version: 66.06
glider: 146
mission: 7
dive: 247
start: 7 1 112 16 45 55
data:
$ID,146
$MISSION,7
$DIVE,247
$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,-295987.5
$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,57
$R_STBD_OVSHOOT,25
$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
$GPS1,163829,2208.445,-15807.927,36,1.0,41,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-72.1
$GPS2,164501,2208.434,-15808.020,11,1.5,11,10.0
$SPEED_LIMITS,0.179,0.270
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.253,-0.093
$KALMAN_X,-70709.8,-448.7,-441.1,64258.8,-2111.2
$KALMAN_Y,178003.8,-58.6,-181.1,-237312.1,602.0
$MHEAD_RNG_PITCHd_Wd,100.2,23238,-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,-136.3,0.0,0.0,0,114,0.00,0.00,-89.00,0.000,6,0.000,0.000,466,2136,3746,0,0,0,0,0,0
$GC,119,-1.54,-136.3,3.4,-7.4,10,140,12.75,2.65,0.00,0.000,4,0.173,0.025,2751,3772,3747,0,0,0,0,0,0
$GC,191,-1.35,-136.3,28.3,-21.9,18,203,0.20,2.53,0.00,0.000,6,0.114,0.025,2812,2207,3749,0,0,0,0,0,0
$GC,460,-1.25,-136.3,74.8,-15.9,43,470,0.15,0.00,0.00,0.000,6,0.127,0.000,2842,2206,3749,0,0,0,0,0,0
$GC,722,-1.25,-136.3,112.8,-14.2,68,726,0.00,2.65,0.00,0.000,4,0.000,0.051,2818,596,3749,0,0,0,0,0,0
$GC,758,-1.25,-136.3,118.0,-15.1,70,767,0.00,2.53,0.00,0.000,6,0.000,0.019,2841,2208,3749,0,0,0,0,0,0
$GC,1018,-1.25,-136.3,153.4,-13.6,95,1022,0.00,2.65,0.00,0.000,4,0.000,0.048,2841,592,3750,0,0,0,0,0,0
$GC,1041,-1.21,-136.3,156.4,-13.7,96,1052,0.00,2.47,0.00,0.000,6,0.000,0.018,2841,2178,3751,0,0,0,0,0,0
$GC,1307,-1.21,-136.3,190.6,-12.8,121,1311,0.00,2.60,0.00,0.000,4,0.000,0.054,2802,599,3751,0,0,0,0,0,0
$GC,1323,-1.21,-136.3,193.5,-13.1,122,1327,0.00,2.40,0.00,0.000,6,0.000,0.018,2841,2171,3751,0,0,0,0,0,0
$GC,1587,-1.21,-136.3,225.1,-11.9,132,1592,0.00,2.58,0.00,0.000,4,0.000,0.047,2840,600,3751,0,0,0,0,0,0
$GC,1614,-1.21,-136.3,228.7,-12.8,132,1618,0.00,2.40,0.00,0.000,6,0.000,0.025,2841,2144,3752,0,0,0,0,0,0
$GC,1872,-1.25,-136.3,257.1,-10.9,139,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2144,3752,0,0,0,0,0,0
$GC,2114,-1.31,-136.3,284.8,-11.4,145,2118,0.00,2.58,0.00,0.000,4,0.000,0.054,2841,604,3752,0,0,0,0,0,0
$GC,2158,-1.36,-136.3,290.2,-12.0,146,2163,0.10,2.38,0.00,0.000,6,0.081,0.020,2797,2141,3752,0,0,0,0,0,0
$GC,2438,-1.36,-136.3,322.0,-10.9,153,2443,0.10,2.60,0.00,0.000,4,0.118,0.048,2818,3748,3752,0,0,0,0,0,0
$GC,2505,-1.42,-136.3,329.4,-10.4,154,2510,0.00,2.50,0.00,0.000,6,0.000,0.028,2816,2169,3752,0,0,0,0,0,0
