version: 66.06
glider: 146
mission: 7
dive: 291
start: 7 7 112 4 5 42
data:
$ID,146
$MISSION,7
$DIVE,291
$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,-297627.91
$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,54
$R_STBD_OVSHOOT,28
$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
$GPS1,034533,2149.237,-15804.229,9,4.4,28,9.9
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-67.5
$GPS2,040449,2149.181,-15804.446,12,1.6,12,9.9
$SPEED_LIMITS,0.179,0.270
$TGT_NAME,KUHUKU2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.270,0.011
$KALMAN_X,-154665.8,244.5,813.6,152381.0,-1563.5
$KALMAN_Y,195035.7,259.6,329.1,-290829.4,-645.4
$MHEAD_RNG_PITCHd_Wd,77.7,4741,-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,-85.78,0.000,6,0.000,0.000,472,2149,3745,0,0,0,0,0,0
$GC,116,-1.54,-136.3,4.7,-11.5,10,135,12.73,2.62,0.00,0.000,4,0.173,0.031,2768,3771,3747,0,0,0,0,0,0
$GC,234,-1.35,-136.3,36.8,-19.0,22,239,0.25,2.50,0.00,0.000,6,0.123,0.024,2816,2195,3748,0,0,0,0,0,0
$GC,495,-1.25,-136.3,81.6,-14.9,46,497,0.12,0.00,0.00,0.000,6,0.134,0.000,2839,2195,3748,0,0,0,0,0,0
$GC,750,-1.25,-136.3,116.2,-11.2,70,755,0.00,2.60,0.00,0.000,4,0.000,0.051,2840,604,3749,0,0,0,0,0,0
$GC,772,-1.20,-136.3,118.2,-11.2,71,777,0.00,2.45,0.00,0.000,6,0.000,0.017,2840,2208,3749,0,0,0,0,0,0
$GC,1040,-1.20,-136.3,149.0,-11.2,95,1044,0.00,2.62,0.00,0.000,4,0.000,0.046,2840,605,3749,0,0,0,0,0,0
$GC,1072,-1.20,-136.3,152.7,-11.7,97,1077,0.00,2.40,0.00,0.000,6,0.000,0.021,2840,2163,3749,0,0,0,0,0,0
$GC,1338,-1.20,-136.3,180.9,-9.9,121,1343,0.00,2.55,0.00,0.000,4,0.000,0.046,2818,605,3750,0,0,0,0,0,0
$GC,1360,-1.20,-136.3,183.7,-10.2,122,1365,0.00,2.38,0.00,0.000,6,0.000,0.021,2840,2147,3750,0,0,0,0,0,0
$GC,1651,-1.20,-136.3,212.9,-9.9,141,1655,0.00,2.55,0.00,0.000,4,0.000,0.035,2820,3740,3750,0,0,0,0,0,0
$GC,1729,-1.25,-136.3,220.8,-9.3,142,1735,0.00,2.47,0.00,0.000,6,0.000,0.021,2840,2152,3750,0,0,0,0,0,0
$GC,1981,-1.30,-136.3,244.1,-9.5,149,1986,0.00,2.55,0.00,0.000,4,0.000,0.061,2840,613,3750,0,0,0,0,0,0
$GC,2048,-1.36,-136.3,252.0,-11.7,150,2052,0.00,2.38,0.00,0.000,6,0.000,0.021,2840,2134,3750,0,0,0,0,0,0
$GC,2304,-1.42,-136.3,277.1,-9.4,157,2309,0.15,2.62,0.00,0.000,4,0.061,0.045,2755,3749,3749,0,0,0,0,0,0
$GC,2395,-1.38,-136.3,285.9,-9.7,159,2400,0.22,2.50,0.00,0.000,6,0.094,0.029,2829,2167,3749,0,0,0,0,0,0
$GC,2679,-1.45,-136.3,307.9,-7.5,166,2684,0.12,2.58,0.00,0.000,4,0.067,0.046,2759,3748,3749,0,0,0,0,0,0
$GC,2705,-1.45,-136.3,310.0,-9.3,166,2710,0.10,2.55,0.00,0.000,6,0.119,0.033,2801,2160,3749,0,0,0,0,0,0
$GC,2960,-1.45,-136.3,337.3,-10.8,173,2965,0.00,2.60,0.00,0.000,4,0.000,0.044,2780,3753,3745,0,0,0,0,0,0
$GC,3000,-1.45,-136.3,342.2,-12.4,174,3005,0.00,2.55,0.00,0.000,6,0.000,0.038,2801,2173,3747,0,0,0,0,0,0
