version: 66.06
glider: 146
mission: 7
dive: 283
start: 7 6 112 2 50 25
data:
$ID,146
$MISSION,7
$DIVE,283
$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,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,-297459.62
$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,55
$R_STBD_OVSHOOT,17
$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
$GPS1,023529,2151.676,-15807.350,60,1.0,65,9.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-69.5
$GPS2,024930,2151.609,-15807.542,9,1.2,15,9.9
$SPEED_LIMITS,0.179,0.270
$TGT_NAME,KUHUKU2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.268,-0.030
$KALMAN_X,-143119.0,65.8,842.6,135692.5,-1468.3
$KALMAN_Y,191454.3,218.4,226.1,-282600.2,-490.9
$MHEAD_RNG_PITCHd_Wd,86.5,11639,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.54,-136.3,0.0,0.0,0,114,0.00,0.00,-88.43,0.000,6,0.000,0.000,466,2150,3746,0,0,0,0,0,0
$GC,117,-1.54,-136.3,3.2,-6.7,10,136,12.73,2.53,0.00,0.000,4,0.173,0.042,2659,612,3748,0,0,0,0,0,0
$GC,166,-0.87,-136.3,20.6,-35.3,15,177,0.70,2.50,0.00,0.000,6,0.101,0.025,2919,2203,3748,0,0,0,0,0,0
$GC,455,-0.94,-136.3,56.8,-10.1,43,459,0.00,2.47,0.00,0.000,4,0.000,0.031,2895,3753,3746,0,0,0,0,0,0
$GC,481,-1.02,-136.3,59.5,-10.6,44,486,0.12,2.45,0.00,0.000,6,0.067,0.022,2867,2202,3748,0,0,0,0,0,0
$GC,743,-1.02,-136.3,96.1,-13.4,68,745,0.12,0.00,0.00,0.000,6,0.110,0.000,2895,2202,3750,0,0,0,0,0,0
$GC,996,-1.11,-136.3,124.3,-11.2,92,1000,0.00,2.65,0.00,0.000,4,0.000,0.050,2894,597,3750,0,0,0,0,0,0
$GC,1028,-1.20,-136.3,128.1,-11.9,94,1033,0.17,2.50,0.00,0.000,6,0.054,0.022,2833,2207,3751,0,0,0,0,0,0
$GC,1295,-1.20,-136.3,164.0,-12.8,118,1300,0.10,0.00,0.00,0.000,6,0.124,0.000,2853,2207,3750,0,0,0,0,0,0
$GC,1557,-1.25,-136.3,191.2,-9.6,143,1562,0.00,2.62,0.00,0.000,4,0.000,0.046,2853,608,3751,0,0,0,0,0,0
$GC,1590,-1.25,-136.3,194.0,-10.0,145,1595,0.00,2.42,0.00,0.000,6,0.000,0.018,2853,2190,3752,0,0,0,0,0,0
$GC,1855,-1.30,-136.3,218.9,-9.1,155,1860,0.00,2.62,0.00,0.000,4,0.000,0.054,2853,599,3751,0,0,0,0,0,0
$GC,1872,-1.35,-136.3,220.7,-9.2,155,1877,0.15,2.45,0.00,0.000,6,0.059,0.025,2798,2174,3751,0,0,0,0,0,0
$GC,2133,-1.35,-136.3,250.6,-11.8,162,2135,0.10,0.00,0.00,0.000,6,0.119,0.000,2819,2174,3751,0,0,0,0,0,0
$GC,2379,-1.35,-136.3,275.9,-10.1,168,2383,0.00,2.53,0.00,0.000,4,0.000,0.044,2797,3749,3751,0,0,0,0,0,0
$GC,2411,-1.35,-136.3,279.2,-9.6,168,2417,0.00,2.47,0.00,0.000,6,0.000,0.024,2819,2170,3751,0,0,0,0,0,0
$GC,2662,-1.39,-136.3,300.7,-8.7,175,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2171,3750,0,0,0,0,0,0
$GC,2907,-1.43,-136.3,319.9,-7.9,181,2912,0.00,2.58,0.00,0.000,4,0.000,0.048,2797,3745,3750,0,0,0,0,0,0
$GC,2935,-1.48,-136.3,322.7,-9.5,181,2940,0.12,2.55,0.00,0.000,6,0.070,0.034,2771,2162,3749,0,0,0,0,0,0
$GC,3186,-1.43,-136.3,351.8,-12.1,187,3191,0.15,2.60,0.00,0.000,4,0.104,0.044,2775,3742,3747,0,0,0,0,0,0