$GC,2764,-1.46,-136.3,352.3,-8.8,161,2768,0.00,2.55,0.00,0.000,4,0.000,0.046,2818,3746,3751,0,0,0,0,0,0
$GC,2877,-1.51,-136.3,363.5,-9.5,163,2882,0.15,2.55,0.00,0.000,6,0.061,0.039,2762,2169,3752,0,0,0,0,0,0
$GC,3133,-1.46,-136.3,394.4,-12.6,170,3138,0.17,2.62,0.00,0.000,4,0.101,0.048,2774,3753,3748,0,0,0,0,0,0
$GC,3156,-1.46,-136.3,397.7,-13.5,170,3161,0.00,2.58,0.00,0.000,6,0.000,0.048,2798,2182,3751,0,0,0,0,0,0
$GC,3412,-1.46,-136.3,426.6,-11.0,177,3413,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2182,3749,0,0,0,0,0,0
$GC,3656,-1.46,-136.3,452.5,-10.6,183,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2182,3748,0,0,0,0,0,0
$GC,3901,-1.46,-136.3,478.8,-10.9,189,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2182,3747,0,0,0,0,0,0
$GC,4143,-1.46,-136.3,501.5,-9.2,195,4148,0.00,2.95,0.00,0.000,4,0.000,0.110,2798,592,3745,0,0,0,0,0,0
$GC,4187,-1.46,-136.3,505.8,-9.3,196,4191,0.00,2.60,0.00,0.000,6,0.000,0.045,2798,2152,3745,0,0,0,0,0,0
$GC,4467,-1.50,-136.3,529.9,-8.4,203,4472,0.00,2.83,0.00,0.000,4,0.000,0.080,2762,3764,3743,0,0,0,0,0,0
$GC,4522,-1.55,-136.3,535.0,-8.9,204,4527,0.00,2.70,0.00,0.000,6,0.000,0.054,2797,2175,3742,0,0,0,0,0,0
$GC,4789,-1.59,-136.3,557.4,-8.4,211,4791,0.12,0.00,0.00,0.000,6,0.074,0.000,2754,2175,3740,0,0,0,0,0,0
$GC,5035,-1.55,-136.3,583.0,-10.6,217,5040,0.10,2.80,0.00,0.000,4,0.127,0.080,2750,3760,3738,0,0,0,0,0,0
$GC,5107,-1.55,-136.3,591.5,-11.3,218,5112,0.00,2.75,0.00,0.000,6,0.000,0.077,2774,2191,3738,0,0,0,0,0,0
$STATE,5192,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5192,begin apogee
$GC,5200,-0.31,0.0,600.2,10.1,220,5315,1.23,0.00,111.72,1.006,6,0.092,0.000,3047,2191,3192,0,0,0,0,0,0
$STATE,5316,end apogee,CONTROL_FINISHED_OK
$STATE,5316,begin climb
$GC,5318,1.54,136.3,602.6,0.0,223,5439,1.73,0.00,116.40,0.974,6,0.045,0.000,3453,2191,2634,0,0,0,0,0,0
$GC,5679,1.48,136.3,560.2,13.7,232,5684,0.00,2.72,0.00,0.000,4,0.000,0.070,3411,3767,2625,0,0,0,0,0,0
$GC,5803,1.41,136.3,541.7,15.2,234,5810,0.15,2.70,0.00,0.000,6,0.130,0.057,3425,2203,2624,0,0,0,0,0,0
$GC,6053,1.41,138.1,509.9,12.4,241,6058,0.00,3.03,0.00,0.000,4,0.000,0.110,3424,591,2622,0,0,0,0,0,0
$GC,6086,1.37,138.1,505.7,12.6,241,6092,0.00,2.70,0.00,0.000,6,0.000,0.041,3349,2202,2621,0,0,0,0,0,0
$GC,6336,1.40,166.3,478.8,10.8,248,6367,0.00,2.72,25.55,0.903,4,0.000,0.061,3391,3764,2508,0,0,0,0,0,0
$GC,6412,1.41,173.1,470.2,12.1,249,6432,6.00,2.65,6.75,0.748,6,0.432,0.046,3639,2195,2483,21,0,0,0,0,0
$GC,6708,0.89,173.1,400.8,24.4,257,6717,2.55,2.67,0.00,0.000,4,0.123,0.041,3208,3770,2479,0,0,0,0,0,0
