version: 66.06
glider: 146
mission: 7
dive: 187
start: 6 23 112 12 35 54
data:
$ID,146
$MISSION,7
$DIVE,187
$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,-293281.31
$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,26
$R_STBD_OVSHOOT,44
$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
$GPS1,122836,2230.346,-15801.688,35,1.1,35,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-70.9
$GPS2,123501,2230.390,-15801.712,10,1.3,27,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.021,-0.252
$KALMAN_X,11230.1,-48.0,-81.6,-7662.8,415.4
$KALMAN_Y,83158.5,317.9,102.9,-102466.6,1003.5
$MHEAD_RNG_PITCHd_Wd,174.6,56643,-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,-136.3,0.0,0.0,0,116,0.00,0.00,-89.00,0.000,6,0.000,0.000,467,2203,3743,0,0,0,0,0,0
$GC,121,-1.32,-136.3,3.3,-8.5,12,139,13.15,2.70,0.00,0.000,4,0.173,0.038,2847,588,3744,0,0,0,0,0,0
$GC,296,-1.16,-136.3,45.7,-18.0,32,301,0.20,2.47,0.00,0.000,6,0.118,0.017,2888,2191,3745,0,0,0,0,0,0
$GC,565,-1.08,-136.3,80.5,-11.8,56,569,0.00,2.62,0.00,0.000,4,0.000,0.049,2888,586,3745,0,0,0,0,0,0
$GC,587,-0.99,-136.3,83.6,-11.8,57,592,0.17,2.45,0.00,0.000,6,0.104,0.017,2925,2185,3745,0,0,0,0,0,0
$GC,855,-0.99,-136.3,112.2,-10.5,81,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2186,3746,0,0,0,0,0,0
$GC,1118,-1.03,-136.3,136.7,-8.5,106,1122,0.00,2.62,0.00,0.000,4,0.000,0.048,2925,587,3746,0,0,0,0,0,0
$GC,1171,-1.11,-136.3,141.7,-9.0,110,1176,0.10,2.42,0.00,0.000,6,0.081,0.024,2882,2173,3746,0,0,0,0,0,0
$GC,1432,-1.06,-136.3,170.2,-11.1,134,1434,0.12,0.00,0.00,0.000,6,0.104,0.000,2910,2172,3747,0,0,0,0,0,0
$GC,1688,-1.06,-136.3,194.6,-9.2,158,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2172,3747,0,0,0,0,0,0
$GC,1954,-1.06,-136.3,220.2,-9.7,169,1958,0.00,2.60,0.00,0.000,4,0.000,0.052,2910,593,3748,0,0,0,0,0,0
$GC,1974,-1.06,-136.3,222.5,-10.8,169,1979,0.00,2.45,0.00,0.000,6,0.000,0.023,2910,2179,3748,0,0,0,0,0,0
$GC,2231,-1.10,-136.3,245.4,-8.6,176,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2179,3748,0,0,0,0,0,0
$GC,2476,-1.18,-136.3,265.4,-7.9,182,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2179,3748,0,0,0,0,0,0
$GC,2718,-1.26,-136.3,284.3,-7.6,188,2723,0.17,2.53,0.00,0.000,4,0.054,0.038,2849,3750,3748,0,0,0,0,0,0
$GC,2740,-1.26,-136.3,286.4,-8.8,188,2745,0.00,2.47,0.00,0.000,6,0.000,0.029,2849,2165,3748,0,0,0,0,0,0
$GC,2998,-1.26,-136.3,310.8,-9.1,195,3002,0.00,2.65,0.00,0.000,4,0.000,0.065,2848,601,3748,0,0,0,0,0,0
$GC,3042,-1.26,-136.3,315.1,-9.7,196,3046,0.00,2.42,0.00,0.000,6,0.000,0.029,2849,2154,3748,0,0,0,0,0,0
