version: 66.06
glider: 146
mission: 7
dive: 200
start: 6 25 112 7 12 30
data:
$ID,146
$MISSION,7
$DIVE,200
$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,-294192.41
$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,20
$R_STBD_OVSHOOT,26
$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
$GPS1,070444,2225.295,-15801.466,12,2.0,12,10.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.06
$_SM_ANGLEo,-61.1
$GPS2,071138,2225.340,-15801.483,10,1.7,10,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.044,-0.249
$KALMAN_X,12354.5,-41.4,298.9,-8787.5,-316.7
$KALMAN_Y,108611.2,792.4,96.3,-137736.4,1412.7
$MHEAD_RNG_PITCHd_Wd,159.9,47310,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.32,-136.3,0.0,0.0,0,155,0.00,0.00,-131.62,0.000,6,0.000,0.000,484,2175,3742,0,0,0,0,0,0
$GC,160,-1.32,-136.3,3.9,-10.3,14,178,13.00,2.62,0.00,0.000,4,0.173,0.041,2844,582,3743,0,0,0,0,0,0
$GC,242,-1.16,-136.3,26.4,-16.7,25,252,0.45,2.55,0.00,0.000,6,0.097,0.018,2939,2201,3743,1,0,0,0,0,0
$GC,517,-1.16,-136.3,54.5,-9.9,51,526,0.22,0.00,0.00,0.000,6,0.046,0.000,2871,2203,3743,0,0,0,0,0,0
$GC,780,-1.07,-136.3,89.1,-11.3,76,785,0.17,2.47,0.00,0.000,4,0.094,0.034,2892,3751,3746,0,0,0,0,0,0
$GC,810,-1.07,-136.3,92.3,-9.8,78,814,0.00,2.50,0.00,0.000,6,0.000,0.021,2910,2149,3743,0,0,0,0,0,0
$GC,1074,-1.07,-136.3,116.6,-9.3,102,1079,0.00,2.53,0.00,0.000,4,0.000,0.048,2901,601,3743,0,0,0,0,0,0
$GC,1097,-1.07,-136.3,118.7,-9.6,103,1101,0.00,2.42,0.00,0.000,6,0.000,0.018,2911,2187,3743,0,0,0,0,0,0
$GC,1365,-1.07,-136.3,143.8,-9.5,127,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2187,3743,0,0,0,0,0,0
$GC,1626,-1.07,-136.3,168.3,-9.3,152,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2187,3743,0,0,0,0,0,0
$GC,1883,-1.07,-136.3,193.1,-10.1,176,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2187,3743,0,0,0,0,0,0
$GC,2158,-1.07,-136.3,221.1,-9.9,188,2162,0.00,2.45,0.00,0.000,4,0.000,0.038,2890,3746,3742,0,0,0,0,0,0
$GC,2174,-1.07,-136.3,222.7,-9.9,188,2178,0.00,2.47,0.00,0.000,6,0.000,0.020,2910,2161,3742,0,0,0,0,0,0
$GC,2437,-1.12,-136.3,245.5,-8.7,195,2438,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2161,3742,0,0,0,0,0,0
$GC,2679,-1.19,-136.3,265.8,-8.4,201,2684,0.12,2.58,0.00,0.000,4,0.068,0.035,2843,3751,3742,0,0,0,0,0,0
$GC,2711,-1.19,-136.3,269.3,-10.9,201,2718,0.10,2.47,0.00,0.000,6,0.110,0.024,2884,2184,3742,0,0,0,0,0,0
$GC,2964,-1.23,-136.3,293.3,-9.4,208,2965,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2179,3741,0,0,0,0,0,0
$GC,3206,-1.28,-136.3,315.5,-8.8,214,3210,0.00,2.53,0.00,0.000,4,0.000,0.045,2866,3737,3741,0,0,0,0,0,0
$GC,3285,-1.35,-136.3,322.0,-8.0,215,3292,0.15,2.50,0.00,0.000,6,0.059,0.033,2828,2171,3741,0,0,0,0,0,0
$GC,3536,-1.30,-136.3,344.1,-8.8,222,3541,0.15,2.72,0.00,0.000,4,0.105,0.077,2864,601,3740,0,0,0,0,0,0
$GC,3603,-1.30,-136.3,349.8,-8.4,223,3607,0.00,2.45,0.00,0.000,6,0.000,0.029,2860,2151,3739,0,0,0,0,0,0
$GC,3860,-1.30,-136.3,370.0,-8.0,230,3864,0.00,2.62,0.00,0.000,4,0.000,0.052,2861,3765,3738,0,0,0,0,0,0
$GC,3921,-1.35,-136.3,375.7,-9.2,231,3925,0.00,2.58,0.00,0.000,6,0.000,0.040,2838,2169,3738,0,0,0,0,0,0
$GC,4183,-1.35,-136.3,396.7,-8.0,238,4188,0.00,2.62,0.00,0.000,4,0.000,0.049,2861,3759,3736,0,0,0,0,0,0
$GC,4233,-1.40,-136.3,401.0,-8.9,239,4238,0.00,2.62,0.00,0.000,6,0.000,0.041,2861,2171,3736,0,0,0,0,0,0
$GC,4506,-1.40,-136.3,422.1,-7.7,246,4511,0.00,2.83,0.00,0.000,4,0.000,0.094,2861,590,3734,0,0,0,0,0,0
$GC,4547,-1.40,-136.3,425.2,-8.6,247,4552,0.10,2.55,0.00,0.000,6,0.081,0.041,2819,2164,3733,0,0,0,0,0,0
$GC,4831,-1.35,-136.3,451.5,-9.3,254,4837,0.12,2.70,0.00,0.000,4,0.108,0.065,2823,3761,3731,0,0,0,0,0,0
