version: 66.06
glider: 146
mission: 7
dive: 198
start: 6 25 112 0 18 44
data:
$ID,146
$MISSION,7
$DIVE,198
$D_SURF,4
$D_FLARE,3
$D_TGT,550
$D_ABORT,650
$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,180
$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,-293822.56
$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,3144
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$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,29
$R_STBD_OVSHOOT,45
$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
$GPS1,000730,2225.000,-15801.339,34,0.9,40,10.0
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-69.0
$GPS2,001750,2225.117,-15801.447,11,1.7,11,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.016,-0.253
$KALMAN_X,12882.0,-318.9,-366.1,-8306.8,321.7
$KALMAN_Y,103843.3,-394.6,224.7,-132331.2,1515.7
$MHEAD_RNG_PITCHd_Wd,173.5,46892,-18.5,-10.185
$D_GRID,550
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.32,-136.3,0.0,0.0,0,115,0.00,0.00,-87.70,0.000,6,0.000,0.000,466,2182,3746,0,0,0,0,0,0
$GC,118,-1.32,-136.3,3.8,-9.8,12,136,13.10,2.62,0.00,0.000,4,0.173,0.037,2845,586,3747,0,0,0,0,0,0
$GC,222,-1.15,-136.3,31.2,-15.5,26,230,0.17,2.50,0.00,0.000,6,0.104,0.018,2888,2181,3746,0,0,0,0,0,0
$GC,492,-1.06,-136.3,64.0,-11.7,51,501,0.12,0.00,0.00,0.000,6,0.119,0.000,2914,2181,3747,0,0,0,0,0,0
$GC,754,-1.06,-136.3,87.1,-8.0,76,758,0.00,2.60,0.00,0.000,4,0.000,0.045,2915,600,3748,0,0,0,0,0,0
$GC,799,-1.06,-136.3,90.8,-9.2,79,803,0.00,2.45,0.00,0.000,6,0.000,0.021,2915,2188,3749,0,0,0,0,0,0
$GC,1068,-1.06,-136.3,113.4,-8.9,103,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2188,3749,0,0,0,0,0,0
$GC,1329,-1.06,-136.3,138.2,-9.4,128,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2188,3750,0,0,0,0,0,0
$GC,1585,-1.06,-136.3,163.4,-10.2,152,1586,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2188,3750,0,0,0,0,0,0
$GC,1838,-1.06,-136.3,189.0,-10.7,176,1843,0.00,2.62,0.00,0.000,4,0.000,0.051,2914,596,3750,0,0,0,0,0,0
$GC,1863,-1.06,-136.3,191.3,-10.3,177,1873,0.00,2.50,0.00,0.000,6,0.000,0.018,2915,2191,3750,0,0,0,0,0,0
$GC,2117,-1.06,-136.3,216.5,-9.6,190,2118,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2191,3750,0,0,0,0,0,0
$GC,2361,-1.11,-136.3,238.7,-9.2,196,2362,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2191,3751,0,0,0,0,0,0
$GC,2605,-1.19,-136.3,257.9,-7.6,202,2607,0.12,0.00,0.00,0.000,6,0.068,0.000,2861,2191,3751,0,0,0,0,0,0
$GC,2850,-1.19,-136.3,283.7,-11.1,208,2855,0.10,2.50,0.00,0.000,4,0.115,0.041,2885,3754,3751,0,0,0,0,0,0
$GC,2944,-1.24,-136.3,294.0,-10.6,210,2949,0.00,2.47,0.00,0.000,6,0.000,0.030,2884,2187,3751,0,0,0,0,0,0
$GC,3219,-1.28,-136.3,317.4,-8.2,217,3224,0.00,2.70,0.00,0.000,4,0.000,0.066,2829,594,3750,0,0,0,0,0,0
$GC,3241,-1.32,-136.3,319.4,-8.3,217,3246,0.12,2.50,0.00,0.000,6,0.068,0.029,2834,2188,3750,0,0,0,0,0,0
$GC,3497,-1.26,-136.3,342.3,-8.9,224,3498,0.15,0.00,0.00,0.000,6,0.104,0.000,2867,2188,3750,0,0,0,0,0,0
$GC,3742,-1.26,-136.3,365.6,-9.5,230,3743,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2188,3749,0,0,0,0,0,0
$GC,3984,-1.26,-136.3,386.9,-8.2,236,3988,0.00,2.72,0.00,0.000,4,0.000,0.069,2867,606,3749,0,0,0,0,0,0
