version: 66.06
glider: 146
mission: 7
dive: 192
start: 6 24 112 5 6 31
data:
$ID,146
$MISSION,7
$DIVE,192
$D_SURF,4
$D_FLARE,3
$D_TGT,550
$D_ABORT,650
$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,180
$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,-293658.38
$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,3144
$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,15
$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
$GPS1,050131,2228.635,-15801.307,7,1.6,12,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.10
$_SM_ANGLEo,-63.1
$GPS2,050538,2228.665,-15801.319,11,1.5,11,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.000,-0.253
$KALMAN_X,12627.8,129.7,240.4,-8896.0,70.8
$KALMAN_Y,93599.2,279.3,43.9,-116019.5,2090.8
$MHEAD_RNG_PITCHd_Wd,170.0,53393,-18.5,-10.185
$D_GRID,550
$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,-1.32,-136.3,0.0,0.0,0,160,0.00,0.00,-132.62,0.000,6,0.000,0.000,479,2183,3748,0,0,0,0,0,0
$GC,165,-1.32,-136.3,4.6,-13.1,18,183,13.02,2.60,0.00,0.000,4,0.175,0.036,2846,583,3748,0,0,0,0,0,0
$GC,266,-1.13,-136.3,33.0,-16.8,31,271,0.22,2.55,0.00,0.000,6,0.117,0.029,2892,2209,3749,0,0,0,0,0,0
$GC,534,-1.05,-136.3,68.4,-13.3,55,539,0.10,2.67,0.00,0.000,4,0.131,0.050,2914,584,3749,0,0,0,0,0,0
$GC,569,-1.02,-136.3,73.0,-11.8,57,574,0.00,2.45,0.00,0.000,6,0.000,0.018,2914,2182,3748,0,0,0,0,0,0
$GC,838,-1.02,-136.3,98.7,-8.3,81,842,0.00,2.50,0.00,0.000,4,0.000,0.033,2902,3751,3748,0,0,0,0,0,0
$GC,871,-1.02,-136.3,101.6,-7.9,83,875,0.00,2.50,0.00,0.000,6,0.000,0.023,2915,2152,3748,0,0,0,0,0,0
$GC,1139,-1.02,-136.3,123.5,-8.8,107,1144,0.00,2.55,0.00,0.000,4,0.000,0.049,2853,600,3748,0,0,0,0,0,0
$GC,1163,-1.02,-136.3,126.3,-9.3,108,1172,0.00,2.45,0.00,0.000,6,0.000,0.023,2915,2174,3748,0,0,0,0,0,0
$GC,1429,-1.02,-136.3,150.8,-9.2,133,1434,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2174,3748,0,0,0,0,0,0
$GC,1690,-1.02,-136.3,176.3,-9.6,158,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2174,3748,0,0,0,0,0,0
$GC,1945,-1.02,-136.3,200.5,-9.2,182,1949,0.00,2.58,0.00,0.000,4,0.000,0.053,2914,600,3747,0,0,0,0,0,0
$GC,1981,-1.02,-136.3,203.9,-9.6,182,1986,0.00,2.42,0.00,0.000,6,0.000,0.025,2914,2178,3747,0,0,0,0,0,0
$GC,2231,-1.02,-136.3,226.3,-8.8,189,2235,0.00,2.47,0.00,0.000,4,0.000,0.034,2914,3751,3746,0,0,0,0,0,0
$GC,2258,-1.07,-136.3,228.8,-8.9,189,2262,0.00,2.45,0.00,0.000,6,0.000,0.020,2910,2169,3747,0,0,0,0,0,0
$GC,2510,-1.13,-136.3,251.5,-9.5,195,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2168,3746,0,0,0,0,0,0
$GC,2752,-1.21,-136.3,271.3,-8.1,201,2754,0.15,0.00,0.00,0.000,6,0.061,0.000,2856,2168,3746,0,0,0,0,0,0
$GC,2995,-1.21,-136.3,294.4,-9.5,207,2997,0.10,0.00,0.00,0.000,6,0.120,0.000,2880,2169,3745,0,0,0,0,0,0
