version: 66.06
glider: 148
mission: 11
dive: 79
start: 5 30 112 1 58 58
data:
$ID,148
$MISSION,11
$DIVE,79
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$D_ABORT,800
$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,200
$T_MISSION,600
$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,-903195.38
$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,3170
$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,1640
$C_ROLL_CLIMB,1650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,37
$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
$GPS1,015355,2219.320,-15844.899,7,1.7,12,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-68.6
$GPS2,015807,2219.313,-15844.941,10,1.5,15,9.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,Kaena
$TGT_LATLONG,2150.000,-15821.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.154,-0.177
$KALMAN_X,-174284.3,179.2,36.5,97950.5,-9688.2
$KALMAN_Y,-62516.6,-254.1,-237.1,16422.1,2358.3
$MHEAD_RNG_PITCHd_Wd,129.1,67306,-19.8,-10.000
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,122,0.00,0.00,-104.15,0.000,2,0.000,0.000,411,1618,3254,0,0,0,0,0,0
$GC,126,-1.38,-116.8,3.6,-6.2,14,151,12.60,2.38,-0.43,0.000,4,0.146,0.047,2864,164,3278,0,0,0,0,0,0
$GC,212,-0.56,-116.8,35.5,-30.9,26,222,2.08,2.33,0.00,0.000,6,0.049,0.019,3040,1660,3279,4,0,0,0,0,0
$GC,482,-0.33,-116.8,87.3,-17.8,51,487,0.25,2.42,0.00,0.000,4,0.103,0.048,3097,168,3279,0,0,0,0,0,0
$GC,605,-0.25,-116.8,109.7,-17.0,62,614,0.00,2.28,0.00,0.000,6,0.000,0.018,3096,1644,3279,0,0,0,0,0,0
$GC,873,-0.25,-116.8,144.7,-11.3,87,877,0.00,2.40,0.00,0.000,4,0.000,0.042,3097,164,3279,0,0,0,0,0,0
$GC,938,-0.19,-116.8,152.8,-11.2,93,951,1.50,2.22,0.00,0.000,6,0.008,0.018,3126,1622,3279,4,0,0,0,0,0
$GC,1206,-0.27,-116.8,172.9,-6.5,118,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1625,3279,0,0,0,0,0,0
$GC,1470,-0.41,-116.8,191.6,-7.9,143,1475,0.20,2.38,0.00,0.000,4,0.045,0.043,3042,164,3279,0,0,0,0,0,0
$GC,1507,-0.25,-116.8,196.2,-13.7,146,1517,1.60,2.22,0.00,0.000,6,0.021,0.018,3116,1628,3278,4,0,0,0,0,0
$GC,1794,-0.36,-116.8,220.6,-7.8,156,1799,0.10,2.40,0.00,0.000,4,0.077,0.045,3056,163,3278,0,0,0,0,0,0
$GC,1957,-0.30,-116.8,241.0,-12.0,159,1966,4.18,2.17,0.00,0.000,6,0.007,0.019,3104,1608,3278,13,0,0,0,0,0
$GC,2217,-0.42,-116.8,260.7,-7.3,166,2222,0.10,2.35,0.00,0.000,4,0.077,0.054,3045,173,3278,0,0,0,0,0,0
$GC,2252,-0.30,-116.8,264.5,-11.6,166,2262,2.65,2.15,0.00,0.000,6,0.012,0.020,3102,1591,3278,8,0,0,0,0,0
$GC,2507,-0.41,-116.8,284.1,-7.2,173,2511,0.00,2.33,0.00,0.000,4,0.000,0.047,3102,171,3276,0,0,0,0,0,0
$GC,2564,-0.50,-116.8,288.9,-8.4,174,2573,3.97,2.17,0.00,0.000,6,0.004,0.021,3029,1587,3276,13,0,0,0,0,0
$GC,2843,-0.41,-116.8,315.9,-9.3,181,2848,0.22,2.55,0.00,0.000,4,0.092,0.028,3079,3202,3275,0,0,0,0,0,0
$GC,2858,-0.41,-116.8,317.4,-9.1,181,2862,0.00,2.60,0.00,0.000,6,0.000,0.030,3079,1591,3275,0,0,0,0,0,0
$GC,3129,-0.47,-116.8,336.4,-7.3,188,3133,0.00,2.35,0.00,0.000,4,0.000,0.053,3079,173,3273,0,0,0,0,0,0
$GC,3221,-0.47,-116.8,345.6,-9.4,190,3225,0.00,2.17,0.00,0.000,6,0.000,0.022,3078,1572,3273,0,0,0,0,0,0
$GC,3506,-0.54,-116.8,368.9,-8.2,197,3510,0.12,2.35,0.00,0.000,4,0.064,0.054,3018,169,3271,0,0,0,0,0,0
$GC,3544,-0.38,-116.8,373.2,-11.0,197,3557,7.10,2.20,0.00,0.000,6,0.005,0.025,3079,1569,3271,23,0,0,0,0,0
$GC,3843,-0.46,-116.8,397.0,-8.0,205,3847,0.00,2.35,0.00,0.000,4,0.000,0.058,3079,171,3269,0,0,0,0,0,0
$GC,3871,-0.46,-116.8,400.1,-9.7,205,3875,0.00,2.20,0.00,0.000,6,0.000,0.025,3079,1566,3268,0,0,0,0,0,0
$GC,4126,-0.56,-116.8,420.7,-7.8,212,4131,0.12,2.38,0.00,0.000,4,0.064,0.061,3020,170,3267,0,0,0,0,0,0
$GC,4172,-0.42,-116.8,425.2,-10.3,213,4188,10.65,2.17,0.00,0.000,6,0.004,0.027,3074,1557,3266,35,0,0,0,0,0
$GC,4464,-0.51,-116.8,448.3,-7.8,220,4468,0.00,2.35,0.00,0.000,4,0.000,0.064,3074,176,3265,0,0,0,0,0,0
$GC,4578,-0.57,-116.8,460.0,-10.9,222,4600,15.70,2.17,0.00,0.000,6,0.002,0.029,3074,1536,3264,52,1,0,0,0,0
$STATE,4638,end dive,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,4651,589.28,0.799,5,0,510,561.49
$SM_GC,1.44,10.95,0.00,0.00,0.038,0.000,0.000,414,1709,470,-12.62,1.64,571.79
$IRIDIUM_FIX,2211.35,-15847.38,240801,010100
$TT8_MAMPS,0.027612
$HUMID,67.56
$INTERNAL_PRESSURE,9.29133
$TCM_TEMP,20.10
$XPDR_PINGS,43
$24V_AH,23.6,10.823
$10V_AH,10.0,7.734
$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,74.100,60.175,0.000,589.275,0.000,0.000,0.000,0.000,10.750,0.000,17.539,689.936,7711.500,752.400,891.852,136.720,33.347,1264.300,0.000,889.339,0.000,0.536,0.000
$DEVICE_MAMPS,146.497,65.195,0.000,799.214,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,149.722,129.589,168.857,225.700,396.464,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355984
$DATA_FILE_SIZE,16284,224
$CAP_FILE_SIZE,102959,8
$CFSIZE,260165632,168914944
$ERRORS,0,1,0,0,0,0,0,0,1,0,0,156,0,5,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_PITCH_ERRORS
$GPS,300512,044837,2219.046,-15845.131,30,2.0,30,9.9