version: 66.06
glider: 146
mission: 7
dive: 191
start: 6 24 112 1 27 45
data:
$ID,146
$MISSION,7
$DIVE,191
$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,-293392.06
$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,28
$R_STBD_OVSHOOT,42
$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
$GPS1,011921,2228.264,-15801.481,7,2.1,26,10.0
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,1
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-67.8
$GPS2,012652,2228.334,-15801.517,13,2.1,32,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.041,-0.250
$KALMAN_X,12307.8,7.1,-93.5,-8454.9,599.4
$KALMAN_Y,90712.8,-72.5,17.9,-113351.7,1340.2
$MHEAD_RNG_PITCHd_Wd,179.3,52821,-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,-136.3,0.0,0.0,0,115,0.00,0.00,-86.93,0.000,6,0.000,0.000,465,2176,3745,0,0,0,0,0,0
$GC,119,-1.32,-136.3,4.9,-13.1,12,137,13.12,2.62,0.00,0.000,4,0.173,0.032,2798,591,3746,0,0,0,0,0,0
$GC,316,-1.16,-136.3,48.5,-16.7,33,321,0.20,2.50,0.00,0.000,6,0.120,0.018,2890,2197,3746,0,0,0,0,0,0
$GC,584,-1.11,-136.3,83.4,-13.1,57,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2197,3746,0,0,0,0,0,0
$GC,845,-1.11,-136.3,114.7,-11.8,82,849,0.00,2.62,0.00,0.000,4,0.000,0.051,2890,595,3747,0,0,0,0,0,0
$GC,867,-1.07,-136.3,116.6,-11.4,83,871,0.00,2.42,0.00,0.000,6,0.000,0.024,2890,2186,3751,0,0,0,0,0,0
$GC,1133,-1.07,-136.3,146.7,-10.9,107,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2186,3748,0,0,0,0,0,0
$GC,1396,-1.07,-136.3,175.3,-10.6,132,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2185,3749,0,0,0,0,0,0
$GC,1668,-1.07,-136.3,205.3,-11.5,155,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2186,3749,0,0,0,0,0,0
$GC,1912,-1.07,-136.3,233.1,-11.3,161,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2186,3746,0,0,0,0,0,0
$GC,2157,-1.07,-136.3,258.9,-10.5,167,2158,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2186,3747,0,0,0,0,0,0
$GC,2400,-1.07,-136.3,279.3,-8.1,173,2401,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2186,3749,0,0,0,0,0,0
$GC,2644,-1.11,-136.3,298.4,-7.5,179,2645,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2186,3749,0,0,0,0,0,0
$GC,2888,-1.16,-136.3,318.6,-8.7,185,2889,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2186,3749,0,0,0,0,0,0
$GC,3133,-1.22,-136.3,337.5,-7.5,191,3137,0.00,2.53,0.00,0.000,4,0.000,0.044,2887,3743,3749,0,0,0,0,0,0
$GC,3149,-1.29,-136.3,339.1,-7.6,191,3154,0.00,2.47,0.00,0.000,6,0.000,0.032,2874,2182,3749,0,0,0,0,0,0
$GC,3411,-1.36,-136.3,357.7,-7.1,198,3416,0.17,2.75,0.00,0.000,4,0.058,0.083,2781,599,3748,0,0,0,0,0,0
$GC,3459,-1.31,-136.3,362.1,-10.0,199,3465,0.12,2.45,0.00,0.000,6,0.111,0.031,2858,2148,3748,0,0,0,0,0,0
$GC,3737,-1.31,-136.3,384.7,-7.7,206,3742,0.00,2.65,0.00,0.000,4,0.000,0.053,2858,3766,3747,0,0,0,0,0,0
$GC,3774,-1.31,-136.3,387.5,-8.4,206,3779,0.00,2.58,0.00,0.000,6,0.000,0.042,2858,2181,3747,0,0,0,0,0,0
$GC,4024,-1.31,-136.3,405.9,-7.3,213,4025,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2181,3745,0,0,0,0,0,0
