version: 66.06
glider: 148
mission: 11
dive: 69
start: 5 28 112 17 49 36
data:
$ID,148
$MISSION,11
$DIVE,69
$D_SURF,4
$D_FLARE,3
$D_TGT,400
$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,140
$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,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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-901177.81
$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,1720
$C_ROLL_CLIMB,1760
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,68
$R_STBD_OVSHOOT,55
$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
$GPS1,174416,2223.271,-15837.539,10,1.8,11,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-69.6
$GPS2,174846,2223.276,-15837.563,10,99.0,29,10.0
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,Kaena
$TGT_LATLONG,2150.000,-15821.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.099,-0.209
$KALMAN_X,-144309.8,-76.6,925.8,79971.6,-2327.7
$KALMAN_Y,-71319.1,1224.7,232.9,30579.6,232.9
$MHEAD_RNG_PITCHd_Wd,144.7,67322,-18.9,-9.524
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.32,-116.8,0.0,0.0,0,122,0.00,0.00,-104.00,0.000,2,0.000,0.000,414,1681,3168,0,0,0,0,0,0
$GC,126,-1.32,-116.8,3.2,-4.2,13,151,11.90,2.40,-1.98,0.000,4,0.149,0.046,2705,205,3279,0,0,0,0,0,0
$GC,460,-0.19,-116.8,134.1,-36.3,48,473,2.62,2.33,0.00,0.000,6,0.059,0.018,2949,1723,3279,5,0,0,0,0,0
$GC,730,0.24,-116.8,191.6,-18.8,73,739,0.43,2.47,0.00,0.000,4,0.102,0.040,3043,198,3280,0,0,0,0,0,0
$GC,1010,0.43,-116.8,228.8,-11.7,82,1018,2.00,2.35,0.00,0.000,6,0.012,0.019,3091,1718,3279,6,0,0,0,0,0
$GC,1307,0.43,-116.8,251.6,-7.4,90,1311,0.00,2.50,0.00,0.000,4,0.000,0.045,3092,202,3280,0,0,0,0,0,0
$GC,1418,0.43,-116.8,262.6,-10.4,92,1422,0.00,2.33,0.00,0.000,6,0.000,0.021,3091,1717,3280,0,0,0,0,0,0
$GC,1687,0.36,-116.8,283.8,-7.7,99,1691,0.00,2.50,0.00,0.000,4,0.000,0.054,3092,205,3279,0,0,0,0,0,0
$GC,1786,0.36,-116.8,291.9,-8.0,101,1790,0.00,2.33,0.00,0.000,6,0.000,0.022,3091,1700,3279,0,0,0,0,0,0
$GC,2064,0.29,-116.8,318.6,-10.7,108,2069,0.12,2.47,0.00,0.000,4,0.064,0.050,3030,209,3277,0,0,0,0,0,0
$GC,2190,0.45,-116.8,336.4,-12.9,110,2201,4.72,2.33,0.00,0.000,6,0.008,0.023,3098,1699,3276,15,0,0,0,0,0
$GC,2445,0.34,-116.8,353.9,-5.5,117,2447,0.10,0.00,0.00,0.000,6,0.077,0.000,3045,1701,3275,0,0,0,0,0,0
$GC,2690,0.34,-116.8,369.3,-6.7,123,2695,0.12,2.53,0.00,0.000,4,0.113,0.057,3073,204,3273,0,0,0,0,0,0
$GC,2799,0.34,-116.8,377.4,-7.5,125,2803,0.00,2.33,0.00,0.000,6,0.000,0.025,3073,1690,3272,0,0,0,0,0,0
$GC,3069,0.34,-116.8,398.4,-8.1,132,3073,0.00,2.47,0.00,0.000,4,0.000,0.058,3073,214,3270,0,0,0,0,0,0
$STATE,3086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3086,begin apogee
$GC,3094,-0.31,0.0,400.5,9.3,132,3190,0.55,0.00,92.12,0.766,6,0.028,0.000,2905,1759,2800,0,0,0,0,0,0
$STATE,3191,end apogee,CONTROL_FINISHED_OK
$STATE,3191,begin climb
$GC,3193,1.32,116.8,409.6,0.0,134,3307,1.77,2.62,99.40,0.755,4,0.097,0.035,3281,3341,2321,0,0,0,0,0,0
$GC,3388,2.36,238.4,413.7,2.9,138,3518,15.70,2.58,103.05,0.752,6,0.002,0.035,3281,1792,1827,52,1,0,0,0,0
$STATE,3521,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,3535,290.25,0.725,4,0,511,561.49
$SM_GC,1.34,11.52,0.00,0.00,0.026,0.000,0.000,418,1789,473,-11.81,0.82,570.81
$IRIDIUM_FIX,2213.68,-15837.01,220801,171726
$TT8_MAMPS,0.027612
$HUMID,69.33
$INTERNAL_PRESSURE,9.29133
$TCM_TEMP,20.30
$XPDR_PINGS,64
$24V_AH,23.6,9.216
$10V_AH,10.0,6.862
$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,51.575,39.025,294.575,290.250,0.000,0.000,0.000,0.000,16.000,0.000,32.092,476.054,5083.367,632.336,794.216,103.844,33.354,1130.402,0.000,762.636,0.000,0.538,0.000
$DEVICE_MAMPS,148.798,57.525,766.233,724.815,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,93.171,69.461,93.178,131.834,231.612,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355976
$DATA_FILE_SIZE,10000,141
$CAP_FILE_SIZE,105500,8
$CFSIZE,260165632,169332736
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,78,0,4,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_PITCH_ERRORS
$GPS,280512,194737,2222.859,-15837.816,38,1.2,38,10.0