version: 66.06
glider: 146
mission: 7
dive: 260
start: 7 3 112 7 34 32
data:
$ID,146
$MISSION,7
$DIVE,260
$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,-296803.22
$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,11
$R_STBD_OVSHOOT,14
$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
$GPS1,072925,2202.276,-15809.004,13,1.4,13,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.09
$_SM_ANGLEo,-59.2
$GPS2,073342,2202.260,-15809.069,8,1.7,13,9.9
$SPEED_LIMITS,0.179,0.270
$TGT_NAME,KUHUKU2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.217,-0.160
$KALMAN_X,-96378.7,-193.2,-1027.7,88479.6,-1565.7
$KALMAN_Y,185910.3,461.3,-23.2,-257329.9,392.4
$MHEAD_RNG_PITCHd_Wd,116.4,29073,-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,-136.3,0.0,0.0,0,158,0.00,0.00,-132.20,0.000,6,0.000,0.000,666,2178,3746,0,0,0,0,0,0
$GC,165,-1.54,-136.3,3.8,-9.3,13,184,12.40,2.60,0.00,0.000,4,0.172,0.035,2912,3780,3747,2,0,0,0,0,0
$GC,220,-1.43,-136.3,23.3,-22.7,19,230,0.40,2.62,0.00,0.000,6,0.021,0.026,2787,2155,3747,0,0,0,0,0,0
$GC,508,-1.27,-136.3,71.3,-16.5,47,513,0.22,2.62,0.00,0.000,4,0.102,0.031,2829,3781,3747,0,0,0,0,0,0
$GC,546,-1.22,-136.3,77.2,-15.1,49,550,0.00,2.50,0.00,0.000,6,0.000,0.023,2834,2184,3746,0,0,0,0,0,0
$GC,812,-1.22,-136.3,116.3,-15.5,73,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2185,3746,0,0,0,0,0,0
$GC,1076,-1.18,-136.3,156.2,-15.5,98,1082,0.10,0.00,0.00,0.000,6,0.131,0.000,2855,2185,3746,0,0,0,0,0,0
$GC,1339,-1.18,-136.3,194.1,-14.0,123,1343,0.00,2.60,0.00,0.000,4,0.000,0.056,2855,605,3745,0,0,0,0,0,0
$GC,1369,-1.18,-136.3,198.3,-14.6,125,1373,0.00,2.50,0.00,0.000,6,0.000,0.027,2855,2214,3745,0,0,0,0,0,0
$GC,1632,-1.23,-136.3,230.4,-12.0,132,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2214,3745,0,0,0,0,0,0
$GC,1873,-1.30,-136.3,256.0,-10.2,138,1879,0.10,2.70,0.00,0.000,4,0.083,0.055,2813,608,3745,0,0,0,0,0,0
$GC,1920,-1.26,-136.3,261.3,-12.0,139,1925,0.12,2.42,0.00,0.000,6,0.116,0.025,2838,2179,3744,0,0,0,0,0,0
$GC,2199,-1.31,-136.3,287.7,-9.1,146,2203,0.00,2.55,0.00,0.000,4,0.000,0.042,2831,3754,3744,0,0,0,0,0,0
$GC,2278,-1.37,-136.3,295.5,-9.5,147,2284,0.00,2.47,0.00,0.000,6,0.000,0.028,2827,2193,3744,0,0,0,0,0,0
$GC,2531,-1.45,-136.3,319.2,-9.7,154,2532,0.17,0.00,0.00,0.000,6,0.054,0.000,2777,2193,3744,0,0,0,0,0,0
$GC,2772,-1.41,-136.3,348.0,-12.1,160,2777,0.15,2.58,0.00,0.000,4,0.104,0.049,2806,3754,3742,0,0,0,0,0,0
$GC,2847,-1.41,-136.3,356.0,-10.2,161,2851,0.00,2.55,0.00,0.000,6,0.000,0.038,2809,2188,3741,0,0,0,0,0,0
$GC,3097,-1.41,-136.3,382.2,-10.3,167,3098,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2187,3740,0,0,0,0,0,0
$GC,3340,-1.41,-136.3,406.3,-9.9,173,3345,0.00,2.88,0.00,0.000,4,0.000,0.095,2809,595,3738,0,0,0,0,0,0
$GC,3364,-1.41,-136.3,408.7,-10.7,173,3368,0.00,2.58,0.00,0.000,6,0.000,0.041,2809,2169,3738,0,0,0,0,0,0
$GC,3619,-1.45,-136.3,434.4,-10.0,180,3624,0.00,2.78,0.00,0.000,4,0.000,0.084,2809,598,3736,0,0,0,0,0,0
$GC,3640,-1.45,-136.3,437.1,-11.8,180,3645,0.00,2.62,0.00,0.000,6,0.000,0.041,2809,2186,3736,0,0,0,0,0,0
$GC,3898,-1.49,-136.3,463.0,-10.1,187,3902,0.00,2.67,0.00,0.000,4,0.000,0.066,2794,3765,3733,0,0,0,0,0,0
$GC,3965,-1.54,-136.3,470.2,-10.3,188,3970,0.12,2.65,0.00,0.000,6,0.073,0.054,2764,2190,3733,0,0,0,0,0,0
