version: 66.06
glider: 146
mission: 7
dive: 278
start: 7 5 112 11 32 13
data:
$ID,146
$MISSION,7
$DIVE,278
$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,-297356.22
$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,69
$R_STBD_OVSHOOT,39
$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
$GPS1,112429,2154.499,-15808.742,37,1.7,41,9.9
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-69.2
$GPS2,113119,2154.492,-15808.783,12,1.0,12,9.9
$SPEED_LIMITS,0.179,0.270
$TGT_NAME,KUHUKU2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.214,-0.164
$KALMAN_X,-134859.0,-11.7,21.6,126196.2,-733.5
$KALMAN_Y,190346.4,60.2,364.3,-276144.5,199.1
$MHEAD_RNG_PITCHd_Wd,117.5,16752,-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,-136.3,0.0,0.0,0,113,0.00,0.00,-88.03,0.000,6,0.000,0.000,469,2129,3746,0,0,0,0,0,0
$GC,118,-1.54,-136.3,3.6,-7.7,10,138,12.77,0.00,0.00,0.000,6,0.175,0.000,2767,2129,3747,0,0,0,0,0,0
$GC,422,-1.30,-136.3,75.2,-20.3,40,427,0.28,2.62,0.00,0.000,4,0.127,0.031,2800,3762,3748,0,0,0,0,0,0
$GC,494,-1.23,-136.3,89.9,-19.4,45,499,0.12,2.45,0.00,0.000,6,0.128,0.029,2853,2206,3748,0,0,0,0,0,0
$GC,762,-1.23,-136.3,128.8,-13.5,69,766,0.00,2.62,0.00,0.000,4,0.000,0.048,2853,605,3749,0,0,0,0,0,0
$GC,795,-1.23,-136.3,133.4,-13.5,71,799,0.00,2.45,0.00,0.000,6,0.000,0.025,2853,2182,3749,0,0,0,0,0,0
$GC,1057,-1.23,-136.3,161.6,-10.1,95,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2182,3750,0,0,0,0,0,0
$GC,1313,-1.23,-136.3,189.3,-12.1,119,1318,0.00,2.62,0.00,0.000,4,0.000,0.054,2853,602,3751,0,0,0,0,0,0
$GC,1348,-1.23,-136.3,195.0,-15.5,121,1354,0.00,2.45,0.00,0.000,6,0.000,0.026,2853,2175,3751,0,0,0,0,0,0
$GC,1632,-1.28,-136.3,233.1,-13.8,131,1636,0.00,2.53,0.00,0.000,4,0.000,0.038,2825,3747,3751,0,0,0,0,0,0
$GC,1653,-1.34,-136.3,236.3,-13.0,131,1659,0.15,2.45,0.00,0.000,6,0.060,0.025,2799,2168,3751,0,0,0,0,0,0
$GC,1909,-1.30,-136.3,265.5,-11.0,138,1914,0.15,2.58,0.00,0.000,4,0.106,0.037,2791,3750,3751,0,0,0,0,0,0
$GC,1945,-1.30,-136.3,268.8,-9.0,138,1951,0.68,2.45,0.00,0.000,6,0.075,0.029,2926,2181,3752,2,0,0,0,0,0
$GC,2195,-1.68,-136.3,276.8,-3.0,145,2201,0.95,2.65,0.00,0.000,4,0.025,0.056,2729,597,3752,0,0,0,0,0,0
$GC,2215,-1.82,-136.3,278.2,-4.1,145,2219,0.00,2.47,0.00,0.000,6,0.000,0.025,2729,2167,3752,0,0,0,0,0,0
$GC,2475,-1.68,-136.3,313.4,-13.2,152,2476,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2167,3752,0,0,0,0,0,0
$GC,2719,-1.54,-136.3,347.2,-13.7,158,2721,0.22,0.00,0.00,0.000,6,0.101,0.000,2776,2167,3751,0,0,0,0,0,0
$GC,2965,-1.50,-136.3,377.3,-12.2,164,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2167,3750,0,0,0,0,0,0
$GC,3206,-1.50,-136.3,407.8,-12.5,170,3211,0.00,2.65,0.00,0.000,4,0.000,0.061,2739,3751,3749,0,0,0,0,0,0
