version: 66.06
glider: 146
mission: 7
dive: 294
start: 7 7 112 12 50 33
data:
$ID,146
$MISSION,7
$DIVE,294
$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,-297684.28
$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,23
$R_STBD_OVSHOOT,36
$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
$GPS1,123336,2148.922,-15802.961,64,1.3,64,9.9
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-70.3
$GPS2,124936,2148.925,-15803.028,11,1.3,22,9.9
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,KUHUKU2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.144,-0.207
$KALMAN_X,-157839.4,-37.8,-37.3,159094.5,124.9
$KALMAN_Y,197161.1,51.0,477.2,-293371.2,414.6
$MHEAD_RNG_PITCHd_Wd,135.3,2462,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.31,-136.3,0.0,0.0,0,110,0.00,0.00,-87.57,0.000,6,0.000,0.000,467,2208,3745,0,0,0,0,0,0
$GC,114,-1.31,-136.3,3.0,-7.0,10,133,13.00,2.67,0.00,0.000,4,0.173,0.037,2821,581,3747,0,0,0,0,0,0
$GC,147,0.05,-136.3,16.5,-35.0,13,158,1.35,2.53,0.00,0.000,6,0.091,0.020,3117,2186,3748,0,0,0,0,0,0
$GC,505,-0.53,-136.3,37.2,-6.8,53,510,0.47,2.60,0.00,0.000,4,0.047,0.040,2989,590,3748,0,0,0,0,0,0
$GC,530,-0.92,-136.3,39.0,-6.6,54,535,0.30,2.45,0.00,0.000,6,0.038,0.017,2892,2191,3749,0,0,0,0,0,0
$GC,797,-0.81,-136.3,71.9,-12.7,78,807,0.20,0.00,0.00,0.000,6,0.089,0.000,2937,2191,3748,0,0,0,0,0,0
$GC,1065,-0.81,-136.3,96.1,-7.9,103,1069,0.00,2.62,0.00,0.000,4,0.000,0.042,2937,590,3749,0,0,0,0,0,0
$GC,1082,-0.81,-136.3,98.0,-8.0,104,1086,0.00,2.40,0.00,0.000,6,0.000,0.018,2937,2162,3749,0,0,0,0,0,0
$GC,1345,-0.85,-136.3,122.5,-9.3,128,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2164,3750,0,0,0,0,0,0
$GC,1596,-0.89,-136.3,146.1,-9.1,152,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2164,3750,0,0,0,0,0,0
$GC,1855,-0.96,-136.3,168.8,-8.0,176,1860,0.12,2.53,0.00,0.000,4,0.069,0.040,2868,3748,3749,0,0,0,0,0,0
$GC,1872,-0.96,-136.3,170.7,-8.7,177,1877,0.00,2.47,0.00,0.000,6,0.000,0.025,2887,2149,3751,0,0,0,0,0,0
$GC,2133,-0.96,-136.3,199.3,-10.4,201,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2148,3751,0,0,0,0,0,0
$GC,2387,-0.96,-136.3,226.3,-10.5,208,2388,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2149,3751,0,0,0,0,0,0
$GC,2631,-0.96,-136.3,250.2,-9.5,214,2636,0.00,2.55,0.00,0.000,4,0.000,0.037,2870,3744,3751,0,0,0,0,0,0
$GC,2655,-0.96,-136.3,251.9,-7.4,214,2660,0.00,2.45,0.00,0.000,6,0.000,0.022,2887,2184,3751,0,0,0,0,0,0
$GC,2910,-0.96,-136.3,265.9,-4.7,221,2915,0.00,2.50,0.00,0.000,4,0.000,0.036,2870,3747,3751,0,0,0,0,0,0
$GC,2932,-0.96,-136.3,267.4,-6.7,221,2937,0.00,2.47,0.00,0.000,6,0.000,0.028,2887,2170,3751,0,0,0,0,0,0
$GC,3190,-0.96,-136.3,292.8,-10.8,228,3194,0.00,2.62,0.00,0.000,4,0.000,0.061,2882,603,3751,0,0,0,0,0,0
$GC,3229,-0.96,-136.3,297.7,-12.0,229,3233,0.00,2.40,0.00,0.000,6,0.000,0.030,2887,2150,3751,0,0,0,0,0,0
$GC,3512,-1.00,-136.3,324.6,-8.2,236,3517,0.00,2.60,0.00,0.000,4,0.000,0.047,2884,3756,3749,0,0,0,0,0,0
$GC,3593,-1.07,-136.3,328.9,-5.0,237,3599,0.00,2.53,0.00,0.000,6,0.000,0.034,2846,2179,3749,0,0,0,0,0,0
$GC,3844,-1.12,-136.3,343.2,-6.3,244,3848,0.00,2.72,0.00,0.000,4,0.000,0.075,2887,595,3749,0,0,0,0,0,0
$GC,3865,-1.16,-136.3,344.9,-7.4,244,3870,0.10,2.53,0.00,0.000,6,0.078,0.030,2836,2175,3748,0,0,0,0,0,0
$GC,4125,-1.12,-136.3,369.1,-9.5,251,4127,0.15,0.00,0.00,0.000,6,0.104,0.000,2869,2175,3748,0,0,0,0,0,0
