version: 66.07
glider: 23
mission: 5
dive: 237
start: 1 12 111 3 33 6
data:
$ID,23
$MISSION,5
$DIVE,237
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,100
$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,471
$T_MISSION,1100
$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,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52032
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0030006149
$HD_B,0.0123087
$HD_C,3.5261501e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,19.6
$TGT_DEFAULT_LON,-156.10001
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$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,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-56652.984
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2350
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,105
$ROLL_MAX,3793
$ROLL_DEG,30
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,1860
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,51
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,525
$VBD_MAX,3900
$C_VBD,3071
$VBD_DBAND,6
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-64.761528
$PRESSURE_SLOPE,0.0001161246
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,1
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,19
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004302158
$SEABIRD_T_H,0.00062748179
$SEABIRD_T_I,2.3117656e-05
$SEABIRD_T_J,2.3619712e-06
$SEABIRD_C_G,-10.29255
$SEABIRD_C_H,1.1599121
$SEABIRD_C_I,-0.0011831193
$SEABIRD_C_J,0.00020649709
$GPS1,120111,032236,1900.320,12420.668,30,1.9,30,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.07
$_SM_ANGLEo,-60.7
$GPS2,120111,033213,1900.319,12420.594,12,1.8,29,-2.3
$SPEED_LIMITS,0.121,0.205
$TGT_NAME,T5
$TGT_LATLONG,2122.000,12359.285
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.020,0.205
$KALMAN_X,-400794.8,52.7,341.8,227237.8,-1564.7
$KALMAN_Y,170815.6,-677.8,-520.3,-430918.7,1437.3
$MHEAD_RNG_PITCHd_Wd,7.7,264953,-13.2,-7.006
$D_GRID,990
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-1.01,-136.3,0.0,0.0,0,27,0.00,0.00,-10.93,0.000,2,0.000,0.000,358,2166,1719,0,0,0,0,0,0
$GC,30,-1.01,-136.3,3.1,-0.0,1,152,9.70,1.90,-102.75,0.000,4,0.139,0.046,2127,3205,3627,0,0,0,0,0,0
$GC,405,-1.01,-136.3,41.5,-17.8,35,411,0.00,1.92,0.00,0.000,6,0.000,0.031,2127,2135,3628,0,0,0,0,0,0
$GC,666,-1.01,-136.3,88.3,-16.5,60,669,0.00,1.90,0.00,0.000,4,0.000,0.030,2127,3199,3628,0,0,0,0,0,0
$GC,926,-1.01,-136.3,130.7,-15.2,83,930,0.00,1.88,0.00,0.000,6,0.000,0.028,2124,2140,3628,0,0,0,0,0,0
$GC,1193,-1.01,-136.3,174.2,-16.4,108,1196,0.00,1.88,0.00,0.000,4,0.000,0.031,2127,3203,3629,0,0,0,0,0,0
$GC,1451,-1.01,-136.3,211.6,-14.2,127,1454,0.00,1.90,0.00,0.000,6,0.000,0.027,2124,2134,3629,0,0,0,0,0,0
$GC,1771,-1.01,-136.3,247.7,-9.4,143,1775,0.00,2.28,0.00,0.000,4,0.000,0.042,2127,1089,3630,0,0,0,0,0,0
$GC,1982,-1.01,-136.3,269.9,-10.5,152,1989,0.00,2.25,0.00,0.000,6,0.000,0.022,2127,2151,3629,0,0,0,0,0,0
$GC,2318,-1.01,-136.3,303.9,-9.5,168,2322,0.00,1.88,0.00,0.000,4,0.000,0.035,2127,3204,3629,0,0,0,0,0,0
$GC,2575,-1.01,-136.3,324.7,-7.4,173,2580,0.00,1.92,0.00,0.000,6,0.000,0.028,2110,2144,3629,0,0,0,0,0,0
$GC,2913,-1.01,-136.3,352.4,-8.7,182,2916,0.00,1.92,0.00,0.000,4,0.000,0.037,2127,3208,3628,0,0,0,0,0,0
$GC,3170,-1.01,-136.3,380.3,-11.3,187,3174,0.00,1.92,0.00,0.000,6,0.000,0.029,2110,2152,3626,0,0,0,0,0,0
