version: 66.06
glider: 146
mission: 7
dive: 263
start: 7 3 112 16 29 31
data:
$ID,146
$MISSION,7
$DIVE,263
$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,-296996.34
$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,44
$R_STBD_OVSHOOT,43
$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
$GPS1,162205,2159.855,-15809.980,23,1.0,23,9.9
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.23
$_SM_ANGLEo,-70.7
$GPS2,162837,2159.834,-15810.110,9,1.4,9,9.9
$SPEED_LIMITS,0.179,0.270
$TGT_NAME,KUHUKU2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.266,0.045
$KALMAN_X,-104434.2,-1028.5,354.8,94212.2,-2872.6
$KALMAN_Y,187069.9,-173.5,-282.9,-262088.5,76.3
$MHEAD_RNG_PITCHd_Wd,70.6,25977,-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,-89.72,0.000,6,0.000,0.000,468,2155,3743,0,0,0,0,0,0
$GC,119,-1.54,-136.3,3.0,-6.4,10,140,12.73,2.60,0.00,0.000,4,0.173,0.030,2765,3755,3745,0,0,0,0,0,0
$GC,167,-0.92,-136.3,21.7,-35.9,15,178,0.65,2.53,0.00,0.000,6,0.103,0.024,2908,2186,3746,0,0,0,0,0,0
$GC,449,-0.98,-136.3,62.2,-13.4,42,459,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2185,3745,0,0,0,0,0,0
$GC,719,-1.07,-136.3,93.8,-11.4,67,724,0.12,2.62,0.00,0.000,4,0.069,0.047,2799,593,3747,0,0,0,0,0,0
$GC,752,-1.07,-136.3,98.3,-12.8,69,757,0.10,2.45,0.00,0.000,6,0.122,0.024,2880,2182,3747,0,0,0,0,0,0
$GC,1020,-1.13,-136.3,127.9,-11.0,93,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2182,3748,0,0,0,0,0,0
$GC,1288,-1.19,-136.3,158.3,-11.5,118,1294,0.10,0.00,0.00,0.000,6,0.080,0.000,2837,2182,3749,0,0,0,0,0,0
$GC,1549,-1.19,-136.3,195.5,-14.0,143,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2182,3750,0,0,0,0,0,0
$GC,1825,-1.19,-136.3,230.5,-11.2,152,1830,0.00,2.60,0.00,0.000,4,0.000,0.050,2799,603,3753,0,0,0,0,0,0
$GC,1847,-1.19,-136.3,232.9,-10.2,152,1852,0.00,2.42,0.00,0.000,6,0.000,0.020,2836,2182,3750,0,0,0,0,0,0
$GC,2105,-1.23,-136.3,255.0,-8.5,159,2110,0.00,2.50,0.00,0.000,4,0.000,0.044,2837,3750,3751,0,0,0,0,0,0
$GC,2184,-1.31,-136.3,262.3,-8.9,160,2192,0.00,2.42,0.00,0.000,6,0.000,0.025,2836,2197,3751,0,0,0,0,0,0
$GC,2436,-1.37,-136.3,288.4,-10.9,167,2440,0.00,2.50,0.00,0.000,4,0.000,0.044,2827,3750,3751,0,0,0,0,0,0
$GC,2453,-1.43,-136.3,290.9,-12.3,167,2457,0.00,2.45,0.00,0.000,6,0.000,0.022,2829,2188,3751,0,0,0,0,0,0
$GC,2714,-1.51,-136.3,320.1,-10.6,174,2719,0.20,2.53,0.00,0.000,4,0.051,0.044,2749,3744,3751,0,0,0,0,0,0
$GC,2749,-1.46,-136.3,324.1,-12.4,174,2756,0.15,2.47,0.00,0.000,6,0.104,0.033,2799,2209,3751,0,0,0,0,0,0
$GC,2999,-1.46,-136.3,351.2,-10.1,181,3004,0.00,2.83,0.00,0.000,4,0.000,0.081,2799,594,3750,0,0,0,0,0,0
$GC,3021,-1.46,-136.3,353.3,-9.3,181,3025,0.00,2.55,0.00,0.000,6,0.000,0.035,2799,2189,3750,0,0,0,0,0,0
