version: 66.06
glider: 148
mission: 11
dive: 68
start: 5 28 112 12 58 41
data:
$ID,148
$MISSION,11
$DIVE,68
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$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,166
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52645
$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,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,561.4917
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-900976.88
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1740
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.834597
$PRESSURE_SLOPE,0.00011637
$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,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$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,0.004341084
$SEABIRD_T_H,0.00063239998
$SEABIRD_T_I,2.5339032e-05
$SEABIRD_T_J,2.8251138e-06
$SEABIRD_C_G,-9.8402824
$SEABIRD_C_H,1.0914109
$SEABIRD_C_I,9.7469172e-05
$SEABIRD_C_J,8.7214314e-05
$GPS1,124252,2223.299,-15836.238,39,2.5,58,10.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-70.8
$GPS2,125746,2223.350,-15836.326,10,99.0,29,10.0
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,Kaena
$TGT_LATLONG,2150.000,-15821.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.009,-0.235
$KALMAN_X,-140717.3,-1204.0,260.6,80290.1,1091.5
$KALMAN_Y,-72594.8,272.7,445.2,32747.2,-153.6
$MHEAD_RNG_PITCHd_Wd,172.2,66621,-19.8,-10.040
$D_GRID,500
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.38,-116.8,0.0,0.0,0,93,0.00,0.00,-74.95,0.000,2,0.000,0.000,413,1709,3229,0,0,0,0,0,0
$GC,96,-1.38,-116.8,3.8,-7.7,10,121,11.93,2.53,-0.85,0.000,4,0.151,0.051,2689,180,3280,0,0,0,0,0,0
$GC,432,-0.17,-116.8,134.8,-37.3,45,442,3.25,2.45,0.00,0.000,6,0.058,0.018,2956,1772,3281,7,0,0,0,0,0
$GC,701,0.23,-116.8,195.3,-22.2,70,706,0.40,2.40,0.00,0.000,4,0.106,0.025,3044,3307,3283,0,0,0,0,0,0
$GC,816,0.23,-116.8,213.0,-11.8,74,820,0.00,2.53,0.00,0.000,6,0.000,0.028,3044,1721,3283,0,0,0,0,0,0
$GC,1082,0.30,-116.8,239.6,-10.0,81,1087,0.10,2.55,0.00,0.000,4,0.130,0.045,3064,174,3284,0,0,0,0,0,0
$GC,1179,0.30,-116.8,252.9,-13.0,83,1184,0.00,2.38,0.00,0.000,6,0.000,0.020,3064,1708,3284,0,0,0,0,0,0
$GC,1457,0.30,-116.8,279.9,-8.7,90,1462,0.00,2.53,0.00,0.000,4,0.000,0.046,3064,170,3284,0,0,0,0,0,0
$GC,1520,0.30,-116.8,285.4,-8.9,91,1524,0.00,2.35,0.00,0.000,6,0.000,0.021,3064,1689,3284,0,0,0,0,0,0
$GC,1788,0.30,-116.8,305.7,-7.9,98,1792,0.00,2.50,0.00,0.000,4,0.000,0.048,3064,175,3284,0,0,0,0,0,0
$GC,1886,0.30,-116.8,316.0,-10.7,100,1890,0.00,2.35,0.00,0.000,6,0.000,0.023,3064,1680,3284,0,0,0,0,0,0
$GC,2168,0.30,-116.8,347.0,-10.5,107,2173,0.00,2.53,0.00,0.000,4,0.000,0.053,3064,174,3283,0,0,0,0,0,0
$GC,2253,0.30,-116.8,354.9,-8.5,108,2259,0.00,2.33,0.00,0.000,6,0.000,0.025,3064,1661,3282,0,0,0,0,0,0
$GC,2503,0.30,-116.8,371.9,-7.3,115,2505,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1662,3281,0,0,0,0,0,0
$GC,2747,0.30,-116.8,396.4,-10.2,121,2751,0.00,2.55,0.00,0.000,4,0.000,0.061,3064,170,3280,0,0,0,0,0,0
$GC,2845,0.30,-116.8,406.8,-10.5,123,2849,0.00,2.38,0.00,0.000,6,0.000,0.028,3064,1661,3280,0,0,0,0,0,0
$GC,3123,0.30,-116.8,431.2,-8.7,130,3127,0.00,2.55,0.00,0.000,4,0.000,0.064,3064,177,3278,0,0,0,0,0,0
$GC,3197,0.30,-116.8,438.4,-9.5,131,3202,0.00,2.33,0.00,0.000,6,0.000,0.030,3064,1640,3277,0,0,0,0,0,0
$GC,3454,0.23,-116.8,455.3,-6.2,138,3458,0.00,2.50,0.00,0.000,4,0.000,0.065,3064,179,3275,0,0,0,0,0,0
$GC,3497,0.23,-116.8,458.4,-7.2,139,3501,0.00,2.33,0.00,0.000,6,0.000,0.031,3064,1632,3275,0,0,0,0,0,0
$GC,3790,0.16,-116.8,479.1,-7.1,146,3795,0.12,2.53,0.00,0.000,4,0.069,0.068,3016,173,3273,0,0,0,0,0,0
$GC,3926,0.29,-116.8,493.1,-9.9,149,3951,15.70,2.33,0.00,0.000,6,0.002,0.033,3015,1621,3272,52,1,0,0,0,0
$STATE,3953,end dive,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,3967,616.40,0.818,10,0,510,561.49
$SM_GC,1.33,10.55,0.00,0.00,0.031,0.000,0.000,413,1865,488,-11.82,1.84,567.13
$IRIDIUM_FIX,2216.01,-15833.99,220801,131329
$TT8_MAMPS,0.027612
$HUMID,69.33
$INTERNAL_PRESSURE,9.29133
$TCM_TEMP,19.80
$XPDR_PINGS,6
$24V_AH,23.5,8.939
$10V_AH,9.9,6.771
$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,42.050,49.125,0.000,616.400,0.000,150.153,351.406,0.000,1.500,0.000,32.227,587.268,8043.511,758.762,729.066,665.279,33.347,1207.307,0.000,701.224,0.000,0.535,0.000
$DEVICE_MAMPS,151.099,68.263,0.000,817.622,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,100.471,65.964,88.939,121.690,213.783,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356124
$DATA_FILE_SIZE,9927,149
$CAP_FILE_SIZE,64811,8
$CFSIZE,260165632,169385984
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,59,0,10,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_PITCH_ERRORS
$GPS,280512,154506,2223.050,-15836.954,45,1.5,50,10.0