version: 66.06
glider: 146
mission: 7
dive: 250
start: 7 2 112 1 48 59
data:
$ID,146
$MISSION,7
$DIVE,250
$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,-296162.53
$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,59
$R_STBD_OVSHOOT,34
$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
$GPS1,013829,2208.243,-15806.943,34,1.1,50,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-70.6
$GPS2,014806,2208.286,-15807.072,9,1.5,14,10.0
$SPEED_LIMITS,0.179,0.270
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.260,-0.071
$KALMAN_X,-77193.2,459.6,684.9,70323.8,-2565.4
$KALMAN_Y,181824.2,-32.3,182.9,-241801.4,743.4
$MHEAD_RNG_PITCHd_Wd,95.2,21868,-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,18,-1.54,-136.3,0.0,0.0,0,113,0.00,0.00,-88.12,0.000,6,0.000,0.000,468,2141,3746,0,0,0,0,0,0
$GC,116,-1.54,-136.3,3.6,-8.0,10,136,12.75,0.00,0.00,0.000,6,0.173,0.000,2771,2141,3747,0,0,0,0,0,0
$GC,425,-1.32,-136.3,73.4,-18.8,41,430,0.25,2.60,0.00,0.000,4,0.125,0.035,2823,3761,3749,0,0,0,0,0,0
$GC,499,-1.27,-136.3,85.3,-14.8,46,504,0.00,2.45,0.00,0.000,6,0.000,0.027,2823,2204,3749,0,0,0,0,0,0
$GC,761,-1.21,-136.3,119.2,-12.7,70,762,0.12,0.00,0.00,0.000,6,0.129,0.000,2848,2204,3749,0,0,0,0,0,0
$GC,1015,-1.21,-136.3,150.6,-12.3,94,1019,0.00,2.65,0.00,0.000,4,0.000,0.054,2847,590,3750,0,0,0,0,0,0
$GC,1038,-1.21,-136.3,153.4,-12.4,95,1043,0.00,2.45,0.00,0.000,6,0.000,0.024,2848,2194,3750,0,0,0,0,0,0
$GC,1299,-1.21,-136.3,186.5,-13.2,120,1304,0.00,2.45,0.00,0.000,4,0.000,0.038,2848,3751,3751,0,0,0,0,0,0
$GC,1325,-1.21,-136.3,190.0,-12.8,121,1331,0.00,2.50,0.00,0.000,6,0.000,0.026,2848,2155,3750,0,0,0,0,0,0
$GC,1582,-1.21,-136.3,220.3,-12.1,134,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2155,3751,0,0,0,0,0,0
$GC,1824,-1.25,-136.3,246.5,-10.4,140,1828,0.00,2.58,0.00,0.000,4,0.000,0.054,2780,608,3751,0,0,0,0,0,0
$GC,1856,-1.25,-136.3,250.2,-11.0,140,1862,0.00,2.38,0.00,0.000,6,0.000,0.018,2848,2160,3751,0,0,0,0,0,0
$GC,2109,-1.31,-136.3,273.6,-9.0,147,2110,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2159,3751,0,0,0,0,0,0
$GC,2350,-1.39,-136.3,294.8,-8.3,153,2355,0.15,2.58,0.00,0.000,4,0.061,0.044,2791,3746,3751,0,0,0,0,0,0
$GC,2378,-1.39,-136.3,297.8,-11.0,153,2383,0.10,2.47,0.00,0.000,6,0.119,0.022,2811,2164,3751,0,0,0,0,0,0
$GC,2630,-1.39,-136.3,321.3,-9.2,159,2634,0.00,2.58,0.00,0.000,4,0.000,0.044,2811,3750,3751,0,0,0,0,0,0
$GC,2663,-1.43,-136.3,324.6,-9.4,159,2668,0.00,2.53,0.00,0.000,6,0.000,0.030,2808,2166,3751,0,0,0,0,0,0
$GC,2913,-1.43,-136.3,347.8,-9.5,166,2917,0.00,2.60,0.00,0.000,4,0.000,0.044,2811,3750,3751,0,0,0,0,0,0
$GC,2959,-1.48,-136.3,352.3,-10.3,167,2963,0.00,2.55,0.00,0.000,6,0.000,0.034,2811,2178,3750,0,0,0,0,0,0
