version: 66.06
glider: 146
mission: 7
dive: 280
start: 7 5 112 17 48 25
data:
$ID,146
$MISSION,7
$DIVE,280
$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,-297400.91
$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,64
$R_STBD_OVSHOOT,37
$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
$GPS1,174059,2153.427,-15808.600,69,0.9,69,9.9
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.24
$_SM_ANGLEo,-68.1
$GPS2,174731,2153.377,-15808.718,11,1.2,11,9.9
$SPEED_LIMITS,0.179,0.270
$TGT_NAME,KUHUKU2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.264,-0.057
$KALMAN_X,-138492.5,-749.0,-71.0,130783.8,-2181.8
$KALMAN_Y,190672.8,-311.4,-314.0,-277481.2,239.3
$MHEAD_RNG_PITCHd_Wd,92.2,15251,-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,-88.38,0.000,6,0.000,0.000,468,2128,3745,0,0,0,0,0,0
$GC,118,-1.54,-136.3,3.5,-7.6,10,138,12.77,2.65,0.00,0.000,4,0.173,0.027,2769,3761,3747,0,0,0,0,0,0
$GC,174,-1.20,-136.3,25.0,-29.6,16,185,0.38,2.50,0.00,0.000,6,0.107,0.026,2850,2217,3748,0,0,0,0,0,0
$GC,450,-1.15,-136.3,68.5,-14.1,42,460,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2218,3748,0,0,0,0,0,0
$GC,717,-1.15,-136.3,106.3,-14.1,67,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2217,3749,0,0,0,0,0,0
$GC,981,-1.15,-136.3,142.9,-13.3,92,986,0.00,2.65,0.00,0.000,4,0.000,0.051,2849,602,3750,0,0,0,0,0,0
$GC,1012,-1.15,-136.3,147.6,-13.9,94,1016,0.00,2.45,0.00,0.000,6,0.000,0.024,2849,2199,3750,0,0,0,0,0,0
$GC,1279,-1.15,-136.3,177.2,-10.7,118,1283,0.00,2.45,0.00,0.000,4,0.000,0.032,2829,3754,3751,0,0,0,0,0,0
$GC,1297,-1.18,-136.3,179.6,-10.6,119,1301,0.00,2.45,0.00,0.000,6,0.000,0.028,2847,2175,3751,0,0,0,0,0,0
$GC,1569,-1.24,-136.3,209.6,-11.5,138,1573,0.00,2.60,0.00,0.000,4,0.000,0.051,2849,608,3752,0,0,0,0,0,0
$GC,1596,-1.28,-136.3,213.6,-12.3,138,1601,0.00,2.42,0.00,0.000,6,0.000,0.025,2849,2171,3752,0,0,0,0,0,0
$GC,1849,-1.34,-136.3,239.1,-9.7,144,1854,0.12,2.62,0.00,0.000,4,0.068,0.053,2797,601,3752,0,0,0,0,0,0
$GC,1893,-1.28,-136.3,244.6,-12.7,145,1898,0.17,2.45,0.00,0.000,6,0.106,0.026,2833,2186,3752,0,0,0,0,0,0
$GC,2172,-1.32,-136.3,270.4,-9.3,152,2173,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2186,3752,0,0,0,0,0,0
$GC,2417,-1.38,-136.3,294.7,-10.4,158,2422,0.00,2.53,0.00,0.000,4,0.000,0.048,2810,3754,3752,0,0,0,0,0,0
$GC,2462,-1.46,-136.3,300.4,-12.2,159,2467,0.15,2.50,0.00,0.000,6,0.059,0.031,2778,2186,3752,0,0,0,0,0,0
$GC,2740,-1.46,-136.3,338.1,-13.0,166,2744,0.00,2.55,0.00,0.000,4,0.000,0.042,2764,3750,3751,0,0,0,0,0,0
$GC,2774,-1.42,-136.3,342.7,-14.1,166,2781,0.12,2.50,0.00,0.000,6,0.110,0.037,2804,2190,3751,0,0,0,0,0,0
