version: 66.06
glider: 146
mission: 7
dive: 258
start: 7 3 112 1 34 12
data:
$ID,146
$MISSION,7
$DIVE,258
$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,-296515.56
$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,39
$R_STBD_OVSHOOT,46
$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
$GPS1,012324,2203.048,-15807.607,39,2.0,39,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-71.2
$GPS2,013319,2203.057,-15807.772,15,1.8,15,9.9
$SPEED_LIMITS,0.179,0.270
$TGT_NAME,KUHUKU2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.202,-0.179
$KALMAN_X,-91788.0,112.0,547.0,84217.8,-1371.2
$KALMAN_Y,185225.0,-3.0,30.6,-254753.0,107.6
$MHEAD_RNG_PITCHd_Wd,121.6,29599,-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,-136.3,0.0,0.0,0,114,0.00,0.00,-88.20,0.000,6,0.000,0.000,469,2163,3746,0,0,0,0,0,0
$GC,117,-1.54,-136.3,3.6,-8.1,10,137,12.73,0.00,0.00,0.000,6,0.172,0.000,2770,2163,3748,0,0,0,0,0,0
$GC,418,-1.33,-136.3,74.0,-19.7,40,423,0.25,2.55,0.00,0.000,4,0.123,0.031,2787,3756,3748,0,0,0,0,0,0
$GC,442,-1.16,-136.3,78.1,-18.6,41,447,0.22,2.50,0.00,0.000,6,0.106,0.022,2869,2171,3748,0,0,0,0,0,0
$GC,708,-1.16,-136.3,112.4,-11.8,65,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2171,3749,0,0,0,0,0,0
$GC,973,-1.16,-136.3,140.4,-10.4,90,977,0.00,2.55,0.00,0.000,4,0.000,0.038,2836,3757,3749,0,0,0,0,0,0
$GC,994,-1.16,-136.3,142.7,-10.5,91,999,0.00,2.45,0.00,0.000,6,0.000,0.027,2866,2180,3750,0,0,0,0,0,0
$GC,1261,-1.16,-136.3,170.3,-10.7,115,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2180,3750,0,0,0,0,0,0
$GC,1524,-1.22,-136.3,198.8,-10.2,140,1529,0.00,2.60,0.00,0.000,4,0.000,0.054,2860,605,3751,0,0,0,0,0,0
$GC,1545,-1.28,-136.3,200.9,-10.5,141,1550,0.15,2.45,0.00,0.000,6,0.061,0.024,2812,2192,3750,0,0,0,0,0,0
$GC,1806,-1.28,-136.3,233.9,-12.4,148,1811,0.12,2.47,0.00,0.000,4,0.111,0.035,2805,3750,3751,0,0,0,0,0,0
$GC,1817,-1.28,-136.3,235.1,-12.3,148,1821,0.00,2.45,0.00,0.000,6,0.000,0.025,2837,2178,3752,0,0,0,0,0,0
$GC,2086,-1.31,-136.3,260.6,-9.1,155,2090,0.00,2.60,0.00,0.000,4,0.000,0.060,2837,613,3751,0,0,0,0,0,0
$GC,2163,-1.31,-136.3,267.5,-7.7,156,2169,0.00,2.42,0.00,0.000,6,0.000,0.020,2836,2173,3751,0,0,0,0,0,0
$GC,2414,-1.36,-136.3,286.1,-7.6,163,2418,0.00,2.62,0.00,0.000,4,0.000,0.061,2837,611,3751,0,0,0,0,0,0
$GC,2432,-1.41,-136.3,287.6,-7.6,163,2437,0.12,2.45,0.00,0.000,6,0.067,0.022,2787,2169,3750,0,0,0,0,0,0
$GC,2693,-1.41,-136.3,310.8,-8.9,170,2698,0.10,2.58,0.00,0.000,4,0.120,0.043,2762,3757,3751,0,0,0,0,0,0
$GC,2716,-1.41,-136.3,313.0,-9.7,170,2721,0.00,2.50,0.00,0.000,6,0.000,0.033,2807,2192,3750,0,0,0,0,0,0
$GC,2971,-1.41,-136.3,334.9,-8.4,177,2973,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2192,3749,0,0,0,0,0,0
$GC,3215,-1.41,-136.3,357.2,-9.4,183,3219,0.00,2.55,0.00,0.000,4,0.000,0.045,2758,3753,3749,0,0,0,0,0,0
$GC,3236,-1.41,-136.3,359.5,-10.7,183,3241,0.00,2.55,0.00,0.000,6,0.000,0.035,2808,2179,3748,0,0,0,0,0,0
$GC,3494,-1.41,-136.3,388.4,-11.7,190,3498,0.00,2.60,0.00,0.000,4,0.000,0.044,2749,3750,3747,0,0,0,0,0,0
$GC,3520,-1.41,-136.3,391.7,-11.0,190,3525,0.00,2.58,0.00,0.000,6,0.000,0.042,2808,2182,3747,0,0,0,0,0,0
$GC,3771,-1.44,-136.3,418.1,-10.5,196,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2182,3746,0,0,0,0,0,0
$GC,4017,-1.48,-136.3,440.5,-9.1,202,4021,0.00,2.60,0.00,0.000,4,0.000,0.057,2752,3753,3744,0,0,0,0,0,0
$GC,4056,-1.54,-136.3,444.2,-9.6,203,4062,0.20,2.62,0.00,0.000,6,0.054,0.051,2749,2180,3744,0,0,0,0,0,0
