version: 66.06
glider: 146
mission: 7
dive: 295
start: 7 7 112 15 20 55
data:
$ID,146
$MISSION,7
$DIVE,295
$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,-297705.53
$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,40
$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
$GPS1,150706,2148.070,-15802.381,11,1.9,28,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-69.2
$GPS2,152000,2148.052,-15802.489,8,2.0,19,9.9
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,KUHUKU2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.234,0.037
$KALMAN_X,-158732.0,-306.8,922.6,160224.4,-1038.0
$KALMAN_Y,197340.0,-87.1,498.2,-295040.9,-399.5
$MHEAD_RNG_PITCHd_Wd,71.0,846,-19.6,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.37,-119.5,0.0,0.0,0,114,0.00,0.00,-86.07,0.000,6,0.000,0.000,468,2193,3679,0,0,0,0,0,0
$GC,119,-1.39,-136.3,3.5,-7.5,10,139,12.93,2.53,-1.15,0.000,4,0.171,0.046,2777,3767,3747,0,0,0,0,0,0
$GC,167,-0.71,-136.3,22.0,-34.5,15,178,0.70,2.58,0.00,0.000,6,0.097,0.025,2955,2170,3748,0,0,0,0,0,0
$GC,456,-0.76,-136.3,55.1,-10.4,43,461,0.00,2.55,0.00,0.000,4,0.000,0.032,2936,3761,3748,0,0,0,0,0,0
$GC,480,-0.82,-136.3,57.6,-10.4,44,484,0.00,2.47,0.00,0.000,6,0.000,0.022,2944,2183,3748,0,0,0,0,0,0
$GC,742,-0.89,-136.3,82.9,-8.6,68,747,0.15,2.60,0.00,0.000,4,0.061,0.054,2898,605,3748,0,0,0,0,0,0
$GC,797,-0.89,-136.3,88.7,-10.5,72,802,0.10,2.45,0.00,0.000,6,0.117,0.025,2920,2189,3748,0,0,0,0,0,0
$GC,1059,-0.89,-136.3,111.2,-7.9,96,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2189,3748,0,0,0,0,0,0
$GC,1318,-0.93,-136.3,131.5,-8.4,120,1322,0.00,2.60,0.00,0.000,4,0.000,0.043,2920,604,3749,0,0,0,0,0,0
$GC,1355,-0.98,-136.3,135.2,-8.7,122,1366,0.00,2.45,0.00,0.000,6,0.000,0.023,2919,2176,3749,0,0,0,0,0,0
$GC,1617,-1.04,-136.3,160.8,-9.3,147,1622,0.15,2.53,0.00,0.000,4,0.059,0.040,2841,3756,3749,0,0,0,0,0,0
$GC,1675,-1.04,-136.3,167.0,-12.4,151,1680,0.12,2.45,0.00,0.000,6,0.100,0.023,2891,2173,3750,0,0,0,0,0,0
$GC,1942,-1.04,-136.3,187.6,-6.5,175,1946,0.00,2.50,0.00,0.000,4,0.000,0.032,2869,3754,3750,0,0,0,0,0,0
$GC,1975,-1.11,-136.3,190.5,-7.1,177,1986,0.00,2.47,0.00,0.000,6,0.000,0.029,2891,2191,3750,0,0,0,0,0,0
$GC,2245,-1.15,-136.3,211.5,-8.8,194,2251,0.12,2.65,0.00,0.000,4,0.068,0.056,2841,597,3750,0,0,0,0,0,0
$GC,2312,-1.10,-136.3,219.8,-12.1,195,2317,0.15,2.47,0.00,0.000,6,0.102,0.022,2875,2195,3750,0,0,0,0,0,0
