version: 66.06
glider: 148
mission: 11
dive: 98
start: 6 1 112 3 0 26
data:
$ID,148
$MISSION,11
$DIVE,98
$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,500
$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,-907488
$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,3200
$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,1680
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2850
$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
$GPS1,025532,2222.492,-15857.213,11,1.4,11,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-69.7
$GPS2,025944,2222.547,-15857.267,13,1.0,13,9.9
$SPEED_LIMITS,0.174,0.244
$TGT_NAME,Kaena
$TGT_LATLONG,2150.000,-15821.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.178,-0.167
$KALMAN_X,-225424.0,-2257.0,201.2,130280.2,-13190.9
$KALMAN_Y,-38652.3,377.3,-479.9,-1846.1,9068.2
$MHEAD_RNG_PITCHd_Wd,123.3,85738,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.34,-126.5,0.0,0.0,0,123,0.00,0.00,-103.05,0.000,2,0.000,0.000,409,1636,3250,0,0,0,0,0,0
$GC,126,-1.34,-126.5,3.6,-6.6,14,151,12.90,2.38,-2.15,0.000,4,0.148,0.045,2901,169,3368,0,0,0,0,0,0
$GC,301,-0.72,-126.5,57.7,-25.3,34,314,7.62,2.30,0.00,0.000,6,0.012,0.020,3039,1650,3369,23,0,0,0,0,0
$GC,575,-0.48,-126.5,105.1,-17.2,59,580,0.25,2.38,0.00,0.000,4,0.102,0.039,3096,175,3369,0,0,0,0,0,0
$GC,607,-0.33,-126.5,110.1,-15.7,61,617,2.42,2.25,0.00,0.000,6,0.008,0.018,3123,1651,3369,8,0,0,0,0,0
$GC,872,-0.33,-126.5,140.9,-10.5,86,876,0.00,2.40,0.00,0.000,4,0.000,0.024,3124,3208,3369,0,0,0,0,0,0
$GC,898,-0.42,-126.5,143.4,-9.2,88,903,0.00,2.50,0.00,0.000,6,0.000,0.027,3124,1635,3369,0,0,0,0,0,0
$GC,1166,-0.49,-126.5,167.5,-9.2,112,1172,0.12,0.00,0.00,0.000,6,0.063,0.000,3060,1635,3369,0,0,0,0,0,0
$GC,1431,-0.40,-126.5,199.9,-12.9,137,1436,0.25,2.45,0.00,0.000,4,0.091,0.022,3120,3209,3369,0,0,0,0,0,0
$GC,1452,-0.40,-126.5,202.7,-11.7,137,1456,0.00,2.50,0.00,0.000,6,0.000,0.026,3120,1637,3369,0,0,0,0,0,0
$GC,1716,-0.51,-126.5,227.6,-9.4,144,1721,0.12,2.47,0.00,0.000,4,0.065,0.025,3053,3207,3369,0,0,0,0,0,0
$GC,1746,-0.51,-126.5,230.9,-12.6,144,1770,15.70,2.47,0.00,0.000,6,0.002,0.027,3053,1652,3369,52,1,0,0,0,0
$STATE,1773,end dive,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,1786,569.42,0.593,1,0,510,573.76
$SM_GC,0.62,15.88,0.00,0.00,0.009,0.000,0.000,2528,1650,494,-2.93,-0.85,578.17
$IRIDIUM_FIX,2213.68,-15856.91,260801,020219
$TT8_MAMPS,0.027612
$HUMID,64.88
$INTERNAL_PRESSURE,9.3597
$TCM_TEMP,23.50
$XPDR_PINGS,64
$24V_AH,23.8,13.898
$10V_AH,10.0,8.872
$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,55.275,24.100,0.000,569.425,0.000,0.000,0.000,0.000,16.000,0.000,15.847,386.681,3150.385,671.549,550.656,77.618,33.325,951.881,0.000,553.409,0.000,0.539,0.000
$DEVICE_MAMPS,148.031,45.253,0.000,592.891,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,96.202,107.606,141.162,215.651,378.716,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356112
$DATA_FILE_SIZE,10033,145
$CAP_FILE_SIZE,45963,16
$CFSIZE,260165632,168427520
$ERRORS,0,0,0,0,0,0,0,0,2,0,0,128,0,1,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_PITCH_ERRORS
$SM_CCo,4878,0.00,0.000,0,0,493,578.17
$SM_GC,1.25,8.52,0.00,0.00,0.017,0.000,0.000,412,1649,493,-12.75,-0.88,578.17
$GPS,010612,042231,2222.914,-15857.487,11,1.7,28,9.9