version: 66.06
glider: 146
mission: 7
dive: 245
start: 7 1 112 10 35 42
data:
$ID,146
$MISSION,7
$DIVE,245
$D_SURF,4
$D_FLARE,3
$D_TGT,550
$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,150
$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,-295829.12
$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,68
$R_STBD_OVSHOOT,40
$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
$GPS1,102836,2208.435,-15806.811,30,1.4,30,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-70.6
$GPS2,103449,2208.442,-15806.915,13,1.2,13,10.0
$SPEED_LIMITS,0.175,0.268
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.244,-0.110
$KALMAN_X,-64727.9,-552.7,285.7,59544.0,-1616.0
$KALMAN_Y,176275.6,497.6,180.2,-236489.4,396.5
$MHEAD_RNG_PITCHd_Wd,104.3,21881,-21.6,-12.222
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.52,-136.3,0.0,0.0,0,114,0.00,0.00,-90.43,0.000,6,0.000,0.000,469,2137,3747,0,0,0,0,0,0
$GC,117,-1.52,-136.3,3.0,-5.8,10,137,12.73,0.00,0.00,0.000,6,0.173,0.000,2775,2137,3748,0,0,0,0,0,0
$GC,426,-1.32,-136.3,74.5,-19.5,41,436,0.25,0.00,0.00,0.000,6,0.124,0.000,2828,2137,3750,0,0,0,0,0,0
$GC,688,-1.26,-136.3,117.3,-14.7,66,692,0.00,2.58,0.00,0.000,4,0.000,0.035,2811,3757,3751,0,0,0,0,0,0
$GC,744,-1.26,-136.3,126.1,-15.7,70,749,0.00,2.45,0.00,0.000,6,0.000,0.022,2827,2205,3751,0,0,0,0,0,0
$GC,1011,-1.20,-136.3,164.2,-14.2,94,1016,0.12,0.00,0.00,0.000,6,0.135,0.000,2851,2205,3753,0,0,0,0,0,0
$GC,1274,-1.20,-136.3,196.4,-11.4,119,1278,0.00,2.62,0.00,0.000,4,0.000,0.049,2828,599,3753,0,0,0,0,0,0
$GC,1291,-1.20,-136.3,198.5,-11.0,120,1295,0.00,2.45,0.00,0.000,6,0.000,0.024,2851,2191,3753,0,0,0,0,0,0
$GC,1551,-1.20,-136.3,226.5,-10.5,127,1556,0.00,2.60,0.00,0.000,4,0.000,0.046,2851,605,3753,0,0,0,0,0,0
$GC,1593,-1.20,-136.3,231.0,-12.0,128,1597,0.00,2.42,0.00,0.000,6,0.000,0.026,2851,2169,3753,0,0,0,0,0,0
$GC,1876,-1.25,-136.3,261.0,-10.6,135,1881,0.00,2.53,0.00,0.000,4,0.000,0.035,2832,3756,3754,0,0,0,0,0,0
$GC,1899,-1.30,-136.3,263.7,-11.2,135,1903,0.00,2.47,0.00,0.000,6,0.000,0.027,2851,2164,3755,0,0,0,0,0,0
$GC,2156,-1.39,-136.3,290.4,-10.3,142,2161,0.17,2.60,0.00,0.000,4,0.053,0.060,2785,613,3755,0,0,0,0,0,0
$GC,2172,-1.39,-136.3,292.5,-9.4,142,2177,0.12,2.38,0.00,0.000,6,0.115,0.028,2810,2152,3755,0,0,0,0,0,0
$GC,2433,-1.39,-136.3,317.3,-9.4,149,2438,0.00,2.58,0.00,0.000,4,0.000,0.044,2790,3749,3755,0,0,0,0,0,0
$GC,2457,-1.39,-136.3,319.6,-10.1,149,2462,0.00,2.50,0.00,0.000,6,0.000,0.033,2810,2167,3755,0,0,0,0,0,0
$GC,2712,-1.39,-136.3,343.8,-9.3,156,2717,0.00,2.58,0.00,0.000,4,0.000,0.040,2790,3749,3755,0,0,0,0,0,0
$GC,2734,-1.39,-136.3,346.0,-9.6,156,2739,0.00,2.53,0.00,0.000,6,0.000,0.032,2808,2168,3755,0,0,0,0,0,0
$GC,2992,-1.39,-136.3,370.8,-10.0,163,2997,0.00,2.60,0.00,0.000,4,0.000,0.048,2789,3750,3754,0,0,0,0,0,0
$GC,3031,-1.39,-136.3,375.3,-11.2,164,3036,0.00,2.55,0.00,0.000,6,0.000,0.039,2810,2170,3754,0,0,0,0,0,0
$GC,3317,-1.43,-136.3,407.7,-11.8,171,3321,0.00,2.62,0.00,0.000,4,0.000,0.048,2788,3754,3753,0,0,0,0,0,0
$GC,3356,-1.47,-136.3,413.2,-12.7,172,3365,1.95,2.60,0.00,0.000,6,0.074,0.042,2962,2175,3752,7,0,0,0,0,0
$GC,3645,-2.17,-136.3,432.3,-6.6,179,3655,2.88,2.65,0.00,0.000,4,0.094,0.051,2586,3736,3751,0,0,0,0,0,0
$GC,3835,-1.90,-136.3,463.0,-17.9,183,3840,0.28,2.67,0.00,0.000,6,0.101,0.054,2697,2142,3749,0,0,0,0,0,0
$GC,4109,-1.73,-136.3,502.3,-13.9,190,4115,0.20,2.75,0.00,0.000,4,0.140,0.062,2714,3744,3748,0,0,0,0,0,0
