version: 66.06
glider: 146
mission: 7
dive: 184
start: 6 23 112 3 34 21
data:
$ID,146
$MISSION,7
$DIVE,184
$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,-293216.75
$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,32
$R_STBD_OVSHOOT,46
$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
$GPS1,032636,2231.753,-15801.307,28,0.9,28,10.0
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-70.0
$GPS2,033325,2231.827,-15801.320,10,1.5,10,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.042,-0.250
$KALMAN_X,10284.7,64.6,160.5,-6412.4,519.5
$KALMAN_Y,78461.2,-33.9,-293.4,-94362.1,2011.7
$MHEAD_RNG_PITCHd_Wd,179.5,59219,-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,-88.50,0.000,6,0.000,0.000,466,2198,3746,0,0,0,0,0,0
$GC,119,-1.32,-136.3,4.1,-10.7,12,137,13.18,2.67,0.00,0.000,4,0.173,0.041,2849,588,3747,0,0,0,0,0,0
$GC,233,-1.16,-136.3,33.8,-16.5,27,238,0.17,2.50,0.00,0.000,6,0.125,0.018,2887,2192,3747,0,0,0,0,0,0
$GC,501,-1.08,-136.3,70.7,-13.7,51,510,0.10,0.00,0.00,0.000,6,0.127,0.000,2907,2194,3747,0,0,0,0,0,0
$GC,763,-1.08,-136.3,100.2,-9.6,76,767,0.00,2.60,0.00,0.000,4,0.000,0.048,2907,597,3748,0,0,0,0,0,0
$GC,785,-1.08,-136.3,102.6,-9.9,77,791,0.00,2.45,0.00,0.000,6,0.000,0.024,2907,2185,3748,0,0,0,0,0,0
$GC,1049,-1.08,-136.3,129.5,-10.6,102,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2185,3749,0,0,0,0,0,0
$GC,1315,-1.08,-136.3,155.8,-9.5,127,1319,0.00,2.62,0.00,0.000,4,0.000,0.045,2907,594,3749,0,0,0,0,0,0
$GC,1344,-1.08,-136.3,159.0,-10.1,129,1349,0.00,2.42,0.00,0.000,6,0.000,0.018,2907,2165,3749,0,0,0,0,0,0
$GC,1607,-1.08,-136.3,183.8,-9.6,153,1612,0.00,2.58,0.00,0.000,4,0.000,0.050,2907,593,3750,0,0,0,0,0,0
$GC,1631,-1.08,-136.3,185.8,-10.3,154,1636,0.00,2.42,0.00,0.000,6,0.000,0.018,2907,2167,3749,0,0,0,0,0,0
$GC,1898,-1.08,-136.3,211.8,-9.4,170,1902,0.00,2.50,0.00,0.000,4,0.000,0.034,2907,3749,3749,0,0,0,0,0,0
$GC,1919,-1.08,-136.3,213.9,-9.5,170,1923,0.00,2.47,0.00,0.000,6,0.000,0.021,2907,2150,3750,0,0,0,0,0,0
$GC,2176,-1.08,-136.3,238.0,-9.7,177,2180,0.00,2.53,0.00,0.000,4,0.000,0.058,2905,612,3750,0,0,0,0,0,0
$GC,2220,-1.12,-136.3,243.0,-10.7,178,2224,0.00,2.38,0.00,0.000,6,0.000,0.022,2907,2164,3750,0,0,0,0,0,0
$GC,2498,-1.18,-136.3,266.8,-7.9,185,2502,0.00,2.53,0.00,0.000,4,0.000,0.038,2897,3746,3750,0,0,0,0,0,0
$GC,2555,-1.25,-136.3,271.0,-8.6,186,2560,0.15,2.47,0.00,0.000,6,0.060,0.022,2849,2170,3750,0,0,0,0,0,0
$GC,2822,-1.21,-136.3,295.3,-9.3,193,2824,0.12,0.00,0.00,0.000,6,0.112,0.000,2878,2169,3750,0,0,0,0,0,0
$GC,3068,-1.21,-136.3,317.1,-9.1,199,3072,0.00,2.55,0.00,0.000,4,0.000,0.038,2878,3748,3749,0,0,0,0,0,0
