version: 66.06
glider: 146
mission: 7
dive: 196
start: 6 24 112 17 54 51
data:
$ID,146
$MISSION,7
$DIVE,196
$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,-293794
$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,32
$R_STBD_OVSHOOT,45
$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
$GPS1,174655,2226.084,-15800.863,39,1.0,39,10.0
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,2
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-70.7
$GPS2,175356,2226.120,-15800.908,11,1.1,11,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.023,-0.252
$KALMAN_X,13581.7,-110.6,184.0,-8847.2,-108.6
$KALMAN_Y,100338.9,-177.4,-40.7,-126912.9,1380.0
$MHEAD_RNG_PITCHd_Wd,164.8,48632,-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,18,-1.32,-136.3,0.0,0.0,0,114,0.00,0.00,-86.40,0.000,6,0.000,0.000,464,2193,3746,0,0,0,0,0,0
$GC,118,-1.32,-136.3,5.0,-13.7,12,136,13.18,2.67,0.00,0.000,4,0.173,0.038,2789,591,3747,0,0,0,0,0,0
$GC,304,-1.18,-136.3,49.3,-17.2,32,313,0.12,2.50,0.00,0.000,6,0.104,0.017,2883,2188,3747,0,0,0,0,0,0
$GC,572,-1.10,-136.3,84.2,-12.2,57,577,0.10,2.65,0.00,0.000,4,0.131,0.044,2903,595,3747,0,0,0,0,0,0
$GC,630,-1.10,-136.3,90.8,-9.7,61,634,0.00,2.42,0.00,0.000,6,0.000,0.017,2903,2174,3748,0,0,0,0,0,0
$GC,898,-1.10,-136.3,116.5,-8.7,85,903,0.00,2.58,0.00,0.000,4,0.000,0.050,2903,599,3749,0,0,0,0,0,0
$GC,932,-1.10,-136.3,119.7,-9.4,87,936,0.00,2.42,0.00,0.000,6,0.000,0.020,2903,2169,3749,0,0,0,0,0,0
$GC,1201,-1.10,-136.3,142.5,-8.2,111,1205,0.00,2.50,0.00,0.000,4,0.000,0.034,2898,3746,3750,0,0,0,0,0,0
$GC,1217,-1.10,-136.3,144.7,-9.1,112,1222,0.00,2.47,0.00,0.000,6,0.000,0.027,2903,2161,3748,0,0,0,0,0,0
$GC,1483,-1.10,-136.3,171.8,-11.2,136,1488,0.00,2.53,0.00,0.000,4,0.000,0.047,2903,608,3750,0,0,0,0,0,0
$GC,1507,-1.10,-136.3,175.0,-11.3,137,1513,0.00,2.38,0.00,0.000,6,0.000,0.021,2904,2172,3750,0,0,0,0,0,0
$GC,1776,-1.10,-136.3,205.1,-10.9,160,1781,0.00,2.47,0.00,0.000,4,0.000,0.039,2903,3746,3750,0,0,0,0,0,0
$GC,1798,-1.10,-136.3,207.5,-10.7,160,1802,0.00,2.45,0.00,0.000,6,0.000,0.021,2903,2165,3750,0,0,0,0,0,0
$GC,2055,-1.10,-136.3,234.9,-11.1,167,2060,0.00,2.58,0.00,0.000,4,0.000,0.051,2887,608,3751,0,0,0,0,0,0
$GC,2071,-1.10,-136.3,237.0,-11.1,167,2075,0.00,2.38,0.00,0.000,6,0.000,0.018,2904,2165,3751,0,0,0,0,0,0
$GC,2339,-1.15,-136.3,259.8,-8.1,174,2343,0.00,2.50,0.00,0.000,4,0.000,0.041,2903,3746,3751,0,0,0,0,0,0
$GC,2363,-1.21,-136.3,261.6,-7.5,174,2368,0.10,2.45,0.00,0.000,6,0.079,0.028,2856,2167,3751,0,0,0,0,0,0
$GC,2618,-1.21,-136.3,281.8,-7.9,181,2623,0.10,2.53,0.00,0.000,4,0.120,0.041,2879,3742,3751,0,0,0,0,0,0
$GC,2693,-1.26,-136.3,287.8,-8.1,182,2697,0.00,2.45,0.00,0.000,6,0.000,0.024,2879,2183,3750,0,0,0,0,0,0
$GC,2943,-1.26,-136.3,306.3,-7.3,188,2947,0.00,2.67,0.00,0.000,4,0.000,0.065,2879,602,3751,0,0,0,0,0,0
