version: 66.02
glider: 30
mission: 5
dive: 35
start: 1 20 108 18 49 35
data:
$ID,30
$MISSION,5
$DIVE,35
$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,-59217.758
$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,4
$R_STBD_OVSHOOT,3
$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
$GPS1,184427,4754.050,-12600.549,41,2.7,60,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-41.2
$GPS2,184841,4754.080,-12600.589,12,2.8,31,18.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.254,-0.053
$KALMAN_X,17294.1,-371.9,-591.8,-40359.1,4679.3
$KALMAN_Y,-25214.6,-645.6,-210.1,11035.3,817.0
$MHEAD_RNG_PITCHd_Wd,239.4,181050,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.43,-146.6,0.0,0.0,0,281,0.00,0.00,-260.05,0.000,2,0.000,0.000,709,2299,2141
$GC,283,-1.43,-146.6,4.0,-4.9,26,344,9.45,3.35,-41.10,0.000,4,0.723,0.720,2335,3716,2861
$GC,596,-1.43,-146.6,74.2,-21.8,67,602,0.00,3.10,0.00,0.000,6,0.000,0.690,2335,2299,2860
$GC,927,-1.43,-146.6,135.3,-16.5,101,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2299,2860
$GC,1249,-1.43,-146.6,186.8,-14.9,121,1254,0.00,3.40,0.00,0.000,4,0.000,0.728,2335,3714,2861
$GC,1316,-1.43,-146.6,196.9,-14.7,124,1321,0.00,3.15,0.00,0.000,6,0.000,0.693,2335,2299,2860
$GC,1635,-1.43,-146.6,244.2,-15.1,140,1636,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2299,2861
$GC,1944,-1.43,-146.6,288.7,-13.6,155,1945,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2299,2861
$GC,2290,-1.43,-146.6,334.0,-12.8,164,2291,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2298,2862
$GC,2593,-1.43,-146.6,371.9,-12.5,169,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2298,2862
$GC,2896,-1.43,-146.6,410.0,-12.5,174,2901,0.00,3.47,0.00,0.000,4,0.000,0.757,2335,3715,2862
$GC,2950,-1.43,-146.6,417.4,-13.3,174,2957,0.00,3.25,0.00,0.000,6,0.000,0.725,2335,2299,2862
$GC,3260,-1.43,-146.6,454.1,-11.8,180,3265,0.00,3.15,0.00,0.000,4,0.000,0.700,2336,878,2862
$GC,3313,-1.43,-146.6,461.0,-12.2,180,3321,0.00,3.28,0.00,0.000,6,0.000,0.713,2336,2303,2862
$GC,3623,-1.43,-146.6,495.6,-11.2,186,3628,0.00,3.42,0.00,0.000,4,0.000,0.742,2335,3711,2862
$GC,3688,-1.43,-146.6,503.1,-10.9,187,3693,0.00,3.25,0.00,0.000,6,0.000,0.708,2336,2299,2862
$GC,4053,-1.43,-146.6,542.6,-10.8,193,4058,0.00,3.17,0.00,0.000,4,0.000,0.752,2336,879,2862
$GC,4096,-1.43,-146.6,547.2,-10.3,193,4101,0.00,3.30,0.00,0.000,6,0.000,0.715,2335,2300,2862
$GC,4418,-1.43,-146.6,577.9,-9.5,199,4423,0.00,3.47,0.00,0.000,4,0.000,0.750,2335,3711,2862
$GC,4483,-1.43,-146.6,584.7,-9.8,200,4488,0.00,3.30,0.00,0.000,6,0.000,0.720,2335,2297,2862
$GC,4849,-1.43,-146.6,619.6,-9.6,206,4850,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2297,2862
$GC,5152,-1.43,-146.6,648.9,-9.6,211,5153,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2297,2862
$GC,5457,-1.43,-146.6,678.5,-9.7,216,5458,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2297,2862
$GC,5758,-1.43,-146.6,707.2,-9.3,221,5759,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2297,2862
$GC,6061,-1.43,-146.6,734.3,-8.9,226,6066,0.00,3.58,0.00,0.000,4,0.000,0.750,2335,3711,2862
$GC,6138,-1.43,-146.6,741.4,-9.3,227,6143,0.00,3.38,0.00,0.000,6,0.000,0.728,2335,2296,2862
