version: 66.06
glider: 146
mission: 7
dive: 264
start: 7 3 112 19 24 36
data:
$ID,146
$MISSION,7
$DIVE,264
$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,-297053.19
$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,29
$R_STBD_OVSHOOT,37
$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
$GPS1,191651,2200.248,-15810.443,7,99.0,26,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-69.3
$GPS2,192345,2200.230,-15810.471,34,2.3,53,9.9
$SPEED_LIMITS,0.179,0.270
$TGT_NAME,KUHUKU2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.205,-0.176
$KALMAN_X,-106831.6,-636.6,-819.4,96755.7,-1373.8
$KALMAN_Y,187484.0,-365.0,-209.5,-261652.7,763.6
$MHEAD_RNG_PITCHd_Wd,120.8,26929,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.54,-136.3,0.0,0.0,0,113,0.00,0.00,-87.35,0.000,6,0.000,0.000,474,2214,3747,0,0,0,0,0,0
$GC,118,-1.54,-136.3,3.5,-7.7,10,139,12.70,2.67,0.00,0.000,4,0.172,0.041,2752,591,3748,0,0,0,0,0,0
$GC,207,-1.33,-136.3,31.7,-21.5,20,212,0.28,2.53,0.00,0.000,6,0.122,0.019,2822,2199,3749,0,0,0,0,0,0
$GC,475,-1.21,-136.3,79.9,-17.5,44,486,0.12,0.00,0.00,0.000,6,0.130,0.000,2848,2199,3747,0,0,0,0,0,0
$GC,743,-1.21,-136.3,115.8,-11.3,69,747,0.00,2.47,0.00,0.000,4,0.000,0.031,2825,3751,3750,0,0,0,0,0,0
$GC,777,-1.21,-136.3,119.6,-11.7,71,782,0.00,2.47,0.00,0.000,6,0.000,0.020,2833,2173,3751,0,0,0,0,0,0
$GC,1043,-1.21,-136.3,148.7,-11.5,95,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2173,3751,0,0,0,0,0,0
$GC,1308,-1.21,-136.3,180.9,-11.9,120,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2173,3752,0,0,0,0,0,0
$GC,1586,-1.21,-136.3,214.4,-11.3,138,1587,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2172,3752,0,0,0,0,0,0
$GC,1832,-1.21,-136.3,239.6,-10.1,144,1836,0.00,2.58,0.00,0.000,4,0.000,0.057,2847,608,3752,0,0,0,0,0,0
$GC,1853,-1.21,-136.3,242.2,-10.8,144,1858,0.00,2.45,0.00,0.000,6,0.000,0.017,2847,2194,3753,0,0,0,0,0,0
$GC,2109,-1.26,-136.3,267.4,-9.7,151,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2195,3753,0,0,0,0,0,0
$GC,2355,-1.33,-136.3,291.1,-9.9,157,2360,0.10,2.53,0.00,0.000,4,0.085,0.044,2781,3747,3753,0,0,0,0,0,0
$GC,2468,-1.33,-136.3,304.5,-11.4,159,2472,0.00,2.47,0.00,0.000,6,0.000,0.027,2804,2187,3753,0,0,0,0,0,0
$GC,2723,-1.33,-136.3,335.6,-12.9,166,2728,0.10,2.55,0.00,0.000,4,0.119,0.046,2796,3752,3753,0,0,0,0,0,0
$GC,2758,-1.40,-136.3,339.9,-12.5,166,2763,0.00,2.50,0.00,0.000,6,0.000,0.029,2825,2196,3753,0,0,0,0,0,0
$GC,3008,-1.46,-136.3,368.1,-11.0,173,3010,0.12,0.00,0.00,0.000,6,0.068,0.000,2773,2196,3752,0,0,0,0,0,0
$GC,3251,-1.46,-136.3,396.2,-11.3,179,3257,0.10,2.88,0.00,0.000,4,0.122,0.087,2780,596,3751,0,0,0,0,0,0
$GC,3270,-1.46,-136.3,398.0,-10.6,179,3274,0.00,2.55,0.00,0.000,6,0.000,0.033,2794,2166,3751,0,0,0,0,0,0
$GC,3530,-1.46,-136.3,423.9,-10.0,186,3535,0.00,2.67,0.00,0.000,4,0.000,0.064,2769,3764,3750,0,0,0,0,0,0
$GC,3570,-1.46,-136.3,428.3,-10.5,187,3574,0.00,2.60,0.00,0.000,6,0.000,0.050,2794,2204,3750,0,0,0,0,0,0
$GC,3855,-1.46,-136.3,461.1,-11.9,194,3856,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2203,3749,0,0,0,0,0,0
$GC,4096,-1.46,-136.3,489.3,-11.4,200,4101,0.00,2.67,0.00,0.000,4,0.000,0.067,2765,3761,3747,0,0,0,0,0,0
$GC,4165,-1.46,-136.3,497.3,-11.5,201,4174,1.98,2.65,0.00,0.000,6,0.077,0.057,2866,2211,3747,7,0,0,0,0,0
$GC,4425,-2.59,-136.3,509.9,-4.8,208,4434,2.90,2.67,0.00,0.000,4,0.044,0.059,2489,3752,3744,0,0,0,0,0,0