$GC,3321,-1.26,-136.3,341.0,-9.6,203,3326,0.00,2.62,0.00,0.000,4,0.000,0.049,2841,3764,3748,0,0,0,0,0,0
$GC,3344,-1.26,-136.3,343.4,-9.5,203,3348,0.00,2.53,0.00,0.000,6,0.000,0.030,2849,2183,3748,0,0,0,0,0,0
$GC,3599,-1.26,-136.3,367.5,-9.2,210,3603,0.00,2.55,0.00,0.000,4,0.000,0.048,2824,3754,3746,0,0,0,0,0,0
$GC,3615,-1.26,-136.3,369.1,-9.3,210,3619,0.00,2.55,0.00,0.000,6,0.000,0.032,2849,2178,3747,0,0,0,0,0,0
$GC,3877,-1.26,-136.3,390.9,-8.2,217,3882,0.00,2.58,0.00,0.000,4,0.000,0.045,2819,3751,3745,0,0,0,0,0,0
$GC,3910,-1.26,-136.3,394.0,-8.7,217,3916,0.00,2.58,0.00,0.000,6,0.000,0.039,2848,2185,3744,0,0,0,0,0,0
$GC,4160,-1.26,-136.3,417.8,-10.0,224,4164,0.00,2.62,0.00,0.000,4,0.000,0.050,2831,3755,3744,0,0,0,0,0,0
$GC,4202,-1.26,-136.3,422.3,-11.1,225,4212,3.47,2.60,0.00,0.000,6,0.062,0.051,2931,2196,3743,12,0,0,0,0,0
$GC,4491,-2.86,-136.3,459.4,-14.2,232,4502,5.80,2.62,0.00,0.000,4,0.130,0.058,2516,3749,3741,0,0,0,0,0,0
$GC,4756,-2.29,-136.3,511.6,-21.6,238,4762,0.60,2.62,0.00,0.000,6,0.119,0.058,2644,2217,3738,0,0,0,0,0,0
$STATE,4997,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4997,begin apogee
$GC,5005,-0.31,0.0,550.9,15.6,244,5121,2.00,0.00,111.07,0.943,6,0.109,0.000,3074,2178,3189,0,0,0,0,0,0
$STATE,5121,end apogee,CONTROL_FINISHED_OK
$STATE,5122,begin climb
$GC,5124,1.32,136.3,554.4,0.0,247,5248,1.50,3.10,112.85,0.915,4,0.041,0.114,3435,595,2633,0,0,0,0,0,0
$GC,5362,1.15,136.3,532.3,12.4,252,5368,0.20,2.65,0.00,0.000,6,0.118,0.046,3397,2164,2630,0,0,0,0,0,0
$GC,5624,1.10,137.7,505.1,10.1,259,5629,0.00,2.80,0.00,0.000,4,0.000,0.073,3383,3769,2625,0,0,0,0,0,0
$GC,5710,1.04,137.7,496.0,10.9,261,5716,0.12,2.67,0.00,0.000,6,0.123,0.048,3373,2189,2624,0,0,0,0,0,0
$GC,5994,1.06,155.4,469.3,9.3,268,6018,0.00,3.10,16.23,0.841,4,0.000,0.114,3334,590,2554,0,0,0,0,0,0
$GC,6053,1.06,155.4,462.8,12.0,269,6058,0.00,2.65,0.00,0.000,6,0.000,0.038,3373,2193,2552,0,0,0,0,0,0
$GC,6319,1.06,155.4,433.7,11.0,276,6324,0.00,2.85,0.00,0.000,4,0.000,0.079,3373,584,2550,0,0,0,0,0,0
$GC,6358,1.06,155.4,429.2,11.5,277,6363,0.00,2.62,0.00,0.000,6,0.000,0.035,3373,2179,2550,0,0,0,0,0,0
$GC,6642,1.09,181.7,402.6,8.9,284,6671,0.00,2.75,22.20,0.834,4,0.000,0.053,3332,3765,2450,0,0,0,0,0,0
$GC,6711,1.13,182.5,396.2,10.1,285,6716,0.00,2.67,0.00,0.000,6,0.000,0.041,3373,2164,2448,0,0,0,0,0,0
$GC,6968,1.18,221.2,374.5,8.2,292,7010,0.12,2.72,35.65,0.834,4,0.077,0.040,3379,3769,2286,0,0,0,0,0,0
$GC,7128,1.19,233.6,358.3,9.6,295,7147,0.00,2.60,11.88,0.760,6,0.000,0.039,3407,2180,2237,0,0,0,0,0,0
$GC,7433,1.19,235.2,327.7,10.1,303,7434,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,2180,2232,0,0,0,0,0,0
