version: 66.06
glider: 146
mission: 7
dive: 254
start: 7 2 112 12 56 15
data:
$ID,146
$MISSION,7
$DIVE,254
$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,-296427.31
$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,25
$R_STBD_OVSHOOT,15
$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
$GPS1,125100,2206.238,-15807.048,7,1.4,12,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-64.8
$GPS2,125524,2206.225,-15807.098,9,2.0,14,9.9
$SPEED_LIMITS,0.179,0.270
$TGT_NAME,KUHUKU2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.214,-0.164
$KALMAN_X,-84019.8,-538.3,486.8,78307.0,-1553.7
$KALMAN_Y,183757.3,38.3,178.8,-247607.0,-381.3
$MHEAD_RNG_PITCHd_Wd,117.5,34873,-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,-134.32,0.000,6,0.000,0.000,468,2203,3746,0,0,0,0,0,0
$GC,164,-1.54,-136.3,3.0,-6.6,14,183,12.70,2.58,0.00,0.000,4,0.173,0.037,2711,3791,3747,0,0,0,0,0,0
$GC,212,-0.91,-136.3,21.0,-35.5,19,222,0.65,2.62,0.00,0.000,6,0.104,0.028,2910,2171,3747,0,0,0,0,0,0
$GC,499,-0.97,-136.3,55.8,-11.4,47,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2171,3746,0,0,0,0,0,0
$GC,762,-1.07,-136.3,86.1,-10.2,72,764,0.12,0.00,0.00,0.000,6,0.067,0.000,2860,2171,3746,0,0,0,0,0,0
$GC,1016,-1.07,-136.3,117.6,-13.4,96,1018,0.10,0.00,0.00,0.000,6,0.118,0.000,2882,2171,3746,0,0,0,0,0,0
$GC,1273,-1.13,-136.3,149.5,-12.0,120,1277,0.00,2.60,0.00,0.000,4,0.000,0.055,2827,601,3746,0,0,0,0,0,0
$GC,1305,-1.19,-136.3,153.7,-12.8,122,1310,0.12,2.50,0.00,0.000,6,0.070,0.018,2831,2214,3746,0,0,0,0,0,0
$GC,1567,-1.14,-136.3,186.9,-12.1,146,1572,0.15,2.67,0.00,0.000,4,0.107,0.050,2851,604,3747,0,0,0,0,0,0
$GC,1584,-1.14,-136.3,189.0,-11.9,147,1589,0.00,2.40,0.00,0.000,6,0.000,0.025,2864,2173,3746,0,0,0,0,0,0
$GC,1861,-1.14,-136.3,217.2,-10.5,161,1866,0.00,2.60,0.00,0.000,4,0.000,0.048,2859,604,3746,0,0,0,0,0,0
$GC,1895,-1.19,-136.3,220.9,-9.7,161,1903,0.00,2.35,0.00,0.000,6,0.000,0.023,2864,2142,3746,0,0,0,0,0,0
$GC,2145,-1.26,-136.3,242.9,-8.7,168,2147,0.10,0.00,0.00,0.000,6,0.084,0.000,2822,2143,3746,0,0,0,0,0,0
$GC,2390,-1.26,-136.3,267.1,-10.0,174,2395,0.00,2.58,0.00,0.000,4,0.000,0.037,2797,3742,3745,0,0,0,0,0,0
$GC,2470,-1.26,-136.3,275.7,-10.6,175,2476,0.68,2.50,0.00,0.000,6,0.073,0.030,2906,2163,3746,2,0,0,0,0,0
$GC,2720,-1.64,-136.3,286.3,-3.9,182,2723,0.93,0.00,0.00,0.000,6,0.024,0.000,2736,2163,3745,0,0,0,0,0,0
$GC,2965,-1.51,-136.3,319.6,-14.4,188,2971,0.22,2.70,0.00,0.000,4,0.097,0.072,2724,602,3744,0,0,0,0,0,0
$GC,2982,-1.40,-136.3,322.1,-13.8,188,2987,0.12,2.45,0.00,0.000,6,0.117,0.034,2809,2136,3744,0,0,0,0,0,0
$GC,3243,-1.40,-136.3,347.6,-9.2,195,3247,0.00,2.67,0.00,0.000,4,0.000,0.048,2782,3760,3744,0,0,0,0,0,0
$GC,3261,-1.40,-136.3,349.2,-8.8,195,3265,0.00,2.55,0.00,0.000,6,0.000,0.031,2809,2172,3742,0,0,0,0,0,0
