version: 66.06
glider: 146
mission: 7
dive: 266
start: 7 4 112 1 10 30
data:
$ID,146
$MISSION,7
$DIVE,266
$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,-297142.72
$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,38
$R_STBD_OVSHOOT,36
$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
$GPS1,005735,2158.925,-15809.835,50,0.9,50,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-71.1
$GPS2,010937,2158.915,-15810.015,13,1.4,13,9.9
$SPEED_LIMITS,0.179,0.270
$TGT_NAME,KUHUKU2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.236,-0.130
$KALMAN_X,-111372.1,346.7,500.4,99778.2,-1431.8
$KALMAN_Y,188310.4,-115.7,318.8,-265686.8,15.8
$MHEAD_RNG_PITCHd_Wd,109.0,24466,-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,-136.3,0.0,0.0,0,112,0.00,0.00,-87.97,0.000,6,0.000,0.000,469,2164,3746,0,0,0,0,0,0
$GC,115,-1.54,-136.3,3.3,-7.0,10,135,12.73,2.55,0.00,0.000,4,0.171,0.033,2740,606,3747,0,0,0,0,0,0
$GC,155,-0.67,-136.3,19.0,-38.6,14,166,0.88,2.50,0.00,0.000,6,0.096,0.019,2959,2187,3748,0,0,0,0,0,0
$GC,455,-0.83,-136.3,50.5,-9.8,44,460,0.12,2.53,0.00,0.000,4,0.066,0.032,2882,3751,3748,0,0,0,0,0,0
$GC,481,-0.95,-136.3,53.1,-10.1,45,486,0.00,2.45,0.00,0.000,6,0.000,0.022,2908,2182,3748,0,0,0,0,0,0
$GC,748,-1.02,-136.3,84.6,-10.7,69,752,0.00,2.58,0.00,0.000,4,0.000,0.049,2907,603,3749,0,0,0,0,0,0
$GC,771,-1.09,-136.3,87.5,-10.5,70,783,0.10,2.47,0.00,0.000,6,0.036,0.018,2861,2194,3749,0,0,0,0,0,0
$GC,1038,-1.09,-136.3,117.6,-12.0,95,1042,0.00,2.45,0.00,0.000,4,0.000,0.031,2823,3748,3750,0,0,0,0,0,0
$GC,1072,-1.09,-136.3,121.2,-10.7,97,1077,0.00,2.42,0.00,0.000,6,0.000,0.026,2860,2188,3750,0,0,0,0,0,0
$GC,1338,-1.09,-136.3,151.4,-12.5,121,1343,0.00,2.58,0.00,0.000,4,0.000,0.054,2803,611,3751,0,0,0,0,0,0
$GC,1357,-1.09,-136.3,154.3,-12.8,122,1362,0.00,2.42,0.00,0.000,6,0.000,0.023,2860,2193,3751,0,0,0,0,0,0
$GC,1618,-1.09,-136.3,188.4,-13.4,146,1620,0.08,0.00,0.00,0.000,6,0.138,0.000,2878,2194,3751,0,0,0,0,0,0
$GC,1890,-1.17,-136.3,217.4,-10.5,160,1894,0.00,2.62,0.00,0.000,4,0.000,0.054,2878,603,3751,0,0,0,0,0,0
$GC,1911,-1.24,-136.3,219.9,-9.9,160,1917,0.15,2.45,0.00,0.000,6,0.058,0.017,2819,2195,3752,0,0,0,0,0,0
$GC,2167,-1.24,-136.3,246.6,-10.4,167,2172,0.12,2.50,0.00,0.000,4,0.110,0.039,2788,3751,3752,0,0,0,0,0,0
$GC,2186,-1.28,-136.3,248.1,-10.6,167,2190,0.00,2.42,0.00,0.000,6,0.000,0.028,2845,2190,3752,0,0,0,0,0,0
$GC,2447,-1.36,-136.3,268.2,-7.5,174,2452,0.12,2.67,0.00,0.000,4,0.071,0.058,2745,602,3752,0,0,0,0,0,0
$GC,2505,-1.36,-136.3,274.4,-11.8,175,2510,0.10,2.47,0.00,0.000,6,0.123,0.029,2817,2175,3752,0,0,0,0,0,0
