version: 66.06
glider: 146
mission: 7
dive: 190
start: 6 23 112 22 16 24
data:
$ID,146
$MISSION,7
$DIVE,190
$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,-293356.44
$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,28
$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
$GPS1,220854,2228.960,-15801.480,45,1.5,45,10.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.24
$_SM_ANGLEo,-70.2
$GPS2,221531,2229.019,-15801.560,14,1.4,31,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.032,-0.251
$KALMAN_X,12138.3,-139.2,-197.9,-8106.3,503.9
$KALMAN_Y,89042.0,-125.1,296.9,-110640.8,1330.1
$MHEAD_RNG_PITCHd_Wd,177.3,54089,-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,17,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,-87.05,0.000,6,0.000,0.000,466,2186,3745,0,0,0,0,0,0
$GC,120,-1.32,-136.3,4.7,-12.2,12,138,13.15,2.65,0.00,0.000,4,0.173,0.038,2848,585,3746,0,0,0,0,0,0
$GC,208,-1.15,-136.3,30.5,-17.1,24,214,0.20,2.50,0.00,0.000,6,0.120,0.018,2890,2184,3747,0,0,0,0,0,0
$GC,477,-1.10,-136.3,66.8,-11.7,48,486,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2184,3748,0,0,0,0,0,0
$GC,742,-1.10,-136.3,98.4,-10.9,73,746,0.00,2.62,0.00,0.000,4,0.000,0.046,2889,588,3748,0,0,0,0,0,0
$GC,798,-1.10,-136.3,104.8,-11.7,77,802,0.00,2.47,0.00,0.000,6,0.000,0.023,2890,2188,3749,0,0,0,0,0,0
$GC,1066,-1.10,-136.3,136.2,-12.4,101,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2188,3749,0,0,0,0,0,0
$GC,1327,-1.10,-136.3,167.2,-11.0,126,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2188,3750,0,0,0,0,0,0
$GC,1584,-1.10,-136.3,193.9,-11.0,150,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2188,3750,0,0,0,0,0,0
$GC,1848,-1.10,-136.3,222.3,-10.7,161,1853,0.00,2.62,0.00,0.000,4,0.000,0.050,2841,597,3750,0,0,0,0,0,0
$GC,1864,-1.10,-136.3,224.1,-10.7,161,1868,0.00,2.42,0.00,0.000,6,0.000,0.025,2890,2181,3750,0,0,0,0,0,0
$GC,2132,-1.10,-136.3,249.0,-8.9,168,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2181,3751,0,0,0,0,0,0
$GC,2374,-1.14,-136.3,271.4,-9.1,174,2379,0.00,2.65,0.00,0.000,4,0.000,0.058,2890,593,3751,0,0,0,0,0,0
$GC,2396,-1.18,-136.3,273.5,-8.7,174,2401,0.00,2.45,0.00,0.000,6,0.000,0.021,2890,2167,3751,0,0,0,0,0,0
$GC,2654,-1.24,-136.3,295.9,-9.2,181,2658,0.00,2.53,0.00,0.000,4,0.000,0.043,2873,3751,3750,0,0,0,0,0,0
$GC,2693,-1.29,-136.3,299.9,-9.5,182,2698,0.12,2.47,0.00,0.000,6,0.070,0.030,2840,2171,3750,0,0,0,0,0,0
$GC,2977,-1.29,-136.3,327.9,-9.9,189,2982,0.10,2.70,0.00,0.000,4,0.123,0.069,2862,598,3750,0,0,0,0,0,0
$GC,3019,-1.29,-136.3,331.1,-8.1,190,3023,0.00,2.47,0.00,0.000,6,0.000,0.027,2861,2170,3750,0,0,0,0,0,0
$GC,3302,-1.29,-136.3,351.8,-7.0,197,3306,0.00,2.60,0.00,0.000,4,0.000,0.043,2825,3760,3749,0,0,0,0,0,0
