version: 66.06
glider: 146
mission: 7
dive: 249
start: 7 1 112 22 38 57
data:
$ID,146
$MISSION,7
$DIVE,249
$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,-296146.16
$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,1
$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,23
$R_STBD_OVSHOOT,30
$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
$GPS1,223355,2208.527,-15807.425,8,1.3,8,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.03
$_SM_ANGLEo,-64.9
$GPS2,223806,2208.543,-15807.465,10,1.4,15,10.0
$SPEED_LIMITS,0.179,0.270
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.199,-0.182
$KALMAN_X,-75152.3,216.2,125.1,68419.0,-960.6
$KALMAN_Y,180589.0,-292.1,422.0,-240073.5,810.7
$MHEAD_RNG_PITCHd_Wd,122.3,22683,-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,-136.3,0.0,0.0,0,164,0.00,0.00,-134.12,0.000,6,0.000,0.000,474,2203,3746,0,0,0,0,0,0
$GC,169,-1.54,-136.3,4.3,-9.7,16,188,12.68,2.65,0.00,0.000,4,0.172,0.038,2771,583,3747,0,0,0,0,0,0
$GC,218,-0.88,-136.3,23.6,-36.8,21,227,1.45,2.55,0.00,0.000,6,0.113,0.018,3071,2203,3746,4,0,0,0,0,0
$GC,512,-1.37,-136.3,36.7,-2.5,50,518,1.08,2.65,0.00,0.000,4,0.026,0.043,2795,587,3747,0,0,0,0,0,0
$GC,537,-1.59,-136.3,38.7,-5.4,51,542,0.12,2.45,0.00,0.000,6,0.066,0.016,2747,2188,3746,0,0,0,0,0,0
$GC,805,-1.34,-136.3,88.1,-17.5,75,810,0.32,2.47,0.00,0.000,4,0.102,0.034,2814,3754,3746,0,0,0,0,0,0
$GC,839,-1.19,-136.3,94.0,-15.6,77,844,0.17,2.50,0.00,0.000,6,0.101,0.021,2855,2163,3746,0,0,0,0,0,0
$GC,1104,-1.19,-136.3,126.3,-12.5,101,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2163,3746,0,0,0,0,0,0
$GC,1367,-1.19,-136.3,161.8,-13.6,126,1368,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2163,3746,0,0,0,0,0,0
$GC,1623,-1.19,-136.3,196.9,-13.0,150,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2167,3746,0,0,0,0,0,0
$GC,1894,-1.19,-136.3,226.9,-9.9,159,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2163,3746,0,0,0,0,0,0
$GC,2138,-1.22,-136.3,249.1,-9.1,165,2143,0.00,2.55,0.00,0.000,4,0.000,0.057,2801,611,3746,0,0,0,0,0,0
$GC,2196,-1.28,-136.3,254.9,-10.4,166,2201,0.00,2.40,0.00,0.000,6,0.000,0.026,2854,2177,3745,0,0,0,0,0,0
$GC,2464,-1.34,-136.3,280.1,-9.2,173,2469,0.15,2.65,0.00,0.000,4,0.062,0.055,2728,609,3746,0,0,0,0,0,0
$GC,2506,-1.27,-136.3,284.5,-10.9,174,2511,0.20,2.45,0.00,0.000,6,0.103,0.020,2839,2179,3745,0,0,0,0,0,0
$GC,2790,-1.32,-136.3,310.6,-9.1,181,2791,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2180,3745,0,0,0,0,0,0
$GC,3033,-1.39,-136.3,333.2,-8.9,187,3039,0.12,2.55,0.00,0.000,4,0.067,0.043,2765,3751,3744,0,0,0,0,0,0
$GC,3097,-1.39,-136.3,339.8,-11.2,188,3102,0.10,2.47,0.00,0.000,6,0.120,0.029,2810,2201,3744,0,0,0,0,0,0