$GC,3004,-1.30,-136.3,311.1,-8.6,189,3008,0.00,2.42,0.00,0.000,6,0.000,0.026,2879,2156,3751,0,0,0,0,0,0
$GC,3267,-1.35,-136.3,333.0,-8.6,196,3272,0.12,2.60,0.00,0.000,4,0.068,0.044,2808,3760,3750,0,0,0,0,0,0
$GC,3322,-1.30,-136.3,339.4,-11.9,197,3328,0.15,2.53,0.00,0.000,6,0.100,0.033,2862,2185,3750,0,0,0,0,0,0
$GC,3591,-1.30,-136.3,364.6,-9.4,204,3592,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2185,3749,0,0,0,0,0,0
$GC,3833,-1.30,-136.3,386.3,-8.8,210,3837,0.00,2.80,0.00,0.000,4,0.000,0.082,2864,593,3748,0,0,0,0,0,0
$GC,3905,-1.30,-136.3,392.8,-8.5,211,3909,0.00,2.53,0.00,0.000,6,0.000,0.032,2864,2168,3748,0,0,0,0,0,0
$GC,4157,-1.30,-136.3,412.2,-7.6,217,4161,0.00,2.70,0.00,0.000,4,0.000,0.071,2863,601,3747,0,0,0,0,0,0
$GC,4172,-1.30,-136.3,413.7,-7.6,217,4177,0.00,2.53,0.00,0.000,6,0.000,0.035,2863,2171,3746,0,0,0,0,0,0
$GC,4434,-1.34,-136.3,434.7,-8.0,224,4439,0.00,2.65,0.00,0.000,4,0.000,0.055,2831,3762,3745,0,0,0,0,0,0
$GC,4497,-1.38,-136.3,440.0,-8.3,225,4502,0.00,2.62,0.00,0.000,6,0.000,0.046,2862,2189,3746,0,0,0,0,0,0
$GC,4758,-1.42,-136.3,460.0,-7.4,232,4760,0.12,0.00,0.00,0.000,6,0.072,0.000,2817,2189,3743,0,0,0,0,0,0
$GC,5002,-1.38,-136.3,481.4,-8.8,238,5007,0.12,2.92,0.00,0.000,4,0.110,0.109,2843,593,3741,0,0,0,0,0,0
$GC,5059,-1.38,-136.3,485.9,-8.0,239,5064,0.00,2.60,0.00,0.000,6,0.000,0.045,2843,2171,3740,0,0,0,0,0,0
$GC,5326,-1.38,-136.3,504.3,-6.8,246,5327,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2172,3739,0,0,0,0,0,0
$GC,5569,-1.38,-136.3,522.7,-7.8,252,5574,0.00,2.75,0.00,0.000,4,0.000,0.074,2821,3765,3736,0,0,0,0,0,0
$GC,5660,-1.42,-136.3,531.0,-9.4,254,5665,0.00,2.70,0.00,0.000,6,0.000,0.053,2841,2174,3737,0,0,0,0,0,0
$STATE,5895,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5895,begin apogee
$GC,5900,-0.31,0.0,553.3,9.6,260,6017,1.00,0.00,111.15,0.964,6,0.072,0.000,3073,2173,3189,0,0,0,0,0,0
$STATE,6018,end apogee,CONTROL_FINISHED_OK
$STATE,6018,begin climb
$GC,6022,1.32,136.3,557.6,0.0,263,6146,1.50,2.83,113.53,0.938,4,0.042,0.065,3392,3766,2633,0,0,0,0,0,0
$GC,6182,1.17,136.3,548.0,11.5,266,6187,0.00,2.75,0.00,0.000,6,0.000,0.061,3416,2183,2629,0,0,0,0,0,0
$GC,6432,1.03,136.3,519.6,11.5,272,6437,0.30,2.72,0.00,0.000,4,0.110,0.055,3347,3770,2625,0,0,0,0,0,0
$GC,6482,1.03,136.3,513.9,11.3,273,6486,0.00,2.70,0.00,0.000,6,0.000,0.056,3371,2189,2623,0,0,0,0,0,0
$GC,6757,1.05,149.9,487.7,9.5,280,6775,0.00,2.78,11.70,0.830,4,0.000,0.051,3279,3769,2577,0,0,0,0,0,0
$GC,6810,1.05,149.9,482.0,10.6,281,6814,0.00,2.67,0.00,0.000,6,0.000,0.048,3371,2189,2575,0,0,0,0,0,0
$GC,7083,1.06,160.5,455.2,9.7,288,7099,0.00,3.03,10.02,0.805,4,0.000,0.105,3371,590,2535,0,0,0,0,0,0
$GC,7134,1.06,160.5,449.9,11.7,289,7138,0.00,2.65,0.00,0.000,6,0.000,0.035,3371,2208,2533,0,0,0,0,0,0
$GC,7406,1.08,173.7,423.1,9.5,296,7425,0.00,2.67,12.40,0.818,4,0.000,0.049,3284,3761,2481,0,0,0,0,0,0
