version: 66.06
glider: 146
mission: 7
dive: 265
start: 7 3 112 22 21 28
data:
$ID,146
$MISSION,7
$DIVE,265
$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,-297127.38
$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
$GPS1,221631,2159.997,-15810.088,7,1.3,7,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-65.7
$GPS2,222037,2159.996,-15810.112,10,1.4,10,9.9
$SPEED_LIMITS,0.179,0.270
$TGT_NAME,KUHUKU2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.113,-0.245
$KALMAN_X,-108854.3,-150.5,-637.6,98720.5,5.5
$KALMAN_Y,188116.5,-341.0,371.7,-263327.0,612.8
$MHEAD_RNG_PITCHd_Wd,145.4,26232,-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,19,-1.54,-136.3,0.0,0.0,0,157,0.00,0.00,-133.57,0.000,6,0.000,0.000,481,2188,3745,0,0,0,0,0,0
$GC,162,-1.54,-136.3,3.1,-6.1,15,181,12.62,2.58,0.00,0.000,4,0.173,0.040,2769,595,3746,0,0,0,0,0,0
$GC,280,-1.34,-136.3,35.6,-19.9,27,285,0.28,2.50,0.00,0.000,6,0.119,0.025,2823,2192,3747,0,0,0,0,0,0
$GC,548,-1.23,-136.3,83.4,-18.2,51,553,0.10,2.50,0.00,0.000,4,0.144,0.031,2825,3752,3746,0,0,0,0,0,0
$GC,560,-1.14,-136.3,87.1,-18.4,51,566,0.43,2.45,0.00,0.000,6,0.083,0.019,2922,2169,3746,1,0,0,0,0,0
$GC,822,-1.33,-136.3,113.6,-8.6,76,827,0.47,2.55,0.00,0.000,4,0.032,0.044,2766,605,3746,0,0,0,0,0,0
$GC,846,-1.33,-136.3,116.7,-12.3,77,852,0.10,2.45,0.00,0.000,6,0.123,0.018,2824,2198,3746,0,0,0,0,0,0
$GC,1107,-1.28,-136.3,153.3,-14.2,102,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2198,3746,0,0,0,0,0,0
$GC,1363,-1.23,-136.3,188.6,-13.6,126,1365,0.10,0.00,0.00,0.000,6,0.131,0.000,2844,2198,3746,0,0,0,0,0,0
$GC,1620,-1.23,-136.3,221.7,-12.9,139,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2198,3746,0,0,0,0,0,0
$GC,1862,-1.23,-136.3,254.0,-13.2,145,1866,0.00,2.65,0.00,0.000,4,0.000,0.050,2844,606,3746,0,0,0,0,0,0
$GC,1894,-1.23,-136.3,258.7,-13.8,145,1900,0.00,2.42,0.00,0.000,6,0.000,0.024,2844,2189,3746,0,0,0,0,0,0
$GC,2147,-1.29,-136.3,285.3,-10.4,152,2151,0.00,2.50,0.00,0.000,4,0.000,0.038,2823,3747,3746,0,0,0,0,0,0
$GC,2174,-1.37,-136.3,288.0,-9.1,152,2179,0.12,2.42,0.00,0.000,6,0.068,0.021,2796,2206,3746,0,0,0,0,0,0
$GC,2424,-1.37,-136.3,311.3,-9.1,158,2426,0.10,0.00,0.00,0.000,6,0.119,0.000,2817,2206,3745,0,0,0,0,0,0
$GC,2668,-1.37,-136.3,336.8,-10.6,164,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2206,3745,0,0,0,0,0,0
$GC,2912,-1.41,-136.3,361.1,-10.0,170,2916,0.00,2.55,0.00,0.000,4,0.000,0.052,2814,3750,3744,0,0,0,0,0,0
