version: 66.06
glider: 146
mission: 7
dive: 299
start: 7 8 112 1 40 42
data:
$ID,146
$MISSION,7
$DIVE,299
$D_SURF,4
$D_FLARE,3
$D_TGT,400
$D_ABORT,520
$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,133
$T_MISSION,300
$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,665.4989
$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,-297809.41
$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,2
$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,30
$R_STBD_OVSHOOT,51
$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
$GPS1,012345,2147.885,-15801.973,9,2.2,28,9.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-68.5
$GPS2,013945,2147.928,-15802.022,17,2.3,36,9.9
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,KUHUKU2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.137,-0.041
$KALMAN_X,-163007.2,-261.9,34.5,166137.1,1062.0
$KALMAN_Y,198902.0,28.8,525.6,-296979.7,437.1
$MHEAD_RNG_PITCHd_Wd,243.5,139,-32.6,-10.025
$D_GRID,400
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-2.09,-44.7,0.0,0.0,0,95,0.00,0.00,-73.82,0.000,6,0.000,0.000,465,2197,3373,0,0,0,0,0,0
$GC,98,-2.15,-93.0,1.5,-2.8,8,128,11.68,2.70,-4.53,0.000,4,0.163,0.058,2638,590,3572,0,0,0,0,0,0
$GC,415,-2.01,-93.0,80.7,-25.3,36,420,0.17,2.45,0.00,0.000,6,0.145,0.015,2672,2194,3573,0,0,0,0,0,0
$GC,677,-1.97,-93.0,136.4,-19.1,60,682,0.00,2.62,0.00,0.000,4,0.000,0.047,2672,598,3573,0,0,0,0,0,0
$GC,739,-1.90,-93.0,149.4,-21.1,64,747,0.10,2.45,0.00,0.000,6,0.117,0.019,2695,2177,3574,0,0,0,0,0,0
$GC,1000,-1.90,-93.0,195.2,-18.0,89,1005,0.00,2.45,0.00,0.000,4,0.000,0.033,2664,3737,3574,0,0,0,0,0,0
$GC,1047,-1.90,-93.0,203.8,-18.1,92,1051,0.00,2.45,0.00,0.000,6,0.000,0.025,2695,2165,3573,0,0,0,0,0,0
$GC,1327,-1.94,-93.0,240.9,-12.9,99,1332,0.00,2.50,0.00,0.000,4,0.000,0.039,2681,3744,3574,0,0,0,0,0,0
$GC,1422,-2.00,-93.0,254.8,-14.5,101,1427,0.00,2.42,0.00,0.000,6,0.000,0.029,2695,2201,3573,0,0,0,0,0,0
$GC,1695,-2.08,-93.0,289.6,-13.1,108,1697,0.15,0.00,0.00,0.000,6,0.063,0.000,2642,2201,3574,0,0,0,0,0,0
$GC,1940,-2.08,-93.0,325.1,-14.1,114,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2201,3574,0,0,0,0,0,0
$GC,2182,-2.08,-93.0,355.0,-11.4,120,2183,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2201,3573,0,0,0,0,0,0
$GC,2426,-2.08,-93.0,383.5,-11.6,126,2430,0.00,2.53,0.00,0.000,4,0.000,0.049,2622,3728,3572,0,0,0,0,0,0
$GC,2521,-2.08,-93.0,395.5,-12.5,128,2526,0.00,2.53,0.00,0.000,6,0.000,0.048,2641,2203,3572,0,0,0,0,0,0
$STATE,2587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2588,begin apogee
$GC,2593,-0.31,0.0,404.7,13.3,130,2673,1.90,0.00,76.10,0.799,6,0.104,0.000,3046,2202,3190,0,0,0,0,0,0
$STATE,2674,end apogee,CONTROL_FINISHED_OK
$STATE,2674,begin climb
$GC,2677,2.15,93.0,407.5,0.0,132,2761,2.30,2.92,75.65,0.784,4,0.042,0.089,3589,594,2810,0,0,0,0,0,0
$GC,2800,2.11,93.0,395.1,15.1,135,2805,0.00,2.55,0.00,0.000,6,0.000,0.038,3590,2152,2809,0,0,0,0,0,0
$GC,3072,2.11,93.0,354.1,14.8,142,3076,0.00,2.67,0.00,0.000,4,0.000,0.044,3534,3765,2806,0,0,0,0,0,0
$GC,3168,2.11,93.0,340.4,14.8,144,3192,15.60,2.60,0.00,0.000,6,0.498,0.039,3447,2187,2804,56,1,0,0,0,0
$GC,3443,1.92,93.0,295.6,16.0,151,3451,1.42,2.60,0.00,0.000,4,0.117,0.040,3415,3761,2803,0,0,0,0,0,0
$GC,3545,2.03,96.0,284.7,9.6,153,3550,0.00,2.55,0.00,0.000,6,0.000,0.031,3539,2197,2802,0,0,0,0,0,0
$GC,3817,2.19,98.9,259.1,9.6,160,3825,0.22,0.00,4.68,0.524,6,0.062,0.000,3596,2197,2785,0,0,0,0,0,0
$GC,4063,2.26,103.2,235.5,9.4,166,4072,0.00,0.00,4.82,0.525,6,0.000,0.000,3596,2197,2770,0,0,0,0,0,0
$GC,4352,2.36,121.7,211.2,7.2,173,4376,0.15,2.62,16.08,0.666,4,0.076,0.044,3446,3765,2692,0,0,0,0,0,0
$GC,4382,2.38,133.5,209.0,8.2,173,4417,15.60,2.55,10.95,0.625,6,0.504,0.034,3224,2193,2645,56,1,0,0,0,0
$STATE,4420,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,4436,435.60,0.633,0,0,477,665.50
$SM_GC,0.07,14.62,0.00,0.00,0.058,0.000,0.000,474,2190,472,-12.05,0.28,666.73
$IRIDIUM_FIX,2138.81,-15759.42,021001,010153
$TT8_MAMPS,0.027612
$HUMID,68.94
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.80
$XPDR_PINGS,21
$24V_AH,23.6,42.755
$10V_AH,10.3,36.439
$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,63.925,46.175,188.275,435.600,0.000,148.505,409.486,0.000,5.250,0.000,39.232,436.185,3376.832,708.256,800.632,739.890,33.357,1074.094,0.000,772.051,0.000,0.536,0.000
$DEVICE_MAMPS,503.919,88.972,799.214,632.775,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,117.118,76.546,109.335,224.106,359.565,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356028
$DATA_FILE_SIZE,13131,174
$CAP_FILE_SIZE,55639,16
$CFSIZE,260165632,129445888
$ERRORS,0,0,0,0,0,0,0,0,2,0,0,112,0,0,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_PITCH_ERRORS
$GPS,080712,030706,2147.706,-15802.336,46,1.6,47,9.9