$GC,3521,-1.40,-136.3,375.0,-9.9,202,3523,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2173,3742,0,0,0,0,0,0
$GC,3766,-1.43,-136.3,398.6,-9.6,208,3770,0.00,2.65,0.00,0.000,4,0.000,0.054,2793,3760,3740,0,0,0,0,0,0
$GC,3789,-1.43,-136.3,401.0,-10.6,208,3795,1.05,2.65,0.00,0.000,6,0.073,0.040,2809,2162,3740,3,0,0,0,0,0
$GC,4046,-2.14,-136.3,413.2,-5.6,215,4055,1.67,2.72,0.00,0.000,4,0.046,0.047,2570,3760,3738,0,0,0,0,0,0
$GC,4073,-2.06,-136.3,416.2,-11.9,215,4078,0.10,2.62,0.00,0.000,6,0.133,0.050,2663,2172,3737,0,0,0,0,0,0
$GC,4330,-1.83,-136.3,456.9,-16.4,222,4336,0.25,2.67,0.00,0.000,4,0.105,0.058,2695,3756,3736,0,0,0,0,0,0
$GC,4352,-1.66,-136.3,460.8,-15.0,222,4358,0.17,2.65,0.00,0.000,6,0.110,0.055,2754,2180,3736,0,0,0,0,0,0
$GC,4610,-1.61,-136.3,493.9,-12.9,229,4611,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2180,3733,0,0,0,0,0,0
$GC,4852,-1.56,-136.3,522.1,-11.3,235,4857,0.10,2.78,0.00,0.000,4,0.141,0.074,2744,3760,3731,0,0,0,0,0,0
$GC,4902,-1.56,-136.3,527.9,-11.4,236,4907,0.00,2.70,0.00,0.000,6,0.000,0.058,2772,2186,3731,0,0,0,0,0,0
$GC,5176,-1.56,-136.3,556.5,-10.9,243,5177,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2186,3729,0,0,0,0,0,0
$GC,5418,-1.56,-136.3,581.6,-10.2,249,5419,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2182,3727,0,0,0,0,0,0
$STATE,5618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5618,begin apogee
$GC,5624,-0.31,0.0,603.1,10.5,254,5741,1.23,0.00,109.97,1.007,6,0.093,0.000,3044,2186,3190,0,0,0,0,0,0
$STATE,5741,end apogee,CONTROL_FINISHED_OK
$STATE,5742,begin climb
$GC,5746,1.54,136.3,606.4,0.0,257,5866,1.75,0.00,115.22,0.979,6,0.049,0.000,3457,2185,2635,0,0,0,0,0,0
$GC,6106,1.46,137.8,568.7,12.4,266,6111,0.12,2.78,0.00,0.000,4,0.140,0.072,3394,3755,2627,0,0,0,0,0,0
$GC,6175,1.43,142.6,560.2,12.2,267,6186,0.00,2.78,5.70,0.726,6,0.000,0.067,3434,2177,2608,0,0,0,0,0,0
$GC,6430,1.46,165.5,531.9,11.1,273,6459,0.00,3.12,21.48,0.916,4,0.000,0.118,3434,590,2514,0,0,0,0,0,0
$GC,6474,1.42,173.1,526.6,12.0,274,6488,0.00,2.67,8.25,0.798,6,0.000,0.048,3061,2175,2482,0,0,0,0,0,0
$GC,6761,1.42,173.1,489.3,12.5,281,6766,0.00,2.72,0.00,0.000,4,0.000,0.060,3397,3773,2477,0,0,0,0,0,0
$GC,6827,1.42,173.1,480.9,12.7,282,6832,0.00,2.70,0.00,0.000,6,0.000,0.051,3434,2178,2476,0,0,0,0,0,0
$GC,7089,1.43,174.7,449.3,12.4,289,7090,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2178,2474,0,0,0,0,0,0
$GC,7332,1.44,183.1,419.8,12.0,295,7343,0.00,0.00,8.55,0.788,6,0.000,0.000,3434,2178,2443,0,0,0,0,0,0
$GC,7576,1.44,183.1,387.0,13.7,301,7577,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2178,2440,0,0,0,0,0,0
$GC,7820,1.44,183.1,355.2,13.0,307,7824,0.00,2.67,0.00,0.000,4,0.000,0.048,3437,3783,2439,0,0,0,0,0,0
