version: 66.06
glider: 146
mission: 7
dive: 186
start: 6 23 112 9 44 43
data:
$ID,146
$MISSION,7
$DIVE,186
$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,-293252.12
$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,29
$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
$GPS1,093706,2231.030,-15801.423,36,1.3,41,10.0
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-70.0
$GPS2,094349,2231.071,-15801.470,8,1.4,12,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.041,-0.250
$KALMAN_X,11169.4,81.6,-191.7,-7211.8,609.1
$KALMAN_Y,81487.6,354.4,308.2,-99773.2,1081.1
$MHEAD_RNG_PITCHd_Wd,179.3,57850,-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,-87.45,0.000,6,0.000,0.000,468,2204,3746,0,0,0,0,0,0
$GC,119,-1.32,-136.3,4.4,-11.6,12,137,13.18,2.70,0.00,0.000,4,0.174,0.043,2844,593,3747,0,0,0,0,0,0
$GC,232,-1.14,-136.3,34.6,-15.7,26,247,2.83,2.47,0.00,0.000,6,0.083,0.018,3085,2195,3748,10,0,0,0,0,0
$GC,505,-2.32,-136.3,55.5,-8.9,51,520,3.80,2.53,0.00,0.000,4,0.071,0.035,2482,3740,3748,0,0,0,0,0,0
$GC,787,-1.84,-136.3,122.7,-23.2,74,792,0.50,2.45,0.00,0.000,6,0.100,0.027,2740,2164,3749,0,0,0,0,0,0
$GC,1050,-1.52,-136.3,171.4,-18.0,98,1052,0.35,0.00,0.00,0.000,6,0.115,0.000,2811,2164,3751,0,0,0,0,0,0
$GC,1333,-1.36,-136.3,211.7,-12.9,119,1334,0.17,0.00,0.00,0.000,6,0.120,0.000,2842,2164,3750,0,0,0,0,0,0
$GC,1575,-1.30,-136.3,237.0,-9.9,125,1579,0.00,2.50,0.00,0.000,4,0.000,0.033,2846,3746,3750,0,0,0,0,0,0
$GC,1602,-1.25,-136.3,239.6,-9.7,125,1607,0.12,2.42,0.00,0.000,6,0.115,0.028,2873,2183,3750,0,0,0,0,0,0
$GC,1854,-1.25,-136.3,259.3,-7.9,131,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2183,3750,0,0,0,0,0,0
$GC,2096,-1.25,-136.3,282.4,-9.3,137,2100,0.00,2.65,0.00,0.000,4,0.000,0.062,2830,609,3750,0,0,0,0,0,0
$GC,2140,-1.25,-136.3,286.8,-9.3,138,2144,0.00,2.42,0.00,0.000,6,0.000,0.023,2872,2167,3750,0,0,0,0,0,0
$GC,2419,-1.25,-136.3,311.5,-9.0,145,2424,0.00,2.58,0.00,0.000,4,0.000,0.041,2852,3756,3750,0,0,0,0,0,0
$GC,2470,-1.29,-136.3,316.5,-9.3,146,2474,0.00,2.50,0.00,0.000,6,0.000,0.035,2872,2187,3750,0,0,0,0,0,0
$GC,2744,-1.34,-136.3,337.5,-7.5,153,2748,0.00,2.75,0.00,0.000,4,0.000,0.074,2876,591,3748,0,0,0,0,0,0
$GC,2776,-1.34,-136.3,340.3,-8.0,153,2782,0.00,2.50,0.00,0.000,6,0.000,0.026,2872,2172,3749,0,0,0,0,0,0
$GC,3028,-1.39,-136.3,360.3,-8.1,160,3033,0.12,2.62,0.00,0.000,4,0.072,0.053,2809,3759,3748,0,0,0,0,0,0
$GC,3058,-1.39,-136.3,363.2,-9.9,160,3063,0.28,2.58,0.00,0.000,6,0.087,0.036,2870,2180,3748,0,0,0,0,0,0
