version: 66.06
glider: 146
mission: 7
dive: 267
start: 7 4 112 4 3 38
data:
$ID,146
$MISSION,7
$DIVE,267
$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,-297158.88
$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,2
$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,18
$R_STBD_OVSHOOT,13
$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
$GPS1,035036,2158.205,-15809.922,28,1.3,28,9.9
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-70.7
$GPS2,040243,2158.154,-15810.188,10,1.7,10,9.9
$SPEED_LIMITS,0.179,0.270
$TGT_NAME,KUHUKU2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.234,0.133
$KALMAN_X,-114181.7,615.5,504.0,102020.4,-3357.1
$KALMAN_Y,188469.7,167.6,-279.5,-266941.2,207.5
$MHEAD_RNG_PITCHd_Wd,50.5,23493,-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,-136.3,0.0,0.0,0,113,0.00,0.00,-87.50,0.000,6,0.000,0.000,471,2086,3745,0,0,0,0,0,0
$GC,116,-1.54,-136.3,4.1,-9.3,10,136,12.75,2.47,0.00,0.000,4,0.174,0.031,2768,575,3747,0,0,0,0,0,0
$GC,150,-0.34,-136.3,19.1,-39.3,13,161,1.25,2.60,0.00,0.000,6,0.104,0.022,3035,2215,3748,0,0,0,0,0,0
$GC,454,-0.68,-136.3,40.4,-5.3,44,459,0.25,2.67,0.00,0.000,4,0.042,0.041,2945,586,3748,0,0,0,0,0,0
$GC,492,-0.88,-136.3,43.4,-8.5,46,497,0.10,2.45,0.00,0.000,6,0.079,0.017,2900,2174,3748,0,0,0,0,0,0
$GC,761,-0.97,-136.3,70.9,-10.0,70,765,0.00,2.50,0.00,0.000,4,0.000,0.040,2882,3752,3749,0,0,0,0,0,0
$GC,809,-1.10,-136.3,76.5,-11.4,73,814,0.10,2.50,0.00,0.000,6,0.080,0.022,2853,2155,3749,0,0,0,0,0,0
$GC,1075,-1.10,-136.3,112.2,-13.5,97,1080,0.10,2.55,0.00,0.000,4,0.119,0.031,2846,3751,3750,0,0,0,0,0,0
$GC,1096,-1.10,-136.3,115.9,-13.2,98,1107,0.00,2.47,0.00,0.000,6,0.000,0.021,2863,2187,3750,0,0,0,0,0,0
$GC,1364,-1.16,-136.3,146.4,-10.5,123,1369,0.00,2.58,0.00,0.000,4,0.000,0.047,2873,608,3751,0,0,0,0,0,0
$GC,1398,-1.20,-136.3,150.6,-13.4,125,1402,0.00,2.45,0.00,0.000,6,0.000,0.024,2874,2189,3751,0,0,0,0,0,0
$GC,1659,-1.28,-136.3,182.4,-11.0,149,1661,0.15,0.00,0.00,0.000,6,0.060,0.000,2819,2190,3751,0,0,0,0,0,0
$GC,1929,-1.28,-136.3,213.5,-11.0,166,1934,0.00,2.47,0.00,0.000,4,0.000,0.031,2791,3758,3751,0,0,0,0,0,0
$GC,1998,-1.28,-136.3,220.8,-10.7,167,2002,0.00,2.47,0.00,0.000,6,0.000,0.021,2819,2178,3751,0,0,0,0,0,0
$GC,2253,-1.28,-136.3,241.8,-7.8,174,2257,0.00,2.60,0.00,0.000,4,0.000,0.058,2797,606,3752,0,0,0,0,0,0
$GC,2274,-1.28,-136.3,243.8,-8.5,174,2279,0.00,2.45,0.00,0.000,6,0.000,0.025,2819,2182,3752,0,0,0,0,0,0
$GC,2532,-1.28,-136.3,269.9,-10.8,181,2536,0.00,2.50,0.00,0.000,4,0.000,0.038,2805,3749,3752,0,0,0,0,0,0
