version: 66.06
glider: 146
mission: 7
dive: 199
start: 6 25 112 4 4 19
data:
$ID,146
$MISSION,7
$DIVE,199
$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,-294056.06
$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,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,12
$R_STBD_OVSHOOT,18
$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
$GPS1,035305,2225.613,-15801.461,9,1.7,12,10.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.07
$_SM_ANGLEo,-63.5
$GPS2,040326,2225.698,-15801.469,13,1.4,13,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.028,-0.252
$KALMAN_X,12587.4,-248.8,-9.7,-8478.5,382.6
$KALMAN_Y,106958.7,204.9,259.1,-135018.3,2103.9
$MHEAD_RNG_PITCHd_Wd,176.4,47963,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.32,-136.3,0.0,0.0,0,153,0.00,0.00,-131.40,0.000,6,0.000,0.000,474,2176,3746,0,0,0,0,0,0
$GC,156,-1.32,-136.3,2.7,-6.7,17,174,13.07,2.60,0.00,0.000,4,0.173,0.036,2843,576,3747,0,0,0,0,0,0
$GC,311,-1.15,-136.3,35.5,-16.4,37,316,0.22,2.55,0.00,0.000,6,0.117,0.019,2891,2220,3748,0,0,0,0,0,0
$GC,579,-1.10,-136.3,70.3,-12.9,61,588,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2220,3747,0,0,0,0,0,0
$GC,841,-1.06,-136.3,103.3,-12.5,86,846,0.10,2.72,0.00,0.000,4,0.130,0.052,2853,579,3747,0,0,0,0,0,0
$GC,863,-1.06,-136.3,106.1,-11.3,87,869,0.00,2.45,0.00,0.000,6,0.000,0.017,2912,2179,3747,0,0,0,0,0,0
$GC,1128,-1.06,-136.3,131.8,-9.4,112,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2179,3746,0,0,0,0,0,0
$GC,1389,-1.06,-136.3,157.0,-9.7,137,1394,0.00,2.53,0.00,0.000,4,0.000,0.033,2912,3753,3746,0,0,0,0,0,0
$GC,1409,-1.06,-136.3,158.7,-9.7,138,1413,0.00,2.53,0.00,0.000,6,0.000,0.027,2911,2138,3746,0,0,0,0,0,0
$GC,1671,-1.06,-136.3,185.3,-9.9,162,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2137,3746,0,0,0,0,0,0
$GC,1955,-1.06,-136.3,212.6,-9.5,180,1956,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2137,3745,0,0,0,0,0,0
$GC,2195,-1.06,-136.3,233.4,-8.4,186,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2138,3744,0,0,0,0,0,0
$GC,2439,-1.11,-136.3,253.4,-8.2,192,2443,0.00,2.58,0.00,0.000,4,0.000,0.039,2896,3746,3745,0,0,0,0,0,0
$GC,2461,-1.18,-136.3,255.3,-8.1,192,2466,0.12,2.42,0.00,0.000,6,0.067,0.029,2859,2181,3744,0,0,0,0,0,0
$GC,2718,-1.18,-136.3,279.5,-9.8,199,2723,0.12,2.53,0.00,0.000,4,0.111,0.038,2874,3744,3744,0,0,0,0,0,0
$GC,2780,-1.25,-136.3,285.7,-9.8,200,2784,0.00,2.42,0.00,0.000,6,0.000,0.030,2887,2196,3744,0,0,0,0,0,0
$GC,3043,-1.29,-136.3,307.8,-8.6,207,3048,0.10,2.70,0.00,0.000,4,0.080,0.063,2794,599,3743,0,0,0,0,0,0
$GC,3076,-1.23,-136.3,311.3,-10.7,207,3082,0.15,2.47,0.00,0.000,6,0.104,0.024,2874,2182,3743,0,0,0,0,0,0
$GC,3326,-1.23,-136.3,334.4,-9.1,214,3331,0.00,2.55,0.00,0.000,4,0.000,0.048,2855,3762,3742,0,0,0,0,0,0
$GC,3356,-1.23,-136.3,336.9,-9.0,214,3360,0.00,2.50,0.00,0.000,6,0.000,0.027,2874,2196,3743,0,0,0,0,0,0
$GC,3606,-1.27,-136.3,358.1,-8.4,220,3611,0.00,2.78,0.00,0.000,4,0.000,0.080,2874,601,3741,0,0,0,0,0,0
$GC,3703,-1.32,-136.3,366.9,-8.9,222,3708,0.00,2.55,0.00,0.000,6,0.000,0.035,2874,2189,3741,0,0,0,0,0,0
$GC,3976,-1.38,-136.3,385.5,-6.5,229,3981,0.15,2.60,0.00,0.000,4,0.062,0.051,2800,3761,3739,0,0,0,0,0,0
$GC,3997,-1.38,-136.3,387.2,-7.3,229,4002,0.00,2.53,0.00,0.000,6,0.000,0.035,2822,2196,3739,0,0,0,0,0,0
$GC,4256,-1.35,-136.3,407.8,-8.2,236,4261,0.12,2.58,0.00,0.000,4,0.108,0.048,2849,3760,3737,0,0,0,0,0,0
$GC,4283,-1.35,-136.3,410.3,-8.3,236,4287,0.00,2.60,0.00,0.000,6,0.000,0.044,2833,2186,3737,0,0,0,0,0,0