$GC,3220,-1.43,-136.3,356.3,-12.8,187,3227,0.52,2.58,0.00,0.000,6,0.077,0.035,2886,2164,3748,1,0,0,0,0,0
$GC,3471,-1.70,-136.3,373.2,-6.5,194,3473,0.75,0.00,0.00,0.000,6,0.028,0.000,2724,2165,3747,0,0,0,0,0,0
$GC,3714,-1.58,-136.3,407.1,-14.6,200,3716,0.22,0.00,0.00,0.000,6,0.104,0.000,2771,2164,3745,0,0,0,0,0,0
$GC,3960,-1.58,-136.3,435.6,-11.5,206,3964,0.00,2.62,0.00,0.000,4,0.000,0.059,2701,3739,3743,0,0,0,0,0,0
$GC,3992,-1.58,-136.3,439.6,-11.5,206,3998,0.00,2.62,0.00,0.000,6,0.000,0.051,2771,2166,3743,0,0,0,0,0,0
$GC,4242,-1.58,-136.3,466.6,-10.8,213,4243,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2166,3741,0,0,0,0,0,0
$GC,4488,-1.58,-136.3,493.4,-10.9,219,4493,0.00,2.70,0.00,0.000,4,0.000,0.064,2742,3738,3740,0,0,0,0,0,0
$GC,4504,-1.58,-136.3,495.4,-10.7,219,4508,0.00,2.62,0.00,0.000,6,0.000,0.053,2771,2173,3740,0,0,0,0,0,0
$GC,4765,-1.58,-136.3,521.4,-9.8,226,4769,0.00,2.70,0.00,0.000,4,0.000,0.070,2743,3741,3738,0,0,0,0,0,0
$GC,4833,-1.58,-136.3,528.1,-10.0,227,4837,0.00,2.65,0.00,0.000,6,0.000,0.057,2770,2184,3739,0,0,0,0,0,0
$GC,5088,-1.58,-136.3,552.8,-9.4,234,5092,0.00,2.70,0.00,0.000,4,0.000,0.071,2760,3744,3735,0,0,0,0,0,0
$GC,5115,-1.58,-136.3,555.3,-9.6,234,5119,0.00,2.67,0.00,0.000,6,0.000,0.066,2770,2188,3734,0,0,0,0,0,0
$GC,5367,-1.58,-136.3,576.4,-8.3,240,5371,0.00,2.72,0.00,0.000,4,0.000,0.076,2758,3742,3732,0,0,0,0,0,0
$GC,5393,-1.58,-136.3,579.2,-9.9,240,5398,0.00,2.67,0.00,0.000,6,0.000,0.063,2773,2195,3733,0,0,0,0,0,0
$GC,5644,-1.58,-136.3,599.7,-8.2,246,5648,0.00,2.08,0.00,0.000,3,0.000,0.080,2772,3383,3731,0,0,0,0,0,0
$STATE,5648,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5648,begin apogee
$GC,5658,-0.31,0.0,600.2,7.9,246,5774,1.20,0.00,111.22,1.012,6,0.081,0.000,3042,2174,3190,0,0,0,0,0,0
$STATE,5775,end apogee,CONTROL_FINISHED_OK
$STATE,5775,begin climb
$GC,5777,1.54,136.3,601.1,0.0,249,5901,1.73,0.00,115.22,0.984,6,0.045,0.000,3450,2175,2633,0,0,0,0,0,0
$GC,6145,1.47,136.3,555.2,14.5,258,6150,0.00,2.70,0.00,0.000,4,0.000,0.064,3417,3737,2625,0,0,0,0,0,0
$GC,6184,1.39,136.3,549.3,14.3,259,6190,0.15,2.70,0.00,0.000,6,0.127,0.057,3421,2180,2624,0,0,0,0,0,0
$GC,6468,1.42,156.8,515.8,11.2,266,6492,0.00,2.78,17.33,0.897,4,0.000,0.058,3334,3743,2550,0,0,0,0,0,0
$GC,6523,1.42,156.8,509.1,12.8,267,6527,0.00,2.72,0.00,0.000,6,0.000,0.060,3421,2175,2549,0,0,0,0,0,0
$GC,6795,1.43,165.4,476.4,12.0,274,6809,0.00,2.72,8.52,0.812,4,0.000,0.054,3366,3742,2518,0,0,0,0,0,0
$GC,6874,1.43,165.4,466.4,13.3,275,6879,0.00,2.67,0.00,0.000,6,0.000,0.054,3421,2173,2514,0,0,0,0,0,0
$GC,7124,1.43,165.4,434.8,12.6,281,7129,0.00,2.90,0.00,0.000,4,0.000,0.100,3421,595,2511,0,0,0,0,0,0
$GC,7145,1.43,165.4,431.8,13.8,281,7149,0.00,2.55,0.00,0.000,6,0.000,0.031,3421,2150,2510,0,0,0,0,0,0
$GC,7404,1.45,185.8,402.1,11.2,288,7429,0.00,2.78,18.27,0.855,4,0.000,0.048,3417,3757,2433,0,0,0,0,0,0
$GC,7457,1.47,202.8,395.7,11.5,289,7481,0.00,2.62,16.67,0.834,6,0.000,0.044,3421,2178,2363,0,0,0,0,0,0
