version: 66.06
glider: 146
mission: 7
dive: 219
start: 6 27 112 21 38 30
data:
$ID,146
$MISSION,7
$DIVE,219
$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,-294872.44
$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,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
$GPS1,213320,2216.519,-15804.515,9,1.3,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-64.8
$GPS2,213737,2216.526,-15804.574,8,1.3,13,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.199,-0.157
$KALMAN_X,-10814.5,-170.1,306.2,9226.4,-2111.2
$KALMAN_Y,140910.8,129.0,160.4,-185771.0,1589.5
$MHEAD_RNG_PITCHd_Wd,118.2,32622,-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,18,-1.32,-136.3,0.0,0.0,0,157,0.00,0.00,-133.50,0.000,6,0.000,0.000,473,2170,3745,0,0,0,0,0,0
$GC,162,-1.32,-136.3,3.2,-7.8,15,179,13.15,0.00,0.00,0.000,6,0.173,0.000,2843,2170,3746,0,0,0,0,0,0
$GC,460,-1.14,-136.3,61.2,-16.2,48,469,0.22,0.00,0.00,0.000,6,0.120,0.000,2893,2170,3746,0,0,0,0,0,0
$GC,728,-1.14,-136.3,91.2,-10.5,73,732,0.00,2.55,0.00,0.000,4,0.000,0.033,2868,3768,3746,0,0,0,0,0,0
$GC,746,-1.14,-136.3,93.9,-10.5,74,750,0.00,2.53,0.00,0.000,6,0.000,0.021,2893,2157,3746,0,0,0,0,0,0
$GC,1010,-1.14,-136.3,120.1,-10.3,98,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2157,3746,0,0,0,0,0,0
$GC,1275,-1.14,-136.3,149.3,-11.1,123,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2157,3746,0,0,0,0,0,0
$GC,1539,-1.14,-136.3,178.9,-10.7,148,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2156,3745,0,0,0,0,0,0
$GC,1820,-1.14,-136.3,208.6,-10.6,169,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2156,3745,0,0,0,0,0,0
$GC,2062,-1.14,-136.3,230.2,-8.3,175,2066,0.00,2.55,0.00,0.000,4,0.000,0.031,2875,3766,3745,0,0,0,0,0,0
$GC,2083,-1.14,-136.3,232.0,-8.0,175,2087,0.00,2.47,0.00,0.000,6,0.000,0.021,2892,2183,3745,0,0,0,0,0,0
$GC,2341,-1.14,-136.3,252.1,-7.7,182,2342,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2183,3745,0,0,0,0,0,0
$GC,2583,-1.18,-136.3,269.2,-6.9,188,2587,0.00,2.62,0.00,0.000,4,0.000,0.061,2893,601,3745,0,0,0,0,0,0
$GC,2599,-1.18,-136.3,270.5,-7.1,188,2603,0.00,2.50,0.00,0.000,6,0.000,0.021,2894,2213,3745,0,0,0,0,0,0
$GC,2862,-1.23,-136.3,290.5,-7.9,195,2866,0.00,2.67,0.00,0.000,4,0.000,0.054,2891,611,3745,0,0,0,0,0,0
$GC,2872,-1.27,-136.3,291.7,-8.1,195,2877,0.12,2.47,0.00,0.000,6,0.067,0.021,2845,2194,3744,0,0,0,0,0,0
$GC,3139,-1.27,-136.3,319.0,-10.2,202,3144,0.10,2.53,0.00,0.000,4,0.121,0.039,2866,3758,3744,0,0,0,0,0,0
$GC,3218,-1.27,-136.3,325.9,-7.8,203,3224,0.00,2.45,0.00,0.000,6,0.000,0.027,2866,2213,3744,0,0,0,0,0,0
$GC,3468,-1.27,-136.3,343.7,-7.1,210,3473,0.00,2.50,0.00,0.000,4,0.000,0.040,2846,3751,3743,0,0,0,0,0,0
$GC,3490,-1.27,-136.3,345.5,-7.3,210,3495,0.00,2.47,0.00,0.000,6,0.000,0.036,2866,2216,3743,0,0,0,0,0,0
$GC,3748,-1.27,-136.3,363.5,-7.0,217,3752,0.00,2.50,0.00,0.000,4,0.000,0.048,2867,3755,3742,0,0,0,0,0,0
$GC,3788,-1.32,-136.3,366.8,-8.0,218,3792,0.00,2.50,0.00,0.000,6,0.000,0.040,2866,2211,3742,0,0,0,0,0,0
$GC,4073,-1.36,-136.3,389.3,-8.1,225,4078,0.00,2.85,0.00,0.000,4,0.000,0.086,2866,595,3740,0,0,0,0,0,0
$GC,4089,-1.36,-136.3,391.0,-8.6,225,4093,0.00,2.60,0.00,0.000,6,0.000,0.033,2866,2200,3740,0,0,0,0,0,0
$GC,4350,-1.41,-136.3,413.4,-8.5,232,4352,0.12,0.00,0.00,0.000,6,0.070,0.000,2821,2200,3738,0,0,0,0,0,0
$GC,4596,-1.36,-136.3,436.6,-9.2,238,4597,0.10,0.00,0.00,0.000,6,0.120,0.000,2843,2200,3736,0,0,0,0,0,0
$GC,4837,-1.36,-136.3,456.7,-7.7,244,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2201,3734,0,0,0,0,0,0
