version: 66.06
glider: 146
mission: 7
dive: 185
start: 6 23 112 6 34 11
data:
$ID,146
$MISSION,7
$DIVE,185
$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,-293235.59
$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,42
$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
$GPS1,062636,2231.424,-15801.447,52,1.4,57,10.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-68.8
$GPS2,063315,2231.481,-15801.482,16,1.5,16,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.031,-0.251
$KALMAN_X,10670.7,80.4,-50.1,-6872.6,402.2
$KALMAN_Y,80034.7,225.3,-66.0,-97057.8,2089.5
$MHEAD_RNG_PITCHd_Wd,177.1,58610,-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,18,-1.32,-136.3,0.0,0.0,0,115,0.00,0.00,-88.18,0.000,6,0.000,0.000,471,2205,3747,0,0,0,0,0,0
$GC,119,-1.32,-136.3,4.4,-11.6,12,137,13.12,2.70,0.00,0.000,4,0.174,0.042,2849,591,3748,0,0,0,0,0,0
$GC,233,-1.15,-136.3,33.8,-14.8,27,243,0.17,2.50,0.00,0.000,6,0.206,0.018,2889,2186,3747,0,0,0,0,0,0
$GC,501,-1.07,-136.3,69.6,-12.5,52,506,0.10,2.62,0.00,0.000,4,0.129,0.045,2909,598,3749,0,0,0,0,0,0
$GC,538,-1.07,-136.3,75.4,-12.1,54,547,0.00,2.45,0.00,0.000,6,0.000,0.017,2910,2165,3750,0,0,0,0,0,0
$GC,806,-1.07,-136.3,102.2,-9.8,79,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2165,3750,0,0,0,0,0,0
$GC,1069,-1.07,-136.3,128.2,-9.2,104,1073,0.00,2.58,0.00,0.000,4,0.000,0.051,2906,601,3751,0,0,0,0,0,0
$GC,1121,-1.07,-136.3,133.3,-9.3,108,1126,0.00,2.42,0.00,0.000,6,0.000,0.025,2911,2184,3750,0,0,0,0,0,0
$GC,1386,-1.07,-136.3,159.2,-9.8,132,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2188,3750,0,0,0,0,0,0
$GC,1653,-1.07,-136.3,186.6,-10.8,157,1657,0.00,2.60,0.00,0.000,4,0.000,0.053,2907,595,3752,0,0,0,0,0,0
$GC,1710,-1.07,-136.3,193.6,-10.8,161,1716,0.00,2.42,0.00,0.000,6,0.000,0.024,2909,2168,3752,0,0,0,0,0,0
$GC,1983,-1.07,-136.3,220.5,-9.4,173,1988,0.00,2.50,0.00,0.000,4,0.000,0.031,2891,3749,3752,0,0,0,0,0,0
$GC,2006,-1.11,-136.3,222.5,-8.9,173,2011,0.00,2.47,0.00,0.000,6,0.000,0.023,2909,2151,3752,0,0,0,0,0,0
$GC,2264,-1.16,-136.3,243.6,-8.1,180,2265,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2152,3752,0,0,0,0,0,0
$GC,2505,-1.23,-136.3,262.2,-7.4,186,2507,0.15,0.00,0.00,0.000,6,0.061,0.000,2856,2151,3753,0,0,0,0,0,0
$GC,2748,-1.23,-136.3,284.5,-9.0,192,2750,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2152,3753,0,0,0,0,0,0
$GC,2994,-1.23,-136.3,308.8,-9.8,198,2998,0.00,2.58,0.00,0.000,4,0.000,0.043,2839,3743,3752,0,0,0,0,0,0
$GC,3082,-1.23,-136.3,318.5,-11.1,200,3087,0.00,2.45,0.00,0.000,6,0.000,0.025,2856,2188,3753,0,0,0,0,0,0
$GC,3360,-1.23,-136.3,344.5,-9.2,207,3362,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2192,3752,0,0,0,0,0,0
