version: 66.06
glider: 146
mission: 7
dive: 284
start: 7 6 112 6 2 41
data:
$ID,146
$MISSION,7
$DIVE,284
$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,-297474.22
$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,26
$R_STBD_OVSHOOT,40
$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
$GPS1,055033,2151.341,-15807.324,9,99.0,28,9.9
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-63.4
$GPS2,060148,2151.264,-15807.569,12,1.4,12,9.9
$SPEED_LIMITS,0.179,0.270
$TGT_NAME,KUHUKU2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.269,-0.020
$KALMAN_X,-145149.4,299.9,66.1,138217.9,-2415.4
$KALMAN_Y,191652.8,279.0,-393.2,-282885.3,84.7
$MHEAD_RNG_PITCHd_Wd,84.3,11325,-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,18,-1.54,-136.3,0.0,0.0,0,159,0.00,0.00,-133.32,0.000,6,0.000,0.000,470,2208,3745,0,0,0,0,0,0
$GC,166,-1.54,-136.3,4.0,-9.2,15,187,12.65,2.53,0.00,0.000,4,0.171,0.036,2679,3757,3747,0,0,0,0,0,0
$GC,206,-0.64,-136.3,22.9,-41.0,19,215,0.95,2.55,0.00,0.000,6,0.101,0.024,2966,2173,3747,0,0,0,0,0,0
$GC,488,-0.82,-136.3,54.4,-10.4,46,499,0.12,0.00,0.00,0.000,6,0.066,0.000,2917,2173,3746,0,0,0,0,0,0
$GC,758,-0.94,-136.3,83.3,-9.8,71,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2173,3747,0,0,0,0,0,0
$GC,1021,-1.07,-136.3,108.6,-9.1,96,1023,0.15,0.00,0.00,0.000,6,0.060,0.000,2860,2173,3747,0,0,0,0,0,0
$GC,1274,-1.07,-136.3,135.4,-10.0,120,1279,0.10,2.60,0.00,0.000,4,0.114,0.052,2881,594,3747,0,0,0,0,0,0
$GC,1299,-1.12,-136.3,137.1,-9.9,121,1303,0.00,2.45,0.00,0.000,6,0.000,0.025,2881,2190,3747,0,0,0,0,0,0
$GC,1566,-1.20,-136.3,161.0,-8.3,145,1571,0.12,2.50,0.00,0.000,4,0.069,0.037,2811,3747,3745,0,0,0,0,0,0
$GC,1596,-1.20,-136.3,164.2,-9.8,147,1600,0.00,2.45,0.00,0.000,6,0.000,0.028,2833,2181,3746,0,0,0,0,0,0
$GC,1856,-1.20,-136.3,191.5,-11.4,171,1861,0.00,2.60,0.00,0.000,4,0.000,0.052,2829,608,3748,0,0,0,0,0,0
$GC,1880,-1.20,-136.3,194.4,-11.8,172,1885,0.00,2.42,0.00,0.000,6,0.000,0.018,2833,2182,3747,0,0,0,0,0,0
$GC,2144,-1.20,-136.3,221.2,-10.0,183,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2182,3747,0,0,0,0,0,0
$GC,2386,-1.25,-136.3,246.8,-10.6,189,2391,0.00,2.62,0.00,0.000,4,0.000,0.059,2831,604,3748,0,0,0,0,0,0
$GC,2413,-1.25,-136.3,249.8,-10.5,189,2418,0.00,2.45,0.00,0.000,6,0.000,0.021,2833,2177,3747,0,0,0,0,0,0
$GC,2666,-1.30,-136.3,273.6,-9.3,195,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2177,3747,0,0,0,0,0,0
$GC,2908,-1.36,-136.3,297.5,-9.9,201,2912,0.00,2.58,0.00,0.000,4,0.000,0.046,2794,3761,3746,0,0,0,0,0,0
$GC,2963,-1.44,-136.3,303.9,-11.4,202,2968,0.15,2.53,0.00,0.000,6,0.060,0.032,2777,2181,3746,0,0,0,0,0,0
$GC,3232,-1.40,-136.3,340.2,-14.0,209,3234,0.15,0.00,0.00,0.000,6,0.104,0.000,2809,2181,3744,0,0,0,0,0,0
$GC,3474,-1.40,-136.3,369.8,-12.0,215,3475,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2181,3743,0,0,0,0,0,0
