version: 66.06
glider: 146
mission: 7
dive: 204
start: 6 25 112 20 42 54
data:
$ID,146
$MISSION,7
$DIVE,204
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$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,200
$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,-294362.22
$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,32
$R_STBD_OVSHOOT,46
$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
$GPS1,202931,2222.537,-15801.719,37,1.8,37,10.0
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.04
$_SM_ANGLEo,-62.0
$GPS2,204201,2222.638,-15801.930,12,1.1,12,10.0
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.105,-0.229
$KALMAN_X,10064.1,-220.0,131.5,-6910.2,-1043.0
$KALMAN_Y,116037.3,-741.7,179.0,-148723.7,1360.0
$MHEAD_RNG_PITCHd_Wd,145.3,42465,-18.2,-10.000
$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,-1.30,-136.3,0.0,0.0,0,154,0.00,0.00,-132.12,0.000,6,0.000,0.000,467,2191,3746,0,0,0,0,0,0
$GC,157,-1.30,-136.3,2.7,-7.0,17,174,13.20,0.00,0.00,0.000,6,0.173,0.000,2852,2191,3748,0,0,0,0,0,0
$GC,457,-1.13,-136.3,57.2,-14.8,51,466,0.20,0.00,0.00,0.000,6,0.119,0.000,2894,2191,3748,0,0,0,0,0,0
$GC,717,-1.13,-136.3,87.5,-10.6,76,721,0.00,2.62,0.00,0.000,4,0.000,0.050,2894,601,3748,0,0,0,0,0,0
$GC,752,-1.09,-136.3,91.4,-10.8,78,761,0.00,2.47,0.00,0.000,6,0.000,0.024,2894,2189,3748,0,0,0,0,0,0
$GC,1018,-1.09,-136.3,119.4,-11.1,103,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2189,3748,0,0,0,0,0,0
$GC,1279,-1.09,-136.3,147.9,-11.0,128,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2189,3748,0,0,0,0,0,0
$GC,1536,-1.09,-136.3,176.3,-10.9,152,1537,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2189,3748,0,0,0,0,0,0
$GC,1787,-1.09,-136.3,204.8,-10.9,173,1788,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2189,3748,0,0,0,0,0,0
$GC,2030,-1.09,-136.3,231.9,-10.9,179,2032,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2189,3747,0,0,0,0,0,0
$GC,2276,-1.09,-136.3,254.1,-8.6,185,2278,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2189,3747,0,0,0,0,0,0
$GC,2519,-1.13,-136.3,269.7,-6.1,191,2523,0.00,2.50,0.00,0.000,4,0.000,0.035,2894,3746,3748,0,0,0,0,0,0
$GC,2569,-1.19,-136.3,272.7,-5.8,192,2573,0.00,2.47,0.00,0.000,6,0.000,0.028,2893,2176,3747,0,0,0,0,0,0
$GC,2843,-1.24,-136.3,288.3,-5.9,199,2848,0.00,2.62,0.00,0.000,4,0.000,0.061,2894,606,3746,0,0,0,0,0,0
$GC,2888,-1.32,-136.3,291.5,-7.2,200,2893,0.15,2.42,0.00,0.000,6,0.061,0.025,2839,2159,3746,0,0,0,0,0,0
$GC,3168,-1.27,-136.3,318.6,-10.2,207,3173,0.12,2.60,0.00,0.000,4,0.110,0.048,2866,3761,3746,0,0,0,0,0,0
$GC,3212,-1.27,-136.3,323.8,-11.2,208,3216,0.00,2.53,0.00,0.000,6,0.000,0.028,2867,2185,3746,0,0,0,0,0,0
$GC,3489,-1.27,-136.3,349.2,-8.8,215,3491,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2185,3745,0,0,0,0,0,0
$GC,3735,-1.27,-136.3,367.5,-7.1,221,3736,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2185,3746,0,0,0,0,0,0
$GC,3977,-1.27,-136.3,384.8,-7.2,227,3981,0.00,2.80,0.00,0.000,4,0.000,0.085,2858,602,3742,0,0,0,0,0,0
$GC,3998,-1.27,-136.3,386.7,-8.8,227,4003,0.00,2.53,0.00,0.000,6,0.000,0.038,2867,2178,3741,0,0,0,0,0,0
$GC,4255,-1.27,-136.3,408.4,-8.5,234,4259,0.00,2.62,0.00,0.000,4,0.000,0.053,2847,3769,3739,0,0,0,0,0,0
$GC,4278,-1.27,-136.3,410.7,-9.4,234,4284,0.62,2.60,0.00,0.000,6,0.069,0.040,2874,2188,3741,2,0,0,0,0,0
$GC,4537,-1.73,-136.3,424.7,-6.0,241,4545,1.02,2.85,0.00,0.000,4,0.034,0.090,2753,590,3738,0,0,0,0,0,0
$GC,4674,-1.52,-136.3,441.7,-14.8,244,4679,0.28,2.60,0.00,0.000,6,0.096,0.040,2810,2170,3737,0,0,0,0,0,0
$GC,4958,-1.46,-136.3,470.7,-9.5,251,4959,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2170,3735,0,0,0,0,0,0
$GC,5204,-1.39,-136.3,491.6,-8.4,257,5209,0.15,2.75,0.00,0.000,4,0.108,0.071,2820,3764,3731,0,0,0,0,0,0
