version: 66.06
glider: 148
mission: 11
dive: 84
start: 5 30 112 21 9 0
data:
$ID,148
$MISSION,11
$DIVE,84
$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,-904597.5
$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,23
$R_STBD_OVSHOOT,43
$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
$GPS1,210155,2220.000,-15848.908,7,1.3,12,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-73.0
$GPS2,210813,2219.989,-15848.932,12,1.3,12,9.9
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,Kaena
$TGT_LATLONG,2150.000,-15821.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.156,-0.175
$KALMAN_X,-190596.2,-1139.2,819.2,107985.4,-3737.0
$KALMAN_Y,-57720.8,1256.9,-117.0,11242.8,612.4
$MHEAD_RNG_PITCHd_Wd,128.4,72528,-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,-103.78,0.000,2,0.000,0.000,412,1602,3234,0,0,0,0,0,0
$GC,125,-1.38,-116.8,3.4,-5.9,14,150,12.38,2.35,-0.82,0.000,4,0.151,0.056,2797,164,3279,0,0,0,0,0,0
$GC,223,-0.41,-116.8,38.7,-32.5,27,232,3.58,2.30,0.00,0.000,6,0.038,0.019,3006,1648,3280,9,0,0,0,0,0
$GC,487,-0.08,-116.8,88.0,-16.7,52,493,0.30,2.42,0.00,0.000,4,0.104,0.040,3073,155,3280,0,0,0,0,0,0
$GC,580,0.01,-116.8,102.4,-13.3,60,590,2.53,2.28,0.00,0.000,6,0.008,0.019,3096,1623,3280,8,0,0,0,0,0
$GC,847,0.01,-116.8,129.0,-9.7,85,852,0.00,2.38,0.00,0.000,4,0.000,0.042,3096,157,3280,0,0,0,0,0,0
$GC,906,0.01,-116.8,137.1,-12.9,90,915,0.00,2.28,0.00,0.000,6,0.000,0.018,3096,1630,3280,0,0,0,0,0,0
$GC,1176,0.01,-116.8,164.6,-9.9,115,1180,0.00,2.47,0.00,0.000,4,0.000,0.025,3096,3217,3280,0,0,0,0,0,0
$GC,1200,0.01,-116.8,167.9,-10.2,117,1205,0.00,2.55,0.00,0.000,6,0.000,0.027,3096,1613,3280,0,0,0,0,0,0
$GC,1463,0.01,-116.8,194.7,-10.2,141,1467,0.00,2.33,0.00,0.000,4,0.000,0.042,3096,176,3280,0,0,0,0,0,0
$GC,1494,0.01,-116.8,198.1,-10.9,143,1499,0.00,2.20,0.00,0.000,6,0.000,0.018,3096,1639,3280,0,0,0,0,0,0
$GC,1765,-0.08,-116.8,219.8,-7.5,152,1769,0.00,2.42,0.00,0.000,4,0.000,0.024,3096,3197,3280,0,0,0,0,0,0
$GC,1789,-0.18,-116.8,222.1,-9.3,152,1811,15.70,2.53,0.00,0.000,6,0.002,0.028,3096,1618,3280,52,1,0,0,0,0
$STATE,1851,end dive,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,1863,556.45,0.589,2,0,511,561.49
$SM_GC,1.33,10.90,0.00,0.00,0.026,0.000,0.000,417,1615,493,-12.27,-0.99,565.91
$IRIDIUM_FIX,2213.68,-15844.37,240801,212128
$TT8_MAMPS,0.027612
$HUMID,65.98
$INTERNAL_PRESSURE,9.34016
$TCM_TEMP,23.40
$XPDR_PINGS,11
$24V_AH,23.8,11.806
$10V_AH,10.0,8.096
$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,45.375,28.500,0.000,556.450,0.000,0.000,0.000,0.000,2.750,0.000,14.097,393.862,3091.478,658.275,574.783,77.333,33.358,945.840,0.000,582.120,0.000,0.537,0.000
$DEVICE_MAMPS,151.099,55.991,0.000,589.056,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,102.846,114.969,150.335,227.842,399.770,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356260
$DATA_FILE_SIZE,13085,154
$CAP_FILE_SIZE,56626,8
$CFSIZE,260165632,168787968
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,69,0,2,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_PITCH_ERRORS
$GPS,300512,222858,2219.673,-15849.114,8,2.2,27,9.9