version: 66.06
glider: 146
mission: 7
dive: 262
start: 7 3 112 13 29 12
data:
$ID,146
$MISSION,7
$DIVE,262
$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,-296984.62
$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,29
$R_STBD_OVSHOOT,42
$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
$GPS1,132224,2200.703,-15809.181,75,1.4,75,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.23
$_SM_ANGLEo,-70.9
$GPS2,132819,2200.680,-15809.281,14,1.0,14,9.9
$SPEED_LIMITS,0.179,0.270
$TGT_NAME,KUHUKU2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.242,-0.119
$KALMAN_X,-100996.6,-895.3,420.8,91981.9,-1443.1
$KALMAN_Y,186745.4,157.4,146.0,-260954.4,-530.3
$MHEAD_RNG_PITCHd_Wd,106.2,26612,-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,-89.12,0.000,6,0.000,0.000,470,2194,3745,0,0,0,0,0,0
$GC,116,-1.54,-136.3,3.5,-7.5,10,137,12.70,2.62,0.00,0.000,4,0.172,0.040,2750,597,3746,0,0,0,0,0,0
$GC,150,-0.35,-136.3,17.6,-37.2,13,161,1.25,2.50,0.00,0.000,6,0.104,0.023,3033,2183,3747,0,0,0,0,0,0
$GC,463,-0.68,-136.3,42.7,-6.5,45,468,0.25,2.55,0.00,0.000,4,0.041,0.033,2920,3761,3748,0,0,0,0,0,0
$GC,489,-0.90,-136.3,45.4,-8.1,46,497,0.08,2.55,0.00,0.000,6,0.041,0.026,2898,2162,3748,0,0,0,0,0,0
$GC,756,-0.96,-136.3,77.3,-11.1,71,761,0.00,2.58,0.00,0.000,4,0.000,0.038,2898,3761,3749,0,0,0,0,0,0
$GC,792,-1.04,-136.3,81.0,-9.7,73,796,0.00,2.50,0.00,0.000,6,0.000,0.028,2898,2179,3749,0,0,0,0,0,0
$GC,1058,-1.13,-136.3,101.6,-8.2,97,1063,0.12,2.58,0.00,0.000,4,0.068,0.045,2845,605,3750,0,0,0,0,0,0
$GC,1125,-1.13,-136.3,109.8,-12.0,102,1130,0.10,2.42,0.00,0.000,6,0.123,0.024,2866,2192,3749,0,0,0,0,0,0
$GC,1385,-1.13,-136.3,142.9,-13.8,126,1386,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2192,3751,0,0,0,0,0,0
$GC,1643,-1.13,-136.3,177.7,-13.4,150,1653,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2192,3751,0,0,0,0,0,0
$GC,1914,-1.17,-136.3,204.1,-8.5,173,1919,0.00,2.60,0.00,0.000,4,0.000,0.054,2866,608,3751,0,0,0,0,0,0
$GC,1949,-1.21,-136.3,207.3,-9.1,173,1955,0.00,2.42,0.00,0.000,6,0.000,0.024,2866,2174,3752,0,0,0,0,0,0
$GC,2200,-1.27,-136.3,226.1,-7.7,180,2205,0.12,2.60,0.00,0.000,4,0.069,0.050,2779,608,3752,0,0,0,0,0,0
$GC,2227,-1.27,-136.3,228.7,-9.8,180,2232,0.00,2.42,0.00,0.000,6,0.000,0.025,2817,2174,3752,0,0,0,0,0,0
$GC,2479,-1.27,-136.3,254.9,-10.7,186,2481,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2174,3753,0,0,0,0,0,0
$GC,2721,-1.27,-136.3,283.7,-11.9,192,2725,0.00,2.53,0.00,0.000,4,0.000,0.041,2796,3747,3753,0,0,0,0,0,0
