version: 66.06
glider: 146
mission: 7
dive: 286
start: 7 6 112 12 20 48
data:
$ID,146
$MISSION,7
$DIVE,286
$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,-297522.06
$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
$GPS1,120253,2151.253,-15806.686,40,1.9,40,9.9
$_CALLS,4
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-68.3
$GPS2,121955,2151.207,-15806.772,14,1.8,14,9.9
$SPEED_LIMITS,0.179,0.270
$TGT_NAME,KUHUKU2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.217,-0.160
$KALMAN_X,-147701.6,-75.2,-235.8,142799.9,42.8
$KALMAN_Y,192589.9,67.6,543.5,-284659.7,-18.0
$MHEAD_RNG_PITCHd_Wd,116.4,10129,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.54,-136.3,0.0,0.0,0,116,0.00,0.00,-86.50,0.000,6,0.000,0.000,466,2197,3747,0,0,0,0,0,0
$GC,119,-1.54,-136.3,4.1,-9.7,10,138,12.73,2.62,0.00,0.000,4,0.172,0.038,2747,584,3748,0,0,0,0,0,0
$GC,237,-1.32,-136.3,36.6,-19.9,22,242,0.28,2.50,0.00,0.000,6,0.120,0.024,2824,2186,3749,0,0,0,0,0,0
$GC,503,-1.21,-136.3,80.3,-15.3,46,513,0.12,0.00,0.00,0.000,6,0.131,0.000,2849,2186,3747,0,0,0,0,0,0
$GC,772,-1.21,-136.3,118.4,-14.0,71,776,0.00,2.62,0.00,0.000,4,0.000,0.043,2849,594,3749,0,0,0,0,0,0
$GC,804,-1.21,-136.3,122.9,-13.3,73,809,0.00,2.47,0.00,0.000,6,0.000,0.024,2849,2188,3749,0,0,0,0,0,0
$GC,1071,-1.21,-136.3,158.2,-13.3,97,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2188,3750,0,0,0,0,0,0
$GC,1335,-1.21,-136.3,195.7,-13.5,122,1339,0.00,2.65,0.00,0.000,4,0.000,0.046,2849,587,3750,0,0,0,0,0,0
$GC,1358,-1.21,-136.3,199.3,-14.3,123,1368,0.00,2.47,0.00,0.000,6,0.000,0.018,2849,2171,3750,0,0,0,0,0,0
$GC,1608,-1.25,-136.3,226.7,-10.0,130,1610,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2171,3750,0,0,0,0,0,0
$GC,1852,-1.31,-136.3,250.4,-9.8,136,1856,0.00,2.60,0.00,0.000,4,0.000,0.051,2849,598,3751,0,0,0,0,0,0
$GC,1887,-1.36,-136.3,253.9,-10.4,136,1893,0.15,2.45,0.00,0.000,6,0.059,0.019,2793,2167,3751,0,0,0,0,0,0
$GC,2137,-1.32,-136.3,286.0,-13.1,143,2142,0.15,2.58,0.00,0.000,4,0.103,0.037,2797,3754,3751,0,0,0,0,0,0
$GC,2217,-1.36,-136.3,296.9,-13.2,144,2223,0.00,2.50,0.00,0.000,6,0.000,0.025,2824,2168,3751,0,0,0,0,0,0
$GC,2468,-1.41,-136.3,328.0,-12.1,151,2472,0.00,2.60,0.00,0.000,4,0.000,0.041,2772,3753,3750,0,0,0,0,0,0
$GC,2484,-1.46,-136.3,330.2,-12.3,151,2489,0.12,2.53,0.00,0.000,6,0.068,0.035,2777,2184,3753,0,0,0,0,0,0
$GC,2747,-1.42,-136.3,361.3,-11.8,158,2749,0.10,0.00,0.00,0.000,6,0.123,0.000,2798,2184,3749,0,0,0,0,0,0
$GC,2989,-1.42,-136.3,386.5,-10.2,164,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2184,3748,0,0,0,0,0,0
$GC,3232,-1.42,-136.3,411.9,-10.4,170,3237,0.00,2.88,0.00,0.000,4,0.000,0.094,2750,592,3747,0,0,0,0,0,0
