version: 66.06
glider: 148
mission: 11
dive: 87
start: 5 31 112 6 24 32
data:
$ID,148
$MISSION,11
$DIVE,87
$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,130
$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,-905395.44
$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,2990
$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,63
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2900
$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
$GPS1,061915,2219.898,-15851.368,9,99.0,28,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-69.6
$GPS2,062346,2219.940,-15851.393,14,99.0,33,9.9
$SPEED_LIMITS,0.174,0.244
$TGT_NAME,Kaena
$TGT_LATLONG,2150.000,-15821.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.234,-0.067
$KALMAN_X,-199954.1,-50.3,24.8,112866.6,-2310.8
$KALMAN_Y,-53447.6,4.8,1126.1,6850.7,640.8
$MHEAD_RNG_PITCHd_Wd,96.0,75251,-19.0,-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,17,-1.34,-126.5,0.0,0.0,0,122,0.00,0.00,-102.78,0.000,2,0.000,0.000,407,1638,3237,0,0,0,0,0,0
$GC,125,-1.34,-126.5,3.5,-6.5,14,150,12.52,2.38,-3.30,0.000,4,0.169,0.045,2693,170,3418,0,0,0,0,0,0
$GC,160,0.47,-126.5,17.4,-37.2,18,169,3.08,2.28,0.00,0.000,6,0.091,0.018,3089,1638,3418,4,0,0,0,0,0
$GC,433,0.64,-126.5,61.7,-14.3,46,438,0.17,2.47,0.00,0.000,4,0.107,0.028,3126,3208,3419,0,0,0,0,0,0
$GC,510,0.55,-126.5,68.9,-6.8,52,515,0.00,2.50,0.00,0.000,6,0.000,0.028,3126,1645,3419,0,0,0,0,0,0
$GC,775,0.55,-126.5,92.2,-8.1,76,779,0.00,2.45,0.00,0.000,4,0.000,0.025,3126,3216,3419,0,0,0,0,0,0
$GC,801,0.55,-126.5,94.9,-9.8,78,805,0.00,2.50,0.00,0.000,6,0.000,0.029,3126,1638,3418,0,0,0,0,0,0
$GC,1065,0.55,-126.5,123.4,-11.8,102,1069,0.00,2.47,0.00,0.000,4,0.000,0.031,3126,3214,3419,0,0,0,0,0,0
$GC,1091,0.46,-126.5,126.6,-10.6,104,1113,15.70,2.47,0.00,0.000,6,0.003,0.028,3126,1647,3418,52,1,0,0,0,0
$STATE,1124,end dive,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,1138,571.72,0.517,1,0,510,586.02
$SM_GC,1.14,16.25,0.00,0.00,0.014,0.000,0.000,1258,1646,497,-7.76,-0.11,589.46
$IRIDIUM_FIX,2211.35,-15849.55,250801,060619
$TT8_MAMPS,0.027612
$HUMID,60.82
$INTERNAL_PRESSURE,9.36946
$TCM_TEMP,23.20
$XPDR_PINGS,35
$24V_AH,23.8,12.336
$10V_AH,10.0,8.306
$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,47.725,19.525,0.000,571.725,0.000,0.000,0.000,0.000,8.750,0.000,35.530,277.428,1695.776,661.516,480.763,61.751,33.363,879.275,0.000,465.949,0.000,0.539,0.000
$DEVICE_MAMPS,168.740,45.253,0.000,516.958,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,70.927,90.861,109.714,215.540,378.611,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356080
$DATA_FILE_SIZE,6773,107
$CAP_FILE_SIZE,49225,16
$CFSIZE,260165632,168697856
$ERRORS,0,1,0,0,0,0,0,0,2,0,0,86,0,1,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_PITCH_ERRORS
$SM_CCo,3194,0.00,0.000,0,0,496,589.70
$SM_GC,1.20,3.38,0.00,0.00,0.028,0.000,0.000,408,1644,496,-11.78,-0.17,589.70
$GPS,310512,071828,2219.856,-15851.470,6,2.6,26,9.9