version: 66.06
glider: 146
mission: 7
dive: 273
start: 7 4 112 21 5 31
data:
$ID,146
$MISSION,7
$DIVE,273
$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,-297284.34
$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,72
$R_STBD_OVSHOOT,38
$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
$GPS1,205803,2156.074,-15810.469,10,4.3,29,9.9
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-70.7
$GPS2,210437,2156.093,-15810.503,11,0.9,11,9.9
$SPEED_LIMITS,0.179,0.270
$TGT_NAME,KUHUKU2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.136,-0.233
$KALMAN_X,-126125.1,-480.4,-699.1,115712.0,-101.5
$KALMAN_Y,188619.8,-122.5,-81.9,-270826.2,1001.8
$MHEAD_RNG_PITCHd_Wd,139.9,20938,-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,-136.3,0.0,0.0,0,114,0.00,0.00,-88.18,0.000,6,0.000,0.000,467,2132,3747,0,0,0,0,0,0
$GC,119,-1.54,-136.3,3.9,-8.4,10,139,12.80,0.00,0.00,0.000,6,0.173,0.000,2768,2132,3748,0,0,0,0,0,0
$GC,424,-1.30,-136.3,73.2,-19.1,40,429,0.28,2.60,0.00,0.000,4,0.123,0.028,2778,3762,3752,0,0,0,0,0,0
$GC,446,-1.09,-136.3,77.6,-18.4,41,451,0.30,2.45,0.00,0.000,6,0.102,0.021,2892,2209,3750,1,0,0,0,0,0
$GC,714,-1.15,-136.3,108.0,-10.8,65,720,0.12,0.00,0.00,0.000,6,0.067,0.000,2846,2207,3749,0,0,0,0,0,0
$GC,975,-1.15,-136.3,145.2,-15.0,90,979,0.00,2.62,0.00,0.000,4,0.000,0.049,2822,602,3751,0,0,0,0,0,0
$GC,996,-1.15,-136.3,147.6,-14.8,91,1000,0.00,2.45,0.00,0.000,6,0.000,0.021,2846,2202,3751,0,0,0,0,0,0
$GC,1262,-1.15,-136.3,189.4,-15.8,115,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2203,3752,0,0,0,0,0,0
$GC,1535,-1.15,-136.3,224.0,-11.1,127,1536,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,2203,3752,0,0,0,0,0,0
$GC,1781,-1.15,-136.3,251.3,-11.3,133,1785,0.00,2.67,0.00,0.000,4,0.000,0.050,2845,601,3752,0,0,0,0,0,0
$GC,1859,-1.20,-136.3,259.0,-9.4,134,1865,0.00,2.45,0.00,0.000,6,0.000,0.020,2845,2176,3752,0,0,0,0,0,0
$GC,2111,-1.28,-136.3,279.0,-8.2,141,2116,0.00,2.60,0.00,0.000,4,0.000,0.053,2846,610,3751,0,0,0,0,0,0
$GC,2139,-1.33,-136.3,281.9,-9.5,141,2144,0.00,2.40,0.00,0.000,6,0.000,0.028,2845,2159,3751,0,0,0,0,0,0
$GC,2390,-1.41,-136.3,306.1,-9.7,147,2395,0.15,2.60,0.00,0.000,4,0.061,0.047,2763,3760,3754,0,0,0,0,0,0
$GC,2432,-1.37,-136.3,311.0,-12.9,148,2437,0.75,2.50,0.00,0.000,6,0.077,0.028,2852,2184,3753,2,0,0,0,0,0
$GC,2716,-1.73,-136.3,330.6,-6.4,155,2722,0.93,2.55,0.00,0.000,4,0.025,0.040,2684,3750,3752,0,0,0,0,0,0
$GC,2734,-1.86,-136.3,332.6,-7.2,155,2738,0.00,2.53,0.00,0.000,6,0.000,0.036,2719,2170,3752,0,0,0,0,0,0
$GC,2996,-1.70,-136.3,372.6,-14.9,162,3001,0.10,2.62,0.00,0.000,4,0.126,0.044,2687,3751,3752,0,0,0,0,0,0
$GC,3038,-1.60,-136.3,378.4,-13.5,163,3044,0.12,2.58,0.00,0.000,6,0.118,0.042,2765,2181,3752,0,0,0,0,0,0
$GC,3324,-1.55,-136.3,414.0,-12.4,170,3329,0.00,2.62,0.00,0.000,4,0.000,0.052,2717,3748,3750,0,0,0,0,0,0
$GC,3364,-1.50,-136.3,418.9,-11.1,171,3369,0.12,2.60,0.00,0.000,6,0.115,0.049,2790,2185,3750,0,0,0,0,0,0
$GC,3650,-1.50,-136.3,446.7,-9.8,178,3654,0.00,2.60,0.00,0.000,4,0.000,0.060,2729,3745,3749,0,0,0,0,0,0
$GC,3671,-1.50,-136.3,449.1,-10.1,178,3676,0.00,2.58,0.00,0.000,6,0.000,0.049,2791,2192,3749,0,0,0,0,0,0
$GC,3927,-1.50,-136.3,473.4,-9.5,185,3928,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2197,3747,0,0,0,0,0,0
$GC,4171,-1.50,-136.3,496.6,-9.5,191,4175,0.00,2.62,0.00,0.000,4,0.000,0.064,2791,3746,3745,0,0,0,0,0,0
$GC,4227,-1.50,-136.3,502.1,-9.5,192,4237,2.65,2.65,0.00,0.000,6,0.077,0.057,2830,2184,3745,9,0,0,0,0,0
$GC,4500,-3.24,-136.3,517.2,-6.8,199,4509,4.15,2.97,0.00,0.000,4,0.040,0.105,2398,586,3743,0,0,0,0,0,0
