version: 66.06
glider: 146
mission: 7
dive: 271
start: 7 4 112 15 30 54
data:
$ID,146
$MISSION,7
$DIVE,271
$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,-297254.59
$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,28
$R_STBD_OVSHOOT,51
$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
$GPS1,151805,2157.196,-15810.153,10,1.7,20,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-70.1
$GPS2,153001,2157.119,-15810.359,13,1.7,13,9.9
$SPEED_LIMITS,0.179,0.270
$TGT_NAME,KUHUKU2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.196,-0.185
$KALMAN_X,-122520.6,-638.9,458.7,111372.7,-2909.6
$KALMAN_Y,187827.4,-245.1,154.8,-268243.2,-642.6
$MHEAD_RNG_PITCHd_Wd,123.5,22177,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.54,-136.3,0.0,0.0,0,126,0.00,0.00,-95.10,0.000,6,0.000,0.000,467,2209,3745,0,0,0,0,0,0
$GC,130,-1.54,-136.3,4.6,-10.5,11,150,12.70,2.67,0.00,0.000,4,0.172,0.035,2684,593,3747,0,0,0,0,0,0
$GC,162,-0.35,-136.3,19.8,-40.5,14,170,1.23,2.50,0.00,0.000,6,0.101,0.018,3030,2178,3747,0,0,0,0,0,0
$GC,457,-0.67,-136.3,42.6,-5.5,44,467,0.25,0.00,0.00,0.000,6,0.041,0.000,2942,2178,3748,0,0,0,0,0,0
$GC,726,-0.79,-136.3,70.1,-9.8,69,730,0.00,2.53,0.00,0.000,4,0.000,0.033,2900,3752,3749,0,0,0,0,0,0
$GC,747,-0.93,-136.3,72.2,-9.4,70,752,0.15,2.50,0.00,0.000,6,0.058,0.021,2886,2159,3751,0,0,0,0,0,0
$GC,1009,-0.98,-136.3,100.9,-9.6,94,1013,0.00,2.53,0.00,0.000,4,0.000,0.044,2886,599,3750,0,0,0,0,0,0
$GC,1033,-1.03,-136.3,102.7,-9.7,95,1037,0.00,2.45,0.00,0.000,6,0.000,0.018,2886,2189,3748,0,0,0,0,0,0
$GC,1299,-1.10,-136.3,129.7,-9.9,119,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2190,3750,0,0,0,0,0,0
$GC,1564,-1.17,-136.3,155.6,-10.4,144,1569,0.12,2.62,0.00,0.000,4,0.067,0.051,2835,603,3751,0,0,0,0,0,0
$GC,1588,-1.17,-136.3,159.1,-11.6,145,1595,0.12,2.42,0.00,0.000,6,0.112,0.023,2860,2173,3751,0,0,0,0,0,0
$GC,1849,-1.20,-136.3,191.9,-13.0,170,1850,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2173,3751,0,0,0,0,0,0
$GC,2116,-1.26,-136.3,225.8,-12.6,181,2120,0.00,2.60,0.00,0.000,4,0.000,0.054,2860,606,3752,0,0,0,0,0,0
$GC,2184,-1.30,-136.3,234.3,-11.6,182,2189,0.12,2.42,0.00,0.000,6,0.070,0.018,2810,2170,3752,0,0,0,0,0,0
$GC,2440,-1.30,-136.3,257.7,-7.8,189,2445,0.10,2.53,0.00,0.000,4,0.120,0.041,2783,3746,3751,0,0,0,0,0,0
$GC,2456,-1.30,-136.3,259.0,-7.3,189,2465,3.35,2.45,0.00,0.000,6,0.065,0.025,2996,2175,3752,9,0,0,0,0,0
$GC,2724,-2.87,-136.3,285.2,-12.9,196,2734,5.57,2.60,0.00,0.000,4,0.124,0.052,2493,610,3752,0,0,0,0,0,0
$GC,2903,-2.31,-136.3,324.0,-25.1,200,2908,0.57,2.50,0.00,0.000,6,0.116,0.035,2608,2161,3752,0,0,0,0,0,0
$GC,3183,-1.99,-136.3,375.4,-17.8,207,3186,0.35,0.00,0.00,0.000,6,0.107,0.000,2682,2161,3751,0,0,0,0,0,0
$GC,3425,-1.79,-136.3,411.0,-14.1,213,3430,0.20,2.72,0.00,0.000,4,0.117,0.061,2668,3755,3750,0,0,0,0,0,0
$GC,3443,-1.61,-136.3,413.5,-14.1,213,3453,3.80,2.60,0.00,0.000,6,0.084,0.051,2832,2201,3748,12,0,0,0,0,0
$GC,3710,-3.22,-136.3,435.8,-10.4,220,3720,5.85,2.62,0.00,0.000,4,0.133,0.055,2397,3754,3748,0,0,0,0,0,0
$GC,3976,-2.58,-136.3,493.1,-26.2,226,3982,0.68,2.67,0.00,0.000,6,0.135,0.062,2547,2182,3746,0,0,0,0,0,0
$GC,4260,-2.17,-136.3,552.1,-19.9,233,4266,0.43,2.80,0.00,0.000,4,0.145,0.077,2634,3754,3744,0,0,0,0,0,0
$GC,4521,-1.90,-136.3,595.8,-15.8,238,4527,0.30,2.80,0.00,0.000,6,0.120,0.084,2698,2200,3745,0,0,0,0,0,0
$STATE,4565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4565,begin apogee
$GC,4573,-0.31,0.0,602.7,14.7,240,4690,1.62,0.00,113.22,0.995,6,0.100,0.000,3044,2182,3190,0,0,0,0,0,0
