version: 66.06
glider: 146
mission: 7
dive: 165
start: 6 20 112 11 30 46
data:
$ID,146
$MISSION,7
$DIVE,165
$D_SURF,4
$D_FLARE,3
$D_TGT,700
$D_ABORT,800
$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,233
$T_MISSION,500
$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,-292148.28
$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,31
$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
$GPS1,111837,2242.320,-15802.213,32,2.0,32,10.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-68.5
$GPS2,112952,2242.382,-15802.220,14,2.3,33,10.0
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,STNKAENA
$TGT_LATLONG,2150.800,-15821.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.108,-0.227
$KALMAN_X,-6009.9,-192.3,309.2,8457.6,259.9
$KALMAN_Y,45517.3,461.5,190.7,-42851.7,-398.9
$MHEAD_RNG_PITCHd_Wd,195.5,101286,-18.2,-10.014
$D_GRID,700
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.31,-136.3,0.0,0.0,0,116,0.00,0.00,-86.43,0.000,6,0.000,0.000,474,2186,3748,0,0,0,0,0,0
$GC,118,-1.31,-136.3,5.4,-14.5,12,136,13.12,2.65,0.00,0.000,4,0.172,0.038,2851,597,3748,0,0,0,0,0,0
$GC,221,-1.16,-136.3,32.7,-15.9,25,226,0.17,2.47,0.00,0.000,6,0.125,0.021,2887,2185,3752,0,0,0,0,0,0
$GC,489,-1.08,-136.3,66.9,-11.7,49,494,0.10,2.62,0.00,0.000,4,0.132,0.044,2907,594,3749,0,0,0,0,0,0
$GC,524,-1.02,-136.3,71.8,-12.9,51,528,0.00,2.45,0.00,0.000,6,0.000,0.018,2907,2184,3749,0,0,0,0,0,0
$GC,790,-1.02,-136.3,104.0,-11.8,75,795,0.00,2.60,0.00,0.000,4,0.000,0.051,2907,592,3750,0,0,0,0,0,0
$GC,825,-1.02,-136.3,107.9,-11.2,77,830,0.00,2.42,0.00,0.000,6,0.000,0.017,2907,2177,3749,0,0,0,0,0,0
$GC,1092,-1.02,-136.3,134.5,-8.9,101,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2177,3750,0,0,0,0,0,0
$GC,1354,-1.02,-136.3,160.9,-10.1,126,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2177,3751,0,0,0,0,0,0
$GC,1608,-1.02,-136.3,185.4,-9.2,150,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2177,3751,0,0,0,0,0,0
$GC,1891,-1.06,-136.3,210.7,-8.5,168,1896,0.00,2.60,0.00,0.000,4,0.000,0.055,2907,598,3752,0,0,0,0,0,0
$GC,1918,-1.11,-136.3,213.4,-9.7,168,1923,0.00,2.42,0.00,0.000,6,0.000,0.025,2907,2167,3752,0,0,0,0,0,0
$GC,2169,-1.17,-136.3,235.1,-8.6,174,2173,0.00,2.50,0.00,0.000,4,0.000,0.041,2898,3751,3751,0,0,0,0,0,0
$GC,2192,-1.23,-136.3,237.1,-8.7,174,2198,0.15,2.47,0.00,0.000,6,0.062,0.021,2852,2153,3752,0,0,0,0,0,0
$GC,2448,-1.19,-136.3,265.7,-11.5,181,2453,0.15,2.58,0.00,0.000,4,0.104,0.035,2876,3746,3752,0,0,0,0,0,0
$GC,2504,-1.23,-136.3,271.8,-10.2,182,2508,0.00,2.45,0.00,0.000,6,0.000,0.023,2885,2177,3751,0,0,0,0,0,0
$GC,2772,-1.28,-136.3,296.0,-9.0,189,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2177,3751,0,0,0,0,0,0
$GC,3014,-1.33,-136.3,314.4,-7.3,195,3016,0.12,0.00,0.00,0.000,6,0.070,0.000,2841,2177,3751,0,0,0,0,0,0
$GC,3257,-1.33,-136.3,336.6,-9.4,201,3258,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2177,3750,0,0,0,0,0,0
$GC,3502,-1.33,-136.3,361.1,-10.3,207,3507,0.00,2.72,0.00,0.000,4,0.000,0.077,2841,605,3749,0,0,0,0,0,0
$GC,3529,-1.29,-136.3,364.2,-10.7,207,3535,0.10,2.50,0.00,0.000,6,0.122,0.036,2861,2164,3749,0,0,0,0,0,0
$GC,3779,-1.29,-136.3,387.1,-9.0,213,3784,0.00,2.70,0.00,0.000,4,0.000,0.067,2861,603,3748,0,0,0,0,0,0
$GC,3803,-1.29,-136.3,389.1,-8.5,213,3807,0.00,2.53,0.00,0.000,6,0.000,0.033,2861,2174,3748,0,0,0,0,0,0
$GC,4058,-1.29,-136.3,412.3,-9.2,220,4062,0.00,2.65,0.00,0.000,4,0.000,0.058,2854,3767,3746,0,0,0,0,0,0
$GC,4097,-1.33,-136.3,416.2,-10.0,221,4102,0.00,2.58,0.00,0.000,6,0.000,0.041,2862,2203,3746,0,0,0,0,0,0
$GC,4383,-1.38,-136.3,440.7,-8.3,228,4384,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2203,3744,0,0,0,0,0,0
$GC,4625,-1.42,-136.3,459.9,-7.8,234,4630,0.12,2.65,0.00,0.000,4,0.077,0.060,2813,3764,3743,0,0,0,0,0,0
