version: 66.06
glider: 146
mission: 7
dive: 232
start: 6 29 112 17 27 29
data:
$ID,146
$MISSION,7
$DIVE,232
$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,-295180.91
$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,3115
$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,25
$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
$GPS1,171946,2213.516,-15804.959,8,3.7,27,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-69.2
$GPS2,172636,2213.504,-15805.017,21,1.5,31,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.105,-0.230
$KALMAN_X,-35814.7,-344.8,-530.1,34479.1,-475.3
$KALMAN_Y,162213.8,-454.7,-64.8,-211850.0,1103.3
$MHEAD_RNG_PITCHd_Wd,145.4,27761,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.32,-136.3,0.0,0.0,0,112,0.00,0.00,-86.88,0.000,6,0.000,0.000,468,2203,3746,0,0,0,0,0,0
$GC,117,-1.32,-136.3,3.1,-7.0,10,137,12.90,2.67,0.00,0.000,4,0.171,0.035,2686,587,3747,0,0,0,0,0,0
$GC,189,-1.08,-136.3,27.7,-22.2,18,197,0.25,2.53,0.00,0.000,6,0.104,0.018,2872,2197,3747,0,0,0,0,0,0
$GC,465,-0.95,-136.3,68.8,-14.5,44,476,0.15,0.00,0.00,0.000,6,0.112,0.000,2906,2198,3748,0,0,0,0,0,0
$GC,732,-0.95,-136.3,103.5,-12.1,69,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2198,3749,0,0,0,0,0,0
$GC,996,-0.95,-136.3,128.3,-8.9,94,1000,0.00,2.65,0.00,0.000,4,0.000,0.049,2902,594,3750,0,0,0,0,0,0
$GC,1020,-0.95,-136.3,130.8,-9.2,95,1025,0.00,2.42,0.00,0.000,6,0.000,0.015,2905,2182,3752,0,0,0,0,0,0
$GC,1286,-0.95,-136.3,154.6,-9.3,120,1295,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2182,3750,0,0,0,0,0,0
$GC,1554,-0.95,-136.3,181.0,-9.9,145,1559,0.00,2.60,0.00,0.000,4,0.000,0.048,2905,596,3750,0,0,0,0,0,0
$GC,1578,-0.95,-136.3,184.2,-10.7,146,1583,0.00,2.45,0.00,0.000,6,0.000,0.021,2905,2179,3750,0,0,0,0,0,0
$GC,1854,-0.95,-136.3,213.4,-10.6,164,1859,0.00,2.65,0.00,0.000,4,0.000,0.048,2905,594,3751,0,0,0,0,0,0
$GC,1876,-0.95,-136.3,215.9,-11.2,164,1880,0.00,2.42,0.00,0.000,6,0.000,0.025,2905,2170,3751,0,0,0,0,0,0
$GC,2134,-0.95,-136.3,241.6,-9.9,171,2135,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2171,3751,0,0,0,0,0,0
$GC,2376,-0.99,-136.3,265.2,-9.6,177,2380,0.00,2.62,0.00,0.000,4,0.000,0.057,2905,594,3751,0,0,0,0,0,0
$GC,2443,-1.05,-136.3,271.3,-9.0,178,2447,0.00,2.42,0.00,0.000,6,0.000,0.025,2905,2161,3751,0,0,0,0,0,0
$GC,2700,-1.14,-136.3,292.0,-7.8,185,2705,0.17,2.58,0.00,0.000,4,0.054,0.038,2837,3755,3751,0,0,0,0,0,0
$GC,2722,-1.14,-136.3,294.3,-8.8,185,2728,0.40,2.50,0.00,0.000,6,0.077,0.028,2880,2162,3751,1,0,0,0,0,0
$GC,2980,-1.31,-136.3,309.8,-5.7,192,2986,0.43,2.58,0.00,0.000,4,0.034,0.036,2793,3749,3751,0,0,0,0,0,0
$GC,3088,-1.22,-136.3,322.2,-12.6,194,3094,0.20,2.47,0.00,0.000,6,0.092,0.027,2857,2190,3751,0,0,0,0,0,0
$GC,3350,-1.22,-136.3,346.2,-8.4,201,3351,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2190,3750,0,0,0,0,0,0
