version: 66.06
glider: 146
mission: 7
dive: 168
start: 6 20 112 22 38 3
data:
$ID,146
$MISSION,7
$DIVE,168
$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,-292298.53
$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,30
$R_STBD_OVSHOOT,45
$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
$GPS1,223031,2240.401,-15803.796,38,1.3,38,10.0
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-69.7
$GPS2,223708,2240.424,-15803.805,10,1.6,10,10.0
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,STNKAENA
$TGT_LATLONG,2150.800,-15821.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.151,-0.201
$KALMAN_X,-2798.6,28.7,-196.0,2827.2,1553.7
$KALMAN_Y,51250.4,72.5,-27.6,-51598.6,1147.2
$MHEAD_RNG_PITCHd_Wd,206.9,96969,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.31,-136.3,0.0,0.0,0,111,0.00,0.00,-87.82,0.000,6,0.000,0.000,470,2194,3747,0,0,0,0,0,0
$GC,117,-1.31,-136.3,3.6,-9.4,11,135,13.15,2.62,0.00,0.000,4,0.173,0.038,2817,596,3748,0,0,0,0,0,0
$GC,268,-1.15,-136.3,39.1,-16.9,29,273,0.20,2.47,0.00,0.000,6,0.117,0.018,2890,2182,3749,0,0,0,0,0,0
$GC,537,-1.07,-136.3,77.1,-14.3,53,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2182,3750,0,0,0,0,0,0
$GC,798,-1.03,-136.3,110.8,-12.5,78,800,0.12,0.00,0.00,0.000,6,0.112,0.000,2919,2182,3750,0,0,0,0,0,0
$GC,1054,-1.03,-136.3,138.5,-10.7,102,1058,0.00,2.50,0.00,0.000,4,0.000,0.038,2919,3753,3751,0,0,0,0,0,0
$GC,1075,-1.03,-136.3,140.3,-10.1,103,1079,0.00,2.45,0.00,0.000,6,0.000,0.021,2919,2178,3752,0,0,0,0,0,0
$GC,1344,-1.06,-136.3,166.2,-9.1,127,1348,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2178,3752,0,0,0,0,0,0
$GC,1607,-1.11,-136.3,190.2,-9.0,152,1611,0.00,2.58,0.00,0.000,4,0.000,0.053,2919,609,3752,0,0,0,0,0,0
$GC,1640,-1.16,-136.3,192.8,-9.2,154,1645,0.12,2.45,0.00,0.000,6,0.069,0.024,2870,2193,3753,0,0,0,0,0,0
$GC,1915,-1.12,-136.3,223.1,-11.2,165,1920,0.12,2.50,0.00,0.000,4,0.104,0.035,2898,3753,3753,0,0,0,0,0,0
$GC,1967,-1.17,-136.3,228.4,-9.9,166,1972,0.00,2.45,0.00,0.000,6,0.000,0.026,2898,2194,3754,0,0,0,0,0,0
$GC,2241,-1.21,-136.3,251.4,-8.3,173,2246,0.00,2.65,0.00,0.000,4,0.000,0.061,2898,606,3754,0,0,0,0,0,0
$GC,2314,-1.27,-136.3,257.6,-8.4,174,2319,0.12,2.45,0.00,0.000,6,0.068,0.020,2848,2179,3754,0,0,0,0,0,0
$GC,2566,-1.23,-136.3,283.1,-10.5,180,2571,0.12,2.65,0.00,0.000,4,0.109,0.061,2876,606,3754,0,0,0,0,0,0
$GC,2581,-1.23,-136.3,285.2,-10.1,180,2586,0.00,2.47,0.00,0.000,6,0.000,0.025,2876,2181,3754,0,0,0,0,0,0
$GC,2842,-1.23,-136.3,310.8,-10.0,187,2847,0.00,2.55,0.00,0.000,4,0.000,0.045,2866,3755,3754,0,0,0,0,0,0
$GC,2865,-1.23,-136.3,313.1,-10.5,187,2870,0.00,2.47,0.00,0.000,6,0.000,0.028,2876,2188,3754,0,0,0,0,0,0
$GC,3121,-1.23,-136.3,336.3,-8.6,194,3125,0.00,2.53,0.00,0.000,4,0.000,0.041,2876,3753,3753,0,0,0,0,0,0
