version: 66.06
glider: 146
mission: 7
dive: 261
start: 7 3 112 10 31 15
data:
$ID,146
$MISSION,7
$DIVE,261
$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,-296967.84
$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,17
$R_STBD_OVSHOOT,14
$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
$GPS1,102613,2201.993,-15809.033,8,1.7,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-64.9
$GPS2,103025,2201.990,-15809.083,14,1.4,14,9.9
$SPEED_LIMITS,0.179,0.270
$TGT_NAME,KUHUKU2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.157,-0.220
$KALMAN_X,-98421.2,-567.8,-710.7,90542.0,-477.6
$KALMAN_Y,186558.5,425.4,363.6,-258835.8,-89.1
$MHEAD_RNG_PITCHd_Wd,134.6,28629,-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,-136.3,0.0,0.0,0,161,0.00,0.00,-133.40,0.000,6,0.000,0.000,475,2197,3744,0,0,0,0,0,0
$GC,168,-1.54,-136.3,3.9,-8.5,16,187,12.60,2.62,0.00,0.000,4,0.171,0.042,2760,581,3746,0,0,0,0,0,0
$GC,223,-1.15,-136.3,25.7,-29.3,22,233,0.40,2.58,0.00,0.000,6,0.102,0.019,2857,2214,3745,0,0,0,0,0,0
$GC,500,-1.15,-136.3,68.1,-12.7,48,510,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2214,3745,0,0,0,0,0,0
$GC,769,-1.15,-136.3,103.9,-12.7,73,773,0.00,2.45,0.00,0.000,4,0.000,0.040,2842,3752,3745,0,0,0,0,0,0
$GC,789,-1.15,-136.3,107.5,-13.4,74,800,0.00,2.53,0.00,0.000,6,0.000,0.022,2857,2157,3744,0,0,0,0,0,0
$GC,1058,-1.15,-136.3,142.5,-13.2,99,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2157,3744,0,0,0,0,0,0
$GC,1325,-1.15,-136.3,176.1,-12.3,124,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2157,3744,0,0,0,0,0,0
$GC,1605,-1.15,-136.3,210.3,-11.7,145,1610,0.00,2.55,0.00,0.000,4,0.000,0.051,2831,606,3744,0,0,0,0,0,0
$GC,1649,-1.15,-136.3,215.8,-11.5,146,1654,0.00,2.42,0.00,0.000,6,0.000,0.018,2857,2193,3743,0,0,0,0,0,0
$GC,1928,-1.21,-136.3,247.5,-11.2,153,1932,0.00,2.65,0.00,0.000,4,0.000,0.058,2798,604,3743,0,0,0,0,0,0
$GC,1963,-1.27,-136.3,251.6,-12.2,153,1969,0.00,2.42,0.00,0.000,6,0.000,0.018,2857,2181,3743,0,0,0,0,0,0
$GC,2213,-1.36,-136.3,276.2,-9.3,160,2215,0.17,0.00,0.00,0.000,6,0.055,0.000,2796,2181,3743,0,0,0,0,0,0
$GC,2457,-1.36,-136.3,302.7,-10.7,166,2458,0.10,0.00,0.00,0.000,6,0.120,0.000,2816,2182,3743,0,0,0,0,0,0
$GC,2702,-1.36,-136.3,324.1,-9.0,172,2707,0.00,2.55,0.00,0.000,4,0.000,0.044,2813,3747,3742,0,0,0,0,0,0
$GC,2752,-1.36,-136.3,329.1,-9.0,173,2757,0.00,2.50,0.00,0.000,6,0.000,0.033,2817,2192,3742,0,0,0,0,0,0
$GC,3025,-1.40,-136.3,353.0,-8.9,180,3030,0.00,2.55,0.00,0.000,4,0.000,0.046,2821,3746,3740,0,0,0,0,0,0
$GC,3102,-1.44,-136.3,360.4,-10.6,181,3106,0.00,2.53,0.00,0.000,6,0.000,0.032,2817,2195,3740,0,0,0,0,0,0
