version: 66.06
glider: 146
mission: 7
dive: 205
start: 6 25 112 23 58 30
data:
$ID,146
$MISSION,7
$DIVE,205
$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,-294449.19
$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,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,25
$R_STBD_OVSHOOT,16
$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
$GPS1,235328,2222.474,-15801.882,15,99.0,34,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-62.6
$GPS2,235738,2222.519,-15801.949,12,1.5,12,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.044,-0.249
$KALMAN_X,9378.3,-448.7,-247.3,-5652.9,-391.1
$KALMAN_Y,118348.2,-478.0,92.8,-151434.4,2204.7
$MHEAD_RNG_PITCHd_Wd,160.1,42253,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.32,-136.3,0.0,0.0,0,156,0.00,0.00,-132.38,0.000,6,0.000,0.000,482,2187,3747,0,0,0,0,0,0
$GC,161,-1.32,-136.3,3.5,-8.6,14,179,13.10,2.58,0.00,0.000,4,0.174,0.033,2848,591,3749,0,0,0,0,0,0
$GC,262,-1.16,-136.3,30.2,-14.9,28,267,0.20,2.50,0.00,0.000,6,0.123,0.018,2888,2220,3750,0,0,0,0,0,0
$GC,531,-1.08,-136.3,64.2,-11.7,52,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2220,3748,0,0,0,0,0,0
$GC,796,-1.08,-136.3,93.3,-10.3,77,800,0.00,2.67,0.00,0.000,4,0.000,0.044,2887,586,3750,0,0,0,0,0,0
$GC,837,-1.08,-136.3,98.2,-10.7,80,842,0.00,2.47,0.00,0.000,6,0.000,0.021,2888,2186,3748,0,0,0,0,0,0
$GC,1102,-1.05,-136.3,126.8,-10.9,104,1111,0.12,0.00,0.00,0.000,6,0.114,0.000,2913,2186,3750,0,0,0,0,0,0
$GC,1365,-1.05,-136.3,153.3,-10.6,129,1369,0.00,2.65,0.00,0.000,4,0.000,0.047,2915,586,3750,0,0,0,0,0,0
$GC,1388,-1.05,-136.3,155.3,-10.5,130,1392,0.00,2.47,0.00,0.000,6,0.000,0.021,2915,2186,3750,0,0,0,0,0,0
$GC,1654,-1.05,-136.3,184.9,-10.9,154,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2186,3751,0,0,0,0,0,0
$GC,1922,-1.05,-136.3,212.8,-9.9,171,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2186,3751,0,0,0,0,0,0
$GC,2165,-1.10,-136.3,233.7,-8.0,177,2166,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2186,3751,0,0,0,0,0,0
$GC,2408,-1.18,-136.3,252.4,-7.5,183,2413,0.12,2.67,0.00,0.000,4,0.067,0.052,2863,592,3751,0,0,0,0,0,0
$GC,2443,-1.18,-136.3,255.9,-10.7,183,2449,0.10,2.45,0.00,0.000,6,0.117,0.025,2884,2174,3751,0,0,0,0,0,0
$GC,2693,-1.18,-136.3,279.0,-9.4,190,2697,0.00,2.53,0.00,0.000,4,0.000,0.038,2863,3751,3751,0,0,0,0,0,0
$GC,2782,-1.25,-136.3,287.9,-10.1,192,2786,0.00,2.45,0.00,0.000,6,0.000,0.030,2885,2186,3751,0,0,0,0,0,0
$GC,3062,-1.29,-136.3,310.7,-7.9,199,3063,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2186,3751,0,0,0,0,0,0
$GC,3303,-1.35,-136.3,330.7,-8.1,205,3305,0.15,0.00,0.00,0.000,6,0.062,0.000,2830,2186,3753,0,0,0,0,0,0
$GC,3547,-1.32,-136.3,355.6,-10.2,211,3552,0.10,2.60,0.00,0.000,4,0.122,0.044,2832,3757,3751,0,0,0,0,0,0