$GC,3285,-1.45,-136.3,376.5,-11.9,181,3290,0.00,2.62,0.00,0.000,4,0.000,0.054,2771,3751,3746,0,0,0,0,0,0
$GC,3318,-1.45,-136.3,380.7,-11.7,181,3324,0.00,2.55,0.00,0.000,6,0.000,0.039,2800,2191,3746,0,0,0,0,0,0
$GC,3568,-1.45,-136.3,407.1,-10.5,188,3572,0.00,2.60,0.00,0.000,4,0.000,0.050,2750,3751,3744,0,0,0,0,0,0
$GC,3597,-1.45,-136.3,409.9,-10.1,188,3601,0.00,2.58,0.00,0.000,6,0.000,0.048,2776,2190,3744,0,0,0,0,0,0
$GC,3847,-1.45,-136.3,435.0,-10.0,194,3851,0.00,2.60,0.00,0.000,4,0.000,0.054,2737,3744,3741,0,0,0,0,0,0
$GC,3874,-1.45,-136.3,437.9,-10.2,194,3878,0.00,2.58,0.00,0.000,6,0.000,0.049,2800,2198,3742,0,0,0,0,0,0
$GC,4126,-1.48,-136.3,464.9,-10.9,200,4131,0.00,2.60,0.00,0.000,4,0.000,0.060,2762,3744,3740,0,0,0,0,0,0
$GC,4154,-1.52,-136.3,468.0,-9.9,200,4158,0.00,2.60,0.00,0.000,6,0.000,0.054,2800,2200,3739,0,0,0,0,0,0
$GC,4406,-1.56,-136.3,493.9,-10.5,206,4412,0.12,3.03,0.00,0.000,4,0.070,0.111,2756,593,3738,0,0,0,0,0,0
$GC,4440,-1.49,-136.3,498.4,-12.7,206,4449,3.08,2.62,0.00,0.000,6,0.079,0.044,2874,2166,3737,11,0,0,0,0,0
$GC,4736,-3.13,-136.3,520.1,-8.3,214,4746,4.68,2.80,0.00,0.000,4,0.082,0.073,2408,3772,3735,0,0,0,0,0,0
$GC,4999,-2.54,-136.3,572.1,-24.0,220,5005,0.62,2.75,0.00,0.000,6,0.134,0.067,2555,2196,3732,0,0,0,0,0,0
$STATE,5159,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5159,begin apogee
$GC,5167,-0.31,0.0,604.5,19.6,224,5283,2.38,0.00,111.05,1.008,6,0.122,0.000,3042,2196,3191,0,0,0,0,0,0
$STATE,5284,end apogee,CONTROL_FINISHED_OK
$STATE,5284,begin climb
$GC,5286,1.54,136.3,611.9,0.0,227,5416,1.75,3.17,114.90,0.983,4,0.045,0.114,3453,595,2632,0,0,0,0,0,0
$GC,5552,1.45,136.3,586.1,12.5,233,5557,0.00,2.75,0.00,0.000,6,0.000,0.058,3425,2183,2627,0,0,0,0,0,0
$GC,5830,1.38,136.3,546.4,15.8,240,5835,0.20,2.80,0.00,0.000,4,0.144,0.071,3370,3766,2623,0,0,0,0,0,0
$GC,5865,1.38,136.3,541.3,14.6,240,5870,0.00,2.72,0.00,0.000,6,0.000,0.055,3415,2180,2622,0,0,0,0,0,0
$GC,6115,1.39,150.7,511.4,11.6,247,6134,0.00,2.83,12.07,0.867,4,0.000,0.060,3269,3769,2574,0,0,0,0,0,0
$GC,6228,1.41,161.1,498.8,11.9,249,6244,0.00,2.67,10.43,0.841,6,0.000,0.053,3415,2206,2533,0,0,0,0,0,0
$GC,6488,1.46,203.3,472.1,9.9,255,6532,0.00,3.15,37.88,0.908,4,0.000,0.107,3415,592,2361,0,0,0,0,0,0
$GC,6563,1.46,203.3,463.3,13.0,256,6568,0.00,2.72,0.00,0.000,6,0.000,0.042,3415,2215,2355,0,0,0,0,0,0
$GC,6814,1.55,233.7,436.2,10.6,262,6848,0.15,2.70,27.27,0.878,4,0.074,0.058,3454,3760,2238,0,0,0,0,0,0
$GC,6882,1.55,233.7,427.3,13.5,263,6886,0.00,2.65,0.00,0.000,6,0.000,0.048,3454,2202,2235,0,0,0,0,0,0
$GC,7141,1.55,238.3,395.5,12.2,270,7151,0.00,2.62,5.25,0.667,4,0.000,0.047,3415,3768,2217,0,0,0,0,0,0
