version: 66.06
glider: 146
mission: 7
dive: 272
start: 7 4 112 18 11 24
data:
$ID,146
$MISSION,7
$DIVE,272
$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,-297271
$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,31
$R_STBD_OVSHOOT,41
$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
$GPS1,180359,2155.975,-15810.915,41,1.7,41,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.28
$_SM_ANGLEo,-70.3
$GPS2,181031,2155.938,-15811.016,14,1.6,14,9.9
$SPEED_LIMITS,0.179,0.270
$TGT_NAME,KUHUKU2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.256,-0.086
$KALMAN_X,-124462.4,-653.9,-600.1,113251.6,-1886.5
$KALMAN_Y,187969.0,-295.7,-348.1,-270016.7,280.1
$MHEAD_RNG_PITCHd_Wd,98.6,21365,-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,18,begin dive
$GC,20,-1.54,-136.3,0.0,0.0,0,114,0.00,0.00,-89.53,0.000,6,0.000,0.000,470,2204,3746,0,0,0,0,0,0
$GC,117,-1.54,-136.3,3.0,-6.0,10,138,12.75,2.55,0.00,0.000,4,0.174,0.030,2666,3759,3747,0,0,0,0,0,0
$GC,277,-1.35,-136.3,44.6,-21.4,25,282,0.25,2.53,0.00,0.000,6,0.123,0.026,2819,2178,3749,0,0,0,0,0,0
$GC,544,-1.26,-136.3,93.6,-17.3,49,548,0.00,2.53,0.00,0.000,4,0.000,0.032,2777,3756,3749,0,0,0,0,0,0
$GC,588,-1.21,-136.3,101.9,-17.0,52,594,0.15,2.50,0.00,0.000,6,0.120,0.024,2849,2181,3749,0,0,0,0,0,0
$GC,850,-1.21,-136.3,139.1,-13.5,76,855,0.00,2.60,0.00,0.000,4,0.000,0.048,2849,598,3750,0,0,0,0,0,0
$GC,885,-1.21,-136.3,144.2,-14.5,78,896,0.00,2.50,0.00,0.000,6,0.000,0.018,2849,2189,3751,0,0,0,0,0,0
$GC,1151,-1.21,-136.3,178.7,-14.0,103,1156,0.00,2.62,0.00,0.000,4,0.000,0.048,2849,595,3751,0,0,0,0,0,0
$GC,1196,-1.21,-136.3,184.9,-13.8,106,1200,0.00,2.45,0.00,0.000,6,0.000,0.025,2849,2171,3751,0,0,0,0,0,0
$GC,1473,-1.21,-136.3,220.6,-12.2,120,1477,0.00,2.53,0.00,0.000,4,0.000,0.034,2832,3754,3752,0,0,0,0,0,0
$GC,1494,-1.21,-136.3,223.5,-11.8,120,1499,0.00,2.47,0.00,0.000,6,0.000,0.020,2849,2157,3752,0,0,0,0,0,0
$GC,1750,-1.21,-136.3,248.9,-9.6,127,1754,0.00,2.55,0.00,0.000,4,0.000,0.057,2849,608,3752,0,0,0,0,0,0
$GC,1796,-1.28,-136.3,252.4,-7.8,128,1800,0.00,2.38,0.00,0.000,6,0.000,0.019,2849,2151,3752,0,0,0,0,0,0
$GC,2074,-1.36,-136.3,275.7,-8.8,135,2079,0.12,2.60,0.00,0.000,4,0.068,0.044,2750,3757,3753,0,0,0,0,0,0
$GC,2118,-1.36,-136.3,280.9,-12.1,136,2124,0.10,2.50,0.00,0.000,6,0.118,0.029,2817,2159,3753,0,0,0,0,0,0
$GC,2399,-1.40,-136.3,312.4,-11.1,143,2403,0.00,2.65,0.00,0.000,4,0.000,0.071,2817,598,3753,0,0,0,0,0,0
$GC,2416,-1.40,-136.3,314.5,-10.6,143,2421,0.00,2.42,0.00,0.000,6,0.000,0.032,2817,2135,3752,0,0,0,0,0,0
$GC,2680,-1.45,-136.3,340.1,-9.4,150,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2135,3752,0,0,0,0,0,0