$GC,4729,-2.59,-136.3,567.2,-22.3,204,4735,0.75,2.70,0.00,0.000,6,0.125,0.058,2546,2170,3740,0,0,0,0,0,0
$STATE,4918,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4918,begin apogee
$GC,4923,-0.31,0.0,600.8,17.2,209,5041,2.40,0.00,112.80,0.997,6,0.119,0.000,3042,2170,3190,0,0,0,0,0,0
$STATE,5042,end apogee,CONTROL_FINISHED_OK
$STATE,5042,begin climb
$GC,5046,1.54,136.3,601.3,0.0,212,5173,1.73,3.00,114.45,0.964,4,0.046,0.097,3294,586,2633,0,0,0,0,0,0
$GC,5192,1.44,136.3,585.1,15.8,215,5197,0.00,2.75,0.00,0.000,6,0.000,0.055,3433,2176,2630,0,0,0,0,0,0
$GC,5453,1.37,136.3,548.0,13.7,222,5458,0.17,2.85,0.00,0.000,4,0.222,0.081,3418,3766,2625,0,0,0,0,0,0
$GC,5565,1.37,136.3,534.1,12.5,224,5589,15.60,2.70,0.00,0.000,6,0.486,0.054,3224,2198,2623,56,1,0,0,0,0
$GC,5871,0.84,136.3,472.9,19.8,232,5881,2.60,2.70,0.00,0.000,4,0.122,0.048,3217,3772,2621,0,0,0,0,0,0
$GC,5981,1.26,275.2,465.8,4.0,234,6109,0.38,2.62,119.25,0.906,6,0.045,0.047,3397,2211,2068,0,0,0,0,0,0
$GC,6373,1.37,287.5,425.0,11.7,244,6392,0.00,3.00,11.18,0.791,4,0.000,0.093,3397,592,2016,0,0,0,0,0,0
$GC,6420,1.46,287.5,418.8,13.0,245,6429,2.08,2.67,0.00,0.000,6,0.130,0.035,3829,2229,2015,6,0,0,0,0,0
$GC,6703,0.96,287.5,333.7,31.6,252,6712,2.45,2.62,0.00,0.000,4,0.123,0.043,3200,3770,2011,0,0,0,0,0,0
$GC,6788,1.31,326.0,321.4,10.1,253,6830,0.30,2.55,34.97,0.798,6,0.046,0.038,3406,2224,1861,0,0,0,0,0,0
$GC,7075,1.43,326.0,282.3,13.6,260,7080,0.00,2.80,0.00,0.000,4,0.000,0.064,3407,596,1855,0,0,0,0,0,0
$GC,7132,1.56,326.0,274.1,14.4,261,7141,1.40,2.65,0.00,0.000,6,0.036,0.029,3777,2238,1853,5,0,0,0,0,0
$GC,7404,1.11,326.0,191.0,30.5,268,7414,2.03,2.55,0.00,0.000,4,0.135,0.038,3106,3768,1853,0,0,0,0,0,0
$GC,7444,1.30,334.1,185.1,12.0,271,7458,0.15,2.50,6.82,0.599,6,0.064,0.030,3407,2225,1829,0,0,0,0,0,0
$GC,7722,1.47,339.3,154.9,12.2,297,7738,0.12,2.80,6.57,0.568,4,0.077,0.059,3442,597,1805,0,0,0,0,0,0
$GC,7782,1.58,339.3,145.8,16.0,301,7787,0.00,2.62,0.00,0.000,6,0.000,0.027,3443,2247,1804,0,0,0,0,0,0
$GC,8045,1.69,339.3,103.9,15.2,326,8046,0.17,0.00,0.00,0.000,6,0.064,0.000,3490,2247,1804,0,0,0,0,0,0
$GC,8302,1.73,339.3,58.6,16.8,350,8306,0.00,2.78,0.00,0.000,4,0.000,0.048,3383,586,1804,0,0,0,0,0,0
$GC,8323,1.73,339.3,55.0,16.5,351,8327,0.00,2.62,0.00,0.000,6,0.000,0.020,3490,2257,1804,0,0,0,0,0,0
$GC,8641,1.77,339.3,6.3,15.3,384,8651,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,2257,1803,0,0,0,0,0,0
$STATE,8659,end climb,SURFACE_DEPTH_REACHED
$STATE,8659,begin surface coast
$FINISH,-0.2,1.023646
$STATE,8693,end surface coast,CONTROL_FINISHED_OK
$STATE,8693,begin surface
$SM_CCo,8718,32.90,0.528,0,0,1640,380.21
$SM_GC,0.39,0.00,0.00,32.90,0.000,0.000,0.528,472,2151,1640,-12.16,-0.82,380.21
$IRIDIUM_FIX,2148.09,-15808.03,280901,181811
$TT8_MAMPS,0.027612
$HUMID,66.22
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,20.30
$XPDR_PINGS,36
$24V_AH,23.4,39.273
$10V_AH,10.3,33.486
$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,67.000,105.900,406.050,32.900,0.000,28.587,32.369,188.167,9.000,0.000,12.707,845.352,5485.801,514.719,1758.931,540.070,33.366,1199.284,0.000,1760.647,0.000,0.534,0.000
$DEVICE_MAMPS,486.278,105.079,997.100,527.696,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,263.696,196.944,279.313,601.198,952.969,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355992
$DATA_FILE_SIZE,28907,390
$CAP_FILE_SIZE,105543,8
$CFSIZE,260165632,130777088
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,79,0,0,0
$GPS,040712,233233,2155.361,-15809.801,10,99.0,29,9.9