$GC,4873,-1.35,-136.3,455.3,-9.4,255,4878,0.00,2.62,0.00,0.000,6,0.000,0.048,2845,2179,3731,0,0,0,0,0,0
$GC,5156,-1.35,-136.3,480.0,-8.7,262,5161,0.00,2.67,0.00,0.000,4,0.000,0.055,2845,3760,3729,0,0,0,0,0,0
$GC,5173,-1.35,-136.3,481.7,-9.1,262,5177,0.00,2.67,0.00,0.000,6,0.000,0.057,2845,2181,3729,0,0,0,0,0,0
$GC,5435,-1.35,-136.3,504.3,-8.6,269,5440,0.00,2.70,0.00,0.000,4,0.000,0.062,2834,3759,3729,0,0,0,0,0,0
$GC,5491,-1.35,-136.3,509.3,-8.6,270,5495,0.00,2.67,0.00,0.000,6,0.000,0.056,2845,2177,3727,0,0,0,0,0,0
$GC,5757,-1.35,-136.3,531.8,-8.4,277,5762,0.00,3.03,0.00,0.000,4,0.000,0.127,2846,593,3725,0,0,0,0,0,0
$GC,5808,-1.35,-136.3,536.4,-9.3,278,5813,0.00,2.65,0.00,0.000,6,0.000,0.051,2845,2174,3725,0,0,0,0,0,0
$STATE,5996,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5996,begin apogee
$GC,6002,-0.31,0.0,551.7,7.8,283,6114,1.00,0.00,108.72,0.961,6,0.073,0.000,3075,2174,3190,0,0,0,0,0,0
$STATE,6115,end apogee,CONTROL_FINISHED_OK
$STATE,6115,begin climb
$GC,6117,1.32,136.3,553.2,0.0,285,6237,1.50,0.00,114.93,0.932,6,0.043,0.000,3435,2171,2634,0,0,0,0,0,0
$GC,6491,1.19,136.3,514.8,11.9,295,6493,0.15,0.00,0.00,0.000,6,0.136,0.000,3407,2173,2624,0,0,0,0,0,0
$GC,6735,1.12,136.3,489.7,10.2,301,6739,0.00,2.75,0.00,0.000,4,0.000,0.064,3389,3771,2625,0,0,0,0,0,0
$GC,6821,1.04,136.3,480.1,11.5,303,6826,0.17,2.70,0.00,0.000,6,0.128,0.047,3374,2167,2621,0,0,0,0,0,0
$GC,7105,1.08,168.2,455.1,8.6,310,7139,0.00,2.80,26.52,0.874,4,0.000,0.049,3374,3770,2503,0,0,0,0,0,0
$GC,7164,1.11,192.8,450.0,8.9,311,7194,0.45,2.70,22.73,0.856,6,0.050,0.043,3457,2179,2403,1,0,0,0,0,0
$GC,7478,0.92,192.8,403.2,15.5,319,7484,0.70,2.67,0.00,0.000,4,0.114,0.042,3347,3778,2396,0,0,0,0,0,0
$GC,7538,1.04,204.1,397.1,9.6,320,7555,0.10,2.67,10.38,0.783,6,0.091,0.038,3374,2169,2357,0,0,0,0,0,0
$GC,7807,1.09,219.5,372.0,9.4,327,7824,0.00,0.00,14.80,0.802,6,0.000,0.000,3374,2169,2295,0,0,0,0,0,0
$GC,8051,1.14,219.5,346.6,10.7,333,8055,0.00,2.65,0.00,0.000,4,0.000,0.044,3375,3775,2291,0,0,0,0,0,0
$GC,8151,1.22,219.5,334.8,11.1,335,8157,0.15,2.62,0.00,0.000,6,0.070,0.035,3413,2178,2290,0,0,0,0,0,0
$GC,8418,1.22,219.5,304.6,11.2,342,8422,0.00,2.70,0.00,0.000,4,0.000,0.064,3414,596,2288,0,0,0,0,0,0
$GC,8459,1.22,219.5,300.4,10.6,343,8463,0.00,2.58,0.00,0.000,6,0.000,0.025,3397,2210,2288,0,0,0,0,0,0
$GC,8742,1.22,220.6,272.0,10.1,350,8746,0.00,2.53,0.00,0.000,4,0.000,0.045,3414,3755,2287,0,0,0,0,0,0
$GC,8832,1.22,220.6,260.9,12.0,352,8856,15.60,2.53,0.00,0.000,6,0.489,0.031,3354,2186,2286,56,1,0,0,0,0
$STATE,8860,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,8872,369.73,0.692,0,0,475,665.50
$SM_GC,0.18,14.35,0.00,0.00,0.049,0.000,0.000,474,2183,472,-12.19,0.08,666.73
$IRIDIUM_FIX,2216.01,-15800.66,190901,070746
$TT8_MAMPS,0.027612
$HUMID,73.62
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,20.30
$XPDR_PINGS,39
$24V_AH,23.5,28.631
$10V_AH,10.2,25.579
$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,48.775,104.725,298.075,369.725,0.000,0.000,0.000,0.000,9.750,0.000,12.513,798.950,6540.146,794.376,1301.359,196.049,33.365,1401.264,0.000,1295.726,0.000,0.534,0.000
$DEVICE_MAMPS,488.579,126.555,961.051,691.834,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,238.511,158.701,221.842,373.897,565.099,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356088
$DATA_FILE_SIZE,25785,352
$CAP_FILE_SIZE,112741,8
$CFSIZE,260165632,134668288
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,58,0,0,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_PITCH_ERRORS
$GPS,250612,095306,2224.844,-15801.315,29,1.8,33,10.0