version: 66.06
glider: 146
mission: 7
dive: 293
start: 7 7 112 9 56 41
data:
$ID,146
$MISSION,7
$DIVE,293
$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,-297660.16
$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,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,54
$R_STBD_OVSHOOT,41
$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
$GPS1,094635,2149.214,-15803.883,9,1.5,25,9.9
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.28
$_SM_ANGLEo,-70.9
$GPS2,095548,2149.219,-15803.987,9,1.6,14,9.9
$SPEED_LIMITS,0.179,0.270
$TGT_NAME,KUHUKU2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.174,-0.206
$KALMAN_X,-157102.1,290.4,-1052.0,157409.8,-317.8
$KALMAN_Y,196420.2,111.0,-260.5,-291408.9,1074.6
$MHEAD_RNG_PITCHd_Wd,129.8,4094,-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,18,-1.54,-136.3,0.0,0.0,0,113,0.00,0.00,-88.88,0.000,6,0.000,0.000,469,2144,3746,0,0,0,0,0,0
$GC,116,-1.54,-136.3,3.2,-6.3,10,136,12.70,0.00,0.00,0.000,6,0.173,0.000,2771,2145,3747,0,0,0,0,0,0
$GC,425,-1.34,-136.3,76.6,-21.4,41,436,0.25,0.00,0.00,0.000,6,0.121,0.000,2824,2145,3749,0,0,0,0,0,0
$GC,687,-1.28,-136.3,119.5,-14.3,66,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2145,3750,0,0,0,0,0,0
$GC,944,-1.23,-136.3,155.7,-12.2,90,949,0.10,2.60,0.00,0.000,4,0.137,0.035,2844,3757,3751,0,0,0,0,0,0
$GC,981,-1.23,-136.3,160.1,-11.6,92,987,0.00,2.45,0.00,0.000,6,0.000,0.019,2844,2189,3751,0,0,0,0,0,0
$GC,1242,-1.23,-136.3,188.1,-10.4,117,1246,0.00,2.62,0.00,0.000,4,0.000,0.050,2770,607,3752,0,0,0,0,0,0
$GC,1274,-1.23,-136.3,191.4,-10.7,119,1279,0.00,2.45,0.00,0.000,6,0.000,0.018,2843,2192,3752,0,0,0,0,0,0
$GC,1558,-1.23,-136.3,223.3,-11.3,131,1559,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2192,3753,0,0,0,0,0,0
$GC,1804,-1.28,-136.3,251.5,-11.8,137,1809,0.00,2.62,0.00,0.000,4,0.000,0.055,2841,610,3753,0,0,0,0,0,0
$GC,1848,-1.34,-136.3,257.4,-11.8,138,1853,0.00,2.45,0.00,0.000,6,0.000,0.023,2843,2176,3753,0,0,0,0,0,0
$GC,2127,-1.40,-136.3,286.1,-9.7,145,2132,0.15,2.65,0.00,0.000,4,0.062,0.064,2787,612,3753,0,0,0,0,0,0
$GC,2157,-1.37,-136.3,289.3,-11.8,145,2162,0.17,2.47,0.00,0.000,6,0.101,0.030,2823,2185,3753,0,0,0,0,0,0
$GC,2407,-1.37,-136.3,315.4,-10.5,151,2411,0.00,2.70,0.00,0.000,4,0.000,0.068,2823,608,3752,0,0,0,0,0,0
$GC,2428,-1.37,-136.3,317.9,-11.1,151,2433,0.00,2.53,0.00,0.000,6,0.000,0.033,2823,2189,3752,0,0,0,0,0,0
$GC,2686,-1.37,-136.3,346.8,-11.4,158,2687,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2186,3752,0,0,0,0,0,0
