,0,0
$GC,503,-1.08,-136.3,66.1,-11.3,51,512,0.10,0.00,0.00,0.000,6,0.130,0.000,2906,2198,3748,0,0,0,0,0,0
$GC,765,-1.08,-136.3,93.0,-9.6,76,769,0.00,2.62,0.00,0.000,4,0.000,0.045,2906,598,3749,0,0,0,0,0,0
$GC,798,-1.08,-136.3,96.4,-9.8,78,807,0.00,2.47,0.00,0.000,6,0.000,0.018,2906,2185,3750,0,0,0,0,0,0
$GC,1067,-1.08,-136.3,122.9,-10.4,103,1071,0.00,2.62,0.00,0.000,4,0.000,0.047,2906,597,3750,0,0,0,0,0,0
$GC,1106,-1.08,-136.3,128.1,-10.9,106,1111,0.00,2.40,0.00,0.000,6,0.000,0.016,2906,2171,3750,0,0,0,0,0,0
$GC,1374,-1.08,-136.3,156.3,-10.6,130,1379,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2172,3750,0,0,0,0,0,0
$GC,1635,-1.08,-136.3,185.3,-10.7,155,1640,0.00,2.60,0.00,0.000,4,0.000,0.053,2897,593,3750,0,0,0,0,0,0
$GC,1667,-1.08,-136.3,188.2,-10.6,157,1672,0.00,2.42,0.00,0.000,6,0.000,0.021,2906,2181,3749,0,0,0,0,0,0
$GC,1944,-1.08,-136.3,215.5,-9.5,171,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2181,3751,0,0,0,0,0,0
$GC,2186,-1.08,-136.3,238.9,-9.7,177,2187,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2181,3751,0,0,0,0,0,0
$GC,2430,-1.12,-136.3,260.9,-8.9,183,2434,0.00,2.50,0.00,0.000,4,0.000,0.041,2895,3754,3751,0,0,0,0,0,0
$GC,2459,-1.20,-136.3,263.5,-9.1,183,2464,0.10,2.50,0.00,0.000,6,0.080,0.026,2860,2149,3750,0,0,0,0,0,0
$GC,2709,-1.20,-136.3,289.2,-10.1,189,2711,0.10,0.00,0.00,0.000,6,0.118,0.000,2882,2149,3751,0,0,0,0,0,0
$GC,2953,-1.24,-136.3,310.8,-8.7,195,2958,0.00,2.58,0.00,0.000,4,0.000,0.040,2874,3743,3751,0,0,0,0,0,0
$GC,3011,-1.30,-136.3,316.1,-9.0,196,3015,0.00,2.45,0.00,0.000,6,0.000,0.031,2878,2176,3751,0,0,0,0,0,0
$GC,3277,-1.35,-136.3,336.6,-7.3,203,3279,0.12,0.00,0.00,0.000,6,0.071,0.000,2837,2176,3751,0,0,0,0,0,0
$GC,3523,-1.35,-136.3,359.7,-9.9,209,3524,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2176,3750,0,0,0,0,0,0
$GC,3765,-1.35,-136.3,383.0,-9.6,215,3769,0.00,2.78,0.00,0.000,4,0.000,0.090,2836,608,3749,0,0,0,0,0,0
$GC,3809,-1.30,-136.3,387.3,-9.0,216,3814,0.10,2.45,0.00,0.000,6,0.125,0.032,2858,2140,3748,0,0,0,0,0,0
$GC,4089,-1.30,-136.3,408.7,-7.5,223,4093,0.00,2.65,0.00,0.000,4,0.000,0.077,2846,603,3748,0,0,0,0,0,0
$GC,4106,-1.30,-136.3,410.0,-7.2,223,4110,0.00,2.55,0.00,0.000,6,0.000,0.035,2857,2163,3747,0,0,0,0,0,0
$GC,4366,-1.30,-136.3,429.3,-7.4,230,4371,0.00,2.70,0.00,0.000,4,0.000,0.060,2839,3768,3745,0,0,0,0,0,0
$GC,4389,-1.30,-136.3,431.2,-8.1,230,4399,2.55,2.67,0.00,0.000,6,0.065,0.046,2916,2167,3745,9,0,0,0,0,0
