version: 66.06
glider: 146
mission: 7
dive: 246
start: 7 1 112 13 40 15
data:
$ID,146
$MISSION,7
$DIVE,246
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$D_ABORT,720
$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,160
$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,-295974.19
$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,3115
$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,7
$R_STBD_OVSHOOT,26
$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
$GPS1,133507,2208.164,-15807.420,9,1.3,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.04
$_SM_ANGLEo,-65.9
$GPS2,133924,2208.158,-15807.500,9,1.3,14,10.0
$SPEED_LIMITS,0.179,0.270
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.269,0.017
$KALMAN_X,-68076.0,-690.9,635.2,61690.3,-3021.7
$KALMAN_Y,177175.9,300.5,-54.0,-237480.7,242.4
$MHEAD_RNG_PITCHd_Wd,76.3,22236,-22.0,-12.500
$D_GRID,600
$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,-1.54,-136.3,0.0,0.0,0,159,0.00,0.00,-134.77,0.000,6,0.000,0.000,479,2192,3745,0,0,0,0,0,0
$GC,166,-1.54,-136.3,2.8,-6.2,16,187,12.65,2.58,0.00,0.000,4,0.173,0.034,2680,3767,3746,0,0,0,0,0,0
$GC,198,-0.38,-136.3,18.0,-35.9,19,209,3.58,2.60,0.00,0.000,6,0.095,0.025,3144,2147,3747,10,0,0,0,0,0
$GC,510,-1.75,-136.3,47.8,-9.5,52,526,3.65,2.58,0.00,0.000,4,0.064,0.048,2733,608,3746,0,0,0,0,0,0
$GC,682,-1.51,-136.3,75.9,-19.4,64,688,0.28,2.45,0.00,0.000,6,0.103,0.025,2789,2210,3746,0,0,0,0,0,0
$GC,944,-1.39,-136.3,117.2,-14.6,88,950,0.10,2.67,0.00,0.000,4,0.132,0.045,2770,597,3745,0,0,0,0,0,0
$GC,1016,-1.31,-136.3,127.6,-15.5,93,1020,0.00,2.42,0.00,0.000,6,0.000,0.021,2810,2185,3745,0,0,0,0,0,0
$GC,1277,-1.22,-136.3,165.6,-14.1,117,1279,0.17,0.00,0.00,0.000,6,0.107,0.000,2846,2185,3745,0,0,0,0,0,0
$GC,1532,-1.22,-136.3,196.4,-11.6,141,1533,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2185,3745,0,0,0,0,0,0
$GC,1810,-1.22,-136.3,228.3,-11.1,150,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2185,3745,0,0,0,0,0,0
$GC,2052,-1.28,-136.3,251.0,-8.8,156,2056,0.00,2.65,0.00,0.000,4,0.000,0.056,2846,604,3745,0,0,0,0,0,0
$GC,2079,-1.32,-136.3,254.0,-11.1,156,2084,0.00,2.42,0.00,0.000,6,0.000,0.019,2846,2185,3744,0,0,0,0,0,0
$GC,2330,-1.39,-136.3,276.6,-8.9,162,2335,0.15,2.65,0.00,0.000,4,0.060,0.056,2790,605,3744,0,0,0,0,0,0
$GC,2370,-1.34,-136.3,280.1,-9.0,163,2375,0.15,2.47,0.00,0.000,6,0.107,0.026,2820,2181,3744,0,0,0,0,0,0
$GC,2656,-1.38,-136.3,303.9,-8.8,170,2660,0.00,2.55,0.00,0.000,4,0.000,0.048,2798,3755,3743,0,0,0,0,0,0
$GC,2763,-1.43,-136.3,315.4,-10.8,172,2767,0.00,2.50,0.00,0.000,6,0.000,0.032,2820,2193,3743,0,0,0,0,0,0
$GC,3024,-1.48,-136.3,342.2,-10.3,179,3029,0.12,2.58,0.00,0.000,4,0.069,0.042,2751,3754,3741,0,0,0,0,0,0
$GC,3065,-1.48,-136.3,346.8,-11.6,180,3070,0.00,2.53,0.00,0.000,6,0.000,0.033,2772,2182,3741,0,0,0,0,0,0