$GC,3506,-1.01,-136.3,410.3,-8.4,196,3510,0.00,1.90,0.00,0.000,4,0.000,0.038,2127,3209,3625,0,0,0,0,0,0
$GC,3763,-1.01,-136.3,429.1,-7.1,201,3768,0.00,1.92,0.00,0.000,6,0.000,0.029,2099,2151,3623,0,0,0,0,0,0
$GC,4101,-1.01,-136.3,452.0,-6.7,210,4105,0.00,1.92,0.00,0.000,4,0.000,0.039,2127,3220,3621,0,0,0,0,0,0
$GC,4358,-1.01,-136.3,469.1,-6.1,215,4362,0.00,1.92,0.00,0.000,6,0.000,0.029,2116,2134,3619,0,0,0,0,0,0
$GC,4695,-1.01,-136.3,489.2,-6.3,224,4699,0.00,2.28,0.00,0.000,4,0.000,0.044,2127,1096,3616,0,0,0,0,0,0
$GC,4951,-1.01,-136.3,508.2,-8.2,229,4958,0.00,2.28,0.00,0.000,6,0.000,0.028,2127,2147,3615,0,0,0,0,0,0
$GC,5283,-1.01,-136.3,531.6,-7.2,238,5284,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2147,3613,0,0,0,0,0,0
$GC,5608,-1.01,-136.3,558.1,-8.6,246,5609,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2147,3610,0,0,0,0,0,0
$GC,5933,-1.01,-136.3,586.1,-8.7,254,5936,0.00,1.92,0.00,0.000,4,0.000,0.043,2127,3215,3608,0,0,0,0,0,0
$GC,6190,-1.01,-136.3,608.3,-7.5,259,6194,0.00,1.95,0.00,0.000,6,0.000,0.031,2103,2157,3606,0,0,0,0,0,0
$GC,6527,-1.01,-136.3,629.8,-5.8,268,6530,0.00,1.98,0.00,0.000,4,0.000,0.044,2127,3212,3603,0,0,0,0,0,0
$GC,6683,-1.01,-136.3,637.9,-4.2,271,6687,0.00,1.95,0.00,0.000,6,0.000,0.031,2107,2150,3602,0,0,0,0,0,0
$GC,7031,-1.01,-136.3,652.7,-4.6,280,7035,0.00,1.98,0.00,0.000,4,0.000,0.044,2126,3215,3602,0,0,0,0,0,0
$GC,7288,-1.01,-136.3,667.5,-6.2,285,7293,0.00,1.98,0.00,0.000,6,0.000,0.032,2108,2143,3600,0,0,0,0,0,0
$GC,7626,-1.01,-136.3,688.3,-6.3,294,7629,0.00,1.95,0.00,0.000,4,0.000,0.045,2127,3205,3598,0,0,0,0,0,0
$GC,7884,-1.01,-136.3,705.2,-6.6,299,7887,0.00,1.90,0.00,0.000,6,0.000,0.033,2118,2148,3596,0,0,0,0,0,0
$GC,8220,-1.01,-136.3,722.3,-4.8,308,8223,0.00,1.98,0.00,0.000,4,0.000,0.046,2127,3209,3595,0,0,0,0,0,0
$GC,8477,-1.01,-136.3,736.4,-5.5,313,8481,0.00,1.98,0.00,0.000,6,0.000,0.033,2106,2139,3594,0,0,0,0,0,0
$GC,8814,-1.01,-136.3,753.5,-5.2,322,8818,0.00,1.98,0.00,0.000,4,0.000,0.047,2127,3199,3593,0,0,0,0,0,0
$GC,9071,-1.01,-136.3,768.1,-6.0,327,9076,0.00,1.92,0.00,0.000,6,0.000,0.033,2106,2155,3592,0,0,0,0,0,0
$GC,9409,-1.01,-136.3,785.9,-5.3,336,9423,7.22,2.42,0.00,0.000,4,0.091,0.144,3676,3190,3589,10,0,0,0,0,0
$GC,9530,-1.01,-136.3,793.5,-17.0,338,9555,18.48,2.17,0.00,0.000,6,0.165,0.104,3076,2157,3586,61,1,0,0,0,0
$STATE,9558,end dive,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,9570,631.97,1.231,0,0,524,624.53
$SM_GC,3.15,0.60,0.00,0.00,0.098,0.000,0.000,367,1822,512,-9.15,-1.07,627.72
$IRIDIUM_FIX,1853.26,12421.24,060712,141415
$TT8_MAMPS,0.029913
$HUMID,1079287508
$TCM_TEMP,18.70
$XPDR_PINGS,33
$24V_AH,23.6,42.061
$10V_AH,10.0,23.937
$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,36.000,64.500,0.000,631.975,0.000,24.469,39.889,382.278,8.250,0.000,31.109,918.817,8415.462,789.730,1778.404,167.564,33.378,1498.908,0.000,1329.528,0.000,0.544,0.000
$DEVICE_MAMPS,164.905,144.196,0.000,1231.035,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,230.799,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354924
$DATA_FILE_SIZE,10179,339
$CAP_FILE_SIZE,115874,7
$CFSIZE,260034560,239562752
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,71,0,0,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_PITCH_ERRORS
$GPS,120111,064607,1900.883,12420.216,37,1.4,37,-2.3