version: 66.06
glider: 146
mission: 7
dive: 195
start: 6 24 112 14 49 44
data:
$ID,146
$MISSION,7
$DIVE,195
$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,-293778.97
$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,48
$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
$GPS1,144155,2226.925,-15800.854,71,2.0,71,10.0
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-68.2
$GPS2,144850,2226.946,-15800.887,33,1.9,33,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.015,-0.253
$KALMAN_X,13480.6,30.3,5.9,-8675.1,317.5
$KALMAN_Y,98877.8,267.1,-224.6,-124183.6,1193.6
$MHEAD_RNG_PITCHd_Wd,173.5,50149,-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,-136.3,0.0,0.0,0,107,0.00,0.00,-85.75,0.000,6,0.000,0.000,462,2212,3747,0,0,0,0,0,0
$GC,112,-1.32,-136.3,3.3,-8.6,11,138,13.23,2.72,0.00,0.000,4,0.174,0.041,2801,587,3749,0,0,0,0,0,0
$GC,227,-1.14,-136.3,33.2,-18.0,26,232,0.20,2.47,0.00,0.000,6,0.119,0.018,2891,2195,3749,0,0,0,0,0,0
$GC,495,-1.06,-136.3,68.1,-12.1,50,505,0.10,0.00,0.00,0.000,6,0.130,0.000,2912,2197,3749,0,0,0,0,0,0
$GC,761,-1.06,-136.3,97.4,-9.9,75,766,0.00,2.65,0.00,0.000,4,0.000,0.051,2912,590,3750,0,0,0,0,0,0
$GC,828,-1.06,-136.3,105.1,-11.3,80,832,0.00,2.45,0.00,0.000,6,0.000,0.017,2912,2174,3750,0,0,0,0,0,0
$GC,1089,-1.06,-136.3,133.1,-10.5,104,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2174,3750,0,0,0,0,0,0
$GC,1346,-1.06,-136.3,157.9,-9.7,128,1351,0.00,2.60,0.00,0.000,4,0.000,0.048,2861,591,3751,0,0,0,0,0,0
$GC,1365,-1.06,-136.3,159.9,-9.7,129,1370,0.00,2.42,0.00,0.000,6,0.000,0.018,2912,2178,3751,0,0,0,0,0,0
$GC,1628,-1.06,-136.3,186.6,-10.3,153,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2179,3751,0,0,0,0,0,0
$GC,1877,-1.06,-136.3,212.6,-10.3,168,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2179,3751,0,0,0,0,0,0
$GC,2119,-1.06,-136.3,234.7,-9.0,174,2124,0.00,2.60,0.00,0.000,4,0.000,0.049,2912,599,3752,0,0,0,0,0,0
$GC,2152,-1.06,-136.3,237.8,-9.5,174,2157,0.00,2.42,0.00,0.000,6,0.000,0.025,2912,2170,3752,0,0,0,0,0,0
$GC,2404,-1.12,-136.3,258.9,-8.1,181,2409,0.00,2.47,0.00,0.000,4,0.000,0.037,2913,3745,3752,0,0,0,0,0,0
$GC,2438,-1.20,-136.3,262.0,-8.7,181,2444,0.12,2.50,0.00,0.000,6,0.066,0.023,2860,2150,3752,0,0,0,0,0,0
$GC,2688,-1.20,-136.3,287.5,-10.5,188,2693,0.10,2.55,0.00,0.000,4,0.118,0.035,2874,3744,3752,0,0,0,0,0,0
$GC,2711,-1.20,-136.3,289.9,-10.5,188,2715,0.00,2.42,0.00,0.000,6,0.000,0.024,2872,2181,3750,0,0,0,0,0,0
$GC,2966,-1.24,-136.3,314.3,-9.1,195,2971,0.00,2.65,0.00,0.000,4,0.000,0.070,2807,610,3752,0,0,0,0,0,0
$GC,3028,-1.28,-136.3,319.8,-8.7,196,3032,0.00,2.42,0.00,0.000,6,0.000,0.028,2882,2163,3752,0,0,0,0,0,0
