version: 66.06
glider: 146
mission: 7
dive: 251
start: 7 2 112 4 45 26
data:
$ID,146
$MISSION,7
$DIVE,251
$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,-296195.59
$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,6
$R_STBD_OVSHOOT,15
$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
$GPS1,043756,2208.150,-15806.727,27,3.7,46,10.0
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-72.0
$GPS2,044433,2208.178,-15806.828,11,99.0,30,10.0
$SPEED_LIMITS,0.179,0.270
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.244,-0.115
$KALMAN_X,-78474.1,371.6,-54.5,72842.5,-2225.2
$KALMAN_Y,182515.2,289.9,-333.1,-242489.8,980.3
$MHEAD_RNG_PITCHd_Wd,105.1,21430,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.54,-136.3,0.0,0.0,0,113,0.00,0.00,-90.10,0.000,6,0.000,0.000,471,2184,3743,0,0,0,0,0,0
$GC,119,-1.54,-136.3,3.3,-6.9,10,139,12.73,2.60,0.00,0.000,4,0.174,0.029,2646,3775,3746,1,0,0,0,0,0
$GC,159,-0.67,-136.3,20.2,-39.6,14,170,0.93,2.62,0.00,0.000,6,0.102,0.025,2963,2149,3746,0,0,0,0,0,0
$GC,452,-0.83,-136.3,52.6,-9.7,43,457,0.12,2.58,0.00,0.000,4,0.069,0.047,2892,588,3747,0,0,0,0,0,0
$GC,476,-0.95,-136.3,55.3,-10.4,44,480,0.00,2.50,0.00,0.000,6,0.000,0.018,2915,2212,3747,0,0,0,0,0,0
$GC,738,-1.05,-136.3,87.9,-10.7,68,743,0.12,2.47,0.00,0.000,4,0.067,0.040,2819,3749,3749,0,0,0,0,0,0
$GC,810,-1.10,-136.3,96.0,-12.4,73,816,0.75,2.47,0.00,0.000,6,0.071,0.022,2900,2164,3749,2,0,0,0,0,0
$GC,1078,-1.54,-136.3,107.5,-3.1,97,1084,1.05,2.55,0.00,0.000,4,0.026,0.047,2758,606,3750,0,0,0,0,0,0
$GC,1114,-1.46,-136.3,110.7,-12.5,99,1119,0.17,2.40,0.00,0.000,6,0.109,0.018,2794,2182,3750,0,0,0,0,0,0
$GC,1374,-1.34,-136.3,151.9,-16.0,123,1376,0.12,0.00,0.00,0.000,6,0.116,0.000,2822,2183,3751,0,0,0,0,0,0
$GC,1629,-1.27,-136.3,191.3,-16.0,147,1634,0.00,2.60,0.00,0.000,4,0.000,0.054,2821,609,3751,0,0,0,0,0,0
$GC,1660,-1.21,-136.3,196.3,-16.9,149,1665,0.12,2.40,0.00,0.000,6,0.121,0.022,2847,2166,3751,0,0,0,0,0,0
$GC,1933,-1.21,-136.3,227.5,-10.6,157,1937,0.00,2.58,0.00,0.000,4,0.000,0.054,2847,603,3752,0,0,0,0,0,0
$GC,1960,-1.21,-136.3,230.5,-10.8,157,1964,0.00,2.42,0.00,0.000,6,0.000,0.017,2847,2174,3752,0,0,0,0,0,0
$GC,2210,-1.27,-136.3,256.2,-10.1,163,2215,0.00,2.55,0.00,0.000,4,0.000,0.038,2798,3751,3753,0,0,0,0,0,0
$GC,2240,-1.33,-136.3,258.9,-9.7,163,2245,0.00,2.45,0.00,0.000,6,0.000,0.021,2847,2176,3753,0,0,0,0,0,0
$GC,2491,-1.41,-136.3,278.6,-7.7,169,2496,0.17,2.55,0.00,0.000,4,0.054,0.038,2751,3747,3753,0,0,0,0,0,0
$GC,2552,-1.41,-136.3,285.4,-11.5,170,2557,0.10,2.50,0.00,0.000,6,0.120,0.025,2806,2178,3753,0,0,0,0,0,0
$GC,2815,-1.41,-136.3,313.4,-10.5,177,2816,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2178,3753,0,0,0,0,0,0