$GC,3134,-1.27,-136.3,324.2,-9.5,200,3139,0.00,2.47,0.00,0.000,6,0.000,0.028,2878,2179,3750,0,0,0,0,0,0
$GC,3390,-1.32,-136.3,346.0,-8.4,207,3394,0.00,2.55,0.00,0.000,4,0.000,0.037,2850,3751,3749,0,0,0,0,0,0
$GC,3419,-1.38,-136.3,348.5,-9.0,207,3424,0.15,2.50,0.00,0.000,6,0.061,0.031,2822,2183,3749,0,0,0,0,0,0
$GC,3670,-1.33,-136.3,373.1,-9.8,213,3672,0.15,0.00,0.00,0.000,6,0.107,0.000,2854,2182,3749,0,0,0,0,0,0
$GC,3913,-1.33,-136.3,391.7,-7.3,219,3917,0.00,2.80,0.00,0.000,4,0.000,0.085,2854,591,3748,0,0,0,0,0,0
$GC,3949,-1.33,-136.3,394.3,-8.0,219,3955,0.35,2.53,0.00,0.000,6,0.094,0.032,2900,2164,3748,1,0,0,0,0,0
$GC,4199,-1.52,-136.3,406.1,-4.3,226,4202,0.52,0.00,0.00,0.000,6,0.032,0.000,2792,2164,3746,0,0,0,0,0,0
$GC,4442,-1.42,-136.3,430.2,-10.3,232,4448,0.20,2.70,0.00,0.000,4,0.098,0.061,2809,3759,3744,0,0,0,0,0,0
$GC,4500,-1.42,-136.3,436.0,-9.9,233,4505,0.00,2.60,0.00,0.000,6,0.000,0.053,2818,2192,3744,0,0,0,0,0,0
$GC,4766,-1.42,-136.3,462.7,-10.1,240,4771,0.00,2.62,0.00,0.000,4,0.000,0.058,2821,3760,3742,0,0,0,0,0,0
$GC,4795,-1.42,-136.3,465.6,-11.0,240,4800,0.00,2.62,0.00,0.000,6,0.000,0.054,2835,2188,3742,0,0,0,0,0,0
$GC,5045,-1.42,-136.3,490.4,-9.9,246,5050,0.00,2.92,0.00,0.000,4,0.000,0.104,2836,588,3741,0,0,0,0,0,0
$GC,5077,-1.42,-136.3,493.8,-10.9,246,5083,0.00,2.62,0.00,0.000,6,0.000,0.045,2835,2189,3740,0,0,0,0,0,0
$GC,5330,-1.42,-136.3,517.6,-9.5,253,5331,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2189,3738,0,0,0,0,0,0
$GC,5572,-1.42,-136.3,539.3,-8.7,259,5573,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2189,3736,0,0,0,0,0,0
$STATE,5733,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5733,begin apogee
$GC,5738,-0.31,0.0,553.4,8.7,263,5854,1.05,0.00,110.62,0.960,6,0.075,0.000,3076,2189,3190,0,0,0,0,0,0
$STATE,5855,end apogee,CONTROL_FINISHED_OK
$STATE,5855,begin climb
$GC,5857,1.32,136.3,555.9,0.0,266,5979,1.50,0.00,113.90,0.930,6,0.042,0.000,3435,2189,2632,0,0,0,0,0,0
$GC,6223,1.19,136.3,520.2,11.7,275,6228,0.15,2.72,0.00,0.000,4,0.130,0.065,3379,3764,2624,0,0,0,0,0,0
$GC,6273,1.11,136.3,514.4,11.7,276,6277,0.00,2.70,0.00,0.000,6,0.000,0.048,3405,2181,2624,0,0,0,0,0,0
$GC,6547,1.04,144.4,487.4,9.8,283,6562,0.17,3.12,6.47,0.732,4,0.117,0.114,3215,590,2601,0,0,0,0,0,0
$GC,6584,1.05,152.5,483.4,9.8,283,6599,0.00,2.65,9.00,0.788,6,0.000,0.043,3052,2176,2568,0,0,0,0,0,0
$GC,6880,1.08,170.0,456.6,9.3,291,6898,0.00,0.00,16.17,0.851,6,0.000,0.000,3371,2176,2496,0,0,0,0,0,0
$GC,7122,1.09,181.6,433.3,9.6,297,7138,0.00,2.70,11.07,0.808,4,0.000,0.054,3348,3774,2449,0,0,0,0,0,0
$GC,7177,1.09,185.7,427.9,10.0,298,7187,0.00,2.65,4.55,0.615,6,0.000,0.040,3370,2176,2434,0,0,0,0,0,0
