version: 66.06
glider: 146
mission: 7
dive: 296
start: 7 7 112 17 59 49
data:
$ID,146
$MISSION,7
$DIVE,296
$D_SURF,4
$D_FLARE,3
$D_TGT,400
$D_ABORT,520
$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,133
$T_MISSION,300
$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,-297736.16
$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,66
$R_STBD_OVSHOOT,42
$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
$GPS1,174929,2148.007,-15802.444,57,1.1,57,9.9
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-69.9
$GPS2,175854,2147.964,-15802.573,17,1.0,28,9.9
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,KUHUKU2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.250,0.030
$KALMAN_X,-160085.5,-550.7,557.6,162050.0,-2013.0
$KALMAN_Y,197598.4,-153.4,-155.6,-294745.6,-243.6
$MHEAD_RNG_PITCHd_Wd,73.2,988,-18.2,-10.025
$D_GRID,400
$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,-1.31,-136.3,0.0,0.0,0,113,0.00,0.00,-87.05,0.000,6,0.000,0.000,471,2135,3742,0,0,0,0,0,0
$GC,116,-1.31,-136.3,4.0,-8.3,10,136,13.05,2.45,0.00,0.000,4,0.172,0.034,2823,626,3743,0,0,0,0,0,0
$GC,155,-0.29,-136.3,20.6,-40.7,14,164,1.00,2.45,0.00,0.000,6,0.088,0.021,3044,2178,3743,0,0,0,0,0,0
$GC,456,-0.51,-136.3,43.8,-6.7,45,461,0.17,2.55,0.00,0.000,4,0.051,0.034,2951,3757,3745,0,0,0,0,0,0
$GC,482,-0.68,-136.3,45.9,-7.8,46,487,0.00,2.42,0.00,0.000,6,0.000,0.021,2978,2213,3744,0,0,0,0,0,0
$GC,751,-0.77,-136.3,69.0,-8.2,70,756,0.15,2.62,0.00,0.000,4,0.060,0.044,2923,608,3745,0,0,0,0,0,0
$GC,788,-0.77,-136.3,73.7,-11.3,72,796,0.08,2.45,0.00,0.000,6,0.077,0.018,2945,2178,3745,0,0,0,0,0,0
$GC,1057,-0.81,-136.3,97.1,-7.2,97,1061,0.00,2.58,0.00,0.000,4,0.000,0.044,2945,597,3746,0,0,0,0,0,0
$GC,1092,-0.86,-136.3,100.3,-7.9,99,1098,0.00,2.42,0.00,0.000,6,0.000,0.025,2945,2172,3746,0,0,0,0,0,0
$GC,1356,-0.92,-136.3,121.5,-8.9,124,1357,0.12,0.00,0.00,0.000,6,0.071,0.000,2893,2173,3746,0,0,0,0,0,0
$GC,1608,-0.88,-136.3,150.0,-11.4,148,1613,0.12,2.60,0.00,0.000,4,0.103,0.049,2923,597,3746,0,0,0,0,0,0
$GC,1638,-0.88,-136.3,153.1,-10.8,150,1642,0.00,2.40,0.00,0.000,6,0.000,0.021,2923,2168,3746,0,0,0,0,0,0
$GC,1899,-0.94,-136.3,176.6,-8.9,174,1904,0.00,2.50,0.00,0.000,4,0.000,0.039,2898,3755,3747,0,0,0,0,0,0
$GC,1943,-1.05,-136.3,180.5,-9.0,177,1948,0.17,2.47,0.00,0.000,6,0.052,0.027,2857,2165,3747,0,0,0,0,0,0
$GC,2212,-0.98,-136.3,208.7,-9.9,196,2217,0.17,2.58,0.00,0.000,4,0.092,0.058,2898,604,3747,0,0,0,0,0,0
$GC,2281,-1.04,-136.3,215.1,-9.2,197,2285,0.00,2.40,0.00,0.000,6,0.000,0.018,2898,2158,3749,0,0,0,0,0,0
$GC,2542,-1.08,-136.3,239.4,-9.5,204,2546,0.00,2.53,0.00,0.000,4,0.000,0.042,2876,3747,3748,0,0,0,0,0,0
$GC,2593,-1.15,-136.3,244.0,-8.3,205,2597,0.00,2.47,0.00,0.000,6,0.000,0.021,2838,2156,3747,0,0,0,0,0,0
$GC,2867,-1.20,-136.3,261.2,-5.8,212,2872,0.20,2.60,0.00,0.000,4,0.051,0.039,2811,3750,3747,0,0,0,0,0,0
$GC,2889,-1.20,-136.3,262.9,-6.8,212,2894,0.10,2.47,0.00,0.000,6,0.114,0.029,2854,2160,3747,0,0,0,0,0,0
$GC,3146,-1.20,-136.3,280.2,-6.5,219,3148,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2160,3746,0,0,0,0,0,0
$GC,3388,-1.20,-136.3,302.1,-9.5,225,3389,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2160,3745,0,0,0,0,0,0
$GC,3632,-1.20,-136.3,325.0,-9.1,231,3636,0.00,2.60,0.00,0.000,4,0.000,0.041,2799,3747,3744,0,0,0,0,0,0
$GC,3677,-1.20,-136.3,329.2,-9.4,232,3682,0.00,2.53,0.00,0.000,6,0.000,0.027,2854,2167,3744,0,0,0,0,0,0