$GC,4343,-1.46,-136.3,475.7,-11.1,210,4348,0.22,2.65,0.00,0.000,4,0.100,0.059,2771,3750,3742,0,0,0,0,0,0
$GC,4383,-1.46,-136.3,480.1,-10.0,211,4388,0.45,2.65,0.00,0.000,6,0.085,0.058,2811,2188,3741,1,0,0,0,0,0
$GC,4667,-1.70,-136.3,494.6,-4.9,218,4673,0.60,2.62,0.00,0.000,4,0.034,0.055,2707,3746,3740,0,0,0,0,0,0
$GC,4686,-1.78,-136.3,496.0,-5.7,218,4691,0.00,2.65,0.00,0.000,6,0.000,0.054,2733,2190,3739,0,0,0,0,0,0
$GC,4948,-1.69,-136.3,525.8,-11.5,225,4952,0.00,2.67,0.00,0.000,4,0.000,0.065,2708,3744,3737,0,0,0,0,0,0
$GC,4994,-1.59,-136.3,531.2,-12.0,226,4999,0.15,2.65,0.00,0.000,6,0.109,0.058,2764,2196,3737,0,0,0,0,0,0
$GC,5272,-1.59,-136.3,558.3,-9.6,233,5273,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2196,3735,0,0,0,0,0,0
$GC,5516,-1.59,-136.3,582.8,-10.2,239,5517,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2196,3733,0,0,0,0,0,0
$STATE,5716,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5716,begin apogee
$GC,5724,-0.31,0.0,602.9,10.0,244,5839,1.25,0.00,111.00,1.017,6,0.095,0.000,3043,2196,3190,0,0,0,0,0,0
$STATE,5840,end apogee,CONTROL_FINISHED_OK
$STATE,5840,begin climb
$GC,5842,1.54,136.3,604.6,0.0,247,5970,1.73,3.28,114.55,0.986,4,0.046,0.124,3454,588,2632,0,0,0,0,0,0
$GC,5983,1.44,136.3,592.6,13.3,250,5988,0.12,2.72,0.00,0.000,6,0.133,0.055,3431,2163,2630,0,0,0,0,0,0
$GC,6250,1.45,144.2,560.2,12.0,257,6264,0.00,2.92,6.68,0.771,4,0.000,0.081,3353,3764,2601,0,0,0,0,0,0
$GC,6305,1.45,144.2,553.1,13.2,258,6310,0.00,2.75,0.00,0.000,6,0.000,0.059,3431,2175,2600,0,0,0,0,0,0
$GC,6577,1.46,151.0,520.0,12.1,265,6586,0.00,0.00,7.28,0.791,6,0.000,0.000,3431,2175,2574,0,0,0,0,0,0
$GC,6820,1.46,151.0,488.1,13.1,271,6825,0.00,2.72,0.00,0.000,4,0.000,0.054,3389,3776,2572,0,0,0,0,0,0
$GC,6911,1.46,151.0,475.2,14.2,273,6915,0.00,2.67,0.00,0.000,6,0.000,0.049,3431,2198,2571,0,0,0,0,0,0
$GC,7188,1.46,151.0,439.0,12.6,280,7189,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2194,2567,0,0,0,0,0,0
$GC,7432,1.48,172.4,410.8,11.2,286,7457,0.00,2.70,19.12,0.866,4,0.000,0.051,3393,3773,2486,0,0,0,0,0,0
$GC,7495,1.50,187.6,403.8,11.6,287,7517,0.00,2.62,14.52,0.832,6,0.000,0.043,3430,2204,2425,0,0,0,0,0,0
$GC,7761,1.53,210.9,374.7,11.1,294,7784,0.00,0.00,21.48,0.839,6,0.000,0.000,3431,2203,2331,0,0,0,0,0,0
$GC,8005,1.59,226.8,346.8,11.5,300,8026,0.12,2.65,15.27,0.802,4,0.081,0.043,3427,3779,2265,0,0,0,0,0,0
$GC,8055,1.59,226.8,340.3,14.1,301,8080,15.60,2.65,0.00,0.000,6,0.494,0.035,3395,2192,2263,56,1,0,0,0,0
$STATE,8084,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,8097,367.45,0.771,0,0,477,665.74
$SM_GC,0.35,14.43,0.00,0.00,0.050,0.000,0.000,470,2187,471,-12.07,0.20,666.97
$IRIDIUM_FIX,2157.39,-15831.36,270901,010134
$TT8_MAMPS,0.026845
$HUMID,77.80
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,19.10
$XPDR_PINGS,39
$24V_AH,23.4,37.020
$10V_AH,10.3,31.943
$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,48.575,94.300,309.900,367.450,0.000,53.430,78.169,243.492,9.750,0.000,16.631,702.605,6348.378,758.583,1116.418,639.362,33.373,1291.711,0.000,1111.461,0.000,0.532,0.000
$DEVICE_MAMPS,493.948,124.254,1017.042,770.835,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,205.177,126.383,176.794,314.984,501.931,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355988
$DATA_FILE_SIZE,22628,302
$CAP_FILE_SIZE,94054,8
$CFSIZE,260165632,131563520
$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,030712,040500,2202.463,-15807.293,38,1.2,38,9.9