$GC,3570,-1.32,-136.3,358.1,-10.6,211,3575,0.00,2.53,0.00,0.000,6,0.000,0.034,2855,2200,3749,0,0,0,0,0,0
$GC,3825,-1.32,-136.3,380.4,-8.6,218,3830,0.00,2.85,0.00,0.000,4,0.000,0.088,2855,594,3748,0,0,0,0,0,0
$GC,3869,-1.32,-136.3,384.4,-8.9,219,3873,0.00,2.58,0.00,0.000,6,0.000,0.038,2855,2184,3748,0,0,0,0,0,0
$GC,4148,-1.32,-136.3,408.3,-8.4,226,4153,0.00,2.60,0.00,0.000,4,0.000,0.054,2837,3763,3747,0,0,0,0,0,0
$GC,4175,-1.32,-136.3,411.0,-9.5,226,4186,1.65,2.58,0.00,0.000,6,0.067,0.043,3205,2198,3746,5,0,0,0,0,0
$GC,4432,-2.12,-136.3,422.3,-4.8,233,4436,2.47,0.00,0.00,0.000,6,0.060,0.000,2680,2198,3743,0,0,0,0,0,0
$GC,4674,-1.81,-136.3,456.7,-16.1,239,4679,0.30,2.62,0.00,0.000,4,0.104,0.056,2724,3764,3742,0,0,0,0,0,0
$GC,4690,-1.54,-136.3,459.4,-16.1,239,4695,0.28,2.88,0.00,0.000,6,0.107,0.052,2803,2057,3743,0,0,0,0,0,0
$GC,4954,-1.47,-136.3,487.1,-10.2,246,4958,0.00,2.88,0.00,0.000,4,0.000,0.058,2782,3755,3741,0,0,0,0,0,0
$GC,5009,-1.41,-136.3,493.1,-10.3,247,5015,0.77,2.90,0.00,0.000,6,0.088,0.062,2866,2063,3741,2,0,0,0,0,0
$GC,5277,-1.73,-136.3,504.3,-3.9,254,5283,0.88,2.90,0.00,0.000,4,0.047,0.058,2732,3757,3739,0,0,0,0,0,0
$GC,5324,-1.55,-136.3,508.8,-11.4,255,5330,0.28,2.90,0.00,0.000,6,0.097,0.064,2805,2070,3738,0,0,0,0,0,0
$GC,5603,-1.49,-136.3,534.8,-9.1,262,5608,0.00,2.90,0.00,0.000,4,0.000,0.067,2794,3755,3736,0,0,0,0,0,0
$GC,5666,-1.45,-136.3,541.0,-9.8,263,5671,0.12,2.88,0.00,0.000,6,0.123,0.064,2830,2080,3735,0,0,0,0,0,0
$STATE,5803,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5803,begin apogee
$GC,5809,-0.31,0.0,553.0,8.4,267,5925,1.08,0.00,110.82,0.963,6,0.074,0.000,3076,2184,3191,0,0,0,0,0,0
$STATE,5926,end apogee,CONTROL_FINISHED_OK
$STATE,5926,begin climb
$GC,5929,1.32,136.3,555.6,0.0,270,6058,1.48,3.17,115.10,0.935,4,0.041,0.117,3432,599,2634,0,0,0,0,0,0
$GC,6069,1.16,136.3,546.9,10.6,273,6074,0.17,2.70,0.00,0.000,6,0.127,0.054,3400,2168,2631,0,0,0,0,0,0
$GC,6338,1.11,157.7,522.1,9.1,280,6363,0.00,2.90,18.88,0.875,4,0.000,0.076,3381,3780,2547,0,0,0,0,0,0
$GC,6402,1.06,157.7,515.4,11.0,281,6407,0.00,2.72,0.00,0.000,6,0.000,0.057,3390,2184,2544,0,0,0,0,0,0
$GC,6665,1.02,163.7,489.4,9.9,288,6679,0.17,2.72,6.15,0.720,4,0.117,0.051,3253,3768,2521,0,0,0,0,0,0
$GC,6724,1.04,180.6,483.3,9.3,289,6745,0.00,2.70,16.05,0.854,6,0.000,0.049,3365,2185,2454,0,0,0,0,0,0
$GC,6989,1.08,214.2,460.9,8.5,295,7023,0.00,0.00,30.67,0.879,6,0.000,0.000,3365,2185,2316,0,0,0,0,0,0
$GC,7277,1.17,250.0,437.0,8.4,302,7319,0.15,2.75,32.12,0.871,4,0.072,0.048,3241,3769,2166,0,0,0,0,0,0
$GC,7347,1.17,250.0,429.1,11.8,303,7353,1.17,2.67,0.00,0.000,6,0.041,0.042,3439,2185,2167,4,0,0,0,0,0
