version: 66.06
glider: 146
mission: 7
dive: 292
start: 7 7 112 7 4 54
data:
$ID,146
$MISSION,7
$DIVE,292
$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,-297643.78
$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,52
$R_STBD_OVSHOOT,20
$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
$GPS1,065405,2149.249,-15804.099,29,1.2,29,9.9
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.24
$_SM_ANGLEo,-67.5
$GPS2,070401,2149.212,-15804.272,13,1.3,13,9.9
$SPEED_LIMITS,0.179,0.270
$TGT_NAME,KUHUKU2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.259,-0.076
$KALMAN_X,-156046.5,461.6,-283.7,154932.4,-1866.7
$KALMAN_Y,195747.1,261.1,-467.3,-290692.3,377.1
$MHEAD_RNG_PITCHd_Wd,96.6,4507,-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,-136.3,0.0,0.0,0,123,0.00,0.00,-96.05,0.000,6,0.000,0.000,474,2145,3745,0,0,0,0,0,0
$GC,126,-1.54,-136.3,4.3,-9.5,11,147,12.70,2.65,0.00,0.000,4,0.174,0.036,2685,3769,3746,0,0,0,0,0,0
$GC,168,-0.67,-136.3,21.4,-40.8,15,180,0.93,2.55,0.00,0.000,6,0.107,0.026,2964,2190,3747,0,0,0,0,0,0
$GC,451,-0.85,-136.3,53.6,-9.5,42,456,0.15,2.62,0.00,0.000,4,0.060,0.047,2909,605,3747,0,0,0,0,0,0
$GC,475,-0.97,-136.3,56.2,-9.5,43,480,0.00,2.47,0.00,0.000,6,0.000,0.017,2910,2206,3747,0,0,0,0,0,0
$GC,743,-1.09,-136.3,83.2,-9.6,67,748,0.15,0.00,0.00,0.000,6,0.060,0.000,2855,2206,3748,0,0,0,0,0,0
$GC,1004,-1.09,-136.3,113.1,-11.8,92,1009,0.10,2.65,0.00,0.000,4,0.117,0.050,2877,604,3749,0,0,0,0,0,0
$GC,1042,-1.15,-136.3,117.2,-11.2,94,1052,0.00,2.45,0.00,0.000,6,0.000,0.024,2877,2164,3749,0,0,0,0,0,0
$GC,1309,-1.23,-136.3,141.0,-9.9,119,1314,0.12,2.55,0.00,0.000,4,0.067,0.039,2808,3751,3750,0,0,0,0,0,0
$GC,1343,-1.23,-136.3,145.1,-12.9,121,1349,0.25,2.47,0.00,0.000,6,0.083,0.029,2875,2178,3750,0,0,0,0,0,0
$GC,1612,-1.35,-136.3,168.1,-7.4,145,1617,0.25,2.60,0.00,0.000,4,0.044,0.048,2766,596,3750,0,0,0,0,0,0
$GC,1657,-1.26,-136.3,173.4,-12.7,148,1662,0.17,2.45,0.00,0.000,6,0.103,0.023,2838,2196,3751,0,0,0,0,0,0
$GC,1928,-1.26,-136.3,205.9,-12.2,170,1932,0.00,2.65,0.00,0.000,4,0.000,0.047,2838,594,3751,0,0,0,0,0,0
$GC,1943,-1.26,-136.3,208.3,-12.5,170,1947,0.00,2.42,0.00,0.000,6,0.000,0.024,2838,2176,3750,0,0,0,0,0,0
$GC,2205,-1.31,-136.3,236.2,-10.2,177,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2176,3751,0,0,0,0,0,0
$GC,2449,-1.37,-136.3,259.5,-9.5,183,2453,0.00,2.62,0.00,0.000,4,0.000,0.056,2838,604,3751,0,0,0,0,0,0
$GC,2491,-1.43,-136.3,263.2,-9.3,184,2496,0.15,2.45,0.00,0.000,6,0.059,0.021,2783,2176,3751,0,0,0,0,0,0
