version: 66.06
glider: 146
mission: 7
dive: 285
start: 7 6 112 9 14 23
data:
$ID,146
$MISSION,7
$DIVE,285
$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,-297505.66
$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,24
$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
$GPS1,090314,2151.429,-15807.435,35,99.0,54,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.24
$_SM_ANGLEo,-69.1
$GPS2,091332,2151.381,-15807.551,9,2.6,28,9.9
$SPEED_LIMITS,0.179,0.270
$TGT_NAME,KUHUKU2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.210,-0.170
$KALMAN_X,-146501.6,222.9,-1058.4,140794.3,-515.3
$KALMAN_Y,191982.3,155.2,-208.0,-283062.6,639.7
$MHEAD_RNG_PITCHd_Wd,119.1,11414,-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,-86.28,0.000,6,0.000,0.000,471,2165,3746,0,0,0,0,0,0
$GC,116,-1.54,-136.3,4.2,-9.0,10,136,12.68,2.60,0.00,0.000,4,0.171,0.038,2769,591,3747,0,0,0,0,0,0
$GC,203,-1.32,-136.3,33.8,-22.5,19,209,0.28,2.50,0.00,0.000,6,0.118,0.020,2825,2195,3748,0,0,0,0,0,0
$GC,472,-1.23,-136.3,80.6,-16.0,43,477,0.10,2.53,0.00,0.000,4,0.141,0.035,2843,3758,3746,0,0,0,0,0,0
$GC,507,-1.17,-136.3,86.3,-14.9,45,512,0.00,2.50,0.00,0.000,6,0.000,0.022,2843,2177,3749,0,0,0,0,0,0
$GC,774,-1.17,-136.3,122.9,-13.7,69,778,0.00,2.58,0.00,0.000,4,0.000,0.051,2844,601,3750,0,0,0,0,0,0
$GC,820,-1.17,-136.3,130.2,-13.7,72,830,0.00,2.53,0.00,0.000,6,0.000,0.025,2844,2202,3750,0,0,0,0,0,0
$GC,1087,-1.17,-136.3,164.1,-13.4,97,1091,0.00,2.62,0.00,0.000,4,0.000,0.049,2808,601,3751,0,0,0,0,0,0
$GC,1108,-1.17,-136.3,168.0,-13.7,98,1114,0.00,2.47,0.00,0.000,6,0.000,0.017,2843,2204,3750,0,0,0,0,0,0
$GC,1369,-1.17,-136.3,198.9,-10.9,123,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2204,3751,0,0,0,0,0,0
$GC,1626,-1.22,-136.3,227.2,-11.2,130,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2204,3752,0,0,0,0,0,0
$GC,1867,-1.29,-136.3,256.2,-12.2,136,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2205,3752,0,0,0,0,0,0
$GC,2111,-1.37,-136.3,281.2,-9.8,142,2116,0.12,2.70,0.00,0.000,4,0.071,0.056,2795,606,3752,0,0,0,0,0,0
$GC,2135,-1.37,-136.3,283.8,-10.9,142,2140,0.10,2.47,0.00,0.000,6,0.122,0.025,2816,2175,3752,0,0,0,0,0,0
$GC,2390,-1.37,-136.3,313.1,-11.3,149,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2172,3751,0,0,0,0,0,0
$GC,2635,-1.41,-136.3,340.8,-11.7,155,2639,0.00,2.67,0.00,0.000,4,0.000,0.071,2815,610,3751,0,0,0,0,0,0
$GC,2652,-1.41,-136.3,342.8,-12.0,155,2657,0.00,2.53,0.00,0.000,6,0.000,0.036,2816,2179,3751,0,0,0,0,0,0
$GC,2915,-1.46,-136.3,376.3,-13.0,162,2919,0.00,2.75,0.00,0.000,4,0.000,0.077,2815,606,3749,0,0,0,0,0,0
$GC,2981,-1.46,-136.3,385.2,-12.5,163,2985,0.00,2.55,0.00,0.000,6,0.000,0.041,2816,2185,3749,0,0,0,0,0,0