$GC,2928,-1.41,-136.3,373.8,-11.1,164,2929,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2187,3750,0,0,0,0,0,0
$GC,3172,-1.46,-136.3,398.4,-9.8,170,3174,0.12,0.00,0.00,0.000,6,0.071,0.000,2776,2187,3749,0,0,0,0,0,0
$GC,3417,-1.46,-136.3,429.4,-13.2,176,3422,0.10,2.65,0.00,0.000,4,0.124,0.065,2766,3753,3748,0,0,0,0,0,0
$GC,3457,-1.46,-136.3,434.5,-12.1,177,3461,0.00,2.58,0.00,0.000,6,0.000,0.041,2781,2203,3748,0,0,0,0,0,0
$GC,3740,-1.46,-136.3,465.5,-10.9,184,3744,0.00,2.62,0.00,0.000,4,0.000,0.054,2765,3755,3747,0,0,0,0,0,0
$GC,3763,-1.46,-136.3,468.1,-11.3,184,3768,0.00,2.65,0.00,0.000,6,0.000,0.054,2796,2185,3746,0,0,0,0,0,0
$GC,4019,-1.46,-136.3,497.1,-11.2,191,4023,0.00,2.70,0.00,0.000,4,0.000,0.063,2755,3753,3745,0,0,0,0,0,0
$GC,4029,-1.46,-136.3,498.6,-11.5,191,4034,0.00,2.60,0.00,0.000,6,0.000,0.044,2796,2180,3745,0,0,0,0,0,0
$GC,4298,-1.46,-136.3,523.3,-7.6,198,4302,0.00,2.70,0.00,0.000,4,0.000,0.066,2762,3753,3743,0,0,0,0,0,0
$GC,4349,-1.46,-136.3,527.7,-9.5,199,4353,0.00,2.67,0.00,0.000,6,0.000,0.064,2797,2198,3743,0,0,0,0,0,0
$GC,4621,-1.74,-136.3,543.0,-3.9,206,4626,0.25,2.70,0.00,0.000,4,0.055,0.064,2675,3754,3741,0,0,0,0,0,0
$STATE,4757,end dive,NO_VERTICAL_VELOCITY
$STATE,4757,begin apogee
$GC,4765,-0.31,0.0,543.1,0.0,209,4881,1.40,0.00,111.70,0.953,6,0.052,0.000,3046,2170,3189,0,0,0,0,0,0
$STATE,4882,end apogee,CONTROL_FINISHED_OK
$STATE,4882,begin climb
$GC,4887,1.54,136.3,543.0,0.0,212,5011,1.73,3.10,113.82,0.926,4,0.051,0.118,3450,594,2634,0,0,0,0,0,0
$GC,5265,1.50,151.3,503.1,11.6,220,5284,0.00,2.62,13.38,0.835,6,0.000,0.039,3016,2171,2574,0,0,0,0,0,0
$GC,5570,1.56,201.7,471.8,9.4,228,5620,0.00,2.80,44.40,0.890,4,0.000,0.062,3413,3768,2367,0,0,0,0,0,0
$GC,5726,1.57,208.6,454.3,12.1,231,5740,0.00,2.65,6.90,0.726,6,0.000,0.041,3450,2193,2340,0,0,0,0,0,0
$GC,6027,1.59,220.6,419.2,11.8,239,6046,0.00,2.72,11.98,0.802,4,0.000,0.049,3451,3768,2289,0,0,0,0,0,0
$GC,6091,1.59,220.6,410.7,13.5,240,6096,0.00,2.62,0.00,0.000,6,0.000,0.044,3451,2203,2288,0,0,0,0,0,0
$GC,6352,1.59,220.6,377.3,12.8,247,6357,0.00,2.85,0.00,0.000,4,0.000,0.082,3455,592,2285,0,0,0,0,0,0
$GC,6386,1.59,220.6,372.6,14.9,247,6392,0.00,2.65,0.00,0.000,6,0.000,0.026,3450,2230,2284,0,0,0,0,0,0
$GC,6636,1.59,220.6,340.2,13.1,254,6637,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2231,2284,0,0,0,0,0,0
$GC,6880,1.64,229.7,310.7,11.9,260,6894,0.00,2.88,8.60,0.717,4,0.000,0.065,3451,594,2252,0,0,0,0,0,0