$GC,3241,-1.21,-136.3,316.5,-9.0,213,3245,0.00,2.55,0.00,0.000,4,0.000,0.041,2880,3753,3745,0,0,0,0,0,0
$GC,3285,-1.26,-136.3,320.8,-9.0,214,3290,0.00,2.47,0.00,0.000,6,0.000,0.034,2880,2192,3745,0,0,0,0,0,0
$GC,3564,-1.31,-136.3,342.4,-7.6,221,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2192,3744,0,0,0,0,0,0
$GC,3810,-1.37,-136.3,361.0,-7.7,227,3811,0.15,0.00,0.00,0.000,6,0.063,0.000,2826,2192,3743,0,0,0,0,0,0
$GC,4051,-1.32,-136.3,386.6,-10.7,233,4056,0.12,2.55,0.00,0.000,4,0.112,0.044,2853,3747,3741,0,0,0,0,0,0
$GC,4073,-1.32,-136.3,388.8,-9.4,233,4077,0.00,2.55,0.00,0.000,6,0.000,0.041,2853,2178,3741,0,0,0,0,0,0
$GC,4330,-1.32,-136.3,408.5,-7.2,240,4331,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2178,3739,0,0,0,0,0,0
$GC,4571,-1.32,-136.3,425.9,-7.4,246,4576,0.00,2.83,0.00,0.000,4,0.000,0.097,2853,597,3738,0,0,0,0,0,0
$GC,4600,-1.32,-136.3,428.5,-8.6,246,4604,0.00,2.50,0.00,0.000,6,0.000,0.037,2853,2142,3738,0,0,0,0,0,0
$GC,4852,-1.32,-136.3,449.4,-8.2,252,4856,0.00,2.72,0.00,0.000,4,0.000,0.067,2834,3761,3735,0,0,0,0,0,0
$GC,4884,-1.32,-136.3,452.4,-9.1,252,4890,0.00,2.65,0.00,0.000,6,0.000,0.055,2853,2169,3735,0,0,0,0,0,0
$GC,5135,-1.32,-136.3,471.3,-7.3,259,5139,0.00,2.70,0.00,0.000,4,0.000,0.057,2847,3768,3733,0,0,0,0,0,0
$GC,5208,-1.32,-136.3,477.0,-7.9,260,5213,0.00,2.65,0.00,0.000,6,0.000,0.053,2853,2182,3732,0,0,0,0,0,0
$GC,5459,-1.32,-136.3,494.7,-7.0,266,5463,0.00,2.95,0.00,0.000,4,0.000,0.114,2853,588,3731,0,0,0,0,0,0
$GC,5503,-1.32,-136.3,498.0,-7.5,267,5507,0.00,2.62,0.00,0.000,6,0.000,0.047,2853,2174,3731,0,0,0,0,0,0
$GC,5782,-1.32,-136.3,515.4,-5.8,274,5787,0.00,2.85,0.00,0.000,4,0.000,0.091,2853,590,3728,0,0,0,0,0,0
$GC,5803,-1.32,-136.3,517.0,-6.5,274,5808,0.00,2.62,0.00,0.000,6,0.000,0.046,2853,2186,3728,0,0,0,0,0,0
$GC,6059,-1.32,-136.3,533.0,-6.4,281,6060,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2186,3726,0,0,0,0,0,0
$GC,6305,-1.36,-136.3,550.0,-7.1,287,6306,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2186,3724,0,0,0,0,0,0
$STATE,6340,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6340,begin apogee
$GC,6346,-0.31,0.0,553.0,7.2,288,6458,0.98,0.00,108.62,0.965,6,0.076,0.000,3078,2186,3190,0,0,0,0,0,0
$STATE,6459,end apogee,CONTROL_FINISHED_OK
$STATE,6459,begin climb
$GC,6461,1.32,136.3,554.6,0.0,290,6591,1.48,2.83,114.60,0.932,4,0.052,0.077,3432,3764,2633,0,0,0,0,0,0
$GC,6619,1.18,136.3,543.1,12.9,294,6624,0.15,2.72,0.00,0.000,6,0.136,0.054,3401,2182,2630,0,0,0,0,0,0
$GC,6875,1.11,136.3,515.8,10.7,301,6879,0.00,2.67,0.00,0.000,4,0.000,0.053,3390,3764,2625,0,0,0,0,0,0
$GC,6911,1.02,136.3,512.0,12.1,301,6917,0.20,2.72,0.00,0.000,6,0.120,0.057,3365,2178,2625,0,0,0,0,0,0
$GC,7161,1.07,177.7,490.1,8.1,308,7200,0.00,0.00,35.60,0.895,6,0.000,0.000,3366,2178,2464,0,0,0,0,0,0
