version: 66.02
glider: 30
mission: 4
dive: 3
start: 12 12 107 0 16 1
data:
$ID,30
$MISSION,4
$DIVE,3
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,3600
$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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$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,693
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-56590.898
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,714
$PITCH_MAX,3990
$C_PITCH,2950
$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,1727
$C_ROLL_CLIMB,1727
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,7
$R_STBD_OVSHOOT,7
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,410
$VBD_MAX,4000
$C_VBD,2292
$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,93
$PRESSURE_YINT,-31.329126
$PRESSURE_SLOPE,0.0003358523
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,60
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,001202,4808.234,-12223.104,8,1.9,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-69.5
$GPS2,001505,4808.267,-12223.118,10,2.3,29,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.037,-0.257
$KALMAN_X,-102.4,-45.1,-44.1,-28.9,-56.7
$KALMAN_Y,399.3,207.4,203.3,-308.4,252.3
$MHEAD_RNG_PITCHd_Wd,153.6,2350,-17.9,-10.000
$D_GRID,99
$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,-146.6,0.0,0.0,0,171,0.00,0.00,-150.57,0.000,2,0.000,0.000,708,1720,1579
$GC,173,-1.43,-146.6,3.0,-0.7,30,316,10.82,2.92,-123.78,0.000,4,0.196,0.159,2633,311,2690
$GC,428,-1.43,-146.6,19.4,-9.0,78,434,0.00,2.97,0.00,0.000,6,0.000,0.161,2632,1730,2690
$GC,497,-1.43,-146.6,25.8,-9.1,85,502,0.00,2.95,0.00,0.000,4,0.000,0.166,2632,3140,2690
$GC,749,-1.43,-146.6,47.3,-8.6,107,754,0.00,2.80,0.00,0.000,6,0.000,0.134,2633,1723,2690
$GC,951,-1.43,-146.6,62.8,-7.4,118,956,0.00,3.00,0.00,0.000,4,0.000,0.166,2632,3140,2690
$GC,1125,-1.43,-146.6,75.5,-7.3,126,1129,0.00,2.80,0.00,0.000,6,0.000,0.137,2632,1724,2690
$GC,1449,-1.43,-146.6,98.9,-7.4,142,1453,0.00,2.17,0.00,0.000,3,0.000,0.166,2633,2765,2690
$STATE,1454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1454,begin apogee
$GC,1459,-0.32,0.0,99.3,7.2,142,1573,1.17,0.00,110.20,0.889,6,0.137,0.000,2872,1722,2292
$STATE,1574,end apogee,CONTROL_FINISHED_OK
$STATE,1574,begin climb
$GC,1575,1.43,146.6,99.7,0.0,151,1698,1.77,3.10,110.07,0.859,4,0.102,0.181,3257,321,1893
$GC,1702,1.43,146.6,78.6,23.8,157,1707,0.00,3.17,0.00,0.000,6,0.000,0.186,3257,1728,1893
$GC,2027,1.43,146.6,6.9,18.9,187,2033,0.00,3.05,0.00,0.000,4,0.000,0.179,3257,3143,1893
$GC,2038,1.43,146.6,5.3,15.1,189,2044,0.00,2.88,0.00,0.000,6,0.000,0.146,3257,1729,1893
$STATE,2048,end climb,SURFACE_DEPTH_REACHED
$STATE,2048,begin surface coast
$FINISH,2.7,1.017506
$STATE,2077,end surface coast,CONTROL_FINISHED_OK
$STATE,2077,begin surface
$SM_CCo,2094,412.12,0.767,0,0,410,692.48
$SM_CCo,2509,0.00,0.000,0,0,410,692.48
$SM_CCo,2511,0.00,0.000,0,0,410,692.48
$SM_GC,1.82,0.00,0.00,0.00,0.000,0.000,0.000,705,1725,410,-10.32,-0.06,692.48
$IRIDIUM_FIX,4751.72,-12226.29,121207,040450
$TT8_MAMPS,0.019942
$HUMID,2057
$INTERNAL_PRESSURE,9.20283
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,91.2,26.7
$24V_AH,23.8,114.994
$10V_AH,10.2,33.975
$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,25.375,33.950,220.275,412.125,0.000,0.000,0.000,0.000,1.250,0.000,0.000,30.550,300.966,1010.554,834.655,434.287,21.806,31.410,1131.117,0.000,406.432,0.000,10.002
$DEVICE_MAMPS,196.157,186.225,888.914,767.247,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,128.917,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6455,196
$CFSIZE,260165632,259067904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,53,0
$GPS,121207,005853,4808.280,-12223.178,10,3.0,29,18.3