version: 66.06
glider: 146
mission: 7
dive: 289
start: 7 6 112 21 51 30
data:
$ID,146
$MISSION,7
$DIVE,289
$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,-297598.06
$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,28
$R_STBD_OVSHOOT,39
$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
$GPS1,213124,2150.773,-15805.934,34,1.4,34,9.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-66.3
$GPS2,215035,2150.785,-15806.077,33,1.0,37,9.9
$SPEED_LIMITS,0.179,0.270
$TGT_NAME,KUHUKU2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.090,-0.254
$KALMAN_X,-152362.3,-619.8,-959.8,149911.4,478.9
$KALMAN_Y,194318.9,90.4,-260.8,-286394.9,1452.6
$MHEAD_RNG_PITCHd_Wd,150.7,8704,-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,-136.3,0.0,0.0,0,114,0.00,0.00,-88.10,0.000,6,0.000,0.000,467,2180,3745,0,0,0,0,0,0
$GC,117,-1.54,-136.3,3.2,-6.7,10,138,12.70,2.62,0.00,0.000,4,0.172,0.044,2769,597,3747,0,0,0,0,0,0
$GC,175,-1.16,-136.3,22.4,-28.3,16,186,0.40,2.53,0.00,0.000,6,0.108,0.024,2854,2188,3748,0,0,0,0,0,0
$GC,458,-1.11,-136.3,63.9,-14.2,43,462,0.00,2.62,0.00,0.000,4,0.000,0.042,2851,595,3747,0,0,0,0,0,0
$GC,481,-1.04,-136.3,67.2,-12.4,44,486,0.15,2.45,0.00,0.000,6,0.119,0.018,2885,2178,3748,0,0,0,0,0,0
$GC,745,-1.09,-136.3,98.3,-12.3,68,749,0.00,2.62,0.00,0.000,4,0.000,0.049,2884,589,3748,0,0,0,0,0,0
$GC,777,-1.14,-136.3,102.4,-12.3,70,781,0.00,2.45,0.00,0.000,6,0.000,0.018,2885,2177,3748,0,0,0,0,0,0
$GC,1040,-1.21,-136.3,131.9,-11.8,94,1046,0.15,2.60,0.00,0.000,4,0.060,0.046,2832,585,3749,0,0,0,0,0,0
$GC,1064,-1.21,-136.3,135.7,-13.7,95,1070,0.00,2.45,0.00,0.000,6,0.000,0.024,2832,2176,3748,0,0,0,0,0,0
$GC,1327,-1.21,-136.3,171.7,-13.3,120,1331,0.00,2.50,0.00,0.000,4,0.000,0.038,2814,3753,3749,0,0,0,0,0,0
$GC,1351,-1.21,-136.3,175.5,-14.3,121,1358,1.23,2.47,0.00,0.000,6,0.071,0.025,2883,2157,3749,4,0,0,0,0,0
$GC,1615,-1.96,-136.3,192.3,-7.4,146,1621,1.83,0.00,0.00,0.000,6,0.040,0.000,2676,2158,3750,0,0,0,0,0,0
$GC,1879,-1.68,-136.3,234.2,-16.1,157,1884,0.30,2.53,0.00,0.000,4,0.101,0.030,2725,3744,3750,0,0,0,0,0,0
$GC,1901,-1.47,-136.3,237.7,-15.5,157,1906,0.25,2.45,0.00,0.000,6,0.100,0.021,2794,2175,3750,0,0,0,0,0,0
$GC,2158,-1.43,-136.3,270.7,-12.8,164,2163,0.00,2.55,0.00,0.000,4,0.000,0.039,2775,3748,3750,0,0,0,0,0,0
$GC,2214,-1.43,-136.3,278.1,-12.2,165,2218,0.00,2.42,0.00,0.000,6,0.000,0.026,2794,2193,3750,0,0,0,0,0,0
$GC,2480,-1.43,-136.3,309.6,-12.2,172,2481,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2192,3748,0,0,0,0,0,0
$GC,2726,-1.43,-136.3,338.2,-11.2,178,2727,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2192,3749,0,0,0,0,0,0
$GC,2968,-1.43,-136.3,365.9,-11.3,184,2972,0.00,2.53,0.00,0.000,4,0.000,0.046,2771,3736,3748,0,0,0,0,0,0
