version: 66.06
glider: 146
mission: 7
dive: 256
start: 7 2 112 19 20 45
data:
$ID,146
$MISSION,7
$DIVE,256
$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,-296483.06
$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,54
$R_STBD_OVSHOOT,14
$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
$GPS1,190806,2205.254,-15807.590,9,1.4,26,9.9
$_CALLS,2
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-64.9
$GPS2,191954,2205.237,-15807.696,13,1.7,18,9.9
$SPEED_LIMITS,0.179,0.270
$TGT_NAME,KUHUKU2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.120,-0.241
$KALMAN_X,-88447.1,-367.1,-811.1,82835.2,-716.0
$KALMAN_Y,184933.3,-504.1,-66.9,-249834.5,876.0
$MHEAD_RNG_PITCHd_Wd,143.6,33392,-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,-136.3,0.0,0.0,0,161,0.00,0.00,-133.50,0.000,6,0.000,0.000,466,2147,3746,0,0,0,0,0,0
$GC,168,-1.54,-136.3,3.6,-7.7,15,188,12.77,2.53,0.00,0.000,4,0.172,0.035,2705,621,3747,0,0,0,0,0,0
$GC,200,-0.37,-136.3,19.3,-37.6,18,211,1.20,2.53,0.00,0.000,6,0.100,0.017,3029,2220,3748,0,0,0,0,0,0
$GC,506,-0.70,-136.3,43.6,-6.3,49,517,0.25,0.00,0.00,0.000,6,0.042,0.000,2942,2220,3748,0,0,0,0,0,0
$GC,777,-0.86,-136.3,73.0,-12.2,74,781,0.00,2.62,0.00,0.000,4,0.000,0.046,2942,622,3748,0,0,0,0,0,0
$GC,852,-1.07,-136.3,81.7,-10.9,79,857,0.25,2.38,0.00,0.000,6,0.042,0.016,2860,2174,3747,0,0,0,0,0,0
$GC,1119,-1.07,-136.3,115.6,-12.3,103,1124,0.10,2.50,0.00,0.000,4,0.117,0.034,2834,3743,3748,0,0,0,0,0,0
$GC,1163,-1.16,-136.3,121.3,-11.8,106,1167,0.00,2.45,0.00,0.000,6,0.000,0.021,2881,2182,3748,0,0,0,0,0,0
$GC,1425,-1.22,-136.3,150.5,-11.0,130,1427,0.15,0.00,0.00,0.000,6,0.061,0.000,2827,2181,3748,0,0,0,0,0,0
$GC,1687,-1.17,-136.3,185.5,-14.1,154,1692,0.15,2.62,0.00,0.000,4,0.105,0.051,2859,602,3747,0,0,0,0,0,0
$GC,1708,-1.17,-136.3,189.6,-14.3,155,1714,0.00,2.42,0.00,0.000,6,0.000,0.018,2859,2171,3748,0,0,0,0,0,0
$GC,1992,-1.17,-136.3,226.5,-12.6,168,1996,0.00,2.60,0.00,0.000,4,0.000,0.051,2859,604,3748,0,0,0,0,0,0
$GC,2020,-1.17,-136.3,230.3,-14.0,168,2025,0.00,2.40,0.00,0.000,6,0.000,0.018,2864,2155,3748,0,0,0,0,0,0
$GC,2271,-1.22,-136.3,259.4,-11.5,174,2272,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2155,3748,0,0,0,0,0,0
$GC,2515,-1.30,-136.3,284.1,-9.7,180,2520,0.12,2.55,0.00,0.000,4,0.068,0.038,2766,3744,3747,0,0,0,0,0,0
$GC,2538,-1.30,-136.3,286.7,-11.0,180,2543,0.10,2.47,0.00,0.000,6,0.118,0.028,2830,2162,3748,0,0,0,0,0,0
$GC,2794,-1.30,-136.3,315.1,-11.4,187,2798,0.00,2.58,0.00,0.000,4,0.000,0.045,2781,3751,3748,0,0,0,0,0,0
$GC,2878,-1.36,-136.3,324.6,-10.2,189,2883,0.00,2.53,0.00,0.000,6,0.000,0.025,2830,2162,3747,0,0,0,0,0,0
$GC,3165,-1.41,-136.3,350.3,-9.3,196,3169,0.00,2.55,0.00,0.000,4,0.000,0.048,2770,3741,3747,0,0,0,0,0,0
$GC,3181,-1.46,-136.3,352.0,-8.7,196,3186,0.22,2.55,0.00,0.000,6,0.046,0.029,2762,2156,3747,0,0,0,0,0,0