$GC,3358,-1.39,-136.3,365.0,-9.3,195,3359,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2201,3743,0,0,0,0,0,0
$GC,3601,-1.39,-136.3,385.9,-8.7,201,3602,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2201,3741,0,0,0,0,0,0
$GC,3847,-1.43,-136.3,407.1,-8.3,207,3849,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2201,3740,0,0,0,0,0,0
$GC,4089,-1.48,-136.3,428.3,-8.9,213,4094,0.00,2.58,0.00,0.000,4,0.000,0.053,2783,3746,3738,0,0,0,0,0,0
$GC,4106,-1.48,-136.3,430.0,-9.3,213,4110,0.00,2.58,0.00,0.000,6,0.000,0.050,2810,2187,3737,0,0,0,0,0,0
$GC,4369,-1.52,-136.3,452.6,-8.5,220,4374,0.12,2.65,0.00,0.000,4,0.069,0.058,2739,3750,3735,0,0,0,0,0,0
$GC,4409,-1.46,-136.3,456.8,-10.7,221,4414,0.15,2.60,0.00,0.000,6,0.107,0.051,2794,2195,3735,0,0,0,0,0,0
$GC,4695,-1.46,-136.3,481.8,-8.7,228,4696,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2195,3732,0,0,0,0,0,0
$GC,4936,-1.46,-136.3,505.9,-10.0,234,4941,0.00,2.65,0.00,0.000,4,0.000,0.069,2766,3740,3731,0,0,0,0,0,0
$GC,5003,-1.46,-136.3,513.7,-11.8,235,5007,0.00,2.65,0.00,0.000,6,0.000,0.061,2793,2183,3730,0,0,0,0,0,0
$GC,5260,-1.46,-136.3,541.3,-10.6,242,5261,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2184,3728,0,0,0,0,0,0
$GC,5502,-1.46,-136.3,565.7,-9.8,248,5506,0.00,2.75,0.00,0.000,4,0.000,0.081,2764,3737,3727,0,0,0,0,0,0
$GC,5528,-1.46,-136.3,568.5,-10.4,248,5542,1.55,2.70,0.00,0.000,6,0.081,0.067,2974,2181,3727,5,0,0,0,0,0
$GC,5785,-2.32,-136.3,579.4,-4.7,255,5795,2.28,3.03,0.00,0.000,4,0.054,0.114,2604,597,3724,0,0,0,0,0,0
$GC,5801,-2.66,-136.3,580.5,-4.6,255,5806,0.30,2.80,0.00,0.000,6,0.044,0.056,2516,2248,3723,0,0,0,0,0,0
$STATE,5943,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5943,begin apogee
$GC,5950,-0.31,0.0,604.4,17.7,259,6066,2.55,0.00,108.90,1.015,6,0.123,0.000,3045,2171,3190,0,0,0,0,0,0
$STATE,6067,end apogee,CONTROL_FINISHED_OK
$STATE,6067,begin climb
$GC,6071,1.54,136.3,605.8,0.0,262,6199,1.73,2.92,115.10,0.979,4,0.053,0.084,3342,3744,2632,0,0,0,0,0,0
$GC,6447,1.47,136.3,556.3,14.0,270,6452,0.00,2.70,0.00,0.000,6,0.000,0.061,3453,2181,2624,0,0,0,0,0,0
$GC,6703,1.41,138.0,523.9,12.4,277,6708,0.15,2.70,0.00,0.000,4,0.136,0.056,3425,3748,2621,0,0,0,0,0,0
$GC,6794,1.44,163.5,513.7,10.9,279,6823,0.00,2.67,23.10,0.909,6,0.000,0.052,3424,2187,2523,0,0,0,0,0,0
$GC,7074,1.49,207.7,486.7,9.8,286,7118,0.00,2.72,38.88,0.916,4,0.000,0.052,3425,3750,2343,0,0,0,0,0,0
$GC,7154,1.50,217.2,477.9,11.9,287,7171,0.50,2.70,9.93,0.808,6,0.063,0.050,3554,2185,2304,1,0,0,0,0,0
$GC,7445,1.32,217.2,425.1,18.5,295,7451,0.70,2.60,0.00,0.000,4,0.114,0.047,3397,3752,2297,0,0,0,0,0,0
$GC,7526,1.42,227.4,414.2,11.9,296,7541,0.00,2.60,9.68,0.788,6,0.000,0.045,3407,2202,2262,0,0,0,0,0,0
