version: 66.06
glider: 146
mission: 7
dive: 253
start: 7 2 112 9 53 12
data:
$ID,146
$MISSION,7
$DIVE,253
$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,-296273.09
$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,28
$R_STBD_OVSHOOT,19
$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
$GPS1,094605,2207.496,-15806.829,40,1.9,40,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.24
$_SM_ANGLEo,-70.1
$GPS2,095219,2207.490,-15806.884,11,1.9,11,10.0
$SPEED_LIMITS,0.179,0.270
$TGT_NAME,KUHUKU2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.127,-0.238
$KALMAN_X,-81881.0,-230.3,-397.7,77097.5,-813.8
$KALMAN_Y,183611.7,346.6,68.2,-245314.2,516.4
$MHEAD_RNG_PITCHd_Wd,141.8,37060,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.54,-136.3,0.0,0.0,0,115,0.00,0.00,-89.12,0.000,6,0.000,0.000,468,2203,3746,0,0,0,0,0,0
$GC,120,-1.54,-136.3,3.4,-7.4,10,141,12.77,2.65,0.00,0.000,4,0.173,0.037,2770,586,3748,0,0,0,0,0,0
$GC,185,-1.28,-136.3,26.4,-24.3,17,193,0.28,2.55,0.00,0.000,6,0.110,0.021,2829,2199,3749,0,0,0,0,0,0
$GC,461,-1.21,-136.3,73.7,-14.6,43,472,0.10,0.00,0.00,0.000,6,0.141,0.000,2848,2200,3749,0,0,0,0,0,0
$GC,724,-1.21,-136.3,113.3,-14.8,68,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2200,3750,0,0,0,0,0,0
$GC,982,-1.21,-136.3,149.7,-14.2,92,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2200,3751,0,0,0,0,0,0
$GC,1244,-1.21,-136.3,185.1,-13.2,117,1248,0.00,2.67,0.00,0.000,4,0.000,0.051,2844,591,3752,0,0,0,0,0,0
$GC,1269,-1.21,-136.3,188.6,-13.4,118,1275,0.00,2.50,0.00,0.000,6,0.000,0.022,2849,2203,3752,0,0,0,0,0,0
$GC,1534,-1.21,-136.3,218.0,-10.6,132,1538,0.00,2.67,0.00,0.000,4,0.000,0.048,2848,599,3752,0,0,0,0,0,0
$GC,1580,-1.21,-136.3,222.9,-10.3,133,1584,0.00,2.45,0.00,0.000,6,0.000,0.024,2848,2180,3752,0,0,0,0,0,0
$GC,1858,-1.25,-136.3,249.8,-9.7,140,1863,0.00,2.62,0.00,0.000,4,0.000,0.055,2848,592,3752,0,0,0,0,0,0
$GC,1885,-1.29,-136.3,252.8,-10.8,140,1890,0.00,2.47,0.00,0.000,6,0.000,0.024,2848,2193,3752,0,0,0,0,0,0
$GC,2138,-1.36,-136.3,278.7,-10.5,146,2143,0.12,2.50,0.00,0.000,4,0.069,0.038,2753,3751,3752,0,0,0,0,0,0
$GC,2222,-1.36,-136.3,290.4,-14.3,148,2226,0.00,2.45,0.00,0.000,6,0.000,0.023,2798,2199,3753,0,0,0,0,0,0
$GC,2505,-1.36,-136.3,326.8,-13.0,155,2510,0.00,2.78,0.00,0.000,4,0.000,0.076,2797,594,3753,0,0,0,0,0,0
$GC,2551,-1.36,-136.3,332.1,-12.1,156,2556,0.00,2.55,0.00,0.000,6,0.000,0.035,2797,2183,3753,0,0,0,0,0,0
$GC,2832,-1.36,-136.3,359.3,-9.0,163,2836,0.00,2.72,0.00,0.000,4,0.000,0.067,2745,594,3752,0,0,0,0,0,0
$GC,2866,-1.36,-136.3,362.8,-9.9,163,2872,0.00,2.60,0.00,0.000,6,0.000,0.032,2797,2202,3752,0,0,0,0,0,0
$GC,3116,-1.36,-136.3,385.7,-9.1,170,3121,0.00,2.60,0.00,0.000,4,0.000,0.054,2774,3764,3752,0,0,0,0,0,0
$GC,3161,-1.36,-136.3,389.9,-9.0,171,3165,0.00,2.53,0.00,0.000,6,0.000,0.038,2797,2218,3751,0,0,0,0,0,0
$GC,3440,-1.36,-136.3,414.2,-8.8,178,3445,0.00,2.92,0.00,0.000,4,0.000,0.091,2797,585,3750,0,0,0,0,0,0
$GC,3461,-1.36,-136.3,416.6,-9.9,178,3466,0.00,2.65,0.00,0.000,6,0.000,0.043,2797,2203,3750,0,0,0,0,0,0
$GC,3717,-1.36,-136.3,441.0,-9.5,185,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2203,3751,0,0,0,0,0,0
$GC,3960,-1.36,-136.3,463.4,-9.2,191,3961,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2203,3748,0,0,0,0,0,0
$GC,4206,-1.36,-136.3,487.1,-9.8,197,4210,0.00,2.67,0.00,0.000,4,0.000,0.074,2763,3765,3746,0,0,0,0,0,0
$GC,4245,-1.36,-136.3,491.6,-10.7,198,4251,0.10,2.65,0.00,0.000,6,0.123,0.054,2819,2203,3746,0,0,0,0,0,0
$GC,4531,-1.44,-136.3,522.0,-10.8,205,4532,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2203,3747,0,0,0,0,0,0
