version: 66.06
glider: 146
mission: 7
dive: 276
start: 7 5 112 5 42 48
data:
$ID,146
$MISSION,7
$DIVE,276
$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,-297326.31
$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,26
$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
$GPS1,053136,2154.795,-15809.383,13,1.2,28,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.24
$_SM_ANGLEo,-71.3
$GPS2,054155,2154.742,-15809.612,11,1.2,11,9.9
$SPEED_LIMITS,0.179,0.270
$TGT_NAME,KUHUKU2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.269,-0.024
$KALMAN_X,-131930.2,580.4,-264.9,121553.0,-2476.8
$KALMAN_Y,189328.3,430.9,-308.1,-274361.1,134.1
$MHEAD_RNG_PITCHd_Wd,85.2,18089,-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,-88.57,0.000,6,0.000,0.000,472,2087,3746,0,0,0,0,0,0
$GC,117,-1.54,-136.3,3.6,-7.9,10,138,12.75,2.70,0.00,0.000,4,0.173,0.026,2656,3759,3747,0,0,0,0,0,0
$GC,250,-1.32,-136.3,39.1,-19.4,23,255,0.28,2.50,0.00,0.000,6,0.121,0.025,2821,2170,3748,0,0,0,0,0,0
$GC,517,-1.22,-136.3,86.6,-16.3,47,522,0.12,0.00,0.00,0.000,6,0.133,0.000,2846,2170,3749,0,0,0,0,0,0
$GC,778,-1.22,-136.3,122.6,-13.4,72,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2170,3749,0,0,0,0,0,0
$GC,1036,-1.22,-136.3,155.7,-12.8,96,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2170,3750,0,0,0,0,0,0
$GC,1306,-1.22,-136.3,186.5,-10.8,121,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2170,3751,0,0,0,0,0,0
$GC,1581,-1.26,-136.3,218.7,-11.4,136,1585,0.00,2.55,0.00,0.000,4,0.000,0.037,2810,3756,3752,0,0,0,0,0,0
$GC,1597,-1.31,-136.3,220.7,-11.3,136,1601,0.00,2.50,0.00,0.000,6,0.000,0.028,2845,2162,3751,0,0,0,0,0,0
$GC,1860,-1.36,-136.3,248.4,-10.6,143,1862,0.12,0.00,0.00,0.000,6,0.071,0.000,2796,2162,3751,0,0,0,0,0,0
$GC,2101,-1.36,-136.3,278.2,-12.5,149,2105,0.00,2.58,0.00,0.000,4,0.000,0.041,2768,3757,3751,0,0,0,0,0,0
$GC,2117,-1.36,-136.3,280.2,-12.1,149,2122,0.10,2.47,0.00,0.000,6,0.118,0.023,2817,2179,3751,0,0,0,0,0,0
$GC,2380,-1.36,-136.3,307.5,-10.5,156,2381,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2179,3751,0,0,0,0,0,0
$GC,2622,-1.40,-136.3,332.8,-10.3,162,2623,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2179,3751,0,0,0,0,0,0
$GC,2866,-1.45,-136.3,357.2,-10.1,168,2870,0.00,2.75,0.00,0.000,4,0.000,0.079,2816,605,3750,0,0,0,0,0,0
$GC,2887,-1.45,-136.3,359.7,-10.9,168,2891,0.00,2.53,0.00,0.000,6,0.000,0.038,2817,2166,3749,0,0,0,0,0,0
$GC,3144,-1.50,-136.3,388.3,-11.1,175,3146,0.12,0.00,0.00,0.000,6,0.070,0.000,2768,2166,3748,0,0,0,0,0,0
$GC,3385,-1.50,-136.3,419.1,-12.5,181,3386,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2166,3748,0,0,0,0,0,0
$GC,3629,-1.50,-136.3,443.8,-9.7,187,3634,0.00,2.70,0.00,0.000,4,0.000,0.062,2722,3761,3746,0,0,0,0,0,0
$GC,3681,-1.50,-136.3,449.2,-11.2,188,3690,3.00,2.60,0.00,0.000,6,0.079,0.047,2887,2197,3745,8,0,0,0,0,0
$GC,3958,-3.08,-136.3,463.8,-6.9,195,3968,4.62,2.67,0.00,0.000,4,0.088,0.054,2410,3767,3744,0,0,0,0,0,0
$GC,4223,-2.49,-136.3,520.8,-25.5,201,4232,2.10,2.70,0.00,0.000,6,0.139,0.066,2730,2188,3741,7,0,0,0,0,0
$GC,4514,-2.69,-136.3,548.4,-8.9,208,4523,1.38,2.72,0.00,0.000,4,0.027,0.069,2434,3755,3739,0,0,0,0,0,0
$STATE,4740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4740,begin apogee
$GC,4749,-0.31,0.0,601.0,22.1,213,4866,2.53,0.00,112.00,1.008,6,0.127,0.000,3040,2177,3191,0,0,0,0,0,0
$STATE,4867,end apogee,CONTROL_FINISHED_OK
$STATE,4867,begin climb
$GC,4872,1.54,136.3,609.0,0.0,216,4999,1.75,3.15,114.65,0.978,4,0.047,0.116,3452,595,2634,0,0,0,0,0,0
$GC,5091,1.48,172.4,593.7,10.3,221,5130,0.00,2.75,31.45,0.937,6,0.000,0.059,2765,2177,2488,0,0,0,0,0,0