$GC,3718,-1.43,-136.3,397.7,-11.4,221,3722,0.00,2.80,0.00,0.000,4,0.000,0.091,2809,600,3742,0,0,0,0,0,0
$GC,3736,-1.43,-136.3,399.7,-11.4,221,3740,0.00,2.55,0.00,0.000,6,0.000,0.036,2809,2158,3741,0,0,0,0,0,0
$GC,3997,-1.48,-136.3,430.1,-11.7,228,4001,0.00,2.70,0.00,0.000,4,0.000,0.064,2799,3761,3740,0,0,0,0,0,0
$GC,4018,-1.52,-136.3,433.0,-12.8,228,4023,0.00,2.62,0.00,0.000,6,0.000,0.048,2761,2183,3740,0,0,0,0,0,0
$GC,4275,-1.57,-136.3,463.0,-11.6,235,4277,0.15,0.00,0.00,0.000,6,0.061,0.000,2759,2183,3737,0,0,0,0,0,0
$GC,4517,-1.52,-136.3,492.4,-12.0,241,4522,0.10,2.75,0.00,0.000,4,0.122,0.063,2729,3767,3736,0,0,0,0,0,0
$GC,4547,-1.52,-136.3,495.7,-11.8,241,4551,0.00,2.70,0.00,0.000,6,0.000,0.058,2781,2171,3736,0,0,0,0,0,0
$GC,4798,-1.52,-136.3,519.8,-9.2,247,4803,0.00,2.72,0.00,0.000,4,0.000,0.068,2768,3766,3733,0,0,0,0,0,0
$GC,4893,-1.52,-136.3,528.8,-9.9,249,4897,0.00,2.72,0.00,0.000,6,0.000,0.063,2780,2168,3733,0,0,0,0,0,0
$GC,5167,-1.52,-136.3,552.5,-8.9,256,5171,0.00,2.75,0.00,0.000,4,0.000,0.074,2768,3758,3731,0,0,0,0,0,0
$GC,5182,-1.52,-136.3,554.2,-9.1,256,5188,0.85,2.72,0.00,0.000,6,0.080,0.061,2807,2175,3731,3,0,0,0,0,0
$GC,5445,-1.96,-136.3,564.0,-3.6,263,5448,1.20,0.00,0.00,0.000,6,0.037,0.000,2671,2175,3729,0,0,0,0,0,0
$GC,5690,-1.77,-136.3,598.6,-15.1,269,5695,0.25,2.83,0.00,0.000,4,0.104,0.090,2707,3757,3728,0,0,0,0,0,0
$STATE,5699,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5699,begin apogee
$GC,5708,-0.31,0.0,600.6,15.1,269,5822,1.42,0.00,110.38,1.012,6,0.092,0.000,3040,2181,3190,0,0,0,0,0,0
$STATE,5823,end apogee,CONTROL_FINISHED_OK
$STATE,5823,begin climb
$GC,5827,1.54,136.3,606.0,0.0,272,5955,1.75,3.15,115.03,0.987,4,0.046,0.117,3454,594,2634,0,0,0,0,0,0
$GC,5961,1.49,172.0,598.3,10.3,275,6001,0.00,2.75,32.58,0.939,6,0.000,0.057,3454,2171,2487,0,0,0,0,0,0
$GC,6284,1.44,172.0,558.5,12.6,283,6289,0.12,2.80,0.00,0.000,4,0.131,0.072,3431,3769,2478,0,0,0,0,0,0
$GC,6345,1.44,172.2,549.9,12.5,284,6350,0.00,2.72,0.00,0.000,6,0.000,0.061,3431,2184,2476,0,0,0,0,0,0
$GC,6608,1.44,178.1,518.5,12.1,291,6617,0.00,2.72,4.32,0.634,4,0.000,0.061,3397,3768,2463,0,0,0,0,0,0
$GC,6656,1.44,178.1,512.1,12.8,292,6661,0.00,2.70,0.00,0.000,6,0.000,0.059,3450,2195,2462,0,0,0,0,0,0
$GC,6929,1.45,183.6,479.4,12.2,299,6942,0.00,2.70,6.38,0.757,4,0.000,0.053,3333,3773,2441,0,0,0,0,0,0
$GC,6978,1.45,183.6,473.4,13.4,300,6982,0.00,2.70,0.00,0.000,6,0.000,0.055,3431,2199,2439,0,0,0,0,0,0
$GC,7255,1.46,192.9,439.0,11.9,307,7267,0.00,0.00,9.60,0.816,6,0.000,0.000,3431,2199,2404,0,0,0,0,0,0
$GC,7501,1.47,201.6,409.5,12.0,313,7515,0.00,2.67,9.07,0.792,4,0.000,0.048,3389,3775,2368,0,0,0,0,0,0
$GC,7566,1.51,203.4,401.1,12.4,314,7571,0.00,2.65,0.00,0.000,6,0.000,0.045,3433,2200,2366,0,0,0,0,0,0
$GC,7827,1.56,211.5,369.7,12.0,321,7844,0.10,2.90,10.40,0.792,4,0.094,0.079,3458,591,2326,0,0,0,0,0,0
