version: 66.06
glider: 146
mission: 7
dive: 243
start: 7 1 112 4 48 53
data:
$ID,146
$MISSION,7
$DIVE,243
$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,-295588.62
$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,16
$R_STBD_OVSHOOT,20
$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
$GPS1,044354,2208.791,-15806.114,7,1.4,12,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-64.2
$GPS2,044801,2208.793,-15806.181,11,1.4,11,10.0
$SPEED_LIMITS,0.172,0.267
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.207,-0.169
$KALMAN_X,-58415.1,-344.5,-1061.7,55641.6,-1360.1
$KALMAN_Y,173781.9,349.7,70.6,-233090.7,807.3
$MHEAD_RNG_PITCHd_Wd,119.3,21507,-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,-136.3,0.0,0.0,0,158,0.00,0.00,-133.25,0.000,6,0.000,0.000,473,2195,3743,0,0,0,0,0,0
$GC,162,-1.50,-136.3,3.2,-6.9,15,183,12.68,2.67,0.00,0.000,4,0.170,0.038,2780,581,3744,0,0,0,0,0,0
$GC,433,-1.29,-136.3,64.2,-20.0,39,438,0.25,2.50,0.00,0.000,6,0.116,0.021,2830,2208,3744,0,0,0,0,0,0
$GC,701,-1.22,-136.3,106.8,-16.0,63,705,0.00,2.45,0.00,0.000,4,0.000,0.035,2838,3752,3744,0,0,0,0,0,0
$GC,922,-1.22,-136.3,141.7,-14.4,80,926,0.00,2.53,0.00,0.000,6,0.000,0.021,2830,2142,3744,0,0,0,0,0,0
$GC,1183,-1.16,-136.3,178.4,-13.1,104,1185,0.15,0.00,0.00,0.000,6,0.118,0.000,2861,2142,3743,0,0,0,0,0,0
$GC,1448,-1.16,-136.3,210.0,-11.9,123,1452,0.00,2.55,0.00,0.000,4,0.000,0.051,2861,605,3743,0,0,0,0,0,0
$GC,1469,-1.16,-136.3,213.2,-12.2,123,1473,0.00,2.40,0.00,0.000,6,0.000,0.021,2861,2173,3743,0,0,0,0,0,0
$GC,1731,-1.20,-136.3,242.2,-10.9,130,1732,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2173,3743,0,0,0,0,0,0
$GC,1977,-1.26,-136.3,268.5,-10.6,136,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,2173,3743,0,0,0,0,0,0
$GC,2218,-1.35,-136.3,289.6,-8.4,142,2224,0.17,2.53,0.00,0.000,4,0.058,0.038,2782,3742,3743,0,0,0,0,0,0
$GC,2308,-1.35,-136.3,299.5,-10.8,144,2312,0.00,2.47,0.00,0.000,6,0.000,0.025,2800,2182,3742,0,0,0,0,0,0
$GC,2587,-1.35,-136.3,329.5,-11.2,151,2592,0.00,2.72,0.00,0.000,4,0.000,0.073,2800,598,3741,0,0,0,0,0,0
$GC,2603,-1.35,-136.3,331.6,-11.2,151,2607,0.00,2.47,0.00,0.000,6,0.000,0.034,2801,2149,3741,0,0,0,0,0,0
$GC,2864,-1.35,-136.3,361.9,-11.6,158,2868,0.00,2.65,0.00,0.000,4,0.000,0.052,2801,3762,3740,0,0,0,0,0,0
$GC,2926,-1.35,-136.3,369.5,-12.6,159,2930,0.00,2.60,0.00,0.000,6,0.000,0.035,2801,2170,3740,0,0,0,0,0,0
$GC,3187,-1.35,-136.3,398.8,-10.8,166,3191,0.00,2.62,0.00,0.000,4,0.000,0.052,2787,3763,3738,0,0,0,0,0,0
$GC,3214,-1.35,-136.3,401.9,-10.9,166,3225,2.38,2.62,0.00,0.000,6,0.073,0.041,2894,2180,3738,8,0,0,0,0,0
$GC,3471,-2.68,-136.3,418.3,-7.5,173,3480,3.55,2.67,0.00,0.000,4,0.054,0.053,2512,3754,3736,0,0,0,0,0,0
$GC,3735,-2.19,-136.3,469.8,-21.3,178,3742,0.50,2.83,0.00,0.000,6,0.112,0.061,2633,2109,3733,0,0,0,0,0,0
$GC,3986,-1.90,-136.3,513.8,-17.2,185,3991,0.28,2.83,0.00,0.000,4,0.117,0.065,2683,3751,3732,0,0,0,0,0,0
