version: 66.02
glider: 30
mission: 5
dive: 41
start: 1 21 108 22 49 44
data:
$ID,30
$MISSION,5
$DIVE,41
$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,-59946.867
$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,4
$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
$GPS1,224437,4752.866,-12612.312,38,1.7,49,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-44.3
$GPS2,224850,4752.852,-12612.330,17,1.9,34,18.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.259,-0.008
$KALMAN_X,32686.3,-433.5,-882.8,-69939.1,7137.3
$KALMAN_Y,-24737.4,-307.4,-481.8,8223.3,1628.8
$MHEAD_RNG_PITCHd_Wd,249.4,167556,-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,-146.6,0.0,0.0,0,271,0.00,0.00,-250.32,0.000,2,0.000,0.000,708,2298,2113
$GC,274,-1.43,-146.6,3.8,-4.3,25,335,9.45,3.17,-41.55,0.000,4,0.710,0.685,2332,3714,2861
$GC,587,-1.43,-146.6,75.5,-23.4,67,594,0.00,2.88,0.00,0.000,6,0.000,0.660,2332,2297,2858
$GC,919,-1.43,-146.6,137.6,-16.9,100,924,0.00,3.22,0.00,0.000,4,0.000,0.695,2332,3714,2859
$GC,1007,-1.43,-146.6,153.1,-16.4,107,1012,0.00,2.92,0.00,0.000,6,0.000,0.670,2332,2302,2859
$GC,1334,-1.43,-146.6,200.7,-13.9,123,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2302,2859
$GC,1643,-1.43,-146.6,245.1,-14.5,138,1648,0.00,3.03,0.00,0.000,4,0.000,0.670,2332,883,2860
$GC,1683,-1.43,-146.6,250.8,-14.9,140,1687,0.00,3.20,0.00,0.000,6,0.000,0.688,2332,2301,2860
$GC,2007,-1.43,-146.6,297.3,-14.1,156,2012,0.00,3.17,0.00,0.000,4,0.000,0.705,2332,3714,2861
$GC,2078,-1.43,-146.6,307.8,-14.7,159,2083,0.00,2.92,0.00,0.000,6,0.000,0.643,2332,2290,2861
$GC,2440,-1.43,-146.6,357.6,-13.8,165,2445,0.00,3.28,0.00,0.000,4,0.000,0.737,2332,3714,2861
$GC,2477,-1.43,-146.6,363.5,-14.6,165,2482,0.00,2.92,0.00,0.000,6,0.000,0.685,2332,2307,2861
$GC,2803,-1.43,-146.6,408.9,-13.8,171,2808,0.00,3.08,0.00,0.000,4,0.000,0.688,2332,884,2861
$GC,2857,-1.43,-146.6,416.7,-13.8,171,2864,0.00,3.20,0.00,0.000,6,0.000,0.695,2332,2300,2860
$GC,3167,-1.43,-146.6,457.1,-13.1,177,3172,0.00,3.22,0.00,0.000,4,0.000,0.703,2332,3716,2861
$GC,3215,-1.43,-146.6,463.8,-12.9,177,3220,0.00,2.92,0.00,0.000,6,0.000,0.648,2332,2300,2861
$GC,3531,-1.43,-146.6,501.6,-11.9,183,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2299,2861
$GC,3833,-1.43,-146.6,535.3,-11.0,188,3834,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2299,2861
$GC,4136,-1.43,-146.6,569.1,-11.1,193,4141,0.00,3.28,0.00,0.000,4,0.000,0.708,2332,3714,2860
$GC,4179,-1.43,-146.6,574.4,-11.5,193,4184,0.00,2.95,0.00,0.000,6,0.000,0.651,2332,2296,2861
$GC,4499,-1.43,-146.6,609.5,-10.8,199,4501,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2296,2861
$GC,4803,-1.43,-146.6,640.3,-10.1,204,4807,0.00,3.08,0.00,0.000,4,0.000,0.680,2332,884,2860
$GC,4856,-1.43,-146.6,645.8,-11.3,204,4864,0.00,3.22,0.00,0.000,6,0.000,0.685,2332,2304,2860
$GC,5167,-1.43,-146.6,676.3,-10.0,210,5172,0.00,3.22,0.00,0.000,4,0.000,0.700,2332,3714,2860
$GC,5221,-1.43,-146.6,681.8,-9.6,210,5228,0.00,2.95,0.00,0.000,6,0.000,0.653,2332,2299,2860
$GC,5530,-1.43,-146.6,709.2,-8.7,216,5532,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2299,2860