$GC,2774,-1.43,-136.3,291.8,-9.7,191,2779,0.00,2.55,0.00,0.000,4,0.000,0.039,2760,3758,3752,0,0,0,0,0,0
$GC,2861,-1.43,-136.3,301.6,-10.6,193,2866,0.00,2.47,0.00,0.000,6,0.000,0.031,2783,2195,3750,0,0,0,0,0,0
$GC,3144,-1.43,-136.3,333.8,-11.3,200,3149,0.00,2.58,0.00,0.000,4,0.000,0.042,2760,3755,3749,0,0,0,0,0,0
$GC,3161,-1.43,-136.3,336.0,-11.1,200,3165,0.00,2.55,0.00,0.000,6,0.000,0.031,2783,2178,3749,0,0,0,0,0,0
$GC,3423,-1.43,-136.3,364.9,-10.9,207,3428,0.00,2.60,0.00,0.000,4,0.000,0.044,2757,3750,3748,0,0,0,0,0,0
$GC,3456,-1.43,-136.3,369.1,-11.4,207,3462,0.00,2.55,0.00,0.000,6,0.000,0.034,2783,2189,3748,0,0,0,0,0,0
$GC,3706,-1.43,-136.3,397.7,-11.7,214,3710,0.00,2.62,0.00,0.000,4,0.000,0.054,2754,3757,3747,0,0,0,0,0,0
$GC,3757,-1.43,-136.3,404.1,-13.2,215,3762,0.00,2.60,0.00,0.000,6,0.000,0.044,2783,2190,3747,0,0,0,0,0,0
$GC,4029,-1.43,-136.3,438.0,-12.7,222,4030,0.10,0.00,0.00,0.000,6,0.123,0.000,2807,2190,3745,0,0,0,0,0,0
$GC,4273,-1.47,-136.3,467.4,-11.9,228,4278,0.00,2.65,0.00,0.000,4,0.000,0.064,2740,3746,3743,0,0,0,0,0,0
$GC,4309,-1.51,-136.3,471.5,-12.0,228,4319,2.05,2.62,0.00,0.000,6,0.076,0.050,2898,2195,3743,7,0,0,0,0,0
$GC,4605,-2.40,-136.3,486.8,-5.1,236,4614,3.12,2.67,0.00,0.000,4,0.084,0.057,2530,3744,3740,0,0,0,0,0,0
$GC,4868,-2.06,-136.3,529.6,-16.9,241,4874,0.38,2.72,0.00,0.000,6,0.110,0.064,2665,2161,3738,0,0,0,0,0,0
$GC,5120,-1.85,-136.3,560.2,-11.9,248,5126,0.22,2.78,0.00,0.000,4,0.196,0.071,2687,3749,3737,0,0,0,0,0,0
$GC,5379,-1.72,-136.3,589.7,-10.9,253,5385,0.15,2.78,0.00,0.000,6,0.130,0.074,2738,2176,3735,0,0,0,0,0,0
$STATE,5504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5504,begin apogee
$GC,5512,-0.31,0.0,608.0,13.7,257,5627,1.27,0.00,111.62,1.014,6,0.034,0.000,3060,2177,3190,0,0,0,0,0,0
$STATE,5628,end apogee,CONTROL_FINISHED_OK
$STATE,5628,begin climb
$GC,5631,1.54,136.3,608.3,0.0,260,5760,1.65,3.22,114.72,0.988,4,0.043,0.124,3453,591,2631,0,0,0,0,0,0
$GC,5829,1.49,261.0,599.4,4.8,264,5948,0.00,2.72,108.28,0.973,6,0.000,0.056,3453,2165,2126,0,0,0,0,0,0
$GC,6215,1.43,261.0,564.6,14.3,274,6221,0.12,2.83,0.00,0.000,4,0.130,0.076,3393,3764,2118,0,0,0,0,0,0
$GC,6271,1.50,261.0,555.5,15.7,275,6276,0.00,2.70,0.00,0.000,6,0.000,0.061,3429,2196,2117,0,0,0,0,0,0
$GC,6539,1.50,261.0,515.4,15.2,282,6544,0.00,2.70,0.00,0.000,4,0.000,0.058,3365,3773,2115,0,0,0,0,0,0
$GC,6560,1.50,261.0,511.7,15.2,282,6582,15.60,2.70,0.00,0.000,6,0.489,0.056,3251,2203,2114,56,1,0,0,0,0
$GC,6863,1.01,261.0,421.9,30.7,290,6872,2.42,2.65,0.00,0.000,4,0.123,0.044,3220,3768,2112,0,0,0,0,0,0