$GC,2570,-1.10,-136.3,242.3,-8.3,202,2574,0.00,2.47,0.00,0.000,4,0.000,0.041,2856,3747,3750,0,0,0,0,0,0
$GC,2591,-1.13,-136.3,244.2,-7.9,202,2596,0.00,2.42,0.00,0.000,6,0.000,0.024,2875,2186,3750,0,0,0,0,0,0
$GC,2847,-1.17,-136.3,263.1,-7.3,209,2849,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2186,3749,0,0,0,0,0,0
$GC,3093,-1.21,-136.3,280.9,-6.8,215,3095,0.12,0.00,0.00,0.000,6,0.067,0.000,2829,2186,3748,0,0,0,0,0,0
$GC,3335,-1.18,-136.3,302.6,-8.7,221,3337,0.12,0.00,0.00,0.000,6,0.107,0.000,2857,2186,3748,0,0,0,0,0,0
$GC,3578,-1.18,-136.3,322.3,-8.0,227,3582,0.00,2.55,0.00,0.000,4,0.000,0.048,2833,3744,3747,0,0,0,0,0,0
$GC,3608,-1.18,-136.3,324.9,-8.9,227,3612,0.00,2.47,0.00,0.000,6,0.000,0.033,2857,2197,3747,0,0,0,0,0,0
$GC,3857,-1.18,-136.3,345.0,-7.8,233,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2197,3745,0,0,0,0,0,0
$GC,4101,-1.18,-136.3,363.5,-7.8,239,4106,0.00,2.55,0.00,0.000,4,0.000,0.044,2793,3743,3744,0,0,0,0,0,0
$GC,4123,-1.18,-136.3,365.3,-8.0,239,4133,2.65,2.50,0.00,0.000,6,0.066,0.031,3011,2190,3744,8,0,0,0,0,0
$GC,4387,-2.20,-136.3,385.2,-9.4,246,4396,3.88,2.62,0.00,0.000,4,0.091,0.050,2585,3750,3742,0,0,0,0,0,0
$GC,4425,-1.84,-136.3,389.2,-9.3,246,4431,0.40,2.58,0.00,0.000,6,0.105,0.039,2707,2187,3742,0,0,0,0,0,0
$STATE,4510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4510,begin apogee
$GC,4517,-0.31,0.0,400.8,13.3,249,4632,1.52,0.00,109.62,0.825,6,0.096,0.000,3044,2187,3189,0,0,0,0,0,0
$STATE,4633,end apogee,CONTROL_FINISHED_OK
$STATE,4633,begin climb
$GC,4636,1.39,136.3,406.0,0.0,252,4760,1.58,2.70,111.00,0.808,4,0.043,0.048,3231,3736,2632,0,0,0,0,0,0
$GC,4956,1.34,136.3,379.0,10.3,259,4960,0.00,2.60,0.00,0.000,6,0.000,0.036,3422,2173,2626,0,0,0,0,0,0
$GC,5222,1.34,136.3,352.0,10.5,266,5226,0.00,2.60,0.00,0.000,4,0.000,0.045,3392,3743,2623,0,0,0,0,0,0
$GC,5330,1.31,136.3,338.8,12.5,268,5335,0.10,2.53,0.00,0.000,6,0.138,0.038,3402,2194,2623,0,0,0,0,0,0
$GC,5591,1.31,136.3,311.5,10.3,275,5592,0.00,0.00,0.00,0.000,6,0.000,0.000,3402,2194,2621,0,0,0,0,0,0
$GC,5836,1.31,136.9,286.8,10.0,281,5841,0.00,2.55,0.00,0.000,4,0.000,0.046,3303,3751,2620,0,0,0,0,0,0
$GC,5881,1.31,141.2,282.1,9.8,282,5885,0.00,2.55,0.00,0.000,6,0.000,0.033,3388,2191,2619,0,0,0,0,0,0
$GC,6159,1.41,188.8,259.8,7.3,289,6203,0.00,0.00,42.92,0.745,6,0.000,0.000,3402,2190,2420,0,0,0,0,0,0
$GC,6444,1.52,224.4,237.8,8.0,296,6485,0.17,2.67,31.25,0.722,4,0.066,0.044,3242,3741,2273,0,0,0,0,0,0
