version: 66.06
glider: 146
mission: 7
dive: 211
start: 6 26 112 19 31 21
data:
$ID,146
$MISSION,7
$DIVE,211
$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,-294584.31
$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,26
$R_STBD_OVSHOOT,40
$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
$GPS1,192325,2219.091,-15802.692,12,1.7,29,10.0
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-72.2
$GPS2,193025,2219.089,-15802.768,14,2.0,16,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.131,-0.217
$KALMAN_X,2644.8,-14.9,122.5,-1119.1,-1217.2
$KALMAN_Y,127328.1,-292.8,47.7,-166907.9,1491.9
$MHEAD_RNG_PITCHd_Wd,138.9,36289,-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,-136.3,0.0,0.0,0,107,0.00,0.00,-86.03,0.000,6,0.000,0.000,465,2179,3747,0,0,0,0,0,0
$GC,112,-1.32,-136.3,3.3,-8.6,11,138,13.23,2.67,0.00,0.000,4,0.174,0.045,2853,583,3748,0,0,0,0,0,0
$GC,195,-1.17,-136.3,26.2,-15.3,22,205,0.12,2.53,0.00,0.000,6,0.107,0.019,2882,2180,3749,0,0,0,0,0,0
$GC,470,-1.08,-136.3,66.3,-14.2,48,475,0.12,2.62,0.00,0.000,4,0.118,0.044,2850,591,3750,0,0,0,0,0,0
$GC,495,-1.03,-136.3,70.6,-12.9,49,503,0.00,2.47,0.00,0.000,6,0.000,0.016,2908,2175,3750,0,0,0,0,0,0
$GC,756,-1.03,-136.3,97.6,-10.0,74,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2175,3751,0,0,0,0,0,0
$GC,1013,-1.03,-136.3,122.5,-9.5,98,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2175,3751,0,0,0,0,0,0
$GC,1265,-1.03,-136.3,148.4,-10.6,122,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2175,3752,0,0,0,0,0,0
$GC,1522,-1.03,-136.3,175.1,-10.3,146,1523,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2175,3752,0,0,0,0,0,0
$GC,1805,-1.03,-136.3,204.6,-10.3,170,1810,0.00,2.60,0.00,0.000,4,0.000,0.055,2908,594,3752,0,0,0,0,0,0
$GC,1828,-1.03,-136.3,207.2,-11.6,170,1832,0.00,2.42,0.00,0.000,6,0.000,0.021,2908,2172,3751,0,0,0,0,0,0
$GC,2083,-1.03,-136.3,233.5,-9.9,177,2087,0.00,2.50,0.00,0.000,4,0.000,0.038,2909,3747,3752,0,0,0,0,0,0
$GC,2099,-1.03,-136.3,235.2,-9.6,177,2105,0.57,2.47,0.00,0.000,6,0.067,0.021,2963,2153,3752,2,0,0,0,0,0
$GC,2363,-1.39,-136.3,243.6,-2.7,184,2369,0.82,2.55,0.00,0.000,4,0.029,0.049,2772,608,3752,0,0,0,0,0,0
$GC,2442,-1.25,-136.3,252.2,-11.8,185,2448,0.22,2.40,0.00,0.000,6,0.094,0.017,2871,2172,3751,0,0,0,0,0,0
$GC,2692,-1.25,-136.3,276.3,-9.6,192,2693,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2172,3752,0,0,0,0,0,0
$GC,2938,-1.25,-136.3,296.9,-8.3,198,2942,0.00,2.53,0.00,0.000,4,0.000,0.040,2848,3747,3752,0,0,0,0,0,0
$GC,3027,-1.31,-136.3,306.0,-10.0,200,3031,0.00,2.50,0.00,0.000,6,0.000,0.028,2871,2158,3753,0,0,0,0,0,0
$GC,3306,-1.31,-136.3,330.1,-8.5,207,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2158,3752,0,0,0,0,0,0