$GC,2922,-1.49,-136.3,363.4,-9.8,156,2927,0.12,2.70,0.00,0.000,4,0.070,0.054,2721,3761,3752,0,0,0,0,0,0
$GC,2956,-1.45,-136.3,367.8,-12.7,156,2965,1.65,2.60,0.00,0.000,6,0.084,0.044,2969,2169,3752,5,0,0,0,0,0
$GC,3252,-2.24,-136.3,389.9,-8.4,164,3261,2.20,2.70,0.00,0.000,4,0.054,0.053,2542,3756,3750,0,0,0,0,0,0
$GC,3481,-1.94,-136.3,434.8,-20.0,169,3489,1.52,2.85,0.00,0.000,6,0.112,0.058,2814,2059,3749,5,0,0,0,0,0
$GC,3766,-2.29,-136.3,450.5,-4.3,176,3774,1.35,2.88,0.00,0.000,4,0.025,0.058,2541,3758,3748,0,0,0,0,0,0
$GC,3787,-2.22,-136.3,452.7,-9.3,176,3792,0.12,2.88,0.00,0.000,6,0.127,0.054,2627,2060,3748,0,0,0,0,0,0
$GC,4050,-1.93,-136.3,492.2,-15.0,183,4056,0.28,2.90,0.00,0.000,4,0.108,0.060,2660,3752,3746,0,0,0,0,0,0
$GC,4236,-1.75,-136.3,520.1,-16.0,187,4241,0.20,2.88,0.00,0.000,6,0.106,0.063,2730,2073,3745,0,0,0,0,0,0
$GC,4511,-1.65,-136.3,556.6,-13.4,194,4516,0.10,2.88,0.00,0.000,4,0.290,0.127,2751,595,3743,0,0,0,0,0,0
$GC,4527,-1.56,-136.3,559.3,-13.7,194,4532,0.10,2.47,0.00,0.000,6,0.137,0.054,2770,2057,3743,0,0,0,0,0,0
$GC,4790,-1.56,-136.3,591.4,-12.4,201,4795,0.00,3.08,0.00,0.000,4,0.000,0.102,2744,3747,3740,0,0,0,0,0,0
$STATE,4848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4848,begin apogee
$GC,4857,-0.31,0.0,600.4,14.0,202,4974,1.23,0.00,113.07,1.002,6,0.094,0.000,3042,2180,3190,0,0,0,0,0,0
$STATE,4975,end apogee,CONTROL_FINISHED_OK
$STATE,4975,begin climb
$GC,4978,1.54,136.3,606.5,0.0,205,5103,1.75,0.00,114.60,0.975,6,0.047,0.000,3452,2180,2634,0,0,0,0,0,0
$GC,5344,1.50,147.6,573.9,11.8,214,5359,0.00,2.80,10.38,0.851,4,0.000,0.072,3391,3754,2587,0,0,0,0,0,0
$GC,5464,1.44,147.6,557.8,14.4,216,5469,0.12,2.72,0.00,0.000,6,0.137,0.055,3434,2179,2584,0,0,0,0,0,0
$GC,5714,1.44,147.6,526.1,12.6,222,5718,0.00,3.00,0.00,0.000,4,0.000,0.108,3428,588,2582,0,0,0,0,0,0
$GC,5760,1.40,147.6,520.2,13.7,223,5764,0.00,2.62,0.00,0.000,6,0.000,0.048,3418,2159,2582,0,0,0,0,0,0
$GC,6037,1.42,158.7,486.0,11.8,230,6053,0.00,2.80,10.20,0.838,4,0.000,0.064,3413,3764,2543,0,0,0,0,0,0
$GC,6149,1.44,177.1,473.1,11.4,232,6174,0.00,2.67,17.15,0.877,6,0.000,0.048,3429,2179,2468,0,0,0,0,0,0
$GC,6457,1.51,236.0,444.5,8.9,240,6512,0.00,0.00,53.45,0.897,6,0.000,0.000,3429,2179,2227,0,0,0,0,0,0
$GC,6737,1.57,255.9,413.5,11.3,247,6762,0.12,2.75,18.00,0.838,4,0.082,0.044,3386,3770,2145,0,0,0,0,0,0
$GC,6775,1.57,255.9,408.6,14.2,247,6781,0.00,2.70,0.00,0.000,6,0.000,0.044,3461,2176,2144,0,0,0,0,0,0
$GC,7025,1.57,255.9,373.5,13.9,254,7026,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,2175,2141,0,0,0,0,0,0