$GC,4166,-1.63,-136.3,509.3,-11.6,191,4171,0.10,2.70,0.00,0.000,6,0.136,0.054,2757,2141,3748,0,0,0,0,0,0
$GC,4433,-1.58,-136.3,535.1,-9.5,198,4437,0.00,2.75,0.00,0.000,4,0.000,0.068,2732,3743,3745,0,0,0,0,0,0
$GC,4468,-1.52,-136.3,538.7,-10.6,198,4474,0.12,2.75,0.00,0.000,6,0.130,0.065,2780,2145,3745,0,0,0,0,0,0
$STATE,4593,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4593,begin apogee
$GC,4599,-0.31,0.0,550.3,9.0,202,4716,1.17,0.00,112.50,0.960,6,0.097,0.000,3044,2145,3190,0,0,0,0,0,0
$STATE,4716,end apogee,CONTROL_FINISHED_OK
$STATE,4716,begin climb
$GC,4719,1.52,136.3,551.3,0.0,205,4843,1.73,3.05,114.85,0.930,4,0.047,0.118,3299,587,2632,0,0,0,0,0,0
$GC,4862,1.41,136.3,538.6,13.6,208,4868,0.15,2.70,0.00,0.000,6,0.132,0.048,3423,2162,2629,0,0,0,0,0,0
$GC,5118,1.41,136.3,506.6,12.4,215,5122,0.00,2.80,0.00,0.000,4,0.000,0.068,3384,3768,2624,0,0,0,0,0,0
$GC,5204,1.41,136.3,496.1,12.4,217,5208,0.00,2.67,0.00,0.000,6,0.000,0.045,3423,2190,2623,0,0,0,0,0,0
$GC,5486,1.45,168.9,465.3,10.3,224,5516,0.00,0.00,27.42,0.879,6,0.000,0.000,3423,2191,2501,0,0,0,0,0,0
$GC,5766,1.45,168.9,432.6,12.2,231,5767,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2191,2495,0,0,0,0,0,0
$GC,6012,1.45,168.9,402.3,12.5,237,6017,0.00,2.92,0.00,0.000,4,0.000,0.093,3423,586,2493,0,0,0,0,0,0
$GC,6078,1.45,168.9,393.3,12.8,238,6082,0.00,2.62,0.00,0.000,6,0.000,0.036,3409,2195,2491,0,0,0,0,0,0
$GC,6342,1.47,189.5,364.1,11.0,245,6366,0.00,2.70,17.62,0.817,4,0.000,0.051,3349,3765,2418,0,0,0,0,0,0
$GC,6408,1.52,189.5,356.0,12.7,246,6413,0.10,2.62,0.00,0.000,6,0.097,0.041,3455,2185,2415,0,0,0,0,0,0
$GC,6669,1.53,194.0,323.8,12.0,253,6679,0.00,2.65,4.95,0.611,4,0.000,0.048,3415,3768,2399,0,0,0,0,0,0
$GC,6725,1.53,194.0,316.9,12.7,254,6730,0.00,2.58,0.00,0.000,6,0.000,0.032,3449,2203,2398,0,0,0,0,0,0
$GC,6991,1.53,198.6,285.2,11.9,261,7002,0.00,2.60,5.72,0.632,4,0.000,0.041,3416,3769,2379,0,0,0,0,0,0
$GC,7150,1.53,198.6,263.1,13.0,264,7154,0.00,2.47,0.00,0.000,6,0.000,0.032,3449,2253,2378,0,0,0,0,0,0
$GC,7407,1.60,218.3,233.7,11.0,271,7427,0.00,0.00,18.45,0.723,6,0.000,0.000,3449,2253,2300,0,0,0,0,0,0
$GC,7689,1.71,261.2,205.6,9.6,278,7734,0.15,2.58,37.80,0.709,4,0.074,0.045,3410,3760,2124,0,0,0,0,0,0
$GC,7747,1.71,264.3,199.1,12.0,279,7774,15.60,2.50,3.92,0.453,6,0.492,0.034,3221,2234,2112,56,1,0,0,0,0
$STATE,7781,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,7795,328.90,0.644,0,0,476,665.50
$SM_GC,0.18,14.35,0.00,0.00,0.047,0.000,0.000,469,2194,471,-12.07,0.37,666.73
$IRIDIUM_FIX,2202.04,-15808.46,250901,080809
$TT8_MAMPS,0.026845
$HUMID,71.81
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,20.70
$XPDR_PINGS,40
$24V_AH,23.5,35.010
$10V_AH,10.3,30.623
$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,52.175,99.500,343.250,328.900,0.000,30.627,33.953,163.402,10.000,0.000,14.634,693.443,5647.200,770.509,1139.882,477.555,33.358,1319.349,0.000,1143.654,0.000,0.532,0.000
$DEVICE_MAMPS,492.414,185.614,960.284,643.513,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,190.122,111.740,156.522,301.362,476.399,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355956
$DATA_FILE_SIZE,19379,281
$CAP_FILE_SIZE,90305,8
$CFSIZE,260165632,132235264
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,63,0,0,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_PITCH_ERRORS
$GPS,010712,125603,2208.175,-15806.750,6,2.7,25,10.0