version: 66.06
glider: 146
mission: 7
dive: 270
start: 7 4 112 12 33 31
data:
$ID,146
$MISSION,7
$DIVE,270
$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,-297239.41
$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,27
$R_STBD_OVSHOOT,41
$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
$GPS1,122206,2157.728,-15809.840,29,1.0,29,9.9
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.24
$_SM_ANGLEo,-71.0
$GPS2,123237,2157.666,-15809.974,13,1.3,13,9.9
$SPEED_LIMITS,0.179,0.270
$TGT_NAME,KUHUKU2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.260,-0.071
$KALMAN_X,-119662.2,-309.1,371.0,108917.3,-1443.0
$KALMAN_Y,187690.5,-21.8,420.8,-267574.9,-710.6
$MHEAD_RNG_PITCHd_Wd,95.3,22549,-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,-87.80,0.000,6,0.000,0.000,466,2181,3745,0,0,0,0,0,0
$GC,118,-1.54,-136.3,3.9,-8.6,10,138,12.75,2.60,0.00,0.000,4,0.172,0.039,2768,598,3746,0,0,0,0,0,0
$GC,182,-1.27,-136.3,28.4,-28.4,17,193,0.30,2.53,0.00,0.000,6,0.109,0.021,2833,2182,3747,0,0,0,0,0,0
$GC,450,-1.18,-136.3,72.2,-14.6,42,455,0.12,2.53,0.00,0.000,4,0.127,0.040,2808,3758,3748,0,0,0,0,0,0
$GC,474,-1.11,-136.3,75.9,-14.3,43,478,0.00,2.50,0.00,0.000,6,0.000,0.024,2858,2178,3748,0,0,0,0,0,0
$GC,741,-1.11,-136.3,108.9,-10.8,67,746,0.00,2.58,0.00,0.000,4,0.000,0.044,2858,595,3748,0,0,0,0,0,0
$GC,763,-1.11,-136.3,112.0,-11.2,68,774,0.00,2.53,0.00,0.000,6,0.000,0.024,2857,2207,3748,0,0,0,0,0,0
$GC,1030,-1.11,-136.3,140.1,-10.7,93,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2208,3749,0,0,0,0,0,0
$GC,1297,-1.11,-136.3,169.5,-11.3,118,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2208,3749,0,0,0,0,0,0
$GC,1562,-1.11,-136.3,197.9,-10.0,143,1566,0.00,2.65,0.00,0.000,4,0.000,0.046,2840,608,3750,0,0,0,0,0,0
$GC,1608,-1.15,-136.3,203.0,-9.9,146,1613,0.00,2.47,0.00,0.000,6,0.000,0.018,2858,2204,3750,0,0,0,0,0,0
$GC,1889,-1.20,-136.3,227.9,-8.8,153,1893,0.00,2.47,0.00,0.000,4,0.000,0.037,2806,3752,3750,0,0,0,0,0,0
$GC,1922,-1.28,-136.3,231.2,-9.1,153,1927,0.00,2.42,0.00,0.000,6,0.000,0.028,2857,2213,3750,0,0,0,0,0,0
$GC,2174,-1.36,-136.3,252.0,-8.4,160,2180,0.17,2.67,0.00,0.000,4,0.054,0.059,2795,603,3753,0,0,0,0,0,0
$GC,2198,-1.36,-136.3,254.7,-10.4,160,2204,0.10,2.50,0.00,0.000,6,0.123,0.023,2816,2219,3750,0,0,0,0,0,0
$GC,2454,-1.36,-136.3,283.3,-10.9,167,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2219,3752,0,0,0,0,0,0
$GC,2698,-1.36,-136.3,308.9,-10.3,173,2702,0.00,2.47,0.00,0.000,4,0.000,0.044,2772,3755,3750,0,0,0,0,0,0