$STATE,4691,end apogee,CONTROL_FINISHED_OK
$STATE,4691,begin climb
$GC,4694,1.54,136.3,605.8,0.0,243,4819,1.73,3.15,114.32,0.967,4,0.045,0.118,3451,587,2633,0,0,0,0,0,0
$GC,4849,1.43,136.3,591.7,13.7,246,4854,0.00,2.78,0.00,0.000,6,0.000,0.059,3430,2166,2630,0,0,0,0,0,0
$GC,5105,1.36,136.3,556.4,13.7,253,5110,0.20,2.83,0.00,0.000,4,0.122,0.077,3357,3765,2625,0,0,0,0,0,0
$GC,5196,1.36,136.3,544.3,13.3,255,5201,0.00,2.72,0.00,0.000,6,0.000,0.061,3414,2186,2624,0,0,0,0,0,0
$GC,5473,1.37,146.3,510.7,11.9,262,5483,0.00,0.00,8.18,0.804,6,0.000,0.000,3414,2186,2593,0,0,0,0,0,0
$GC,5717,1.40,167.7,482.9,11.2,268,5743,0.00,3.05,19.83,0.890,4,0.000,0.104,3413,583,2505,0,0,0,0,0,0
$GC,5784,1.40,169.1,475.0,12.4,269,5788,0.00,2.70,0.00,0.000,6,0.000,0.041,3413,2186,2503,0,0,0,0,0,0
$GC,6039,1.43,193.4,446.4,11.0,276,6068,0.00,2.78,23.17,0.881,4,0.000,0.061,3414,3765,2400,0,0,0,0,0,0
$GC,6162,1.50,213.9,432.7,11.2,278,6189,1.15,2.65,19.40,0.856,6,0.046,0.041,3705,2190,2315,4,0,0,0,0,0
$GC,6458,1.06,213.9,358.9,25.4,286,6467,1.75,2.70,0.00,0.000,4,0.140,0.038,3351,3777,2310,0,0,0,0,0,0
$GC,6526,1.36,270.2,350.1,9.0,287,6582,0.28,2.62,49.65,0.834,6,0.053,0.040,3417,2197,2087,0,0,0,0,0,0
$GC,6826,1.44,270.2,312.8,13.2,294,6831,0.00,2.80,0.00,0.000,4,0.000,0.067,3418,589,2081,0,0,0,0,0,0
$GC,6861,1.49,270.2,308.0,14.3,294,6866,0.00,2.65,0.00,0.000,6,0.000,0.027,3418,2222,2079,0,0,0,0,0,0
$GC,7111,1.57,270.2,276.4,12.5,301,7112,0.17,0.00,0.00,0.000,6,0.067,0.000,3463,2222,2079,0,0,0,0,0,0
$GC,7354,1.57,270.2,243.9,13.3,307,7355,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2222,2077,0,0,0,0,0,0
$GC,7598,1.63,281.1,214.4,11.8,313,7609,0.00,0.00,9.15,0.668,6,0.000,0.000,3464,2222,2044,0,0,0,0,0,0
$GC,7854,1.70,301.2,184.6,11.3,328,7879,0.10,2.80,18.92,0.686,4,0.089,0.057,3469,585,1962,0,0,0,0,0,0
$GC,7910,1.70,301.2,176.7,13.4,332,7916,0.00,2.62,0.00,0.000,6,0.000,0.023,3488,2222,1960,0,0,0,0,0,0
$GC,8176,1.70,301.2,142.9,12.7,357,8181,0.00,0.00,0.00,0.000,6,0.000,0.000,3491,2222,1959,0,0,0,0,0,0
$GC,8440,1.70,301.2,106.6,13.6,382,8445,0.00,2.75,0.00,0.000,4,0.000,0.055,3384,584,1958,0,0,0,0,0,0
$GC,8475,1.70,301.2,101.3,13.7,384,8486,0.00,2.60,0.00,0.000,6,0.000,0.024,3492,2212,1958,0,0,0,0,0,0
$GC,8742,1.70,301.2,63.0,15.2,409,8747,0.00,2.50,0.00,0.000,4,0.000,0.037,3427,3761,1957,0,0,0,0,0,0
$GC,8818,1.77,301.2,51.5,14.2,414,8834,2.50,2.50,0.00,0.000,6,0.289,0.028,3441,2206,1957,9,0,0,0,0,0
$STATE,8996,end climb,SURFACE_DEPTH_REACHED
$STATE,8996,begin surface coast
$FINISH,-0.4,1.003396
$STATE,9014,end surface coast,CONTROL_FINISHED_OK
$STATE,9014,begin surface
$SM_CCo,9039,63.60,0.537,0,0,1639,380.21
$SM_GC,0.31,0.00,0.00,63.60,0.000,0.000,0.537,470,2204,1639,-12.17,0.68,380.21
$IRIDIUM_FIX,2148.09,-15808.90,280901,151509
$TT8_MAMPS,0.027612
$HUMID,65.79
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,20.00
$XPDR_PINGS,32
$24V_AH,23.4,39.022
$10V_AH,10.1,33.284
$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,59.075,100.800,375.850,63.600,0.000,61.178,71.208,312.464,8.000,0.000,14.567,917.843,5583.751,519.672,1988.990,790.266,33.358,1229.594,0.000,1996.725,0.000,0.534,0.000
$DEVICE_MAMPS,289.159,207.857,994.799,536.900,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,294.342,231.663,330.356,725.983,1156.799,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355936
$DATA_FILE_SIZE,32181,435
$CAP_FILE_SIZE,113541,0
$CFSIZE,260165632,130875392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,34,0,0,0
$GPS,040712,180359,2155.975,-15810.915,41,1.7,41,9.9