$GC,6507,1.52,224.4,231.3,10.8,297,6512,0.00,2.55,0.00,0.000,6,0.000,0.032,3450,2180,2272,0,0,0,0,0,0
$GC,6769,1.52,229.6,204.8,9.7,304,6780,0.00,2.60,5.53,0.553,4,0.000,0.044,3393,3749,2252,0,0,0,0,0,0
$GC,6810,1.52,229.6,200.6,11.4,305,6815,0.00,2.53,0.00,0.000,6,0.000,0.036,3450,2194,2251,0,0,0,0,0,0
$GC,7073,1.53,238.9,174.8,9.5,327,7087,0.00,2.72,9.18,0.615,4,0.000,0.058,3450,588,2214,0,0,0,0,0,0
$GC,7165,1.53,238.9,165.6,11.1,334,7169,0.00,2.53,0.00,0.000,6,0.000,0.028,3450,2172,2213,0,0,0,0,0,0
$GC,7428,1.57,264.7,140.0,8.6,358,7458,0.00,2.60,23.23,0.639,4,0.000,0.036,3338,3753,2109,0,0,0,0,0,0
$GC,7495,1.62,268.3,134.0,9.8,363,7506,0.00,2.53,4.20,0.439,6,0.000,0.028,3450,2202,2096,0,0,0,0,0,0
$GC,7762,1.67,268.3,105.6,10.2,388,7768,0.12,2.70,0.00,0.000,4,0.080,0.055,3487,596,2094,0,0,0,0,0,0
$GC,7809,1.62,268.3,100.7,12.1,391,7814,0.00,2.55,0.00,0.000,6,0.000,0.028,3487,2206,2093,0,0,0,0,0,0
$GC,8076,1.62,268.3,69.7,11.0,415,8080,0.00,2.47,0.00,0.000,4,0.000,0.043,3416,3754,2092,0,0,0,0,0,0
$GC,8125,1.67,268.3,64.3,11.4,418,8129,0.00,2.50,0.00,0.000,6,0.000,0.028,3485,2201,2092,0,0,0,0,0,0
$GC,8392,1.67,268.3,35.5,11.6,442,8396,0.00,2.53,0.00,0.000,4,0.000,0.035,3389,3758,2092,0,0,0,0,0,0
$GC,8426,1.67,268.3,30.9,13.6,444,8430,0.00,2.42,0.00,0.000,6,0.000,0.028,3487,2231,2092,0,0,0,0,0,0
$STATE,8650,end climb,SURFACE_DEPTH_REACHED
$STATE,8650,begin surface coast
$FINISH,-0.5,1.023707
$STATE,8702,end surface coast,CONTROL_FINISHED_OK
$STATE,8702,begin surface
$SM_CCo,8724,90.12,0.522,0,0,1640,380.21
$SM_GC,0.32,0.00,0.00,90.12,0.000,0.000,0.522,472,2135,1640,-12.16,-1.27,380.21
$IRIDIUM_FIX,2141.13,-15834.76,011001,151513
$TT8_MAMPS,0.027612
$HUMID,63.30
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,21.20
$XPDR_PINGS,37
$24V_AH,23.5,42.257
$10V_AH,10.3,36.007
$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,37.200,106.975,336.925,90.125,0.000,70.095,70.384,421.736,9.250,0.000,20.632,957.516,5132.096,497.152,2131.879,875.052,33.351,1165.713,0.000,2148.268,0.000,0.535,0.000
$DEVICE_MAMPS,171.041,108.914,825.292,522.327,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,323.419,278.496,393.835,887.407,1411.389,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356168
$DATA_FILE_SIZE,35162,477
$CAP_FILE_SIZE,111810,0
$CFSIZE,260165632,129576960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,8,0,0,0
$GPS,070712,174929,2148.007,-15802.444,57,1.1,57,9.9