version: 66.06
glider: 146
mission: 7
dive: 242
start: 7 1 112 1 38 50
data:
$ID,146
$MISSION,7
$DIVE,242
$D_SURF,4
$D_FLARE,3
$D_TGT,650
$D_ABORT,720
$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,-295442.94
$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,29
$R_STBD_OVSHOOT,39
$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
$GPS1,012615,2208.831,-15804.743,10,99.0,29,10.0
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-70.8
$GPS2,013757,2208.816,-15804.971,15,99.0,34,10.0
$SPEED_LIMITS,0.172,0.267
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.230,-0.135
$KALMAN_X,-55165.3,-307.3,88.2,53257.7,-1933.7
$KALMAN_Y,172699.5,77.8,44.9,-231665.0,695.8
$MHEAD_RNG_PITCHd_Wd,110.3,20245,-21.4,-12.037
$D_GRID,650
$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,-1.50,-136.3,0.0,0.0,0,111,0.00,0.00,-88.07,0.000,6,0.000,0.000,471,2174,3746,0,0,0,0,0,0
$GC,114,-1.50,-136.3,2.9,-6.3,10,133,12.75,2.58,0.00,0.000,4,0.171,0.035,2777,593,3747,0,0,0,0,0,0
$GC,407,-1.28,-136.3,68.4,-18.7,36,416,0.25,2.50,0.00,0.000,6,0.109,0.018,2830,2191,3747,0,0,0,0,0,0
$GC,674,-1.20,-136.3,107.5,-15.0,61,679,0.10,2.47,0.00,0.000,4,0.140,0.035,2818,3746,3748,0,0,0,0,0,0
$GC,908,-1.20,-136.3,137.0,-11.5,79,912,0.00,2.47,0.00,0.000,6,0.000,0.027,2850,2166,3750,0,0,0,0,0,0
$GC,1174,-1.20,-136.3,166.4,-11.0,103,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2166,3750,0,0,0,0,0,0
$GC,1438,-1.20,-136.3,198.3,-13.5,128,1443,0.00,2.55,0.00,0.000,4,0.000,0.055,2790,606,3750,0,0,0,0,0,0
$GC,1460,-1.20,-136.3,201.9,-13.4,129,1464,0.00,2.42,0.00,0.000,6,0.000,0.023,2850,2175,3750,0,0,0,0,0,0
$GC,1717,-1.20,-136.3,234.1,-12.4,136,1721,0.00,2.53,0.00,0.000,4,0.000,0.035,2822,3752,3751,0,0,0,0,0,0
$GC,1732,-1.20,-136.3,236.1,-11.4,136,1737,0.00,2.47,0.00,0.000,6,0.000,0.026,2850,2156,3751,0,0,0,0,0,0
$GC,1993,-1.25,-136.3,262.2,-9.8,143,1995,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2155,3751,0,0,0,0,0,0
$GC,2239,-1.30,-136.3,281.4,-7.7,149,2244,0.00,2.55,0.00,0.000,4,0.000,0.044,2806,3740,3751,0,0,0,0,0,0
$GC,2307,-1.40,-136.3,287.2,-8.2,150,2312,0.17,2.47,0.00,0.000,6,0.053,0.026,2788,2181,3749,0,0,0,0,0,0
$GC,2563,-1.35,-136.3,314.6,-10.9,157,2568,0.15,2.72,0.00,0.000,4,0.105,0.073,2820,601,3750,0,0,0,0,0,0
$GC,2604,-1.35,-136.3,319.0,-10.7,158,2609,0.00,2.47,0.00,0.000,6,0.000,0.031,2821,2160,3750,0,0,0,0,0,0
$GC,2888,-1.35,-136.3,346.5,-9.4,165,2892,0.00,2.67,0.00,0.000,4,0.000,0.071,2820,606,3750,0,0,0,0,0,0
$GC,2909,-1.35,-136.3,348.7,-10.1,165,2913,0.00,2.53,0.00,0.000,6,0.000,0.031,2820,2173,3749,0,0,0,0,0,0
$GC,3166,-1.39,-136.3,371.5,-8.8,172,3168,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2173,3748,0,0,0,0,0,0
$GC,3408,-1.43,-136.3,390.7,-7.5,178,3409,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2173,3747,0,0,0,0,0,0
$GC,3652,-1.48,-136.3,410.7,-8.6,184,3657,0.12,2.67,0.00,0.000,4,0.070,0.059,2749,3765,3746,0,0,0,0,0,0
$GC,3694,-1.44,-136.3,415.0,-10.7,185,3703,3.42,2.60,0.00,0.000,6,0.074,0.048,2852,2186,3746,12,0,0,0,0,0
$GC,3982,-3.08,-136.3,444.8,-12.4,192,3991,5.50,0.00,0.00,0.000,6,0.116,0.000,2437,2186,3744,0,0,0,0,0,0
