version: 66.02
glider: 30
mission: 5
dive: 38
start: 1 21 108 9 1 45
data:
$ID,30
$MISSION,5
$DIVE,38
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,4050
$D_NO_BLEED,200
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,30
$KALMAN_USE,1
$HD_A,0.0034169999
$HD_B,0.0095870001
$HD_C,3.1312e-05
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.133301
$TGT_DEFAULT_LON,-122.3833
$TGT_AUTO_DEFAULT,0
$SM_CC,550
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-59562.312
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,714
$PITCH_MAX,3990
$C_PITCH,2650
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15.4
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,133
$ROLL_MAX,3750
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,7
$R_STBD_OVSHOOT,6
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,410
$VBD_MAX,4000
$C_VBD,2462
$VBD_DBAND,2
$VBD_CNV,-0.36794999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0018
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,10
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,122
$AH0_10V,100
$PRESSURE_YINT,-31.539675
$PRESSURE_SLOPE,0.0003358523
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$INT_PRESSURE_SLOPE,0.0096899997
$INT_PRESSURE_YINT,-3.4619999
$DEEPGLIDER,1
$DEEPGLIDERMB,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043891054
$SEABIRD_T_H,0.00064944528
$SEABIRD_T_I,2.6160304e-05
$SEABIRD_T_J,2.7867641e-06
$SEABIRD_C_G,-10.215803
$SEABIRD_C_H,1.1650903
$SEABIRD_C_I,-0.0016038414
$SEABIRD_C_J,0.00021996208
$GPS1,085257,4753.006,-12606.354,61,3.8,80,18.8
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,2
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-40.4
$GPS2,090052,4753.041,-12606.427,155,3.8,174,18.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.256,0.040
$KALMAN_X,23846.8,561.1,-734.7,-54932.7,4716.9
$KALMAN_Y,-26535.8,1089.8,-101.2,8588.2,-1044.7
$MHEAD_RNG_PITCHd_Wd,260.1,173860,-17.9,-10.000
$D_GRID,990
$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
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.43,-146.6,0.0,0.0,0,276,0.00,0.00,-254.90,0.000,2,0.000,0.000,708,2300,2139
$GC,278,-1.43,-146.6,3.8,-4.1,26,340,9.40,3.15,-41.28,0.000,4,0.735,0.703,2333,3713,2861
$GC,592,-1.43,-146.6,75.9,-22.8,67,598,0.00,2.85,0.00,0.000,6,0.000,0.658,2333,2299,2858
$GC,924,-1.43,-146.6,137.2,-17.3,100,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2299,2859
$GC,1234,-1.43,-146.6,187.2,-15.8,119,1238,0.00,3.03,0.00,0.000,4,0.000,0.685,2333,883,2860
$GC,1310,-1.43,-146.6,199.2,-16.0,122,1317,0.00,3.17,0.00,0.000,6,0.000,0.700,2333,2300,2860
$GC,1626,-1.43,-146.6,245.9,-15.0,138,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2300,2860
$GC,1936,-1.43,-146.6,291.2,-14.4,153,1937,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2300,2860
$GC,2239,-1.43,-146.6,334.3,-14.0,160,2240,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2300,2860
$GC,2543,-1.43,-146.6,375.1,-13.3,165,2544,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2300,2861
$GC,2845,-1.43,-146.6,412.4,-12.2,170,2850,0.00,3.12,0.00,0.000,4,0.000,0.708,2333,3713,2861
$GC,2888,-1.43,-146.6,417.9,-11.9,170,2893,0.00,2.90,0.00,0.000,6,0.000,0.670,2333,2301,2861
$GC,3209,-1.43,-146.6,454.9,-11.5,176,3214,0.00,3.08,0.00,0.000,4,0.000,0.708,2334,884,2861
$GC,3257,-1.43,-146.6,460.8,-11.4,176,3262,0.00,3.20,0.00,0.000,6,0.000,0.705,2333,2299,2861
$GC,3572,-1.43,-146.6,496.4,-11.2,182,3573,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2299,2861
$GC,3876,-1.43,-146.6,529.3,-10.9,187,3881,0.00,3.17,0.00,0.000,4,0.000,0.718,2333,3711,2861