$GC,3256,-1.42,-136.3,414.2,-10.6,170,3260,0.00,2.58,0.00,0.000,6,0.000,0.041,2797,2156,3747,0,0,0,0,0,0
$GC,3511,-1.42,-136.3,437.9,-9.0,177,3515,0.00,2.72,0.00,0.000,4,0.000,0.064,2792,3772,3745,0,0,0,0,0,0
$GC,3584,-1.42,-136.3,444.6,-8.8,178,3589,0.00,2.62,0.00,0.000,6,0.000,0.051,2798,2204,3745,0,0,0,0,0,0
$GC,3836,-1.42,-136.3,466.0,-8.6,184,3841,0.00,2.65,0.00,0.000,4,0.000,0.061,2782,3768,3743,0,0,0,0,0,0
$GC,3915,-1.42,-136.3,473.7,-9.6,185,3920,0.00,2.65,0.00,0.000,6,0.000,0.054,2796,2202,3743,0,0,0,0,0,0
$GC,4165,-1.42,-136.3,497.1,-9.7,192,4166,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2202,3740,0,0,0,0,0,0
$GC,4411,-1.45,-136.3,521.3,-9.8,198,4416,0.00,3.05,0.00,0.000,4,0.000,0.119,2798,586,3739,0,0,0,0,0,0
$GC,4477,-1.45,-136.3,528.4,-10.5,199,4482,0.00,2.72,0.00,0.000,6,0.000,0.054,2786,2203,3738,0,0,0,0,0,0
$GC,4733,-1.50,-136.3,551.6,-9.0,206,4738,0.00,2.78,0.00,0.000,4,0.000,0.085,2753,3764,3736,0,0,0,0,0,0
$GC,4757,-1.50,-136.3,553.9,-9.3,206,4761,0.00,2.70,0.00,0.000,6,0.000,0.061,2792,2186,3735,0,0,0,0,0,0
$GC,5012,-1.55,-136.3,576.8,-9.1,213,5013,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2186,3735,0,0,0,0,0,0
$GC,5256,-1.61,-136.3,598.6,-8.9,219,5261,0.15,2.83,0.00,0.000,4,0.063,0.089,2700,3762,3732,0,0,0,0,0,0
$STATE,5270,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5270,begin apogee
$GC,5281,-0.31,0.0,600.3,8.9,219,5396,1.33,0.00,111.30,1.007,6,0.088,0.000,3042,2182,3190,0,0,0,0,0,0
$STATE,5397,end apogee,CONTROL_FINISHED_OK
$STATE,5397,begin climb
$GC,5399,1.54,136.3,602.7,0.0,222,5519,1.75,0.00,115.80,0.979,6,0.045,0.000,3453,2183,2635,0,0,0,0,0,0
$GC,5748,1.48,140.8,566.6,12.2,231,5754,0.00,0.00,4.40,0.634,6,0.000,0.000,3453,2180,2616,0,0,0,0,0,0
$GC,5990,1.44,160.5,538.3,11.3,237,6015,0.12,2.83,18.55,0.907,4,0.132,0.061,3354,3760,2535,0,0,0,0,0,0
$GC,6104,1.45,171.5,524.9,11.8,239,6121,0.00,2.72,11.05,0.852,6,0.000,0.060,3431,2185,2490,0,0,0,0,0,0
$GC,6365,1.48,190.6,495.7,11.3,246,6389,0.00,3.12,17.60,0.892,4,0.000,0.114,3429,595,2412,0,0,0,0,0,0
$GC,6434,1.48,190.6,486.7,13.3,247,6438,0.00,2.62,0.00,0.000,6,0.000,0.040,3429,2171,2411,0,0,0,0,0,0
$GC,6691,1.48,190.6,451.4,14.0,254,6695,0.00,2.70,0.00,0.000,4,0.000,0.053,3412,3769,2407,0,0,0,0,0,0
$GC,6717,1.48,190.6,447.1,14.2,254,6722,0.00,2.67,0.00,0.000,6,0.000,0.046,3429,2163,2407,0,0,0,0,0,0
$GC,6967,1.48,190.6,413.1,13.7,260,6969,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2164,2405,0,0,0,0,0,0
$GC,7213,1.48,190.6,381.8,12.8,266,7217,0.00,2.67,0.00,0.000,4,0.000,0.046,3395,3776,2404,0,0,0,0,0,0
$GC,7360,1.52,190.6,361.0,14.1,269,7364,0.00,2.65,0.00,0.000,6,0.000,0.036,3431,2173,2403,0,0,0,0,0,0
$GC,7630,1.59,205.2,328.5,11.6,276,7650,0.12,2.83,12.88,0.788,4,0.081,0.067,3463,594,2352,0,0,0,0,0,0