$GC,4442,-3.05,-136.3,511.0,-5.1,208,4447,0.35,2.50,0.00,0.000,6,0.039,0.053,2436,2263,3744,0,0,0,0,0,0
$GC,4710,-2.48,-136.3,569.0,-23.6,215,4717,0.65,3.15,0.00,0.000,4,0.140,0.114,2570,590,3742,0,0,0,0,0,0
$GC,4847,-2.07,-136.3,595.4,-17.8,218,4857,2.10,2.95,0.00,0.000,6,0.114,0.071,3022,2292,3741,6,0,0,0,0,0
$STATE,5005,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5005,begin apogee
$GC,5014,-0.31,0.0,601.5,2.3,222,5128,0.00,0.00,112.85,0.999,6,0.000,0.000,3029,2172,3190,0,0,0,0,0,0
$STATE,5129,end apogee,CONTROL_FINISHED_OK
$STATE,5129,begin climb
$GC,5132,1.54,136.3,604.7,0.0,225,5260,1.80,3.03,114.30,0.971,4,0.057,0.087,3321,3761,2633,0,0,0,0,0,0
$GC,5481,1.47,136.3,562.6,14.4,233,5485,0.00,2.75,0.00,0.000,6,0.000,0.063,3412,2182,2626,0,0,0,0,0,0
$GC,5766,1.42,136.3,521.6,14.3,240,5771,0.15,2.70,0.00,0.000,4,0.130,0.059,3387,3761,2622,0,0,0,0,0,0
$GC,5810,1.42,136.3,514.9,14.0,241,5817,1.23,2.70,0.00,0.000,6,0.044,0.051,3448,2189,2622,4,0,0,0,0,0
$GC,6090,0.90,136.3,450.3,23.6,248,6099,2.10,2.70,0.00,0.000,4,0.133,0.045,3214,3766,2619,0,0,0,0,0,0
$GC,6162,1.23,213.3,442.9,7.8,249,6234,0.28,2.62,65.38,0.894,6,0.052,0.047,3387,2200,2320,0,0,0,0,0,0
$GC,6505,1.39,240.7,406.8,10.8,258,6536,0.12,2.97,24.52,0.845,4,0.080,0.087,3421,594,2207,0,0,0,0,0,0
$GC,6558,1.39,240.7,400.1,13.1,259,6562,0.00,2.67,0.00,0.000,6,0.000,0.031,3400,2224,2204,0,0,0,0,0,0
$GC,6828,1.47,247.1,367.9,12.1,266,6841,0.00,2.85,6.15,0.680,4,0.000,0.062,3421,590,2182,0,0,0,0,0,0
$GC,6871,1.52,247.1,362.2,12.9,267,6876,0.10,2.65,0.00,0.000,6,0.091,0.032,3451,2211,2182,0,0,0,0,0,0
$GC,7156,1.52,247.1,325.3,12.7,274,7157,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2211,2179,0,0,0,0,0,0
$GC,7398,1.52,247.1,293.1,13.0,280,7399,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2211,2178,0,0,0,0,0,0
$GC,7644,1.56,247.1,261.0,13.3,286,7648,0.00,2.55,0.00,0.000,4,0.000,0.047,3400,3764,2178,0,0,0,0,0,0
$GC,7739,1.65,247.1,248.0,13.3,288,7744,0.28,2.55,0.00,0.000,6,0.057,0.036,3518,2194,2177,0,0,0,0,0,0
$GC,8015,1.58,247.1,208.1,14.1,295,8021,0.30,2.70,0.00,0.000,4,0.107,0.061,3460,587,2176,0,0,0,0,0,0
$GC,8049,1.58,247.1,203.1,12.9,295,8054,0.00,2.58,0.00,0.000,6,0.000,0.027,3460,2210,2175,0,0,0,0,0,0
$GC,8312,1.64,257.1,174.1,11.9,317,8326,0.00,2.55,9.35,0.618,4,0.000,0.045,3407,3760,2141,0,0,0,0,0,0
$GC,8362,1.71,257.1,167.0,13.4,321,8386,15.60,2.58,0.00,0.000,6,0.488,0.035,3390,2190,2140,56,1,0,0,0,0
$STATE,8392,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,8405,334.65,0.614,0,0,477,665.50
$SM_GC,0.14,14.05,0.00,0.00,0.035,0.000,0.000,472,2187,473,-12.06,0.23,666.73
$IRIDIUM_FIX,2150.42,-15811.05,270901,161609
$TT8_MAMPS,0.025311
$HUMID,68.23
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,21.60
$XPDR_PINGS,38
$24V_AH,23.4,38.049
$10V_AH,10.3,32.521
$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,57.500,95.900,332.550,334.650,0.000,27.226,39.913,159.874,9.500,0.000,56.224,743.830,5969.468,742.219,1337.593,490.036,33.367,1361.488,0.000,1289.740,0.000,0.532,0.000
$DEVICE_MAMPS,487.812,113.516,999.401,614.367,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,218.907,142.388,199.663,341.361,542.938,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355968
$DATA_FILE_SIZE,25866,324
$CAP_FILE_SIZE,94828,8
$CFSIZE,260165632,131268608
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,73,0,0,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_PITCH_ERRORS
$GPS,030712,215336,2159.980,-15809.968,29,1.2,29,9.9