version: 66.02
glider: 30
mission: 4
dive: 6
start: 12 12 107 2 46 22
data:
$ID,30
$MISSION,4
$DIVE,6
$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,-56747.074
$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,9
$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
$GPS1,024046,4808.793,-12223.279,9,3.4,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-71.0
$GPS2,024529,4808.865,-12223.313,12,3.3,31,18.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.046,-0.255
$KALMAN_X,-529.4,-169.8,-83.9,318.7,-154.9
$KALMAN_Y,2574.6,867.2,330.6,-2159.9,913.5
$MHEAD_RNG_PITCHd_Wd,151.4,3476,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-1.43,-146.6,0.0,0.0,0,100,0.00,0.00,-81.50,0.000,2,0.000,0.000,706,2095,1175
$GC,102,-1.43,-146.6,3.1,-2.3,16,255,10.90,2.92,-131.80,0.000,4,0.199,0.159,2633,694,2692
$GC,485,-1.43,-146.6,31.5,-9.3,77,490,0.00,3.00,0.00,0.000,6,0.000,0.171,2633,2100,2690
$GC,682,-1.43,-146.6,46.9,-7.7,95,686,0.00,3.05,0.00,0.000,4,0.000,0.184,2633,3510,2690
$GC,820,-1.43,-146.6,57.8,-8.1,103,824,0.00,2.78,0.00,0.000,6,0.000,0.129,2633,2109,2690
$STATE,1059,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1059,begin apogee
$GC,1062,-0.32,0.0,74.9,7.3,115,1179,1.20,0.00,109.60,0.827,6,0.132,0.000,2875,2108,2292
$STATE,1180,end apogee,CONTROL_FINISHED_OK
$STATE,1180,begin climb
$GC,1181,1.43,146.6,75.0,0.0,121,1295,1.75,0.00,109.72,0.804,6,0.099,0.000,3257,2108,1893
$STATE,1548,end climb,SURFACE_DEPTH_REACHED
$STATE,1548,begin surface coast
$FINISH,3.8,1.015683
$STATE,1577,end surface coast,CONTROL_FINISHED_OK
$STATE,1577,begin surface
$SM_CCo,1594,411.62,0.747,0,0,410,692.48
$SM_CCo,2009,0.00,0.000,0,0,410,692.48
$SM_CCo,2011,0.00,0.000,0,0,410,692.48
$SM_GC,1.88,0.00,0.00,0.00,0.000,0.000,0.000,707,2105,410,-10.32,0.14,692.48
$IRIDIUM_FIX,4751.72,-12219.12,121207,050549
$TT8_MAMPS,0.021476
$HUMID,2021
$INTERNAL_PRESSURE,9.22221
$TCM_TEMP,19.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,61.4,23.4
$24V_AH,23.9,115.467
$10V_AH,10.2,34.045
$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,25.525,11.750,219.325,411.625,0.000,37.534,35.583,129.256,0.750,0.000,0.000,32.673,244.943,711.277,789.575,333.504,228.961,33.331,1009.489,0.000,308.768,0.000,5.406
$DEVICE_MAMPS,198.640,183.742,826.839,747.383,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,105.123,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3322,160
$CFSIZE,260165632,259026944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,121207,032056,4808.815,-12223.347,40,1.6,40,18.3