$GC,2771,-1.36,-136.3,303.9,-11.0,182,2776,0.00,2.67,0.00,0.000,4,0.000,0.064,2818,603,3752,0,0,0,0,0,0
$GC,2793,-1.36,-136.3,306.6,-11.7,182,2797,0.00,2.50,0.00,0.000,6,0.000,0.025,2818,2180,3752,0,0,0,0,0,0
$GC,3050,-1.36,-136.3,333.9,-10.5,189,3054,0.00,2.60,0.00,0.000,4,0.000,0.041,2817,3755,3751,0,0,0,0,0,0
$GC,3094,-1.40,-136.3,338.7,-10.7,190,3099,0.00,2.47,0.00,0.000,6,0.000,0.029,2818,2206,3751,0,0,0,0,0,0
$GC,3372,-1.45,-136.3,363.3,-8.6,197,3373,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2206,3750,0,0,0,0,0,0
$GC,3618,-1.50,-136.3,385.3,-9.2,203,3623,0.12,2.88,0.00,0.000,4,0.071,0.084,2774,597,3749,0,0,0,0,0,0
$GC,3640,-1.50,-136.3,388.2,-11.5,203,3644,0.00,2.55,0.00,0.000,6,0.000,0.035,2774,2179,3749,0,0,0,0,0,0
$GC,3895,-1.50,-136.3,418.8,-12.0,210,3899,0.00,2.62,0.00,0.000,4,0.000,0.059,2745,3761,3748,0,0,0,0,0,0
$GC,3913,-1.47,-136.3,421.0,-12.4,210,3918,0.10,2.60,0.00,0.000,6,0.125,0.043,2795,2187,3747,0,0,0,0,0,0
$GC,4174,-1.47,-136.3,452.3,-12.0,217,4178,0.00,2.65,0.00,0.000,4,0.000,0.059,2764,3758,3745,0,0,0,0,0,0
$GC,4237,-1.47,-136.3,459.7,-11.7,218,4246,2.15,2.60,0.00,0.000,6,0.074,0.054,2973,2198,3745,7,0,0,0,0,0
$GC,4503,-2.44,-136.3,469.8,-3.5,225,4512,3.25,2.67,0.00,0.000,4,0.088,0.052,2531,3761,3743,0,0,0,0,0,0
$GC,4767,-2.07,-136.3,508.8,-16.3,230,4774,0.38,2.75,0.00,0.000,6,0.107,0.058,2662,2141,3741,0,0,0,0,0,0
$GC,5017,-1.85,-136.3,545.4,-14.7,237,5023,0.22,2.80,0.00,0.000,4,0.198,0.068,2680,3760,3740,0,0,0,0,0,0
$GC,5275,-1.73,-136.3,583.1,-13.6,242,5282,0.15,2.85,0.00,0.000,6,0.124,0.074,2736,2149,3738,0,0,0,0,0,0
$STATE,5441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5441,begin apogee
$GC,5447,-0.31,0.0,603.6,12.2,247,5564,1.42,0.00,112.32,1.003,6,0.104,0.000,3046,2149,3190,0,0,0,0,0,0
$STATE,5565,end apogee,CONTROL_FINISHED_OK
$STATE,5565,begin climb
$GC,5569,1.54,136.3,606.8,0.0,250,5697,1.70,3.10,115.00,0.976,4,0.044,0.117,3451,593,2633,0,0,0,0,0,0
$GC,5705,1.46,147.6,596.9,11.8,253,5723,0.00,2.78,11.18,0.852,6,0.000,0.062,3451,2174,2588,0,0,0,0,0,0
$GC,5980,1.40,150.9,562.4,12.3,260,5982,0.15,0.00,0.00,0.000,6,0.234,0.000,3424,2174,2581,0,0,0,0,0,0
$GC,6223,1.44,186.0,536.7,10.3,266,6264,0.00,2.88,32.97,0.933,4,0.000,0.068,3274,3761,2431,0,0,0,0,0,0
$GC,6283,1.44,186.0,529.7,12.6,267,6288,0.10,2.75,0.00,0.000,6,0.101,0.053,3449,2180,2429,0,0,0,0,0,0
$GC,6550,1.39,186.0,492.6,13.9,274,6555,0.17,2.72,0.00,0.000,4,0.125,0.051,3385,3772,2426,0,0,0,0,0,0
$GC,6613,1.43,186.0,484.0,13.7,275,6622,3.58,2.70,0.00,0.000,6,0.339,0.058,3445,2205,2424,12,0,0,0,0,0
$GC,6879,0.91,186.0,415.4,26.0,282,6888,2.55,2.65,0.00,0.000,4,0.126,0.048,3227,3770,2422,0,0,0,0,0,0