$GC,3291,-1.34,-136.3,337.9,-6.7,203,3296,0.12,2.58,0.00,0.000,4,0.070,0.044,2834,3754,3752,0,0,0,0,0,0
$GC,3331,-1.34,-136.3,341.4,-9.1,204,3335,0.00,2.50,0.00,0.000,6,0.000,0.036,2834,2194,3752,0,0,0,0,0,0
$GC,3616,-1.34,-136.3,367.7,-9.6,211,3617,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2193,3751,0,0,0,0,0,0
$GC,3858,-1.34,-136.3,392.0,-10.2,217,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2193,3750,0,0,0,0,0,0
$GC,4101,-1.34,-136.3,418.8,-11.3,223,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2197,3748,0,0,0,0,0,0
$GC,4344,-1.34,-136.3,444.9,-10.4,229,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2195,3747,0,0,0,0,0,0
$GC,4590,-1.34,-136.3,469.7,-10.3,235,4595,0.00,2.62,0.00,0.000,4,0.000,0.059,2806,3747,3746,0,0,0,0,0,0
$GC,4617,-1.34,-136.3,472.8,-11.4,235,4623,1.17,2.62,0.00,0.000,6,0.071,0.056,2879,2176,3745,4,0,0,0,0,0
$GC,4868,-2.00,-136.3,486.0,-6.0,241,4871,1.73,0.00,0.00,0.000,6,0.053,0.000,2702,2176,3743,0,0,0,0,0,0
$GC,5113,-1.74,-136.3,513.7,-12.3,247,5118,0.25,2.92,0.00,0.000,4,0.104,0.108,2759,590,3741,0,0,0,0,0,0
$GC,5146,-1.56,-136.3,517.9,-11.0,247,5153,0.20,2.60,0.00,0.000,6,0.110,0.050,2801,2157,3741,0,0,0,0,0,0
$GC,5397,-1.49,-136.3,540.4,-9.1,254,5401,0.00,2.83,0.00,0.000,4,0.000,0.084,2772,3765,3740,0,0,0,0,0,0
$STATE,5489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5489,begin apogee
$GC,5499,-0.31,0.0,550.2,10.6,256,5614,1.20,0.00,110.88,0.954,6,0.081,0.000,3074,2173,3190,0,0,0,0,0,0
$STATE,5614,end apogee,CONTROL_FINISHED_OK
$STATE,5615,begin climb
$GC,5617,1.32,136.3,553.2,0.0,259,5738,1.50,0.00,114.05,0.923,6,0.047,0.000,3433,2173,2633,0,0,0,0,0,0
$GC,5982,1.19,136.3,522.5,10.3,268,5988,0.15,2.75,0.00,0.000,4,0.125,0.056,3368,3767,2625,0,0,0,0,0,0
$GC,6116,1.12,139.7,509.1,10.0,271,6121,0.00,2.72,0.00,0.000,6,0.000,0.051,3405,2182,2624,0,0,0,0,0,0
$GC,6400,1.11,187.1,485.3,7.8,278,6449,0.00,3.15,42.53,0.894,4,0.000,0.115,3404,594,2427,0,0,0,0,0,0
$GC,6470,1.05,196.0,479.6,9.7,279,6487,0.25,2.65,9.30,0.780,6,0.108,0.038,3067,2176,2391,0,0,0,0,0,0
$GC,6730,1.17,242.7,459.1,7.8,286,6775,0.20,0.00,42.08,0.879,6,0.060,0.000,3405,2176,2200,0,0,0,0,0,0
$GC,7013,1.17,242.7,422.5,13.8,293,7018,0.00,2.67,0.00,0.000,4,0.000,0.047,3383,3775,2194,0,0,0,0,0,0
$GC,7082,1.17,242.7,412.3,15.1,294,7086,0.00,2.67,0.00,0.000,6,0.000,0.043,3405,2168,2192,0,0,0,0,0,0
$GC,7336,1.17,242.7,378.5,12.8,301,7341,0.00,2.78,0.00,0.000,4,0.000,0.073,3411,585,2191,0,0,0,0,0,0
$GC,7375,1.17,242.7,373.2,14.5,302,7380,0.00,2.58,0.00,0.000,6,0.000,0.024,3405,2190,2190,0,0,0,0,0,0
$GC,7660,1.17,242.7,338.9,11.9,309,7664,0.00,2.55,0.00,0.000,4,0.000,0.044,3380,3758,2189,0,0,0,0,0,0
$GC,7700,1.17,242.7,333.6,12.6,310,7706,0.30,2.58,0.00,0.000,6,0.055,0.037,3476,2171,2188,1,0,0,0,0,0
