version: 66.06
glider: 148
mission: 11
dive: 82
start: 5 30 112 16 5 54
data:
$ID,148
$MISSION,11
$DIVE,82
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$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,166
$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,-904319.12
$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,1640
$C_ROLL_CLIMB,1650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,28
$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
$GPS1,160028,2219.805,-15848.670,8,3.1,27,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-68.9
$GPS2,160506,2219.822,-15848.676,38,2.0,38,9.9
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,Kaena
$TGT_LATLONG,2150.000,-15821.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.188,-0.140
$KALMAN_X,-187369.0,778.1,307.3,103820.1,-3092.7
$KALMAN_Y,-57608.8,-1237.0,-246.6,13432.3,2859.0
$MHEAD_RNG_PITCHd_Wd,116.7,72009,-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,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,-104.03,0.000,2,0.000,0.000,414,1631,3236,0,0,0,0,0,0
$GC,125,-1.38,-116.8,3.5,-6.4,14,143,11.85,2.42,-0.73,0.000,4,0.151,0.051,2689,166,3278,0,0,0,0,0,0
$GC,154,0.63,-116.8,14.7,-31.6,17,164,2.58,2.33,0.00,0.000,6,0.112,0.018,3131,1671,3280,2,0,0,0,0,0
$GC,430,0.63,-116.8,52.6,-11.3,47,438,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1674,3280,0,0,0,0,0,0
$GC,695,0.63,-116.8,81.1,-10.9,72,699,0.00,2.42,0.00,0.000,4,0.000,0.041,3130,166,3279,0,0,0,0,0,0
$GC,725,0.63,-116.8,85.1,-11.8,74,734,0.00,2.25,0.00,0.000,6,0.000,0.018,3130,1641,3279,0,0,0,0,0,0
$GC,992,0.55,-116.8,111.7,-9.0,99,996,0.00,2.40,0.00,0.000,4,0.000,0.024,3130,3202,3279,0,0,0,0,0,0
$GC,1049,0.37,-116.8,117.2,-8.4,104,1071,15.70,2.47,0.00,0.000,6,0.003,0.031,3130,1637,3279,52,1,0,0,0,0
$STATE,1082,end dive,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,1095,544.65,0.509,1,0,510,561.49
$SM_GC,1.27,10.85,0.00,0.00,0.024,0.000,0.000,412,1633,498,-11.81,-0.48,564.68
$IRIDIUM_FIX,2211.35,-15849.55,240801,161612
$TT8_MAMPS,0.026845
$HUMID,59.21
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,23.30
$XPDR_PINGS,162
$24V_AH,23.9,11.477
$10V_AH,10.0,7.974
$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,40.975,14.300,0.000,544.650,0.000,0.000,0.000,0.000,40.500,0.000,39.961,263.977,1549.269,627.341,491.967,54.724,33.369,841.592,0.000,476.778,0.000,0.539,0.000
$DEVICE_MAMPS,151.099,50.622,0.000,509.288,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,70.749,92.561,109.587,228.277,400.857,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355996
$DATA_FILE_SIZE,6795,107
$CAP_FILE_SIZE,178671,8
$CFSIZE,260165632,168747008
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,54,0,1,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_PITCH_ERRORS
$GPS,300512,165502,2219.869,-15848.560,14,1.9,14,9.9