$GC,6945,1.26,252.9,407.3,8.4,283,7011,0.30,2.58,59.00,0.876,6,0.049,0.042,3395,2211,2158,0,0,0,0,0,0
$GC,7297,1.40,284.0,369.0,10.6,292,7332,0.10,2.95,27.55,0.833,4,0.092,0.071,3422,589,2031,0,0,0,0,0,0
$GC,7362,1.40,284.0,360.8,13.5,293,7366,0.00,2.70,0.00,0.000,6,0.000,0.028,3399,2241,2028,0,0,0,0,0,0
$GC,7623,1.48,291.4,329.0,12.0,300,7637,0.00,2.92,7.35,0.699,4,0.000,0.066,3422,594,2001,0,0,0,0,0,0
$GC,7648,1.52,291.4,325.5,13.4,300,7655,1.02,2.65,0.00,0.000,6,0.042,0.025,3683,2232,2000,3,0,0,0,0,0
$GC,7907,1.15,291.4,256.2,28.3,307,7915,1.55,2.58,0.00,0.000,4,0.136,0.041,3256,3782,1997,0,0,0,0,0,0
$GC,7997,1.43,296.8,242.2,12.2,309,8008,0.38,2.55,5.72,0.611,6,0.045,0.038,3467,2231,1979,0,0,0,0,0,0
$GC,8285,1.46,296.8,197.3,15.8,316,8290,0.17,2.80,0.00,0.000,4,0.119,0.064,3434,589,1977,0,0,0,0,0,0
$GC,8365,1.56,296.8,187.4,12.6,322,8375,1.45,2.70,0.00,0.000,6,0.039,0.028,3801,2279,1976,5,0,0,0,0,0
$GC,8636,1.12,296.8,113.8,28.5,347,8647,2.12,2.55,0.00,0.000,4,0.123,0.042,3174,3786,1975,0,0,0,0,0,0
$GC,8703,1.48,337.4,102.9,10.0,352,8748,0.28,2.53,35.90,0.641,6,0.030,0.034,3444,2239,1813,0,0,0,0,0,0
$GC,9008,1.60,337.4,61.7,14.2,380,9018,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2240,1810,0,0,0,0,0,0
$GC,9280,1.74,337.4,27.9,12.5,406,9291,0.20,2.80,0.00,0.000,4,0.060,0.050,3498,584,1810,0,0,0,0,0,0
$GC,9319,1.78,337.4,22.2,15.3,410,9329,0.00,2.70,0.00,0.000,6,0.000,0.021,3498,2276,1808,0,0,0,0,0,0
$STATE,9434,end climb,SURFACE_DEPTH_REACHED
$STATE,9434,begin surface coast
$FINISH,-0.5,1.013518
$STATE,9479,end surface coast,CONTROL_FINISHED_OK
$STATE,9479,begin surface
$SM_CCo,9501,33.38,0.535,0,0,1640,380.46
$SM_GC,0.47,0.00,0.00,33.38,0.000,0.000,0.535,472,2085,1640,-12.16,-2.69,380.46
$IRIDIUM_FIX,2152.74,-15807.17,280901,010127
$TT8_MAMPS,0.027612
$HUMID,67.60
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,19.80
$XPDR_PINGS,47
$24V_AH,23.4,38.342
$10V_AH,10.1,32.737
$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,50.175,132.075,407.000,33.375,0.000,61.278,78.143,320.785,11.750,0.000,14.713,935.030,6007.411,510.583,1982.062,809.561,33.370,1264.034,0.000,1978.242,0.000,0.534,0.000
$DEVICE_MAMPS,339.014,116.584,1003.236,535.366,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,290.377,215.572,307.961,701.944,1123.087,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355956
$DATA_FILE_SIZE,32015,429
$CAP_FILE_SIZE,123052,0
$CFSIZE,260165632,131141632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,27,0,0,0
$GPS,040712,035036,2158.205,-15809.922,28,1.3,28,9.9