version: 66.06
glider: 146
mission: 7
dive: 297
start: 7 7 112 20 14 57
data:
$ID,146
$MISSION,7
$DIVE,297
$D_SURF,4
$D_FLARE,3
$D_TGT,400
$D_ABORT,520
$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,133
$T_MISSION,300
$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,-297755.47
$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
$GPS1,200808,2148.102,-15802.923,29,1.0,30,9.9
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.23
$_SM_ANGLEo,-65.9
$GPS2,201403,2148.051,-15803.026,16,1.2,17,9.9
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,KUHUKU2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.240,-0.076
$KALMAN_X,-161382.4,-617.7,-813.9,164008.3,-1341.0
$KALMAN_Y,197948.8,-150.7,-601.9,-294495.4,580.1
$MHEAD_RNG_PITCHd_Wd,97.8,1767,-18.2,-10.025
$D_GRID,400
$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,20,-1.31,-136.3,0.0,0.0,0,123,0.00,0.00,-96.88,0.000,6,0.000,0.000,468,2210,3746,0,0,0,0,0,0
$GC,129,-1.31,-136.3,4.1,-9.5,11,149,13.00,2.67,0.00,0.000,4,0.173,0.036,2822,591,3747,0,0,0,0,0,0
$GC,161,-0.06,-136.3,20.0,-39.9,14,172,1.25,2.53,0.00,0.000,6,0.091,0.019,3097,2184,3751,0,0,0,0,0,0
$GC,459,-0.41,-136.3,39.0,-4.7,44,470,0.28,0.00,0.00,0.000,6,0.042,0.000,3008,2184,3749,0,0,0,0,0,0
$GC,730,-0.55,-136.3,57.4,-7.4,69,740,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2184,3748,0,0,0,0,0,0
$GC,995,-0.73,-136.3,75.6,-6.8,94,1000,0.20,2.53,0.00,0.000,4,0.049,0.032,2916,3755,3749,0,0,0,0,0,0
$GC,1019,-0.84,-136.3,77.2,-6.9,95,1024,0.00,2.50,0.00,0.000,6,0.000,0.022,2937,2163,3750,0,0,0,0,0,0
$GC,1285,-0.84,-136.3,101.7,-9.3,119,1290,0.00,2.53,0.00,0.000,4,0.000,0.046,2933,608,3751,0,0,0,0,0,0
$GC,1354,-0.93,-136.3,108.5,-9.3,124,1359,0.10,2.38,0.00,0.000,6,0.081,0.022,2892,2167,3751,0,0,0,0,0,0
$GC,1616,-0.87,-136.3,136.1,-10.6,148,1621,0.15,2.58,0.00,0.000,4,0.099,0.051,2925,601,3752,0,0,0,0,0,0
$GC,1650,-0.87,-136.3,139.2,-9.9,150,1654,0.00,2.38,0.00,0.000,6,0.000,0.023,2925,2161,3752,0,0,0,0,0,0
$GC,1910,-0.87,-136.3,166.4,-11.4,174,1914,0.00,2.50,0.00,0.000,4,0.000,0.039,2903,3750,3752,0,0,0,0,0,0
$GC,1970,-0.97,-136.3,172.8,-11.9,178,1975,0.00,2.47,0.00,0.000,6,0.000,0.021,2925,2155,3752,0,0,0,0,0,0
$GC,2237,-1.05,-136.3,193.0,-5.4,202,2242,0.17,2.55,0.00,0.000,4,0.054,0.051,2861,607,3752,0,0,0,0,0,0
$GC,2268,-1.00,-136.3,195.3,-7.4,204,2273,0.15,2.35,0.00,0.000,6,0.102,0.021,2896,2161,3752,0,0,0,0,0,0
$GC,2541,-1.00,-136.3,217.4,-8.7,215,2542,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2162,3752,0,0,0,0,0,0