$GC,4773,-1.52,-136.3,546.0,-9.7,211,4778,0.15,2.75,0.00,0.000,4,0.133,0.073,2741,3762,3742,0,0,0,0,0,0
$GC,4790,-1.52,-136.3,547.8,-9.3,211,4794,0.00,2.67,0.00,0.000,6,0.000,0.065,2769,2202,3741,0,0,0,0,0,0
$GC,5052,-1.52,-136.3,573.2,-9.3,218,5053,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2203,3740,0,0,0,0,0,0
$GC,5294,-1.52,-136.3,593.1,-7.9,224,5298,0.00,2.75,0.00,0.000,4,0.000,0.089,2745,3756,3738,0,0,0,0,0,0
$GC,5378,-1.52,-136.3,599.5,-8.0,226,5383,0.00,2.75,0.00,0.000,6,0.000,0.081,2769,2207,3737,0,0,0,0,0,0
$STATE,5386,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5386,begin apogee
$GC,5394,-0.31,0.0,600.3,7.6,226,5510,1.20,0.00,112.12,1.008,6,0.082,0.000,3040,2172,3190,0,0,0,0,0,0
$STATE,5511,end apogee,CONTROL_FINISHED_OK
$STATE,5511,begin climb
$GC,5513,1.54,136.3,600.0,0.0,229,5639,1.77,3.17,115.70,0.974,4,0.048,0.117,3454,588,2633,0,0,0,0,0,0
$GC,5656,1.43,136.3,585.8,13.8,232,5661,0.00,2.75,0.00,0.000,6,0.000,0.059,3393,2171,2630,0,0,0,0,0,0
$GC,5908,1.35,136.3,553.5,12.6,239,5913,0.22,2.83,0.00,0.000,4,0.120,0.073,3380,3765,2624,0,0,0,0,0,0
$GC,5986,1.40,169.6,544.5,10.4,240,6020,0.00,2.72,28.90,0.925,6,0.000,0.060,3410,2187,2498,0,0,0,0,0,0
$GC,6281,1.44,204.9,514.2,10.3,248,6322,0.00,2.83,31.50,0.919,4,0.000,0.053,3226,3770,2353,0,0,0,0,0,0
$GC,6333,1.45,215.1,508.1,11.9,249,6349,0.00,2.72,10.27,0.822,6,0.000,0.056,3409,2200,2313,0,0,0,0,0,0
$GC,6607,1.52,222.1,476.2,12.1,256,6617,0.15,0.00,7.30,0.765,6,0.075,0.000,3449,2200,2284,0,0,0,0,0,0
$GC,6848,1.52,222.1,440.0,15.2,262,6849,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,2200,2280,0,0,0,0,0,0
$GC,7092,1.52,222.1,402.8,15.0,268,7096,0.00,2.65,0.00,0.000,4,0.000,0.043,3407,3783,2279,0,0,0,0,0,0
$GC,7114,1.52,222.1,399.4,15.9,268,7120,0.12,2.65,0.00,0.000,6,0.083,0.044,3482,2197,2278,0,0,0,0,0,0
$GC,7372,1.46,222.1,357.3,16.2,275,7377,0.25,2.65,0.00,0.000,4,0.114,0.045,3389,3783,2277,0,0,0,0,0,0
$GC,7412,1.51,222.1,351.2,14.9,276,7417,0.00,2.60,0.00,0.000,6,0.000,0.035,3432,2215,2277,0,0,0,0,0,0
$GC,7698,1.57,222.1,313.9,12.8,283,7703,0.10,2.80,0.00,0.000,4,0.095,0.065,3455,591,2276,0,0,0,0,0,0
$GC,7753,1.57,222.1,305.5,14.4,284,7758,0.00,2.65,0.00,0.000,6,0.000,0.025,3443,2242,2275,0,0,0,0,0,0
$GC,8020,1.57,222.1,269.7,13.4,291,8024,0.00,2.55,0.00,0.000,4,0.000,0.044,3419,3783,2275,0,0,0,0,0,0
$GC,8088,1.57,222.1,260.6,13.6,292,8112,15.60,2.58,0.00,0.000,6,0.496,0.031,3221,2207,2274,56,1,0,0,0,0
$STATE,8115,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,8128,368.40,0.708,0,0,477,665.50
$SM_GC,0.32,14.45,0.00,0.00,0.051,0.000,0.000,473,2208,472,-12.06,0.68,666.73
$IRIDIUM_FIX,2159.71,-15806.30,260901,070709
$TT8_MAMPS,0.026845
$HUMID,74.37
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,19.90
$XPDR_PINGS,38
$24V_AH,23.4,36.276
$10V_AH,10.3,31.399
$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,47.400,101.375,305.800,368.400,0.000,23.747,37.652,163.498,9.500,0.000,12.843,686.048,6135.384,779.595,1121.547,479.034,33.367,1318.035,0.000,1121.002,0.000,0.532,0.000
$DEVICE_MAMPS,496.249,177.944,1007.838,707.941,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,198.323,117.495,164.820,307.929,492.176,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355996
$DATA_FILE_SIZE,22656,293
$CAP_FILE_SIZE,89407,8
$CFSIZE,260165632,131837952
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,56,0,0,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_PITCH_ERRORS
$GPS,020712,122136,2206.358,-15806.688,34,1.8,34,9.9