$GC,6487,-1.43,-146.6,768.3,-7.5,233,6488,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2296,2862
$GC,6789,-1.43,-146.6,788.4,-6.5,238,6794,0.00,3.60,0.00,0.000,4,0.000,0.762,2335,3711,2862
$GC,6843,-1.43,-146.6,792.6,-8.2,238,6850,0.00,3.38,0.00,0.000,6,0.000,0.732,2335,2299,2861
$GC,7153,-1.43,-146.6,815.0,-7.3,244,7158,0.00,3.20,0.00,0.000,4,0.000,0.720,2336,880,2862
$GC,7213,-1.43,-146.6,820.1,-9.1,245,7219,0.00,3.33,0.00,0.000,6,0.000,0.720,2335,2302,2862
$GC,7577,-1.43,-146.6,847.7,-7.5,251,7583,0.00,3.55,0.00,0.000,4,0.000,0.785,2335,3711,2861
$GC,7643,-1.43,-146.6,852.9,-7.6,252,7649,0.00,3.40,0.00,0.000,6,0.000,0.750,2335,2300,2861
$GC,8004,-1.43,-146.6,876.4,-6.4,258,8009,0.00,3.25,0.00,0.000,4,0.000,0.916,2336,883,2862
$GC,8086,-1.43,-146.6,881.8,-6.0,259,8091,0.00,3.35,0.00,0.000,6,0.000,0.914,2335,2299,2861
$GC,8429,-1.43,-146.6,901.9,-5.9,265,8434,0.00,3.58,0.00,0.000,4,0.000,0.770,2335,3711,2862
$GC,8534,-1.43,-146.6,908.9,-6.8,266,8539,0.00,3.42,0.00,0.000,6,0.000,0.735,2335,2299,2861
$GC,8855,-1.43,-146.6,929.1,-6.4,272,8860,0.00,3.28,0.00,0.000,4,0.000,0.725,2336,883,2861
$GC,8920,-1.43,-146.6,933.7,-7.5,273,8925,0.00,3.33,0.00,0.000,6,0.000,0.723,2335,2299,2861
$GC,9285,-1.43,-146.6,956.8,-6.3,279,9291,0.00,3.60,0.00,0.000,4,0.000,0.780,2335,3711,2861
$GC,9379,-1.43,-146.6,963.2,-5.8,280,9384,0.00,3.45,0.00,0.000,6,0.000,0.757,2335,2300,2861
$GC,9711,-1.43,-146.6,983.5,-6.0,286,9716,0.00,3.28,0.00,0.000,4,0.000,0.735,2336,880,2861
$GC,9782,-1.43,-146.6,988.5,-6.9,287,9787,0.00,3.38,0.00,0.000,6,0.000,0.730,2335,2299,2860
$STATE,9807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9807,begin apogee
$GC,9811,-0.32,0.0,990.2,7.6,287,10535,1.17,0.00,589.35,0.631,6,0.658,0.000,2574,2299,2860
$STATE,10536,end apogee,CONTROL_FINISHED_OK
$STATE,10536,begin climb
$GC,10537,1.43,146.6,1026.8,0.0,299,10542,1.75,0.00,0.68,0.618,2,0.616,0.000,2964,2299,2860
$STATE,10542,end climb,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,10545,589.35,0.643,26,1,2859,-146.44
$SM_CCo,11267,589.35,0.643,26,1,2859,-146.44
$SM_CCo,11990,589.35,0.628,26,1,2859,-146.08
$SM_CCo,19621,664.72,1.440,11,1,1584,323.06
$SM_CCo,20343,210.15,1.726,0,0,968,550.09
$SM_GC,1424.19,0.00,0.00,210.15,0.000,0.000,1.726,709,2306,968,-8.93,0.17,550.09
$IRIDIUM_FIX,4738.89,-12557.63,200108,191959
$TT8_MAMPS,0.021476
$HUMID,2542
$INTERNAL_PRESSURE,9.21252
$TCM_TEMP,17.60
$XPDR_PINGS,0
$24V_AH,23.0,5.263
$10V_AH,10.1,1.249
$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,23.800,107.375,590.025,2642.925,0.000,39.872,36.928,89.026,8.500,0.000,0.000,33.274,896.826,14644.247,4152.305,894.545,235.530,33.364,4784.442,0.000,837.874,0.000,55.910
$DEVICE_MAMPS,722.553,916.227,630.682,1725.685,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,202.709,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9621,299
$CFSIZE,260165632,257929216
$ERRORS,0,0,0,0,0,0,0,0,0,0,5,0,25,173,0
$EOP_CODE,MOTOR_MAX_ERRORS_EXCEEDED
$RECOV_CODE,MAX_VBD_ERRORS
$SM_CCo,20585,196.30,1.644,0,0,411,755.03
$SM_GC,0.32,0.00,0.00,0.00,0.000,0.000,0.000,709,2292,352,-8.93,-0.23,776.37
$GPS,210108,012458,4752.981,-12602.322,53,2.7,72,18.8