$GC,5220,-1.35,-136.3,493.4,-8.4,257,5225,0.00,2.67,0.00,0.000,6,0.000,0.053,2843,2174,3732,0,0,0,0,0,0
$GC,5481,-1.35,-136.3,511.2,-6.7,264,5482,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2174,3731,0,0,0,0,0,0
$GC,5727,-1.35,-136.3,528.4,-7.2,270,5728,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2174,3729,0,0,0,0,0,0
$GC,5968,-1.35,-136.3,547.7,-8.1,276,5970,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2174,3727,0,0,0,0,0,0
$GC,6212,-1.35,-136.3,569.2,-8.9,282,6217,0.00,2.80,0.00,0.000,4,0.000,0.077,2822,3761,3726,0,0,0,0,0,0
$GC,6269,-1.35,-136.3,574.6,-10.0,283,6278,1.95,2.78,0.00,0.000,6,0.071,0.065,2930,2162,3726,7,0,0,0,0,0
$GC,6541,-2.46,-136.3,591.7,-6.8,290,6550,3.12,2.85,0.00,0.000,4,0.084,0.074,2572,3763,3722,0,0,0,0,0,0
$STATE,6604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6604,begin apogee
$GC,6615,-0.31,0.0,600.0,15.8,291,6730,2.20,0.00,109.88,1.010,6,0.115,0.000,3070,2179,3190,0,0,0,0,0,0
$STATE,6730,end apogee,CONTROL_FINISHED_OK
$STATE,6730,begin climb
$GC,6733,1.30,136.3,605.0,0.0,294,6860,1.50,3.12,115.82,0.982,4,0.044,0.116,3422,592,2633,0,0,0,0,0,0
$GC,7028,1.13,136.3,571.8,15.1,300,7035,0.20,2.72,0.00,0.000,6,0.123,0.055,3391,2183,2626,0,0,0,0,0,0
$GC,7279,1.06,136.3,540.5,12.5,307,7283,0.00,2.80,0.00,0.000,4,0.000,0.077,3354,3772,2623,0,0,0,0,0,0
$GC,7324,0.99,136.3,534.7,13.3,308,7329,0.15,2.72,0.00,0.000,6,0.123,0.051,3362,2179,2623,0,0,0,0,0,0
$GC,7602,0.99,136.3,504.1,10.8,315,7603,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2179,2621,0,0,0,0,0,0
$GC,7846,1.01,150.9,480.8,9.3,321,7859,0.00,0.00,11.60,0.855,6,0.000,0.000,3362,2179,2576,0,0,0,0,0,0
$GC,8092,1.04,178.0,459.4,8.7,327,8122,0.00,2.72,25.30,0.897,4,0.000,0.047,3344,3772,2462,0,0,0,0,0,0
$GC,8141,1.07,200.1,454.9,8.9,328,8167,0.00,2.67,20.77,0.874,6,0.000,0.047,3363,2177,2374,0,0,0,0,0,0
$GC,8413,1.14,230.1,431.9,8.5,334,8443,0.12,0.00,27.55,0.877,6,0.077,0.000,3398,2178,2252,0,0,0,0,0,0
$GC,8654,1.14,230.1,405.8,11.1,340,8659,0.00,2.67,0.00,0.000,4,0.000,0.044,3380,3782,2246,0,0,0,0,0,0
$GC,8698,1.14,230.1,400.5,12.1,341,8702,0.00,2.67,0.00,0.000,6,0.000,0.041,3397,2186,2245,0,0,0,0,0,0
$GC,8978,1.14,230.1,369.1,11.6,348,8979,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,2186,2243,0,0,0,0,0,0
$GC,9220,1.14,230.1,341.4,11.2,354,9221,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2186,2243,0,0,0,0,0,0
$GC,9463,1.14,230.1,315.9,10.2,360,9464,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,2186,2242,0,0,0,0,0,0
$GC,9711,1.16,240.8,292.8,9.5,366,9725,0.00,2.65,9.05,0.717,4,0.000,0.042,3385,3780,2208,0,0,0,0,0,0
$GC,9825,1.21,240.8,280.4,10.9,368,9850,15.60,2.60,0.00,0.000,6,0.487,0.032,3278,2191,2206,56,1,0,0,0,0
$STATE,9854,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,9866,354.35,0.718,0,0,476,665.50
$SM_GC,0.18,14.48,0.00,0.00,0.053,0.000,0.000,471,2187,472,-12.20,0.20,666.48
$IRIDIUM_FIX,2213.68,-15801.53,190901,202043
$TT8_MAMPS,0.027612
$HUMID,75.43
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,19.90
$XPDR_PINGS,32
$24V_AH,23.4,29.260
$10V_AH,10.3,26.033
$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,55.075,80.300,319.975,354.350,0.000,52.556,76.730,402.470,8.000,0.000,13.988,804.957,7681.439,775.046,1272.406,801.878,33.366,1391.514,0.000,1269.554,0.000,0.534,0.000
$DEVICE_MAMPS,487.045,115.817,1010.139,717.912,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,250.246,165.579,215.696,364.321,550.996,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355968
$DATA_FILE_SIZE,28914,369
$CAP_FILE_SIZE,98044,8
$CFSIZE,260165632,134459392
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,65,0,0,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_PITCH_ERRORS
$GPS,250612,234034,2222.335,-15801.688,9,99.0,28,10.0