$GC,3025,-1.42,-136.3,371.8,-11.8,173,3026,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2190,3750,0,0,0,0,0,0
$GC,3268,-1.42,-136.3,399.2,-11.1,179,3269,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2190,3749,0,0,0,0,0,0
$GC,3514,-1.42,-136.3,425.7,-10.8,185,3518,0.00,2.62,0.00,0.000,4,0.000,0.052,2771,3748,3748,0,0,0,0,0,0
$GC,3541,-1.42,-136.3,429.1,-11.5,185,3545,0.00,2.60,0.00,0.000,6,0.000,0.048,2803,2190,3748,0,0,0,0,0,0
$GC,3791,-1.46,-136.3,455.0,-10.5,191,3793,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2190,3746,0,0,0,0,0,0
$GC,4037,-1.50,-136.3,481.7,-11.0,197,4041,0.00,2.62,0.00,0.000,4,0.000,0.061,2744,3742,3744,0,0,0,0,0,0
$GC,4092,-1.55,-136.3,488.5,-11.7,198,4098,0.12,2.62,0.00,0.000,6,0.068,0.054,2760,2185,3745,0,0,0,0,0,0
$GC,4359,-1.55,-136.3,523.6,-13.4,205,4363,0.00,2.67,0.00,0.000,4,0.000,0.064,2690,3737,3742,0,0,0,0,0,0
$GC,4404,-1.55,-136.3,529.4,-13.4,206,4409,0.00,2.65,0.00,0.000,6,0.000,0.064,2751,2183,3742,0,0,0,0,0,0
$GC,4682,-1.55,-136.3,564.6,-12.4,213,4683,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2183,3740,0,0,0,0,0,0
$GC,4926,-1.55,-136.3,595.2,-12.4,219,4930,0.00,2.80,0.00,0.000,4,0.000,0.088,2678,3742,3738,0,0,0,0,0,0
$GC,4954,-1.55,-136.3,598.9,-13.9,219,4965,1.80,2.75,0.00,0.000,6,0.088,0.077,3175,2186,3738,6,0,0,0,0,0
$STATE,5003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5003,begin apogee
$GC,5009,-0.31,0.0,601.4,4.8,221,5126,0.60,0.00,112.95,1.009,6,0.087,0.000,3043,2186,3190,0,0,0,0,0,0
$STATE,5127,end apogee,CONTROL_FINISHED_OK
$STATE,5127,begin climb
$GC,5129,1.54,136.3,608.1,0.0,224,5259,1.73,3.20,115.32,0.983,4,0.047,0.119,3452,588,2633,0,0,0,0,0,0
$GC,5287,1.46,151.5,598.6,11.6,227,5307,0.00,2.72,14.30,0.888,6,0.000,0.063,3360,2151,2573,0,0,0,0,0,0
$GC,5589,1.42,162.8,563.5,11.8,235,5606,0.12,2.88,10.43,0.852,4,0.130,0.079,3427,3765,2525,0,0,0,0,0,0
$GC,5703,1.42,164.2,549.5,12.4,237,5712,1.85,2.72,0.00,0.000,6,0.107,0.058,3612,2180,2523,6,0,0,0,0,0
$GC,5963,0.89,164.2,488.7,23.8,244,5972,2.53,2.75,0.00,0.000,4,0.123,0.051,3171,3766,2519,0,0,0,0,0,0
$GC,6057,1.24,244.8,478.9,7.5,246,6137,0.17,2.62,72.20,0.922,6,0.063,0.050,3366,2221,2192,0,0,0,0,0,0
$GC,6426,1.44,275.1,441.4,10.6,255,6461,0.25,3.12,27.10,0.875,4,0.113,0.098,3428,591,2068,0,0,0,0,0,0
$GC,6522,1.48,275.1,427.6,15.4,257,6526,0.00,2.70,0.00,0.000,6,0.000,0.030,3407,2228,2064,0,0,0,0,0,0
$GC,6799,1.52,275.1,387.2,14.2,264,6804,0.00,2.88,0.00,0.000,4,0.000,0.074,3429,581,2062,0,0,0,0,0,0
$GC,6820,1.52,275.1,383.7,15.2,264,6825,0.00,2.65,0.00,0.000,6,0.000,0.031,3416,2215,2060,0,0,0,0,0,0