$GC,3444,-1.39,-136.3,380.4,-11.2,203,3449,0.25,2.60,0.00,0.000,4,0.096,0.048,2771,3745,3745,0,0,0,0,0,0
$GC,3489,-1.45,-136.3,386.1,-10.6,204,3494,0.00,2.60,0.00,0.000,6,0.000,0.036,2816,2158,3745,0,0,0,0,0,0
$GC,3767,-1.51,-136.3,417.6,-11.9,211,3772,0.12,2.65,0.00,0.000,4,0.071,0.054,2722,3736,3744,0,0,0,0,0,0
$GC,3796,-1.51,-136.3,421.9,-15.3,211,3801,0.00,2.62,0.00,0.000,6,0.000,0.047,2770,2162,3744,0,0,0,0,0,0
$GC,4046,-1.51,-136.3,459.7,-14.4,217,4050,0.00,2.67,0.00,0.000,4,0.000,0.064,2708,3742,3742,0,0,0,0,0,0
$GC,4078,-1.47,-136.3,464.1,-13.3,217,4085,0.12,2.65,0.00,0.000,6,0.110,0.051,2797,2170,3742,0,0,0,0,0,0
$GC,4330,-1.47,-136.3,485.4,-7.3,224,4335,0.00,2.62,0.00,0.000,4,0.000,0.063,2765,3734,3739,0,0,0,0,0,0
$GC,4347,-1.47,-136.3,486.6,-6.0,224,4351,0.00,2.65,0.00,0.000,6,0.000,0.060,2796,2168,3739,0,0,0,0,0,0
$GC,4607,-1.47,-136.3,498.3,-4.4,231,4612,0.00,2.97,0.00,0.000,4,0.000,0.121,2797,592,3738,0,0,0,0,0,0
$GC,4642,-1.47,-136.3,500.2,-5.1,231,4648,0.00,2.55,0.00,0.000,6,0.000,0.044,2797,2134,3736,0,0,0,0,0,0
$GC,4892,-1.47,-136.3,514.8,-6.3,238,4897,0.00,2.83,0.00,0.000,4,0.000,0.074,2761,3765,3735,0,0,0,0,0,0
$GC,4908,-1.47,-136.3,516.1,-7.2,238,4912,0.00,2.72,0.00,0.000,6,0.000,0.058,2795,2157,3735,0,0,0,0,0,0
$GC,5170,-1.47,-136.3,543.0,-11.1,245,5171,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2157,3732,0,0,0,0,0,0
$GC,5413,-1.50,-136.3,572.8,-12.2,251,5417,0.00,2.97,0.00,0.000,4,0.000,0.121,2797,589,3730,0,0,0,0,0,0
$GC,5428,-1.50,-136.3,574.9,-12.2,251,5433,0.00,2.67,0.00,0.000,6,0.000,0.062,2797,2159,3730,0,0,0,0,0,0
$STATE,5646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5646,begin apogee
$GC,5653,-0.31,0.0,601.6,12.0,257,5768,1.10,0.00,110.07,1.007,6,0.076,0.000,3045,2159,3190,0,0,0,0,0,0
$STATE,5769,end apogee,CONTROL_FINISHED_OK
$STATE,5769,begin climb
$GC,5772,1.54,136.3,606.8,0.0,260,5892,1.73,0.00,115.65,0.979,6,0.044,0.000,3453,2159,2634,0,0,0,0,0,0
$GC,6133,1.52,170.4,575.9,10.4,269,6168,0.00,2.95,29.67,0.933,4,0.000,0.082,3396,3763,2493,0,0,0,0,0,0
$GC,6193,1.47,186.0,569.5,11.5,269,6214,0.00,2.75,14.90,0.878,6,0.000,0.064,3453,2181,2430,0,0,0,0,0,0
$GC,6458,1.43,186.0,535.6,13.1,276,6460,0.12,0.00,0.00,0.000,6,0.133,0.000,3429,2181,2424,0,0,0,0,0,0
$GC,6703,1.43,186.0,503.9,13.0,282,6708,0.00,2.72,0.00,0.000,4,0.000,0.054,3399,3773,2422,0,0,0,0,0,0
$GC,6730,1.43,186.0,499.9,13.8,282,6734,0.00,2.70,0.00,0.000,6,0.000,0.052,3429,2193,2421,0,0,0,0,0,0
$GC,6984,1.43,186.0,466.5,13.4,288,6988,0.00,3.05,0.00,0.000,4,0.000,0.111,3429,582,2419,0,0,0,0,0,0
$GC,7029,1.43,186.0,459.9,13.6,289,7034,0.00,2.67,0.00,0.000,6,0.000,0.037,3407,2196,2419,0,0,0,0,0,0
$GC,7307,1.44,193.7,426.1,12.0,296,7318,0.00,2.65,6.07,0.719,4,0.000,0.049,3397,3772,2399,0,0,0,0,0,0
$GC,7408,1.46,209.6,414.5,11.5,298,7429,0.00,2.62,15.62,0.841,6,0.000,0.038,3428,2195,2335,0,0,0,0,0,0
$GC,7675,1.53,231.6,384.9,11.1,304,7698,0.00,0.00,20.98,0.838,6,0.000,0.000,3429,2195,2245,0,0,0,0,0,0
