version: 66.06
glider: 146
mission: 7
dive: 244
start: 7 1 112 8 0 59
data:
$ID,146
$MISSION,7
$DIVE,244
$D_SURF,4
$D_FLARE,3
$D_TGT,550
$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,150
$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,-295813.88
$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,1
$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,14
$R_STBD_OVSHOOT,18
$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
$GPS1,075538,2208.834,-15806.996,7,2.3,26,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.04
$_SM_ANGLEo,-64.3
$GPS2,080009,2208.829,-15807.050,10,2.2,29,10.0
$SPEED_LIMITS,0.175,0.268
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.198,-0.180
$KALMAN_X,-62123.8,-499.1,-836.2,57792.6,-862.8
$KALMAN_Y,175279.2,524.8,246.4,-234876.8,650.7
$MHEAD_RNG_PITCHd_Wd,122.3,22557,-21.6,-12.222
$D_GRID,550
$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,-1.52,-136.3,0.0,0.0,0,159,0.00,0.00,-133.60,0.000,6,0.000,0.000,477,2171,3746,0,0,0,0,0,0
$GC,165,-1.52,-136.3,3.2,-7.0,14,186,12.68,2.60,0.00,0.000,4,0.172,0.040,2776,582,3747,0,0,0,0,0,0
$GC,253,-1.32,-136.3,30.1,-19.8,24,259,0.25,2.50,0.00,0.000,6,0.122,0.018,2825,2213,3748,0,0,0,0,0,0
$GC,521,-1.22,-136.3,72.9,-14.3,48,526,0.10,2.70,0.00,0.000,4,0.146,0.044,2844,583,3746,0,0,0,0,0,0
$GC,546,-1.14,-136.3,77.3,-13.3,49,557,0.00,2.47,0.00,0.000,6,0.000,0.017,2844,2168,3747,0,0,0,0,0,0
$GC,809,-1.14,-136.3,109.2,-11.6,74,814,0.10,2.53,0.00,0.000,4,0.132,0.038,2855,3747,3747,0,0,0,0,0,0
$GC,830,-1.14,-136.3,111.3,-12.3,75,835,0.00,2.50,0.00,0.000,6,0.000,0.028,2865,2150,3746,0,0,0,0,0,0
$GC,1097,-1.14,-136.3,141.7,-11.9,99,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2150,3746,0,0,0,0,0,0
$GC,1367,-1.14,-136.3,173.9,-12.4,124,1371,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2150,3746,0,0,0,0,0,0
$GC,1638,-1.14,-136.3,204.2,-10.7,147,1643,0.00,2.53,0.00,0.000,4,0.000,0.052,2797,605,3746,0,0,0,0,0,0
$GC,1666,-1.14,-136.3,207.5,-10.8,147,1670,0.00,2.42,0.00,0.000,6,0.000,0.019,2870,2174,3745,0,0,0,0,0,0
$GC,1918,-1.19,-136.3,233.1,-10.0,153,1922,0.00,2.50,0.00,0.000,4,0.000,0.041,2846,3747,3745,0,0,0,0,0,0
$GC,1941,-1.26,-136.3,235.6,-9.5,153,1946,0.12,2.42,0.00,0.000,6,0.067,0.029,2815,2184,3745,0,0,0,0,0,0
$GC,2196,-1.26,-136.3,264.0,-11.2,160,2198,0.10,0.00,0.00,0.000,6,0.122,0.000,2837,2184,3745,0,0,0,0,0,0
$GC,2442,-1.30,-136.3,289.2,-10.2,166,2446,0.00,2.50,0.00,0.000,4,0.000,0.043,2817,3745,3744,0,0,0,0,0,0
$GC,2509,-1.38,-136.3,296.4,-10.0,167,2513,0.00,2.45,0.00,0.000,6,0.000,0.028,2837,2196,3744,0,0,0,0,0,0
$GC,2766,-1.42,-136.3,317.9,-8.1,174,2771,0.15,2.75,0.00,0.000,4,0.061,0.071,2785,602,3744,0,0,0,0,0,0
$GC,2811,-1.36,-136.3,322.7,-11.0,175,2816,0.15,2.50,0.00,0.000,6,0.109,0.028,2816,2167,3743,0,0,0,0,0,0
$GC,3089,-1.36,-136.3,349.0,-9.6,182,3090,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2167,3742,0,0,0,0,0,0
$GC,3335,-1.36,-136.3,373.7,-10.2,188,3336,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2167,3741,0,0,0,0,0,0
$GC,3577,-1.39,-136.3,397.2,-9.5,194,3581,0.00,2.65,0.00,0.000,4,0.000,0.058,2806,3757,3739,0,0,0,0,0,0
$GC,3638,-1.43,-136.3,403.1,-9.3,195,3643,0.00,2.58,0.00,0.000,6,0.000,0.038,2817,2198,3738,0,0,0,0,0,0
$GC,3901,-1.48,-136.3,425.0,-8.3,202,3906,0.10,2.90,0.00,0.000,4,0.083,0.096,2777,583,3737,0,0,0,0,0,0
$GC,3918,-1.48,-136.3,426.9,-8.4,202,3922,0.00,2.60,0.00,0.000,6,0.000,0.043,2777,2171,3737,0,0,0,0,0,0
$GC,4180,-1.48,-136.3,453.5,-10.3,209,4182,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2171,3734,0,0,0,0,0,0
$GC,4422,-1.48,-136.3,478.9,-10.4,215,4427,0.00,2.70,0.00,0.000,4,0.000,0.071,2777,3761,3732,0,0,0,0,0,0