$GC,7445,1.12,218.5,466.4,8.1,315,7484,0.00,0.00,36.55,0.884,6,0.000,0.000,3365,2178,2299,0,0,0,0,0,0
$GC,7731,1.20,252.0,442.7,8.5,322,7767,0.17,2.70,29.77,0.867,4,0.067,0.045,3394,3769,2161,0,0,0,0,0,0
$GC,7819,1.20,252.0,431.9,13.1,323,7823,0.00,2.65,0.00,0.000,6,0.000,0.048,3410,2185,2158,0,0,0,0,0,0
$GC,8098,1.20,252.0,396.8,12.7,330,8102,0.00,2.85,0.00,0.000,4,0.000,0.084,3410,591,2155,0,0,0,0,0,0
$GC,8147,1.20,252.0,389.8,13.7,331,8151,0.00,2.60,0.00,0.000,6,0.000,0.025,3397,2200,2153,0,0,0,0,0,0
$GC,8419,1.20,252.0,355.6,12.6,338,8423,0.00,2.58,0.00,0.000,4,0.000,0.042,3388,3764,2152,0,0,0,0,0,0
$GC,8442,1.20,252.0,352.8,12.7,338,8450,1.73,2.62,0.00,0.000,6,0.067,0.036,3551,2169,2152,6,0,0,0,0,0
$GC,8702,0.62,252.0,279.7,28.9,345,8711,2.58,2.65,0.00,0.000,4,0.122,0.047,3285,3757,2154,0,0,0,0,0,0
$GC,8775,1.06,334.2,272.6,6.0,346,8865,8.95,2.55,69.97,0.766,6,0.440,0.034,3840,2183,1829,32,0,0,0,0,0
$GC,9124,0.52,334.2,170.2,31.9,361,9134,2.80,2.60,0.00,0.000,4,0.120,0.035,3159,3754,1819,0,0,0,0,0,0
$GC,9164,0.79,357.5,163.3,9.0,364,9189,0.22,2.50,19.98,0.660,6,0.051,0.025,3324,2203,1732,0,0,0,0,0,0
$GC,9445,1.06,387.4,141.3,8.7,390,9484,0.20,2.78,26.23,0.634,4,0.052,0.057,3063,604,1608,0,0,0,0,0,0
$GC,9564,1.21,387.4,126.0,13.4,399,9570,0.10,2.55,0.00,0.000,6,0.087,0.026,3414,2219,1605,0,0,0,0,0,0
$GC,9829,1.27,387.4,87.1,14.5,424,9837,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,2220,1604,0,0,0,0,0,0
$GC,10094,1.36,387.4,51.1,12.7,449,10099,0.10,2.72,0.00,0.000,4,0.087,0.048,3446,595,1607,0,0,0,0,0,0
$GC,10165,1.43,387.4,39.9,14.6,454,10174,0.00,2.53,0.00,0.000,6,0.000,0.019,3446,2190,1602,0,0,0,0,0,0
$STATE,10441,end climb,SURFACE_DEPTH_REACHED
$STATE,10441,begin surface coast
$FINISH,-0.3,1.022922
$STATE,10476,end surface coast,CONTROL_FINISHED_OK
$STATE,10476,begin surface
$SM_CCo,10557,0.00,0.000,0,0,1598,390.76
$SM_GC,0.35,11.90,0.00,0.00,0.023,0.000,0.000,471,2193,1598,-12.19,0.37,390.76
$IRIDIUM_FIX,2220.67,-15800.66,180901,050530
$TT8_MAMPS,0.027612
$HUMID,65.90
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,21.20
$XPDR_PINGS,41
$24V_AH,23.5,27.329
$10V_AH,10.3,24.740
$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,45.425,115.250,441.325,0.000,0.000,0.000,0.000,0.000,10.250,0.000,13.307,993.762,7064.740,549.814,1782.909,237.263,33.365,1266.318,0.000,1790.779,0.000,0.536,0.000
$DEVICE_MAMPS,440.258,113.516,964.886,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,334.895,268.147,367.281,683.788,1034.207,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356012
$DATA_FILE_SIZE,38566,496
$CAP_FILE_SIZE,147798,0
$CFSIZE,260165632,135045120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,38,0,0,0
$GPS,240612,080337,2228.207,-15801.201,29,1.5,29,10.0