$GC,6954,1.36,330.4,409.7,8.2,292,7024,0.30,2.58,61.15,0.874,6,0.047,0.042,3415,2209,1842,0,0,0,0,0,0
$GC,7283,1.45,330.4,366.4,13.6,300,7288,0.00,2.85,0.00,0.000,4,0.000,0.075,3415,592,1836,0,0,0,0,0,0
$GC,7344,1.58,330.4,357.2,13.9,301,7350,0.38,2.65,0.00,0.000,6,0.048,0.025,3516,2229,1834,1,0,0,0,0,0
$GC,7608,1.50,330.4,305.9,19.8,308,7613,0.32,2.53,0.00,0.000,4,0.154,0.041,3402,3763,1833,0,0,0,0,0,0
$GC,7637,1.50,330.4,300.7,17.8,308,7642,0.00,2.55,0.00,0.000,6,0.000,0.037,3445,2211,1833,0,0,0,0,0,0
$GC,7887,1.55,330.4,262.8,15.0,314,7892,0.00,2.78,0.00,0.000,4,0.000,0.069,3445,595,1832,0,0,0,0,0,0
$GC,7903,1.55,330.4,260.2,14.5,314,7908,0.00,2.60,0.00,0.000,6,0.000,0.029,3435,2232,1831,0,0,0,0,0,0
$GC,8167,1.62,330.4,221.6,15.1,321,8172,0.00,2.78,0.00,0.000,4,0.000,0.061,3445,592,1831,0,0,0,0,0,0
$GC,8233,1.74,330.4,211.2,14.8,322,8239,0.47,2.60,0.00,0.000,6,0.044,0.028,3569,2217,1830,1,0,0,0,0,0
$GC,8501,1.61,330.4,157.5,21.0,341,8506,0.47,0.00,0.00,0.000,6,0.111,0.000,3469,2217,1829,0,0,0,0,0,0
$GC,8761,1.67,330.4,118.5,13.5,366,8762,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2217,1830,0,0,0,0,0,0
$GC,9020,1.75,330.4,83.8,13.0,390,9030,0.12,0.00,0.00,0.000,6,0.079,0.000,3505,2216,1830,0,0,0,0,0,0
$GC,9287,1.75,330.4,44.3,15.7,415,9292,0.00,2.70,0.00,0.000,4,0.000,0.051,3482,590,1829,0,0,0,0,0,0
$GC,9335,1.75,330.4,36.3,16.7,418,9340,0.00,2.55,0.00,0.000,6,0.000,0.021,3506,2221,1830,0,0,0,0,0,0
$STATE,9539,end climb,SURFACE_DEPTH_REACHED
$STATE,9539,begin surface coast
$FINISH,-0.5,1.012430
$STATE,9573,end surface coast,CONTROL_FINISHED_OK
$STATE,9573,begin surface
$SM_CCo,9597,38.03,0.536,0,0,1640,380.21
$SM_GC,0.27,0.00,0.00,38.03,0.000,0.000,0.536,470,2145,1640,-12.17,-0.99,380.21
$IRIDIUM_FIX,2141.13,-15806.74,011001,070715
$TT8_MAMPS,0.027612
$HUMID,67.64
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,19.80
$XPDR_PINGS,45
$24V_AH,23.4,41.886
$10V_AH,10.1,35.638
$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,56.350,121.125,395.775,38.025,0.000,60.964,81.084,235.571,11.250,0.000,15.244,951.413,5995.283,508.830,2068.756,704.462,33.368,1269.413,0.000,2065.526,0.000,0.534,0.000
$DEVICE_MAMPS,488.579,124.254,1013.974,536.133,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,301.568,230.893,327.229,722.991,1159.156,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356040
$DATA_FILE_SIZE,35275,445
$CAP_FILE_SIZE,118128,8
$CFSIZE,260165632,129728512
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,65,0,0,0
$GPS,070712,094635,2149.214,-15803.883,9,1.5,25,9.9