$GC,4221,-1.50,-136.3,498.9,-11.4,195,4226,0.10,2.67,0.00,0.000,4,0.275,0.058,2785,3764,3731,0,0,0,0,0,0
$GC,4245,-1.50,-136.3,501.4,-10.8,195,4249,0.00,2.65,0.00,0.000,6,0.000,0.058,2785,2193,3731,0,0,0,0,0,0
$GC,4500,-1.50,-136.3,528.4,-10.7,202,4504,0.00,2.70,0.00,0.000,4,0.000,0.071,2785,3769,3729,0,0,0,0,0,0
$GC,4598,-1.50,-136.3,539.1,-11.2,204,4602,0.00,2.70,0.00,0.000,6,0.000,0.064,2785,2197,3728,0,0,0,0,0,0
$GC,4869,-1.50,-136.3,567.2,-10.0,211,4874,0.00,2.75,0.00,0.000,4,0.000,0.080,2762,3761,3726,0,0,0,0,0,0
$GC,4896,-1.50,-136.3,570.2,-11.1,211,4901,0.00,2.70,0.00,0.000,6,0.000,0.069,2784,2202,3725,0,0,0,0,0,0
$GC,5149,-1.50,-136.3,596.4,-10.6,217,5153,0.00,3.05,0.00,0.000,4,0.000,0.123,2785,591,3723,0,0,0,0,0,0
$STATE,5179,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5179,begin apogee
$GC,5187,-0.31,0.0,600.3,11.2,217,5300,1.12,0.00,109.38,0.999,6,0.081,0.000,3040,2179,3190,0,0,0,0,0,0
$STATE,5301,end apogee,CONTROL_FINISHED_OK
$STATE,5301,begin climb
$GC,5303,1.54,136.3,603.3,0.0,220,5431,1.77,2.95,115.20,0.973,4,0.048,0.084,3404,3761,2633,0,0,0,0,0,0
$GC,5443,1.47,151.9,593.2,11.5,224,5463,0.00,2.83,14.75,0.880,6,0.000,0.071,2910,2181,2570,0,0,0,0,0,0
$GC,5721,1.41,151.9,554.3,14.3,231,5723,0.17,0.00,0.00,0.000,6,0.229,0.000,3424,2181,2563,0,0,0,0,0,0
$GC,5962,1.41,151.9,521.9,13.2,237,5967,0.00,2.75,0.00,0.000,4,0.000,0.058,3397,3775,2560,0,0,0,0,0,0
$GC,5989,1.41,151.9,518.1,13.4,237,5994,0.00,2.72,0.00,0.000,6,0.000,0.052,3424,2190,2559,0,0,0,0,0,0
$GC,6242,1.43,167.1,489.1,11.6,243,6261,0.00,2.78,12.55,0.854,4,0.000,0.051,3346,3771,2508,0,0,0,0,0,0
$GC,6312,1.43,167.1,480.4,12.8,244,6316,0.00,2.70,0.00,0.000,6,0.000,0.049,3424,2202,2506,0,0,0,0,0,0
$GC,6567,1.44,177.7,450.4,11.9,251,6583,0.00,2.70,10.27,0.819,4,0.000,0.046,3408,3778,2464,0,0,0,0,0,0
$GC,6618,1.44,177.7,444.2,13.2,252,6623,0.22,2.65,0.00,0.000,6,0.065,0.042,3457,2211,2462,0,0,0,0,0,0
$GC,6890,1.36,177.7,405.5,14.0,259,6896,0.30,2.60,0.00,0.000,4,0.118,0.043,3396,3777,2460,0,0,0,0,0,0
$GC,6908,1.36,177.7,402.9,13.8,259,6931,15.60,2.62,0.00,0.000,6,0.489,0.041,3166,2201,2459,56,1,0,0,0,0
$STATE,6968,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,6982,410.77,0.800,0,0,480,665.50
$SM_GC,0.15,14.12,0.00,0.00,0.041,0.000,0.000,476,2197,470,-12.05,0.48,667.22
$IRIDIUM_FIX,2155.06,-15810.19,270901,070725
$TT8_MAMPS,0.027612
$HUMID,77.84
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,18.90
$XPDR_PINGS,40
$24V_AH,23.4,37.484
$10V_AH,10.2,32.102
$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,47.225,96.200,262.150,410.775,0.000,0.000,0.000,0.000,10.000,0.000,15.282,623.926,5416.915,786.456,1043.211,165.357,33.366,1291.295,0.000,1046.664,0.000,0.534,0.000
$DEVICE_MAMPS,489.346,123.487,998.634,799.981,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,176.597,111.148,156.476,314.661,500.626,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355920
$DATA_FILE_SIZE,19493,261
$CAP_FILE_SIZE,113098,8
$CFSIZE,260165632,131465216
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,58,0,0,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_PITCH_ERRORS
$GPS,030712,094827,2202.029,-15808.587,9,99.0,29,9.9