$GC,3348,-1.48,-136.3,382.3,-12.6,187,3353,0.00,2.60,0.00,0.000,4,0.000,0.044,2751,3754,3740,0,0,0,0,0,0
$GC,3373,-1.44,-136.3,385.1,-12.4,187,3378,0.12,2.55,0.00,0.000,6,0.110,0.044,2799,2191,3740,0,0,0,0,0,0
$GC,3628,-1.44,-136.3,413.2,-10.8,194,3629,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2191,3737,0,0,0,0,0,0
$GC,3872,-1.44,-136.3,437.6,-9.9,200,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2191,3736,0,0,0,0,0,0
$GC,4118,-1.48,-136.3,461.4,-9.7,206,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2191,3734,0,0,0,0,0,0
$GC,4360,-1.52,-136.3,485.7,-9.9,212,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2191,3731,0,0,0,0,0,0
$GC,4603,-1.56,-136.3,508.9,-9.4,218,4609,0.10,2.72,0.00,0.000,4,0.084,0.074,2731,3744,3730,0,0,0,0,0,0
$GC,4684,-1.56,-136.3,517.3,-10.7,219,4689,0.00,2.67,0.00,0.000,6,0.000,0.064,2760,2186,3730,0,0,0,0,0,0
$GC,4934,-1.56,-136.3,542.8,-10.1,226,4938,0.00,3.05,0.00,0.000,4,0.000,0.127,2760,590,3727,0,0,0,0,0,0
$GC,4950,-1.51,-136.3,544.5,-9.8,226,4955,0.12,2.62,0.00,0.000,6,0.114,0.051,2785,2154,3727,0,0,0,0,0,0
$GC,5213,-1.51,-136.3,568.7,-9.1,233,5214,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2154,3725,0,0,0,0,0,0
$GC,5455,-1.51,-136.3,590.5,-9.0,239,5459,0.00,2.92,0.00,0.000,4,0.000,0.096,2758,3767,3723,0,0,0,0,0,0
$GC,5539,-1.51,-136.3,598.0,-9.3,241,5544,0.00,2.80,0.00,0.000,6,0.000,0.073,2785,2168,3722,0,0,0,0,0,0
$STATE,5558,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5558,begin apogee
$GC,5565,-0.31,0.0,600.1,9.5,241,5678,1.12,0.00,109.07,1.010,6,0.081,0.000,3041,2168,3190,0,0,0,0,0,0
$STATE,5679,end apogee,CONTROL_FINISHED_OK
$STATE,5679,begin climb
$GC,5681,1.54,136.3,601.5,0.0,244,5802,1.77,0.00,116.32,0.978,6,0.050,0.000,3457,2168,2634,0,0,0,0,0,0
$GC,6026,1.46,136.3,559.5,14.5,253,6031,0.12,2.80,0.00,0.000,4,0.144,0.064,3428,3765,2624,0,0,0,0,0,0
$GC,6152,1.42,136.3,541.3,14.6,255,6158,0.00,2.67,0.00,0.000,6,0.000,0.053,3434,2206,2623,0,0,0,0,0,0
$GC,6402,1.43,141.1,509.3,12.2,262,6407,0.00,3.03,0.00,0.000,4,0.000,0.108,3434,586,2620,0,0,0,0,0,0
$GC,6444,1.36,141.1,504.1,13.4,263,6448,0.00,2.70,0.00,0.000,6,0.000,0.041,3418,2197,2619,0,0,0,0,0,0
$GC,6727,1.42,187.3,473.9,9.7,270,6777,0.00,2.75,42.45,0.917,4,0.000,0.058,3435,3758,2426,0,0,0,0,0,0
$GC,6860,1.42,187.3,458.3,12.6,273,6865,0.00,2.62,0.00,0.000,6,0.000,0.041,3426,2200,2423,0,0,0,0,0,0
$GC,7138,1.43,197.5,425.0,11.9,280,7153,0.00,3.00,9.55,0.796,4,0.000,0.092,3435,584,2385,0,0,0,0,0,0
$GC,7169,1.43,197.5,420.8,13.1,280,7175,0.00,2.70,0.00,0.000,6,0.000,0.035,3435,2221,2383,0,0,0,0,0,0
$GC,7420,1.43,197.5,388.9,12.9,287,7424,0.00,2.58,0.00,0.000,4,0.000,0.052,3424,3769,2381,0,0,0,0,0,0
$GC,7486,1.43,197.5,379.7,13.9,288,7490,0.00,2.58,0.00,0.000,6,0.000,0.038,3432,2221,2380,0,0,0,0,0,0