$GC,3143,-1.26,-136.3,338.3,-8.8,194,3147,0.00,2.53,0.00,0.000,6,0.000,0.036,2876,2182,3753,0,0,0,0,0,0
$GC,3400,-1.31,-136.3,359.0,-8.1,201,3401,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2182,3753,0,0,0,0,0,0
$GC,3642,-1.35,-136.3,378.9,-8.2,207,3647,0.12,2.60,0.00,0.000,4,0.070,0.049,2832,3754,3752,0,0,0,0,0,0
$GC,3658,-1.35,-136.3,380.6,-8.7,207,3662,0.00,2.58,0.00,0.000,6,0.000,0.042,2832,2186,3751,0,0,0,0,0,0
$GC,3920,-1.35,-136.3,409.1,-11.0,214,3921,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2185,3750,0,0,0,0,0,0
$GC,4162,-1.35,-136.3,434.1,-9.9,220,4167,0.00,2.90,0.00,0.000,4,0.000,0.095,2832,590,3749,0,0,0,0,0,0
$GC,4184,-1.31,-136.3,436.2,-9.4,220,4189,0.12,2.58,0.00,0.000,6,0.110,0.035,2858,2165,3749,0,0,0,0,0,0
$GC,4441,-1.31,-136.3,456.7,-8.0,227,4446,0.00,2.75,0.00,0.000,4,0.000,0.080,2857,597,3747,0,0,0,0,0,0
$GC,4463,-1.31,-136.3,458.5,-7.7,227,4467,0.00,2.62,0.00,0.000,6,0.000,0.039,2859,2191,3747,0,0,0,0,0,0
$GC,4718,-1.31,-136.3,478.3,-7.9,234,4722,0.00,2.67,0.00,0.000,4,0.000,0.062,2858,3764,3745,0,0,0,0,0,0
$GC,4759,-1.35,-136.3,481.8,-8.8,235,4764,0.00,2.65,0.00,0.000,6,0.000,0.054,2857,2188,3745,0,0,0,0,0,0
$GC,5043,-1.39,-136.3,508.0,-9.3,242,5048,0.00,2.97,0.00,0.000,4,0.000,0.111,2858,591,3743,0,0,0,0,0,0
$GC,5070,-1.39,-136.3,510.7,-9.8,242,5074,0.00,2.65,0.00,0.000,6,0.000,0.046,2858,2189,3743,0,0,0,0,0,0
$GC,5322,-1.43,-136.3,533.7,-9.1,248,5327,0.12,2.72,0.00,0.000,4,0.071,0.071,2809,3765,3741,0,0,0,0,0,0
$GC,5339,-1.43,-136.3,535.6,-9.2,248,5343,0.00,2.62,0.00,0.000,6,0.000,0.056,2814,2194,3741,0,0,0,0,0,0
$GC,5599,-1.39,-136.3,561.9,-10.1,255,5605,0.12,2.75,0.00,0.000,4,0.110,0.069,2840,3762,3740,0,0,0,0,0,0
$GC,5641,-1.39,-136.3,565.8,-9.4,256,5646,0.00,2.67,0.00,0.000,6,0.000,0.064,2840,2203,3740,0,0,0,0,0,0
$GC,5924,-1.39,-136.3,589.2,-7.9,263,5929,0.00,3.05,0.00,0.000,4,0.000,0.120,2827,593,3738,0,0,0,0,0,0
$GC,5957,-1.39,-136.3,592.0,-8.7,263,5963,0.00,2.75,0.00,0.000,6,0.000,0.056,2840,2201,3737,0,0,0,0,0,0
$GC,6209,-1.39,-136.3,611.1,-7.5,270,6214,0.00,2.80,0.00,0.000,4,0.000,0.095,2841,3765,3735,0,0,0,0,0,0
$GC,6230,-1.39,-136.3,613.0,-8.0,270,6235,0.00,2.72,0.00,0.000,6,0.000,0.073,2840,2204,3735,0,0,0,0,0,0
$GC,6485,-1.39,-136.3,631.8,-7.3,277,6487,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2204,3734,0,0,0,0,0,0
$GC,6729,-1.39,-136.3,650.9,-7.9,283,6734,0.00,3.15,0.00,0.000,4,0.000,0.131,2796,590,3732,0,0,0,0,0,0
$GC,6769,-1.39,-136.3,654.2,-8.2,284,6773,0.00,2.88,0.00,0.000,6,0.000,0.082,2840,2205,3732,0,0,0,0,0,0
$GC,7052,-1.39,-136.3,677.4,-8.3,291,7053,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2205,3731,0,0,0,0,0,0
$GC,7298,-1.39,-136.3,696.1,-7.4,297,7299,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2205,3729,0,0,0,0,0,0