$GC,7816,1.52,238.0,379.7,11.8,304,7829,0.17,0.00,10.52,0.786,6,0.068,0.000,3452,2202,2219,0,0,0,0,0,0
$GC,8059,1.52,238.0,346.1,14.3,310,8060,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2202,2214,0,0,0,0,0,0
$GC,8301,1.52,238.0,311.8,14.0,316,8305,0.00,2.78,0.00,0.000,4,0.000,0.065,3452,586,2213,0,0,0,0,0,0
$GC,8316,1.52,238.0,309.5,13.4,316,8321,0.00,2.60,0.00,0.000,6,0.000,0.024,3438,2203,2212,0,0,0,0,0,0
$GC,8580,1.57,238.0,274.7,13.4,323,8584,0.00,2.58,0.00,0.000,4,0.000,0.042,3414,3759,2212,0,0,0,0,0,0
$GC,8738,1.65,253.4,254.8,11.6,326,8758,0.00,2.50,13.88,0.732,6,0.000,0.031,3452,2228,2156,0,0,0,0,0,0
$GC,9046,1.74,274.6,221.2,11.2,334,9071,0.17,2.83,19.38,0.710,4,0.065,0.058,3499,598,2070,0,0,0,0,0,0
$GC,9112,1.70,274.6,211.1,15.2,335,9117,0.00,2.67,0.00,0.000,6,0.000,0.028,3484,2260,2067,0,0,0,0,0,0
$GC,9376,1.70,274.6,170.1,15.3,354,9380,0.00,2.45,0.00,0.000,4,0.000,0.042,3462,3759,2065,0,0,0,0,0,0
$GC,9443,1.70,274.6,159.3,16.2,359,9447,0.00,2.45,0.00,0.000,6,0.000,0.028,3496,2245,2065,0,0,0,0,0,0
$GC,9710,1.70,274.6,118.1,16.0,383,9715,0.00,2.75,0.00,0.000,4,0.000,0.056,3421,595,2065,0,0,0,0,0,0
$GC,9743,1.64,274.6,112.5,16.7,385,9748,0.00,2.65,0.00,0.000,6,0.000,0.028,3477,2267,2063,0,0,0,0,0,0
$GC,10011,1.64,274.6,73.2,13.2,409,10015,0.12,2.42,0.00,0.000,4,0.124,0.037,3474,3760,2064,0,0,0,0,0,0
$GC,10073,1.74,285.5,65.4,11.8,413,10089,0.00,2.42,10.38,0.541,6,0.000,0.031,3474,2245,2025,0,0,0,0,0,0
$GC,10346,1.83,295.3,33.9,11.9,438,10367,0.15,0.00,9.73,0.508,6,0.070,0.000,3517,2245,1986,0,0,0,0,0,0
$STATE,10547,end climb,SURFACE_DEPTH_REACHED
$STATE,10547,begin surface coast
$FINISH,-0.3,1.023655
$STATE,10589,end surface coast,CONTROL_FINISHED_OK
$STATE,10589,begin surface
$SM_CCo,10613,67.88,0.531,0,0,1639,380.21
$SM_GC,0.17,0.00,0.00,67.88,0.000,0.000,0.531,468,2141,1639,-12.18,-1.10,380.21
$IRIDIUM_FIX,2159.71,-15808.46,250901,222258
$TT8_MAMPS,0.026845
$HUMID,63.78
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,21.10
$XPDR_PINGS,43
$24V_AH,23.4,35.631
$10V_AH,10.2,31.054
$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,39.350,110.300,369.450,67.875,0.000,0.000,0.000,0.000,10.750,0.000,17.619,977.855,6976.021,516.816,2035.209,249.056,33.370,1274.169,0.000,2036.320,0.000,0.536,0.000
$DEVICE_MAMPS,171.808,113.516,1014.741,530.764,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,316.305,230.452,326.300,734.690,1169.039,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355948
$DATA_FILE_SIZE,35265,467
$CAP_FILE_SIZE,134749,0
$CFSIZE,260165632,131985408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,10,0,0,0
$GPS,020712,013829,2208.243,-15806.943,34,1.1,50,10.0