version: 66.06
glider: 148
mission: 11
dive: 77
start: 5 29 112 19 52 55
data:
$ID,148
$MISSION,11
$DIVE,77
$D_SURF,4
$D_FLARE,3
$D_TGT,700
$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,230
$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,-902936.94
$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,3150
$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,1660
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,71
$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
$GPS1,194737,2219.710,-15843.044,32,1.6,50,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-69.9
$GPS2,195206,2219.688,-15843.063,28,1.1,29,9.9
$SPEED_LIMITS,0.176,0.236
$TGT_NAME,Kaena
$TGT_LATLONG,2150.000,-15821.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.143,-0.187
$KALMAN_X,-166614.7,96.9,190.7,93423.9,-6603.0
$KALMAN_Y,-65266.9,924.2,84.2,18350.6,1128.1
$MHEAD_RNG_PITCHd_Wd,132.7,66025,-20.0,-10.145
$D_GRID,700
$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,16,-1.39,-116.8,0.0,0.0,0,122,0.00,0.00,-103.18,0.000,6,0.000,0.000,409,1632,3277,0,0,0,0,0,0
$GC,126,-1.39,-116.8,4.0,-6.5,13,143,12.50,2.40,0.00,0.000,4,0.148,0.031,2841,163,3279,0,0,0,0,0,0
$GC,454,-0.58,-116.8,110.8,-25.7,47,463,2.92,2.28,0.00,0.000,6,0.035,0.018,3017,1664,3279,7,0,0,0,0,0
$GC,729,-0.35,-116.8,151.5,-13.8,73,734,0.25,2.42,0.00,0.000,4,0.102,0.041,3075,168,3280,0,0,0,0,0,0
$GC,978,-0.35,-116.8,186.1,-12.5,97,983,0.00,2.25,0.00,0.000,6,0.000,0.018,3075,1648,3280,0,0,0,0,0,0
$GC,1235,-0.35,-116.8,212.2,-9.9,113,1239,0.00,2.38,0.00,0.000,4,0.000,0.042,3075,175,3280,0,0,0,0,0,0
$GC,1248,-0.35,-116.8,213.9,-10.3,113,1253,0.00,2.25,0.00,0.000,6,0.000,0.019,3075,1661,3280,0,0,0,0,0,0
$GC,1521,-0.35,-116.8,237.9,-8.3,120,1526,0.00,2.40,0.00,0.000,4,0.000,0.044,3075,177,3280,0,0,0,0,0,0
$GC,1574,-0.35,-116.8,242.4,-8.5,121,1578,0.00,2.22,0.00,0.000,6,0.000,0.019,3075,1640,3281,0,0,0,0,0,0
$GC,1851,-0.35,-116.8,270.6,-10.9,128,1856,0.00,2.40,0.00,0.000,4,0.000,0.047,3075,169,3280,0,0,0,0,0,0
$GC,1954,-0.35,-116.8,283.1,-11.6,130,1959,0.00,2.28,0.00,0.000,6,0.000,0.021,3075,1642,3280,0,0,0,0,0,0
$GC,2228,-0.41,-116.8,304.7,-7.1,137,2232,0.00,2.42,0.00,0.000,4,0.000,0.048,3075,177,3278,0,0,0,0,0,0
$GC,2295,-0.41,-116.8,309.6,-7.0,138,2299,0.00,2.28,0.00,0.000,6,0.000,0.022,3075,1639,3278,0,0,0,0,0,0
$GC,2561,-0.49,-116.8,327.9,-7.0,145,2566,0.12,2.45,0.00,0.000,4,0.068,0.051,3022,178,3278,0,0,0,0,0,0
$GC,2590,-0.34,-116.8,331.3,-11.0,145,2599,3.80,2.25,0.00,0.000,6,0.008,0.023,3075,1635,3277,12,0,0,0,0,0
$GC,2846,-0.42,-116.8,352.8,-8.3,151,2850,0.00,2.42,0.00,0.000,4,0.000,0.054,3075,178,3275,0,0,0,0,0,0
$GC,2920,-0.42,-116.8,359.7,-9.4,152,2924,0.00,2.28,0.00,0.000,6,0.000,0.024,3075,1629,3275,0,0,0,0,0,0
$GC,3180,-0.51,-116.8,379.7,-7.8,159,3185,0.15,2.45,0.00,0.000,4,0.059,0.058,3016,180,3273,0,0,0,0,0,0
$GC,3264,-0.37,-116.8,389.7,-11.5,160,3281,9.93,2.28,0.00,0.000,6,0.005,0.025,3064,1620,3272,33,0,0,0,0,0
$GC,3563,-0.44,-116.8,416.9,-9.2,168,3567,0.00,2.45,0.00,0.000,4,0.000,0.061,3064,174,3269,0,0,0,0,0,0
$GC,3685,-0.44,-116.8,430.4,-11.1,170,3689,0.00,2.28,0.00,0.000,6,0.000,0.028,3064,1616,3269,0,0,0,0,0,0
$GC,3940,-0.50,-116.8,456.8,-10.2,177,3945,0.10,2.45,0.00,0.000,4,0.081,0.064,3023,181,3267,0,0,0,0,0,0
$GC,3985,-0.41,-116.8,462.0,-12.4,178,4002,10.52,2.28,0.00,0.000,6,0.004,0.031,3064,1600,3267,35,0,0,0,0,0