$STATE,7374,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7374,begin apogee
$GC,7380,-0.31,0.0,702.1,7.3,299,7497,1.02,0.00,112.32,1.094,6,0.091,0.000,3075,2183,3190,0,0,0,0,0,0
$STATE,7498,end apogee,CONTROL_FINISHED_OK
$STATE,7498,begin climb
$GC,7500,1.31,136.3,703.4,0.0,302,7626,1.52,3.15,118.07,1.060,4,0.043,0.123,3435,3766,2633,0,0,0,0,0,0
$GC,7655,1.12,136.3,690.8,13.2,306,7661,0.22,3.10,0.00,0.000,6,0.130,0.112,3391,2177,2630,0,0,0,0,0,0
$GC,7939,1.05,136.3,659.8,10.6,313,7941,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,2177,2624,0,0,0,0,0,0
$GC,8185,0.98,136.3,633.9,10.6,319,8187,0.17,0.00,0.00,0.000,6,0.124,0.000,3357,2177,2622,0,0,0,0,0,0
$GC,8427,0.99,143.3,610.1,9.7,325,8434,0.00,0.00,5.30,0.769,6,0.000,0.000,3358,2176,2605,0,0,0,0,0,0
$GC,8670,1.00,156.9,587.1,9.3,331,8690,0.00,2.88,13.90,0.953,4,0.000,0.071,3357,3767,2550,0,0,0,0,0,0
$GC,8731,1.00,156.9,581.2,10.8,332,8736,0.00,2.78,0.00,0.000,6,0.000,0.057,3357,2176,2548,0,0,0,0,0,0
$GC,8997,1.03,181.9,557.1,8.8,339,9027,0.00,3.12,23.02,0.969,4,0.000,0.112,3357,588,2447,0,0,0,0,0,0
$GC,9044,1.05,197.3,552.8,9.3,340,9065,0.00,2.70,15.35,0.927,6,0.000,0.045,3357,2186,2385,0,0,0,0,0,0
$GC,9323,1.12,224.7,528.7,8.7,347,9355,0.12,2.80,25.60,0.953,4,0.081,0.067,3369,3768,2272,0,0,0,0,0,0
$GC,9377,1.12,224.7,522.7,10.7,348,9382,0.00,2.72,0.00,0.000,6,0.000,0.048,3391,2179,2270,0,0,0,0,0,0
$GC,9646,1.12,224.7,493.8,10.9,355,9651,0.00,3.00,0.00,0.000,4,0.000,0.115,3391,591,2267,0,0,0,0,0,0
$GC,9679,1.07,224.7,489.5,12.1,355,9684,0.00,2.62,0.00,0.000,6,0.000,0.032,3390,2179,2266,0,0,0,0,0,0
$GC,9928,1.07,224.7,461.9,10.9,362,9933,0.00,2.67,0.00,0.000,4,0.000,0.055,3373,3772,2266,0,0,0,0,0,0
$GC,9974,1.07,224.7,456.7,11.6,363,9999,15.60,2.67,0.00,0.000,6,0.489,0.043,3366,2179,2265,56,1,0,0,0,0
$STATE,10003,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,10015,375.35,0.859,0,0,477,665.50
$SM_GC,0.24,14.30,0.00,0.00,0.048,0.000,0.000,474,2176,469,-12.19,-0.11,667.46
$IRIDIUM_FIX,2234.68,-15805.41,140901,181837
$TT8_MAMPS,0.026078
$HUMID,75.63
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,18.70
$XPDR_PINGS,44
$24V_AH,23.3,24.080
$10V_AH,10.3,22.070
$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,47.450,129.725,313.575,375.350,0.000,29.046,32.459,190.249,11.000,0.000,13.030,852.616,8105.132,807.753,1193.986,530.100,33.365,1407.105,0.000,1191.408,0.000,0.533,0.000
$DEVICE_MAMPS,489.346,178.711,1093.742,859.040,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,247.167,150.379,205.659,316.939,479.689,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356052
$DATA_FILE_SIZE,25703,363
$CAP_FILE_SIZE,106136,8
$CFSIZE,260165632,136372224
$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,210612,014406,2239.397,-15804.363,11,1.0,27,10.0