version: 66.06
glider: 146
mission: 7
dive: 287
start: 7 6 112 15 32 48
data:
$ID,146
$MISSION,7
$DIVE,287
$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,665.4989
$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,-297542
$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,61
$R_STBD_OVSHOOT,32
$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
$GPS1,151558,2150.471,-15806.046,15,99.0,34,9.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-68.4
$GPS2,153157,2150.362,-15806.292,9,2.0,17,9.9
$SPEED_LIMITS,0.179,0.270
$TGT_NAME,KUHUKU2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.269,0.021
$KALMAN_X,-149528.2,-470.5,791.6,144825.3,-1853.3
$KALMAN_Y,192863.3,-45.6,358.6,-286192.2,-641.1
$MHEAD_RNG_PITCHd_Wd,75.5,8580,-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,-136.3,0.0,0.0,0,114,0.00,0.00,-85.95,0.000,6,0.000,0.000,470,2135,3746,0,0,0,0,0,0
$GC,117,-1.54,-136.3,4.0,-9.0,10,138,12.75,2.65,0.00,0.000,4,0.174,0.029,2767,3762,3747,0,0,0,0,0,0
$GC,199,-1.36,-136.3,28.7,-19.3,19,210,0.60,2.47,0.00,0.000,6,0.107,0.021,2902,2207,3748,2,0,0,0,0,0
$GC,468,-1.36,-136.3,65.4,-13.6,44,473,0.32,2.62,0.00,0.000,4,0.038,0.043,2797,595,3748,0,0,0,0,0,0
$GC,505,-1.23,-136.3,72.1,-18.5,46,510,0.22,2.47,0.00,0.000,6,0.102,0.018,2844,2188,3748,0,0,0,0,0,0
$GC,767,-1.23,-136.3,108.1,-10.6,70,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2188,3748,0,0,0,0,0,0
$GC,1024,-1.23,-136.3,135.4,-10.9,94,1028,0.00,2.50,0.00,0.000,4,0.000,0.038,2844,3755,3749,0,0,0,0,0,0
$GC,1081,-1.23,-136.3,141.7,-11.3,98,1085,0.00,2.45,0.00,0.000,6,0.000,0.024,2844,2172,3750,0,0,0,0,0,0
$GC,1342,-1.23,-136.3,173.0,-11.9,122,1346,0.00,2.55,0.00,0.000,4,0.000,0.053,2844,611,3750,0,0,0,0,0,0
$GC,1412,-1.23,-136.3,181.3,-13.5,127,1417,0.00,2.38,0.00,0.000,6,0.000,0.023,2844,2161,3749,0,0,0,0,0,0
$GC,1681,-1.27,-136.3,213.1,-10.6,143,1685,0.00,2.53,0.00,0.000,4,0.000,0.035,2849,3754,3750,0,0,0,0,0,0
$GC,1704,-1.34,-136.3,215.7,-10.4,143,1709,0.00,2.50,0.00,0.000,6,0.000,0.024,2844,2143,3750,0,0,0,0,0,0
$GC,1960,-1.39,-136.3,240.0,-9.5,150,1965,0.15,2.58,0.00,0.000,4,0.061,0.036,2788,3744,3750,0,0,0,0,0,0
$GC,1982,-1.39,-136.3,242.6,-11.0,150,1987,0.10,2.50,0.00,0.000,6,0.118,0.021,2813,2154,3751,0,0,0,0,0,0
$GC,2240,-1.39,-136.3,272.2,-12.0,157,2241,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2154,3750,0,0,0,0,0,0
$GC,2481,-1.39,-136.3,300.6,-11.4,163,2486,0.00,2.65,0.00,0.000,4,0.000,0.066,2808,603,3750,0,0,0,0,0,0
$GC,2498,-1.39,-136.3,302.6,-10.8,163,2502,0.00,2.42,0.00,0.000,6,0.000,0.028,2809,2135,3750,0,0,0,0,0,0
