version: 66.06
glider: 146
mission: 7
dive: 189
start: 6 23 112 19 7 1
data:
$ID,146
$MISSION,7
$DIVE,189
$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,-293322.84
$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,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
$GPS1,184824,2229.268,-15801.457,39,1.1,39,10.0
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-68.5
$GPS2,190608,2229.400,-15801.556,23,1.3,23,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.001,-0.253
$KALMAN_X,11950.1,-199.3,41.0,-8089.0,129.4
$KALMAN_Y,87214.4,-59.2,34.3,-107912.0,1710.5
$MHEAD_RNG_PITCHd_Wd,170.3,54790,-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,-87.05,0.000,6,0.000,0.000,470,2193,3746,0,0,0,0,0,0
$GC,119,-1.32,-136.3,4.1,-10.6,12,137,13.00,2.62,0.00,0.000,4,0.170,0.038,2841,594,3746,0,0,0,0,0,0
$GC,182,-1.09,-136.3,25.7,-21.7,20,191,0.25,2.50,0.00,0.000,6,0.098,0.018,2902,2181,3749,0,0,0,0,0,0
$GC,457,-1.04,-136.3,61.6,-12.5,46,461,0.00,2.60,0.00,0.000,4,0.000,0.043,2902,594,3747,0,0,0,0,0,0
$GC,479,-0.98,-136.3,64.9,-12.4,47,484,0.12,2.45,0.00,0.000,6,0.118,0.017,2927,2186,3747,0,0,0,0,0,0
$GC,748,-1.02,-136.3,93.3,-10.0,71,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2189,3746,0,0,0,0,0,0
$GC,1009,-1.07,-136.3,119.2,-9.8,96,1013,0.00,2.62,0.00,0.000,4,0.000,0.050,2928,590,3748,0,0,0,0,0,0
$GC,1064,-1.13,-136.3,124.4,-9.9,100,1068,0.00,2.45,0.00,0.000,6,0.000,0.020,2896,2172,3749,0,0,0,0,0,0
$GC,1327,-1.18,-136.3,147.8,-8.7,124,1329,0.17,0.00,0.00,0.000,6,0.054,0.000,2865,2174,3749,0,0,0,0,0,0
$GC,1587,-1.10,-136.3,177.2,-12.1,148,1592,0.17,0.00,0.00,0.000,6,0.095,0.000,2904,2174,3749,0,0,0,0,0,0
$GC,1858,-1.10,-136.3,204.3,-9.6,171,1859,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2174,3749,0,0,0,0,0,0
$GC,2100,-1.10,-136.3,226.9,-9.1,177,2105,0.00,2.53,0.00,0.000,4,0.000,0.034,2904,3755,3749,0,0,0,0,0,0
$GC,2124,-1.10,-136.3,229.0,-9.3,177,2128,0.00,2.50,0.00,0.000,6,0.000,0.022,2904,2149,3748,0,0,0,0,0,0
$GC,2380,-1.16,-136.3,248.5,-7.4,184,2384,0.00,2.55,0.00,0.000,4,0.000,0.054,2904,603,3748,0,0,0,0,0,0
$GC,2420,-1.22,-136.3,251.8,-8.3,185,2424,0.12,2.40,0.00,0.000,6,0.067,0.025,2854,2169,3749,0,0,0,0,0,0
$GC,2705,-1.22,-136.3,279.6,-9.7,192,2710,0.10,2.53,0.00,0.000,4,0.117,0.041,2870,3751,3749,0,0,0,0,0,0
$GC,2732,-1.22,-136.3,282.7,-9.7,192,2737,0.00,2.50,0.00,0.000,6,0.000,0.031,2877,2168,3747,0,0,0,0,0,0
$GC,2984,-1.22,-136.3,303.8,-8.4,198,2988,0.00,2.53,0.00,0.000,4,0.000,0.041,2854,3745,3748,0,0,0,0,0,0
$GC,3000,-1.22,-136.3,305.4,-8.0,198,3004,0.00,2.50,0.00,0.000,6,0.000,0.028,2877,2166,3748,0,0,0,0,0,0
$GC,3260,-1.22,-136.3,326.8,-8.5,205,3262,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2166,3748,0,0,0,0,0,0
$GC,3507,-1.27,-136.3,347.4,-8.3,211,3511,0.00,2.70,0.00,0.000,4,0.000,0.074,2878,594,3747,0,0,0,0,0,0