$GC,3919,-1.43,-146.6,534.4,-11.9,187,3924,0.00,2.92,0.00,0.000,6,0.000,0.693,2333,2300,2861
$GC,4239,-1.43,-146.6,568.3,-10.5,193,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2299,2861
$GC,4544,-1.43,-146.6,600.8,-10.7,198,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2300,2861
$GC,4846,-1.43,-146.6,632.2,-10.3,203,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2299,2861
$GC,5149,-1.43,-146.6,662.2,-9.9,208,5150,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2300,2861
$GC,5452,-1.43,-146.6,691.1,-9.4,213,5457,0.00,3.22,0.00,0.000,4,0.000,0.725,2333,3712,2861
$GC,5489,-1.43,-146.6,694.9,-10.2,213,5494,0.00,2.95,0.00,0.000,6,0.000,0.673,2333,2300,2861
$GC,5815,-1.43,-146.6,724.4,-9.0,219,5817,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2300,2861
$GC,6121,-1.43,-146.6,751.4,-8.9,224,6122,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2300,2861
$GC,6422,-1.43,-146.6,777.0,-8.4,229,6423,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2300,2861
$GC,6725,-1.43,-146.6,803.9,-8.9,234,6730,0.00,3.25,0.00,0.000,4,0.000,0.718,2333,3712,2861
$GC,6786,-1.43,-146.6,810.0,-9.7,235,6791,0.00,2.95,0.00,0.000,6,0.000,0.678,2333,2299,2861
$GC,7150,-1.43,-146.6,844.1,-9.3,241,7151,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2299,2861
$GC,7453,-1.43,-146.6,870.9,-8.8,246,7458,0.00,3.08,0.00,0.000,4,0.000,0.703,2333,885,2860
$GC,7530,-1.43,-146.6,877.4,-8.2,247,7535,0.00,3.22,0.00,0.000,6,0.000,0.710,2333,2303,2860
$GC,7879,-1.43,-146.6,904.1,-7.5,253,7884,0.00,3.22,0.00,0.000,4,0.000,0.735,2333,3713,2860
$GC,7967,-1.43,-146.6,911.3,-8.2,254,7971,0.00,2.95,0.00,0.000,6,0.000,0.675,2333,2299,2860
$GC,8310,-1.43,-146.6,934.2,-6.5,260,8311,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2299,2860
$GC,8615,-1.43,-146.6,953.5,-6.3,265,8616,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2299,2860
$GC,8916,-1.43,-146.6,972.3,-6.2,270,8921,0.00,3.08,0.00,0.000,4,0.000,0.720,2333,885,2860
$GC,8987,-1.43,-146.6,976.8,-5.1,271,8992,0.00,3.25,0.00,0.000,6,0.000,0.723,2333,2303,2860
$STATE,9218,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9218,begin apogee
$GC,9221,-0.32,0.0,990.8,6.1,275,9945,1.23,0.00,589.35,0.638,6,0.660,0.000,2577,2303,2859
$STATE,9946,end apogee,CONTROL_FINISHED_OK
$STATE,9946,begin climb
$GC,9947,1.43,146.6,1024.9,0.0,287,10002,1.77,0.00,44.00,0.737,2,0.735,0.000,2967,2303,2859
$STATE,10003,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,10005,589.35,0.663,26,1,2859,-145.71
$SM_CCo,10727,589.35,0.656,26,1,2859,-146.08
$SM_CCo,11450,589.35,0.668,26,1,2859,-146.08
$SM_CCo,19577,659.70,1.420,12,1,1737,266.40
$SM_CCo,20299,273.33,1.780,0,0,968,550.09
$SM_GC,1454.90,0.00,0.00,273.33,0.000,0.000,1.780,707,2309,968,-8.94,0.25,550.09
$IRIDIUM_FIX,4735.69,-12600.23,210108,090918
$TT8_MAMPS,0.021476
$HUMID,2488
$INTERNAL_PRESSURE,9.21252
$TCM_TEMP,17.50
$XPDR_PINGS,0
$24V_AH,22.9,6.336
$10V_AH,10.1,1.423
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,23.825,61.775,633.350,2701.075,0.000,38.002,36.056,170.282,8.500,0.000,0.000,175.253,827.778,14844.740,4231.123,838.756,311.741,33.351,4768.341,0.000,645.216,0.000,55.909
$DEVICE_MAMPS,734.968,734.968,737.451,1780.311,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,195.173,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9576,288
$CFSIZE,260165632,257822720
$ERRORS,0,0,0,0,0,0,0,0,0,0,5,0,16,175,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_VBD_ERRORS
$SM_CCo,20596,207.35,1.674,0,0,410,755.03
$SM_GC,0.54,0.00,0.00,0.00,0.000,0.000,0.000,707,2316,352,-8.94,0.45,776.37
$GPS,210108,153852,4753.195,-12607.989,44,2.9,63,18.8