$GC,7984,1.03,242.7,291.5,14.6,317,7990,0.55,2.70,0.00,0.000,4,0.105,0.061,3371,595,2190,0,0,0,0,0,0
$GC,8009,1.03,242.7,288.6,11.9,317,8013,0.00,2.53,0.00,0.000,6,0.000,0.026,3356,2178,2187,0,0,0,0,0,0
$GC,8264,1.19,288.8,268.2,7.9,324,8309,0.15,2.65,38.80,0.756,4,0.067,0.040,3399,3756,2013,0,0,0,0,0,0
$GC,8387,1.26,288.8,253.3,12.4,326,8393,0.00,2.58,0.00,0.000,6,0.000,0.036,3412,2182,2009,0,0,0,0,0,0
$GC,8637,1.31,288.8,224.6,11.2,333,8642,0.00,2.58,0.00,0.000,4,0.000,0.036,3388,3758,2008,0,0,0,0,0,0
$GC,8659,1.36,288.8,222.2,11.1,333,8665,0.45,2.53,0.00,0.000,6,0.046,0.029,3474,2187,2007,1,0,0,0,0,0
$GC,8928,1.17,288.8,177.0,17.3,349,8934,0.60,2.55,0.00,0.000,4,0.108,0.034,3383,3760,2007,0,0,0,0,0,0
$GC,8951,1.13,288.8,172.3,15.1,350,8956,0.00,2.50,0.00,0.000,6,0.000,0.027,3405,2189,2007,0,0,0,0,0,0
$GC,9220,1.20,295.4,146.5,9.8,375,9233,0.00,2.72,6.65,0.538,4,0.000,0.058,3405,602,1984,0,0,0,0,0,0
$GC,9268,1.25,295.4,141.0,10.8,379,9272,0.00,2.50,0.00,0.000,6,0.000,0.021,3405,2200,1983,0,0,0,0,0,0
$GC,9536,1.32,295.4,113.5,10.6,403,9542,0.10,0.00,0.00,0.000,6,0.090,0.000,3435,2200,1983,0,0,0,0,0,0
$GC,9797,1.32,295.4,81.7,11.3,428,9801,0.00,2.67,0.00,0.000,4,0.000,0.048,3435,591,1983,0,0,0,0,0,0
$GC,9833,1.32,295.4,77.2,12.5,430,9842,0.00,2.53,0.00,0.000,6,0.000,0.019,3435,2190,1983,0,0,0,0,0,0
$GC,10099,1.36,295.4,46.0,12.2,455,10107,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2193,1983,0,0,0,0,0,0
$GC,10403,1.40,295.4,5.6,13.2,494,10411,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2193,1984,0,0,0,0,0,0
$STATE,10418,end climb,SURFACE_DEPTH_REACHED
$STATE,10418,begin surface coast
$FINISH,-0.5,1.004472
$STATE,10459,end surface coast,CONTROL_FINISHED_OK
$STATE,10459,begin surface
$SM_CCo,10480,68.75,0.515,0,0,1640,380.46
$SM_GC,0.19,0.00,0.00,68.75,0.000,0.000,0.515,465,2193,1640,-12.33,0.37,380.46
$IRIDIUM_FIX,2220.67,-15802.82,180901,111128
$TT8_MAMPS,0.027612
$HUMID,60.98
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,22.00
$XPDR_PINGS,42
$24V_AH,23.5,27.728
$10V_AH,10.3,25.090
$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,34.525,114.925,364.275,68.750,0.000,25.644,32.974,189.749,10.500,0.000,34.845,1014.939,7017.979,526.655,1846.398,558.581,33.366,1221.120,0.000,1830.888,0.000,0.536,0.000
$DEVICE_MAMPS,174.109,115.050,954.148,514.657,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,339.674,267.857,373.213,693.355,1048.635,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355980
$DATA_FILE_SIZE,38472,502
$CAP_FILE_SIZE,107060,0
$CFSIZE,260165632,134909952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,6,0,0,0
$GPS,240612,174655,2226.084,-15800.863,39,1.0,39,10.0