$GC,3562,-1.32,-136.3,352.6,-8.9,212,3566,0.00,2.45,0.00,0.000,6,0.000,0.028,2877,2142,3747,0,0,0,0,0,0
$GC,3829,-1.37,-136.3,373.2,-7.5,219,3834,0.12,2.67,0.00,0.000,4,0.068,0.046,2803,3765,3745,0,0,0,0,0,0
$GC,3898,-1.33,-136.3,379.4,-9.8,220,3903,0.22,2.58,0.00,0.000,6,0.089,0.040,2876,2181,3745,0,0,0,0,0,0
$GC,4154,-1.40,-136.3,397.4,-6.6,227,4159,0.17,2.60,0.00,0.000,4,0.058,0.048,2813,3761,3743,0,0,0,0,0,0
$GC,4183,-1.40,-136.3,400.0,-9.8,227,4188,0.00,2.60,0.00,0.000,6,0.000,0.040,2824,2174,3743,0,0,0,0,0,0
$GC,4434,-1.36,-136.3,423.8,-9.5,233,4439,0.10,2.85,0.00,0.000,4,0.120,0.094,2845,592,3741,0,0,0,0,0,0
$GC,4456,-1.36,-136.3,426.0,-9.3,233,4460,0.00,2.55,0.00,0.000,6,0.000,0.037,2845,2167,3741,0,0,0,0,0,0
$GC,4711,-1.36,-136.3,447.3,-8.3,240,4712,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2167,3740,0,0,0,0,0,0
$GC,4955,-1.36,-136.3,466.1,-7.6,246,4956,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2167,3737,0,0,0,0,0,0
$GC,5198,-1.36,-136.3,484.7,-7.7,252,5203,0.00,2.75,0.00,0.000,4,0.000,0.074,2834,3761,3736,0,0,0,0,0,0
$GC,5272,-1.36,-136.3,491.3,-9.4,253,5277,0.00,2.67,0.00,0.000,6,0.000,0.058,2846,2180,3735,0,0,0,0,0,0
$GC,5522,-1.36,-136.3,514.7,-9.5,259,5523,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2180,3734,0,0,0,0,0,0
$GC,5766,-1.36,-136.3,538.3,-9.8,265,5771,0.00,3.00,0.00,0.000,4,0.000,0.116,2761,593,3732,0,0,0,0,0,0
$GC,5782,-1.36,-136.3,540.0,-9.9,265,5786,0.00,2.62,0.00,0.000,6,0.000,0.047,2845,2175,3731,0,0,0,0,0,0
$STATE,5918,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5918,begin apogee
$GC,5925,-0.31,0.0,553.3,9.6,269,6040,1.00,0.00,109.65,0.968,6,0.074,0.000,3076,2175,3190,0,0,0,0,0,0
$STATE,6041,end apogee,CONTROL_FINISHED_OK
$STATE,6041,begin climb
$GC,6043,1.32,136.3,557.5,0.0,272,6170,1.48,2.85,113.45,0.937,4,0.044,0.078,3390,3765,2632,0,0,0,0,0,0
$GC,6181,1.18,145.2,549.8,9.7,275,6196,0.15,2.75,8.88,0.782,6,0.129,0.054,3404,2179,2598,0,0,0,0,0,0
$GC,6458,1.11,149.7,522.2,10.0,282,6464,0.00,0.00,4.47,0.621,6,0.000,0.000,3404,2179,2580,0,0,0,0,0,0
$GC,6704,1.05,151.4,497.3,10.1,288,6705,0.15,0.00,0.00,0.000,6,0.120,0.000,3374,2179,2577,0,0,0,0,0,0
$GC,6945,1.09,183.9,476.1,8.5,294,6981,0.00,2.75,30.33,0.894,4,0.000,0.052,3374,3769,2439,0,0,0,0,0,0
$GC,7016,1.09,183.9,469.5,10.2,294,7020,0.00,2.70,0.00,0.000,6,0.000,0.052,3362,2179,2436,0,0,0,0,0,0
$GC,7265,1.09,183.9,444.0,10.3,300,7270,0.00,2.95,0.00,0.000,4,0.000,0.098,3373,584,2433,0,0,0,0,0,0
$GC,7306,1.09,183.9,439.2,11.7,301,7311,0.00,2.62,0.00,0.000,6,0.000,0.035,3373,2182,2432,0,0,0,0,0,0
$GC,7591,1.09,188.0,410.6,10.0,308,7596,0.00,2.62,0.00,0.000,4,0.000,0.052,3359,3766,2431,0,0,0,0,0,0
$GC,7641,1.14,188.0,404.9,10.7,309,7650,1.25,2.62,0.00,0.000,6,0.041,0.039,3680,2169,2431,4,0,0,0,0,0
