version: 66.06
glider: 146
mission: 7
dive: 268
start: 7 4 112 6 45 30
data:
$ID,146
$MISSION,7
$DIVE,268
$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,-297193.62
$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,26
$R_STBD_OVSHOOT,29
$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
$GPS1,063735,2158.583,-15810.687,38,1.0,38,9.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-71.6
$GPS2,064439,2158.541,-15810.813,12,2.3,31,9.9
$SPEED_LIMITS,0.179,0.270
$TGT_NAME,KUHUKU2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.268,-0.034
$KALMAN_X,-116283.6,431.5,-540.2,104271.9,-2714.5
$KALMAN_Y,188121.5,269.8,-576.2,-265677.7,512.2
$MHEAD_RNG_PITCHd_Wd,87.3,24713,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.54,-136.3,0.0,0.0,0,124,0.00,0.00,-98.03,0.000,6,0.000,0.000,467,2123,3745,0,0,0,0,0,0
$GC,129,-1.54,-136.3,3.2,-6.5,11,149,12.75,0.00,0.00,0.000,6,0.174,0.000,2768,2123,3747,0,0,0,0,0,0
$GC,428,-1.35,-136.3,73.0,-18.4,41,434,0.25,2.62,0.00,0.000,4,0.123,0.027,2788,3774,3748,0,0,0,0,0,0
$GC,466,-1.25,-136.3,79.1,-16.0,43,471,0.17,2.55,0.00,0.000,6,0.114,0.022,2856,2161,3748,0,0,0,0,0,0
$GC,734,-1.25,-136.3,114.8,-13.1,67,738,0.00,2.55,0.00,0.000,4,0.000,0.030,2828,3765,3752,0,0,0,0,0,0
$GC,750,-1.25,-136.3,117.9,-12.8,68,754,0.00,2.50,0.00,0.000,6,0.000,0.021,2856,2177,3750,0,0,0,0,0,0
$GC,1011,-1.25,-136.3,152.9,-13.1,92,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2177,3750,0,0,0,0,0,0
$GC,1270,-1.29,-136.3,186.0,-12.9,116,1275,0.10,2.60,0.00,0.000,4,0.084,0.048,2753,604,3751,0,0,0,0,0,0
$GC,1313,-1.29,-136.3,192.4,-14.8,119,1318,0.00,2.47,0.00,0.000,6,0.000,0.018,2816,2213,3751,0,0,0,0,0,0
$GC,1578,-1.29,-136.3,227.2,-13.1,129,1582,0.00,2.47,0.00,0.000,4,0.000,0.040,2772,3756,3752,0,0,0,0,0,0
$GC,1678,-1.29,-136.3,239.6,-11.6,131,1682,0.00,2.45,0.00,0.000,6,0.000,0.021,2816,2199,3752,0,0,0,0,0,0
$GC,1946,-1.29,-136.3,268.8,-11.0,138,1950,0.00,2.67,0.00,0.000,4,0.000,0.056,2816,602,3752,0,0,0,0,0,0
$GC,1962,-1.29,-136.3,271.0,-11.2,138,1966,0.00,2.50,0.00,0.000,6,0.000,0.024,2815,2193,3752,0,0,0,0,0,0
$GC,2222,-1.29,-136.3,300.3,-11.2,145,2227,0.00,2.53,0.00,0.000,4,0.000,0.039,2769,3752,3753,0,0,0,0,0,0
$GC,2255,-1.29,-136.3,303.7,-9.8,145,2261,0.00,2.42,0.00,0.000,6,0.000,0.026,2816,2206,3752,0,0,0,0,0,0
$GC,2507,-1.29,-136.3,326.8,-9.4,152,2511,0.00,2.50,0.00,0.000,4,0.000,0.045,2756,3753,3752,0,0,0,0,0,0
$GC,2523,-1.29,-136.3,328.6,-9.4,152,2527,0.00,2.47,0.00,0.000,6,0.000,0.031,2816,2200,3752,0,0,0,0,0,0
$GC,2784,-1.34,-136.3,354.4,-9.9,159,2788,0.00,2.53,0.00,0.000,4,0.000,0.045,2750,3750,3752,0,0,0,0,0,0