$GC,4651,-2.53,-136.3,450.5,-8.9,237,4660,3.83,2.88,0.00,0.000,4,0.066,0.098,2573,589,3743,0,0,0,0,0,0
$GC,4913,-2.00,-136.3,500.9,-21.5,242,4919,0.62,2.62,0.00,0.000,6,0.107,0.046,2704,2165,3742,0,0,0,0,0,0
$GC,5163,-1.75,-136.3,534.9,-12.8,249,5168,0.25,2.88,0.00,0.000,4,0.106,0.100,2760,587,3740,0,0,0,0,0,0
$GC,5181,-1.52,-136.3,537.2,-12.5,249,5187,0.22,2.67,0.00,0.000,6,0.105,0.054,2808,2177,3740,0,0,0,0,0,0
$STATE,5318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5318,begin apogee
$GC,5324,-0.31,0.0,550.1,9.0,253,5441,1.17,0.00,111.40,0.950,6,0.078,0.000,3076,2176,3190,0,0,0,0,0,0
$STATE,5441,end apogee,CONTROL_FINISHED_OK
$STATE,5442,begin climb
$GC,5444,1.32,136.3,551.4,0.0,256,5569,1.48,0.00,112.95,0.920,6,0.041,0.000,3432,2176,2633,0,0,0,0,0,0
$GC,5810,1.19,136.3,514.5,11.8,265,5815,0.15,2.78,0.00,0.000,4,0.234,0.067,3404,3765,2626,0,0,0,0,0,0
$GC,5884,1.12,136.3,506.3,10.9,266,5889,0.00,2.67,0.00,0.000,6,0.000,0.046,3404,2185,2629,0,0,0,0,0,0
$GC,6135,1.08,156.6,482.9,9.2,272,6160,0.12,3.15,17.23,0.851,4,0.127,0.117,3379,592,2550,0,0,0,0,0,0
$GC,6178,1.07,184.7,479.0,8.8,273,6209,0.00,2.65,25.38,0.866,6,0.000,0.037,3380,2187,2437,0,0,0,0,0,0
$GC,6461,1.10,204.5,453.2,9.2,280,6485,0.00,2.72,17.98,0.843,4,0.000,0.049,3322,3762,2355,0,0,0,0,0,0
$GC,6514,1.11,215.3,448.2,9.6,281,6530,0.00,2.67,10.57,0.786,6,0.000,0.046,3379,2178,2314,0,0,0,0,0,0
$GC,6788,1.14,239.3,423.3,9.0,288,6817,0.00,2.75,22.25,0.842,4,0.000,0.047,3291,3770,2213,0,0,0,0,0,0
$GC,6856,1.19,239.3,416.3,10.2,289,6862,0.10,2.65,0.00,0.000,6,0.087,0.041,3406,2187,2211,0,0,0,0,0,0
$GC,7114,1.19,239.3,387.9,11.4,296,7118,0.00,2.80,0.00,0.000,4,0.000,0.075,3406,593,2209,0,0,0,0,0,0
$GC,7168,1.19,239.3,380.7,12.5,297,7173,0.00,2.58,0.00,0.000,6,0.000,0.028,3392,2203,2207,0,0,0,0,0,0
$GC,7435,1.19,239.3,348.0,12.3,304,7436,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,2204,2206,0,0,0,0,0,0
$GC,7680,1.19,239.3,318.9,11.9,310,7685,0.00,2.55,0.00,0.000,4,0.000,0.040,3381,3762,2205,0,0,0,0,0,0
$GC,7713,1.19,239.3,314.5,12.4,310,7719,0.00,2.60,0.00,0.000,6,0.000,0.031,3406,2164,2205,0,0,0,0,0,0
$GC,7963,1.19,239.3,287.5,10.8,317,7967,0.00,2.62,0.00,0.000,4,0.000,0.038,3380,3765,2204,0,0,0,0,0,0
$GC,8012,1.23,239.3,281.7,11.4,318,8017,0.00,2.58,0.00,0.000,6,0.000,0.032,3404,2184,2204,0,0,0,0,0,0
$GC,8288,1.28,249.1,254.0,9.7,325,8303,0.00,2.62,8.40,0.660,4,0.000,0.041,3362,3755,2174,0,0,0,0,0,0
