version: 66.06
glider: 146
mission: 7
dive: 248
start: 7 1 112 19 30 24
data:
$ID,146
$MISSION,7
$DIVE,248
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$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,160
$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,-296003.31
$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,61
$R_STBD_OVSHOOT,21
$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
$GPS1,192330,2208.582,-15807.680,9,1.3,26,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-70.3
$GPS2,192931,2208.577,-15807.718,13,1.0,13,10.0
$SPEED_LIMITS,0.179,0.270
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.181,-0.200
$KALMAN_X,-72671.2,-47.6,-810.5,66696.9,-625.2
$KALMAN_Y,179065.2,-321.6,151.9,-238183.7,850.8
$MHEAD_RNG_PITCHd_Wd,127.8,23039,-22.0,-12.500
$D_GRID,600
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.54,-136.3,0.0,0.0,0,111,0.00,0.00,-89.20,0.000,6,0.000,0.000,471,2130,3748,0,0,0,0,0,0
$GC,115,-1.54,-136.3,2.9,-6.1,10,135,12.73,2.47,0.00,0.000,4,0.173,0.040,2771,620,3749,0,0,0,0,0,0
$GC,165,-0.93,-136.3,20.0,-34.7,15,173,0.62,2.50,0.00,0.000,6,0.104,0.024,2905,2205,3750,0,0,0,0,0,0
$GC,458,-0.97,-136.3,55.5,-11.2,44,462,0.00,2.58,0.00,0.000,4,0.000,0.041,2905,625,3751,0,0,0,0,0,0
$GC,481,-0.97,-136.3,58.4,-10.9,45,486,0.00,2.42,0.00,0.000,6,0.000,0.016,2905,2191,3751,0,0,0,0,0,0
$GC,749,-1.06,-136.3,87.2,-10.4,69,754,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2191,3752,0,0,0,0,0,0
$GC,1012,-1.16,-136.3,113.6,-9.8,94,1017,0.17,2.58,0.00,0.000,4,0.054,0.051,2843,621,3753,0,0,0,0,0,0
$GC,1069,-1.16,-136.3,121.1,-13.9,98,1074,0.00,2.38,0.00,0.000,6,0.000,0.018,2843,2163,3753,0,0,0,0,0,0
$GC,1332,-1.16,-136.3,156.4,-13.7,122,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2163,3754,0,0,0,0,0,0
$GC,1588,-1.16,-136.3,191.6,-12.8,146,1593,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2163,3754,0,0,0,0,0,0
$GC,1861,-1.16,-136.3,225.0,-11.7,158,1865,0.00,2.53,0.00,0.000,4,0.000,0.047,2796,631,3755,0,0,0,0,0,0
$GC,1880,-1.16,-136.3,227.0,-11.7,158,1884,0.00,2.35,0.00,0.000,6,0.000,0.019,2843,2167,3755,0,0,0,0,0,0
$GC,2141,-1.16,-136.3,255.9,-10.8,165,2145,0.00,2.55,0.00,0.000,4,0.000,0.048,2842,626,3755,0,0,0,0,0,0
$GC,2173,-1.16,-136.3,259.5,-10.9,165,2179,0.00,2.35,0.00,0.000,6,0.000,0.025,2843,2149,3755,0,0,0,0,0,0
$GC,2425,-1.16,-136.3,285.1,-10.1,172,2426,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2149,3756,0,0,0,0,0,0
$GC,2668,-1.22,-136.3,310.9,-10.6,178,2672,0.00,2.55,0.00,0.000,4,0.000,0.056,2843,634,3756,0,0,0,0,0,0
$GC,2717,-1.28,-136.3,316.7,-10.9,179,2722,0.00,2.35,0.00,0.000,6,0.000,0.024,2842,2128,3756,0,0,0,0,0,0
$GC,2992,-1.35,-136.3,344.5,-10.3,186,2997,0.00,2.60,0.00,0.000,4,0.000,0.044,2822,3747,3756,0,0,0,0,0,0
$GC,3042,-1.45,-136.3,349.8,-9.9,187,3048,0.30,2.50,0.00,0.000,6,0.040,0.028,2764,2183,3755,1,0,0,0,0,0
$GC,3317,-1.35,-136.3,383.6,-12.5,194,3322,0.32,2.55,0.00,0.000,4,0.093,0.046,2797,3750,3758,0,0,0,0,0,0
$GC,3379,-1.41,-136.3,389.8,-9.1,195,3384,0.00,2.62,0.00,0.000,6,0.000,0.040,2818,2148,3755,0,0,0,0,0,0
$GC,3640,-1.47,-136.3,414.2,-9.3,202,3641,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2148,3754,0,0,0,0,0,0
$GC,3886,-1.52,-136.3,436.5,-9.2,208,3888,0.15,0.00,0.00,0.000,6,0.061,0.000,2766,2148,3753,0,0,0,0,0,0
$GC,4127,-1.48,-136.3,463.0,-10.9,214,4133,0.12,2.70,0.00,0.000,4,0.114,0.064,2768,3746,3752,0,0,0,0,0,0
$GC,4144,-1.48,-136.3,464.9,-10.8,214,4148,0.00,2.67,0.00,0.000,6,0.000,0.057,2777,2153,3751,0,0,0,0,0,0