$GC,3352,-1.49,-136.3,384.0,-9.1,187,3354,0.10,0.00,0.00,0.000,6,0.083,0.000,2775,2195,3738,0,0,0,0,0,0
$GC,3598,-1.49,-136.3,409.0,-10.2,193,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2195,3736,0,0,0,0,0,0
$GC,3839,-1.49,-136.3,434.7,-10.6,199,3840,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2195,3735,0,0,0,0,0,0
$GC,4083,-1.49,-136.3,460.5,-10.7,205,4087,0.00,2.60,0.00,0.000,4,0.000,0.060,2751,3747,3732,0,0,0,0,0,0
$GC,4110,-1.49,-136.3,463.8,-11.8,205,4114,0.00,2.60,0.00,0.000,6,0.000,0.055,2775,2201,3732,0,0,0,0,0,0
$GC,4362,-1.49,-136.3,490.8,-10.7,211,4363,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2200,3731,0,0,0,0,0,0
$GC,4604,-1.49,-136.3,519.5,-12.0,217,4608,0.00,2.65,0.00,0.000,4,0.000,0.072,2751,3736,3730,0,0,0,0,0,0
$GC,4699,-1.49,-136.3,531.7,-12.6,219,4704,0.00,2.60,0.00,0.000,6,0.000,0.055,2775,2206,3728,0,0,0,0,0,0
$GC,4974,-1.49,-136.3,562.2,-10.7,226,4978,0.00,2.67,0.00,0.000,4,0.000,0.075,2761,3736,3725,0,0,0,0,0,0
$GC,5002,-1.49,-136.3,565.4,-10.8,226,5007,0.00,2.62,0.00,0.000,6,0.000,0.067,2774,2212,3725,0,0,0,0,0,0
$GC,5252,-1.49,-136.3,591.4,-10.3,232,5254,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,2213,3723,0,0,0,0,0,0
$STATE,5331,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5331,begin apogee
$GC,5339,-0.31,0.0,600.4,10.6,234,5453,1.20,0.00,109.12,1.004,6,0.083,0.000,3044,2178,3190,0,0,0,0,0,0
$STATE,5454,end apogee,CONTROL_FINISHED_OK
$STATE,5454,begin climb
$GC,5457,1.54,136.3,604.1,0.0,237,5577,1.75,0.00,115.90,0.977,6,0.044,0.000,3456,2178,2634,0,0,0,0,0,0
$GC,5820,1.47,136.3,564.1,13.5,246,5824,0.00,2.72,0.00,0.000,4,0.000,0.072,3429,3737,2625,0,0,0,0,0,0
$GC,5861,1.39,136.3,557.9,15.3,247,5866,0.20,2.70,0.00,0.000,6,0.132,0.058,3419,2181,2624,0,0,0,0,0,0
$GC,6145,1.40,141.0,522.0,12.2,254,6149,0.00,2.67,0.00,0.000,4,0.000,0.061,3395,3744,2622,0,0,0,0,0,0
$GC,6171,1.40,141.0,518.4,13.2,254,6176,0.00,2.67,0.00,0.000,6,0.000,0.058,3420,2180,2621,0,0,0,0,0,0
$GC,6423,1.41,154.9,489.2,11.6,260,6444,0.00,2.70,15.05,0.874,4,0.000,0.053,3389,3748,2559,0,0,0,0,0,0
$GC,6499,1.41,154.9,479.3,13.0,261,6505,0.00,2.67,0.00,0.000,6,0.000,0.054,3419,2187,2556,0,0,0,0,0,0
$GC,6752,1.41,154.9,447.6,12.7,268,6753,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,2187,2554,0,0,0,0,0,0
$GC,6993,1.42,162.3,417.7,12.1,274,7002,0.00,0.00,6.85,0.742,6,0.000,0.000,3420,2186,2529,0,0,0,0,0,0
$GC,7237,1.46,189.3,391.2,10.8,280,7268,0.00,2.95,25.10,0.856,4,0.000,0.085,3419,581,2417,0,0,0,0,0,0
$GC,7309,1.46,195.2,383.1,12.1,281,7320,0.00,2.60,6.05,0.684,6,0.000,0.025,3419,2174,2396,0,0,0,0,0,0