$GC,7732,1.57,241.1,366.9,10.1,296,7774,0.15,2.88,34.70,0.845,4,0.076,0.079,3460,588,2206,0,0,0,0,0,0
$GC,7787,1.57,241.1,360.2,13.8,297,7792,0.00,2.62,0.00,0.000,6,0.000,0.031,3460,2195,2204,0,0,0,0,0,0
$GC,8059,1.57,241.1,323.2,13.9,304,8063,0.00,2.60,0.00,0.000,4,0.000,0.043,3441,3761,2199,0,0,0,0,0,0
$GC,8087,1.57,241.1,319.1,15.3,304,8092,0.00,2.60,0.00,0.000,6,0.000,0.035,3461,2186,2200,0,0,0,0,0,0
$GC,8337,1.57,241.1,283.6,14.0,310,8341,0.00,2.62,0.00,0.000,4,0.000,0.041,3455,3764,2199,0,0,0,0,0,0
$GC,8352,1.57,241.1,281.2,14.3,310,8356,0.00,2.58,0.00,0.000,6,0.000,0.036,3460,2187,2196,0,0,0,0,0,0
$GC,8613,1.57,241.1,245.5,13.3,317,8618,0.00,2.62,0.00,0.000,4,0.000,0.041,3460,3766,2198,0,0,0,0,0,0
$GC,8642,1.57,241.1,241.9,12.8,317,8646,0.00,2.58,0.00,0.000,6,0.000,0.037,3460,2181,2197,0,0,0,0,0,0
$GC,8891,1.57,241.1,210.8,12.6,323,8896,0.00,2.62,0.00,0.000,4,0.000,0.044,3460,3765,2197,0,0,0,0,0,0
$GC,8924,1.57,241.1,206.4,13.1,323,8929,0.00,2.58,0.00,0.000,6,0.000,0.037,3460,2187,2196,0,0,0,0,0,0
$GC,9184,1.61,241.1,172.3,13.7,342,9188,0.00,2.70,0.00,0.000,4,0.000,0.058,3459,587,2194,0,0,0,0,0,0
$GC,9241,1.61,241.1,164.6,14.1,346,9245,0.00,2.53,0.00,0.000,6,0.000,0.024,3460,2192,2195,0,0,0,0,0,0
$GC,9502,1.66,241.1,129.4,12.6,370,9506,0.00,2.53,0.00,0.000,4,0.000,0.040,3447,3759,2194,0,0,0,0,0,0
$GC,9586,1.73,241.1,118.8,12.8,376,9597,0.10,2.55,0.00,0.000,6,0.049,0.029,3495,2194,2195,0,0,0,0,0,0
$GC,9853,1.73,241.1,84.3,12.8,401,9858,0.00,0.00,0.00,0.000,6,0.000,0.000,3495,2194,2195,0,0,0,0,0,0
$GC,10121,1.76,263.3,52.5,11.1,426,10151,0.00,2.62,18.92,0.571,4,0.000,0.037,3205,3755,2114,0,0,0,0,0,0
$GC,10184,1.80,264.6,44.1,12.4,430,10193,1.05,2.53,0.00,0.000,6,0.035,0.028,3735,2212,2114,3,0,0,0,0,0
$STATE,10365,end climb,SURFACE_DEPTH_REACHED
$STATE,10366,begin surface coast
$FINISH,-0.6,1.022106
$STATE,10391,end surface coast,CONTROL_FINISHED_OK
$STATE,10391,begin surface
$SM_CCo,10414,321.65,0.530,0,0,477,665.50
$SM_GC,0.20,0.00,0.00,321.65,0.000,0.000,0.530,470,2208,477,-12.17,0.76,665.50
$IRIDIUM_FIX,2143.45,-15806.74,300901,020235
$TT8_MAMPS,0.027612
$HUMID,61.38
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,19.30
$XPDR_PINGS,51
$24V_AH,23.4,40.573
$10V_AH,10.3,34.599
$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,33.750,140.350,340.875,321.650,0.000,154.734,296.808,0.000,12.750,0.000,20.607,952.921,7264.643,738.596,1852.057,771.573,33.365,1439.188,0.000,1854.231,0.000,0.534,0.000
$DEVICE_MAMPS,172.575,99.710,1011.673,529.997,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,307.613,226.151,320.154,675.907,1078.425,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355992
$DATA_FILE_SIZE,35213,453
$CAP_FILE_SIZE,115538,0
$CFSIZE,260165632,130203648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,0,0,0
$GPS,060712,055033,2151.341,-15807.324,9,99.0,28,9.9