$GC,2760,-1.39,-136.3,328.3,-9.8,170,2765,0.00,2.65,0.00,0.000,4,0.000,0.044,2777,3756,3749,0,0,0,0,0,0
$GC,2776,-1.39,-136.3,330.1,-8.9,170,2786,2.17,2.55,0.00,0.000,6,0.071,0.035,2872,2159,3749,7,0,0,0,0,0
$GC,3043,-2.27,-136.3,342.7,-5.7,177,3052,3.25,2.67,0.00,0.000,4,0.094,0.052,2578,3754,3747,0,0,0,0,0,0
$GC,3302,-1.97,-136.3,388.3,-19.5,182,3308,0.30,2.72,0.00,0.000,6,0.100,0.046,2682,2113,3746,0,0,0,0,0,0
$GC,3554,-1.78,-136.3,426.7,-15.5,188,3560,0.20,2.75,0.00,0.000,4,0.113,0.054,2698,3755,3745,0,0,0,0,0,0
$GC,3696,-1.67,-136.3,446.9,-13.6,191,3702,0.20,2.78,0.00,0.000,6,0.109,0.052,2765,2118,3741,0,0,0,0,0,0
$GC,3971,-1.67,-136.3,477.6,-11.1,198,3976,0.00,2.80,0.00,0.000,4,0.000,0.063,2730,3754,3741,0,0,0,0,0,0
$GC,4010,-1.67,-136.3,482.2,-11.2,199,4015,0.00,2.75,0.00,0.000,6,0.000,0.060,2768,2124,3741,0,0,0,0,0,0
$GC,4294,-1.67,-136.3,512.5,-10.4,206,4298,0.00,2.78,0.00,0.000,4,0.000,0.068,2729,3750,3739,0,0,0,0,0,0
$GC,4407,-1.67,-136.3,525.0,-10.9,208,4411,0.00,2.75,0.00,0.000,6,0.000,0.066,2767,2141,3738,0,0,0,0,0,0
$GC,4662,-1.67,-136.3,551.0,-10.4,215,4666,0.00,2.80,0.00,0.000,4,0.000,0.077,2728,3749,3736,0,0,0,0,0,0
$GC,4717,-1.67,-136.3,557.3,-10.8,216,4721,0.00,2.80,0.00,0.000,6,0.000,0.065,2748,2134,3735,0,0,0,0,0,0
$GC,4985,-1.67,-136.3,583.7,-9.9,223,4990,0.00,2.97,0.00,0.000,4,0.000,0.123,2768,585,3733,0,0,0,0,0,0
$GC,5029,-1.67,-136.3,588.9,-11.5,224,5033,0.00,2.62,0.00,0.000,6,0.000,0.063,2768,2121,3733,0,0,0,0,0,0
$STATE,5141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5141,begin apogee
$GC,5150,-0.31,0.0,601.8,11.2,227,5265,1.25,0.00,111.35,1.012,6,0.084,0.000,3045,2163,3190,0,0,0,0,0,0
$STATE,5265,end apogee,CONTROL_FINISHED_OK
$STATE,5266,begin climb
$GC,5268,1.54,136.3,605.3,0.0,230,5389,1.73,0.00,115.30,0.981,6,0.044,0.000,3454,2163,2634,0,0,0,0,0,0
$GC,5635,1.48,136.3,563.6,13.8,239,5640,0.00,2.83,0.00,0.000,4,0.000,0.077,3454,3764,2625,0,0,0,0,0,0
$GC,5685,1.40,136.3,556.5,12.9,240,5690,0.30,2.75,0.00,0.000,6,0.116,0.060,3398,2173,2624,1,0,0,0,0,0
$GC,5958,1.51,180.8,529.3,9.8,247,5999,0.22,0.00,37.97,0.937,6,0.061,0.000,3448,2172,2453,0,0,0,0,0,0
$GC,6243,1.51,180.8,494.9,12.6,254,6247,0.00,2.72,0.00,0.000,4,0.000,0.051,3383,3768,2447,0,0,0,0,0,0
$GC,6331,1.51,180.8,482.8,12.8,256,6336,0.00,2.67,0.00,0.000,6,0.000,0.055,3449,2196,2446,0,0,0,0,0,0
$GC,6617,1.51,182.2,448.0,12.4,263,6618,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,2195,2445,0,0,0,0,0,0
$GC,6859,1.52,190.6,418.5,12.0,269,6869,0.00,0.00,8.48,0.793,6,0.000,0.000,3448,2195,2413,0,0,0,0,0,0
$GC,7103,1.53,194.5,388.7,12.3,275,7113,0.00,2.67,4.93,0.657,4,0.000,0.048,3401,3776,2397,0,0,0,0,0,0