$GC,7564,1.53,212.3,353.3,11.4,288,7589,0.12,2.75,16.45,0.806,4,0.084,0.048,3381,3765,2324,0,0,0,0,0,0
$GC,7622,1.53,212.3,345.8,13.4,289,7627,0.00,2.60,0.00,0.000,6,0.000,0.035,3451,2187,2323,0,0,0,0,0,0
$GC,7892,1.54,217.0,313.1,12.2,296,7902,0.00,2.65,4.80,0.598,4,0.000,0.043,3434,3762,2307,0,0,0,0,0,0
$GC,7924,1.54,217.0,308.7,13.0,296,7930,0.00,2.60,0.00,0.000,6,0.000,0.035,3369,2188,2306,0,0,0,0,0,0
$GC,8176,1.54,217.0,277.0,12.8,303,8181,0.00,2.60,0.00,0.000,4,0.000,0.048,3435,3765,2306,0,0,0,0,0,0
$GC,8220,1.54,217.0,270.8,13.9,304,8224,0.00,2.53,0.00,0.000,6,0.000,0.035,3452,2205,2304,0,0,0,0,0,0
$GC,8504,1.61,232.1,237.3,11.6,311,8521,0.00,0.00,15.15,0.723,6,0.000,0.000,3452,2204,2243,0,0,0,0,0,0
$GC,8750,1.73,270.6,211.8,10.1,317,8791,0.17,2.80,33.67,0.719,4,0.065,0.055,3499,590,2086,0,0,0,0,0,0
$GC,8821,1.69,270.6,202.4,14.6,318,8826,0.00,2.60,0.00,0.000,6,0.000,0.027,3498,2208,2083,0,0,0,0,0,0
$GC,9093,1.69,270.6,164.8,15.1,340,9098,0.00,2.70,0.00,0.000,4,0.000,0.049,3410,589,2078,0,0,0,0,0,0
$GC,9121,1.65,270.6,159.0,16.5,342,9127,0.12,2.58,0.00,0.000,6,0.125,0.028,3475,2209,2077,0,0,0,0,0,0
$GC,9382,1.65,270.6,122.2,14.4,366,9386,0.00,2.50,0.00,0.000,4,0.000,0.041,3453,3756,2081,0,0,0,0,0,0
$GC,9428,1.70,270.6,116.1,14.7,369,9433,0.00,2.53,0.00,0.000,6,0.000,0.028,3474,2186,2078,0,0,0,0,0,0
$GC,9696,1.75,270.6,78.4,12.9,393,9701,0.00,2.55,0.00,0.000,4,0.000,0.035,3426,3758,2078,0,0,0,0,0,0
$GC,9731,1.80,270.6,73.6,13.7,395,9747,1.42,2.50,0.00,0.000,6,0.056,0.027,3797,2198,2079,5,0,0,0,0,0
$STATE,10011,end climb,SURFACE_DEPTH_REACHED
$STATE,10011,begin surface coast
$FINISH,-0.4,1.010547
$STATE,10039,end surface coast,CONTROL_FINISHED_OK
$STATE,10039,begin surface
$SM_CCo,10062,87.62,0.538,0,0,1640,380.21
$SM_GC,0.27,0.00,0.00,87.62,0.000,0.000,0.538,468,2194,1640,-12.17,0.42,380.21
$IRIDIUM_FIX,2155.06,-15810.19,270901,101023
$TT8_MAMPS,0.027612
$HUMID,66.22
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,19.90
$XPDR_PINGS,43
$24V_AH,23.4,37.642
$10V_AH,10.2,32.215
$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,31.950,104.350,348.150,87.625,0.000,0.000,0.000,0.000,10.750,0.000,16.372,878.320,6901.460,558.607,1661.298,223.909,33.359,1196.956,0.000,1671.019,0.000,0.535,0.000
$DEVICE_MAMPS,171.041,177.177,1004.003,538.434,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,288.866,207.156,291.818,600.076,956.660,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355948
$DATA_FILE_SIZE,32116,427
$CAP_FILE_SIZE,122937,0
$CFSIZE,260165632,131399680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,5,0,0,0
$GPS,030712,132224,2200.703,-15809.181,75,1.4,75,9.9