$GC,3238,-1.51,-136.3,411.1,-9.7,170,3244,0.12,2.80,0.00,0.000,4,0.068,0.080,2768,607,3748,0,0,0,0,0,0
$GC,3260,-1.51,-136.3,413.8,-10.3,170,3265,0.00,2.58,0.00,0.000,6,0.000,0.043,2768,2181,3748,0,0,0,0,0,0
$GC,3518,-1.47,-136.3,444.0,-12.1,177,3523,0.12,2.70,0.00,0.000,4,0.115,0.062,2781,3765,3746,0,0,0,0,0,0
$GC,3574,-1.47,-136.3,450.8,-11.2,178,3578,0.00,2.60,0.00,0.000,6,0.000,0.050,2794,2206,3746,0,0,0,0,0,0
$GC,3840,-1.47,-136.3,476.0,-9.0,185,3845,0.00,2.65,0.00,0.000,4,0.000,0.054,2793,3771,3744,0,0,0,0,0,0
$GC,3869,-1.47,-136.3,478.6,-9.6,185,3873,0.00,2.65,0.00,0.000,6,0.000,0.050,2794,2196,3744,0,0,0,0,0,0
$GC,4119,-1.47,-136.3,502.1,-9.6,191,4124,0.00,2.67,0.00,0.000,4,0.000,0.058,2794,3771,3742,0,0,0,0,0,0
$GC,4158,-1.47,-136.3,506.5,-10.9,192,4163,0.00,2.67,0.00,0.000,6,0.000,0.056,2794,2198,3742,0,0,0,0,0,0
$GC,4443,-1.47,-136.3,538.1,-11.6,199,4445,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2198,3740,0,0,0,0,0,0
$GC,4685,-1.47,-136.3,563.7,-10.4,205,4690,0.00,2.75,0.00,0.000,4,0.000,0.080,2794,3761,3739,0,0,0,0,0,0
$GC,4780,-1.52,-136.3,573.5,-10.5,207,4785,0.00,2.70,0.00,0.000,6,0.000,0.066,2795,2211,3738,0,0,0,0,0,0
$GC,5055,-1.56,-136.3,598.8,-9.3,214,5060,0.00,3.10,0.00,0.000,4,0.000,0.120,2795,586,3735,0,0,0,0,0,0
$GC,5065,-1.56,-136.3,599.9,-8.9,214,5069,0.00,2.50,0.00,0.000,3,0.000,0.058,2794,2054,3735,0,0,0,0,0,0
$STATE,5070,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5070,begin apogee
$GC,5076,-0.31,0.0,600.4,8.7,214,5192,1.10,0.00,112.07,1.006,6,0.094,0.000,3044,2179,3190,0,0,0,0,0,0
$STATE,5193,end apogee,CONTROL_FINISHED_OK
$STATE,5193,begin climb
$GC,5197,1.54,136.3,602.3,0.0,217,5321,1.75,2.95,115.85,0.979,4,0.047,0.084,3456,3775,2635,0,0,0,0,0,0
$GC,5356,1.45,136.3,587.8,15.1,221,5362,0.15,2.83,0.00,0.000,6,0.126,0.065,3429,2180,2629,0,0,0,0,0,0
$GC,5625,1.45,139.3,554.3,12.3,228,5626,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2179,2625,0,0,0,0,0,0
$GC,5867,1.47,156.6,526.2,11.4,234,5891,0.00,2.83,17.35,0.893,4,0.000,0.057,3337,3766,2551,0,0,0,0,0,0
$GC,5959,1.47,156.6,514.8,13.4,236,5964,0.30,2.72,0.00,0.000,6,0.057,0.057,3448,2181,2549,1,0,0,0,0,0
$GC,6240,1.32,156.6,473.7,14.9,243,6245,0.50,2.67,0.00,0.000,4,0.109,0.048,3372,3769,2546,0,0,0,0,0,0
$GC,6348,1.40,189.3,461.2,10.5,245,6382,0.00,2.65,29.02,0.896,6,0.000,0.046,3406,2204,2418,0,0,0,0,0,0
$GC,6659,1.51,223.2,428.7,10.4,253,6695,0.15,0.00,31.33,0.876,6,0.177,0.000,3445,2204,2279,0,0,0,0,0,0
$GC,6939,1.51,223.2,391.4,13.7,260,6943,0.00,2.62,0.00,0.000,4,0.000,0.048,3404,3781,2274,0,0,0,0,0,0
$GC,6990,1.51,223.2,384.3,14.3,261,6995,0.00,2.65,0.00,0.000,6,0.000,0.041,3446,2200,2273,0,0,0,0,0,0