$GC,3308,-1.47,-136.3,382.8,-7.8,166,3313,0.25,2.83,0.00,0.000,4,0.046,0.087,2803,586,3746,0,0,0,0,0,0
$GC,3324,-1.47,-136.3,384.6,-8.2,166,3329,0.00,2.55,0.00,0.000,6,0.000,0.033,2803,2175,3746,0,0,0,0,0,0
$GC,3588,-1.40,-136.3,413.7,-11.0,173,3593,0.15,2.65,0.00,0.000,4,0.106,0.061,2806,3760,3744,0,0,0,0,0,0
$GC,3666,-1.40,-136.3,422.0,-9.9,174,3675,2.80,2.60,0.00,0.000,6,0.069,0.046,2965,2185,3744,10,0,0,0,0,0
$GC,3964,-2.70,-136.3,445.1,-9.2,182,3971,4.25,0.00,0.00,0.000,6,0.083,0.000,2537,2185,3742,0,0,0,0,0,0
$GC,4252,-2.17,-136.3,498.7,-20.4,189,4257,0.60,2.67,0.00,0.000,4,0.110,0.067,2657,3758,3739,0,0,0,0,0,0
$GC,4319,-1.85,-136.3,510.2,-16.5,190,4325,0.35,2.62,0.00,0.000,6,0.102,0.061,2739,2202,3739,0,0,0,0,0,0
$GC,4577,-1.66,-136.3,542.2,-12.4,197,4582,0.20,2.72,0.00,0.000,4,0.121,0.074,2778,3764,3737,0,0,0,0,0,0
$STATE,4641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4641,begin apogee
$GC,4650,-0.31,0.0,550.7,12.4,198,4764,1.30,0.00,110.57,0.956,6,0.089,0.000,3069,2175,3191,0,0,0,0,0,0
$STATE,4765,end apogee,CONTROL_FINISHED_OK
$STATE,4765,begin climb
$GC,4769,1.32,136.3,553.8,0.0,201,4887,1.55,0.00,114.07,0.925,6,0.047,0.000,3436,2175,2634,0,0,0,0,0,0
$GC,5110,1.19,136.3,523.1,11.2,210,5115,0.17,2.72,0.00,0.000,4,0.127,0.061,3397,3760,2626,0,0,0,0,0,0
$GC,5147,1.10,136.3,519.3,11.2,210,5157,4.70,2.70,0.00,0.000,6,0.385,0.055,3386,2182,2625,17,0,0,0,0,0
$GC,5435,0.45,136.3,450.8,24.8,218,5445,2.88,2.67,0.00,0.000,4,0.127,0.044,3179,3759,2622,0,0,0,0,0,0
$GC,5544,0.80,212.0,441.6,6.4,220,5615,0.30,2.62,64.15,0.868,6,0.047,0.040,3326,2189,2325,0,0,0,0,0,0
$GC,5896,0.94,237.4,409.5,8.9,229,5926,0.10,2.95,22.33,0.830,4,0.085,0.085,3356,594,2222,0,0,0,0,0,0
$GC,5974,1.02,247.8,402.1,9.7,230,5990,0.00,2.62,10.75,0.762,6,0.000,0.029,3353,2211,2179,0,0,0,0,0,0
$GC,6271,1.09,252.6,373.1,9.9,238,6281,0.10,2.60,4.70,0.597,4,0.087,0.044,3370,3765,2161,0,0,0,0,0,0
$GC,6312,1.09,252.6,368.3,12.8,239,6316,0.00,2.62,0.00,0.000,6,0.000,0.041,3385,2187,2160,0,0,0,0,0,0
$GC,6595,1.09,252.6,335.3,11.2,246,6596,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,2187,2159,0,0,0,0,0,0
$GC,6839,1.13,252.6,309.2,10.6,252,6843,0.00,2.60,0.00,0.000,4,0.000,0.041,3382,3764,2158,0,0,0,0,0,0
$GC,6880,1.18,252.6,304.7,11.7,253,6884,0.00,2.55,0.00,0.000,6,0.000,0.038,3386,2198,2157,0,0,0,0,0,0
$GC,7163,1.25,271.6,277.4,9.2,260,7188,0.12,2.83,18.02,0.746,4,0.081,0.065,3425,601,2081,0,0,0,0,0,0
$GC,7229,1.25,271.6,269.9,11.5,261,7233,0.00,2.58,0.00,0.000,6,0.000,0.025,3420,2213,2079,0,0,0,0,0,0