$GC,2802,-1.38,-136.3,356.2,-10.4,159,2806,0.00,2.50,0.00,0.000,6,0.000,0.031,2816,2202,3752,0,0,0,0,0,0
$GC,3063,-1.42,-136.3,385.9,-11.6,166,3068,0.00,2.88,0.00,0.000,4,0.000,0.085,2817,587,3751,0,0,0,0,0,0
$GC,3084,-1.42,-136.3,388.8,-12.3,166,3089,0.00,2.58,0.00,0.000,6,0.000,0.037,2818,2179,3751,0,0,0,0,0,0
$GC,3342,-1.48,-136.3,417.2,-10.7,173,3347,0.10,2.67,0.00,0.000,4,0.084,0.060,2715,3761,3749,0,0,0,0,0,0
$GC,3391,-1.48,-136.3,423.6,-12.8,174,3401,3.47,2.58,0.00,0.000,6,0.074,0.048,2891,2200,3749,12,0,0,0,0,0
$GC,3671,-3.06,-136.3,449.6,-10.3,181,3682,5.65,2.62,0.00,0.000,4,0.127,0.054,2437,3759,3748,0,0,0,0,0,0
$GC,3940,-2.50,-136.3,497.5,-20.7,187,3945,0.57,2.65,0.00,0.000,6,0.128,0.063,2568,2212,3747,0,0,0,0,0,0
$GC,4224,-2.13,-136.3,545.6,-16.4,194,4229,0.38,2.70,0.00,0.000,4,0.129,0.080,2621,3755,3745,0,0,0,0,0,0
$GC,4454,-1.89,-136.3,579.1,-14.4,199,4460,0.35,2.72,0.00,0.000,6,0.117,0.076,2717,2216,3743,1,0,0,0,0,0
$STATE,4643,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4643,begin apogee
$GC,4649,-0.31,0.0,601.6,11.6,204,4766,1.50,0.00,113.25,1.002,6,0.096,0.000,3043,2181,3190,0,0,0,0,0,0
$STATE,4767,end apogee,CONTROL_FINISHED_OK
$STATE,4767,begin climb
$GC,4772,1.54,136.3,604.5,0.0,207,4899,1.73,3.15,114.80,0.974,4,0.045,0.117,3451,598,2633,0,0,0,0,0,0
$GC,4933,1.47,159.5,592.6,11.1,210,4962,0.00,2.75,21.38,0.913,6,0.000,0.058,3452,2176,2539,0,0,0,0,0,0
$GC,5228,1.45,183.7,560.3,11.0,218,5256,0.00,2.85,21.12,0.911,4,0.000,0.077,3452,3766,2440,0,0,0,0,0,0
$GC,5291,1.42,201.0,553.0,11.4,219,5315,0.15,2.78,16.62,0.892,6,0.128,0.064,3424,2179,2370,0,0,0,0,0,0
$GC,5603,1.48,254.1,523.5,9.2,227,5652,0.00,0.00,47.42,0.933,6,0.000,0.000,3424,2179,2153,0,0,0,0,0,0
$GC,5929,1.53,254.1,484.1,12.9,235,5934,0.10,2.75,0.00,0.000,4,0.094,0.053,3407,3782,2146,0,0,0,0,0,0
$GC,5997,1.53,254.1,473.4,15.7,236,6002,0.00,2.70,0.00,0.000,6,0.000,0.052,3451,2189,2145,0,0,0,0,0,0
$GC,6252,1.53,254.1,435.5,14.9,243,6257,0.00,2.97,0.00,0.000,4,0.000,0.103,3448,587,2143,0,0,0,0,0,0
$GC,6280,1.53,254.1,431.2,16.4,243,6285,0.00,2.65,0.00,0.000,6,0.000,0.035,3429,2201,2142,0,0,0,0,0,0
$GC,6530,1.53,254.1,395.1,14.0,249,6534,0.00,2.60,0.00,0.000,4,0.000,0.051,3405,3766,2142,0,0,0,0,0,0
$GC,6569,1.53,254.1,389.6,14.9,250,6573,0.00,2.62,0.00,0.000,6,0.000,0.045,3451,2197,2141,0,0,0,0,0,0
$GC,6854,1.53,254.1,351.6,13.2,257,6858,0.00,2.83,0.00,0.000,4,0.000,0.076,3451,590,2140,0,0,0,0,0,0
$GC,6880,1.53,254.1,347.7,13.4,257,6885,0.00,2.62,0.00,0.000,6,0.000,0.027,3429,2208,2142,0,0,0,0,0,0