$GC,4658,-1.37,-136.3,463.3,-10.7,234,4664,0.12,2.65,0.00,0.000,6,0.114,0.048,2844,2189,3743,0,0,0,0,0,0
$GC,4908,-1.37,-136.3,485.5,-8.9,241,4909,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2189,3741,0,0,0,0,0,0
$GC,5151,-1.37,-136.3,506.7,-8.6,247,5153,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2189,3739,0,0,0,0,0,0
$GC,5395,-1.37,-136.3,527.6,-8.5,253,5400,0.00,3.00,0.00,0.000,4,0.000,0.114,2844,588,3738,0,0,0,0,0,0
$GC,5418,-1.37,-136.3,529.4,-8.1,253,5423,0.00,2.65,0.00,0.000,6,0.000,0.050,2844,2181,3737,0,0,0,0,0,0
$GC,5673,-1.37,-136.3,549.7,-8.0,260,5678,0.00,2.78,0.00,0.000,4,0.000,0.083,2831,3765,3735,0,0,0,0,0,0
$GC,5700,-1.37,-136.3,552.2,-8.9,260,5705,0.00,2.67,0.00,0.000,6,0.000,0.057,2844,2189,3735,0,0,0,0,0,0
$GC,5952,-1.37,-136.3,572.5,-8.1,266,5957,0.00,3.00,0.00,0.000,4,0.000,0.116,2843,591,3733,0,0,0,0,0,0
$GC,5974,-1.37,-136.3,574.6,-8.7,266,5978,0.00,2.70,0.00,0.000,6,0.000,0.058,2844,2190,3733,0,0,0,0,0,0
$GC,6229,-1.37,-136.3,595.9,-8.4,273,6233,0.00,2.83,0.00,0.000,4,0.000,0.093,2844,3762,3732,0,0,0,0,0,0
$GC,6252,-1.37,-136.3,597.8,-8.3,273,6261,1.80,2.70,0.00,0.000,6,0.084,0.067,3272,2198,3732,6,0,0,0,0,0
$GC,6512,-2.36,-136.3,608.9,-4.4,280,6521,2.60,2.80,0.00,0.000,4,0.038,0.075,2613,3763,3729,0,0,0,0,0,0
$GC,6776,-1.95,-136.3,649.2,-16.7,285,6783,0.47,2.97,0.00,0.000,6,0.105,0.091,2714,2124,3729,0,0,0,0,0,0
$GC,7026,-1.73,-136.3,679.1,-11.6,292,7032,0.25,3.05,0.00,0.000,4,0.118,0.110,2761,3759,3728,0,0,0,0,0,0
$GC,7165,-1.62,-136.3,693.3,-10.6,295,7174,1.23,3.10,0.00,0.000,6,0.096,0.114,2900,2134,3726,4,0,0,0,0,0
$STATE,7324,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7324,begin apogee
$GC,7331,-0.31,0.0,700.3,4.0,299,7445,0.10,0.00,111.53,1.092,6,0.091,0.000,3088,2173,3190,0,0,0,0,0,0
$STATE,7448,end apogee,CONTROL_FINISHED_OK
$STATE,7448,begin climb
$GC,7451,1.31,136.3,705.7,0.0,302,7578,1.42,3.38,116.70,1.062,4,0.052,0.151,3431,589,2633,0,0,0,0,0,0
$GC,7600,1.11,136.3,696.2,11.5,305,7606,0.22,2.97,0.00,0.000,6,0.115,0.098,3387,2182,2629,0,0,0,0,0,0
$GC,7859,1.07,158.4,672.9,8.9,312,7884,0.00,3.05,19.83,0.993,4,0.000,0.114,3380,3769,2543,0,0,0,0,0,0
$GC,7942,1.01,158.4,664.6,10.1,314,7947,0.12,2.95,0.00,0.000,6,0.128,0.096,3363,2183,2540,0,0,0,0,0,0
$GC,8227,1.03,174.5,638.8,9.2,321,8244,0.00,0.00,14.88,0.970,6,0.000,0.000,3364,2183,2477,0,0,0,0,0,0
$GC,8469,1.03,177.5,615.3,9.9,327,8470,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,2183,2474,0,0,0,0,0,0
$GC,8713,1.03,177.5,590.1,10.4,333,8717,0.00,2.83,0.00,0.000,4,0.000,0.076,3357,3777,2472,0,0,0,0,0,0
$GC,8754,1.03,177.5,585.8,10.5,334,8778,15.60,2.78,0.00,0.000,6,0.489,0.059,3839,2181,2471,56,1,0,0,0,0
$STATE,8781,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,8794,423.23,0.939,0,0,477,665.50
$SM_GC,0.04,14.10,0.00,0.00,0.041,0.000,0.000,472,2177,468,-12.20,-0.08,667.71
$IRIDIUM_FIX,2232.34,-15801.07,140901,111152
$TT8_MAMPS,0.026078
$HUMID,77.28
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,18.30
$XPDR_PINGS,31
$24V_AH,23.4,23.568
$10V_AH,10.3,21.773
$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,52.100,103.525,262.925,423.225,0.000,56.779,65.858,303.862,7.750,0.000,35.507,790.565,7338.826,791.658,1192.448,702.791,33.363,1361.224,0.000,1163.026,0.000,0.533,0.000
$DEVICE_MAMPS,488.579,151.099,1092.208,938.808,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,227.055,153.542,203.271,327.574,490.541,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356040
$DATA_FILE_SIZE,25726,334
$CAP_FILE_SIZE,98959,8
$CFSIZE,260165632,136544256
$ERRORS,0,1,0,0,0,0,0,0,1,0,0,66,0,0,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_PITCH_ERRORS
$GPS,200612,142107,2241.466,-15802.388,35,1.3,35,10.0