version: 66.06
glider: 146
mission: 7
dive: 257
start: 7 2 112 22 27 1
data:
$ID,146
$MISSION,7
$DIVE,257
$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,-296498.31
$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,28
$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
$GPS1,221936,2204.429,-15807.298,34,1.6,34,9.9
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-70.5
$GPS2,222607,2204.438,-15807.338,13,1.7,13,9.9
$SPEED_LIMITS,0.179,0.270
$TGT_NAME,KUHUKU2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.029,-0.268
$KALMAN_X,-89734.2,-103.2,-342.3,83996.8,313.1
$KALMAN_Y,185292.6,-310.3,223.9,-252153.3,603.9
$MHEAD_RNG_PITCHd_Wd,163.9,31797,-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,-88.88,0.000,6,0.000,0.000,467,2185,3744,0,0,0,0,0,0
$GC,119,-1.54,-136.3,3.3,-7.0,10,140,12.73,2.62,0.00,0.000,4,0.171,0.042,2771,594,3747,0,0,0,0,0,0
$GC,199,-1.32,-136.3,29.1,-21.6,19,210,0.22,2.53,0.00,0.000,6,0.114,0.018,2820,2191,3748,0,0,0,0,0,0
$GC,467,-1.18,-136.3,75.8,-17.9,44,473,0.17,2.67,0.00,0.000,4,0.120,0.044,2855,586,3748,0,0,0,0,0,0
$GC,492,-1.06,-136.3,80.4,-18.8,45,497,0.12,2.45,0.00,0.000,6,0.127,0.018,2880,2185,3748,0,0,0,0,0,0
$GC,759,-1.10,-136.3,115.4,-12.4,69,763,0.00,2.65,0.00,0.000,4,0.000,0.045,2880,588,3749,0,0,0,0,0,0
$GC,776,-1.13,-136.3,118.2,-12.3,70,781,0.00,2.45,0.00,0.000,6,0.000,0.024,2880,2185,3749,0,0,0,0,0,0
$GC,1038,-1.19,-136.3,143.7,-8.8,94,1043,0.10,2.47,0.00,0.000,4,0.082,0.035,2798,3747,3750,0,0,0,0,0,0
$GC,1060,-1.19,-136.3,145.5,-9.3,95,1065,0.00,2.50,0.00,0.000,6,0.000,0.024,2839,2155,3750,0,0,0,0,0,0
$GC,1321,-1.19,-136.3,175.7,-11.9,119,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2155,3751,0,0,0,0,0,0
$GC,1593,-1.19,-136.3,211.7,-13.2,139,1594,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2154,3751,0,0,0,0,0,0
$GC,1839,-1.19,-136.3,240.6,-11.2,145,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2156,3752,0,0,0,0,0,0
$GC,2081,-1.19,-136.3,270.1,-11.8,151,2085,0.00,2.58,0.00,0.000,4,0.000,0.054,2839,611,3752,0,0,0,0,0,0
$GC,2102,-1.19,-136.3,272.7,-12.0,151,2106,0.00,2.42,0.00,0.000,6,0.000,0.024,2839,2171,3752,0,0,0,0,0,0
$GC,2360,-1.23,-136.3,302.2,-11.4,158,2364,0.00,2.53,0.00,0.000,4,0.000,0.037,2800,3750,3752,0,0,0,0,0,0
$GC,2399,-1.32,-136.3,307.1,-12.0,159,2404,0.00,2.47,0.00,0.000,6,0.000,0.029,2839,2181,3752,0,0,0,0,0,0
$GC,2683,-1.40,-136.3,333.2,-8.7,166,2685,0.12,0.00,0.00,0.000,6,0.068,0.000,2789,2182,3752,0,0,0,0,0,0
$GC,2929,-1.40,-136.3,360.2,-11.3,172,2934,0.10,2.60,0.00,0.000,4,0.120,0.048,2753,3744,3751,0,0,0,0,0,0
$GC,2996,-1.45,-136.3,368.7,-12.3,173,3001,0.00,2.53,0.00,0.000,6,0.000,0.035,2801,2191,3751,0,0,0,0,0,0