$GC,4406,-1.48,-136.3,490.5,-9.7,221,4411,0.00,2.92,0.00,0.000,4,0.000,0.110,2713,587,3750,0,0,0,0,0,0
$GC,4422,-1.48,-136.3,492.4,-10.0,221,4427,0.00,2.55,0.00,0.000,6,0.000,0.045,2792,2124,3750,0,0,0,0,0,0
$GC,4684,-1.48,-136.3,517.8,-9.7,228,4688,0.00,2.80,0.00,0.000,4,0.000,0.075,2762,3737,3748,0,0,0,0,0,0
$GC,4774,-1.48,-136.3,527.0,-11.0,230,4779,0.00,2.70,0.00,0.000,6,0.000,0.061,2781,2149,3748,0,0,0,0,0,0
$GC,5053,-1.48,-136.3,553.3,-9.5,237,5057,0.00,2.75,0.00,0.000,4,0.000,0.077,2765,3743,3745,0,0,0,0,0,0
$GC,5068,-1.48,-136.3,555.0,-9.4,237,5073,0.00,2.72,0.00,0.000,6,0.000,0.061,2786,2152,3745,0,0,0,0,0,0
$GC,5331,-1.48,-136.3,578.9,-9.0,244,5332,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2152,3743,0,0,0,0,0,0
$STATE,5570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5570,begin apogee
$GC,5576,-0.31,0.0,600.4,8.7,250,5693,1.12,0.00,112.60,1.006,6,0.078,0.000,3045,2152,3191,0,0,0,0,0,0
$STATE,5693,end apogee,CONTROL_FINISHED_OK
$STATE,5694,begin climb
$GC,5696,1.54,136.3,601.7,0.0,253,5825,1.73,3.12,114.43,0.975,4,0.046,0.119,3454,594,2632,0,0,0,0,0,0
$GC,5831,1.45,136.3,589.0,14.3,256,5836,0.28,2.70,0.00,0.000,6,0.117,0.059,3422,2147,2630,0,0,0,0,0,0
$GC,6106,1.46,142.8,555.4,12.1,263,6117,0.15,2.88,5.75,0.725,4,0.186,0.071,3395,3765,2607,0,0,0,0,0,0
$GC,6168,1.46,142.8,546.1,14.4,264,6172,0.00,2.72,0.00,0.000,6,0.000,0.058,3437,2187,2605,0,0,0,0,0,0
$GC,6428,1.46,142.8,512.4,12.6,271,6433,0.00,2.67,0.00,0.000,4,0.000,0.057,3412,3768,2603,0,0,0,0,0,0
$GC,6515,1.42,144.7,501.9,12.4,273,6519,0.00,2.65,0.00,0.000,6,0.000,0.054,3437,2210,2602,0,0,0,0,0,0
$GC,6798,1.43,151.8,468.0,12.1,280,6812,0.00,3.15,8.50,0.808,4,0.000,0.114,3437,583,2571,0,0,0,0,0,0
$GC,6848,1.38,151.8,461.8,12.6,281,6853,0.00,2.72,0.00,0.000,6,0.000,0.043,3436,2214,2570,0,0,0,0,0,0
$GC,7126,1.40,164.7,428.7,11.7,288,7145,0.00,2.67,12.65,0.839,4,0.000,0.055,3348,3760,2517,0,0,0,0,0,0
$GC,7225,1.40,164.7,416.1,13.8,290,7229,0.00,2.62,0.00,0.000,6,0.000,0.044,3437,2193,2514,0,0,0,0,0,0
$GC,7498,1.44,199.5,386.1,10.4,297,7539,0.00,2.92,31.02,0.861,4,0.000,0.080,3437,585,2374,0,0,0,0,0,0
$GC,7550,1.44,199.7,380.0,12.5,298,7554,0.00,2.67,0.00,0.000,6,0.000,0.025,3436,2222,2373,0,0,0,0,0,0
$GC,7824,1.46,214.2,347.9,11.6,305,7843,0.00,2.62,13.65,0.793,4,0.000,0.046,3407,3757,2316,0,0,0,0,0,0
$GC,7912,1.51,214.2,336.4,13.9,307,7936,15.60,2.55,0.00,0.000,6,0.492,0.036,3387,2207,2312,56,1,0,0,0,0
$STATE,7939,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,7954,377.95,0.761,0,0,477,665.50
$SM_GC,0.17,14.00,0.00,0.00,0.037,0.000,0.000,475,2204,471,-12.05,0.68,666.97
$IRIDIUM_FIX,2202.04,-15808.46,250901,161638
$TT8_MAMPS,0.026845
$HUMID,75.28
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,19.40
$XPDR_PINGS,35
$24V_AH,23.4,35.472
$10V_AH,10.1,30.925
$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,47.300,100.400,298.600,377.950,0.000,29.712,33.334,151.211,8.750,0.000,15.189,716.537,5994.597,757.853,1263.419,472.276,33.359,1321.459,0.000,1264.717,0.000,0.532,0.000
$DEVICE_MAMPS,491.647,118.885,1005.537,760.864,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,208.209,133.278,188.251,383.807,610.394,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355956
$DATA_FILE_SIZE,22642,307
$CAP_FILE_SIZE,91811,8
$CFSIZE,260165632,132079616
$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,010712,215857,2208.373,-15807.132,11,2.2,30,10.0