$GC,7667,1.54,205.2,323.3,13.2,276,7673,0.00,2.60,0.00,0.000,6,0.000,0.028,3462,2194,2350,0,0,0,0,0,0
$GC,7917,1.54,205.2,290.2,13.5,283,7918,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,2194,2349,0,0,0,0,0,0
$GC,8160,1.54,205.2,257.6,13.3,289,8165,0.00,2.58,0.00,0.000,4,0.000,0.043,3366,3758,2348,0,0,0,0,0,0
$GC,8223,1.54,205.2,249.3,13.6,290,8227,0.00,2.58,0.00,0.000,6,0.000,0.032,3462,2176,2347,0,0,0,0,0,0
$GC,8483,1.55,209.1,217.4,12.3,297,8492,0.00,2.62,3.97,0.504,4,0.000,0.044,3367,3765,2338,0,0,0,0,0,0
$GC,8517,1.55,209.1,213.2,13.1,297,8522,0.00,2.60,0.00,0.000,6,0.000,0.036,3449,2176,2338,0,0,0,0,0,0
$GC,8773,1.62,230.3,184.0,11.2,312,8801,0.00,2.72,20.52,0.696,4,0.000,0.045,3326,3761,2248,0,0,0,0,0,0
$GC,8851,1.69,248.9,175.1,11.4,318,8874,0.00,2.60,17.62,0.672,6,0.000,0.030,3462,2193,2174,0,0,0,0,0,0
$GC,9142,1.76,248.9,140.5,12.6,345,9147,0.15,0.00,0.00,0.000,6,0.070,0.000,3504,2193,2170,0,0,0,0,0,0
$GC,9404,1.76,248.9,104.8,13.2,370,9408,0.00,2.58,0.00,0.000,4,0.000,0.043,3411,3765,2169,0,0,0,0,0,0
$GC,9450,1.76,248.9,99.2,13.9,373,9454,0.00,2.55,0.00,0.000,6,0.000,0.031,3504,2192,2169,0,0,0,0,0,0
$GC,9717,1.76,248.9,66.0,13.1,397,9721,0.00,2.58,0.00,0.000,4,0.000,0.037,3504,3768,2169,0,0,0,0,0,0
$GC,9778,1.76,248.9,58.1,13.8,401,9782,0.00,2.50,0.00,0.000,6,0.000,0.028,3504,2214,2169,0,0,0,0,0,0
$GC,10066,1.76,248.9,21.5,13.5,429,10077,0.00,2.53,0.00,0.000,4,0.000,0.042,3324,3752,2169,0,0,0,0,0,0
$GC,10096,1.76,251.3,17.8,12.3,432,10107,0.00,2.47,0.00,0.000,6,0.000,0.028,3504,2225,2169,0,0,0,0,0,0
$STATE,10230,end climb,SURFACE_DEPTH_REACHED
$STATE,10230,begin surface coast
$FINISH,-0.3,1.023833
$STATE,10304,end surface coast,CONTROL_FINISHED_OK
$STATE,10304,begin surface
$SM_CCo,10327,105.65,0.529,0,0,1640,380.21
$SM_GC,0.20,0.00,0.00,105.65,0.000,0.000,0.529,471,2135,1640,-12.16,-1.27,380.21
$IRIDIUM_FIX,2143.45,-15804.59,300901,121223
$TT8_MAMPS,0.027612
$HUMID,63.30
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,21.10
$XPDR_PINGS,43
$24V_AH,23.4,40.982
$10V_AH,10.3,34.947
$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,29.500,121.975,333.700,105.650,0.000,103.399,150.760,414.132,10.750,0.000,15.772,946.065,7082.736,536.823,1877.384,1012.384,33.370,1202.113,0.000,1893.988,0.000,0.534,0.000
$DEVICE_MAMPS,171.808,118.885,1007.071,529.230,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,309.774,229.471,323.488,716.408,1139.807,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356048
$DATA_FILE_SIZE,35105,457
$CAP_FILE_SIZE,119838,0
$CFSIZE,260165632,130056192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060712,151558,2150.471,-15806.046,15,99.0,34,9.9