version: 66.02
glider: 30
mission: 4
dive: 4
start: 12 12 107 1 16 3
data:
$ID,30
$MISSION,4
$DIVE,4
$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,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,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,-56671.332
$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,2100
$C_ROLL_CLIMB,2100
$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
$GPS1,011157,4808.527,-12223.274,11,1.7,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-70.3
$GPS2,011511,4808.589,-12223.293,14,2.4,33,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.050,-0.255
$KALMAN_X,-261.7,-106.3,-86.0,18.9,-104.1
$KALMAN_Y,975.1,460.7,380.4,-726.9,383.5
$MHEAD_RNG_PITCHd_Wd,150.6,2966,-17.9,-10.000
$D_GRID,150
$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,16,-1.43,-146.6,0.0,0.0,0,151,0.00,0.00,-130.52,0.000,2,0.000,0.000,705,2100,1463
$GC,153,-1.43,-146.6,3.0,-0.4,26,311,10.62,3.17,-136.55,0.000,4,0.189,0.194,2630,3501,2691
$GC,378,-1.43,-146.6,15.3,-10.6,69,384,0.00,2.75,0.00,0.000,6,0.000,0.129,2630,2097,2690
$GC,456,-1.43,-146.6,22.3,-8.9,81,460,0.00,2.92,0.00,0.000,4,0.000,0.161,2631,679,2689
$GC,595,-1.43,-146.6,35.1,-7.9,93,600,0.00,3.05,0.00,0.000,6,0.000,0.171,2630,2100,2689
$GC,791,-1.43,-146.6,50.4,-7.8,111,796,0.00,2.92,0.00,0.000,4,0.000,0.159,2630,685,2689
$GC,868,-1.43,-146.6,56.6,-7.4,114,875,0.00,3.05,0.00,0.000,6,0.000,0.174,2630,2101,2689
$GC,1184,-1.43,-146.6,79.8,-7.2,130,1191,0.00,3.05,0.00,0.000,4,0.000,0.189,2630,3507,2689
$STATE,1402,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1403,begin apogee
$GC,1408,-0.32,0.0,97.1,7.5,139,1522,1.20,0.00,109.85,0.874,6,0.139,0.000,2874,2095,2292
$STATE,1522,end apogee,CONTROL_FINISHED_OK
$STATE,1522,begin climb
$GC,1524,1.43,146.6,97.1,0.0,145,1638,1.77,0.00,110.53,0.844,6,0.102,0.000,3259,2095,1893
$GC,1940,1.43,146.6,10.5,21.1,177,1946,0.00,3.20,0.00,0.000,4,0.000,0.194,3259,3513,1893
$STATE,1978,end climb,SURFACE_DEPTH_REACHED
$STATE,1978,begin surface coast
$FINISH,2.4,1.017155
$STATE,2001,end surface coast,CONTROL_FINISHED_OK
$STATE,2002,begin surface
$SM_CCo,2021,412.17,0.757,0,0,410,692.48
$SM_CCo,2436,0.00,0.000,0,0,410,692.48
$SM_CCo,2438,0.00,0.000,0,0,410,692.48
$SM_GC,1.64,0.00,0.00,0.00,0.000,0.000,0.000,707,2092,410,-10.32,-0.23,692.48
$IRIDIUM_FIX,4748.51,-12147.00,121207,050552
$TT8_MAMPS,0.021476
$HUMID,2043
$INTERNAL_PRESSURE,9.21252
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.1,16.8
$24V_AH,23.8,115.166
$10V_AH,10.2,34.004
$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,25.225,29.825,220.375,412.175,0.000,0.000,0.000,0.000,1.750,0.000,0.000,33.985,292.389,952.313,858.761,405.931,17.812,32.336,1115.894,0.000,373.911,0.000,15.714
$DEVICE_MAMPS,188.708,193.674,874.016,757.315,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,123.533,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6461,188
$CFSIZE,260165632,259043328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,9,51,0
$GPS,121207,015727,4808.628,-12223.236,15,1.5,15,18.3