$GC,3999,-1.26,-136.3,388.3,-7.9,236,4004,0.00,2.53,0.00,0.000,6,0.000,0.032,2867,2182,3748,0,0,0,0,0,0
$GC,4261,-1.31,-136.3,407.6,-7.3,243,4262,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2182,3748,0,0,0,0,0,0
$GC,4504,-1.36,-136.3,426.2,-7.6,249,4509,0.00,2.65,0.00,0.000,4,0.000,0.061,2834,3762,3745,0,0,0,0,0,0
$GC,4572,-1.43,-136.3,431.9,-8.4,250,4576,0.00,2.58,0.00,0.000,6,0.000,0.049,2851,2207,3745,0,0,0,0,0,0
$GC,4829,-1.48,-136.3,450.8,-7.2,257,4835,0.20,2.97,0.00,0.000,4,0.052,0.101,2794,592,3743,0,0,0,0,0,0
$GC,4891,-1.39,-136.3,457.2,-11.1,258,4896,0.17,2.65,0.00,0.000,6,0.101,0.043,2838,2201,3743,0,0,0,0,0,0
$GC,5154,-1.39,-136.3,478.6,-8.1,265,5155,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2198,3741,0,0,0,0,0,0
$GC,5396,-1.39,-136.3,498.5,-8.3,271,5397,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2198,3740,0,0,0,0,0,0
$GC,5639,-1.39,-136.3,518.3,-8.0,277,5644,0.00,2.70,0.00,0.000,4,0.000,0.081,2803,3757,3738,0,0,0,0,0,0
$GC,5694,-1.39,-136.3,523.2,-8.7,278,5699,0.00,2.62,0.00,0.000,6,0.000,0.061,2838,2204,3737,0,0,0,0,0,0
$GC,5961,-1.39,-136.3,544.5,-8.0,285,5966,0.00,3.05,0.00,0.000,4,0.000,0.120,2838,589,3735,0,0,0,0,0,0
$GC,6005,-1.39,-136.3,548.3,-8.9,286,6009,0.00,2.67,0.00,0.000,6,0.000,0.051,2827,2188,3735,0,0,0,0,0,0
$STATE,6024,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6024,begin apogee
$GC,6031,-0.31,0.0,550.3,9.5,286,6146,1.00,0.00,110.95,0.961,6,0.074,0.000,3071,2188,3190,0,0,0,0,0,0
$STATE,6146,end apogee,CONTROL_FINISHED_OK
$STATE,6146,begin climb
$GC,6149,1.32,136.3,552.4,0.0,289,6268,1.55,0.00,114.85,0.932,6,0.050,0.000,3440,2185,2634,0,0,0,0,0,0
$GC,6486,1.18,136.3,522.9,10.5,298,6492,0.20,2.92,0.00,0.000,4,0.121,0.086,3399,584,2626,0,0,0,0,0,0
$GC,6510,1.05,136.3,520.5,10.3,298,6515,0.00,2.67,0.00,0.000,6,0.000,0.048,3372,2180,2628,0,0,0,0,0,0
$GC,6766,1.03,170.7,498.6,8.4,305,6802,0.15,2.80,29.52,0.894,4,0.122,0.069,3337,3769,2492,0,0,0,0,0,0
$GC,6863,1.03,170.7,489.7,10.2,306,6889,15.60,2.72,0.00,0.000,6,0.482,0.048,3104,2177,2487,56,1,0,0,0,0
$STATE,6928,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,6940,419.98,0.837,0,0,476,665.74
$SM_GC,0.26,14.15,0.00,0.00,0.043,0.000,0.000,475,2174,469,-12.18,-0.17,667.71
$IRIDIUM_FIX,2218.34,-15805.85,190901,000044
$TT8_MAMPS,0.027612
$HUMID,75.71
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,18.90
$XPDR_PINGS,22
$24V_AH,23.5,28.163
$10V_AH,10.3,25.386
$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,46.925,63.750,255.325,419.975,0.000,54.999,81.553,265.606,5.500,0.000,13.298,674.294,5599.960,781.725,1043.626,633.509,33.375,1230.650,0.000,1048.205,0.000,0.534,0.000
$DEVICE_MAMPS,481.676,119.652,961.051,836.797,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,208.368,164.350,214.627,379.465,573.979,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356004
$DATA_FILE_SIZE,22661,308
$CAP_FILE_SIZE,77329,8
$CFSIZE,260165632,134791168
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,56,0,0,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_PITCH_ERRORS
$GPS,250612,023450,2224.954,-15801.272,8,1.5,9,10.0