$GC,3548,-1.35,-136.3,348.3,-7.0,213,3553,0.00,2.58,0.00,0.000,4,0.000,0.042,2871,3736,3751,0,0,0,0,0,0
$GC,3576,-1.39,-136.3,350.1,-6.8,213,3581,0.12,2.50,0.00,0.000,6,0.072,0.031,2824,2175,3753,0,0,0,0,0,0
$GC,3828,-1.35,-136.3,371.7,-8.6,219,3830,0.12,0.00,0.00,0.000,6,0.111,0.000,2851,2175,3751,0,0,0,0,0,0
$GC,4069,-1.35,-136.3,392.3,-8.6,225,4071,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2175,3750,0,0,0,0,0,0
$GC,4313,-1.35,-136.3,415.8,-9.9,231,4314,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2175,3748,0,0,0,0,0,0
$GC,4557,-1.35,-136.3,440.2,-9.9,237,4561,0.00,2.60,0.00,0.000,4,0.000,0.051,2818,3730,3746,0,0,0,0,0,0
$GC,4598,-1.35,-136.3,444.2,-10.7,238,4604,0.82,2.60,0.00,0.000,6,0.070,0.051,2903,2179,3746,2,0,0,0,0,0
$GC,4883,-1.93,-136.3,457.9,-4.8,245,4891,1.35,2.60,0.00,0.000,4,0.043,0.052,2644,3739,3744,0,0,0,0,0,0
$GC,4975,-1.70,-136.3,467.0,-12.8,247,4980,0.28,2.62,0.00,0.000,6,0.097,0.058,2772,2187,3744,0,0,0,0,0,0
$GC,5259,-1.57,-136.3,495.7,-9.7,254,5264,0.15,2.65,0.00,0.000,4,0.113,0.064,2780,3732,3741,0,0,0,0,0,0
$GC,5301,-1.52,-136.3,499.3,-8.4,255,5310,1.40,2.62,0.00,0.000,6,0.081,0.057,2871,2196,3741,5,0,0,0,0,0
$GC,5589,-2.19,-136.3,510.4,-4.8,262,5593,2.03,0.00,0.00,0.000,6,0.059,0.000,2659,2192,3739,0,0,0,0,0,0
$GC,5833,-1.86,-136.3,542.6,-14.5,268,5835,0.38,0.00,0.00,0.000,6,0.105,0.000,2736,2191,3738,0,0,0,0,0,0
$STATE,5911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5911,begin apogee
$GC,5919,-0.31,0.0,552.6,13.7,270,6034,1.52,0.00,111.32,0.966,6,0.103,0.000,3072,2191,3190,0,0,0,0,0,0
$STATE,6035,end apogee,CONTROL_FINISHED_OK
$STATE,6035,begin climb
$GC,6037,1.32,136.3,554.7,0.0,273,6160,1.52,2.75,114.90,0.936,4,0.043,0.067,3391,3735,2632,0,0,0,0,0,0
$GC,6182,1.16,136.3,544.5,11.3,276,6187,0.17,2.72,0.00,0.000,6,0.125,0.063,3400,2175,2629,0,0,0,0,0,0
$GC,6434,1.12,160.4,521.4,9.0,282,6457,0.00,0.00,20.98,0.880,6,0.000,0.000,3400,2175,2536,0,0,0,0,0,0
$GC,6676,1.09,177.8,498.9,9.3,288,6697,0.00,3.08,15.55,0.858,4,0.000,0.114,3399,592,2465,0,0,0,0,0,0
$GC,6739,1.03,177.8,492.4,11.5,289,6744,0.15,2.58,0.00,0.000,6,0.118,0.048,3370,2133,2463,0,0,0,0,0,0
$GC,7000,1.07,214.2,469.9,8.4,296,7039,0.00,0.00,33.47,0.889,6,0.000,0.000,3370,2133,2315,0,0,0,0,0,0
$GC,7285,1.11,241.8,445.0,8.8,303,7316,0.00,2.83,24.88,0.866,4,0.000,0.053,3334,3766,2203,0,0,0,0,0,0
$GC,7402,1.20,260.7,434.4,9.2,305,7426,0.20,2.65,17.95,0.839,6,0.061,0.045,3423,2181,2127,0,0,0,0,0,0
$GC,7703,1.15,260.7,397.4,12.6,313,7705,0.15,0.00,0.00,0.000,6,0.125,0.000,3393,2181,2122,0,0,0,0,0,0
$GC,7943,1.15,260.7,367.2,12.3,319,7944,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,2181,2120,0,0,0,0,0,0