$GC,3237,-1.52,-136.3,380.4,-10.3,174,3242,0.12,2.85,0.00,0.000,4,0.069,0.093,2762,588,3749,0,0,0,0,0,0
$GC,3304,-1.45,-136.3,389.0,-12.4,175,3309,0.17,2.53,0.00,0.000,6,0.105,0.038,2798,2147,3749,0,0,0,0,0,0
$GC,3562,-1.45,-136.3,414.5,-9.9,182,3566,0.00,2.70,0.00,0.000,4,0.000,0.056,2792,3758,3748,0,0,0,0,0,0
$GC,3635,-1.45,-136.3,422.6,-11.0,183,3640,0.00,2.60,0.00,0.000,6,0.000,0.052,2797,2189,3747,0,0,0,0,0,0
$GC,3887,-1.45,-136.3,449.6,-10.7,189,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2189,3745,0,0,0,0,0,0
$GC,4129,-1.45,-136.3,475.5,-10.6,195,4133,0.00,2.67,0.00,0.000,4,0.000,0.064,2798,3757,3744,0,0,0,0,0,0
$GC,4178,-1.45,-136.3,480.8,-10.7,196,4184,0.60,2.62,0.00,0.000,6,0.084,0.054,2814,2189,3744,2,0,0,0,0,0
$GC,4454,-1.78,-136.3,493.8,-4.4,203,4456,0.90,0.00,0.00,0.000,6,0.044,0.000,2706,2189,3742,0,0,0,0,0,0
$GC,4695,-1.63,-136.3,524.9,-13.4,209,4697,0.25,0.00,0.00,0.000,6,0.103,0.000,2758,2189,3740,0,0,0,0,0,0
$GC,4939,-1.60,-136.3,548.9,-9.5,215,4944,0.00,2.72,0.00,0.000,4,0.000,0.078,2755,3758,3738,0,0,0,0,0,0
$GC,4957,-1.55,-136.3,550.6,-9.8,215,4962,0.00,2.67,0.00,0.000,6,0.000,0.064,2759,2185,3738,0,0,0,0,0,0
$GC,5218,-1.55,-136.3,577.2,-10.3,222,5222,0.00,2.78,0.00,0.000,4,0.000,0.082,2753,3758,3736,0,0,0,0,0,0
$GC,5323,-1.55,-136.3,589.4,-11.8,224,5333,3.22,2.72,0.00,0.000,6,0.081,0.073,2837,2191,3735,11,0,0,0,0,0
$STATE,5505,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5505,begin apogee
$GC,5513,-0.31,0.0,604.2,9.3,229,5628,2.08,0.00,111.05,1.018,6,0.066,0.000,3045,2191,3190,0,0,0,0,0,0
$STATE,5629,end apogee,CONTROL_FINISHED_OK
$STATE,5629,begin climb
$GC,5632,1.54,136.3,609.6,0.0,232,5761,1.70,3.20,115.00,0.987,4,0.043,0.119,3430,589,2633,0,0,0,0,0,0
$GC,5811,1.44,136.3,595.7,13.7,236,5816,0.00,2.75,0.00,0.000,6,0.000,0.060,3433,2173,2628,0,0,0,0,0,0
$GC,6086,1.37,142.3,562.1,12.1,243,6097,0.17,2.85,4.82,0.675,4,0.123,0.076,3390,3766,2610,0,0,0,0,0,0
$GC,6147,1.38,149.7,554.3,12.0,244,6161,0.00,2.75,8.60,0.828,6,0.000,0.061,3417,2179,2579,0,0,0,0,0,0
$GC,6413,1.39,157.7,522.9,12.0,251,6427,0.00,2.80,8.25,0.820,4,0.000,0.060,3376,3767,2546,0,0,0,0,0,0
$GC,6458,1.39,157.7,517.5,13.1,252,6463,0.00,2.70,0.00,0.000,6,0.000,0.052,3418,2200,2545,0,0,0,0,0,0
$GC,6741,1.44,193.2,487.0,10.3,259,6775,0.00,0.00,32.08,0.921,6,0.000,0.000,3417,2201,2402,0,0,0,0,0,0
$GC,6985,1.45,203.1,459.0,11.9,265,6999,0.00,2.70,9.68,0.818,4,0.000,0.051,3401,3772,2362,0,0,0,0,0,0
$GC,7046,1.50,203.1,451.0,13.2,266,7051,0.10,2.62,0.00,0.000,6,0.097,0.046,3444,2215,2360,0,0,0,0,0,0
$GC,7307,1.50,203.1,414.7,14.0,273,7311,0.00,2.60,0.00,0.000,4,0.000,0.047,3423,3773,2357,0,0,0,0,0,0
