version: 66.06
glider: 148
mission: 11
dive: 80
start: 5 30 112 5 26 15
data:
$ID,148
$MISSION,11
$DIVE,80
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$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,200
$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,-903305.06
$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,3000
$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,30
$R_STBD_OVSHOOT,61
$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
$GPS1,052102,2219.146,-15845.444,9,1.5,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-67.4
$GPS2,052525,2219.165,-15845.486,10,1.1,15,9.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,Kaena
$TGT_LATLONG,2150.000,-15821.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.201,-0.121
$KALMAN_X,-175979.5,237.3,-453.8,99113.0,-2927.7
$KALMAN_Y,-60344.2,-763.3,-116.5,14349.1,2142.1
$MHEAD_RNG_PITCHd_Wd,111.2,67644,-19.8,-10.000
$D_GRID,600
$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,16,-1.38,-116.8,0.0,0.0,0,123,0.00,0.00,-104.00,0.000,2,0.000,0.000,412,1584,3224,0,0,0,0,0,0
$GC,126,-1.38,-116.8,3.2,-4.8,14,151,11.82,2.33,-1.00,0.000,4,0.149,0.048,2690,166,3280,0,0,0,0,0,0
$GC,462,-0.22,-116.8,127.5,-36.4,49,475,7.07,2.25,0.00,0.000,6,0.025,0.019,2945,1635,3280,20,0,0,0,0,0
$GC,737,0.21,-116.8,184.0,-19.1,75,742,0.43,2.38,0.00,0.000,4,0.102,0.039,3038,166,3280,0,0,0,0,0,0
$GC,750,0.60,-116.8,186.2,-18.4,75,762,1.10,2.28,0.00,0.000,6,0.035,0.018,3125,1660,3280,3,0,0,0,0,0
$GC,1034,0.44,-116.8,205.4,-6.4,96,1039,0.12,2.38,0.00,0.000,4,0.064,0.025,3061,3190,3280,0,0,0,0,0,0
$GC,1063,0.44,-116.8,208.3,-9.2,96,1084,14.80,2.47,0.00,0.000,6,0.003,0.028,3094,1628,3280,49,0,0,0,0,0
$GC,1366,0.38,-116.8,235.4,-9.3,104,1370,0.00,2.35,0.00,0.000,4,0.000,0.044,3094,171,3280,0,0,0,0,0,0
$GC,1421,0.31,-116.8,242.1,-11.7,105,1430,1.90,2.20,0.00,0.000,6,0.005,0.019,3039,1612,3280,6,0,0,0,0,0
$GC,1700,0.31,-116.8,273.2,-10.5,112,1705,0.12,2.50,0.00,0.000,4,0.110,0.027,3065,3203,3280,0,0,0,0,0,0
$GC,1719,0.31,-116.8,275.2,-9.1,112,1724,0.00,2.50,0.00,0.000,6,0.000,0.028,3065,1630,3280,0,0,0,0,0,0
$GC,1983,0.31,-116.8,293.7,-6.9,119,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1630,3279,0,0,0,0,0,0
$GC,2229,0.31,-116.8,313.9,-8.4,125,2233,0.00,2.50,0.00,0.000,4,0.000,0.028,3065,3210,3278,0,0,0,0,0,0
$GC,2243,0.31,-116.8,315.3,-8.1,125,2248,0.00,2.55,0.00,0.000,6,0.000,0.031,3065,1620,3278,0,0,0,0,0,0
$GC,2512,0.31,-116.8,338.2,-9.1,132,2516,0.00,2.38,0.00,0.000,4,0.000,0.053,3065,175,3276,0,0,0,0,0,0
$GC,2556,0.31,-116.8,342.8,-10.9,133,2560,0.00,2.25,0.00,0.000,6,0.000,0.022,3065,1617,3276,0,0,0,0,0,0
$GC,2843,0.31,-116.8,372.7,-10.1,140,2844,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1620,3274,0,0,0,0,0,0
$GC,3087,0.31,-116.8,393.7,-8.4,146,3088,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1621,3273,0,0,0,0,0,0
$GC,3332,0.25,-116.8,412.2,-7.3,152,3333,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1621,3271,0,0,0,0,0,0
