version: 66.02
glider: 30
mission: 4
dive: 17
start: 12 12 107 12 2 15
data:
$ID,30
$MISSION,4
$DIVE,17
$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,-57091.059
$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,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
$GPS1,115726,4808.238,-12223.167,27,2.0,45,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-71.3
$GPS2,120123,4808.264,-12223.186,16,2.7,35,18.3
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.143,-0.190
$KALMAN_X,-4109.0,62.1,39.3,3697.8,-560.5
$KALMAN_Y,11815.9,-374.1,-156.5,-10776.4,963.6
$MHEAD_RNG_PITCHd_Wd,124.8,2352,-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,-146.6,0.0,0.0,0,111,0.00,0.00,-91.47,0.000,2,0.000,0.000,707,2208,1250
$GC,113,-1.22,-146.6,3.2,-1.8,18,246,11.23,3.05,-112.25,0.000,4,0.201,0.169,2678,3605,2691
$GC,499,-1.22,-146.6,29.4,-6.2,78,503,0.00,2.72,0.00,0.000,6,0.000,0.127,2678,2195,2690
$GC,695,-1.22,-146.6,41.4,-6.1,96,700,0.00,3.05,0.00,0.000,4,0.000,0.171,2678,3611,2690
$GC,885,-1.22,-146.6,54.0,-6.9,110,891,0.00,2.75,0.00,0.000,6,0.000,0.127,2678,2200,2690
$GC,1200,-1.22,-146.6,72.7,-5.7,126,1205,0.00,2.90,0.00,0.000,4,0.000,0.159,2678,785,2690
$GC,1322,-1.22,-146.6,80.4,-6.0,131,1329,0.00,3.05,0.00,0.000,6,0.000,0.176,2679,2200,2690
$GC,1638,-1.22,-146.6,97.7,-5.2,147,1642,0.00,3.03,0.00,0.000,4,0.000,0.176,2678,3613,2690
$STATE,1776,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1776,begin apogee
$GC,1782,-0.32,0.0,105.9,5.4,157,1899,0.93,0.00,111.50,0.834,6,0.124,0.000,2872,2198,2292
$STATE,1900,end apogee,CONTROL_FINISHED_OK
$STATE,1900,begin climb
$GC,1901,1.22,146.6,105.6,0.0,169,2023,1.55,3.10,111.00,0.814,4,0.097,0.176,3213,792,1893
$GC,2039,1.22,146.6,84.4,21.1,178,2046,0.00,3.25,0.00,0.000,6,0.000,0.196,3213,2199,1893
$GC,2359,1.22,146.6,21.2,18.4,201,2363,0.00,3.10,0.00,0.000,4,0.000,0.186,3213,3611,1893
$GC,2403,1.22,146.6,12.6,19.4,207,2410,0.00,2.80,0.00,0.000,6,0.000,0.134,3213,2201,1893
$GC,2477,1.56,339.8,5.0,0.6,220,2615,0.32,0.00,134.38,0.747,2,0.074,0.000,3302,2200,1405
$STATE,2615,end climb,NO_VERTICAL_VELOCITY
$STATE,2616,begin surface
$SM_CCo,2618,281.60,0.732,0,0,410,692.48
$SM_CCo,2947,0.00,0.000,0,0,411,692.48
$SM_CCo,2949,0.52,0.109,0,0,411,692.48
$SM_CCo,2952,2.15,0.206,0,0,410,692.48
$SM_GC,3.11,0.00,0.00,2.15,0.000,0.000,0.206,709,2198,410,-10.30,-0.06,692.48
$IRIDIUM_FIX,4751.72,-12226.29,121207,151554
$TT8_MAMPS,0.021476
$HUMID,2001
$INTERNAL_PRESSURE,9.22221
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,35.6
$24V_AH,23.8,117.102
$10V_AH,10.2,34.298
$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,25.525,35.600,356.875,284.275,0.000,40.913,35.874,75.410,1.000,0.000,0.000,36.537,358.205,1375.365,759.253,532.260,185.865,33.314,1108.936,0.000,496.529,0.000,8.497
$DEVICE_MAMPS,201.123,196.157,834.288,732.485,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,161.493,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6442,247
$CFSIZE,260165632,258781184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,5,0
$GPS,121207,125237,4808.232,-12223.199,33,1.6,37,18.3