$GC,7263,1.51,223.2,346.2,14.0,268,7268,0.00,2.83,0.00,0.000,4,0.000,0.077,3446,591,2272,0,0,0,0,0,0
$GC,7307,1.51,223.2,339.8,14.6,269,7311,0.00,2.65,0.00,0.000,6,0.000,0.031,3445,2226,2270,0,0,0,0,0,0
$GC,7587,1.51,223.5,304.2,12.5,276,7588,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2227,2270,0,0,0,0,0,0
$GC,7829,1.58,252.1,277.8,10.7,282,7856,0.00,0.00,25.20,0.774,6,0.000,0.000,3444,2227,2162,0,0,0,0,0,0
$GC,8072,1.64,252.1,246.7,13.4,288,8077,0.10,2.55,0.00,0.000,4,0.089,0.044,3412,3759,2158,0,0,0,0,0,0
$GC,8101,1.64,252.1,242.4,15.7,288,8106,0.00,2.58,0.00,0.000,6,0.000,0.033,3473,2187,2157,0,0,0,0,0,0
$GC,8351,1.64,252.1,205.7,14.2,294,8355,0.00,2.67,0.00,0.000,4,0.000,0.058,3474,598,2156,0,0,0,0,0,0
$GC,8383,1.64,252.1,200.9,15.0,294,8389,0.00,2.55,0.00,0.000,6,0.000,0.024,3457,2195,2155,0,0,0,0,0,0
$GC,8651,1.66,272.3,169.9,11.3,316,8675,0.00,2.62,17.83,0.673,4,0.000,0.039,3473,3751,2079,0,0,0,0,0,0
$GC,8735,1.72,272.3,159.0,12.6,323,8740,0.12,2.53,0.00,0.000,6,0.078,0.033,3507,2196,2078,0,0,0,0,0,0
$GC,9001,1.72,272.3,122.2,14.0,347,9005,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,2196,2077,0,0,0,0,0,0
$GC,9265,1.73,274.7,85.7,12.4,372,9270,0.00,2.67,0.00,0.000,4,0.000,0.052,3508,597,2077,0,0,0,0,0,0
$GC,9296,1.73,274.7,81.3,13.1,374,9300,0.00,2.55,0.00,0.000,6,0.000,0.021,3493,2208,2075,0,0,0,0,0,0
$GC,9564,1.73,280.9,50.8,12.1,398,9580,0.00,2.55,8.70,0.518,4,0.000,0.035,3407,3757,2045,0,0,0,0,0,0
$GC,9624,1.76,305.4,43.5,11.0,402,9655,0.00,2.50,22.67,0.555,6,0.000,0.026,3508,2204,1945,0,0,0,0,0,0
$STATE,9901,end climb,SURFACE_DEPTH_REACHED
$STATE,9901,begin surface coast
$FINISH,-0.5,1.011172
$STATE,9945,end surface coast,CONTROL_FINISHED_OK
$STATE,9945,begin surface
$SM_CCo,9966,60.00,0.528,0,0,1640,380.21
$SM_GC,0.39,0.00,0.00,60.00,0.000,0.000,0.528,467,2197,1640,-12.18,0.48,380.21
$IRIDIUM_FIX,2143.45,-15804.59,300901,090924
$TT8_MAMPS,0.027612
$HUMID,64.33
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,20.90
$XPDR_PINGS,42
$24V_AH,23.4,40.842
$10V_AH,10.2,34.830
$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,30.050,121.775,380.025,60.000,0.000,54.547,76.665,254.270,10.500,0.000,30.828,918.056,6700.357,525.419,1800.194,699.731,33.370,1175.178,0.000,1794.162,0.000,0.534,0.000
$DEVICE_MAMPS,177.177,120.419,1006.304,527.696,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,296.412,215.885,306.876,655.943,1045.786,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356060
$DATA_FILE_SIZE,31965,437
$CAP_FILE_SIZE,110968,0
$CFSIZE,260165632,130121728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,060712,120253,2151.253,-15806.686,40,1.9,40,9.9