$GC,3057,-1.41,-136.3,338.2,-10.5,183,3061,0.00,2.72,0.00,0.000,4,0.000,0.079,2807,604,3753,0,0,0,0,0,0
$GC,3101,-1.41,-136.3,343.4,-11.5,184,3105,0.00,2.47,0.00,0.000,6,0.000,0.035,2807,2144,3752,0,0,0,0,0,0
$GC,3380,-1.41,-136.3,368.6,-8.7,191,3385,0.00,2.70,0.00,0.000,4,0.000,0.050,2779,3768,3751,0,0,0,0,0,0
$GC,3421,-1.45,-136.3,372.6,-9.4,192,3430,3.22,2.60,0.00,0.000,6,0.069,0.036,2873,2166,3751,11,0,0,0,0,0
$GC,3711,-3.03,-136.3,397.6,-11.0,199,3722,5.10,2.65,0.00,0.000,4,0.087,0.047,2421,3762,3749,0,0,0,0,0,0
$GC,3978,-2.43,-136.3,459.6,-25.9,205,3987,3.08,2.67,0.00,0.000,6,0.137,0.055,2784,2180,3748,9,0,0,0,0,0
$GC,4266,-3.15,-136.3,478.3,-6.5,212,4276,2.55,2.72,0.00,0.000,4,0.044,0.058,2358,3754,3747,0,0,0,0,0,0
$GC,4373,-2.53,-136.3,501.4,-26.5,214,4379,0.77,2.72,0.00,0.000,6,0.133,0.067,2560,2174,3743,0,0,0,0,0,0
$GC,4641,-2.14,-136.3,555.1,-19.0,221,4647,0.40,2.80,0.00,0.000,4,0.135,0.074,2620,3761,3744,0,0,0,0,0,0
$GC,4763,-1.89,-136.3,575.7,-17.1,223,4768,0.30,2.78,0.00,0.000,6,0.116,0.073,2702,2186,3746,0,0,0,0,0,0
$STATE,4969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4969,begin apogee
$GC,4975,-0.31,0.0,605.2,13.4,228,5092,1.60,0.00,112.97,1.002,6,0.100,0.000,3045,2186,3190,0,0,0,0,0,0
$STATE,5093,end apogee,CONTROL_FINISHED_OK
$STATE,5093,begin climb
$GC,5095,1.54,136.3,608.5,0.0,231,5225,1.70,3.20,114.85,0.973,4,0.046,0.122,3451,596,2633,0,0,0,0,0,0
$GC,5253,1.44,136.3,595.1,13.5,234,5258,0.12,2.75,0.00,0.000,6,0.143,0.058,3430,2168,2629,0,0,0,0,0,0
$GC,5503,1.47,153.8,565.9,11.4,240,5524,0.00,2.88,15.55,0.890,4,0.000,0.082,3395,3766,2562,0,0,0,0,0,0
$GC,5570,1.48,164.7,558.1,11.8,241,5606,15.60,2.75,10.55,0.841,6,0.486,0.061,3274,2183,2518,56,1,0,0,0,0
$STATE,5609,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,5623,430.80,0.887,0,0,477,665.50
$SM_GC,0.22,14.43,0.00,0.00,0.054,0.000,0.000,477,2178,471,-12.04,-0.06,667.71
$IRIDIUM_FIX,2159.71,-15806.30,260901,010143
$TT8_MAMPS,0.027612
$HUMID,77.52
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,19.10
$XPDR_PINGS,25
$24V_AH,23.4,35.953
$10V_AH,10.2,31.221
$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,65.275,78.675,253.925,430.800,0.000,30.296,33.502,169.095,6.250,0.000,32.438,602.116,4328.085,769.752,1177.671,461.830,33.370,1264.335,0.000,1166.593,0.000,0.533,0.000
$DEVICE_MAMPS,486.278,121.953,1002.469,887.419,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,163.676,122.689,173.043,390.831,621.953,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356004
$DATA_FILE_SIZE,16225,242
$CAP_FILE_SIZE,79578,8
$CFSIZE,260165632,131948544
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,79,0,0,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_PITCH_ERRORS
$GPS,020712,064221,2208.157,-15807.153,9,2.1,28,10.0