$GC,2593,-1.28,-136.3,277.3,-11.7,182,2597,0.00,2.45,0.00,0.000,6,0.000,0.023,2819,2194,3752,0,0,0,0,0,0
$GC,2854,-1.32,-136.3,308.2,-11.7,189,2858,0.00,2.70,0.00,0.000,4,0.000,0.066,2818,603,3751,0,0,0,0,0,0
$GC,2877,-1.32,-136.3,310.9,-11.9,189,2882,0.00,2.50,0.00,0.000,6,0.000,0.025,2819,2172,3751,0,0,0,0,0,0
$GC,3132,-1.36,-136.3,342.8,-12.6,196,3137,0.00,2.60,0.00,0.000,4,0.000,0.047,2793,3758,3751,0,0,0,0,0,0
$GC,3154,-1.40,-136.3,345.9,-13.0,196,3159,0.00,2.55,0.00,0.000,6,0.000,0.035,2819,2180,3751,0,0,0,0,0,0
$GC,3412,-1.45,-136.3,374.8,-11.0,203,3416,0.00,2.80,0.00,0.000,4,0.000,0.082,2819,595,3750,0,0,0,0,0,0
$GC,3433,-1.45,-136.3,377.5,-10.5,203,3438,0.00,2.53,0.00,0.000,6,0.000,0.033,2818,2171,3747,0,0,0,0,0,0
$GC,3689,-1.51,-136.3,400.8,-8.7,210,3695,0.12,2.72,0.00,0.000,4,0.069,0.068,2769,598,3749,0,0,0,0,0,0
$GC,3719,-1.46,-136.3,403.7,-10.2,210,3725,0.12,2.58,0.00,0.000,6,0.115,0.039,2794,2170,3748,0,0,0,0,0,0
$GC,3969,-1.46,-136.3,427.0,-9.0,216,3970,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2170,3746,0,0,0,0,0,0
$GC,4213,-1.46,-136.3,448.2,-8.6,222,4217,0.00,2.78,0.00,0.000,4,0.000,0.081,2794,598,3745,0,0,0,0,0,0
$GC,4264,-1.46,-136.3,453.4,-10.5,223,4269,0.00,2.60,0.00,0.000,6,0.000,0.042,2794,2164,3745,0,0,0,0,0,0
$GC,4537,-1.46,-136.3,480.4,-9.9,230,4541,0.00,2.75,0.00,0.000,4,0.000,0.070,2756,3764,3742,0,0,0,0,0,0
$GC,4592,-1.46,-136.3,486.5,-10.5,231,4596,0.00,2.67,0.00,0.000,6,0.000,0.049,2795,2166,3740,0,0,0,0,0,0
$GC,4860,-1.46,-136.3,513.7,-10.3,238,4865,0.00,2.75,0.00,0.000,4,0.000,0.061,2763,3769,3742,0,0,0,0,0,0
$GC,4893,-1.46,-136.3,517.5,-10.8,238,4899,0.00,2.75,0.00,0.000,6,0.000,0.057,2795,2162,3741,0,0,0,0,0,0
$GC,5146,-1.50,-136.3,542.3,-9.9,245,5147,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2162,3739,0,0,0,0,0,0
$GC,5387,-1.50,-136.3,566.4,-9.9,251,5392,0.00,2.83,0.00,0.000,4,0.000,0.083,2769,3761,3737,0,0,0,0,0,0
$GC,5437,-1.54,-136.3,571.4,-10.2,252,5442,0.00,2.75,0.00,0.000,6,0.000,0.064,2797,2172,3736,0,0,0,0,0,0
$GC,5712,-1.58,-136.3,596.3,-9.2,259,5718,0.10,2.83,0.00,0.000,4,0.083,0.084,2740,3767,3734,0,0,0,0,0,0
$STATE,5743,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5743,begin apogee
$GC,5752,-0.31,0.0,600.6,12.1,259,5867,1.27,0.00,111.85,1.016,6,0.087,0.000,3041,2179,3190,0,0,0,0,0,0
$STATE,5868,end apogee,CONTROL_FINISHED_OK
$STATE,5868,begin climb
$GC,5871,1.54,136.3,603.8,0.0,262,5996,1.73,0.00,114.55,0.988,6,0.052,0.000,3448,2178,2635,0,0,0,0,0,0
$GC,6236,1.48,136.3,566.3,12.6,271,6241,0.00,2.80,0.00,0.000,4,0.000,0.066,3413,3769,2627,0,0,0,0,0,0
