version: 66.06
glider: 148
mission: 11
dive: 83
start: 5 30 112 18 5 39
data:
$ID,148
$MISSION,11
$DIVE,83
$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,-904514.81
$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,3100
$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,67
$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
$GPS1,180031,2220.162,-15848.613,8,1.6,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-69.8
$GPS2,180452,2220.179,-15848.622,11,99.0,30,9.9
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,Kaena
$TGT_LATLONG,2150.000,-15821.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.223,-0.073
$KALMAN_X,-188446.3,-530.8,807.8,105758.4,-2954.5
$KALMAN_Y,-57517.0,508.2,17.8,11998.3,1621.8
$MHEAD_RNG_PITCHd_Wd,98.3,72458,-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,13,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,122,0.00,0.00,-102.97,0.000,2,0.000,0.000,409,1633,3239,0,0,0,0,0,0
$GC,126,-1.38,-116.8,3.7,-7.1,14,142,12.32,0.00,-0.75,0.000,6,0.148,0.000,2799,1633,3279,0,0,0,0,0,0
$GC,414,-0.54,-116.8,93.6,-27.2,45,423,0.82,2.35,0.00,0.000,4,0.113,0.038,2973,166,3280,0,0,0,0,0,0
$GC,652,-0.11,-116.8,142.6,-19.7,68,662,3.67,2.22,0.00,0.000,6,0.014,0.018,3072,1615,3280,11,0,0,0,0,0
$GC,916,-0.11,-116.8,175.1,-12.3,93,920,0.00,2.50,0.00,0.000,4,0.000,0.024,3072,3220,3280,0,0,0,0,0,0
$GC,934,-0.11,-116.8,177.3,-12.9,94,938,0.00,2.53,0.00,0.000,6,0.000,0.026,3072,1621,3280,0,0,0,0,0,0
$GC,1227,-0.11,-116.8,208.5,-10.0,115,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1621,3280,0,0,0,0,0,0
$GC,1467,-0.11,-116.8,227.5,-7.5,121,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1621,3280,0,0,0,0,0,0
$GC,1711,-0.11,-116.8,250.8,-9.8,127,1715,0.00,2.35,0.00,0.000,4,0.000,0.044,3072,171,3280,0,0,0,0,0,0
$GC,1740,-0.11,-116.8,253.9,-11.0,127,1744,0.00,2.20,0.00,0.000,6,0.000,0.019,3072,1634,3280,0,0,0,0,0,0
$GC,1994,-0.11,-116.8,277.4,-9.5,134,1998,0.00,2.38,0.00,0.000,4,0.000,0.044,3072,171,3280,0,0,0,0,0,0
$GC,2013,-0.11,-116.8,279.2,-9.3,134,2017,0.00,2.22,0.00,0.000,6,0.000,0.020,3072,1628,3279,0,0,0,0,0,0
$GC,2283,-0.11,-116.8,302.2,-8.4,141,2287,0.00,2.38,0.00,0.000,4,0.000,0.046,3072,173,3279,0,0,0,0,0,0
$GC,2326,-0.11,-116.8,306.1,-8.8,142,2330,0.00,2.20,0.00,0.000,6,0.000,0.021,3072,1616,3278,0,0,0,0,0,0
$GC,2613,-0.11,-116.8,327.7,-7.5,149,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1618,3277,0,0,0,0,0,0
$GC,2858,-0.18,-116.8,348.5,-8.7,155,2863,0.00,2.40,0.00,0.000,4,0.000,0.051,3072,173,3276,0,0,0,0,0,0
$GC,2896,-0.18,-116.8,352.5,-9.6,155,2902,0.00,2.25,0.00,0.000,6,0.000,0.023,3072,1609,3275,0,0,0,0,0,0
$GC,3146,-0.25,-116.8,376.1,-9.7,162,3148,0.12,0.00,0.00,0.000,6,0.064,0.000,3009,1610,3274,0,0,0,0,0,0
$GC,3391,-0.14,-116.8,402.4,-10.6,168,3396,0.25,2.40,0.00,0.000,4,0.092,0.058,3068,181,3272,0,0,0,0,0,0
$GC,3462,-0.14,-116.8,409.4,-8.3,169,3466,0.00,2.25,0.00,0.000,6,0.000,0.025,3068,1611,3271,0,0,0,0,0,0
$GC,3723,-0.22,-116.8,429.1,-7.6,176,3727,0.00,2.58,0.00,0.000,4,0.000,0.037,3068,3211,3269,0,0,0,0,0,0
$GC,3742,-0.30,-116.8,430.9,-8.0,176,3765,15.70,2.62,0.00,0.000,6,0.002,0.037,3068,1605,3270,52,1,0,0,0,0
$STATE,3802,end dive,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,3815,583.60,0.769,6,0,510,561.49
$SM_GC,1.50,11.38,0.00,0.00,0.026,0.000,0.000,410,1602,477,-12.28,-1.36,569.83
$IRIDIUM_FIX,2211.35,-15847.38,240801,181837
$TT8_MAMPS,0.027612
$HUMID,70.16
$INTERNAL_PRESSURE,9.31087
$TCM_TEMP,20.40
$XPDR_PINGS,84
$24V_AH,23.7,11.658
$10V_AH,10.0,8.038
$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,44.275,37.825,0.000,583.600,0.000,0.000,0.000,0.000,21.000,0.000,32.557,553.098,7063.769,708.932,643.230,102.780,33.368,1094.010,0.000,626.697,0.000,0.538,0.000
$DEVICE_MAMPS,148.031,57.525,0.000,768.534,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,119.261,98.465,128.880,177.553,311.801,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356008
$DATA_FILE_SIZE,13059,178
$CAP_FILE_SIZE,85701,8
$CFSIZE,260165632,168796160
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,65,0,6,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_PITCH_ERRORS
$GPS,300512,203640,2220.011,-15848.821,33,1.6,33,9.9