version: 66.02
glider: 30
mission: 4
dive: 8
start: 12 12 107 4 8 33
data:
$ID,30
$MISSION,4
$DIVE,8
$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,-56795.641
$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,6
$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
$GPS1,040302,4808.804,-12223.389,32,1.8,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-72.0
$GPS2,040739,4808.864,-12223.429,13,1.9,13,18.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.084,-0.246
$KALMAN_X,-994.7,-199.7,-45.9,632.4,-281.2
$KALMAN_Y,3932.7,1104.7,264.4,-3681.0,932.5
$MHEAD_RNG_PITCHd_Wd,142.8,3492,-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,-146.6,0.0,0.0,0,91,0.00,0.00,-72.00,0.000,2,0.000,0.000,708,2094,1076
$GC,93,-1.43,-146.6,3.2,-4.8,14,252,10.93,2.97,-140.52,0.000,4,0.199,0.159,2633,679,2691
$GC,505,-1.43,-146.6,32.4,-8.7,79,509,0.00,3.05,0.00,0.000,6,0.000,0.171,2633,2100,2690
$GC,701,-1.43,-146.6,48.2,-8.0,97,705,0.00,2.95,0.00,0.000,4,0.000,0.159,2633,682,2690
$GC,874,-1.43,-146.6,61.7,-8.4,106,879,0.00,3.05,0.00,0.000,6,0.000,0.174,2633,2101,2690
$STATE,1053,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1054,begin apogee
$GC,1056,-0.32,0.0,74.2,7.1,115,1170,1.20,0.00,109.97,0.819,6,0.132,0.000,2875,2100,2292
$STATE,1171,end apogee,CONTROL_FINISHED_OK
$STATE,1171,begin climb
$GC,1172,1.43,146.6,74.4,0.0,120,1295,1.77,3.17,109.72,0.804,4,0.099,0.176,3261,683,1893
$GC,1339,1.43,146.6,43.7,23.1,129,1344,0.00,3.25,0.00,0.000,6,0.000,0.194,3261,2104,1893
$GC,1540,1.71,302.6,4.3,2.7,155,1664,0.28,3.17,115.88,0.750,4,0.077,0.194,3334,3510,1468
$GC,1916,2.06,498.0,4.4,0.8,224,2070,0.30,2.83,145.70,0.747,6,0.079,0.137,3414,2096,938
$STATE,2085,end climb,SURFACE_DEPTH_REACHED
$STATE,2085,begin surface coast
$FINISH,2.3,1.014094
$STATE,2306,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2306,begin surface
$SM_CCo,2323,151.85,0.742,0,0,410,692.48
$SM_CCo,2477,0.00,0.000,0,0,410,692.48
$SM_CCo,2479,0.00,0.000,0,0,410,692.48
$SM_GC,1.76,0.00,0.00,0.00,0.000,0.000,0.000,707,2092,410,-10.32,-0.23,692.48
$IRIDIUM_FIX,4754.94,-12225.30,121207,070716
$TT8_MAMPS,0.021476
$HUMID,2017
$INTERNAL_PRESSURE,9.19314
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,60.3,23.1
$24V_AH,23.8,115.764
$10V_AH,10.2,34.089
$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,26.700,24.450,481.275,151.850,0.000,40.812,35.493,139.166,0.500,0.000,0.000,13.703,386.474,886.649,714.408,544.424,247.556,33.336,1088.351,0.000,532.522,0.000,5.409
$DEVICE_MAMPS,198.640,193.674,819.390,742.417,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,194.590,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9603,296
$CFSIZE,260165632,258969600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,6,0
$GPS,121207,045053,4808.771,-12223.422,10,2.7,29,18.3