$GC,7135,1.53,194.5,384.4,13.2,275,7141,0.00,2.65,0.00,0.000,6,0.000,0.043,3451,2189,2397,0,0,0,0,0,0
$GC,7387,1.53,194.5,353.1,12.8,282,7391,0.00,2.62,0.00,0.000,4,0.000,0.046,3404,3772,2395,0,0,0,0,0,0
$GC,7505,1.53,194.5,337.3,13.1,284,7509,0.00,2.55,0.00,0.000,6,0.000,0.039,3448,2217,2395,0,0,0,0,0,0
$GC,7757,1.55,211.8,307.7,11.4,290,7775,0.00,0.00,16.55,0.793,6,0.000,0.000,3448,2217,2329,0,0,0,0,0,0
$GC,7998,1.55,211.8,276.4,13.1,296,8003,0.00,2.78,0.00,0.000,4,0.000,0.064,3444,593,2324,0,0,0,0,0,0
$GC,8025,1.55,211.8,272.6,14.1,296,8029,0.00,2.62,0.00,0.000,6,0.000,0.031,3434,2233,2322,0,0,0,0,0,0
$GC,8281,1.58,211.8,240.2,12.7,303,8285,0.00,2.78,0.00,0.000,4,0.000,0.059,3448,588,2322,0,0,0,0,0,0
$GC,8298,1.58,211.8,238.0,13.2,303,8307,1.58,2.65,0.00,0.000,6,0.069,0.027,3817,2239,2321,5,0,0,0,0,0
$GC,8557,1.13,211.8,176.1,24.5,315,8572,2.20,2.60,0.00,0.000,4,0.117,0.042,3108,3776,2321,0,0,0,0,0,0
$GC,8634,1.47,292.7,168.1,7.5,321,8711,0.30,2.50,70.47,0.707,6,0.048,0.030,3442,2235,1995,0,0,0,0,0,0
$GC,8973,1.58,295.8,130.4,12.3,351,8977,0.00,2.80,0.00,0.000,4,0.000,0.059,3442,585,1989,0,0,0,0,0,0
$GC,9056,1.70,295.8,119.6,12.6,357,9066,1.45,2.67,0.00,0.000,6,0.041,0.022,3805,2263,1987,5,0,0,0,0,0
$GC,9327,1.29,295.8,50.6,22.9,382,9343,1.92,2.53,0.00,0.000,4,0.115,0.038,3396,3773,1986,0,0,0,0,0,0
$GC,9400,1.64,356.5,41.3,8.8,387,9460,0.30,2.47,53.88,0.582,6,0.045,0.025,3479,2235,1736,0,0,0,0,0,0
$STATE,9686,end climb,SURFACE_DEPTH_REACHED
$STATE,9686,begin surface coast
$FINISH,-0.5,1.023824
$STATE,9728,end surface coast,CONTROL_FINISHED_OK
$STATE,9728,begin surface
$SM_CCo,9753,245.02,0.531,0,0,477,665.50
$SM_GC,0.36,0.00,0.00,245.02,0.000,0.000,0.531,470,2132,477,-12.17,-1.36,665.50
$IRIDIUM_FIX,2143.45,-15801.57,300901,151551
$TT8_MAMPS,0.027612
$HUMID,62.56
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,19.40
$XPDR_PINGS,45
$24V_AH,23.4,41.146
$10V_AH,10.3,35.057
$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,43.775,121.725,418.925,245.025,0.000,159.209,192.125,153.433,11.250,0.000,19.297,905.937,6606.667,725.075,1848.351,868.912,33.364,1440.971,0.000,1857.398,0.000,0.534,0.000
$DEVICE_MAMPS,174.109,151.099,1012.440,530.764,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,286.584,208.682,295.536,643.234,1021.573,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356060
$DATA_FILE_SIZE,32120,423
$CAP_FILE_SIZE,113535,0
$CFSIZE,260165632,129994752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,20,0,0,0
$GPS,060712,182035,2150.250,-15806.363,28,1.5,28,9.9