$GC,3325,-1.29,-136.3,353.4,-7.2,197,3333,1.30,2.53,0.00,0.000,6,0.068,0.032,2915,2187,3749,4,0,0,0,0,0
$GC,3585,-2.02,-136.3,365.6,-5.6,204,3594,2.00,2.62,0.00,0.000,4,0.054,0.041,2620,3758,3749,0,0,0,0,0,0
$GC,3768,-1.73,-136.3,391.6,-16.4,208,3773,0.30,2.80,0.00,0.000,6,0.096,0.051,2761,2063,3747,0,0,0,0,0,0
$GC,4052,-1.57,-136.3,429.7,-12.7,215,4057,0.17,2.83,0.00,0.000,4,0.113,0.058,2770,3751,3746,0,0,0,0,0,0
$GC,4102,-1.49,-136.3,435.7,-11.5,216,4107,0.00,2.83,0.00,0.000,6,0.000,0.053,2798,2063,3745,0,0,0,0,0,0
$GC,4376,-1.41,-136.3,462.3,-9.6,223,4382,0.17,2.85,0.00,0.000,4,0.111,0.061,2807,3749,3744,0,0,0,0,0,0
$GC,4410,-1.41,-136.3,465.6,-8.2,223,4415,0.00,2.83,0.00,0.000,6,0.000,0.056,2797,2074,3743,0,0,0,0,0,0
$GC,4662,-1.41,-136.3,486.0,-8.1,230,4663,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2074,3742,0,0,0,0,0,0
$GC,4903,-1.41,-136.3,506.8,-8.6,236,4908,0.00,2.88,0.00,0.000,4,0.000,0.069,2817,3749,3740,0,0,0,0,0,0
$GC,4930,-1.41,-136.3,509.3,-9.3,236,4935,0.00,2.85,0.00,0.000,6,0.000,0.064,2836,2078,3740,0,0,0,0,0,0
$GC,5180,-1.41,-136.3,529.8,-8.2,242,5181,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2078,3738,0,0,0,0,0,0
$GC,5426,-1.41,-136.3,548.9,-7.7,248,5431,0.00,2.90,0.00,0.000,4,0.000,0.074,2818,3754,3737,0,0,0,0,0,0
$STATE,5439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5439,begin apogee
$GC,5448,-0.31,0.0,550.4,8.0,248,5562,1.02,0.00,111.07,0.963,6,0.080,0.000,3070,2183,3190,0,0,0,0,0,0
$STATE,5563,end apogee,CONTROL_FINISHED_OK
$STATE,5563,begin climb
$GC,5566,1.32,136.3,552.5,0.0,251,5684,1.55,0.00,114.38,0.935,6,0.046,0.000,3436,2183,2635,0,0,0,0,0,0
$GC,5915,1.18,136.3,519.6,11.1,260,5917,0.17,0.00,0.00,0.000,6,0.122,0.000,3403,2183,2628,0,0,0,0,0,0
$GC,6157,1.15,168.7,498.1,8.6,266,6187,0.00,0.00,28.10,0.890,6,0.000,0.000,3403,2183,2502,0,0,0,0,0,0
$GC,6402,1.10,169.2,474.4,10.2,272,6407,0.00,2.95,0.00,0.000,4,0.000,0.100,3402,588,2496,0,0,0,0,0,0
$GC,6425,1.03,169.2,471.7,10.7,272,6431,0.17,2.62,0.00,0.000,6,0.117,0.038,3368,2159,2495,0,0,0,0,0,0
$GC,6681,1.05,191.2,448.0,9.1,279,6706,0.00,2.80,19.65,0.862,4,0.000,0.051,3368,3777,2411,0,0,0,0,0,0
$GC,6799,1.05,193.4,436.5,10.1,281,6804,0.00,2.67,0.00,0.000,6,0.000,0.041,3368,2183,2408,0,0,0,0,0,0
$GC,7050,1.11,199.6,411.7,9.9,287,7064,0.00,2.92,8.38,0.762,4,0.000,0.087,3335,593,2376,0,0,0,0,0,0
$GC,7088,1.11,199.6,407.6,11.0,287,7094,0.00,2.62,0.00,0.000,6,0.000,0.027,3368,2203,2374,0,0,0,0,0,0
$GC,7338,1.15,200.3,381.8,10.1,294,7343,0.12,2.58,0.00,0.000,4,0.080,0.045,3393,3762,2373,0,0,0,0,0,0
$GC,7360,1.15,200.3,379.2,11.1,294,7364,0.00,2.60,0.00,0.000,6,0.000,0.038,3402,2177,2373,0,0,0,0,0,0
$GC,7618,1.15,200.3,350.4,10.9,301,7623,0.00,2.62,0.00,0.000,4,0.000,0.040,3403,3764,2371,0,0,0,0,0,0