$GC,2721,-1.36,-136.3,310.8,-9.0,173,2726,0.60,2.40,0.00,0.000,6,0.077,0.023,2844,2233,3750,2,0,0,0,0,0
$GC,2977,-1.70,-136.3,321.2,-3.7,180,2980,0.90,0.00,0.00,0.000,6,0.025,0.000,2720,2233,3750,0,0,0,0,0,0
$GC,3220,-1.55,-136.3,352.1,-13.5,186,3222,0.25,0.00,0.00,0.000,6,0.098,0.000,2775,2233,3749,0,0,0,0,0,0
$GC,3467,-1.51,-136.3,376.9,-9.9,192,3471,0.00,2.50,0.00,0.000,4,0.000,0.044,2714,3744,3751,0,0,0,0,0,0
$GC,3483,-1.47,-136.3,378.7,-9.6,192,3487,0.00,2.47,0.00,0.000,6,0.000,0.039,2775,2235,3748,0,0,0,0,0,0
$GC,3744,-1.47,-136.3,403.6,-9.6,199,3745,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2235,3747,0,0,0,0,0,0
$GC,3989,-1.47,-136.3,427.0,-9.5,205,3994,0.00,2.92,0.00,0.000,4,0.000,0.098,2775,608,3745,0,0,0,0,0,0
$GC,4017,-1.41,-136.3,429.9,-10.0,205,4022,0.15,2.62,0.00,0.000,6,0.114,0.044,2805,2200,3745,0,0,0,0,0,0
$GC,4267,-1.46,-136.3,451.5,-8.5,211,4272,0.00,2.80,0.00,0.000,4,0.000,0.085,2805,615,3743,0,0,0,0,0,0
$GC,4290,-1.46,-136.3,453.7,-9.4,211,4295,0.00,2.65,0.00,0.000,6,0.000,0.045,2806,2225,3743,0,0,0,0,0,0
$GC,4547,-1.50,-136.3,475.8,-8.5,218,4548,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2225,3739,0,0,0,0,0,0
$GC,4790,-1.55,-136.3,496.7,-8.5,224,4795,0.12,2.70,0.00,0.000,4,0.201,0.072,2728,3768,3740,0,0,0,0,0,0
$GC,4917,-1.55,-136.3,509.8,-10.6,226,4922,0.00,2.60,0.00,0.000,6,0.000,0.056,2762,2249,3739,0,0,0,0,0,0
$GC,5167,-1.55,-136.3,532.6,-8.6,233,5172,0.00,3.10,0.00,0.000,4,0.000,0.116,2761,613,3736,0,0,0,0,0,0
$GC,5253,-1.49,-136.3,540.4,-9.4,235,5262,1.73,2.70,0.00,0.000,6,0.083,0.051,3148,2217,3736,5,0,0,0,0,0
$GC,5542,-2.34,-136.3,549.7,-4.2,242,5552,2.35,2.92,0.00,0.000,4,0.061,0.084,2556,616,3733,0,0,0,0,0,0
$GC,5748,-1.98,-136.3,583.8,-19.4,246,5759,4.60,2.85,0.00,0.000,6,0.096,0.064,2723,2280,3731,16,0,0,0,0,0
$STATE,5919,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5919,begin apogee
$GC,5926,-0.31,0.0,601.7,10.7,250,6043,3.20,0.00,111.47,1.019,6,0.156,0.000,3051,2188,3190,0,0,0,0,0,0
$STATE,6044,end apogee,CONTROL_FINISHED_OK
$STATE,6044,begin climb
$GC,6048,1.54,136.3,607.7,0.0,253,6171,1.70,0.00,114.60,0.988,6,0.048,0.000,3451,2189,2635,0,0,0,0,0,0
$GC,6416,1.48,139.6,571.2,12.3,262,6417,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2189,2626,0,0,0,0,0,0
$GC,6657,1.41,139.6,539.6,13.3,268,6663,0.15,2.80,0.00,0.000,4,0.212,0.069,3381,3763,2624,0,0,0,0,0,0
$GC,6752,1.41,139.6,526.8,12.7,270,6757,0.00,2.67,0.00,0.000,6,0.000,0.052,3417,2190,2623,0,0,0,0,0,0
$GC,7027,1.44,161.7,495.4,11.1,277,7056,0.00,3.17,21.55,0.910,4,0.000,0.111,3423,584,2530,0,0,0,0,0,0