$GC,8186,1.15,260.7,337.3,12.4,325,8187,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2181,2120,0,0,0,0,0,0
$GC,8432,1.15,260.7,308.6,11.7,331,8437,0.00,2.62,0.00,0.000,4,0.000,0.037,3358,3773,2119,0,0,0,0,0,0
$GC,8517,1.24,260.7,298.0,12.4,333,8522,0.00,2.55,0.00,0.000,6,0.000,0.038,3393,2206,2118,0,0,0,0,0,0
$GC,8801,1.30,269.1,269.7,9.8,340,8816,0.15,2.65,7.25,0.667,4,0.070,0.042,3345,3772,2092,0,0,0,0,0,0
$GC,8896,1.30,269.1,258.1,11.6,342,8900,0.00,2.53,0.00,0.000,6,0.000,0.030,3433,2231,2091,0,0,0,0,0,0
$GC,9173,1.30,269.1,224.3,12.4,349,9178,0.00,2.75,0.00,0.000,4,0.000,0.058,3434,592,2090,0,0,0,0,0,0
$GC,9224,1.30,269.1,217.3,13.9,350,9228,0.00,2.62,0.00,0.000,6,0.000,0.024,3406,2242,2089,0,0,0,0,0,0
$GC,9484,1.30,269.1,183.8,12.7,364,9489,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2242,2089,0,0,0,0,0,0
$GC,9745,1.30,269.1,151.7,11.4,389,9749,0.00,2.75,0.00,0.000,4,0.000,0.049,3433,592,2089,0,0,0,0,0,0
$GC,9779,1.30,269.1,148.4,13.0,391,9784,0.00,2.58,0.00,0.000,6,0.000,0.027,3433,2230,2089,0,0,0,0,0,0
$GC,10045,1.30,269.1,118.4,11.2,415,10050,0.00,2.45,0.00,0.000,4,0.000,0.041,3390,3754,2089,0,0,0,0,0,0
$GC,10079,1.30,269.1,114.3,12.2,417,10084,0.00,2.50,0.00,0.000,6,0.000,0.028,3433,2196,2089,0,0,0,0,0,0
$GC,10346,1.30,269.1,83.4,10.9,441,10350,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2195,2089,0,0,0,0,0,0
$GC,10613,1.35,269.1,54.6,10.3,466,10621,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2196,2090,0,0,0,0,0,0
$GC,10881,1.36,280.4,28.0,9.6,492,10898,0.00,0.00,11.43,0.506,6,0.000,0.000,3433,2196,2047,0,0,0,0,0,0
$STATE,11101,end climb,SURFACE_DEPTH_REACHED
$STATE,11101,begin surface coast
$FINISH,-0.4,1.023718
$STATE,11144,end surface coast,CONTROL_FINISHED_OK
$STATE,11144,begin surface
$SM_CCo,11165,81.12,0.519,0,0,1639,380.21
$SM_GC,0.23,0.00,0.00,81.12,0.000,0.000,0.519,471,2192,1639,-12.30,0.34,380.21
$IRIDIUM_FIX,2213.68,-15801.53,200901,161615
$TT8_MAMPS,0.027612
$HUMID,62.12
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,22.00
$XPDR_PINGS,35
$24V_AH,23.5,30.215
$10V_AH,10.3,26.835
$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,37.425,93.650,357.725,81.125,0.000,28.638,38.035,203.943,8.750,0.000,17.530,1066.058,7572.892,539.229,1912.174,579.512,33.370,1226.802,0.000,1915.458,0.000,0.536,0.000
$DEVICE_MAMPS,174.109,114.283,966.420,519.259,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,359.514,288.766,390.651,738.103,1116.313,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355952
$DATA_FILE_SIZE,41485,530
$CAP_FILE_SIZE,105813,0
$CFSIZE,260165632,134066176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,9,0,0,0
$GPS,260612,224055,2218.620,-15802.783,87,0.9,87,10.0