$GC,7876,1.44,183.1,347.9,13.7,308,7881,0.00,2.67,0.00,0.000,6,0.000,0.036,3417,2173,2439,0,0,0,0,0,0
$GC,8143,1.49,199.5,317.0,11.5,315,8163,0.00,2.70,15.15,0.791,4,0.000,0.046,3423,3776,2377,0,0,0,0,0,0
$GC,8210,1.54,199.5,309.4,12.6,316,8215,0.00,2.62,0.00,0.000,6,0.000,0.035,3434,2192,2375,0,0,0,0,0,0
$GC,8466,1.63,222.6,280.9,11.1,323,8495,0.15,2.88,21.50,0.775,4,0.073,0.064,3474,588,2281,0,0,0,0,0,0
$GC,8544,1.58,222.6,270.4,13.9,324,8548,0.00,2.62,0.00,0.000,6,0.000,0.028,3474,2214,2278,0,0,0,0,0,0
$GC,8794,1.58,222.6,237.1,13.0,330,8798,0.00,2.58,0.00,0.000,4,0.000,0.045,3453,3760,2277,0,0,0,0,0,0
$GC,8899,1.58,222.6,222.3,13.6,332,8903,0.00,2.53,0.00,0.000,6,0.000,0.031,3474,2211,2276,0,0,0,0,0,0
$GC,9156,1.62,253.0,191.3,10.6,344,9186,0.00,0.00,26.60,0.702,6,0.000,0.000,3474,2211,2158,0,0,0,0,0,0
$GC,9442,1.65,276.2,158.6,11.1,371,9469,0.00,2.83,21.02,0.660,4,0.000,0.054,3474,592,2062,0,0,0,0,0,0
$GC,9489,1.66,280.7,153.3,12.2,375,9504,0.00,2.60,5.30,0.513,6,0.000,0.021,3474,2217,2044,0,0,0,0,0,0
$GC,9755,1.66,280.7,119.2,13.6,400,9759,0.00,2.50,0.00,0.000,4,0.000,0.040,3422,3758,2041,0,0,0,0,0,0
$GC,9792,1.71,280.7,114.4,13.5,402,9802,0.00,2.55,0.00,0.000,6,0.000,0.032,3474,2200,2042,0,0,0,0,0,0
$GC,10058,1.75,280.7,82.2,12.8,427,10062,0.00,2.50,0.00,0.000,4,0.000,0.035,3419,3752,2041,0,0,0,0,0,0
$GC,10081,1.79,280.7,78.5,13.4,428,10093,0.12,2.53,0.00,0.000,6,0.044,0.026,3515,2200,2044,0,0,0,0,0,0
$GC,10351,1.79,280.7,42.8,13.2,453,10356,0.00,2.65,0.00,0.000,4,0.000,0.049,3454,590,2040,0,0,0,0,0,0
$GC,10373,1.79,280.7,39.4,14.2,454,10377,0.00,2.55,0.00,0.000,6,0.000,0.020,3515,2215,2040,0,0,0,0,0,0
$STATE,10641,end climb,SURFACE_DEPTH_REACHED
$STATE,10641,begin surface coast
$FINISH,-0.5,1.011680
$STATE,10686,end surface coast,CONTROL_FINISHED_OK
$STATE,10686,begin surface
$SM_CCo,10708,80.53,0.531,0,0,1639,380.21
$SM_GC,0.29,0.00,0.00,80.53,0.000,0.000,0.531,466,2120,1639,-12.19,-1.70,380.21
$IRIDIUM_FIX,2157.39,-15804.14,260901,121204
$TT8_MAMPS,0.026845
$HUMID,63.62
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,21.00
$XPDR_PINGS,46
$24V_AH,23.4,36.426
$10V_AH,10.2,31.529
$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,34.875,116.025,358.750,80.525,0.000,0.000,0.000,0.000,11.500,0.000,16.464,993.006,7088.468,541.575,1982.555,257.291,33.372,1256.765,0.000,2004.121,0.000,0.533,0.000
$DEVICE_MAMPS,172.575,156.468,1007.071,530.764,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,331.526,250.103,353.425,773.688,1224.480,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355932
$DATA_FILE_SIZE,38316,489
$CAP_FILE_SIZE,130747,0
$CFSIZE,260165632,131739648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,5,0,0,0
$GPS,020712,155655,2205.328,-15807.342,10,2.0,10,9.9