$GC,7500,1.08,173.7,413.9,10.4,298,7514,6.25,2.60,0.00,0.000,6,0.421,0.035,3385,2198,2478,22,0,0,0,0,0
$GC,7782,0.46,173.7,345.1,25.2,305,7791,2.88,2.65,0.00,0.000,4,0.128,0.039,3243,3769,2476,0,0,0,0,0,0
$GC,7831,0.92,270.7,340.4,5.3,306,7926,0.40,2.55,84.40,0.823,6,0.036,0.028,3360,2203,2086,0,0,0,0,0,0
$GC,8194,1.02,278.9,306.4,9.8,315,8203,0.00,0.00,7.25,0.667,6,0.000,0.000,3360,2203,2054,0,0,0,0,0,0
$GC,8439,1.14,279.6,281.6,10.2,321,8444,0.12,2.75,0.00,0.000,4,0.074,0.061,3397,594,2050,0,0,0,0,0,0
$GC,8528,1.18,279.6,270.4,11.5,323,8533,0.00,2.60,0.00,0.000,6,0.000,0.023,3397,2219,2048,0,0,0,0,0,0
$GC,8808,1.23,279.6,239.8,11.1,330,8812,0.00,2.47,0.00,0.000,4,0.000,0.040,3380,3754,2048,0,0,0,0,0,0
$GC,8902,1.33,285.9,229.5,9.9,332,8917,0.90,2.50,6.82,0.614,6,0.038,0.031,3607,2216,2025,3,0,0,0,0,0
$GC,9177,0.96,285.9,170.1,22.9,347,9187,1.38,2.53,0.00,0.000,4,0.127,0.037,3357,3762,2022,0,0,0,0,0,0
$GC,9205,0.96,285.9,165.0,12.8,349,9211,0.00,2.50,0.00,0.000,6,0.000,0.027,3357,2212,2022,0,0,0,0,0,0
$GC,9468,1.17,329.6,143.9,8.0,374,9516,0.17,2.80,39.30,0.645,4,0.061,0.060,3292,602,1845,0,0,0,0,0,0
$GC,9578,1.25,329.6,131.4,12.8,383,9583,0.00,2.55,0.00,0.000,6,0.000,0.022,3407,2214,1842,0,0,0,0,0,0
$GC,9847,1.31,329.6,100.7,11.7,407,9852,0.10,2.50,0.00,0.000,4,0.087,0.035,3438,3754,1841,0,0,0,0,0,0
$GC,9864,1.35,329.6,97.7,12.1,408,9869,0.00,2.47,0.00,0.000,6,0.000,0.027,3439,2204,1841,0,0,0,0,0,0
$GC,10131,1.35,329.6,63.5,13.3,432,10135,0.00,2.65,0.00,0.000,4,0.000,0.051,3438,599,1840,0,0,0,0,0,0
$GC,10179,1.35,329.6,57.4,12.6,435,10184,0.00,2.53,0.00,0.000,6,0.000,0.020,3439,2208,1839,0,0,0,0,0,0
$GC,10456,1.35,329.6,21.9,12.3,463,10465,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2208,1839,0,0,0,0,0,0
$STATE,10597,end climb,SURFACE_DEPTH_REACHED
$STATE,10597,begin surface coast
$FINISH,-0.5,1.023756
$STATE,10643,end surface coast,CONTROL_FINISHED_OK
$STATE,10643,begin surface
$SM_CCo,10664,40.28,0.516,0,0,1640,380.21
$SM_GC,0.16,0.00,0.00,40.28,0.000,0.000,0.516,467,2212,1640,-12.31,0.90,380.21
$IRIDIUM_FIX,2218.34,-15800.66,180901,141458
$TT8_MAMPS,0.027612
$HUMID,63.30
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,21.40
$XPDR_PINGS,49
$24V_AH,23.5,27.850
$10V_AH,10.3,25.198
$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,41.050,145.400,396.575,40.275,0.000,28.361,35.789,213.438,12.250,0.000,14.421,1045.176,7040.633,515.466,1918.526,607.733,33.368,1291.090,0.000,1913.875,0.000,0.535,0.000
$DEVICE_MAMPS,421.083,108.914,964.119,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,331.433,265.497,357.036,658.919,991.914,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356020
$DATA_FILE_SIZE,38526,489
$CAP_FILE_SIZE,118229,0
$CFSIZE,260165632,134848512
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,25,0,0,0
$GPS,240612,205525,2225.410,-15801.099,89,1.1,89,10.0