version: 66.06
glider: 148
mission: 11
dive: 100
start: 6 1 112 5 48 14
data:
$ID,148
$MISSION,11
$DIVE,100
$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,-907699.88
$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,2950
$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,53
$R_STBD_OVSHOOT,65
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2840
$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
$GPS1,054319,2224.049,-15858.078,8,1.1,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-69.2
$GPS2,054732,2224.110,-15858.103,10,1.8,10,9.9
$SPEED_LIMITS,0.174,0.244
$TGT_NAME,Kaena
$TGT_LATLONG,2150.000,-15821.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.201,-0.138
$KALMAN_X,-228270.4,-3103.8,531.9,132239.8,-8961.1
$KALMAN_Y,-34524.9,436.4,1172.5,-4799.9,8470.4
$MHEAD_RNG_PITCHd_Wd,114.7,88800,-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,15,-1.34,-126.5,0.0,0.0,0,122,0.00,0.00,-103.60,0.000,2,0.000,0.000,411,1611,3254,0,0,0,0,0,0
$GC,126,-1.34,-126.5,3.7,-7.3,14,151,11.57,2.30,-1.83,0.000,4,0.149,0.048,2650,194,3358,0,0,0,0,0,0
$GC,233,-0.15,-126.5,46.2,-40.5,27,250,8.98,2.20,0.00,0.000,6,0.023,0.018,2912,1643,3360,26,0,0,0,0,0
$GC,516,0.45,-126.5,118.2,-22.7,53,525,0.60,2.35,0.00,0.000,4,0.104,0.038,3041,183,3360,0,0,0,0,0,0
$GC,609,0.65,-126.5,135.4,-15.4,62,623,5.40,2.22,0.00,0.000,6,0.006,0.018,3085,1644,3360,17,0,0,0,0,0
$GC,873,0.65,-126.5,168.1,-12.0,87,878,0.00,2.42,0.00,0.000,4,0.000,0.024,3085,3207,3360,0,0,0,0,0,0
$GC,908,0.65,-126.5,172.1,-10.8,90,913,0.00,2.45,0.00,0.000,6,0.000,0.026,3085,1648,3361,0,0,0,0,0,0
$GC,1173,0.65,-126.5,197.8,-9.2,114,1177,0.00,2.42,0.00,0.000,4,0.000,0.024,3085,3214,3360,0,0,0,0,0,0
$GC,1195,0.65,-126.5,200.3,-9.6,115,1201,0.00,2.47,0.00,0.000,6,0.000,0.026,3085,1640,3361,0,0,0,0,0,0
$GC,1445,0.65,-126.5,224.4,-9.9,122,1449,0.00,2.40,0.00,0.000,4,0.000,0.042,3085,167,3361,0,0,0,0,0,0
$GC,1465,0.65,-126.5,226.6,-10.5,122,1469,0.00,2.25,0.00,0.000,6,0.000,0.018,3085,1652,3361,0,0,0,0,0,0
$GC,1729,0.65,-126.5,252.0,-9.8,129,1733,0.00,2.40,0.00,0.000,4,0.000,0.024,3085,3210,3360,0,0,0,0,0,0
$GC,1757,0.59,-126.5,255.0,-10.4,129,1761,0.00,2.50,0.00,0.000,6,0.000,0.028,3085,1640,3360,0,0,0,0,0,0
$GC,2013,0.59,-126.5,282.2,-10.8,136,2017,0.00,2.38,0.00,0.000,4,0.000,0.045,3085,177,3359,0,0,0,0,0,0
$GC,2027,0.59,-126.5,284.0,-10.4,136,2031,0.00,2.25,0.00,0.000,6,0.000,0.019,3085,1658,3359,0,0,0,0,0,0
$GC,2295,0.59,-126.5,308.5,-8.9,143,2299,0.00,2.40,0.00,0.000,4,0.000,0.028,3085,3201,3358,0,0,0,0,0,0
$GC,2344,0.49,-126.5,313.0,-8.8,144,2368,15.70,2.45,0.00,0.000,6,0.002,0.029,3085,1658,3358,52,1,0,0,0,0
$STATE,2371,end dive,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,2385,575.80,0.662,3,0,510,571.30
$SM_GC,0.59,15.82,0.00,0.00,0.004,0.000,0.000,2624,1655,494,-1.50,-0.68,575.47
$IRIDIUM_FIX,2216.01,-15856.91,260801,050522
$TT8_MAMPS,0.027612
$HUMID,68.58
$INTERNAL_PRESSURE,9.34016
$TCM_TEMP,22.30
$XPDR_PINGS,78
$24V_AH,23.8,14.146
$10V_AH,10.0,8.950
$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,58.075,37.875,0.000,575.800,0.000,0.000,0.000,0.000,19.500,0.000,12.137,437.527,4679.546,699.614,529.061,88.203,33.319,1027.221,0.000,534.372,0.000,0.538,0.000
$DEVICE_MAMPS,148.798,48.321,0.000,661.921,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,95.552,96.613,123.918,177.492,311.805,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356100
$DATA_FILE_SIZE,9984,144
$CAP_FILE_SIZE,69618,16
$CFSIZE,260165632,168366080
$ERRORS,0,0,0,0,0,0,0,0,2,0,0,142,0,3,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_PITCH_ERRORS
$SM_CCo,6480,0.00,0.000,0,0,494,575.47
$SM_GC,1.20,8.75,0.00,0.00,0.020,0.000,0.000,412,1656,494,-11.59,-0.68,575.47
$GPS,010612,073701,2224.265,-15858.171,10,1.8,28,9.9