$GC,2787,-1.00,-136.3,239.6,-9.1,221,2791,0.00,2.50,0.00,0.000,4,0.000,0.037,2877,3738,3753,0,0,0,0,0,0
$GC,2831,-1.06,-136.3,243.8,-9.0,222,2836,0.00,2.47,0.00,0.000,6,0.000,0.028,2896,2166,3753,0,0,0,0,0,0
$GC,3109,-1.10,-136.3,265.0,-7.5,229,3110,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2166,3753,0,0,0,0,0,0
$GC,3355,-1.15,-136.3,284.6,-8.4,235,3357,0.12,0.00,0.00,0.000,6,0.067,0.000,2841,2166,3752,0,0,0,0,0,0
$GC,3596,-1.10,-136.3,309.9,-10.5,241,3601,0.15,2.58,0.00,0.000,4,0.099,0.047,2858,3735,3751,0,0,0,0,0,0
$GC,3618,-1.10,-136.3,312.2,-10.2,241,3622,0.00,2.47,0.00,0.000,6,0.000,0.031,2876,2182,3751,0,0,0,0,0,0
$GC,3875,-1.10,-136.3,335.3,-8.9,248,3876,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2180,3750,0,0,0,0,0,0
$GC,4117,-1.10,-136.3,357.6,-9.2,254,4121,0.00,2.60,0.00,0.000,4,0.000,0.051,2817,3740,3749,0,0,0,0,0,0
$GC,4133,-1.10,-136.3,359.1,-9.0,254,4138,0.57,2.50,0.00,0.000,6,0.068,0.035,2884,2175,3749,2,0,0,0,0,0
$GC,4396,-1.45,-136.3,370.3,-4.2,261,4399,0.90,0.00,0.00,0.000,6,0.025,0.000,2777,2175,3748,0,0,0,0,0,0
$GC,4638,-1.29,-136.3,397.2,-11.6,267,4643,0.25,2.58,0.00,0.000,4,0.092,0.048,2789,3740,3746,0,0,0,0,0,0
$GC,4660,-1.19,-136.3,399.6,-10.7,267,4664,0.00,2.10,0.00,0.000,3,0.000,0.038,2792,2440,3746,0,0,0,0,0,0
$STATE,4664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4664,begin apogee
$GC,4673,-0.31,0.0,400.1,10.2,267,4790,4.00,0.00,110.45,0.828,6,0.063,0.000,3193,2184,3190,6,0,0,0,0,0
$STATE,4791,end apogee,CONTROL_FINISHED_OK
$STATE,4791,begin climb
$GC,4793,1.31,136.3,405.4,0.0,270,4917,2.03,2.92,111.15,0.811,4,0.135,0.087,3393,597,2632,0,0,0,0,0,0
$GC,5091,1.27,151.8,388.8,9.3,276,5110,0.00,2.55,13.90,0.740,6,0.000,0.031,3393,2161,2570,0,0,0,0,0,0
$GC,5386,1.30,177.0,363.3,8.8,284,5415,0.00,2.78,21.73,0.768,4,0.000,0.047,3258,3759,2467,0,0,0,0,0,0
$GC,5455,1.32,190.9,357.0,9.3,285,5473,0.00,2.58,12.62,0.725,6,0.000,0.032,3394,2187,2413,0,0,0,0,0,0
$GC,5714,1.32,190.9,331.1,10.3,292,5719,0.00,2.80,0.00,0.000,4,0.000,0.080,3394,595,2409,0,0,0,0,0,0
$GC,5750,1.32,190.9,327.5,11.3,292,5756,0.00,2.58,0.00,0.000,6,0.000,0.024,3393,2197,2408,0,0,0,0,0,0
$GC,6000,1.33,203.6,303.2,9.4,299,6019,0.00,2.67,12.12,0.716,4,0.000,0.044,3251,3759,2358,0,0,0,0,0,0
$GC,6043,1.34,208.3,299.2,9.8,300,6054,0.00,2.58,5.70,0.596,6,0.000,0.031,3394,2189,2339,0,0,0,0,0,0
$GC,6329,1.37,234.3,273.9,8.7,307,6355,0.00,0.00,23.70,0.736,6,0.000,0.000,3394,2189,2233,0,0,0,0,0,0