$GC,7675,1.19,235.2,300.2,11.4,309,7676,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,2180,2231,0,0,0,0,0,0
$GC,7919,1.19,235.2,273.0,11.3,315,7923,0.00,2.65,0.00,0.000,4,0.000,0.041,3383,3777,2230,0,0,0,0,0,0
$GC,7969,1.19,235.2,267.3,11.6,316,7974,0.00,2.58,0.00,0.000,6,0.000,0.030,3407,2177,2229,0,0,0,0,0,0
$GC,8241,1.19,235.2,238.1,10.8,323,8245,0.00,2.65,0.00,0.000,4,0.000,0.063,3388,595,2229,0,0,0,0,0,0
$GC,8273,1.19,235.2,234.3,11.8,323,8279,0.00,2.53,0.00,0.000,6,0.000,0.029,3406,2193,2228,0,0,0,0,0,0
$GC,8526,1.26,255.9,210.7,9.1,330,8550,0.00,2.60,19.38,0.682,4,0.000,0.041,3384,3759,2146,0,0,0,0,0,0
$GC,8601,1.33,255.9,203.0,11.0,331,8607,0.10,2.58,0.00,0.000,6,0.089,0.033,3439,2171,2144,0,0,0,0,0,0
$GC,8863,1.33,255.9,173.1,11.9,353,8868,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2170,2143,0,0,0,0,0,0
$GC,9124,1.33,255.9,141.2,12.5,378,9125,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2167,2143,0,0,0,0,0,0
$GC,9381,1.33,255.9,109.2,12.7,402,9385,0.00,2.55,0.00,0.000,4,0.000,0.036,3403,3760,2143,0,0,0,0,0,0
$GC,9401,1.33,255.9,106.7,13.5,403,9405,0.00,2.50,0.00,0.000,6,0.000,0.027,3437,2185,2143,0,0,0,0,0,0
$GC,9667,1.33,255.9,75.5,11.0,427,9676,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2184,2143,0,0,0,0,0,0
$GC,9934,1.33,255.9,46.5,11.3,452,9942,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,2185,2143,0,0,0,0,0,0
$GC,10235,1.37,287.2,12.4,8.6,488,10269,0.00,0.00,27.45,0.515,6,0.000,0.000,3437,2185,2019,0,0,0,0,0,0
$STATE,10323,end climb,SURFACE_DEPTH_REACHED
$STATE,10323,begin surface coast
$FINISH,-0.6,1.023737
$STATE,10369,end surface coast,CONTROL_FINISHED_OK
$STATE,10369,begin surface
$SM_CCo,10390,74.80,0.509,0,0,1641,380.21
$SM_GC,0.16,0.00,0.00,74.80,0.000,0.000,0.509,467,2181,1641,-12.31,0.03,380.21
$IRIDIUM_FIX,2223.01,-15802.82,170901,090903
$TT8_MAMPS,0.027612
$HUMID,60.51
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,22.40
$XPDR_PINGS,42
$24V_AH,23.5,26.558
$10V_AH,10.3,24.196
$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,39.825,110.200,356.700,74.800,0.000,25.021,38.487,165.249,10.500,0.000,28.569,1033.125,6802.492,498.157,1984.906,532.772,33.370,1245.962,0.000,1968.154,0.000,0.535,0.000
$DEVICE_MAMPS,173.342,163.371,942.643,509.288,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,342.497,275.358,379.469,717.156,1080.066,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356020
$DATA_FILE_SIZE,38585,506
$CAP_FILE_SIZE,105766,0
$CFSIZE,260165632,135348224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,12,0,0,0
$GPS,230612,153136,2229.701,-15801.428,32,1.8,36,10.0