$GC,2989,-1.43,-136.3,368.4,-10.9,184,2993,0.00,2.50,0.00,0.000,6,0.000,0.041,2799,2202,3748,0,0,0,0,0,0
$GC,3246,-1.43,-136.3,395.7,-10.4,191,3251,0.00,2.53,0.00,0.000,4,0.000,0.054,2743,3735,3747,0,0,0,0,0,0
$GC,3268,-1.43,-136.3,398.3,-10.4,191,3273,0.00,2.55,0.00,0.000,6,0.000,0.039,2789,2193,3747,0,0,0,0,0,0
$GC,3524,-1.43,-136.3,423.8,-10.0,198,3528,0.00,2.58,0.00,0.000,4,0.000,0.058,2738,3743,3745,0,0,0,0,0,0
$GC,3599,-1.43,-136.3,432.0,-11.0,199,3604,0.00,2.58,0.00,0.000,6,0.000,0.048,2791,2206,3745,0,0,0,0,0,0
$GC,3849,-1.43,-136.3,457.1,-9.8,205,3850,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2206,3743,0,0,0,0,0,0
$GC,4093,-1.43,-136.3,481.4,-10.0,211,4094,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2206,3741,0,0,0,0,0,0
$GC,4339,-1.43,-136.3,504.5,-9.3,217,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2209,3739,0,0,0,0,0,0
$GC,4580,-1.43,-136.3,528.4,-9.8,223,4585,0.00,3.03,0.00,0.000,4,0.000,0.114,2794,595,3736,0,0,0,0,0,0
$GC,4635,-1.43,-136.3,534.0,-10.3,224,4640,0.00,2.65,0.00,0.000,6,0.000,0.050,2779,2175,3737,0,0,0,0,0,0
$GC,4904,-1.43,-136.3,557.0,-8.6,231,4908,0.00,2.83,0.00,0.000,4,0.000,0.093,2761,3762,3734,0,0,0,0,0,0
$GC,4943,-1.43,-136.3,561.2,-10.3,232,4948,0.00,2.65,0.00,0.000,6,0.000,0.061,2795,2213,3734,0,0,0,0,0,0
$GC,5226,-1.43,-136.3,590.1,-10.2,239,5227,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2213,3732,0,0,0,0,0,0
$STATE,5345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5345,begin apogee
$GC,5353,-0.31,0.0,605.0,11.6,242,5468,1.12,0.00,111.22,1.008,6,0.087,0.000,3045,2176,3193,0,0,0,0,0,0
$STATE,5469,end apogee,CONTROL_FINISHED_OK
$STATE,5469,begin climb
$GC,5472,1.54,136.3,610.9,0.0,245,5599,1.70,2.95,114.95,0.979,4,0.055,0.077,3319,3762,2632,0,0,0,0,0,0
$GC,5738,1.47,136.3,581.7,13.3,251,5742,0.00,2.75,0.00,0.000,6,0.000,0.064,3452,2181,2626,0,0,0,0,0,0
$GC,6016,1.42,136.7,545.9,12.5,258,6021,0.12,2.75,0.00,0.000,4,0.129,0.064,3380,3768,2621,0,0,0,0,0,0
$GC,6085,1.43,144.9,537.5,12.0,259,6101,0.00,2.72,7.10,0.779,6,0.000,0.058,3428,2186,2599,0,0,0,0,0,0
$GC,6345,1.44,158.1,506.6,11.7,266,6360,0.00,0.00,13.30,0.867,6,0.000,0.000,3428,2186,2545,0,0,0,0,0,0
$GC,6588,1.46,171.5,477.9,11.7,272,6603,0.00,0.00,12.80,0.854,6,0.000,0.000,3428,2186,2490,0,0,0,0,0,0
$GC,6834,1.51,210.1,452.9,10.1,278,6872,0.00,0.00,35.12,0.891,6,0.000,0.000,3427,2186,2333,0,0,0,0,0,0
$GC,7116,1.56,221.6,419.8,11.8,285,7130,0.12,0.00,11.15,0.806,6,0.080,0.000,3461,2185,2288,0,0,0,0,0,0
$GC,7359,1.56,221.6,386.0,14.1,291,7364,0.00,2.67,0.00,0.000,4,0.000,0.047,3357,3777,2281,0,0,0,0,0,0
$GC,7468,1.56,221.6,370.7,14.8,293,7473,0.00,2.67,0.00,0.000,6,0.000,0.041,3461,2174,2280,0,0,0,0,0,0