$GC,7857,1.56,211.5,366.0,13.7,321,7861,0.00,2.65,0.00,0.000,6,0.000,0.032,3458,2227,2325,0,0,0,0,0,0
$GC,8106,1.56,211.5,331.6,13.8,327,8111,0.00,2.83,0.00,0.000,4,0.000,0.069,3457,588,2323,0,0,0,0,0,0
$GC,8155,1.56,211.5,324.2,15.3,328,8160,0.00,2.58,0.00,0.000,6,0.000,0.028,3458,2200,2321,0,0,0,0,0,0
$GC,8430,1.56,211.5,286.1,14.0,335,8434,0.00,2.58,0.00,0.000,4,0.000,0.051,3413,3759,2324,0,0,0,0,0,0
$GC,8462,1.56,211.5,281.3,14.0,335,8468,0.00,2.58,0.00,0.000,6,0.000,0.036,3458,2181,2321,0,0,0,0,0,0
$GC,8712,1.60,241.8,253.3,10.6,342,8747,0.00,2.83,27.12,0.765,4,0.000,0.061,3458,599,2203,0,0,0,0,0,0
$GC,8766,1.60,244.3,247.4,12.3,343,8770,0.00,2.60,0.00,0.000,6,0.000,0.025,3458,2194,2201,0,0,0,0,0,0
$GC,9038,1.62,264.4,216.3,11.3,350,9063,0.00,2.65,20.33,0.718,4,0.000,0.043,3387,3765,2112,0,0,0,0,0,0
$GC,9124,1.68,266.3,205.9,12.4,352,9129,0.00,2.60,0.00,0.000,6,0.000,0.036,3457,2180,2110,0,0,0,0,0,0
$GC,9387,1.73,266.3,169.9,14.6,371,9392,0.15,2.70,0.00,0.000,4,0.072,0.061,3498,595,2108,0,0,0,0,0,0
$GC,9422,1.73,266.3,165.1,16.4,373,9427,0.00,2.55,0.00,0.000,6,0.000,0.023,3498,2193,2106,0,0,0,0,0,0
$GC,9688,1.73,266.3,125.8,16.2,397,9693,0.00,2.55,0.00,0.000,4,0.000,0.038,3471,3756,2106,0,0,0,0,0,0
$GC,9725,1.73,266.3,119.6,15.6,399,9731,0.00,2.58,0.00,0.000,6,0.000,0.028,3498,2167,2106,0,0,0,0,0,0
$GC,9986,1.75,285.4,85.3,11.3,424,10011,0.00,2.67,18.90,0.601,4,0.000,0.053,3498,599,2022,0,0,0,0,0,0
$GC,10043,1.75,285.4,78.4,13.0,428,10053,0.00,2.53,0.00,0.000,6,0.000,0.021,3498,2166,2022,0,0,0,0,0,0
$GC,10309,1.81,300.1,50.3,11.6,453,10328,0.00,2.60,14.02,0.551,4,0.000,0.036,3446,3757,1965,0,0,0,0,0,0
$GC,10419,1.87,300.1,36.4,13.8,460,10430,0.15,2.60,0.00,0.000,6,0.041,0.029,3543,2175,1963,0,0,0,0,0,0
$STATE,10615,end climb,SURFACE_DEPTH_REACHED
$STATE,10615,begin surface coast
$FINISH,-0.4,1.012717
$STATE,10649,end surface coast,CONTROL_FINISHED_OK
$STATE,10649,begin surface
$SM_CCo,10673,63.78,0.535,0,0,1640,380.21
$SM_GC,0.18,0.00,0.00,63.78,0.000,0.000,0.535,472,2166,1640,-12.16,-0.40,380.21
$IRIDIUM_FIX,2143.45,-15806.74,300901,020235
$TT8_MAMPS,0.027612
$HUMID,65.31
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,20.30
$XPDR_PINGS,51
$24V_AH,23.4,40.713
$10V_AH,10.2,34.723
$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,33.075,138.075,378.125,63.775,0.000,25.029,37.206,466.995,12.750,0.000,13.954,1010.810,6944.465,520.597,2074.269,862.069,33.369,1295.428,0.000,2079.719,0.000,0.534,0.000
$DEVICE_MAMPS,171.041,117.351,1011.673,535.366,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,330.238,249.263,353.948,781.529,1247.328,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356192
$DATA_FILE_SIZE,38391,487
$CAP_FILE_SIZE,126211,0
$CFSIZE,260165632,130158592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$GPS,060712,090314,2151.429,-15807.435,35,99.0,54,9.9