$GC,7130,1.53,254.1,316.6,12.5,263,7135,0.00,2.58,0.00,0.000,4,0.000,0.051,3397,3762,2139,0,0,0,0,0,0
$GC,7182,1.57,254.1,309.8,14.2,264,7187,0.00,2.60,0.00,0.000,6,0.000,0.034,3451,2185,2139,0,0,0,0,0,0
$GC,7456,1.57,254.1,272.3,14.0,271,7460,0.00,2.62,0.00,0.000,4,0.000,0.041,3425,3770,2138,0,0,0,0,0,0
$GC,7482,1.57,254.1,267.9,15.7,271,7487,0.00,2.58,0.00,0.000,6,0.000,0.031,3451,2196,2136,0,0,0,0,0,0
$GC,7735,1.63,263.7,236.7,11.9,277,7749,0.00,2.80,7.20,0.650,4,0.000,0.059,3452,595,2114,0,0,0,0,0,0
$GC,7761,1.65,283.6,233.5,11.3,277,7786,0.52,2.60,19.10,0.725,6,0.044,0.027,3586,2232,2033,1,0,0,0,0,0
$GC,8040,1.48,283.6,184.4,19.6,288,8045,0.70,2.53,0.00,0.000,4,0.118,0.039,3394,3764,2029,0,0,0,0,0,0
$GC,8074,1.52,283.6,178.7,14.9,290,8079,0.00,2.55,0.00,0.000,6,0.000,0.036,3439,2185,2028,0,0,0,0,0,0
$GC,8336,1.62,283.6,145.2,13.4,314,8341,0.12,2.67,0.00,0.000,4,0.079,0.052,3474,596,2028,0,0,0,0,0,0
$GC,8360,1.68,283.6,142.6,13.9,315,8364,0.00,2.55,0.00,0.000,6,0.000,0.027,3474,2207,2027,0,0,0,0,0,0
$GC,8626,1.68,283.6,103.0,13.5,339,8630,0.00,2.50,0.00,0.000,4,0.000,0.037,3474,3752,2027,0,0,0,0,0,0
$GC,8674,1.76,283.6,95.8,14.4,342,8685,3.95,2.55,0.00,0.000,6,0.387,0.028,3600,2187,2026,14,0,0,0,0,0
$GC,8942,1.34,283.6,29.9,24.8,367,8951,2.05,2.55,0.00,0.000,4,0.109,0.038,3412,3757,2027,0,0,0,0,0,0
$GC,9019,1.67,342.9,20.2,8.8,376,9077,0.22,2.50,51.20,0.555,6,0.038,0.027,3480,2215,1790,0,0,0,0,0,0
$STATE,9153,end climb,SURFACE_DEPTH_REACHED
$STATE,9153,begin surface coast
$FINISH,-0.4,1.023717
$STATE,9195,end surface coast,CONTROL_FINISHED_OK
$STATE,9195,begin surface
$SM_CCo,9217,28.60,0.525,0,0,1641,380.21
$SM_GC,0.24,0.00,0.00,28.60,0.000,0.000,0.525,471,2211,1641,-12.17,0.88,380.21
$IRIDIUM_FIX,2148.09,-15811.05,280901,040414
$TT8_MAMPS,0.027612
$HUMID,66.42
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,20.00
$XPDR_PINGS,45
$24V_AH,23.4,38.616
$10V_AH,10.1,32.942
$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,47.025,131.275,412.100,28.600,0.000,30.479,33.698,193.433,11.250,0.000,34.119,877.137,5950.804,478.559,1796.749,564.018,33.363,1218.094,0.000,1775.957,0.000,0.535,0.000
$DEVICE_MAMPS,387.335,175.643,1001.702,525.395,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,267.881,194.179,275.242,576.094,919.178,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355956
$DATA_FILE_SIZE,28871,396
$CAP_FILE_SIZE,109967,0
$CFSIZE,260165632,131047424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,28,0,0,0
$GPS,040712,092045,2158.630,-15810.313,8,5.6,27,9.9