$GC,3278,-1.46,-136.3,375.3,-8.8,188,3282,0.00,2.58,0.00,0.000,4,0.000,0.048,2775,3760,3750,0,0,0,0,0,0
$GC,3333,-1.46,-136.3,381.1,-9.4,189,3337,0.00,2.53,0.00,0.000,6,0.000,0.041,2799,2218,3749,0,0,0,0,0,0
$GC,3599,-1.46,-136.3,409.9,-11.2,196,3604,0.00,2.58,0.00,0.000,4,0.000,0.050,2776,3758,3748,0,0,0,0,0,0
$GC,3634,-1.46,-136.3,414.0,-12.5,196,3643,2.22,2.55,0.00,0.000,6,0.074,0.046,2830,2221,3748,8,0,0,0,0,0
$GC,3928,-2.66,-136.3,432.8,-6.9,204,3938,3.30,2.62,0.00,0.000,4,0.042,0.051,2476,3757,3745,0,0,0,0,0,0
$GC,4185,-2.21,-136.3,485.4,-21.8,209,4191,0.60,2.62,0.00,0.000,6,0.114,0.063,2649,2208,3744,1,0,0,0,0,0
$GC,4436,-1.97,-136.3,525.0,-15.3,215,4441,0.15,2.70,0.00,0.000,4,0.132,0.071,2658,3760,3742,0,0,0,0,0,0
$GC,4482,-1.79,-136.3,531.8,-14.7,216,4487,0.20,2.65,0.00,0.000,6,0.123,0.056,2720,2214,3742,0,0,0,0,0,0
$GC,4760,-1.69,-136.3,566.4,-12.2,223,4766,0.12,2.75,0.00,0.000,4,0.144,0.080,2718,3752,3739,0,0,0,0,0,0
$GC,4785,-1.60,-136.3,569.3,-12.0,223,4790,0.12,2.67,0.00,0.000,6,0.141,0.074,2766,2219,3740,0,0,0,0,0,0
$GC,5041,-1.60,-136.3,596.6,-10.6,230,5045,0.00,2.72,0.00,0.000,4,0.000,0.082,2748,3756,3738,0,0,0,0,0,0
$GC,5056,-1.60,-136.3,598.4,-11.0,230,5061,0.00,2.72,0.00,0.000,6,0.000,0.076,2764,2221,3738,0,0,0,0,0,0
$STATE,5071,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5071,begin apogee
$GC,5079,-0.31,0.0,600.3,12.0,231,5195,1.25,0.00,112.40,1.006,6,0.087,0.000,3044,2170,3190,0,0,0,0,0,0
$STATE,5196,end apogee,CONTROL_FINISHED_OK
$STATE,5196,begin climb
$GC,5198,1.54,136.3,603.9,0.0,234,5318,1.75,0.00,115.95,0.980,6,0.045,0.000,3455,2170,2633,0,0,0,0,0,0
$GC,5560,1.50,155.2,569.5,11.3,243,5584,0.00,2.90,16.70,0.899,4,0.000,0.070,3337,3759,2556,0,0,0,0,0,0
$GC,5640,1.43,155.2,559.6,12.7,244,5649,0.12,2.72,0.00,0.000,6,0.110,0.065,3428,2196,2553,0,0,0,0,0,0
$GC,5890,1.46,178.3,532.2,11.1,251,5913,0.00,0.00,20.77,0.909,6,0.000,0.000,3428,2196,2463,0,0,0,0,0,0
$GC,6136,1.47,186.2,503.5,12.0,257,6150,0.00,2.75,8.07,0.802,4,0.000,0.052,3360,3761,2430,0,0,0,0,0,0
$GC,6189,1.47,186.2,495.6,14.5,258,6194,0.00,2.70,0.00,0.000,6,0.000,0.053,3428,2199,2429,0,0,0,0,0,0
$GC,6462,1.47,186.2,459.8,13.2,265,6467,0.00,3.05,0.00,0.000,4,0.000,0.110,3428,588,2430,0,0,0,0,0,0
$GC,6513,1.47,186.2,452.7,13.9,266,6518,0.00,2.67,0.00,0.000,6,0.000,0.036,3406,2199,2425,0,0,0,0,0,0
$GC,6785,1.50,213.5,421.4,10.8,273,6815,0.00,2.72,24.65,0.877,4,0.000,0.051,3390,3775,2320,0,0,0,0,0,0
$GC,6839,1.53,237.2,415.7,11.0,274,6868,0.00,2.65,23.00,0.858,6,0.000,0.044,3428,2192,2221,0,0,0,0,0,0
$GC,7155,1.63,282.4,383.6,9.7,282,7202,0.17,2.67,40.42,0.854,4,0.069,0.044,3440,3769,2037,0,0,0,0,0,0