$GC,2737,-1.27,-136.3,285.5,-11.4,192,2741,0.00,2.47,0.00,0.000,6,0.000,0.028,2817,2176,3753,0,0,0,0,0,0
$GC,3000,-1.27,-136.3,314.4,-11.2,199,3004,0.00,2.55,0.00,0.000,4,0.000,0.038,2758,3747,3753,0,0,0,0,0,0
$GC,3049,-1.32,-136.3,320.1,-10.6,200,3054,0.08,2.45,0.00,0.000,6,0.137,0.026,2837,2199,3752,0,0,0,0,0,0
$GC,3322,-1.40,-136.3,345.3,-9.2,207,3324,0.12,0.00,0.00,0.000,6,0.071,0.000,2788,2198,3753,0,0,0,0,0,0
$GC,3568,-1.40,-136.3,371.5,-10.6,213,3573,0.10,2.55,0.00,0.000,4,0.120,0.044,2776,3741,3752,0,0,0,0,0,0
$GC,3608,-1.44,-136.3,375.6,-9.3,214,3617,2.00,2.50,0.00,0.000,6,0.072,0.035,2801,2193,3752,7,0,0,0,0,0
$GC,3898,-2.16,-136.3,385.9,-4.0,221,3907,2.90,2.60,0.00,0.000,4,0.087,0.052,2591,3737,3750,0,0,0,0,0,0
$GC,4163,-1.89,-136.3,429.0,-18.4,226,4169,0.28,2.65,0.00,0.000,6,0.099,0.049,2702,2142,3748,0,0,0,0,0,0
$GC,4415,-1.74,-136.3,465.8,-14.6,233,4420,0.15,2.72,0.00,0.000,4,0.120,0.060,2709,3736,3747,0,0,0,0,0,0
$GC,4675,-1.64,-136.3,502.5,-14.4,238,4684,2.62,2.72,0.00,0.000,6,0.088,0.060,2824,2138,3745,9,0,0,0,0,0
$GC,4973,-2.49,-136.3,517.3,-5.7,246,4982,3.40,2.78,0.00,0.000,4,0.084,0.063,2522,3732,3743,0,0,0,0,0,0
$GC,5235,-2.08,-136.3,566.3,-21.6,251,5241,0.45,2.85,0.00,0.000,6,0.112,0.074,2657,2105,3741,0,0,0,0,0,0
$STATE,5442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5442,begin apogee
$GC,5448,-0.31,0.0,600.3,15.7,257,5565,1.80,0.00,112.25,1.006,6,0.100,0.000,3043,2158,3190,0,0,0,0,0,0
$STATE,5565,end apogee,CONTROL_FINISHED_OK
$STATE,5565,begin climb
$GC,5570,1.54,136.3,604.7,0.0,260,5697,1.73,3.15,114.55,0.979,4,0.045,0.115,3453,591,2633,0,0,0,0,0,0
$GC,5795,1.44,136.3,581.1,14.9,265,5799,0.00,2.72,0.00,0.000,6,0.000,0.055,3433,2178,2626,0,0,0,0,0,0
$GC,6067,1.37,136.3,544.7,13.0,272,6072,0.20,2.80,0.00,0.000,4,0.122,0.075,3382,3772,2623,0,0,0,0,0,0
$GC,6102,1.37,138.4,540.2,12.4,272,6107,0.00,2.72,0.00,0.000,6,0.000,0.059,3415,2177,2623,0,0,0,0,0,0
$GC,6352,1.39,154.0,511.2,11.5,279,6370,0.00,0.00,14.98,0.883,6,0.000,0.000,3416,2177,2562,0,0,0,0,0,0
$GC,6639,1.40,165.5,476.8,11.8,286,6657,0.00,3.00,11.00,0.840,4,0.000,0.106,3415,589,2514,0,0,0,0,0,0
$GC,6677,1.40,165.5,472.1,13.2,286,6685,0.00,2.67,0.00,0.000,6,0.000,0.043,3415,2190,2513,0,0,0,0,0,0
$GC,6927,1.42,178.3,442.7,11.7,293,6941,0.00,0.00,12.12,0.838,6,0.000,0.000,3415,2190,2463,0,0,0,0,0,0
$GC,7170,1.42,179.8,412.8,12.4,299,7175,0.00,2.65,0.00,0.000,4,0.000,0.054,3379,3772,2460,0,0,0,0,0,0
$GC,7245,1.43,184.5,403.8,12.2,300,7258,0.00,2.67,6.62,0.732,6,0.000,0.045,3415,2172,2438,0,0,0,0,0,0