$GC,2934,-1.45,-136.3,363.4,-9.9,170,2943,2.92,2.53,0.00,0.000,6,0.067,0.039,2855,2198,3744,10,0,0,0,0,0
$GC,3196,-2.79,-136.3,385.3,-10.0,177,3205,4.25,2.58,0.00,0.000,4,0.047,0.053,2476,3750,3742,0,0,0,0,0,0
$GC,3275,-2.25,-136.3,398.8,-23.9,178,3280,0.65,2.55,0.00,0.000,6,0.120,0.045,2619,2202,3742,0,0,0,0,0,0
$GC,3527,-1.94,-136.3,443.8,-16.8,184,3532,0.30,2.58,0.00,0.000,4,0.120,0.054,2665,3737,3740,0,0,0,0,0,0
$GC,3627,-1.74,-136.3,458.2,-14.3,186,3633,0.22,2.55,0.00,0.000,6,0.121,0.053,2731,2214,3739,0,0,0,0,0,0
$GC,3897,-1.63,-136.3,488.9,-11.3,193,3902,0.15,2.60,0.00,0.000,4,0.133,0.061,2737,3736,3737,0,0,0,0,0,0
$GC,3975,-1.59,-136.3,498.3,-11.6,194,3981,0.00,2.58,0.00,0.000,6,0.000,0.061,2759,2216,3737,0,0,0,0,0,0
$GC,4226,-1.55,-136.3,526.9,-11.7,201,4230,0.00,2.60,0.00,0.000,4,0.000,0.071,2735,3733,3734,0,0,0,0,0,0
$GC,4249,-1.50,-136.3,529.9,-12.9,201,4254,0.12,2.58,0.00,0.000,6,0.136,0.057,2781,2215,3734,0,0,0,0,0,0
$GC,4505,-1.50,-136.3,557.8,-10.6,208,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2215,3732,0,0,0,0,0,0
$GC,4748,-1.50,-136.3,581.4,-9.4,214,4753,0.00,2.72,0.00,0.000,4,0.000,0.082,2755,3742,3730,0,0,0,0,0,0
$GC,4778,-1.50,-136.3,584.3,-10.0,214,4783,0.00,2.67,0.00,0.000,6,0.000,0.071,2782,2211,3730,0,0,0,0,0,0
$STATE,4985,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4985,begin apogee
$GC,4991,-0.31,0.0,603.1,8.7,219,5107,1.17,0.00,110.10,0.996,6,0.084,0.000,3044,2176,3190,0,0,0,0,0,0
$STATE,5108,end apogee,CONTROL_FINISHED_OK
$STATE,5108,begin climb
$GC,5110,1.54,136.3,604.6,0.0,222,5230,1.75,0.00,115.53,0.971,6,0.044,0.000,3457,2176,2634,0,0,0,0,0,0
$GC,5474,1.47,136.3,563.5,13.3,231,5479,0.12,2.72,0.00,0.000,4,0.142,0.065,3392,3737,2626,0,0,0,0,0,0
$GC,5513,1.47,136.3,557.4,14.0,232,5518,0.00,2.70,0.00,0.000,6,0.000,0.063,3435,2189,2625,0,0,0,0,0,0
$GC,5798,1.47,136.3,521.2,12.8,239,5799,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2189,2622,0,0,0,0,0,0
$GC,6040,1.49,151.8,492.6,11.5,245,6055,0.00,0.00,12.98,0.860,6,0.000,0.000,3435,2189,2571,0,0,0,0,0,0
$GC,6284,1.50,163.4,463.7,11.8,251,6302,0.00,2.72,11.52,0.836,4,0.000,0.049,3323,3748,2522,0,0,0,0,0,0
$GC,6366,1.50,163.4,453.5,12.8,252,6372,1.48,2.62,0.00,0.000,6,0.045,0.044,3447,2184,2520,5,0,0,0,0,0
$GC,6616,1.00,163.4,396.8,23.1,259,6625,2.28,2.65,0.00,0.000,4,0.127,0.040,3235,3746,2517,0,0,0,0,0,0