$GC,7265,1.63,282.4,367.0,16.3,284,7269,0.00,2.62,0.00,0.000,6,0.000,0.044,3472,2208,2033,0,0,0,0,0,0
$GC,7520,1.63,282.4,326.5,16.0,291,7524,0.00,2.80,0.00,0.000,4,0.000,0.068,3472,592,2030,0,0,0,0,0,0
$GC,7546,1.63,282.4,321.8,16.8,291,7551,0.00,2.60,0.00,0.000,6,0.000,0.026,3457,2230,2029,0,0,0,0,0,0
$GC,7798,1.63,282.4,284.1,15.3,297,7803,0.00,2.83,0.00,0.000,4,0.000,0.059,3472,587,2028,0,0,0,0,0,0
$GC,7813,1.63,282.4,281.2,15.7,297,7818,0.00,2.62,0.00,0.000,6,0.000,0.023,3471,2221,2027,0,0,0,0,0,0
$GC,8075,1.63,282.4,244.9,13.3,304,8079,0.00,2.53,0.00,0.000,4,0.000,0.044,3449,3762,2027,0,0,0,0,0,0
$GC,8177,1.70,282.4,231.0,13.5,306,8181,0.00,2.50,0.00,0.000,6,0.000,0.033,3472,2232,2026,0,0,0,0,0,0
$GC,8443,1.74,282.4,195.4,13.2,313,8447,0.00,2.78,0.00,0.000,4,0.000,0.061,3472,584,2026,0,0,0,0,0,0
$GC,8487,1.74,282.4,189.5,14.7,316,8491,0.00,2.65,0.00,0.000,6,0.000,0.021,3472,2250,2025,0,0,0,0,0,0
$GC,8752,1.74,282.4,153.1,13.3,340,8757,0.10,2.78,0.00,0.000,4,0.212,0.050,3419,585,2026,0,0,0,0,0,0
$GC,8769,1.74,282.4,150.1,13.4,341,8774,0.00,2.62,0.00,0.000,6,0.000,0.020,3501,2247,2025,0,0,0,0,0,0
$GC,9035,1.74,282.4,111.9,15.2,365,9040,0.00,0.00,0.00,0.000,6,0.000,0.000,3501,2247,2025,0,0,0,0,0,0
$GC,9301,1.74,282.4,73.3,13.6,390,9305,0.00,2.78,0.00,0.000,4,0.000,0.050,3407,581,2024,0,0,0,0,0,0
$GC,9337,1.74,282.4,68.5,14.2,392,9342,0.00,2.60,0.00,0.000,6,0.000,0.026,3501,2242,2025,0,0,0,0,0,0
$GC,9602,1.74,282.4,33.3,13.1,416,9606,0.00,2.45,0.00,0.000,4,0.000,0.035,3445,3765,2025,0,0,0,0,0,0
$GC,9639,1.74,282.4,28.7,13.8,418,9650,0.00,2.50,0.00,0.000,6,0.000,0.028,3501,2218,2025,0,0,0,0,0,0
$STATE,9827,end climb,SURFACE_DEPTH_REACHED
$STATE,9827,begin surface coast
$FINISH,-0.6,1.011905
$STATE,9871,end surface coast,CONTROL_FINISHED_OK
$STATE,9872,begin surface
$SM_CCo,9895,77.28,0.530,0,0,1639,380.46
$SM_GC,0.32,0.00,0.00,77.28,0.000,0.000,0.530,474,2214,1639,-12.15,0.96,380.46
$IRIDIUM_FIX,2150.42,-15645.64,270901,131330
$TT8_MAMPS,0.027612
$HUMID,63.38
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,21.10
$XPDR_PINGS,49
$24V_AH,23.4,37.887
$10V_AH,10.1,32.448
$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,36.375,131.775,361.975,77.275,0.000,25.028,32.345,190.397,12.250,0.000,11.106,948.568,6377.064,554.383,1923.376,559.688,33.356,1243.210,0.000,1932.539,0.000,0.534,0.000
$DEVICE_MAMPS,211.692,154.934,1005.537,529.997,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,302.353,225.829,319.186,701.160,1119.417,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355996
$DATA_FILE_SIZE,35192,446
$CAP_FILE_SIZE,112743,0
$CFSIZE,260165632,131297280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,9,0,0,0
$GPS,030712,191651,2200.248,-15810.443,7,99.0,26,9.9