$GC,7545,1.51,214.8,370.6,10.6,308,7580,0.12,2.90,27.60,0.851,4,0.083,0.080,3449,592,2315,0,0,0,0,0,0
$GC,7615,1.51,214.8,361.2,14.6,309,7620,0.00,2.60,0.00,0.000,6,0.000,0.027,3429,2187,2311,0,0,0,0,0,0
$GC,7870,1.51,215.4,328.7,12.5,316,7874,0.00,2.60,0.00,0.000,4,0.000,0.047,3402,3764,2310,0,0,0,0,0,0
$GC,7943,1.51,215.4,319.1,13.0,317,7948,0.00,2.62,0.00,0.000,6,0.000,0.041,3449,2176,2309,0,0,0,0,0,0
$GC,8201,1.52,225.4,288.0,11.9,324,8213,0.00,0.00,10.27,0.738,6,0.000,0.000,3449,2176,2271,0,0,0,0,0,0
$GC,8443,1.53,233.4,259.2,12.0,330,8453,0.00,0.00,8.38,0.693,6,0.000,0.000,3449,2176,2238,0,0,0,0,0,0
$GC,8687,1.58,233.4,227.1,13.9,336,8691,0.00,2.62,0.00,0.000,4,0.000,0.044,3411,3757,2235,0,0,0,0,0,0
$GC,8841,1.66,233.4,202.8,15.0,339,8852,5.62,2.55,0.00,0.000,6,0.433,0.035,3475,2190,2234,20,0,0,0,0,0
$GC,9116,1.20,233.4,134.4,24.2,364,9134,2.20,2.65,0.00,0.000,4,0.117,0.040,2970,3761,2233,0,0,0,0,0,0
$GC,9151,1.27,244.1,128.9,11.8,366,9167,0.00,2.55,10.52,0.621,6,0.000,0.028,3379,2207,2194,0,0,0,0,0,0
$GC,9428,1.59,323.6,108.0,7.6,391,9504,0.30,2.78,68.75,0.639,4,0.048,0.055,3464,591,1869,0,0,0,0,0,0
$GC,9529,1.59,323.6,95.0,14.8,400,9534,0.00,2.60,0.00,0.000,6,0.000,0.024,3464,2219,1866,0,0,0,0,0,0
$GC,9797,1.69,348.8,63.4,11.0,424,9827,0.00,0.00,21.52,0.574,6,0.000,0.000,3465,2219,1766,0,0,0,0,0,0
$GC,10089,1.81,364.9,28.2,11.5,452,10110,0.17,0.00,14.75,0.527,6,0.064,0.000,3513,2222,1702,0,0,0,0,0,0
$STATE,10239,end climb,SURFACE_DEPTH_REACHED
$STATE,10239,begin surface coast
$FINISH,-0.5,1.022826
$STATE,10273,end surface coast,CONTROL_FINISHED_OK
$STATE,10273,begin surface
$SM_CCo,10297,11.45,0.493,0,0,1639,380.21
$SM_GC,0.44,0.00,0.00,11.45,0.000,0.000,0.493,468,2155,1639,-12.18,-0.76,380.21
$IRIDIUM_FIX,2152.74,-15807.17,270901,101049
$TT8_MAMPS,0.027612
$HUMID,67.64
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,20.70
$XPDR_PINGS,45
$24V_AH,23.4,37.762
$10V_AH,10.2,32.338
$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,51.175,110.775,433.325,11.450,0.000,23.357,38.939,145.316,11.250,0.000,16.149,996.535,6432.270,487.057,2215.672,531.001,33.362,1303.007,0.000,2220.457,0.000,0.534,0.000
$DEVICE_MAMPS,432.588,124.254,1005.537,493.181,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,320.118,245.457,346.952,798.888,1276.250,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355980
$DATA_FILE_SIZE,35222,474
$CAP_FILE_SIZE,117335,0
$CFSIZE,260165632,131350528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,36,0,0,0
$GPS,030712,162205,2159.855,-15809.980,23,1.0,23,9.9