version: 66.06
glider: 146
mission: 7
dive: 279
start: 7 5 112 14 37 33
data:
$ID,146
$MISSION,7
$DIVE,279
$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,-297387.66
$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,29
$R_STBD_OVSHOOT,42
$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
$GPS1,142654,2153.492,-15808.178,43,1.2,43,9.9
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.24
$_SM_ANGLEo,-68.3
$GPS2,143642,2153.455,-15808.312,12,1.7,29,9.9
$SPEED_LIMITS,0.179,0.270
$TGT_NAME,KUHUKU2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.269,0.026
$KALMAN_X,-136516.5,-477.7,914.0,128239.3,-2222.4
$KALMAN_Y,190340.1,-198.0,307.4,-277732.0,-578.4
$MHEAD_RNG_PITCHd_Wd,74.7,14828,-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,-87.60,0.000,6,0.000,0.000,465,2196,3746,0,0,0,0,0,0
$GC,119,-1.54,-136.3,3.9,-8.3,10,140,12.80,2.53,0.00,0.000,4,0.174,0.030,2674,3757,3747,0,0,0,0,0,0
$GC,167,-0.93,-136.3,23.4,-36.8,15,178,0.65,2.55,0.00,0.000,6,0.104,0.027,2905,2179,3749,0,0,0,0,0,0
$GC,451,-0.93,-136.3,60.1,-11.7,42,461,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2179,3749,0,0,0,0,0,0
$GC,720,-0.99,-136.3,91.1,-11.4,67,724,0.00,2.58,0.00,0.000,4,0.000,0.047,2881,598,3749,0,0,0,0,0,0
$GC,737,-1.06,-136.3,93.7,-11.0,68,742,0.00,2.47,0.00,0.000,6,0.000,0.021,2906,2197,3749,0,0,0,0,0,0
$GC,999,-1.16,-136.3,120.2,-9.9,92,1001,0.17,0.00,0.00,0.000,6,0.053,0.000,2842,2198,3750,0,0,0,0,0,0
$GC,1253,-1.16,-136.3,149.9,-12.1,116,1257,0.00,2.62,0.00,0.000,4,0.000,0.052,2842,599,3751,0,0,0,0,0,0
$GC,1288,-1.16,-136.3,153.4,-12.8,118,1292,0.00,2.42,0.00,0.000,6,0.000,0.019,2842,2177,3751,0,0,0,0,0,0
$GC,1553,-1.16,-136.3,184.1,-11.5,142,1557,0.00,2.47,0.00,0.000,4,0.000,0.032,2842,3751,3751,0,0,0,0,0,0
$GC,1572,-1.16,-136.3,186.4,-10.7,143,1577,0.10,2.47,0.00,0.000,6,0.113,0.021,2864,2164,3751,0,0,0,0,0,0
$GC,1844,-1.23,-136.3,212.1,-9.4,159,1845,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2164,3752,0,0,0,0,0,0
$GC,2082,-1.32,-136.3,233.9,-8.7,165,2087,0.15,2.60,0.00,0.000,4,0.060,0.060,2806,611,3752,0,0,0,0,0,0
$GC,2100,-1.32,-136.3,235.6,-8.6,165,2106,0.10,2.42,0.00,0.000,6,0.123,0.024,2826,2193,3752,0,0,0,0,0,0
$GC,2361,-1.32,-136.3,261.7,-9.8,172,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2193,3752,0,0,0,0,0,0
$GC,2605,-1.32,-136.3,284.1,-9.2,178,2610,0.00,2.50,0.00,0.000,4,0.000,0.039,2806,3739,3752,0,0,0,0,0,0
$GC,2641,-1.36,-136.3,287.2,-8.7,178,2646,0.00,2.42,0.00,0.000,6,0.000,0.023,2826,2204,3752,0,0,0,0,0,0
$GC,2891,-1.41,-136.3,308.8,-8.9,185,2895,0.00,2.50,0.00,0.000,4,0.000,0.045,2804,3738,3751,0,0,0,0,0,0
$GC,2925,-1.47,-136.3,312.2,-9.9,185,2931,0.20,2.42,0.00,0.000,6,0.051,0.026,2758,2205,3751,0,0,0,0,0,0