$GC,7333,1.50,203.1,411.2,14.8,273,7338,0.00,2.60,0.00,0.000,6,0.000,0.040,3444,2221,2358,0,0,0,0,0,0
$GC,7588,1.50,203.1,375.7,13.5,280,7592,0.00,2.58,0.00,0.000,4,0.000,0.046,3414,3774,2357,0,0,0,0,0,0
$GC,7660,1.50,203.1,365.2,14.9,281,7665,0.12,2.55,0.00,0.000,6,0.081,0.043,3476,2234,2356,0,0,0,0,0,0
$GC,7910,1.45,203.1,327.1,15.4,287,7912,0.25,0.00,0.00,0.000,6,0.116,0.000,3428,2233,2355,0,0,0,0,0,0
$GC,8154,1.53,229.8,298.9,10.9,293,8183,0.00,2.90,23.85,0.797,4,0.000,0.071,3427,586,2253,0,0,0,0,0,0
$GC,8211,1.57,229.8,292.2,12.7,294,8217,0.15,2.75,0.00,0.000,6,0.069,0.028,3470,2282,2250,0,0,0,0,0,0
$GC,8480,1.57,229.8,257.8,12.8,301,8484,0.00,2.45,0.00,0.000,4,0.000,0.046,3435,3773,2248,0,0,0,0,0,0
$GC,8602,1.57,229.8,242.5,12.9,303,8608,0.00,2.47,0.00,0.000,6,0.000,0.038,3472,2265,2247,0,0,0,0,0,0
$GC,8854,1.57,230.4,212.3,12.5,310,8859,0.00,2.85,0.00,0.000,4,0.000,0.061,3473,583,2247,0,0,0,0,0,0
$GC,8938,1.57,230.4,201.4,14.2,312,8943,0.00,2.70,0.00,0.000,6,0.000,0.023,3456,2290,2245,0,0,0,0,0,0
$GC,9207,1.60,252.8,171.4,11.1,334,9238,0.00,2.50,20.15,0.679,4,0.000,0.038,3215,3772,2158,0,0,0,0,0,0
$GC,9250,1.61,263.8,165.8,11.8,338,9275,1.88,2.50,11.30,0.631,6,0.165,0.027,3706,2238,2112,6,0,0,0,0,0
$GC,9526,1.16,263.8,93.1,26.9,364,9540,2.22,2.60,0.00,0.000,4,0.114,0.037,3264,3788,2108,0,0,0,0,0,0
$GC,9552,1.10,263.8,88.1,18.2,366,9568,1.60,2.47,0.00,0.000,6,0.039,0.027,3530,2252,2108,5,0,0,0,0,0
$GC,9835,0.67,263.8,21.1,25.1,393,9845,2.55,2.53,0.00,0.000,4,0.117,0.037,3159,3775,2107,0,0,0,0,0,0
$GC,9887,1.36,385.7,15.1,5.0,399,9954,12.48,2.45,46.90,0.551,2,0.453,0.023,3750,2250,1891,45,0,0,0,0,0
$STATE,9955,end climb,SURFACE_DEPTH_REACHED
$STATE,9955,begin surface coast
$FINISH,-0.5,1.023762
$STATE,9976,end surface coast,CONTROL_FINISHED_OK
$STATE,9976,begin surface
$SM_CCo,10000,48.65,0.540,0,0,1639,380.21
$SM_GC,0.41,0.00,0.00,48.65,0.000,0.000,0.540,471,2186,1639,-12.16,0.17,380.21
$IRIDIUM_FIX,2202.04,-15813.64,260901,010138
$TT8_MAMPS,0.029146
$HUMID,67.01
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,19.00
$XPDR_PINGS,47
$24V_AH,23.4,35.760
$10V_AH,10.2,31.149
$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,57.600,126.250,391.675,48.650,0.000,48.628,70.485,239.263,11.750,0.000,15.738,890.705,6904.486,509.645,1660.114,657.974,33.370,1231.904,0.000,1667.752,0.000,0.534,0.000
$DEVICE_MAMPS,452.530,184.847,1017.809,539.968,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,275.634,188.078,267.865,541.068,858.894,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355988
$DATA_FILE_SIZE,32093,408
$CAP_FILE_SIZE,114350,0
$CFSIZE,260165632,131952640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,69,0,0,0
$GPS,020712,043756,2208.150,-15806.727,27,3.7,46,10.0