$GC,7742,1.43,199.7,348.0,12.4,295,7746,0.00,2.58,0.00,0.000,4,0.000,0.041,3397,3769,2379,0,0,0,0,0,0
$GC,7783,1.46,223.7,343.5,11.0,296,7813,0.00,2.55,24.12,0.826,6,0.000,0.035,3421,2226,2277,0,0,0,0,0,0
$GC,8072,1.54,243.6,311.4,11.3,303,8096,0.00,2.65,17.67,0.787,4,0.000,0.046,3351,3767,2198,0,0,0,0,0,0
$GC,8126,1.59,243.6,304.5,12.5,304,8131,0.12,2.53,0.00,0.000,6,0.081,0.036,3468,2240,2196,0,0,0,0,0,0
$GC,8398,1.59,243.6,267.6,13.4,311,8403,0.00,2.55,0.00,0.000,4,0.000,0.045,3436,3772,2193,0,0,0,0,0,0
$GC,8528,1.59,243.6,249.8,14.0,314,8532,0.00,2.45,0.00,0.000,6,0.000,0.036,3468,2271,2193,0,0,0,0,0,0
$GC,8813,1.60,251.6,214.4,12.0,321,8822,0.00,0.00,7.40,0.634,6,0.000,0.000,3468,2271,2166,0,0,0,0,0,0
$GC,9060,1.66,258.2,184.2,12.1,336,9076,0.00,2.90,7.70,0.613,4,0.000,0.060,3440,588,2137,0,0,0,0,0,0
$GC,9124,1.66,258.2,176.3,12.6,341,9129,0.00,2.70,0.00,0.000,6,0.000,0.023,3468,2298,2135,0,0,0,0,0,0
$GC,9391,1.71,270.0,145.0,11.8,365,9404,0.00,0.00,11.60,0.616,6,0.000,0.000,3468,2299,2087,0,0,0,0,0,0
$GC,9658,1.76,270.0,109.3,13.6,390,9664,0.12,2.88,0.00,0.000,4,0.082,0.050,3503,588,2086,0,0,0,0,0,0
$GC,9690,1.76,270.0,104.7,15.3,392,9695,0.00,2.70,0.00,0.000,6,0.000,0.026,3481,2293,2085,0,0,0,0,0,0
$GC,9957,1.76,270.0,68.7,12.8,416,9962,0.00,2.83,0.00,0.000,4,0.000,0.052,3489,583,2085,0,0,0,0,0,0
$GC,9980,1.76,270.0,64.7,13.7,417,9991,0.00,2.67,0.00,0.000,6,0.000,0.021,3503,2263,2085,0,0,0,0,0,0
$GC,10250,1.76,273.5,31.9,12.3,442,10266,0.00,2.47,4.38,0.401,4,0.000,0.037,3188,3768,2075,0,0,0,0,0,0
$GC,10277,1.76,273.5,27.9,13.1,444,10288,0.00,2.47,0.00,0.000,6,0.000,0.027,3503,2238,2074,0,0,0,0,0,0
$STATE,10460,end climb,SURFACE_DEPTH_REACHED
$STATE,10460,begin surface coast
$FINISH,-0.5,1.023265
$STATE,10501,end surface coast,CONTROL_FINISHED_OK
$STATE,10502,begin surface
$SM_CCo,10524,85.75,0.530,0,0,1640,380.21
$SM_GC,0.20,0.00,0.00,85.75,0.000,0.000,0.530,466,2135,1640,-12.19,-1.27,380.21
$IRIDIUM_FIX,2202.04,-15808.46,250901,131311
$TT8_MAMPS,0.026845
$HUMID,63.78
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,21.10
$XPDR_PINGS,40
$24V_AH,23.4,35.170
$10V_AH,9.9,30.755
$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,36.675,122.050,350.275,85.750,0.000,0.000,0.000,0.000,10.000,0.000,16.842,980.768,6895.251,549.574,2017.255,242.720,33.363,1285.244,0.000,2032.689,0.000,0.535,0.000
$DEVICE_MAMPS,172.575,126.555,1010.139,529.997,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,319.195,236.108,334.450,752.263,1194.182,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355988
$DATA_FILE_SIZE,35203,471
$CAP_FILE_SIZE,136258,0
$CFSIZE,260165632,132132864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,10,0,0,0
$GPS,010712,163829,2208.445,-15807.927,36,1.0,41,10.0