$GC,4150,-1.70,-136.3,540.7,-16.1,188,4156,0.22,2.88,0.00,0.000,6,0.195,0.066,2739,2105,3730,0,0,0,0,0,0
$GC,4400,-1.61,-136.3,575.5,-13.7,194,4406,0.12,2.95,0.00,0.000,4,0.137,0.083,2761,3750,3728,0,0,0,0,0,0
$GC,4552,-1.56,-136.3,595.8,-12.7,197,4556,0.00,2.92,0.00,0.000,6,0.000,0.083,2762,2114,3727,0,0,0,0,0,0
$GC,4813,-1.52,-136.3,626.0,-11.6,204,4815,0.10,0.00,0.00,0.000,6,0.141,0.000,2780,2114,3724,0,0,0,0,0,0
$STATE,5053,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5053,begin apogee
$GC,5060,-0.31,0.0,650.5,9.8,210,5176,1.20,0.00,110.47,1.039,6,0.084,0.000,3047,2170,3189,0,0,0,0,0,0
$STATE,5176,end apogee,CONTROL_FINISHED_OK
$STATE,5177,begin climb
$GC,5181,1.50,136.3,653.2,0.0,213,5308,1.65,3.25,116.62,1.007,4,0.044,0.135,3441,595,2633,0,0,0,0,0,0
$GC,5327,1.39,136.3,641.6,12.5,216,5332,0.00,2.88,0.00,0.000,6,0.000,0.074,3425,2186,2630,0,0,0,0,0,0
$GC,5588,1.32,136.3,608.4,12.5,223,5593,0.17,2.85,0.00,0.000,4,0.127,0.087,3404,3773,2624,0,0,0,0,0,0
$GC,5628,1.32,136.3,603.5,12.1,224,5632,0.00,2.85,0.00,0.000,6,0.000,0.077,3405,2177,2624,0,0,0,0,0,0
$GC,5913,1.35,156.1,572.7,10.9,231,5937,0.00,2.90,16.98,0.923,4,0.000,0.073,3358,3768,2553,0,0,0,0,0,0
$GC,5965,1.35,156.1,566.1,12.4,232,5970,0.00,2.78,0.00,0.000,6,0.000,0.058,3404,2175,2551,0,0,0,0,0,0
$GC,6238,1.36,164.0,534.6,11.6,239,6252,0.00,2.80,7.22,0.799,4,0.000,0.061,3312,3764,2523,0,0,0,0,0,0
$GC,6299,1.36,164.0,526.9,13.0,240,6304,0.00,2.72,0.00,0.000,6,0.000,0.058,3406,2187,2521,0,0,0,0,0,0
$GC,6565,1.37,179.4,496.3,11.1,247,6586,0.00,3.10,15.12,0.896,4,0.000,0.116,3405,588,2457,0,0,0,0,0,0
$GC,6633,1.39,191.5,489.0,11.3,248,6652,0.00,2.67,12.10,0.861,6,0.000,0.040,3405,2190,2409,0,0,0,0,0,0
$GC,6938,1.46,215.1,456.7,10.6,256,6968,0.10,2.78,21.73,0.891,4,0.091,0.057,3332,3770,2313,0,0,0,0,0,0
$GC,7020,1.46,215.1,445.8,14.3,257,7044,15.60,2.70,0.00,0.000,6,0.490,0.042,3131,2175,2307,56,1,0,0,0,0
$STATE,7048,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,7060,383.60,0.838,0,0,476,665.50
$SM_GC,0.28,14.38,0.00,0.00,0.051,0.000,0.000,476,2172,469,-12.05,-0.23,667.46
$IRIDIUM_FIX,2159.71,-15804.14,250901,040402
$TT8_MAMPS,0.027612
$HUMID,78.70
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,18.90
$XPDR_PINGS,32
$24V_AH,23.4,34.680
$10V_AH,10.2,30.444
$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,53.500,87.275,300.250,383.600,0.000,0.000,0.000,0.000,8.000,0.000,13.309,638.240,5453.566,778.842,1174.826,159.398,33.365,1354.324,0.000,1168.339,0.000,0.534,0.000
$DEVICE_MAMPS,490.113,260.013,1038.518,837.564,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,174.494,105.920,151.241,294.874,467.104,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355984
$DATA_FILE_SIZE,19424,258
$CAP_FILE_SIZE,106348,8
$CFSIZE,260165632,132321280
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,64,0,0,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_PITCH_ERRORS
$GPS,010712,070536,2208.888,-15806.391,26,2.0,26,10.0