$GC,7447,1.12,207.9,402.9,9.1,305,7473,0.00,2.70,20.77,0.841,4,0.000,0.043,3355,3776,2343,0,0,0,0,0,0
$GC,7538,1.19,210.2,394.5,10.1,307,7544,0.15,2.65,0.00,0.000,6,0.070,0.042,3410,2188,2339,0,0,0,0,0,0
$GC,7818,1.19,210.2,364.1,11.0,314,7823,0.00,2.75,0.00,0.000,4,0.000,0.074,3410,591,2337,0,0,0,0,0,0
$GC,7873,1.15,210.2,357.0,12.2,315,7878,0.00,2.60,0.00,0.000,6,0.000,0.023,3412,2214,2336,0,0,0,0,0,0
$GC,8141,1.15,210.2,326.6,11.2,322,8142,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2215,2336,0,0,0,0,0,0
$GC,8383,1.15,211.4,301.4,10.1,328,8387,0.00,2.53,0.00,0.000,4,0.000,0.040,3396,3761,2335,0,0,0,0,0,0
$GC,8443,1.15,211.4,295.0,10.7,329,8458,7.12,2.58,0.00,0.000,6,0.449,0.034,3401,2177,2334,25,0,0,0,0,0
$GC,8711,0.57,211.4,234.5,22.9,336,8720,2.70,2.62,0.00,0.000,4,0.123,0.038,3209,3751,2333,0,0,0,0,0,0
$GC,8834,1.01,300.3,224.6,5.7,338,8934,8.73,2.50,79.55,0.720,6,0.431,0.031,3389,2193,1965,31,0,0,0,0,0
$GC,9197,0.46,300.3,119.0,33.1,363,9208,2.83,2.58,0.00,0.000,4,0.118,0.036,3105,3752,1956,0,0,0,0,0,0
$GC,9239,0.91,343.2,110.6,8.0,366,9282,0.35,2.50,36.35,0.620,6,0.031,0.025,3348,2215,1791,0,0,0,0,0,0
$GC,9536,1.15,366.7,81.3,9.0,394,9564,0.20,2.78,21.35,0.576,4,0.054,0.053,3368,604,1694,0,0,0,0,0,0
$GC,9641,1.27,366.7,69.8,11.9,402,9650,0.00,2.58,0.00,0.000,6,0.000,0.025,3405,2219,1691,0,0,0,0,0,0
$GC,9907,1.37,366.7,40.0,10.8,427,9912,0.15,2.70,0.00,0.000,4,0.068,0.048,3450,599,1691,0,0,0,0,0,0
$GC,9942,1.37,366.7,35.1,14.9,429,9946,0.00,2.53,0.00,0.000,6,0.000,0.020,3450,2202,1691,0,0,0,0,0,0
$STATE,10168,end climb,SURFACE_DEPTH_REACHED
$STATE,10168,begin surface coast
$FINISH,-0.5,1.023699
$STATE,10204,end surface coast,CONTROL_FINISHED_OK
$STATE,10204,begin surface
$SM_CCo,10228,9.50,0.472,0,0,1641,380.21
$SM_GC,0.21,0.00,0.00,9.50,0.000,0.000,0.472,472,2205,1641,-12.29,0.71,380.21
$IRIDIUM_FIX,2223.01,-15800.66,170901,000010
$TT8_MAMPS,0.026845
$HUMID,65.55
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,21.30
$XPDR_PINGS,43
$24V_AH,23.5,26.213
$10V_AH,10.3,23.866
$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,52.200,119.775,429.825,9.500,0.000,30.362,37.500,197.301,10.750,0.000,11.952,976.300,6818.843,518.203,1762.137,571.860,33.375,1230.626,0.000,1765.873,0.000,0.535,0.000
$DEVICE_MAMPS,448.695,114.283,960.284,471.705,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,314.313,247.400,332.412,635.819,961.694,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355992
$DATA_FILE_SIZE,35297,465
$CAP_FILE_SIZE,108264,0
$CFSIZE,260165632,135507968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,57,0,0,0
$GPS,230612,062636,2231.424,-15801.447,52,1.4,57,10.0