$GC,4267,-1.31,-136.3,423.6,-7.2,219,4272,0.00,2.85,0.00,0.000,4,0.000,0.098,2835,597,3744,0,0,0,0,0,0
$GC,4290,-1.31,-136.3,425.4,-8.5,219,4295,0.00,2.58,0.00,0.000,6,0.000,0.040,2858,2170,3747,0,0,0,0,0,0
$GC,4545,-1.31,-136.3,444.3,-7.4,226,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2171,3743,0,0,0,0,0,0
$GC,4789,-1.31,-136.3,462.0,-7.4,232,4794,0.00,2.70,0.00,0.000,4,0.000,0.070,2833,3761,3740,0,0,0,0,0,0
$GC,4822,-1.35,-136.3,464.5,-8.6,232,4828,0.00,2.65,0.00,0.000,6,0.000,0.049,2858,2185,3741,0,0,0,0,0,0
$GC,5074,-1.39,-136.3,483.1,-7.5,239,5079,0.00,2.65,0.00,0.000,4,0.000,0.064,2850,3760,3739,0,0,0,0,0,0
$GC,5107,-1.43,-136.3,486.0,-8.0,239,5114,0.17,2.62,0.00,0.000,6,0.058,0.052,2801,2196,3738,0,0,0,0,0,0
$GC,5360,-1.36,-136.3,509.4,-9.5,246,5362,0.20,0.00,0.00,0.000,6,0.102,0.000,2844,2196,3737,0,0,0,0,0,0
$GC,5601,-1.36,-136.3,527.4,-7.1,252,5606,0.00,2.97,0.00,0.000,4,0.000,0.111,2843,592,3734,0,0,0,0,0,0
$GC,5634,-1.36,-136.3,529.7,-7.3,252,5639,0.00,2.67,0.00,0.000,6,0.000,0.046,2843,2195,3734,0,0,0,0,0,0
$GC,5886,-1.36,-136.3,545.1,-6.0,259,5890,0.00,2.92,0.00,0.000,4,0.000,0.094,2843,590,3733,0,0,0,0,0,0
$GC,5912,-1.36,-136.3,547.2,-7.3,259,5917,0.00,2.67,0.00,0.000,6,0.000,0.053,2843,2189,3733,0,0,0,0,0,0
$STATE,5957,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5957,begin apogee
$GC,5962,-0.31,0.0,550.1,6.6,260,6079,1.00,0.00,110.30,0.965,6,0.090,0.000,3079,2188,3190,0,0,0,0,0,0
$STATE,6080,end apogee,CONTROL_FINISHED_OK
$STATE,6080,begin climb
$GC,6082,1.32,136.3,550.0,0.0,263,6201,1.52,0.00,114.20,0.931,6,0.041,0.000,3437,2188,2632,0,0,0,0,0,0
$GC,6445,1.18,136.3,513.0,11.6,272,6451,0.17,2.92,0.00,0.000,4,0.123,0.088,3402,587,2626,0,0,0,0,0,0
$GC,6469,1.06,136.3,510.1,11.4,272,6474,0.00,2.67,0.00,0.000,6,0.000,0.039,3403,2181,2625,0,0,0,0,0,0
$GC,6726,1.02,159.8,486.6,9.0,279,6749,0.17,0.00,20.30,0.867,6,0.117,0.000,3369,2181,2538,0,0,0,0,0,0
$GC,6970,1.08,208.3,467.7,7.7,285,7019,0.00,2.80,42.83,0.885,4,0.000,0.061,3369,3769,2339,0,0,0,0,0,0
$GC,7095,1.14,219.0,456.4,9.6,287,7131,15.60,2.67,10.50,0.788,6,0.483,0.044,3148,2188,2294,56,1,0,0,0,0
$STATE,7134,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,7148,378.00,0.820,0,0,478,665.74
$SM_GC,0.17,14.25,0.00,0.00,0.047,0.000,0.000,474,2184,468,-12.19,0.11,667.71
$IRIDIUM_FIX,2223.01,-15802.82,170901,222258
$TT8_MAMPS,0.027612
$HUMID,75.51
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,19.20
$XPDR_PINGS,24
$24V_AH,23.5,27.115
$10V_AH,10.3,24.600
$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,46.725,63.975,298.125,378.000,0.000,27.903,35.519,221.819,6.000,0.000,35.003,635.620,5800.619,781.715,941.810,509.017,33.374,1206.361,0.000,924.232,0.000,0.534,0.000
$DEVICE_MAMPS,483.210,111.215,964.886,819.923,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,194.380,137.045,185.019,309.992,468.817,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356036
$DATA_FILE_SIZE,22638,288
$CAP_FILE_SIZE,73510,8
$CFSIZE,260165632,135176192
$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,240612,034606,2227.928,-15801.080,39,1.2,39,10.0