$GC,3233,-1.50,-136.3,411.6,-13.4,170,3238,0.00,2.58,0.00,0.000,6,0.000,0.044,2776,2195,3749,0,0,0,0,0,0
$GC,3483,-1.50,-136.3,440.4,-11.2,176,3488,0.00,2.60,0.00,0.000,4,0.000,0.051,2777,3754,3748,0,0,0,0,0,0
$GC,3529,-1.50,-136.3,445.2,-10.7,177,3535,0.35,2.65,0.00,0.000,6,0.089,0.054,2822,2181,3748,1,0,0,0,0,0
$GC,3808,-1.66,-136.3,460.7,-4.9,184,3813,0.43,2.62,0.00,0.000,4,0.035,0.058,2690,3746,3748,0,0,0,0,0,0
$GC,3861,-1.56,-136.3,465.3,-9.8,185,3866,0.20,2.65,0.00,0.000,6,0.103,0.052,2776,2185,3744,0,0,0,0,0,0
$GC,4133,-1.56,-136.3,489.0,-8.9,192,4138,0.00,2.65,0.00,0.000,4,0.000,0.063,2765,3747,3744,0,0,0,0,0,0
$GC,4149,-1.56,-136.3,490.6,-9.3,192,4153,0.00,2.65,0.00,0.000,6,0.000,0.052,2777,2187,3743,0,0,0,0,0,0
$GC,4412,-1.56,-136.3,518.2,-10.9,199,4416,0.00,2.65,0.00,0.000,4,0.000,0.068,2775,3744,3742,0,0,0,0,0,0
$GC,4512,-1.56,-136.3,530.0,-11.6,201,4516,0.00,2.67,0.00,0.000,6,0.000,0.061,2776,2192,3741,0,0,0,0,0,0
$GC,4780,-1.56,-136.3,555.1,-9.4,208,4785,0.00,2.70,0.00,0.000,4,0.000,0.072,2769,3741,3739,0,0,0,0,0,0
$GC,4801,-1.56,-136.3,557.7,-10.4,208,4806,0.00,2.67,0.00,0.000,6,0.000,0.067,2776,2193,3739,0,0,0,0,0,0
$GC,5057,-1.56,-136.3,581.9,-9.4,215,5058,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2193,3737,0,0,0,0,0,0
$STATE,5257,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5257,begin apogee
$GC,5265,-0.31,0.0,601.3,9.5,220,5381,1.20,0.00,112.25,1.013,6,0.097,0.000,3044,2193,3190,0,0,0,0,0,0
$STATE,5382,end apogee,CONTROL_FINISHED_OK
$STATE,5382,begin climb
$GC,5384,1.54,136.3,603.3,0.0,223,5512,1.73,3.25,114.82,0.982,4,0.047,0.128,3452,599,2632,0,0,0,0,0,0
$GC,5520,1.47,157.8,593.7,11.2,226,5545,0.00,2.70,20.08,0.912,6,0.000,0.056,3452,2154,2546,0,0,0,0,0,0
$GC,5790,1.41,157.8,559.7,12.6,232,5795,0.15,2.83,0.00,0.000,4,0.129,0.070,3424,3766,2537,0,0,0,0,0,0
$GC,5825,1.41,158.2,555.6,12.5,232,5830,0.00,2.75,0.00,0.000,6,0.000,0.056,3424,2182,2537,0,0,0,0,0,0
$GC,6076,1.43,168.4,526.5,11.9,239,6087,0.00,0.00,8.95,0.826,6,0.000,0.000,3424,2182,2503,0,0,0,0,0,0
$GC,6318,1.44,179.5,497.5,11.8,245,6335,0.00,2.75,10.95,0.852,4,0.000,0.058,3422,3776,2457,0,0,0,0,0,0
$GC,6420,1.44,179.5,484.1,13.5,247,6425,0.00,2.72,0.00,0.000,6,0.000,0.051,3417,2188,2455,0,0,0,0,0,0
$GC,6686,1.44,181.8,450.9,12.4,254,6688,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2188,2453,0,0,0,0,0,0
$GC,6930,1.44,181.8,420.8,12.5,260,6934,0.00,2.65,0.00,0.000,4,0.000,0.050,3346,3780,2452,0,0,0,0,0,0
$GC,6992,1.44,181.8,412.6,13.0,261,6997,0.00,2.65,0.00,0.000,6,0.000,0.045,3424,2196,2451,0,0,0,0,0,0
$GC,7253,1.44,181.8,378.9,12.9,268,7254,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2196,2450,0,0,0,0,0,0
$GC,7498,1.50,193.6,350.0,11.8,274,7517,0.00,2.70,12.88,0.804,4,0.000,0.046,3326,3770,2399,0,0,0,0,0,0