$GC,5834,-1.43,-146.6,734.6,-8.4,221,5838,0.00,3.08,0.00,0.000,4,0.000,0.675,2332,885,2860
$GC,5887,-1.43,-146.6,739.3,-7.8,221,5894,0.00,3.22,0.00,0.000,6,0.000,0.685,2332,2300,2860
$GC,6197,-1.43,-146.6,764.7,-8.2,227,6202,0.00,3.25,0.00,0.000,4,0.000,0.710,2332,3713,2860
$GC,6262,-1.43,-146.6,770.6,-8.5,228,6267,0.00,2.97,0.00,0.000,6,0.000,0.663,2332,2296,2860
$GC,6630,-1.43,-146.6,801.1,-8.4,234,6634,0.00,3.08,0.00,0.000,4,0.000,0.688,2332,879,2860
$GC,6678,-1.43,-146.6,805.6,-10.1,234,6683,0.00,3.25,0.00,0.000,6,0.000,0.693,2332,2303,2860
$GC,6993,-1.43,-146.6,832.1,-8.5,240,6994,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2303,2859
$GC,7296,-1.43,-146.6,857.7,-8.4,245,7301,0.00,3.25,0.00,0.000,4,0.000,0.715,2332,3714,2860
$GC,7344,-1.43,-146.6,862.2,-9.1,245,7349,0.00,2.97,0.00,0.000,6,0.000,0.663,2332,2299,2860
$GC,7659,-1.43,-146.6,887.3,-8.0,251,7664,0.00,3.10,0.00,0.000,4,0.000,0.693,2332,883,2860
$GC,7713,-1.43,-146.6,891.9,-8.2,251,7720,0.00,3.25,0.00,0.000,6,0.000,0.720,2332,2300,2860
$GC,8023,-1.43,-146.6,914.5,-7.2,257,8027,0.00,3.28,0.00,0.000,4,0.000,0.718,2332,3714,2860
$GC,8155,-1.43,-146.6,925.6,-9.1,259,8160,0.00,2.97,0.00,0.000,6,0.000,0.668,2332,2298,2860
$GC,8522,-1.43,-146.6,952.3,-7.3,265,8527,0.00,3.12,0.00,0.000,4,0.000,0.705,2332,886,2859
$GC,8599,-1.43,-146.6,958.3,-7.7,266,8604,0.00,3.25,0.00,0.000,6,0.000,0.708,2332,2300,2859
$GC,8948,-1.43,-146.6,981.6,-6.6,272,8949,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2300,2859
$STATE,9128,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9128,begin apogee
$GC,9131,-0.32,0.0,992.9,6.3,275,9855,1.23,0.00,589.35,0.653,6,0.641,0.000,2578,2300,2858
$STATE,9856,end apogee,CONTROL_FINISHED_OK
$STATE,9856,begin climb
$GC,9857,1.43,146.6,1025.0,0.0,287,9862,1.73,0.00,0.68,0.628,2,0.613,0.000,2965,2300,2858
$STATE,9863,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,9865,589.35,0.638,26,1,2857,-145.34
$SM_CCo,10587,589.35,0.638,26,1,2857,-145.34
$SM_CCo,11310,589.35,0.628,26,1,2857,-145.34
$SM_CCo,19933,589.35,0.698,26,1,2817,-130.62
$SM_CCo,20655,666.97,1.818,0,0,967,550.09
$SM_GC,1454.87,0.00,0.00,666.97,0.000,0.000,1.818,707,2304,967,-8.94,0.11,550.09
$IRIDIUM_FIX,4735.69,-12613.68,210108,232319
$TT8_MAMPS,0.021476
$HUMID,2387
$INTERNAL_PRESSURE,9.21252
$TCM_TEMP,17.50
$XPDR_PINGS,0
$24V_AH,22.6,7.553
$10V_AH,10.1,1.602
$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,23.825,105.900,590.025,3024.375,0.000,40.227,35.309,87.874,8.500,0.000,0.000,34.665,891.050,15046.471,4603.846,810.881,237.551,33.358,5217.730,0.000,756.825,0.000,55.918
$DEVICE_MAMPS,717.587,737.451,653.029,1817.556,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,194.370,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6462,287
$CFSIZE,260165632,257687552
$ERRORS,0,0,0,0,0,0,0,0,0,0,5,0,26,186,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_VBD_ERRORS
$SM_CCo,21353,201.73,1.651,0,0,411,755.03
$SM_GC,0.75,0.00,0.00,0.00,0.000,0.000,0.000,707,2308,352,-8.94,0.23,776.37
$GPS,220108,053846,4752.039,-12613.446,39,2.3,58,18.8