$GC,7729,1.58,233.9,339.2,11.7,300,7748,0.00,2.78,11.60,0.772,4,0.000,0.045,3292,3778,2235,0,0,0,0,0,0
$GC,7789,1.58,238.6,332.1,12.2,301,7800,0.00,2.65,5.72,0.649,6,0.000,0.035,3460,2182,2216,0,0,0,0,0,0
$GC,8056,1.58,238.6,298.0,13.1,308,8060,0.00,2.62,0.00,0.000,4,0.000,0.042,3356,3770,2213,0,0,0,0,0,0
$GC,8095,1.58,238.6,292.3,14.5,309,8099,0.00,2.60,0.00,0.000,6,0.000,0.035,3460,2190,2213,0,0,0,0,0,0
$GC,8380,1.58,238.6,254.6,13.3,316,8381,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,2185,2213,0,0,0,0,0,0
$GC,8622,1.62,238.6,219.0,14.8,322,8626,0.00,2.62,0.00,0.000,4,0.000,0.043,3351,3773,2210,0,0,0,0,0,0
$GC,8695,1.67,238.6,208.1,14.9,323,8700,0.00,2.60,0.00,0.000,6,0.000,0.030,3461,2172,2211,0,0,0,0,0,0
$GC,8957,1.75,260.7,176.4,11.1,341,8983,0.15,2.70,19.92,0.674,4,0.071,0.058,3502,593,2126,0,0,0,0,0,0
$GC,8995,1.76,266.8,171.3,12.1,344,9009,0.00,2.60,6.68,0.565,6,0.000,0.022,3502,2214,2101,0,0,0,0,0,0
$GC,9272,1.76,266.8,135.7,13.2,370,9276,0.00,2.50,0.00,0.000,4,0.000,0.038,3419,3755,2099,0,0,0,0,0,0
$GC,9293,1.76,266.8,133.4,14.0,371,9297,0.00,2.58,0.00,0.000,6,0.000,0.035,3502,2166,2098,0,0,0,0,0,0
$GC,9560,1.76,266.8,95.6,14.0,395,9564,0.00,2.60,0.00,0.000,4,0.000,0.035,3490,3762,2098,0,0,0,0,0,0
$GC,9592,1.76,266.8,90.7,15.5,397,9596,0.00,2.55,0.00,0.000,6,0.000,0.029,3502,2185,2098,0,0,0,0,0,0
$GC,9859,1.76,268.1,54.6,12.4,421,9869,0.00,0.00,0.00,0.000,6,0.000,0.000,3502,2186,2098,0,0,0,0,0,0
$GC,10163,1.76,268.1,16.8,13.1,452,10173,0.00,2.58,0.00,0.000,4,0.000,0.037,3502,3753,2098,0,0,0,0,0,0
$GC,10216,1.76,268.1,9.6,13.4,458,10227,0.00,2.53,0.00,0.000,6,0.000,0.028,3502,2192,2098,0,0,0,0,0,0
$STATE,10252,end climb,SURFACE_DEPTH_REACHED
$STATE,10252,begin surface coast
$FINISH,-0.5,1.011730
$STATE,10294,end surface coast,CONTROL_FINISHED_OK
$STATE,10297,begin surface
$SM_CCo,10319,317.65,0.518,0,0,476,665.50
$SM_GC,-0.03,0.00,0.00,317.65,0.000,0.000,0.518,469,2187,476,-12.16,0.20,665.50
$IRIDIUM_FIX,2143.45,-15803.72,300901,212116
$TT8_MAMPS,0.027612
$HUMID,59.37
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,21.20
$XPDR_PINGS,47
$24V_AH,23.4,41.452
$10V_AH,10.2,35.305
$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,32.425,114.775,349.575,317.650,0.000,131.668,178.449,380.791,11.750,0.000,42.012,965.024,7055.041,752.139,1954.754,1061.911,33.365,1436.233,0.000,1947.979,0.000,0.535,0.000
$DEVICE_MAMPS,171.808,167.973,1007.838,518.492,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,316.912,236.648,335.504,732.626,1166.738,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356064
$DATA_FILE_SIZE,35169,467
$CAP_FILE_SIZE,122621,0
$CFSIZE,260165632,129884160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,0,0,0
$GPS,070712,005005,2150.079,-15805.075,37,1.2,37,9.9