$GC,3254,-1.48,-136.3,398.2,-11.3,180,3255,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2191,3749,0,0,0,0,0,0
$GC,3495,-1.52,-136.3,424.0,-10.3,186,3500,0.12,2.60,0.00,0.000,4,0.070,0.055,2705,3743,3749,0,0,0,0,0,0
$GC,3535,-1.47,-136.3,428.4,-11.9,187,3541,0.15,2.60,0.00,0.000,6,0.107,0.053,2794,2188,3749,0,0,0,0,0,0
$GC,3821,-1.47,-136.3,455.3,-9.6,194,3825,0.00,2.62,0.00,0.000,4,0.000,0.061,2770,3747,3747,0,0,0,0,0,0
$GC,3865,-1.47,-136.3,460.8,-12.2,195,3869,0.00,2.58,0.00,0.000,6,0.000,0.052,2794,2205,3747,0,0,0,0,0,0
$GC,4142,-1.47,-136.3,490.9,-10.7,202,4147,0.00,2.60,0.00,0.000,4,0.000,0.065,2761,3743,3745,0,0,0,0,0,0
$GC,4177,-1.47,-136.3,494.6,-11.3,202,4183,0.00,2.60,0.00,0.000,6,0.000,0.055,2776,2206,3745,0,0,0,0,0,0
$GC,4427,-1.47,-136.3,518.9,-9.4,209,4432,0.00,3.08,0.00,0.000,4,0.000,0.120,2790,591,3743,0,0,0,0,0,0
$GC,4460,-1.47,-136.3,522.3,-10.1,209,4466,0.00,2.62,0.00,0.000,6,0.000,0.052,2795,2177,3743,0,0,0,0,0,0
$GC,4712,-1.47,-136.3,544.5,-8.8,216,4713,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2177,3741,0,0,0,0,0,0
$GC,4954,-1.47,-136.3,568.3,-10.1,222,4955,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2177,3739,0,0,0,0,0,0
$GC,5198,-1.51,-136.3,593.9,-10.6,228,5199,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2177,3737,0,0,0,0,0,0
$STATE,5276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5276,begin apogee
$GC,5283,-0.31,0.0,602.7,10.7,230,5399,1.10,0.00,111.75,1.007,6,0.077,0.000,3044,2177,3190,0,0,0,0,0,0
$STATE,5399,end apogee,CONTROL_FINISHED_OK
$STATE,5400,begin climb
$GC,5402,1.54,136.3,607.5,0.0,233,5525,1.73,0.00,114.53,0.980,6,0.044,0.000,3453,2177,2633,0,0,0,0,0,0
$GC,5770,1.48,137.8,571.1,12.4,242,5771,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2177,2623,0,0,0,0,0,0
$GC,6014,1.42,137.8,539.8,12.9,248,6019,0.15,2.85,0.00,0.000,4,0.128,0.076,3421,3770,2622,0,0,0,0,0,0
$GC,6058,1.42,137.8,533.7,13.0,249,6062,0.00,2.72,0.00,0.000,6,0.000,0.051,3425,2171,2622,0,0,0,0,0,0
$GC,6338,1.46,167.9,503.3,10.6,256,6367,0.00,0.00,26.67,0.917,6,0.000,0.000,3425,2175,2505,0,0,0,0,0,0
$GC,6580,1.47,181.8,475.6,11.6,262,6599,0.00,2.80,12.85,0.853,4,0.000,0.054,3308,3772,2448,0,0,0,0,0,0
$GC,6678,1.47,181.8,463.2,13.3,264,6682,0.00,2.70,0.00,0.000,6,0.000,0.050,3425,2176,2446,0,0,0,0,0,0
$GC,6952,1.49,192.1,431.4,11.9,271,6964,0.00,0.00,10.48,0.817,6,0.000,0.000,3425,2176,2406,0,0,0,0,0,0
$GC,7194,1.54,201.5,401.8,11.9,277,7209,0.10,2.70,9.27,0.785,4,0.092,0.046,3433,3775,2367,0,0,0,0,0,0
$GC,7250,1.54,201.5,394.6,13.3,278,7255,0.00,2.70,0.00,0.000,6,0.000,0.044,3452,2174,2366,0,0,0,0,0,0
$GC,7516,1.54,204.1,361.5,12.3,285,7517,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2174,2364,0,0,0,0,0,0