$GC,7918,0.60,188.0,343.3,23.0,316,7927,2.00,2.70,0.00,0.000,4,0.133,0.037,3197,3772,2429,0,0,0,0,0,0
$GC,7999,0.98,284.6,337.0,5.3,317,8096,0.32,2.55,87.32,0.825,6,0.044,0.034,3366,2190,2028,0,0,0,0,0,0
$GC,8382,1.09,300.3,304.4,9.4,327,8401,0.00,2.80,14.00,0.742,4,0.000,0.068,3366,596,1965,0,0,0,0,0,0
$GC,8475,1.22,300.3,293.8,10.6,329,8481,0.17,2.60,0.00,0.000,6,0.064,0.023,3414,2207,1962,0,0,0,0,0,0
$GC,8755,1.22,300.3,257.4,13.4,336,8759,0.00,2.55,0.00,0.000,4,0.000,0.040,3403,3763,1960,0,0,0,0,0,0
$GC,8794,1.28,300.3,251.5,13.1,337,8799,0.00,2.55,0.00,0.000,6,0.000,0.033,3414,2187,1960,0,0,0,0,0,0
$GC,9078,1.28,300.3,215.1,12.5,344,9082,0.00,2.70,0.00,0.000,4,0.000,0.057,3414,595,1959,0,0,0,0,0,0
$GC,9140,1.34,300.3,207.5,12.1,345,9145,0.00,2.53,0.00,0.000,6,0.000,0.023,3413,2193,1957,0,0,0,0,0,0
$GC,9400,1.38,300.3,178.5,11.3,363,9405,0.12,2.67,0.00,0.000,4,0.080,0.052,3451,598,1957,0,0,0,0,0,0
$GC,9442,1.38,300.3,172.8,13.9,366,9446,0.00,2.50,0.00,0.000,6,0.000,0.022,3445,2178,1957,0,0,0,0,0,0
$GC,9704,1.38,300.3,137.2,13.9,390,9709,0.00,2.55,0.00,0.000,4,0.000,0.036,3464,3760,1957,0,0,0,0,0,0
$GC,9750,1.38,300.3,130.4,14.7,393,9756,0.00,2.55,0.00,0.000,6,0.000,0.030,3434,2180,1956,0,0,0,0,0,0
$GC,10015,1.38,300.3,92.6,14.8,418,10019,0.00,2.65,0.00,0.000,4,0.000,0.058,3451,589,1956,0,0,0,0,0,0
$GC,10044,1.34,300.3,87.5,16.0,420,10048,0.00,2.47,0.00,0.000,6,0.000,0.027,3451,2182,1956,0,0,0,0,0,0
$GC,10312,1.34,300.3,50.9,13.5,444,10321,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2182,1957,0,0,0,0,0,0
$GC,10605,1.34,300.3,15.5,11.5,477,10613,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2183,1960,0,0,0,0,0,0
$STATE,10696,end climb,SURFACE_DEPTH_REACHED
$STATE,10696,begin surface coast
$FINISH,-0.6,1.006334
$STATE,10739,end surface coast,CONTROL_FINISHED_OK
$STATE,10739,begin surface
$SM_CCo,10762,64.20,0.518,0,0,1639,380.21
$SM_GC,0.34,0.00,0.00,64.20,0.000,0.000,0.518,467,2186,1639,-12.31,0.17,380.21
$IRIDIUM_FIX,2218.34,-15802.82,170901,191937
$TT8_MAMPS,0.027612
$HUMID,63.23
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,21.40
$XPDR_PINGS,42
$24V_AH,23.5,26.815
$10V_AH,10.3,24.425
$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,33.200,125.575,368.100,64.200,0.000,110.618,149.831,433.911,10.500,0.000,25.405,1033.119,7420.653,509.059,1881.422,1043.503,33.370,1236.120,0.000,1872.820,0.000,0.536,0.000
$DEVICE_MAMPS,170.274,115.817,967.954,518.492,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,336.551,261.664,362.025,677.380,1024.477,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356020
$DATA_FILE_SIZE,38299,496
$CAP_FILE_SIZE,121887,0
$CFSIZE,260165632,135221248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,0,0,0
$GPS,230612,220854,2228.960,-15801.480,45,1.5,45,10.0