$GC,3177,-1.40,-136.3,341.3,-11.8,192,3179,0.22,0.00,0.00,0.000,6,0.096,0.000,2807,2204,3750,0,0,0,0,0,0
$GC,3418,-1.40,-136.3,367.4,-10.3,198,3423,0.00,2.53,0.00,0.000,4,0.000,0.044,2781,3736,3749,0,0,0,0,0,0
$GC,3435,-1.40,-136.3,369.0,-9.5,198,3439,0.00,2.50,0.00,0.000,6,0.000,0.035,2807,2205,3749,0,0,0,0,0,0
$GC,3698,-1.44,-136.3,391.1,-8.7,205,3699,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2205,3748,0,0,0,0,0,0
$GC,3940,-1.49,-136.3,409.8,-7.4,211,3941,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2205,3746,0,0,0,0,0,0
$GC,4183,-1.53,-136.3,429.7,-8.2,217,4185,0.12,0.00,0.00,0.000,6,0.070,0.000,2761,2205,3745,0,0,0,0,0,0
$GC,4429,-1.49,-136.3,455.9,-11.2,223,4434,0.12,2.58,0.00,0.000,4,0.113,0.060,2734,3734,3744,0,0,0,0,0,0
$GC,4540,-1.49,-136.3,470.2,-12.9,225,4545,0.00,2.60,0.00,0.000,6,0.000,0.054,2786,2203,3742,0,0,0,0,0,0
$GC,4798,-1.49,-136.3,499.8,-11.6,232,4803,0.00,3.03,0.00,0.000,4,0.000,0.114,2787,591,3740,0,0,0,0,0,0
$GC,4819,-1.49,-136.3,502.6,-11.7,232,4824,0.00,2.62,0.00,0.000,6,0.000,0.044,2787,2167,3740,0,0,0,0,0,0
$GC,5075,-1.49,-136.3,531.3,-11.1,239,5080,0.00,2.85,0.00,0.000,4,0.000,0.092,2787,593,3738,0,0,0,0,0,0
$GC,5093,-1.49,-136.3,533.3,-11.1,239,5097,0.00,2.67,0.00,0.000,6,0.000,0.054,2784,2197,3736,0,0,0,0,0,0
$GC,5353,-1.49,-136.3,561.5,-10.5,246,5354,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2197,3736,0,0,0,0,0,0
$GC,5597,-1.49,-136.3,587.6,-10.7,252,5598,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2197,3734,0,0,0,0,0,0
$STATE,5757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5757,begin apogee
$GC,5762,-0.31,0.0,602.7,9.3,256,5879,1.15,0.00,111.90,1.016,6,0.080,0.000,3044,2197,3190,0,0,0,0,0,0
$STATE,5880,end apogee,CONTROL_FINISHED_OK
$STATE,5880,begin climb
$GC,5885,1.54,136.3,604.5,0.0,259,6006,1.70,0.00,115.07,0.985,6,0.044,0.000,3450,2197,2633,0,0,0,0,0,0
$GC,6250,1.47,136.3,562.0,13.6,268,6251,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2197,2625,0,0,0,0,0,0
$GC,6496,1.41,136.3,529.3,13.3,274,6501,0.12,2.75,0.00,0.000,4,0.272,0.069,3426,3767,2622,0,0,0,0,0,0
$GC,6523,1.41,136.3,525.0,14.1,274,6527,0.00,2.72,0.00,0.000,6,0.000,0.055,3429,2176,2622,0,0,0,0,0,0
$GC,6773,1.41,136.3,493.8,12.7,280,6778,0.00,2.97,0.00,0.000,4,0.000,0.109,3426,587,2620,0,0,0,0,0,0
$GC,6796,1.37,136.3,490.8,13.4,280,6801,0.00,2.62,0.00,0.000,6,0.000,0.038,3404,2172,2620,0,0,0,0,0,0
$GC,7053,1.39,150.7,460.2,11.6,287,7066,0.00,0.00,11.48,0.851,6,0.000,0.000,3426,2172,2576,0,0,0,0,0,0
$GC,7295,1.42,173.3,433.1,11.1,293,7321,0.00,2.75,20.60,0.879,4,0.000,0.055,3427,3770,2484,0,0,0,0,0,0
$GC,7423,1.42,177.6,417.7,12.2,296,7434,0.00,2.70,5.28,0.676,6,0.000,0.041,3426,2151,2465,0,0,0,0,0,0
$GC,7708,1.47,213.6,387.4,10.3,303,7747,0.00,0.00,33.08,0.866,6,0.000,0.000,3426,2151,2318,0,0,0,0,0,0