$GC,7761,1.54,204.1,330.6,12.8,291,7766,0.00,2.65,0.00,0.000,4,0.000,0.041,3436,3773,2363,0,0,0,0,0,0
$GC,7835,1.54,204.1,319.9,14.8,292,7840,0.00,2.65,0.00,0.000,6,0.000,0.035,3452,2164,2363,0,0,0,0,0,0
$GC,8085,1.54,204.1,287.7,12.7,298,8089,0.00,2.67,0.00,0.000,4,0.000,0.063,3452,590,2362,0,0,0,0,0,0
$GC,8128,1.54,204.1,281.7,13.8,299,8133,0.00,2.55,0.00,0.000,6,0.000,0.029,3452,2181,2361,0,0,0,0,0,0
$GC,8409,1.63,245.9,253.0,9.9,306,8453,0.00,2.67,39.12,0.761,4,0.000,0.042,3446,3761,2186,0,0,0,0,0,0
$GC,8500,1.72,260.8,243.3,11.6,308,8520,0.15,2.62,14.15,0.707,6,0.071,0.036,3493,2152,2126,0,0,0,0,0,0
$GC,8778,1.72,260.8,207.4,12.9,315,8779,0.00,0.00,0.00,0.000,6,0.000,0.000,3492,2152,2120,0,0,0,0,0,0
$GC,9027,1.72,260.8,176.4,13.1,333,9032,0.00,2.65,0.00,0.000,4,0.000,0.041,3481,3760,2120,0,0,0,0,0,0
$GC,9058,1.72,260.8,172.1,14.2,335,9062,0.00,2.60,0.00,0.000,6,0.000,0.029,3492,2150,2119,0,0,0,0,0,0
$GC,9324,1.72,260.8,137.0,13.5,359,9328,0.00,2.65,0.00,0.000,4,0.000,0.041,3492,3765,2119,0,0,0,0,0,0
$GC,9366,1.72,260.8,130.6,14.3,362,9371,0.00,2.58,0.00,0.000,6,0.000,0.028,3493,2159,2119,0,0,0,0,0,0
$GC,9628,1.72,260.8,94.9,14.2,386,9632,0.00,2.60,0.00,0.000,4,0.000,0.041,3480,3766,2119,0,0,0,0,0,0
$GC,9682,1.72,260.8,86.7,14.8,390,9687,0.00,2.58,0.00,0.000,6,0.000,0.028,3465,2154,2119,0,0,0,0,0,0
$GC,9949,1.72,260.8,52.3,12.8,414,9953,0.00,2.55,0.00,0.000,4,0.000,0.051,3492,601,2119,0,0,0,0,0,0
$GC,9983,1.72,260.8,47.6,14.3,416,9988,0.00,2.45,0.00,0.000,6,0.000,0.019,3493,2181,2119,0,0,0,0,0,0
$GC,10321,1.72,260.8,4.1,13.7,452,10331,0.00,2.55,0.00,0.000,4,0.000,0.040,3217,3747,2119,0,0,0,0,0,0
$STATE,10340,end climb,SURFACE_DEPTH_REACHED
$STATE,10340,begin surface coast
$FINISH,-0.4,1.023729
$STATE,10382,end surface coast,CONTROL_FINISHED_OK
$STATE,10382,begin surface
$SM_CCo,10408,95.07,0.528,0,0,1640,380.21
$SM_GC,0.40,0.00,0.00,95.07,0.000,0.000,0.528,470,2163,1640,-12.17,-0.48,380.21
$IRIDIUM_FIX,2155.06,-15807.17,260901,191903
$TT8_MAMPS,0.027612
$HUMID,61.93
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,21.50
$XPDR_PINGS,39
$24V_AH,23.4,36.833
$10V_AH,10.3,31.874
$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,29.200,114.800,338.825,95.075,0.000,28.322,36.311,178.798,9.750,0.000,14.623,956.987,7021.358,507.449,1853.352,553.989,33.402,1164.833,0.000,1874.971,0.000,0.534,0.000
$DEVICE_MAMPS,171.041,119.652,1007.071,528.463,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,311.968,229.147,322.481,692.641,1101.309,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355964
$DATA_FILE_SIZE,35204,459
$CAP_FILE_SIZE,109743,0
$CFSIZE,260165632,131588096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030712,012324,2203.048,-15807.607,39,2.0,39,9.9