$GC,7078,1.56,275.1,348.6,13.7,271,7083,0.12,2.55,0.00,0.000,4,0.094,0.043,3419,3761,2060,0,0,0,0,0,0
$GC,7101,1.56,275.1,344.6,14.7,271,7106,0.00,2.58,0.00,0.000,6,0.000,0.040,3429,2203,2059,0,0,0,0,0,0
$GC,7357,1.56,275.1,307.1,14.7,278,7361,0.00,2.58,0.00,0.000,4,0.000,0.043,3461,3759,2059,0,0,0,0,0,0
$GC,7391,1.56,275.1,302.0,15.1,278,7397,0.00,2.55,0.00,0.000,6,0.000,0.035,3461,2214,2058,0,0,0,0,0,0
$GC,7641,1.56,275.1,265.0,14.5,285,7642,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,2214,2057,0,0,0,0,0,0
$GC,7884,1.56,275.1,230.3,14.3,291,7885,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,2214,2057,0,0,0,0,0,0
$GC,8128,1.60,275.1,197.5,13.7,297,8133,0.00,2.78,0.00,0.000,4,0.000,0.064,3462,585,2056,0,0,0,0,0,0
$GC,8177,1.66,275.1,190.6,14.7,300,8187,0.00,2.67,0.00,0.000,6,0.000,0.024,3461,2239,2055,0,0,0,0,0,0
$GC,8443,1.72,284.8,157.8,11.9,325,8458,0.12,2.55,7.55,0.604,4,0.078,0.044,3347,3764,2030,0,0,0,0,0,0
$GC,8482,1.72,284.8,152.4,14.9,328,8487,0.00,2.53,0.00,0.000,6,0.000,0.036,3497,2217,2029,0,0,0,0,0,0
$GC,8743,1.72,284.8,113.8,14.3,352,8748,0.00,2.72,0.00,0.000,4,0.000,0.053,3497,589,2029,0,0,0,0,0,0
$GC,8766,1.72,284.8,111.6,14.3,353,8771,0.00,2.62,0.00,0.000,6,0.000,0.021,3497,2246,2028,0,0,0,0,0,0
$GC,9032,1.74,294.3,76.6,11.9,377,9048,0.00,2.47,10.48,0.563,4,0.000,0.034,3412,3763,1989,0,0,0,0,0,0
$GC,9095,1.79,294.3,69.2,12.5,381,9110,1.75,2.47,0.00,0.000,6,0.173,0.028,3654,2231,1987,6,0,0,0,0,0
$STATE,9350,end climb,SURFACE_DEPTH_REACHED
$STATE,9350,begin surface coast
$FINISH,-0.5,0.999717
$STATE,9367,end surface coast,CONTROL_FINISHED_OK
$STATE,9367,begin surface
$SM_CCo,9393,70.10,0.542,0,0,1639,380.21
$SM_GC,0.30,0.00,0.00,70.10,0.000,0.000,0.542,470,2199,1639,-12.17,0.45,380.21
$IRIDIUM_FIX,2143.45,-15806.74,290901,141447
$TT8_MAMPS,0.027612
$HUMID,66.10
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,19.60
$XPDR_PINGS,43
$24V_AH,23.4,40.147
$10V_AH,10.1,34.267
$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,38.550,116.075,370.325,70.100,0.000,30.763,38.391,179.255,10.750,0.000,12.621,866.412,6248.278,508.932,1682.276,550.424,33.365,1179.722,0.000,1687.896,0.000,0.534,0.000
$DEVICE_MAMPS,173.342,194.051,1008.605,542.269,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,277.752,201.325,287.390,587.658,938.461,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356036
$DATA_FILE_SIZE,31922,410
$CAP_FILE_SIZE,104967,0
$CFSIZE,260165632,130400256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,18,0,0,0
$GPS,050712,202829,2153.544,-15808.508,100,1.1,100,9.9