$GC,4364,-1.12,-136.3,386.6,-7.0,257,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2175,3746,0,0,0,0,0,0
$STATE,4565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4565,begin apogee
$GC,4570,-0.31,0.0,401.0,7.1,262,4687,0.77,0.00,110.07,0.815,6,0.070,0.000,3049,2175,3190,0,0,0,0,0,0
$STATE,4688,end apogee,CONTROL_FINISHED_OK
$STATE,4688,begin climb
$GC,4693,1.31,136.3,404.1,0.0,265,4812,1.50,2.70,111.93,0.798,4,0.046,0.054,3349,3757,2633,0,0,0,0,0,0
$GC,4847,1.25,136.3,395.1,10.6,269,4866,11.90,2.65,0.00,0.000,6,0.466,0.044,3390,2183,2626,43,0,0,0,0,0
$GC,5136,0.63,136.3,333.3,21.4,276,5145,2.80,2.65,0.00,0.000,4,0.120,0.040,3158,3756,2624,0,0,0,0,0,0
$GC,5202,1.10,284.0,328.6,2.7,277,5337,0.40,2.58,124.22,0.759,6,0.035,0.034,3368,2184,2031,0,0,0,0,0,0
$GC,5588,1.20,284.0,290.3,11.6,287,5589,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,2184,2024,0,0,0,0,0,0
$GC,5832,1.31,284.0,264.5,10.8,293,5837,0.15,2.70,0.00,0.000,4,0.067,0.065,3409,595,2022,0,0,0,0,0,0
$GC,5900,1.37,284.0,255.4,13.4,294,5905,0.00,2.55,0.00,0.000,6,0.000,0.025,3389,2189,2020,0,0,0,0,0,0
$GC,6156,1.42,284.0,226.4,11.4,301,6160,0.00,2.55,0.00,0.000,4,0.000,0.040,3339,3756,2021,0,0,0,0,0,0
$GC,6177,1.48,284.0,223.8,11.2,301,6182,0.12,2.60,0.00,0.000,6,0.076,0.035,3445,2158,2018,0,0,0,0,0,0
$GC,6436,1.48,284.0,192.7,13.6,311,6441,0.00,2.62,0.00,0.000,4,0.000,0.063,3445,597,2018,0,0,0,0,0,0
$GC,6458,1.48,284.0,189.2,14.3,312,6467,0.00,2.53,0.00,0.000,6,0.000,0.028,3445,2172,2017,0,0,0,0,0,0
$GC,6724,1.48,284.0,155.4,12.7,337,6728,0.00,2.58,0.00,0.000,4,0.000,0.043,3386,3757,2017,0,0,0,0,0,0
$GC,6806,1.48,284.0,144.8,12.9,343,6810,0.00,2.55,0.00,0.000,6,0.000,0.030,3445,2179,2016,0,0,0,0,0,0
$GC,7072,1.48,284.0,111.6,12.8,367,7076,0.00,2.62,0.00,0.000,4,0.000,0.054,3445,594,2016,0,0,0,0,0,0
$GC,7093,1.48,284.0,107.8,13.8,368,7104,0.00,2.55,0.00,0.000,6,0.000,0.027,3445,2196,2016,0,0,0,0,0,0
$GC,7360,1.48,284.0,74.3,11.6,393,7365,0.00,2.53,0.00,0.000,4,0.000,0.044,3389,3759,2016,0,0,0,0,0,0
$GC,7385,1.53,284.0,70.5,12.0,394,7396,0.00,2.53,0.00,0.000,6,0.000,0.029,3445,2197,2016,0,0,0,0,0,0
$GC,7653,1.57,284.0,41.0,11.4,419,7657,0.00,2.65,0.00,0.000,4,0.000,0.051,3445,598,2016,0,0,0,0,0,0
$GC,7703,1.62,284.0,34.4,11.2,422,7713,0.00,2.53,0.00,0.000,6,0.000,0.021,3445,2189,2015,0,0,0,0,0,0
$STATE,7974,end climb,SURFACE_DEPTH_REACHED
$STATE,7974,begin surface coast
$FINISH,-0.5,1.010701
$STATE,8025,end surface coast,CONTROL_FINISHED_OK
$STATE,8025,begin surface
$SM_CCo,8046,75.07,0.515,0,0,1639,380.21
$SM_GC,0.15,0.00,0.00,75.07,0.000,0.000,0.515,465,2192,1639,-12.19,0.34,380.21
$IRIDIUM_FIX,2141.13,-15804.59,011001,121227
$TT8_MAMPS,0.027612
$HUMID,62.08
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,21.50
$XPDR_PINGS,36
$24V_AH,23.5,42.138
$10V_AH,10.3,35.876
$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,45.200,92.300,346.225,75.075,0.000,77.848,150.783,448.808,9.000,0.000,23.504,893.691,4630.038,510.792,2074.166,978.521,33.382,1117.979,0.000,2094.524,0.000,0.536,0.000
$DEVICE_MAMPS,465.569,75.166,814.554,514.657,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,311.366,269.142,384.559,933.195,1482.380,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356140
$DATA_FILE_SIZE,35284,460
$CAP_FILE_SIZE,103372,0
$CFSIZE,260165632,129630208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,43,0,0,0
$GPS,070712,150706,2148.070,-15802.381,11,1.9,28,9.9