$GC,6610,1.41,234.3,245.2,10.3,314,6616,0.12,2.75,0.00,0.000,4,0.078,0.060,3429,594,2229,0,0,0,0,0,0
$GC,6636,1.41,234.3,242.7,10.5,314,6640,0.00,2.60,0.00,0.000,6,0.000,0.031,3428,2206,2228,0,0,0,0,0,0
$GC,6891,1.42,241.3,217.2,9.7,321,6904,0.00,2.58,6.70,0.601,4,0.000,0.044,3278,3756,2205,0,0,0,0,0,0
$GC,6943,1.42,241.3,212.0,10.1,322,6949,0.15,2.53,0.00,0.000,6,0.071,0.033,3439,2204,2204,0,0,0,0,0,0
$GC,7202,1.34,241.3,183.3,11.1,339,7208,0.28,2.70,0.00,0.000,4,0.102,0.061,3412,595,2202,0,0,0,0,0,0
$GC,7263,1.41,259.2,177.9,9.1,343,7285,0.00,2.53,16.23,0.658,6,0.000,0.028,3412,2197,2135,0,0,0,0,0,0
$GC,7539,1.48,265.5,150.4,9.7,369,7554,0.10,0.00,7.32,0.566,6,0.090,0.000,3443,2197,2106,0,0,0,0,0,0
$GC,7804,1.48,265.5,122.1,11.0,394,7809,0.00,2.67,0.00,0.000,4,0.000,0.052,3442,595,2104,0,0,0,0,0,0
$GC,7828,1.48,265.5,119.2,11.4,395,7834,0.00,2.53,0.00,0.000,6,0.000,0.021,3442,2194,2103,0,0,0,0,0,0
$GC,8089,1.48,265.5,91.7,10.3,420,8090,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,2194,2103,0,0,0,0,0,0
$GC,8350,1.48,265.5,64.6,11.3,444,8354,0.00,2.67,0.00,0.000,4,0.000,0.051,3442,591,2103,0,0,0,0,0,0
$GC,8427,1.53,265.5,56.3,11.2,449,8431,0.00,2.47,0.00,0.000,6,0.000,0.020,3443,2182,2102,0,0,0,0,0,0
$GC,8693,1.53,270.5,30.2,9.8,473,8709,0.00,2.58,5.38,0.435,4,0.000,0.042,3150,3755,2086,0,0,0,0,0,0
$GC,8739,1.58,270.5,25.7,10.3,477,8750,0.00,2.55,0.00,0.000,6,0.000,0.027,3443,2179,2086,0,0,0,0,0,0
$STATE,8946,end climb,SURFACE_DEPTH_REACHED
$STATE,8946,begin surface coast
$FINISH,-0.4,1.023687
$STATE,9004,end surface coast,CONTROL_FINISHED_OK
$STATE,9004,begin surface
$SM_CCo,9027,88.70,0.523,0,0,1639,380.21
$SM_GC,0.17,0.00,0.00,88.70,0.000,0.000,0.523,473,2174,1639,-12.16,-0.17,380.21
$IRIDIUM_FIX,2138.81,-15802.44,011001,181833
$TT8_MAMPS,0.027612
$HUMID,63.62
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,21.40
$XPDR_PINGS,37
$24V_AH,23.5,42.486
$10V_AH,10.2,36.267
$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,35.900,102.775,347.000,88.700,0.000,29.164,36.128,148.808,9.250,0.000,18.691,1002.651,5115.785,496.814,2329.880,527.391,33.360,1201.844,0.000,2348.952,0.000,0.534,0.000
$DEVICE_MAMPS,172.575,86.671,827.593,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,344.959,299.588,426.802,1010.856,1616.325,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356000
$DATA_FILE_SIZE,38417,509
$CAP_FILE_SIZE,109811,0
$CFSIZE,260165632,129478656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,8,0,0,0
$GPS,070712,224806,2148.363,-15802.465,32,1.1,32,9.9