$GC,3595,-1.22,-136.3,363.9,-7.2,207,3600,0.00,2.78,0.00,0.000,4,0.000,0.081,2858,597,3749,0,0,0,0,0,0
$GC,3617,-1.22,-136.3,365.6,-6.9,207,3621,0.00,2.50,0.00,0.000,6,0.000,0.035,2858,2159,3749,0,0,0,0,0,0
$GC,3872,-1.22,-136.3,383.5,-7.1,214,3876,0.00,2.65,0.00,0.000,4,0.000,0.071,2858,602,3748,0,0,0,0,0,0
$GC,3960,-1.22,-136.3,390.7,-9.1,216,3964,0.00,2.53,0.00,0.000,6,0.000,0.034,2858,2171,3751,0,0,0,0,0,0
$GC,4243,-1.22,-136.3,414.1,-7.9,223,4244,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2171,3747,0,0,0,0,0,0
$GC,4486,-1.22,-136.3,433.5,-7.9,229,4491,0.00,2.67,0.00,0.000,4,0.000,0.057,2826,3770,3745,0,0,0,0,0,0
$GC,4544,-1.25,-136.3,437.9,-7.6,230,4548,0.00,2.62,0.00,0.000,6,0.000,0.043,2854,2179,3745,0,0,0,0,0,0
$GC,4811,-1.29,-136.3,456.3,-6.7,237,4812,0.10,0.00,0.00,0.000,6,0.081,0.000,2817,2179,3743,0,0,0,0,0,0
$GC,5056,-1.25,-136.3,475.7,-8.1,243,5058,0.12,0.00,0.00,0.000,6,0.107,0.000,2843,2179,3741,0,0,0,0,0,0
$GC,5297,-1.25,-136.3,492.5,-6.8,249,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2179,3740,0,0,0,0,0,0
$GC,5541,-1.25,-136.3,510.5,-7.6,255,5546,0.00,2.95,0.00,0.000,4,0.000,0.113,2842,597,3738,0,0,0,0,0,0
$GC,5557,-1.25,-136.3,511.9,-7.6,255,5562,0.00,2.60,0.00,0.000,6,0.000,0.043,2842,2173,3738,0,0,0,0,0,0
$GC,5821,-1.25,-136.3,531.9,-7.6,262,5822,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2173,3736,0,0,0,0,0,0
$GC,6062,-1.25,-136.3,549.3,-7.0,268,6063,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2174,3736,0,0,0,0,0,0
$STATE,6100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6100,begin apogee
$GC,6106,-0.31,0.0,552.3,7.1,269,6223,0.88,0.00,110.35,0.974,6,0.072,0.000,3045,2174,3190,0,0,0,0,0,0
$STATE,6223,end apogee,CONTROL_FINISHED_OK
$STATE,6224,begin climb
$GC,6228,1.32,136.3,554.6,0.0,272,6352,1.52,2.92,114.43,0.942,4,0.046,0.075,3364,3762,2633,0,0,0,0,0,0
$GC,6369,1.22,139.3,546.2,10.0,275,6395,15.60,2.72,3.25,0.464,6,0.481,0.055,3226,2183,2623,56,1,0,0,0,0
$STATE,6398,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,6414,448.35,0.870,0,0,478,665.50
$SM_GC,0.28,14.32,0.00,0.00,0.049,0.000,0.000,473,2178,469,-12.06,-0.06,667.71
$IRIDIUM_FIX,2204.37,-15806.30,230901,141408
$TT8_MAMPS,0.027612
$HUMID,74.25
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,19.00
$XPDR_PINGS,23
$24V_AH,23.5,33.051
$10V_AH,10.3,29.285
$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,47.050,62.525,228.025,448.350,0.000,27.903,35.208,179.296,5.750,0.000,32.701,617.978,5229.320,788.166,1023.496,473.060,33.373,1212.629,0.000,1011.978,0.000,0.533,0.000
$DEVICE_MAMPS,480.909,112.749,974.090,869.778,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,186.306,132.439,188.018,360.355,564.782,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355980
$DATA_FILE_SIZE,19445,276
$CAP_FILE_SIZE,72155,8
$CFSIZE,260165632,132939776
$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,290612,193754,2213.289,-15804.784,42,1.0,60,10.0