$GC,3606,-1.23,-136.3,364.3,-8.1,213,3607,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2187,3752,0,0,0,0,0,0
$GC,3848,-1.23,-136.3,383.4,-7.8,219,3849,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2187,3751,0,0,0,0,0,0
$GC,4091,-1.23,-136.3,401.3,-7.2,225,4096,0.00,2.55,0.00,0.000,4,0.000,0.045,2842,3745,3750,0,0,0,0,0,0
$GC,4135,-1.23,-136.3,404.9,-7.6,226,4140,0.00,2.58,0.00,0.000,6,0.000,0.042,2856,2181,3750,0,0,0,0,0,0
$GC,4415,-1.23,-136.3,426.5,-7.9,233,4420,0.00,2.60,0.00,0.000,4,0.000,0.048,2835,3747,3748,0,0,0,0,0,0
$GC,4455,-1.27,-136.3,430.1,-8.6,234,4464,2.50,2.62,0.00,0.000,6,0.067,0.051,2959,2177,3748,9,0,0,0,0,0
$GC,4746,-2.83,-136.3,452.7,-9.5,241,4756,4.22,2.90,0.00,0.000,4,0.087,0.097,2529,588,3745,0,0,0,0,0,0
$GC,4941,-2.24,-136.3,490.9,-22.1,245,4947,0.60,2.60,0.00,0.000,6,0.116,0.049,2654,2165,3744,1,0,0,0,0,0
$GC,5205,-1.90,-136.3,533.1,-15.7,252,5207,0.35,0.00,0.00,0.000,6,0.108,0.000,2728,2165,3742,0,0,0,0,0,0
$STATE,5363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5363,begin apogee
$GC,5368,-0.31,0.0,553.7,12.6,256,5485,1.55,0.00,111.32,0.957,6,0.086,0.000,3072,2165,3191,0,0,0,0,0,0
$STATE,5486,end apogee,CONTROL_FINISHED_OK
$STATE,5486,begin climb
$GC,5490,1.32,136.3,555.7,0.0,259,5614,1.50,2.97,113.47,0.927,4,0.041,0.100,3434,593,2632,0,0,0,0,0,0
$GC,5626,1.16,136.3,545.5,11.4,262,5631,0.47,2.72,0.00,0.000,6,0.108,0.053,3384,2178,2630,1,0,0,0,0,0
$GC,5901,1.27,173.4,521.6,8.3,269,5943,0.32,2.88,32.03,0.894,4,0.096,0.071,3264,3764,2482,0,0,0,0,0,0
$GC,5967,1.16,173.4,513.7,13.3,270,5972,0.12,2.72,0.00,0.000,6,0.138,0.052,3400,2176,2480,0,0,0,0,0,0
$GC,6230,1.12,173.4,482.9,11.8,277,6231,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2176,2476,0,0,0,0,0,0
$GC,6472,1.09,173.4,454.6,11.5,283,6476,0.00,2.67,0.00,0.000,4,0.000,0.046,3365,3780,2474,0,0,0,0,0,0
$GC,6499,1.04,173.4,451.3,11.7,283,6504,0.12,2.72,0.00,0.000,6,0.130,0.051,3374,2176,2474,0,0,0,0,0,0
$GC,6751,1.05,179.6,426.5,9.9,289,6758,0.00,0.00,5.20,0.658,6,0.000,0.000,3374,2175,2457,0,0,0,0,0,0
$GC,6992,1.06,185.8,402.2,9.9,295,7006,0.00,2.75,6.93,0.724,4,0.000,0.043,3276,3780,2432,0,0,0,0,0,0
$GC,7040,1.06,185.8,397.0,10.5,296,7044,0.00,2.65,0.00,0.000,6,0.000,0.040,3374,2187,2431,0,0,0,0,0,0
$GC,7320,1.08,206.4,370.9,9.2,303,7345,0.00,2.67,19.30,0.821,4,0.000,0.044,3354,3773,2348,0,0,0,0,0,0
$GC,7404,1.14,214.6,362.8,9.8,305,7418,0.00,2.62,8.82,0.737,6,0.000,0.041,3374,2190,2314,0,0,0,0,0,0
$GC,7694,1.22,235.9,335.7,9.1,312,7720,0.15,2.83,19.85,0.792,4,0.071,0.073,3400,595,2227,0,0,0,0,0,0
$GC,7748,1.16,235.9,328.9,12.8,313,7752,0.00,2.62,0.00,0.000,6,0.000,0.029,3413,2217,2223,0,0,0,0,0,0
$GC,8017,1.16,235.9,296.6,12.2,320,8022,0.00,2.53,0.00,0.000,4,0.000,0.040,3392,3758,2223,0,0,0,0,0,0