$GC,7916,1.59,231.6,352.9,13.8,310,7922,0.15,2.62,0.00,0.000,4,0.074,0.046,3469,3774,2240,0,0,0,0,0,0
$GC,7990,1.59,231.6,341.1,15.8,311,7995,0.00,2.62,0.00,0.000,6,0.000,0.035,3469,2177,2240,0,0,0,0,0,0
$GC,8240,1.59,231.6,304.7,13.7,317,8245,0.00,2.70,0.00,0.000,4,0.000,0.064,3421,593,2238,0,0,0,0,0,0
$GC,8273,1.60,237.7,300.7,12.1,317,8283,0.00,2.58,5.38,0.624,6,0.000,0.028,3469,2200,2221,0,0,0,0,0,0
$GC,8564,1.62,251.0,267.0,11.7,325,8583,0.00,2.65,13.50,0.729,4,0.000,0.044,3405,3756,2165,0,0,0,0,0,0
$GC,8652,1.68,266.4,256.3,11.5,327,8672,0.00,2.58,14.93,0.719,6,0.000,0.034,3469,2182,2103,0,0,0,0,0,0
$GC,8936,1.72,266.4,219.6,13.1,334,8940,0.00,2.67,0.00,0.000,4,0.000,0.061,3386,597,2098,0,0,0,0,0,0
$GC,8957,1.72,266.4,216.0,15.1,334,8961,0.00,2.55,0.00,0.000,6,0.000,0.022,3469,2198,2096,0,0,0,0,0,0
$GC,9221,1.76,266.4,179.6,14.1,350,9223,0.12,0.00,0.00,0.000,6,0.081,0.000,3505,2198,2096,0,0,0,0,0,0
$GC,9472,1.76,266.4,141.5,15.1,374,9477,0.00,2.53,0.00,0.000,4,0.000,0.039,3406,3758,2096,0,0,0,0,0,0
$GC,9507,1.76,266.4,136.2,15.3,376,9518,0.00,2.58,0.00,0.000,6,0.000,0.028,3493,2174,2096,0,0,0,0,0,0
$GC,9774,1.76,266.4,99.3,13.7,401,9779,0.00,2.58,0.00,0.000,4,0.000,0.042,3483,3757,2096,0,0,0,0,0,0
$GC,9807,1.76,266.4,94.8,14.7,403,9811,0.00,2.55,0.00,0.000,6,0.000,0.029,3505,2174,2096,0,0,0,0,0,0
$GC,10074,1.76,266.9,59.4,12.5,427,10078,0.00,2.60,0.00,0.000,4,0.000,0.051,3505,591,2096,0,0,0,0,0,0
$GC,10108,1.76,266.9,54.8,13.6,429,10113,0.00,2.47,0.00,0.000,6,0.000,0.020,3504,2185,2096,0,0,0,0,0,0
$GC,10415,1.76,266.9,14.8,13.4,460,10426,0.00,2.53,0.00,0.000,4,0.000,0.034,3215,3749,2096,0,0,0,0,0,0
$GC,10479,1.80,266.9,5.8,14.3,467,10488,1.45,2.53,0.00,0.000,6,0.105,0.028,3669,2188,2096,5,0,0,0,0,0
$STATE,10497,end climb,SURFACE_DEPTH_REACHED
$STATE,10497,begin surface coast
$FINISH,-0.6,1.012186
$STATE,10541,end surface coast,CONTROL_FINISHED_OK
$STATE,10541,begin surface
$SM_CCo,10563,90.32,0.525,0,0,1639,380.46
$SM_GC,0.22,0.00,0.00,90.32,0.000,0.000,0.525,467,2184,1639,-12.18,0.11,380.46
$IRIDIUM_FIX,2157.39,-15809.32,260901,191913
$TT8_MAMPS,0.027612
$HUMID,61.77
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,21.50
$XPDR_PINGS,48
$24V_AH,23.4,36.715
$10V_AH,10.2,31.765
$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,34.000,141.525,346.775,90.325,0.000,60.766,114.327,318.605,12.000,0.000,20.421,996.493,6949.817,568.724,2022.922,824.693,33.382,1285.031,0.000,2043.433,0.000,0.535,0.000
$DEVICE_MAMPS,171.808,121.186,1007.071,525.395,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,321.191,239.217,341.666,797.450,1267.782,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355968
$DATA_FILE_SIZE,35157,474
$CAP_FILE_SIZE,123503,0
$CFSIZE,260165632,131629056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,5,0,0,0
$GPS,020712,221936,2204.429,-15807.298,34,1.6,34,9.9