$GC,6757,1.29,263.7,394.5,6.9,258,6848,0.50,2.62,79.65,0.865,6,0.042,0.035,3443,2190,2114,1,0,0,0,0,0
$GC,7120,1.29,263.7,348.9,12.8,267,7126,0.22,2.65,0.00,0.000,4,0.110,0.045,3361,3773,2106,0,0,0,0,0,0
$GC,7165,1.48,288.7,343.7,11.0,268,7195,0.15,2.60,21.92,0.805,6,0.074,0.038,3437,2201,2012,0,0,0,0,0,0
$GC,7451,1.54,288.7,308.0,12.8,275,7455,0.00,2.60,0.00,0.000,4,0.000,0.041,3400,3766,2006,0,0,0,0,0,0
$GC,7523,1.65,288.7,298.0,12.8,276,7529,0.95,2.53,0.00,0.000,6,0.041,0.036,3541,2224,2004,2,0,0,0,0,0
$GC,7775,1.31,288.7,238.9,24.4,282,7783,1.33,2.55,0.00,0.000,4,0.129,0.040,3296,3768,2003,0,0,0,0,0,0
$GC,7806,1.39,288.7,233.1,13.7,282,7810,0.00,2.47,0.00,0.000,6,0.000,0.035,3406,2239,2003,0,0,0,0,0,0
$GC,8056,1.61,335.6,208.7,9.6,288,8105,0.22,2.83,40.50,0.713,4,0.069,0.057,3469,594,1823,0,0,0,0,0,0
$GC,8193,1.65,335.6,187.0,15.9,294,8203,0.00,2.65,0.00,0.000,6,0.000,0.022,3470,2239,1817,0,0,0,0,0,0
$GC,8462,1.65,335.6,146.8,15.5,319,8467,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,2239,1815,0,0,0,0,0,0
$GC,8722,1.65,335.6,104.7,16.0,344,8723,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,2239,1815,0,0,0,0,0,0
$GC,8986,1.73,335.6,68.4,12.9,368,8990,0.00,2.75,0.00,0.000,4,0.000,0.048,3470,590,1815,0,0,0,0,0,0
$GC,9021,1.79,335.6,63.2,13.5,370,9026,0.50,2.58,0.00,0.000,6,0.040,0.019,3603,2243,1814,1,0,0,0,0,0
$STATE,9301,end climb,SURFACE_DEPTH_REACHED
$STATE,9301,begin surface coast
$FINISH,-0.5,1.007486
$STATE,9329,end surface coast,CONTROL_FINISHED_OK
$STATE,9329,begin surface
$SM_CCo,9351,34.30,0.529,0,0,1641,380.21
$SM_GC,0.30,0.00,0.00,34.30,0.000,0.000,0.529,471,2130,1641,-12.16,-1.41,380.21
$IRIDIUM_FIX,2157.39,-15631.29,250901,131337
$TT8_MAMPS,0.027612
$HUMID,66.02
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,20.30
$XPDR_PINGS,43
$24V_AH,23.4,35.296
$10V_AH,10.3,30.851
$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,41.975,110.575,402.500,34.300,0.000,26.059,35.029,180.733,10.750,0.000,12.693,859.212,6187.148,522.820,1674.119,534.603,33.369,1173.310,0.000,1684.378,0.000,0.535,0.000
$DEVICE_MAMPS,431.821,109.681,1006.304,529.230,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,272.141,194.340,277.313,583.838,927.623,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355996
$DATA_FILE_SIZE,31988,402
$CAP_FILE_SIZE,103084,0
$CFSIZE,260165632,132112384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,25,0,0,0
$GPS,010712,192330,2208.582,-15807.680,9,1.3,26,10.0