$GC,3955,-1.20,-136.3,352.4,-8.0,239,3959,0.00,2.60,0.00,0.000,4,0.000,0.050,2825,3750,3742,0,0,0,0,0,0
$GC,4010,-1.20,-136.3,357.2,-8.5,240,4015,0.00,2.55,0.00,0.000,6,0.000,0.032,2853,2157,3742,0,0,0,0,0,0
$GC,4278,-1.20,-136.3,377.5,-7.6,247,4280,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2158,3740,0,0,0,0,0,0
$GC,4520,-1.20,-136.3,397.1,-7.9,253,4525,0.00,2.60,0.00,0.000,4,0.000,0.054,2812,3739,3739,0,0,0,0,0,0
$STATE,4557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4558,begin apogee
$GC,4566,-0.31,0.0,400.3,8.0,254,4680,0.85,0.00,109.03,0.832,6,0.072,0.000,3049,2174,3190,0,0,0,0,0,0
$STATE,4681,end apogee,CONTROL_FINISHED_OK
$STATE,4681,begin climb
$GC,4685,1.31,136.3,402.8,0.0,257,4801,1.48,0.00,111.70,0.810,6,0.044,0.000,3398,2174,2634,0,0,0,0,0,0
$GC,5013,1.27,136.3,373.9,10.7,265,5017,0.00,2.62,0.00,0.000,4,0.000,0.051,3308,3753,2627,0,0,0,0,0,0
$GC,5086,1.23,136.3,366.0,10.6,266,5092,0.62,2.60,0.00,0.000,6,0.043,0.036,3409,2182,2625,2,0,0,0,0,0
$GC,5337,0.88,136.3,326.1,15.6,272,5343,1.23,2.60,0.00,0.000,4,0.107,0.042,3226,3743,2623,0,0,0,0,0,0
$GC,5440,1.14,212.2,318.2,6.3,274,5510,0.22,2.53,63.45,0.774,6,0.051,0.038,3373,2206,2323,0,0,0,0,0,0
$GC,5801,1.28,263.7,290.0,7.5,283,5851,0.00,2.83,44.22,0.755,4,0.000,0.064,3373,594,2114,0,0,0,0,0,0
$GC,5866,1.37,283.4,284.6,9.0,284,5892,1.80,2.58,18.17,0.712,6,0.047,0.021,3815,2211,2035,6,0,0,0,0,0
$GC,6166,0.83,283.4,197.4,29.6,292,6177,2.47,2.60,0.00,0.000,4,0.122,0.042,3117,3748,2027,0,0,0,0,0,0
$GC,6227,1.28,369.0,190.4,5.8,297,6312,0.40,2.47,73.82,0.690,6,0.035,0.030,3406,2214,1684,0,0,0,0,0,0
$GC,6572,1.37,369.0,152.7,10.2,328,6577,0.00,2.72,0.00,0.000,4,0.000,0.058,3403,599,1678,0,0,0,0,0,0
$GC,6644,1.52,383.4,145.0,9.3,333,6665,1.70,2.60,12.68,0.608,6,0.054,0.028,3819,2230,1626,6,0,0,0,0,0
$GC,6922,1.02,383.4,62.9,31.6,359,6938,2.25,2.83,0.00,0.000,4,0.110,0.054,3341,597,1621,0,0,0,0,0,0
$GC,6957,1.08,383.4,55.1,14.5,361,6968,0.00,2.58,0.00,0.000,6,0.000,0.020,3340,2211,1620,0,0,0,0,0,0
$GC,7225,1.42,433.8,38.4,7.5,386,7274,0.32,2.72,42.50,0.560,4,0.041,0.046,3435,596,1422,0,0,0,0,0,0
$GC,7318,1.50,433.8,28.0,13.3,392,7329,0.00,2.58,0.00,0.000,6,0.000,0.021,3435,2206,1419,0,0,0,0,0,0
$STATE,7499,end climb,SURFACE_DEPTH_REACHED
$STATE,7499,begin surface coast
$FINISH,-0.3,1.023698
$STATE,7548,end surface coast,CONTROL_FINISHED_OK
$STATE,7549,begin surface
$SM_CCo,7632,0.00,0.000,0,0,1415,435.65
$SM_GC,0.35,11.95,0.00,0.00,0.021,0.000,0.000,470,2208,1415,-12.05,0.79,435.65
$IRIDIUM_FIX,2141.13,-15759.42,011001,151552
$TT8_MAMPS,0.027612
$HUMID,67.01
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,19.90
$XPDR_PINGS,33
$24V_AH,23.5,42.383
$10V_AH,10.3,36.127
$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,40.650,97.300,475.575,0.000,0.000,24.886,35.884,339.272,8.250,0.000,30.013,835.599,4212.807,494.320,1958.514,693.238,33.362,1152.273,0.000,1959.246,0.000,0.536,0.000
$DEVICE_MAMPS,171.808,64.428,832.195,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,283.169,245.589,349.971,818.540,1307.572,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356156
$DATA_FILE_SIZE,32001,420
$CAP_FILE_SIZE,100058,0
$CFSIZE,260165632,129540096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,14,0,0,0
$GPS,070712,200808,2148.102,-15802.923,29,1.0,30,9.9