$GC,6723,1.32,252.0,387.6,7.0,261,6812,0.28,2.55,77.32,0.859,6,0.051,0.041,3407,2204,2161,0,0,0,0,0,0
$GC,7079,1.42,256.8,347.6,12.2,270,7089,0.00,2.80,3.83,0.518,4,0.000,0.069,3407,595,2143,0,0,0,0,0,0
$GC,7148,1.53,256.8,338.5,13.6,271,7153,0.45,2.58,0.00,0.000,6,0.045,0.030,3511,2195,2141,1,0,0,0,0,0
$GC,7409,1.43,256.8,292.8,17.6,278,7412,0.47,0.00,0.00,0.000,6,0.109,0.000,3428,2197,2140,0,0,0,0,0,0
$GC,7653,1.50,256.8,257.4,14.5,284,7657,0.00,2.72,0.00,0.000,4,0.000,0.060,3428,591,2139,0,0,0,0,0,0
$GC,7682,1.58,256.8,252.4,16.8,284,7687,0.12,2.62,0.00,0.000,6,0.077,0.023,3463,2226,2138,0,0,0,0,0,0
$GC,7932,1.63,256.8,214.3,14.5,290,7936,0.00,2.50,0.00,0.000,4,0.000,0.044,3423,3756,2137,0,0,0,0,0,0
$GC,7998,1.70,262.6,205.9,12.1,291,8010,0.10,2.53,5.78,0.580,6,0.088,0.029,3492,2202,2119,0,0,0,0,0,0
$GC,8261,1.74,292.0,176.8,10.7,309,8291,0.00,0.00,27.05,0.681,6,0.000,0.000,3492,2202,1999,0,0,0,0,0,0
$GC,8547,1.74,292.0,136.3,15.5,336,8548,0.00,0.00,0.00,0.000,6,0.000,0.000,3493,2203,1994,0,0,0,0,0,0
$GC,8802,1.74,292.0,94.1,17.8,360,8806,0.00,2.53,0.00,0.000,4,0.000,0.041,3405,3758,1993,0,0,0,0,0,0
$GC,8827,1.77,292.0,90.1,16.4,361,8851,15.60,2.45,0.00,0.000,6,0.491,0.035,3407,2223,1992,56,1,0,0,0,0
$GC,9130,1.35,292.0,10.7,28.2,391,9138,2.03,2.50,0.00,0.000,4,0.110,0.044,3306,3759,1992,0,0,0,0,0,0
$STATE,9155,end climb,SURFACE_DEPTH_REACHED
$STATE,9155,begin surface coast
$FINISH,1.1,1.023663
$STATE,9181,end surface coast,CONTROL_FINISHED_OK
$STATE,9181,begin surface
$SM_CCo,9205,69.68,0.538,0,0,1640,380.46
$SM_GC,0.29,0.00,0.00,69.68,0.000,0.000,0.538,469,2163,1640,-12.17,-0.48,380.46
$IRIDIUM_FIX,2152.74,-15808.03,270901,222237
$TT8_MAMPS,0.027612
$HUMID,67.24
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,19.50
$XPDR_PINGS,38
$24V_AH,23.4,38.204
$10V_AH,10.2,32.623
$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,60.675,97.950,364.100,69.675,0.000,0.000,0.000,0.000,9.500,0.000,12.323,831.085,6206.386,549.570,1551.957,206.347,33.365,1161.915,0.000,1560.017,0.000,0.534,0.000
$DEVICE_MAMPS,490.880,177.177,996.333,537.667,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,268.090,197.085,277.165,551.988,880.678,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355980
$DATA_FILE_SIZE,28894,397
$CAP_FILE_SIZE,114756,8
$CFSIZE,260165632,131203072
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,73,0,0,0
$GPS,040712,005735,2158.925,-15809.835,50,0.9,50,9.9