version: 66.04
glider: 33
mission: 7
dive: 19
start: 10 12 109 4 27 37
data:
$ID,33
$MISSION,7
$DIVE,19
$D_SURF,2
$D_FLARE,3
$D_TGT,3000
$D_ABORT,4005
$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,1000
$T_MISSION,1030
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,2
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.5700001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47
$TGT_DEFAULT_LON,-125
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-169721.81
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,27
$PITCH_MAX,2563
$C_PITCH,1947
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,60
$ROLL_MAX,3837
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,12
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,186
$VBD_MAX,3785
$C_VBD,1836
$VBD_DBAND,2
$VBD_CNV,-0.36790001
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,151
$AH0_10V,122.2
$PHONE_SUPPLY,2
$PRESSURE_YINT,-19.421526
$PRESSURE_SLOPE,0.00046800601
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,125
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,1
$DEEPGLIDERMB,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,99
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-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,0.0043575475
$SEABIRD_T_H,0.00062940316
$SEABIRD_T_I,2.4306677e-05
$SEABIRD_T_J,2.6223986e-06
$SEABIRD_C_G,-10.332057
$SEABIRD_C_H,1.2094743
$SEABIRD_C_I,-0.0016192879
$SEABIRD_C_J,0.00021825745
$GPS1,042024,4703.389,-12607.532,28,1.3,45,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-58.1
$GPS2,042649,4703.389,-12607.540,14,1.7,31,18.5
$SPEED_LIMITS,0.100,0.264
$TGT_NAME,W_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.263,0.016
$KALMAN_X,64756.3,-269.4,-218.6,-149534.2,15733.4
$KALMAN_Y,-49576.8,2685.5,2025.8,50708.0,-15577.4
$MHEAD_RNG_PITCHd_Wd,254.9,142182,-18.1,-10.000
$D_GRID,3000
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
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$GC,18207,-1.39,-146.6,2496.1,-11.1,688,18212,0.00,2.50,0.00,0.000,6,0.000,0.114,1638,2105,2225
$GC,18525,-1.39,-146.6,2526.6,-9.5,699,18530,0.00,2.62,0.00,0.000,4,0.000,0.151,1638,681,2225
$GC,18604,-1.39,-146.6,2534.4,-9.8,701,18608,0.00,2.53,0.00,0.000,6,0.000,0.129,1638,2100,2225
$STATE,18705,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,18705,begin apogee
$GC,18709,-0.33,0.0,2544.4,9.9,705,19433,1.10,0.00,589.35,1.085,6,0.151,0.000,1868,1997,1925
$STATE,19435,end apogee,CONTROL_FINISHED_OK
$STATE,19435,begin climb
$GC,19436,1.39,146.6,2562.5,0.0,729,19441,1.88,0.00,0.62,0.040,2,0.109,0.000,2244,1997,1924
$STATE,19441,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,19444,589.35,0.956,26,1,1697,50.77
$SM_CCo,20166,589.35,1.130,26,1,1292,200.14
$SM_CCo,20889,589.35,0.983,26,1,981,314.19
$SM_CCo,44543,589.35,0.688,26,1,964,320.81
$SM_CCo,45266,589.35,0.638,26,1,965,320.44
$SM_CCo,45988,589.35,0.621,26,1,967,319.34
$SM_GC,1.40,0.00,0.00,589.35,0.000,0.000,0.621,22,1990,967,-8.86,-0.28,319.34
$IRIDIUM_FIX,4644.93,-12557.23,050199,161653
$TT8_MAMPS,0.021476
$HUMID,1802
$INTERNAL_PRESSURE,7.57842
$TCM_TEMP,16.40
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,2476.6,86.9
$24V_AH,22.3,7.264
$10V_AH,10.6,2.113
$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,Compass2
$DEVICE_SECS,21.875,220.450,589.975,3536.100,0.000,22.270,39.098,196.600,26.000,0.000,0.000,31.110,2320.344,37143.000,5267.207,1931.103,405.718,33.346,6697.516,0.000,1758.617,0.000,155.169,0.000
$DEVICE_MAMPS,238.368,163.878,1085.071,1129.765,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,503.033,1108.188,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34905,729
$CAP_FILE_SIZE,236515,60
$CFSIZE,260280320,256815104
$ERRORS,0,1,0,0,0,0,0,0,0,0,7,0,21,182,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_VBD_ERRORS
$SM_CCo,46744,589.35,0.611,26,1,970,318.60
$SM_CCo,47466,589.35,0.598,26,1,971,318.23
$SM_CCo,48189,589.35,0.593,26,1,973,317.50
$SM_GC,1.56,0.00,0.00,589.35,0.000,0.000,0.593,21,1991,973,-8.86,-0.25,317.50
$GPS,121009,180500,4702.149,-12609.208,123,1.5,123,18.5