$GC,7658,1.15,200.3,345.9,11.5,302,7662,0.00,2.58,0.00,0.000,6,0.000,0.039,3401,2187,2371,0,0,0,0,0,0
$GC,7941,1.21,251.4,322.1,7.6,309,7994,0.00,2.83,46.03,0.810,4,0.000,0.065,3402,587,2164,0,0,0,0,0,0
$GC,8049,1.22,258.9,312.9,9.8,311,8064,0.00,2.58,8.05,0.688,6,0.000,0.022,3402,2195,2133,0,0,0,0,0,0
$GC,8315,1.22,258.9,285.2,11.1,318,8319,0.00,2.58,0.00,0.000,4,0.000,0.040,3392,3762,2129,0,0,0,0,0,0
$GC,8388,1.28,258.9,276.4,11.2,319,8393,0.00,2.60,0.00,0.000,6,0.000,0.030,3402,2170,2128,0,0,0,0,0,0
$GC,8638,1.33,258.9,247.7,11.5,325,8644,0.12,2.70,0.00,0.000,4,0.081,0.064,3435,597,2127,0,0,0,0,0,0
$GC,8705,1.33,258.9,239.0,13.3,326,8709,0.00,2.53,0.00,0.000,6,0.000,0.024,3420,2174,2125,0,0,0,0,0,0
$GC,8963,1.33,258.9,207.3,13.0,333,8964,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2174,2123,0,0,0,0,0,0
$GC,9212,1.33,258.9,174.6,12.8,351,9213,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2174,2125,0,0,0,0,0,0
$GC,9472,1.33,258.9,143.1,12.1,375,9477,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2170,2125,0,0,0,0,0,0
$GC,9733,1.33,258.9,111.9,11.4,400,9738,0.00,2.62,0.00,0.000,4,0.000,0.055,3436,598,2125,0,0,0,0,0,0
$GC,9778,1.33,258.9,107.2,12.1,403,9783,0.00,2.47,0.00,0.000,6,0.000,0.026,3436,2174,2125,0,0,0,0,0,0
$GC,10047,1.35,274.3,79.2,9.4,427,10062,0.00,0.00,13.75,0.549,6,0.000,0.000,3436,2173,2071,0,0,0,0,0,0
$GC,10320,1.36,289.2,51.6,9.4,452,10339,0.00,0.00,14.45,0.528,6,0.000,0.000,3436,2174,2009,0,0,0,0,0,0
$GC,10615,1.36,289.2,20.3,11.0,484,10624,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2173,2008,0,0,0,0,0,0
$STATE,10761,end climb,SURFACE_DEPTH_REACHED
$STATE,10761,begin surface coast
$FINISH,-0.6,1.023761
$STATE,10814,end surface coast,CONTROL_FINISHED_OK
$STATE,10814,begin surface
$SM_CCo,10835,73.90,0.512,0,0,1639,380.21
$SM_GC,0.11,0.00,0.00,73.90,0.000,0.000,0.512,465,2175,1639,-12.32,-0.11,380.21
$IRIDIUM_FIX,2223.01,-15800.66,170901,191946
$TT8_MAMPS,0.027612
$HUMID,60.19
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,22.10
$XPDR_PINGS,41
$24V_AH,23.5,26.931
$10V_AH,10.3,24.537
$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,32.575,111.675,363.850,73.900,0.000,29.409,32.533,170.201,10.250,0.000,32.961,1040.304,7296.927,534.243,1890.739,543.183,33.374,1224.069,0.000,1880.243,0.000,0.534,0.000
$DEVICE_MAMPS,173.342,100.477,963.352,512.356,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,347.198,288.089,376.635,718.904,1087.317,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356020
$DATA_FILE_SIZE,38402,512
$CAP_FILE_SIZE,104600,0
$CFSIZE,260165632,135180288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,0,0,0
$GPS,240612,011921,2228.264,-15801.481,7,2.1,26,10.0