$GC,8384,1.35,264.0,244.5,9.4,327,8405,0.12,2.53,14.62,0.696,6,0.081,0.028,3442,2203,2113,0,0,0,0,0,0
$GC,8662,1.35,264.0,213.2,11.7,334,8667,0.00,2.70,0.00,0.000,4,0.000,0.059,3413,587,2110,0,0,0,0,0,0
$GC,8723,1.35,264.0,205.1,12.4,335,8728,0.00,2.58,0.00,0.000,6,0.000,0.026,3442,2217,2108,0,0,0,0,0,0
$GC,8987,1.35,264.0,173.7,12.8,356,8991,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,2217,2108,0,0,0,0,0,0
$GC,9251,1.35,264.0,140.3,12.6,381,9256,0.00,2.47,0.00,0.000,4,0.000,0.035,3419,3759,2108,0,0,0,0,0,0
$GC,9283,1.35,264.0,136.3,12.5,383,9288,0.00,2.50,0.00,0.000,6,0.000,0.028,3442,2187,2108,0,0,0,0,0,0
$GC,9551,1.35,264.0,105.6,10.9,407,9556,0.00,2.65,0.00,0.000,4,0.000,0.053,3442,589,2109,0,0,0,0,0,0
$GC,9584,1.35,264.0,101.4,12.8,409,9589,0.00,2.53,0.00,0.000,6,0.000,0.022,3442,2198,2109,0,0,0,0,0,0
$GC,9853,1.35,264.0,73.2,11.0,433,9857,0.00,2.50,0.00,0.000,4,0.000,0.035,3413,3756,2109,0,0,0,0,0,0
$GC,9887,1.39,264.0,68.3,11.4,435,9896,0.00,2.53,0.00,0.000,6,0.000,0.028,3442,2193,2109,0,0,0,0,0,0
$GC,10155,1.39,264.0,40.3,11.2,460,10163,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2196,2110,0,0,0,0,0,0
$GC,10462,1.39,265.2,5.1,10.1,501,10471,0.00,2.65,0.00,0.000,4,0.000,0.050,3442,600,2111,0,0,0,0,0,0
$STATE,10478,end climb,SURFACE_DEPTH_REACHED
$STATE,10478,begin surface coast
$FINISH,-0.6,1.023462
$STATE,10519,end surface coast,CONTROL_FINISHED_OK
$STATE,10519,begin surface
$SM_CCo,10545,94.07,0.511,0,0,1639,380.21
$SM_GC,0.26,0.00,0.00,94.07,0.000,0.000,0.511,466,2198,1639,-12.32,0.51,380.21
$IRIDIUM_FIX,2223.01,-15802.82,160901,212152
$TT8_MAMPS,0.027612
$HUMID,59.01
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.30
$XPDR_PINGS,40
$24V_AH,23.5,26.092
$10V_AH,10.3,23.764
$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,36.350,125.700,340.775,94.075,0.000,28.219,32.106,161.764,10.000,0.000,13.091,1047.778,6959.336,528.208,1929.362,541.311,33.375,1261.962,0.000,1938.897,0.000,0.535,0.000
$DEVICE_MAMPS,233.935,116.584,949.546,510.822,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,345.063,275.875,381.938,731.723,1106.735,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356024
$DATA_FILE_SIZE,38370,509
$CAP_FILE_SIZE,109367,0
$CFSIZE,260165632,135557120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,9,0,0,0
$GPS,230612,032636,2231.753,-15801.307,28,0.9,28,10.0