$GC,6339,1.40,136.3,553.0,13.3,273,6359,13.32,2.78,0.00,0.000,6,0.487,0.059,3399,2180,2624,48,0,0,0,0,0
$GC,6604,0.85,136.3,490.7,24.0,279,6613,2.60,2.75,0.00,0.000,4,0.131,0.051,3222,3762,2622,0,0,0,0,0,0
$GC,6701,1.17,216.0,481.2,7.6,281,6778,1.60,2.67,68.45,0.922,6,0.037,0.045,3712,2188,2309,4,0,0,0,0,0
$GC,7022,0.72,216.0,397.6,27.5,289,7031,2.17,2.70,0.00,0.000,4,0.138,0.039,3169,3777,2301,0,0,0,0,0,0
$GC,7101,1.18,294.9,389.5,7.6,290,7177,0.40,2.60,69.50,0.858,6,0.041,0.041,3379,2205,1986,0,0,0,0,0,0
$GC,7435,1.34,303.1,350.9,12.0,299,7450,0.12,2.88,7.30,0.707,4,0.078,0.069,3413,599,1953,0,0,0,0,0,0
$GC,7532,1.45,303.1,336.6,15.3,301,7541,1.45,2.65,0.00,0.000,6,0.039,0.031,3787,2223,1951,5,0,0,0,0,0
$GC,7814,0.98,303.1,250.9,30.3,308,7823,2.25,2.62,0.00,0.000,4,0.131,0.047,3226,3761,1949,0,0,0,0,0,0
$GC,7918,1.44,398.3,240.1,6.6,310,8012,0.43,2.50,82.60,0.758,6,0.041,0.029,3442,2228,1565,0,0,0,0,0,0
$GC,8262,1.53,398.3,185.9,18.7,323,8266,0.00,2.80,0.00,0.000,4,0.000,0.064,3442,592,1558,0,0,0,0,0,0
$GC,8328,1.66,398.3,174.0,18.1,328,8338,1.23,2.65,0.00,0.000,6,0.037,0.022,3761,2248,1555,4,0,0,0,0,0
$GC,8598,1.22,398.3,79.7,34.3,353,8614,1.83,2.53,0.00,0.000,4,0.134,0.036,3019,3768,1553,0,0,0,0,0,0
$GC,8646,1.56,423.6,68.9,10.9,356,8673,0.32,2.47,20.60,0.601,6,0.028,0.028,3484,2254,1464,0,0,0,0,0,0
$GC,8945,1.63,423.6,20.5,16.9,385,8956,0.00,2.80,0.00,0.000,4,0.000,0.054,3483,596,1460,0,0,0,0,0,0
$GC,9025,1.71,423.6,6.9,17.6,394,9035,0.00,2.65,0.00,0.000,6,0.000,0.028,3484,2248,1459,0,0,0,0,0,0
$STATE,9044,end climb,SURFACE_DEPTH_REACHED
$STATE,9044,begin surface coast
$FINISH,-0.4,1.012154
$STATE,9078,end surface coast,CONTROL_FINISHED_OK
$STATE,9078,begin surface
$SM_CCo,9161,0.00,0.000,0,0,1456,425.35
$SM_GC,0.35,12.12,0.00,0.00,0.020,0.000,0.000,466,2123,1456,-12.06,-1.61,425.35
$IRIDIUM_FIX,2150.42,-15810.19,280901,040444
$TT8_MAMPS,0.027612
$HUMID,69.84
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,18.40
$XPDR_PINGS,50
$24V_AH,23.4,38.490
$10V_AH,10.3,32.844
$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,57.900,131.700,474.850,0.000,0.000,91.351,114.160,237.539,12.500,0.000,15.524,870.012,5885.123,527.055,1841.904,760.729,33.357,1258.256,0.000,1842.602,0.000,0.533,0.000
$DEVICE_MAMPS,487.045,84.370,1015.508,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,270.675,199.238,283.200,653.175,1042.276,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355940
$DATA_FILE_SIZE,32073,400
$CAP_FILE_SIZE,114163,0
$CFSIZE,260165632,131096576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,61,0,0,0
$GPS,040712,063735,2158.583,-15810.687,38,1.0,38,9.9