$GC,5081,-1.36,-136.3,472.5,-6.3,250,5085,0.00,2.67,0.00,0.000,4,0.000,0.069,2825,3765,3732,0,0,0,0,0,0
$GC,5138,-1.36,-136.3,476.1,-6.4,251,5142,0.00,2.62,0.00,0.000,6,0.000,0.056,2843,2215,3732,0,0,0,0,0,0
$GC,5404,-1.36,-136.3,491.5,-5.8,258,5405,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2215,3730,0,0,0,0,0,0
$GC,5648,-1.36,-136.3,507.3,-6.5,264,5652,0.00,3.03,0.00,0.000,4,0.000,0.109,2843,593,3729,0,0,0,0,0,0
$GC,5705,-1.36,-136.3,511.6,-8.0,265,5709,0.00,2.70,0.00,0.000,6,0.000,0.046,2843,2206,3728,0,0,0,0,0,0
$GC,5971,-1.36,-136.3,532.7,-8.0,272,5972,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2207,3726,0,0,0,0,0,0
$STATE,6212,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6212,begin apogee
$GC,6218,-0.31,0.0,552.3,7.9,278,6334,1.00,0.00,108.88,0.975,6,0.074,0.000,3073,2169,3190,0,0,0,0,0,0
$STATE,6335,end apogee,CONTROL_FINISHED_OK
$STATE,6335,begin climb
$GC,6340,1.32,136.3,554.8,0.0,281,6466,1.50,2.92,114.53,0.942,4,0.043,0.097,3434,601,2632,0,0,0,0,0,0
$GC,6478,1.16,136.3,545.1,11.4,284,6483,0.38,2.72,0.00,0.000,6,0.113,0.049,3388,2183,2629,1,0,0,0,0,0
$GC,6747,1.20,169.9,521.7,8.5,291,6782,0.22,2.88,28.92,0.901,4,0.061,0.074,3385,3773,2496,0,0,0,0,0,0
$GC,6902,1.13,169.9,502.9,12.9,293,6908,0.10,2.67,0.00,0.000,6,0.137,0.050,3393,2218,2491,0,0,0,0,0,0
$GC,7158,1.09,169.9,475.8,10.4,300,7163,0.00,3.12,0.00,0.000,4,0.000,0.114,3393,584,2488,0,0,0,0,0,0
$GC,7219,1.05,169.9,468.5,11.4,301,7224,0.00,2.70,0.00,0.000,6,0.000,0.043,3363,2203,2487,0,0,0,0,0,0
$GC,7481,1.05,169.9,442.4,10.2,308,7486,0.00,2.65,0.00,0.000,4,0.000,0.054,3355,3778,2486,0,0,0,0,0,0
$GC,7582,1.05,169.9,431.0,11.1,310,7586,0.00,2.62,0.00,0.000,6,0.000,0.045,3393,2210,2485,0,0,0,0,0,0
$GC,7850,1.05,174.0,404.3,10.0,317,7855,0.00,2.90,0.00,0.000,4,0.000,0.086,3393,592,2483,0,0,0,0,0,0
$GC,7907,1.05,174.0,397.9,11.4,318,7911,0.00,2.67,0.00,0.000,6,0.000,0.034,3393,2240,2483,0,0,0,0,0,0
$GC,8175,1.06,180.5,371.6,9.9,325,8190,0.00,2.60,7.97,0.749,4,0.000,0.045,3297,3775,2454,0,0,0,0,0,0
$GC,8221,1.06,180.5,366.5,11.3,326,8225,0.00,2.60,0.00,0.000,6,0.000,0.041,3393,2211,2453,0,0,0,0,0,0
$GC,8504,1.06,180.5,335.8,10.7,333,8505,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,2211,2451,0,0,0,0,0,0
$GC,8747,1.10,212.8,314.4,8.6,339,8782,0.00,2.65,29.58,0.804,4,0.000,0.046,3394,3773,2321,0,0,0,0,0,0
$GC,8795,1.10,212.8,309.8,10.4,339,8820,15.60,2.60,0.00,0.000,6,0.484,0.038,3202,2213,2318,56,1,0,0,0,0
$STATE,8824,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,8836,378.10,0.736,0,0,476,665.50
$SM_GC,0.21,14.25,0.00,0.00,0.045,0.000,0.000,472,2193,471,-12.19,0.37,666.97
$IRIDIUM_FIX,2211.35,-15802.40,210901,212128
$TT8_MAMPS,0.026845
$HUMID,75.16
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,19.70
$XPDR_PINGS,38
$24V_AH,23.5,31.373
$10V_AH,10.3,27.724
$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,46.875,90.250,289.875,378.100,0.000,0.000,0.000,0.000,9.500,0.000,15.356,755.744,6789.785,779.373,1216.539,186.707,33.376,1367.427,0.000,1211.451,0.000,0.532,0.000
$DEVICE_MAMPS,483.977,213.993,974.857,736.320,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,230.356,149.781,205.656,353.962,538.743,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355988
$DATA_FILE_SIZE,25766,340
$CAP_FILE_SIZE,105518,8
$CFSIZE,260165632,133648384
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,57,0,0,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_PITCH_ERRORS
$GPS,280612,002036,2216.864,-15804.426,31,1.1,31,10.0