$GC,7195,1.55,238.3,387.4,13.6,271,7200,0.00,2.60,0.00,0.000,6,0.000,0.042,3454,2210,2216,0,0,0,0,0,0
$GC,7462,1.55,238.3,350.4,14.4,278,7466,0.00,2.58,0.00,0.000,4,0.000,0.043,3381,3768,2214,0,0,0,0,0,0
$GC,7496,1.55,238.3,345.3,14.9,278,7501,0.00,2.58,0.00,0.000,6,0.000,0.035,3455,2218,2214,0,0,0,0,0,0
$GC,7747,1.55,238.3,310.3,13.6,285,7748,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2218,2214,0,0,0,0,0,0
$GC,7989,1.55,238.3,279.2,12.6,291,7993,0.00,2.60,0.00,0.000,4,0.000,0.048,3397,3775,2213,0,0,0,0,0,0
$GC,8041,1.59,238.3,272.3,13.9,292,8045,0.00,2.58,0.00,0.000,6,0.000,0.038,3453,2203,2212,0,0,0,0,0,0
$GC,8312,1.59,238.3,236.7,13.3,299,8313,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2203,2212,0,0,0,0,0,0
$GC,8556,1.66,256.9,208.0,11.4,305,8576,0.10,0.00,16.95,0.716,6,0.088,0.000,3482,2203,2141,0,0,0,0,0,0
$GC,8809,1.68,274.5,179.5,11.4,323,8835,0.00,2.67,16.48,0.685,4,0.000,0.044,3337,3771,2068,0,0,0,0,0,0
$GC,8841,1.70,284.9,175.4,11.9,325,8873,11.48,2.55,10.38,0.638,6,0.482,0.028,3418,2210,2027,41,0,0,0,0,0
$GC,9124,1.26,284.9,99.2,28.0,352,9139,2.12,2.65,0.00,0.000,4,0.113,0.038,3251,3775,2023,0,0,0,0,0,0
$GC,9145,1.04,284.9,94.2,25.1,353,9151,0.22,2.53,0.00,0.000,6,0.162,0.028,3345,2220,2023,0,0,0,0,0,0
$GC,9413,1.48,379.1,75.1,6.7,378,9501,0.35,2.80,80.82,0.611,4,0.041,0.052,3407,592,1642,0,0,0,0,0,0
$GC,9536,1.59,379.1,60.0,15.1,386,9540,0.00,2.62,0.00,0.000,6,0.000,0.020,3443,2239,1639,0,0,0,0,0,0
$GC,9820,1.87,379.1,22.9,12.9,413,9831,0.28,2.80,0.00,0.000,4,0.047,0.049,3524,596,1634,0,0,0,0,0,0
$GC,9843,2.12,422.7,20.7,9.8,415,9891,0.17,2.62,36.28,0.545,6,0.041,0.021,3578,2233,1463,0,0,0,0,0,0
$STATE,9924,end climb,SURFACE_DEPTH_REACHED
$STATE,9925,begin surface coast
$FINISH,-0.5,1.023434
$STATE,9951,end surface coast,CONTROL_FINISHED_OK
$STATE,9951,begin surface
$SM_CCo,10036,0.00,0.000,0,0,1456,425.35
$SM_GC,0.41,12.62,0.00,0.00,0.025,0.000,0.000,475,2145,1456,-12.04,-0.99,425.35
$IRIDIUM_FIX,2141.13,-15806.74,011001,040424
$TT8_MAMPS,0.027612
$HUMID,67.12
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,19.60
$XPDR_PINGS,47
$24V_AH,23.4,41.747
$10V_AH,10.3,35.522
$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,54.025,142.475,479.750,0.000,0.000,89.158,109.605,669.216,11.750,0.000,13.756,928.271,6662.198,506.484,1879.787,1211.614,33.370,1312.717,0.000,1879.446,0.000,0.536,0.000
$DEVICE_MAMPS,482.443,114.283,1007.838,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,288.236,209.547,298.748,627.645,997.555,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356184
$DATA_FILE_SIZE,32003,427
$CAP_FILE_SIZE,128568,0
$CFSIZE,260165632,129777664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,52,0,0,0
$GPS,070712,065405,2149.249,-15804.099,29,1.2,29,9.9