$GC,7268,1.57,255.9,342.4,12.6,260,7273,0.00,2.65,0.00,0.000,4,0.000,0.040,3437,3777,2140,0,0,0,0,0,0
$GC,7297,1.57,255.9,338.6,13.7,260,7302,0.00,2.65,0.00,0.000,6,0.000,0.037,3461,2184,2139,0,0,0,0,0,0
$GC,7547,1.57,255.9,306.6,12.7,266,7548,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,2187,2139,0,0,0,0,0,0
$GC,7790,1.57,255.9,273.8,13.5,272,7795,0.00,2.62,0.00,0.000,4,0.000,0.044,3426,3769,2138,0,0,0,0,0,0
$GC,7829,1.57,255.9,268.0,15.2,273,7834,0.00,2.60,0.00,0.000,6,0.000,0.033,3461,2180,2137,0,0,0,0,0,0
$GC,8115,1.61,256.9,230.7,12.4,280,8119,0.00,2.70,0.00,0.000,4,0.000,0.061,3461,592,2137,0,0,0,0,0,0
$GC,8186,1.65,256.9,220.2,14.3,281,8191,0.00,2.58,0.00,0.000,6,0.000,0.025,3445,2210,2136,0,0,0,0,0,0
$GC,8443,1.74,287.1,188.4,10.6,293,8477,0.12,2.60,26.42,0.694,4,0.078,0.046,3498,3755,2019,0,0,0,0,0,0
$GC,8555,1.74,287.1,173.7,12.8,302,8561,0.00,2.55,0.00,0.000,6,0.000,0.029,3498,2191,2017,0,0,0,0,0,0
$GC,8820,1.74,287.1,139.5,12.8,327,8825,0.00,2.58,0.00,0.000,4,0.000,0.037,3468,3761,2016,0,0,0,0,0,0
$GC,8841,1.74,287.1,135.9,13.9,328,8852,0.00,2.53,0.00,0.000,6,0.000,0.028,3498,2216,2016,0,0,0,0,0,0
$GC,9109,1.74,287.1,98.8,14.9,353,9114,0.00,0.00,0.00,0.000,6,0.000,0.000,3498,2216,2016,0,0,0,0,0,0
$GC,9374,1.74,287.1,60.8,14.2,378,9383,0.00,0.00,0.00,0.000,6,0.000,0.000,3498,2216,2016,0,0,0,0,0,0
$GC,9662,1.74,287.1,21.2,13.4,407,9672,0.00,2.53,0.00,0.000,4,0.000,0.035,3164,3755,2016,0,0,0,0,0,0
$GC,9699,1.74,287.1,15.9,14.3,411,9710,0.00,2.50,0.00,0.000,6,0.000,0.029,3498,2220,2016,0,0,0,0,0,0
$STATE,9783,end climb,SURFACE_DEPTH_REACHED
$STATE,9783,begin surface coast
$FINISH,-0.5,1.023203
$STATE,9828,end surface coast,CONTROL_FINISHED_OK
$STATE,9828,begin surface
$SM_CCo,9850,75.43,0.528,0,0,1640,380.21
$SM_GC,0.18,0.00,0.00,75.43,0.000,0.000,0.528,467,2132,1640,-12.18,-1.36,380.21
$IRIDIUM_FIX,2150.42,-15850.74,280901,151521
$TT8_MAMPS,0.026845
$HUMID,63.46
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,21.10
$XPDR_PINGS,42
$24V_AH,23.4,39.144
$10V_AH,10.3,33.388
$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,36.450,127.175,363.275,75.425,0.000,27.844,39.625,175.780,10.500,0.000,15.766,926.065,6427.066,524.324,1888.447,553.438,33.360,1248.291,0.000,1891.948,0.000,0.534,0.000
$DEVICE_MAMPS,289.926,154.934,1001.702,528.463,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,288.339,208.522,296.849,639.397,1019.280,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355992
$DATA_FILE_SIZE,32093,426
$CAP_FILE_SIZE,110730,0
$CFSIZE,260165632,130826240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,10,0,0,0
$GPS,040712,205803,2156.074,-15810.469,10,4.3,29,9.9