$GC,6926,1.64,229.7,305.3,12.6,261,6931,0.00,2.60,0.00,0.000,6,0.000,0.024,3451,2210,2251,0,0,0,0,0,0
$GC,7210,1.72,252.3,273.7,11.1,268,7237,0.15,2.60,20.92,0.758,4,0.073,0.044,3450,3761,2161,0,0,0,0,0,0
$GC,7271,1.72,252.3,264.9,15.1,269,7275,0.00,2.60,0.00,0.000,6,0.000,0.038,3490,2184,2160,0,0,0,0,0,0
$GC,7533,1.72,252.3,228.2,13.5,276,7538,0.00,2.60,0.00,0.000,4,0.000,0.040,3459,3756,2157,0,0,0,0,0,0
$GC,7577,1.72,252.3,221.7,14.5,277,7582,0.00,2.50,0.00,0.000,6,0.000,0.035,3490,2212,2156,0,0,0,0,0,0
$GC,7840,1.72,252.3,190.1,12.8,288,7845,0.00,2.55,0.00,0.000,4,0.000,0.045,3414,3761,2158,0,0,0,0,0,0
$GC,7863,1.72,252.3,186.6,13.1,289,7869,0.00,2.50,0.00,0.000,6,0.000,0.036,3490,2220,2155,0,0,0,0,0,0
$GC,8125,1.75,279.3,153.9,10.8,314,8154,0.00,2.80,23.85,0.660,4,0.000,0.054,3490,596,2050,0,0,0,0,0,0
$GC,8173,1.78,305.4,148.8,10.9,317,8204,0.00,2.60,24.33,0.647,6,0.000,0.022,3492,2223,1944,0,0,0,0,0,0
$GC,8460,1.82,305.4,113.8,15.3,344,8461,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,2224,1940,0,0,0,0,0,0
$GC,8717,1.89,305.4,77.8,14.1,368,8723,0.15,2.75,0.00,0.000,4,0.069,0.048,3462,588,1940,0,0,0,0,0,0
$GC,8754,1.89,305.4,72.0,17.4,370,8759,0.00,2.55,0.00,0.000,6,0.000,0.021,3514,2208,1938,0,0,0,0,0,0
$GC,9020,1.89,305.4,29.6,15.9,394,9030,0.00,2.50,0.00,0.000,4,0.000,0.035,3197,3754,1938,0,0,0,0,0,0
$GC,9076,1.89,305.4,20.8,16.2,400,9086,0.00,2.50,0.00,0.000,6,0.000,0.028,3533,2216,1938,0,0,0,0,0,0
$STATE,9183,end climb,SURFACE_DEPTH_REACHED
$STATE,9183,begin surface coast
$FINISH,-0.4,1.015649
$STATE,9226,end surface coast,CONTROL_FINISHED_OK
$STATE,9226,begin surface
$SM_CCo,9248,60.60,0.527,0,0,1639,380.21
$SM_GC,0.33,0.00,0.00,60.60,0.000,0.000,0.527,468,2208,1639,-12.18,0.79,380.21
$IRIDIUM_FIX,2143.45,-15804.59,011001,070755
$TT8_MAMPS,0.027612
$HUMID,64.37
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,20.70
$XPDR_PINGS,38
$24V_AH,23.4,42.010
$10V_AH,10.3,35.741
$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,29.625,110.700,379.875,60.600,0.000,22.571,32.988,292.778,9.500,0.000,15.759,881.575,5983.504,475.658,1819.826,685.235,33.359,1173.500,0.000,1823.388,0.000,0.533,0.000
$DEVICE_MAMPS,172.575,118.118,953.381,526.929,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,282.715,210.583,299.940,625.597,999.945,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355984
$DATA_FILE_SIZE,32130,418
$CAP_FILE_SIZE,107638,0
$CFSIZE,260165632,129683456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070712,123336,2148.922,-15802.961,64,1.3,64,9.9