$GC,4462,-1.48,-136.3,483.4,-11.7,216,4467,0.00,2.65,0.00,0.000,6,0.000,0.050,2777,2184,3732,0,0,0,0,0,0
$GC,4748,-1.48,-136.3,510.9,-9.6,223,4749,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2184,3729,0,0,0,0,0,0
$GC,4990,-1.48,-136.3,535.4,-10.1,229,4991,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2184,3728,0,0,0,0,0,0
$STATE,5149,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5150,begin apogee
$GC,5155,-0.31,0.0,552.4,10.4,233,5271,1.20,0.00,108.60,0.963,6,0.081,0.000,3048,2189,3191,0,0,0,0,0,0
$STATE,5272,end apogee,CONTROL_FINISHED_OK
$STATE,5272,begin climb
$GC,5274,1.52,136.3,555.5,0.0,236,5404,1.67,3.17,114.90,0.933,4,0.044,0.114,3447,588,2630,0,0,0,0,0,0
$GC,5415,1.44,153.1,546.0,11.2,239,5436,0.00,2.72,15.68,0.849,6,0.000,0.048,3447,2179,2566,0,0,0,0,0,0
$GC,5682,1.39,153.1,513.4,12.4,245,5688,0.15,2.80,0.00,0.000,4,0.130,0.074,3425,3765,2559,0,0,0,0,0,0
$GC,5726,1.39,154.1,507.7,12.2,246,5736,2.78,2.72,0.00,0.000,6,0.265,0.057,3422,2179,2557,10,0,0,0,0,0
$GC,6012,0.85,154.1,441.5,23.5,253,6021,2.60,2.70,0.00,0.000,4,0.134,0.043,3266,3764,2554,0,0,0,0,0,0
$GC,6091,1.21,240.1,433.3,7.0,254,6174,0.32,2.65,74.45,0.871,6,0.047,0.043,3386,2181,2211,0,0,0,0,0,0
$GC,6427,1.33,247.9,396.2,11.8,263,6435,0.00,0.00,6.80,0.698,6,0.000,0.000,3386,2181,2180,0,0,0,0,0,0
$GC,6668,1.46,247.9,366.7,12.2,269,6673,0.20,2.62,0.00,0.000,4,0.064,0.038,3410,3770,2177,0,0,0,0,0,0
$GC,6690,1.51,247.9,363.5,14.1,269,6694,0.00,2.60,0.00,0.000,6,0.000,0.035,3438,2202,2176,0,0,0,0,0,0
$GC,6947,1.51,247.9,328.6,13.3,276,6951,0.00,2.80,0.00,0.000,4,0.000,0.066,3438,584,2175,0,0,0,0,0,0
$GC,6973,1.51,247.9,324.5,14.3,276,6978,0.00,2.65,0.00,0.000,6,0.000,0.028,3418,2233,2173,0,0,0,0,0,0
$GC,7224,1.56,247.9,293.0,12.8,282,7228,0.00,2.80,0.00,0.000,4,0.000,0.062,3438,592,2172,0,0,0,0,0,0
$GC,7299,1.56,247.9,282.4,14.4,283,7309,1.58,2.58,0.00,0.000,6,0.062,0.031,3819,2206,2172,5,0,0,0,0,0
$GC,7553,1.10,247.9,213.7,27.9,290,7562,2.20,2.58,0.00,0.000,4,0.121,0.040,3251,3758,2171,0,0,0,0,0,0
$GC,7656,1.47,337.3,203.4,6.8,292,7745,0.32,2.53,76.43,0.717,6,0.045,0.029,3444,2198,1813,0,0,0,0,0,0
$GC,8002,1.56,345.0,166.2,11.8,319,8015,0.00,2.78,6.68,0.561,4,0.000,0.058,3445,599,1782,0,0,0,0,0,0
$GC,8084,1.67,345.0,154.4,13.8,326,8090,0.77,2.60,0.00,0.000,6,0.039,0.028,3607,2229,1780,2,0,0,0,0,0
$GC,8346,1.39,345.0,87.3,25.5,350,8352,1.08,2.45,0.00,0.000,4,0.116,0.035,3391,3754,1779,0,0,0,0,0,0
$GC,8409,1.60,345.5,77.1,12.2,354,8418,0.85,2.47,0.00,0.000,6,0.032,0.028,3616,2236,1777,3,0,0,0,0,0
$STATE,8706,end climb,SURFACE_DEPTH_REACHED
$STATE,8706,begin surface coast
$FINISH,-0.1,1.023721
$STATE,8733,end surface coast,CONTROL_FINISHED_OK
$STATE,8734,begin surface
$SM_CCo,8756,27.42,0.533,0,0,1637,380.21
$SM_GC,0.47,0.00,0.00,27.42,0.000,0.000,0.533,470,2138,1637,-12.17,-1.16,380.21
$IRIDIUM_FIX,2159.71,-15804.14,250901,080821
$TT8_MAMPS,0.027612
$HUMID,69.41
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,19.30
$XPDR_PINGS,36
$24V_AH,23.5,34.849
$10V_AH,10.1,30.558
$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,42.325,99.750,403.525,27.425,0.000,0.000,0.000,0.000,9.000,0.000,31.950,813.533,5722.416,501.648,1627.158,208.482,33.373,1152.629,0.000,1623.052,0.000,0.536,0.000
$DEVICE_MAMPS,265.382,113.516,962.585,533.065,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,262.184,193.646,275.047,577.966,915.571,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356004
$DATA_FILE_SIZE,28863,388
$CAP_FILE_SIZE,123923,0
$CFSIZE,260165632,132243456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,20,0,0,0
$GPS,010712,102836,2208.435,-15806.811,30,1.4,30,10.0