$GC,7994,1.52,219.3,354.8,12.1,310,8005,0.00,2.78,5.90,0.680,4,0.000,0.075,3426,590,2296,0,0,0,0,0,0
$GC,8016,1.52,219.3,351.5,13.1,310,8020,0.00,2.55,0.00,0.000,6,0.000,0.025,3426,2169,2295,0,0,0,0,0,0
$GC,8271,1.57,219.3,319.1,12.9,317,8276,0.12,2.65,0.00,0.000,4,0.079,0.043,3459,3760,2293,0,0,0,0,0,0
$GC,8294,1.57,219.3,315.8,14.4,317,8299,0.00,2.67,0.00,0.000,6,0.000,0.036,3433,2145,2291,0,0,0,0,0,0
$GC,8549,1.57,219.3,279.4,13.8,324,8554,0.00,2.67,0.00,0.000,4,0.000,0.045,3438,3761,2291,0,0,0,0,0,0
$GC,8616,1.57,219.3,270.2,12.9,325,8620,0.00,2.62,0.00,0.000,6,0.000,0.034,3451,2163,2291,0,0,0,0,0,0
$GC,8874,1.59,233.0,239.7,11.7,332,8893,0.00,2.72,12.50,0.726,4,0.000,0.047,3387,3757,2241,0,0,0,0,0,0
$GC,8966,1.63,233.0,227.7,13.0,334,8971,0.00,2.58,0.00,0.000,6,0.000,0.038,3460,2184,2240,0,0,0,0,0,0
$GC,9227,1.64,245.6,196.4,11.7,342,9245,0.00,2.78,12.75,0.690,4,0.000,0.064,3460,598,2187,0,0,0,0,0,0
$GC,9278,1.64,245.6,190.3,12.9,346,9282,0.00,2.58,0.00,0.000,6,0.000,0.023,3466,2198,2188,0,0,0,0,0,0
$GC,9546,1.73,275.6,161.9,10.7,370,9581,0.12,2.60,26.73,0.683,4,0.078,0.042,3496,3759,2066,0,0,0,0,0,0
$GC,9620,1.73,275.6,152.1,14.2,376,9624,0.00,2.55,0.00,0.000,6,0.000,0.030,3496,2203,2063,0,0,0,0,0,0
$GC,9881,1.73,275.6,114.3,13.6,400,9883,0.00,0.00,0.00,0.000,6,0.000,0.000,3496,2203,2063,0,0,0,0,0,0
$GC,10138,1.74,284.8,81.1,11.9,424,10151,0.00,0.00,9.15,0.555,6,0.000,0.000,3496,2203,2029,0,0,0,0,0,0
$GC,10410,1.74,284.8,48.9,13.1,449,10420,0.00,0.00,0.00,0.000,6,0.000,0.000,3496,2203,2027,0,0,0,0,0,0
$GC,10738,1.74,284.8,4.8,14.4,485,10749,0.00,2.55,0.00,0.000,4,0.000,0.042,3145,3754,2028,0,0,0,0,0,0
$STATE,10758,end climb,SURFACE_DEPTH_REACHED
$STATE,10758,begin surface coast
$FINISH,-0.5,1.012622
$STATE,10791,end surface coast,CONTROL_FINISHED_OK
$STATE,10792,begin surface
$SM_CCo,10818,77.82,0.535,0,0,1640,380.21
$SM_GC,0.31,0.00,0.00,77.82,0.000,0.000,0.535,468,2129,1640,-12.17,-1.47,380.21
$IRIDIUM_FIX,2143.45,-15811.05,290901,111136
$TT8_MAMPS,0.027612
$HUMID,64.25
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,20.60
$XPDR_PINGS,39
$24V_AH,23.4,40.022
$10V_AH,10.2,34.169
$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,30.000,109.750,364.425,77.825,0.000,55.588,113.348,195.509,9.750,0.000,30.802,987.449,7320.367,521.412,1964.810,688.706,33.364,1195.054,0.000,1965.448,0.000,0.533,0.000
$DEVICE_MAMPS,271.518,113.516,1015.508,534.599,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,333.491,246.643,350.937,764.972,1219.462,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355968
$DATA_FILE_SIZE,38321,491
$CAP_FILE_SIZE,112052,0
$CFSIZE,260165632,130437120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050712,174059,2153.427,-15808.600,69,0.9,69,9.9