$GC,3574,0.18,-116.8,429.4,-7.3,158,3579,0.12,2.47,0.00,0.000,4,0.067,0.064,3009,178,3269,0,0,0,0,0,0
$GC,3595,0.25,-116.8,431.3,-9.4,158,3607,6.65,2.30,0.00,0.000,6,0.005,0.028,3050,1622,3269,22,0,0,0,0,0
$GC,3864,0.25,-116.8,455.3,-8.7,165,3868,0.00,2.47,0.00,0.000,4,0.000,0.064,3050,178,3267,0,0,0,0,0,0
$GC,3929,0.25,-116.8,461.6,-9.6,166,3933,0.00,2.33,0.00,0.000,6,0.000,0.030,3050,1625,3267,0,0,0,0,0,0
$GC,4193,0.25,-116.8,479.9,-6.3,173,4194,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1625,3265,0,0,0,0,0,0
$GC,4438,0.25,-116.8,498.0,-7.8,179,4439,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1625,3263,0,0,0,0,0,0
$GC,4680,0.25,-116.8,521.8,-10.2,185,4684,0.00,2.53,0.00,0.000,4,0.000,0.071,3050,174,3261,0,0,0,0,0,0
$GC,4699,0.25,-116.8,524.0,-11.3,185,4703,0.00,2.35,0.00,0.000,6,0.000,0.034,3050,1623,3261,0,0,0,0,0,0
$GC,4964,0.25,-116.8,551.0,-10.1,192,4968,0.00,2.50,0.00,0.000,4,0.000,0.071,3051,178,3259,0,0,0,0,0,0
$GC,4992,0.25,-116.8,554.1,-10.0,192,4996,0.00,2.35,0.00,0.000,6,0.000,0.035,3050,1622,3259,0,0,0,0,0,0
$GC,5247,0.25,-116.8,573.7,-7.3,199,5251,0.00,2.53,0.00,0.000,4,0.000,0.072,3050,177,3258,0,0,0,0,0,0
$GC,5269,0.25,-116.8,575.3,-7.2,199,5273,0.00,2.35,0.00,0.000,6,0.000,0.035,3050,1621,3257,0,0,0,0,0,0
$GC,5532,0.25,-116.8,594.4,-7.3,206,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1622,3256,0,0,0,0,0,0
$STATE,5611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5611,begin apogee
$GC,5616,-0.31,0.0,600.7,7.5,208,5712,0.50,0.00,92.20,0.954,6,0.031,0.000,2906,1622,2800,0,0,0,0,0,0
$STATE,5712,end apogee,CONTROL_FINISHED_OK
$STATE,5712,begin climb
$GC,5715,1.38,116.8,609.8,0.0,210,5828,1.88,2.62,104.03,0.931,4,0.098,0.076,3298,181,2322,0,0,0,0,0,0
$GC,5870,2.46,224.5,610.5,3.8,214,5987,12.65,2.45,94.50,0.920,6,0.005,0.034,3535,1659,1884,39,0,0,0,0,0
$GC,6230,2.58,224.5,575.3,11.5,223,6236,0.10,2.62,0.00,0.000,4,0.075,0.073,3583,181,1873,0,0,0,0,0,0
$GC,6496,2.58,224.5,533.7,15.2,228,6520,15.70,2.40,0.00,0.000,6,0.002,0.038,3583,1636,1871,52,1,0,0,0,0
$STATE,6523,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,6537,334.38,0.834,10,0,510,561.49
$SM_GC,1.27,13.05,0.00,0.00,0.037,0.000,0.000,415,1638,497,-11.81,-0.34,564.93
$IRIDIUM_FIX,2211.35,-15844.37,240801,050504
$TT8_MAMPS,0.027612
$HUMID,71.10
$INTERNAL_PRESSURE,9.2425
$TCM_TEMP,19.00
$XPDR_PINGS,5
$24V_AH,23.5,11.018
$10V_AH,10.0,7.796
$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,88.025,67.575,290.725,334.375,0.000,0.000,0.000,0.000,1.250,0.000,16.770,644.776,7381.330,781.592,876.110,145.554,33.370,1325.773,0.000,863.842,0.000,0.536,0.000
$DEVICE_MAMPS,148.798,75.933,954.148,834.496,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,154.237,93.950,123.777,152.181,267.238,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355996
$DATA_FILE_SIZE,16309,229
$CAP_FILE_SIZE,96460,8
$CFSIZE,260165632,168878080
$ERRORS,0,0,0,0,0,0,0,0,1,0,0,191,0,10,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_PITCH_ERRORS
$GPS,300512,081027,2218.535,-15845.828,32,99.0,51,9.9