$GC,7607,0.63,250.0,358.5,28.9,310,7616,2.10,2.67,0.00,0.000,4,0.133,0.044,3197,3773,2162,0,0,0,0,0,0
$GC,7668,1.01,321.2,350.8,6.6,311,7739,0.32,2.58,62.05,0.826,6,0.041,0.034,3377,2189,1880,0,0,0,0,0,0
$GC,8027,1.08,321.2,313.6,10.3,320,8031,0.00,2.75,0.00,0.000,4,0.000,0.065,3305,596,1871,0,0,0,0,0,0
$GC,8054,1.15,321.2,310.4,11.0,320,8058,0.00,2.62,0.00,0.000,6,0.000,0.026,3368,2235,1870,0,0,0,0,0,0
$GC,8304,1.24,325.8,285.2,10.0,326,8309,0.15,2.80,0.00,0.000,4,0.071,0.064,3418,596,1869,0,0,0,0,0,0
$GC,8321,1.29,335.4,283.3,9.7,326,8342,0.00,2.58,12.07,0.716,6,0.000,0.024,3418,2233,1821,0,0,0,0,0,0
$GC,8585,1.29,335.4,249.9,13.0,333,8590,0.00,2.53,0.00,0.000,4,0.000,0.043,3381,3778,1818,0,0,0,0,0,0
$GC,8637,1.39,335.4,243.2,12.5,334,8642,0.12,2.55,0.00,0.000,6,0.078,0.031,3453,2206,1816,0,0,0,0,0,0
$GC,8909,1.39,335.4,203.9,14.6,341,8914,0.00,2.72,0.00,0.000,4,0.000,0.061,3385,588,1816,0,0,0,0,0,0
$GC,8978,1.39,335.4,193.8,13.8,344,8984,0.00,2.60,0.00,0.000,6,0.000,0.021,3453,2231,1815,0,0,0,0,0,0
$GC,9241,1.39,335.4,155.7,14.6,369,9242,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2231,1815,0,0,0,0,0,0
$GC,9500,1.35,335.4,117.8,14.8,393,9505,0.00,2.70,0.00,0.000,4,0.000,0.049,3453,596,1815,0,0,0,0,0,0
$GC,9522,1.29,335.4,113.2,15.6,394,9532,0.10,2.58,0.00,0.000,6,0.098,0.020,3428,2222,1815,0,0,0,0,0,0
$GC,9788,1.29,335.4,77.3,13.2,419,9797,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,2222,1815,0,0,0,0,0,0
$GC,10055,1.36,335.4,44.5,11.2,444,10060,0.00,2.67,0.00,0.000,4,0.000,0.048,3424,595,1815,0,0,0,0,0,0
$GC,10100,1.42,335.4,39.0,11.5,447,10105,0.10,2.50,0.00,0.000,6,0.085,0.020,3465,2196,1815,0,0,0,0,0,0
$STATE,10360,end climb,SURFACE_DEPTH_REACHED
$STATE,10360,begin surface coast
$FINISH,-0.5,1.023717
$STATE,10396,end surface coast,CONTROL_FINISHED_OK
$STATE,10396,begin surface
$SM_CCo,10417,35.10,0.518,0,0,1640,380.21
$SM_GC,0.28,0.00,0.00,35.10,0.000,0.000,0.518,471,2199,1640,-12.30,0.54,380.21
$IRIDIUM_FIX,2216.01,-15801.53,190901,232327
$TT8_MAMPS,0.027612
$HUMID,63.46
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,21.40
$XPDR_PINGS,43
$24V_AH,23.5,29.399
$10V_AH,10.2,26.145
$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,39.750,123.400,403.925,35.100,0.000,0.000,0.000,0.000,10.750,0.000,14.228,1003.517,6902.465,542.498,1840.860,235.863,33.364,1284.648,0.000,1840.690,0.000,0.533,0.000
$DEVICE_MAMPS,174.109,183.313,963.352,517.725,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,328.901,263.431,355.108,674.171,1019.743,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355952
$DATA_FILE_SIZE,38391,486
$CAP_FILE_SIZE,118863,0
$CFSIZE,260165632,134385664
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,11,0,0,0
$GPS,260612,025456,2221.750,-15802.007,71,99.0,90,10.0