$GC,7489,1.25,271.6,240.6,11.2,268,7493,0.00,2.53,0.00,0.000,4,0.000,0.040,3410,3757,2077,0,0,0,0,0,0
$GC,7521,1.25,271.6,236.8,11.7,268,7527,0.00,2.53,0.00,0.000,6,0.000,0.035,3419,2200,2077,0,0,0,0,0,0
$GC,7773,1.25,271.6,208.9,11.1,275,7774,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2200,2076,0,0,0,0,0,0
$GC,8020,1.25,271.6,182.6,10.5,290,8022,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,2200,2076,0,0,0,0,0,0
$GC,8275,1.25,271.6,154.5,11.5,314,8280,0.00,2.70,0.00,0.000,4,0.000,0.057,3420,587,2077,0,0,0,0,0,0
$GC,8310,1.25,271.6,151.0,13.6,316,8315,0.00,2.55,0.00,0.000,6,0.000,0.025,3420,2220,2075,0,0,0,0,0,0
$GC,8572,1.25,271.6,118.8,11.2,340,8577,0.00,2.47,0.00,0.000,4,0.000,0.042,3421,3760,2076,0,0,0,0,0,0
$GC,8602,1.29,271.6,115.5,11.1,342,8606,0.00,2.47,0.00,0.000,6,0.000,0.028,3420,2207,2076,0,0,0,0,0,0
$GC,8867,1.34,271.6,87.4,10.6,366,8871,0.00,2.65,0.00,0.000,4,0.000,0.057,3420,595,2076,0,0,0,0,0,0
$GC,8900,1.34,271.6,83.0,11.1,368,8909,0.00,2.55,0.00,0.000,6,0.000,0.020,3419,2210,2076,0,0,0,0,0,0
$GC,9168,1.40,271.6,55.1,10.8,393,9173,0.12,2.67,0.00,0.000,4,0.078,0.049,3407,595,2077,0,0,0,0,0,0
$GC,9201,1.40,271.6,50.2,14.0,395,9205,0.00,2.53,0.00,0.000,6,0.000,0.020,3457,2211,2077,0,0,0,0,0,0
$GC,9489,1.40,271.6,17.6,10.3,427,9499,0.00,2.50,0.00,0.000,4,0.000,0.042,3228,3756,2077,0,0,0,0,0,0
$GC,9522,1.40,271.6,13.1,13.4,431,9531,0.00,2.50,0.00,0.000,6,0.000,0.028,3457,2206,2078,0,0,0,0,0,0
$STATE,9595,end climb,SURFACE_DEPTH_REACHED
$STATE,9595,begin surface coast
$FINISH,-0.5,1.000572
$STATE,9645,end surface coast,CONTROL_FINISHED_OK
$STATE,9645,begin surface
$SM_CCo,9668,89.00,0.512,0,0,1640,380.21
$SM_GC,0.18,0.00,0.00,89.00,0.000,0.000,0.512,468,2202,1640,-12.31,0.62,380.21
$IRIDIUM_FIX,2223.01,-15757.62,170901,060644
$TT8_MAMPS,0.027612
$HUMID,59.72
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.20
$XPDR_PINGS,45
$24V_AH,23.5,26.446
$10V_AH,10.3,24.084
$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,53.225,119.825,344.600,89.000,0.000,22.432,36.061,199.440,11.250,0.000,15.901,953.578,6346.124,550.790,1753.108,557.256,33.380,1226.060,0.000,1754.728,0.000,0.535,0.000
$DEVICE_MAMPS,385.034,87.438,955.682,511.589,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,303.230,245.144,326.295,642.188,971.327,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356044
$DATA_FILE_SIZE,35305,448
$CAP_FILE_SIZE,104517,0
$CFSIZE,260165632,135405568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,37,0,0,0
$GPS,230612,122836,2230.346,-15801.688,35,1.1,35,10.0