$GC,4273,-2.49,-136.3,509.3,-25.0,199,4279,0.62,2.72,0.00,0.000,4,0.130,0.072,2536,3762,3741,0,0,0,0,0,0
$GC,4534,-2.09,-136.3,561.1,-18.7,204,4540,0.47,2.80,0.00,0.000,6,0.127,0.079,2659,2188,3740,0,0,0,0,0,0
$GC,4784,-1.86,-136.3,600.0,-14.9,211,4789,0.25,2.85,0.00,0.000,4,0.121,0.090,2685,3758,3738,0,0,0,0,0,0
$GC,4800,-1.66,-136.3,602.7,-14.8,211,4806,0.20,2.83,0.00,0.000,6,0.123,0.084,2752,2180,3738,0,0,0,0,0,0
$GC,5064,-1.61,-136.3,633.9,-11.9,218,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2180,3735,0,0,0,0,0,0
$STATE,5221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5221,begin apogee
$GC,5227,-0.31,0.0,652.9,11.7,222,5344,1.33,0.00,112.68,1.042,6,0.097,0.000,3044,2180,3190,0,0,0,0,0,0
$STATE,5345,end apogee,CONTROL_FINISHED_OK
$STATE,5345,begin climb
$GC,5347,1.50,136.3,656.9,0.0,225,5469,1.67,0.00,115.93,1.015,6,0.054,0.000,3443,2180,2633,0,0,0,0,0,0
$GC,5717,1.43,144.1,622.5,11.6,234,5731,0.00,2.95,6.88,0.797,4,0.000,0.087,3323,3756,2602,0,0,0,0,0,0
$GC,5761,1.33,144.1,616.6,12.6,235,5766,0.17,2.85,0.00,0.000,6,0.125,0.079,3408,2183,2601,0,0,0,0,0,0
$GC,6047,1.36,161.7,585.7,11.0,242,6071,0.00,3.17,16.58,0.931,4,0.000,0.115,3408,586,2530,0,0,0,0,0,0
$GC,6104,1.36,161.7,578.7,12.4,243,6109,0.00,2.72,0.00,0.000,6,0.000,0.058,3407,2170,2528,0,0,0,0,0,0
$GC,6371,1.38,178.2,548.8,11.1,250,6392,0.00,2.85,15.10,0.918,4,0.000,0.075,3366,3769,2463,0,0,0,0,0,0
$GC,6411,1.39,193.8,544.5,11.1,251,6432,0.00,2.75,15.32,0.909,6,0.000,0.054,3316,2180,2400,0,0,0,0,0,0
$GC,6694,1.40,200.7,511.6,11.6,258,6708,0.00,2.80,7.18,0.798,4,0.000,0.054,3285,3769,2371,0,0,0,0,0,0
$GC,6766,1.40,200.7,502.5,13.0,259,6771,0.00,2.72,0.00,0.000,6,0.000,0.053,3407,2193,2369,0,0,0,0,0,0
$GC,7021,1.40,200.7,470.8,12.4,266,7026,0.00,3.03,0.00,0.000,4,0.000,0.112,3408,587,2367,0,0,0,0,0,0
$GC,7076,1.40,200.7,463.2,13.6,267,7080,0.00,2.67,0.00,0.000,6,0.000,0.036,3407,2198,2366,0,0,0,0,0,0
$GC,7345,1.45,209.6,431.7,11.5,274,7360,0.10,2.70,8.57,0.805,4,0.091,0.055,3368,3765,2336,0,0,0,0,0,0
$GC,7428,1.45,209.6,420.7,12.9,275,7453,15.60,2.62,0.00,0.000,6,0.492,0.045,3281,2199,2333,56,1,0,0,0,0
$STATE,7456,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,7470,389.92,0.831,0,0,476,665.50
$SM_GC,0.30,14.20,0.00,0.00,0.044,0.000,0.000,474,2195,466,-12.06,0.42,667.71
$IRIDIUM_FIX,2202.04,-15632.50,250901,010137
$TT8_MAMPS,0.026845
$HUMID,77.95
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,18.70
$XPDR_PINGS,32
$24V_AH,23.4,34.444
$10V_AH,10.2,30.362
$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,57.100,85.750,298.225,389.925,0.000,55.248,88.896,305.015,8.000,0.000,37.027,667.460,5883.478,787.423,1154.304,708.160,33.370,1310.859,0.000,1128.622,0.000,0.532,0.000
$DEVICE_MAMPS,492.414,115.050,1042.353,830.661,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,187.419,114.927,162.411,302.939,481.345,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356008
$DATA_FILE_SIZE,19333,276
$CAP_FILE_SIZE,88186,8
$CFSIZE,260165632,132378624
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,68,0,0,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_PITCH_ERRORS
$GPS,010712,040154,2208.823,-15805.326,40,1.3,40,10.0