$GC,4533,-1.35,-136.3,428.7,-7.4,242,4538,0.00,2.88,0.00,0.000,4,0.000,0.102,2848,587,3736,0,0,0,0,0,0
$GC,4556,-1.35,-136.3,430.3,-7.2,242,4561,0.00,2.62,0.00,0.000,6,0.000,0.044,2849,2182,3735,0,0,0,0,0,0
$GC,4811,-1.35,-136.3,451.2,-8.2,249,4813,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2182,3733,0,0,0,0,0,0
$GC,5055,-1.35,-136.3,471.1,-8.1,255,5056,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2182,3731,0,0,0,0,0,0
$GC,5301,-1.35,-136.3,490.2,-7.8,261,5305,0.00,2.72,0.00,0.000,4,0.000,0.076,2848,3762,3729,0,0,0,0,0,0
$GC,5328,-1.35,-136.3,492.6,-8.0,261,5332,0.00,2.62,0.00,0.000,6,0.000,0.052,2849,2190,3730,0,0,0,0,0,0
$GC,5578,-1.35,-136.3,511.3,-7.7,267,5582,0.00,2.67,0.00,0.000,4,0.000,0.066,2834,3768,3727,0,0,0,0,0,0
$GC,5595,-1.35,-136.3,512.8,-8.0,267,5600,0.00,2.67,0.00,0.000,6,0.000,0.057,2849,2189,3727,0,0,0,0,0,0
$GC,5857,-1.35,-136.3,532.3,-7.4,274,5861,0.00,2.70,0.00,0.000,4,0.000,0.067,2842,3768,3725,0,0,0,0,0,0
$GC,5878,-1.35,-136.3,534.1,-8.0,274,5882,0.00,2.67,0.00,0.000,6,0.000,0.059,2845,2189,3725,0,0,0,0,0,0
$STATE,6131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6131,begin apogee
$GC,6138,-0.31,0.0,552.5,7.3,281,6253,0.98,0.00,108.38,0.966,6,0.076,0.000,3074,2189,3189,0,0,0,0,0,0
$STATE,6254,end apogee,CONTROL_FINISHED_OK
$STATE,6254,begin climb
$GC,6256,1.32,136.3,555.1,0.0,284,6380,1.50,2.78,113.75,0.935,4,0.043,0.066,3402,3762,2634,0,0,0,0,0,0
$GC,6428,1.18,136.3,543.2,11.9,288,6434,0.15,2.72,0.00,0.000,6,0.139,0.058,3405,2182,2630,0,0,0,0,0,0
$GC,6713,1.14,167.3,517.6,8.6,295,6741,0.00,0.00,27.00,0.893,6,0.000,0.000,3405,2183,2509,0,0,0,0,0,0
$GC,6958,1.08,168.4,493.7,10.1,301,6963,0.12,2.72,0.00,0.000,4,0.133,0.054,3359,3769,2501,0,0,0,0,0,0
$GC,7019,1.09,178.6,487.4,9.7,302,7035,0.00,2.70,10.10,0.809,6,0.000,0.053,3381,2186,2463,0,0,0,0,0,0
$GC,7279,1.10,182.8,461.9,10.0,308,7290,0.00,2.67,5.05,0.660,4,0.000,0.048,3382,3771,2444,0,0,0,0,0,0
$GC,7327,1.10,182.8,456.7,11.4,309,7331,0.00,2.67,0.00,0.000,6,0.000,0.050,3381,2186,2443,0,0,0,0,0,0
$GC,7604,1.10,182.8,426.1,10.9,316,7608,0.00,2.90,0.00,0.000,4,0.000,0.091,3381,591,2441,0,0,0,0,0,0
$GC,7630,1.10,182.8,423.0,11.3,316,7635,0.00,2.62,0.00,0.000,6,0.000,0.033,3371,2200,2440,0,0,0,0,0,0
$GC,7883,1.13,207.7,399.6,8.9,322,7907,0.00,0.00,22.90,0.848,6,0.000,0.000,3381,2200,2343,0,0,0,0,0,0
$GC,8124,1.14,218.5,376.7,9.6,328,8140,0.00,2.62,10.75,0.781,4,0.000,0.048,3371,3770,2298,0,0,0,0,0,0
$GC,8187,1.18,218.5,370.3,11.0,329,8211,15.60,2.62,0.00,0.000,6,0.483,0.040,3288,2179,2295,56,1,0,0,0,0
$STATE,8215,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,8227,374.70,0.773,0,0,477,665.50
$SM_GC,0.23,14.32,0.00,0.00,0.049,0.000,0.000,469,2175,470,-12.20,-0.14,667.46
$IRIDIUM_FIX,2218.34,-15758.50,190901,030347
$TT8_MAMPS,0.027612
$HUMID,75.98
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,19.30
$XPDR_PINGS,37
$24V_AH,23.5,28.430
$10V_AH,10.3,25.492
$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,46.850,99.800,297.925,374.700,0.000,0.000,0.000,0.000,9.250,0.000,15.730,738.299,6365.381,786.104,1145.012,187.002,33.370,1345.003,0.000,1143.963,0.000,0.534,0.000
$DEVICE_MAMPS,483.210,102.011,965.653,773.136,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,223.087,157.671,211.542,367.481,555.894,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355944
$DATA_FILE_SIZE,25743,330
$CAP_FILE_SIZE,133783,8
$CFSIZE,260165632,134692864
$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,250612,063807,2225.122,-15801.412,40,1.4,40,10.0