$GC,4277,-0.48,-116.8,484.5,-6.5,185,4281,0.00,2.42,0.00,0.000,4,0.000,0.067,3063,181,3265,0,0,0,0,0,0
$GC,4311,-0.48,-116.8,487.0,-6.9,185,4316,0.00,2.28,0.00,0.000,6,0.000,0.032,3064,1591,3265,0,0,0,0,0,0
$GC,4562,-0.56,-116.8,502.0,-5.8,191,4567,0.15,2.45,0.00,0.000,4,0.061,0.069,3010,182,3263,0,0,0,0,0,0
$GC,4582,-0.49,-116.8,503.8,-8.3,191,4595,7.53,2.28,0.00,0.000,6,0.004,0.033,3046,1591,3263,25,0,0,0,0,0
$GC,4847,-0.49,-116.8,526.5,-8.9,198,4851,0.00,2.42,0.00,0.000,4,0.000,0.070,3046,181,3261,0,0,0,0,0,0
$GC,4890,-0.49,-116.8,531.2,-10.8,199,4894,0.00,2.28,0.00,0.000,6,0.000,0.035,3046,1582,3261,0,0,0,0,0,0
$GC,5178,-0.49,-116.8,559.7,-9.7,206,5182,0.00,2.42,0.00,0.000,4,0.000,0.072,3046,178,3260,0,0,0,0,0,0
$GC,5192,-0.49,-116.8,561.4,-9.9,206,5197,0.00,2.28,0.00,0.000,6,0.000,0.034,3046,1577,3259,0,0,0,0,0,0
$GC,5466,-0.49,-116.8,584.9,-8.1,213,5470,0.00,2.42,0.00,0.000,4,0.000,0.073,3046,183,3257,0,0,0,0,0,0
$GC,5574,-0.49,-116.8,594.7,-10.0,215,5578,0.00,2.25,0.00,0.000,6,0.000,0.035,3046,1568,3257,0,0,0,0,0,0
$GC,5842,-0.49,-116.8,615.1,-7.4,222,5846,0.00,2.40,0.00,0.000,4,0.000,0.074,3046,183,3255,0,0,0,0,0,0
$GC,5941,-0.49,-116.8,623.8,-9.4,224,5945,0.00,2.25,0.00,0.000,6,0.000,0.036,3045,1560,3255,0,0,0,0,0,0
$GC,6219,-0.49,-116.8,644.5,-7.3,231,6223,0.00,2.83,0.00,0.000,4,0.000,0.058,3046,3228,3253,0,0,0,0,0,0
$GC,6238,-0.49,-116.8,646.0,-7.2,231,6242,0.00,2.78,0.00,0.000,6,0.000,0.049,3045,1586,3253,0,0,0,0,0,0
$GC,6504,-0.49,-116.8,663.9,-6.7,238,6508,0.00,2.47,0.00,0.000,4,0.000,0.082,3046,180,3252,0,0,0,0,0,0
$GC,6621,-0.49,-116.8,673.3,-7.3,240,6625,0.00,2.25,0.00,0.000,6,0.000,0.037,3046,1556,3251,0,0,0,0,0,0
$GC,6882,-0.49,-116.8,690.7,-6.6,247,6886,0.00,2.42,0.00,0.000,4,0.000,0.076,3046,178,3250,0,0,0,0,0,0
$GC,6905,-0.49,-116.8,692.5,-7.7,247,6909,0.00,2.25,0.00,0.000,6,0.000,0.037,3046,1553,3249,0,0,0,0,0,0
$STATE,7040,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7040,begin apogee
$GC,7046,-0.31,0.0,702.0,6.9,251,7141,0.15,0.00,92.50,1.038,6,0.113,0.000,3079,1690,2800,0,0,0,0,0,0
$STATE,7142,end apogee,CONTROL_FINISHED_OK
$STATE,7142,begin climb
$GC,7146,1.39,116.8,706.4,0.0,253,7260,1.65,2.70,104.68,1.012,4,0.077,0.058,3447,3242,2322,0,0,0,0,0,0
$GC,7281,1.82,193.7,703.0,5.7,256,7378,15.70,2.67,68.05,0.991,6,0.002,0.049,3447,1694,2010,52,1,0,0,0,0
$STATE,7381,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,7394,373.60,0.933,13,0,511,561.49
$SM_GC,1.38,12.15,0.00,0.00,0.024,0.000,0.000,407,1692,498,-12.52,0.34,564.68
$IRIDIUM_FIX,2213.68,-15842.20,230801,191900
$TT8_MAMPS,0.026845
$HUMID,65.98
$INTERNAL_PRESSURE,9.2718
$TCM_TEMP,18.70
$XPDR_PINGS,29
$24V_AH,23.4,10.542
$10V_AH,10.0,7.635
$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,77.625,100.275,265.225,373.600,0.000,0.000,0.000,0.000,7.250,0.000,31.101,949.281,12942.220,791.745,1192.083,193.583,33.346,1570.128,0.000,1156.180,0.000,0.537,0.000
$DEVICE_MAMPS,148.031,82.069,1037.751,933.439,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,174.088,106.306,143.379,172.414,302.893,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356000
$DATA_FILE_SIZE,19416,258
$CAP_FILE_SIZE,123729,8
$CFSIZE,260165632,168947712
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,164,0,13,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_PITCH_ERRORS
$GPS,300512,002057,2219.529,-15844.071,38,99.0,57,9.9