$GC,7095,1.44,161.7,486.7,13.4,278,7104,1.67,2.67,0.00,0.000,6,0.067,0.047,3819,2182,2527,6,0,0,0,0,0
$GC,7356,0.91,161.7,423.2,25.5,285,7365,2.45,2.70,0.00,0.000,4,0.131,0.047,3220,3763,2524,0,0,0,0,0,0
$GC,7487,1.23,231.0,410.0,8.2,287,7556,0.28,2.58,60.85,0.888,6,0.051,0.035,3389,2199,2249,0,0,0,0,0,0
$GC,7822,1.36,246.8,372.2,11.5,296,7842,0.10,2.88,14.32,0.810,4,0.089,0.072,3416,597,2184,0,0,0,0,0,0
$GC,7894,1.43,246.8,362.1,14.9,297,7905,1.67,2.65,0.00,0.000,6,0.059,0.034,3818,2225,2181,6,0,0,0,0,0
$GC,8151,0.94,246.8,289.0,29.5,304,8160,2.40,2.62,0.00,0.000,4,0.130,0.043,3213,3767,2178,0,0,0,0,0,0
$GC,8223,1.36,304.3,279.4,9.0,305,8302,15.60,2.53,51.62,0.786,6,0.478,0.030,3515,2224,1948,56,1,0,0,0,0
$GC,8550,0.90,304.3,187.3,28.7,315,8565,2.55,2.58,0.00,0.000,4,0.120,0.041,3312,3755,1939,0,0,0,0,0,0
$GC,8612,1.46,419.1,180.6,5.4,320,8723,0.50,2.45,97.75,0.708,6,0.033,0.034,3444,2239,1480,0,0,0,0,0,0
$GC,8980,1.56,419.1,130.8,14.7,353,8985,0.00,2.78,0.00,0.000,4,0.000,0.055,3443,593,1474,0,0,0,0,0,0
$GC,9053,1.70,419.1,118.4,15.2,358,9064,0.43,2.67,0.00,0.000,6,0.034,0.021,3563,2253,1472,1,0,0,0,0,0
$GC,9322,1.61,419.1,61.5,20.9,383,9327,0.43,2.45,0.00,0.000,4,0.102,0.033,3371,3773,1472,0,0,0,0,0,0
$GC,9358,1.68,419.1,54.3,18.2,385,9362,0.00,2.50,0.00,0.000,6,0.000,0.028,3471,2217,1470,0,0,0,0,0,0
$GC,9676,1.77,419.1,5.2,17.8,418,9687,0.10,2.70,0.00,0.000,4,0.087,0.047,3492,596,1470,0,0,0,0,0,0
$STATE,9696,end climb,SURFACE_DEPTH_REACHED
$STATE,9696,begin surface coast
$FINISH,-0.5,1.022662
$STATE,9729,end surface coast,CONTROL_FINISHED_OK
$STATE,9729,begin surface
$SM_CCo,9816,0.00,0.000,0,0,1467,422.65
$SM_GC,0.35,12.25,0.00,0.00,0.023,0.000,0.000,468,2208,1467,-12.04,0.79,422.65
$IRIDIUM_FIX,2148.09,-15808.90,280901,121218
$TT8_MAMPS,0.027612
$HUMID,67.12
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,20.00
$XPDR_PINGS,42
$24V_AH,23.4,38.888
$10V_AH,10.1,33.169
$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,69.625,116.300,472.175,0.000,0.000,58.588,70.589,286.970,10.500,0.000,15.243,893.977,6466.401,529.004,1832.521,720.643,33.391,1276.769,0.000,1829.190,0.000,0.534,0.000
$DEVICE_MAMPS,477.841,194.051,1018.576,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,286.192,207.151,296.629,614.446,981.901,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355992
$DATA_FILE_SIZE,32138,424
$CAP_FILE_SIZE,115562,8
$CFSIZE,260165632,130928640
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,92,0,0,0
$GPS,040712,151805,2157.196,-15810.153,10,1.7,20,9.9