version: 66.02
glider: 30
mission: 4
dive: 12
start: 12 12 107 7 26 6
data:
$ID,30
$MISSION,4
$DIVE,12
$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,62.5
$T_MISSION,75
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-56932.73
$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,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,8
$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
$GPS1,072126,4808.595,-12223.207,27,1.8,45,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-69.2
$GPS2,072514,4808.600,-12223.233,16,1.6,33,18.3
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.072,-0.226
$KALMAN_X,-1867.9,-270.9,25.2,1746.3,-301.8
$KALMAN_Y,7261.9,1115.2,-336.4,-6910.5,1157.7
$MHEAD_RNG_PITCHd_Wd,144.0,2977,-14.7,-8.000
$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,17,-1.22,-146.6,0.0,0.0,0,96,0.00,0.00,-76.45,0.000,2,0.000,0.000,709,2196,1115
$GC,98,-1.22,-146.6,3.0,-1.5,15,241,11.25,3.08,-122.75,0.000,4,0.201,0.171,2679,3611,2691
$GC,493,-1.22,-146.6,31.3,-7.8,76,500,0.00,2.78,0.00,0.000,6,0.000,0.129,2679,2195,2690
$GC,690,-1.22,-146.6,45.2,-6.5,95,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2195,2689
$GC,878,-1.22,-146.6,56.4,-5.8,108,883,0.00,3.08,0.00,0.000,4,0.000,0.179,2679,3611,2689
$GC,965,-1.22,-146.6,61.9,-6.5,112,970,0.00,2.80,0.00,0.000,6,0.000,0.132,2679,2203,2689
$GC,1295,-1.22,-146.6,80.2,-5.5,128,1299,0.00,2.95,0.00,0.000,4,0.000,0.166,2680,784,2690
$GC,1393,-1.22,-146.6,86.1,-5.3,132,1400,0.00,3.08,0.00,0.000,6,0.000,0.176,2679,2200,2689
$STATE,1522,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1522,begin apogee
$GC,1525,-0.32,0.0,93.2,5.5,139,1639,0.95,0.00,111.10,0.827,6,0.122,0.000,2875,2200,2292
$STATE,1640,end apogee,CONTROL_FINISHED_OK
$STATE,1640,begin climb
$GC,1642,1.22,146.6,93.3,0.0,144,1764,1.55,3.15,110.93,0.812,4,0.097,0.174,3215,787,1892
$GC,1786,1.22,146.6,70.9,20.7,151,1791,0.00,3.25,0.00,0.000,6,0.000,0.196,3215,2199,1893
$GC,2111,1.22,146.6,9.6,16.8,181,2116,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2199,1893
$GC,2182,1.47,289.7,5.4,2.5,194,2300,0.25,3.17,107.15,0.752,4,0.074,0.189,3285,3602,1503
$STATE,2445,end climb,NO_VERTICAL_VELOCITY
$STATE,2445,begin surface
$SM_CCo,2447,308.77,0.742,0,0,410,692.48
$SM_CCo,2807,0.50,0.109,0,0,411,692.48
$SM_CCo,2809,2.38,0.261,0,0,410,692.48
$SM_CCo,2813,0.00,0.000,0,0,410,692.48
$SM_GC,2.86,0.00,0.00,0.00,0.000,0.000,0.000,708,2196,410,-10.31,-0.11,692.48
$IRIDIUM_FIX,4751.72,-12221.84,121207,101013
$TT8_MAMPS,0.020709
$HUMID,2004
$INTERNAL_PRESSURE,9.20283
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.8,12.1
$24V_AH,23.8,116.367
$10V_AH,10.2,34.181
$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,25.375,30.175,329.175,311.650,0.000,41.220,38.130,69.429,1.500,0.000,0.000,33.671,355.029,1254.883,769.778,494.416,180.568,33.312,1089.471,0.000,459.656,0.000,12.778
$DEVICE_MAMPS,201.123,196.157,826.839,742.417,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,160.238,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6450,243
$CFSIZE,260165632,258891776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,5,0
$GPS,121207,081417,4808.453,-12223.170,34,3.7,53,18.3