$GC,8078,1.16,235.9,288.1,13.3,321,8082,0.00,2.53,0.00,0.000,6,0.000,0.032,3414,2201,2222,0,0,0,0,0,0
$GC,8338,1.16,235.9,255.3,12.5,328,8340,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,2201,2221,0,0,0,0,0,0
$GC,8584,1.16,235.9,224.7,12.4,334,8588,0.00,2.72,0.00,0.000,4,0.000,0.063,3414,591,2221,0,0,0,0,0,0
$GC,8599,1.16,235.9,222.7,10.9,334,8604,0.00,2.58,0.00,0.000,6,0.000,0.028,3414,2219,2220,0,0,0,0,0,0
$GC,8861,1.18,249.9,197.9,9.5,341,8875,0.00,0.00,12.48,0.661,6,0.000,0.000,3414,2219,2171,0,0,0,0,0,0
$GC,9129,1.18,250.0,172.0,10.2,366,9138,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,2220,2169,0,0,0,0,0,0
$GC,9394,1.18,250.0,142.8,11.4,391,9399,0.00,2.72,0.00,0.000,4,0.000,0.051,3414,590,2169,0,0,0,0,0,0
$GC,9425,1.18,250.0,139.0,11.9,393,9430,0.00,2.58,0.00,0.000,6,0.000,0.021,3414,2221,2167,0,0,0,0,0,0
$GC,9694,1.22,250.0,109.2,11.3,417,9699,0.00,2.70,0.00,0.000,4,0.000,0.054,3414,586,2167,0,0,0,0,0,0
$GC,9727,1.22,250.0,105.1,10.9,419,9731,0.00,2.53,0.00,0.000,6,0.000,0.026,3414,2204,2167,0,0,0,0,0,0
$GC,9996,1.28,252.6,79.8,10.1,443,10000,0.00,2.47,0.00,0.000,4,0.000,0.036,3367,3753,2168,0,0,0,0,0,0
$GC,10029,1.35,259.4,76.2,9.8,445,10044,0.10,2.47,9.82,0.527,6,0.090,0.027,3445,2202,2132,0,0,0,0,0,0
$GC,10300,1.36,271.0,49.4,9.6,470,10318,0.00,2.72,11.43,0.518,4,0.000,0.049,3445,599,2084,0,0,0,0,0,0
$GC,10381,1.36,271.0,40.9,11.1,476,10385,0.00,2.50,0.00,0.000,6,0.000,0.020,3442,2201,2082,0,0,0,0,0,0
$GC,10695,1.36,271.0,8.5,13.2,515,10704,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2201,2082,0,0,0,0,0,0
$STATE,10732,end climb,SURFACE_DEPTH_REACHED
$STATE,10732,begin surface coast
$FINISH,-0.5,1.023589
$STATE,10781,end surface coast,CONTROL_FINISHED_OK
$STATE,10781,begin surface
$SM_CCo,10802,88.68,0.515,0,0,1639,380.21
$SM_GC,0.13,0.00,0.00,88.68,0.000,0.000,0.515,468,2204,1639,-12.31,0.68,380.21
$IRIDIUM_FIX,2223.01,-15802.82,170901,030346
$TT8_MAMPS,0.027612
$HUMID,60.08
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,22.20
$XPDR_PINGS,43
$24V_AH,23.5,26.328
$10V_AH,10.3,23.982
$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,37.450,110.050,350.650,88.675,0.000,24.572,43.798,180.989,10.750,0.000,18.234,1059.279,7195.057,519.323,1952.823,567.964,33.373,1249.574,0.000,1956.281,0.000,0.535,0.000
$DEVICE_MAMPS,205.556,99.710,957.216,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,357.152,292.849,398.113,744.478,1125.963,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356016
$DATA_FILE_SIZE,41595,527
$CAP_FILE_SIZE,107682,0
$CFSIZE,260165632,135446528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,11,0,0,0
$GPS,230612,093706,2231.030,-15801.423,36,1.3,41,10.0