$GC,7547,1.55,196.9,344.2,12.3,275,7558,0.15,2.62,4.32,0.582,6,0.077,0.041,3461,2198,2387,0,0,0,0,0,0
$GC,7825,1.59,222.4,312.6,10.9,282,7854,0.00,2.85,23.90,0.808,4,0.000,0.071,3462,592,2283,0,0,0,0,0,0
$GC,7877,1.59,222.4,306.1,12.9,283,7882,0.00,2.67,0.00,0.000,6,0.000,0.029,3446,2229,2281,0,0,0,0,0,0
$GC,8152,1.60,236.6,274.0,11.6,290,8171,0.00,2.60,13.52,0.747,4,0.000,0.051,3380,3754,2224,0,0,0,0,0,0
$GC,8216,1.64,236.6,265.6,12.9,291,8221,0.00,2.55,0.00,0.000,6,0.000,0.031,3457,2210,2224,0,0,0,0,0,0
$GC,8478,1.64,236.6,230.4,14.1,298,8480,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,2210,2221,0,0,0,0,0,0
$GC,8721,1.70,253.3,200.2,11.5,304,8742,0.10,2.62,15.60,0.697,4,0.089,0.044,3438,3763,2156,0,0,0,0,0,0
$GC,8788,1.70,253.3,191.9,12.7,307,8794,0.00,2.58,0.00,0.000,6,0.000,0.031,3490,2200,2154,0,0,0,0,0,0
$GC,9050,1.73,278.7,163.1,10.9,332,9078,0.00,2.80,23.05,0.672,4,0.000,0.054,3490,594,2052,0,0,0,0,0,0
$GC,9113,1.73,278.7,156.2,13.1,337,9118,0.00,2.60,0.00,0.000,6,0.000,0.023,3490,2214,2050,0,0,0,0,0,0
$GC,9380,1.73,278.7,120.6,14.1,361,9384,0.00,2.50,0.00,0.000,4,0.000,0.042,3488,3758,2049,0,0,0,0,0,0
$GC,9402,1.73,278.7,116.8,13.6,362,9413,0.00,2.53,0.00,0.000,6,0.000,0.035,3489,2206,2048,0,0,0,0,0,0
$GC,9670,1.77,278.7,80.2,12.7,387,9674,0.00,2.67,0.00,0.000,4,0.000,0.054,3483,596,2048,0,0,0,0,0,0
$GC,9704,1.80,306.9,76.2,10.8,389,9735,0.00,2.53,25.02,0.588,6,0.000,0.022,3489,2208,1939,0,0,0,0,0,0
$GC,9992,1.84,306.9,43.0,12.9,415,9997,0.10,2.53,0.00,0.000,4,0.088,0.036,3417,3759,1936,0,0,0,0,0,0
$GC,10042,1.84,306.9,36.3,13.5,418,10047,0.00,2.50,0.00,0.000,6,0.000,0.028,3520,2200,1936,0,0,0,0,0,0
$STATE,10271,end climb,SURFACE_DEPTH_REACHED
$STATE,10271,begin surface coast
$FINISH,-0.5,1.011414
$STATE,10316,end surface coast,CONTROL_FINISHED_OK
$STATE,10316,begin surface
$SM_CCo,10338,59.08,0.528,0,0,1640,380.21
$SM_GC,0.32,0.00,0.00,59.08,0.000,0.000,0.528,466,2196,1640,-12.19,0.45,380.21
$IRIDIUM_FIX,2143.45,-15806.74,290901,080810
$TT8_MAMPS,0.027612
$HUMID,64.53
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,20.90
$XPDR_PINGS,49
$24V_AH,23.4,39.896
$10V_AH,10.3,34.050
$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,32.050,126.250,385.350,59.075,0.000,28.509,34.405,198.326,12.250,0.000,13.560,945.052,6957.738,495.701,1827.772,580.693,33.363,1188.131,0.000,1848.375,0.000,0.534,0.000
$DEVICE_MAMPS,174.876,128.089,1013.207,527.696,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,304.859,221.969,312.135,664.580,1054.160,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355964
$DATA_FILE_SIZE,35061,449
$CAP_FILE_SIZE,112837,0
$CFSIZE,260165632,130498560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$GPS,050712,142654,2153.492,-15808.178,43,1.2,43,9.9