$GC,5418,1.46,197.8,558.7,10.9,229,5444,0.00,0.00,23.23,0.921,6,0.000,0.000,3451,2177,2383,0,0,0,0,0,0
$GC,5658,1.43,197.8,525.0,14.3,235,5664,0.12,2.80,0.00,0.000,4,0.129,0.069,3429,3767,2378,0,0,0,0,0,0
$GC,5714,1.43,197.8,516.9,13.5,236,5718,0.00,2.72,0.00,0.000,6,0.000,0.054,3429,2182,2377,0,0,0,0,0,0
$GC,5982,1.43,197.8,480.4,14.1,243,5986,0.00,2.70,0.00,0.000,4,0.000,0.051,3402,3772,2375,0,0,0,0,0,0
$GC,6037,1.46,197.8,471.6,15.4,244,6041,0.00,2.70,0.00,0.000,6,0.000,0.051,3428,2195,2375,0,0,0,0,0,0
$GC,6303,1.46,197.8,433.8,14.3,251,6307,0.00,2.62,0.00,0.000,4,0.000,0.044,3374,3774,2373,0,0,0,0,0,0
$GC,6365,1.46,197.8,425.2,13.3,252,6369,0.00,2.65,0.00,0.000,6,0.000,0.043,3429,2206,2373,0,0,0,0,0,0
$GC,6625,1.46,197.8,390.6,12.9,259,6626,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2206,2372,0,0,0,0,0,0
$GC,6869,1.51,201.7,360.0,12.3,265,6874,0.00,2.85,0.00,0.000,4,0.000,0.083,3428,584,2371,0,0,0,0,0,0
$GC,6890,1.51,201.7,357.0,13.3,265,6895,0.00,2.65,0.00,0.000,6,0.000,0.025,3428,2234,2370,0,0,0,0,0,0
$GC,7149,1.61,249.3,330.8,9.6,272,7197,0.15,0.00,45.15,0.828,6,0.074,0.000,3469,2235,2173,0,0,0,0,0,0
$GC,7430,1.61,249.3,296.2,12.7,279,7431,0.00,0.00,0.00,0.000,6,0.000,0.000,3468,2235,2167,0,0,0,0,0,0
$GC,7673,1.61,249.3,264.5,13.4,285,7674,0.00,0.00,0.00,0.000,6,0.000,0.000,3468,2234,2166,0,0,0,0,0,0
$GC,7919,1.61,249.3,230.4,14.1,291,7924,0.00,2.78,0.00,0.000,4,0.000,0.054,3468,586,2165,0,0,0,0,0,0
$GC,7951,1.61,249.3,224.9,16.4,291,7957,0.00,2.65,0.00,0.000,6,0.000,0.022,3468,2241,2163,0,0,0,0,0,0
$GC,8208,1.61,249.3,188.7,14.2,301,8213,0.00,2.50,0.00,0.000,4,0.000,0.040,3441,3779,2163,0,0,0,0,0,0
$GC,8273,1.61,249.3,178.7,14.0,306,8278,0.00,2.55,0.00,0.000,6,0.000,0.030,3450,2211,2163,0,0,0,0,0,0
$GC,8534,1.68,271.3,147.0,11.1,330,8559,0.00,2.78,18.80,0.651,4,0.000,0.057,3467,591,2083,0,0,0,0,0,0
$GC,8630,1.73,271.3,136.5,12.5,337,8636,0.10,2.65,0.00,0.000,6,0.090,0.021,3498,2253,2081,0,0,0,0,0,0
$GC,8898,1.73,271.3,100.6,12.8,361,8903,0.00,2.47,0.00,0.000,4,0.000,0.038,3497,3787,2081,0,0,0,0,0,0
$GC,8958,1.73,271.3,92.0,13.5,365,8964,0.00,2.53,0.00,0.000,6,0.000,0.028,3497,2222,2080,0,0,0,0,0,0
$GC,9227,1.73,271.3,57.4,13.6,390,9231,0.00,2.70,0.00,0.000,4,0.000,0.050,3498,597,2080,0,0,0,0,0,0
$GC,9248,1.73,271.3,54.4,12.8,391,9252,0.00,2.60,0.00,0.000,6,0.000,0.022,3497,2258,2080,0,0,0,0,0,0
$GC,9553,1.73,271.3,15.3,13.6,422,9564,0.00,2.47,0.00,0.000,4,0.000,0.038,3498,3771,2080,0,0,0,0,0,0
$GC,9615,1.77,271.3,7.2,13.7,429,9625,0.00,2.47,0.00,0.000,6,0.000,0.028,3498,2244,2080,0,0,0,0,0,0
$STATE,9634,end climb,SURFACE_DEPTH_REACHED
$STATE,9634,begin surface coast
$FINISH,-0.5,1.023820
$STATE,9676,end surface coast,CONTROL_FINISHED_OK
$STATE,9676,begin surface
$SM_CCo,9700,88.82,0.532,0,0,1640,380.46
$SM_GC,0.26,0.00,0.00,88.82,0.000,0.000,0.532,469,2092,1640,-12.14,-2.49,380.46
$IRIDIUM_FIX,2145.77,-15805.88,290901,050545
$TT8_MAMPS,0.027612
$HUMID,63.93
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,20.60
$XPDR_PINGS,31
$24V_AH,23.4,39.651
$10V_AH,10.3,33.826
$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,41.350,95.700,345.275,88.825,0.000,56.544,84.696,264.045,7.750,0.000,12.779,898.549,6434.995,510.963,1854.030,708.368,33.372,1177.943,0.000,1868.293,0.000,0.534,0.000
$DEVICE_MAMPS,173.342,115.817,1007.838,531.531,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,295.724,220.567,311.054,673.723,1072.329,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355992
$DATA_FILE_SIZE,32055,436
$CAP_FILE_SIZE,104550,0
$CFSIZE,260165632,130613248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,17,0,0,0
$GPS,050712,082706,2154.733,-15809.443,28,1.1,28,9.9