version: 66.02
glider: 30
mission: 4
dive: 23
start: 12 12 107 17 41 51
data:
$ID,30
$MISSION,4
$DIVE,23
$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,750
$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,-57266.527
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,714
$PITCH_MAX,3990
$C_PITCH,2900
$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,2300
$C_ROLL_CLIMB,2300
$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,2462
$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
$GPS1,173641,4807.967,-12222.799,12,3.1,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-72.7
$GPS2,174059,4808.009,-12222.800,12,3.7,31,18.3
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.144,-0.189
$KALMAN_X,-7215.5,334.1,-76.8,7124.6,-522.7
$KALMAN_Y,17046.2,-2308.0,46.4,-14748.3,839.4
$MHEAD_RNG_PITCHd_Wd,124.4,1885,-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,16,begin dive
$GC,17,-1.22,-146.6,0.0,0.0,0,91,0.00,0.00,-71.65,0.000,2,0.000,0.000,706,2205,1114
$GC,93,-1.22,-146.6,3.4,-2.2,14,267,10.90,2.75,-153.27,0.000,4,0.199,0.151,2628,883,2860
$GC,518,-1.22,-146.6,39.2,-11.1,79,525,0.00,3.10,0.00,0.000,6,0.000,0.176,2628,2299,2860
$GC,725,-1.22,-146.6,61.4,-10.8,94,729,0.00,2.92,0.00,0.000,4,0.000,0.154,2628,885,2860
$GC,795,-1.22,-146.6,69.1,-10.5,97,800,0.00,3.12,0.00,0.000,6,0.000,0.179,2628,2296,2860
$GC,1116,-1.22,-146.6,102.0,-10.0,113,1121,0.00,3.08,0.00,0.000,4,0.000,0.181,2628,3711,2860
$STATE,1192,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1192,begin apogee
$GC,1198,-0.32,0.0,110.3,10.6,119,1315,0.95,0.00,111.40,0.832,6,0.129,0.000,2824,2298,2462
$STATE,1316,end apogee,CONTROL_FINISHED_OK
$STATE,1316,begin climb
$GC,1317,1.22,146.6,113.3,0.0,131,1440,1.58,3.12,111.40,0.817,4,0.102,0.179,3165,893,2063
$GC,1451,1.22,146.6,100.1,14.3,144,1456,0.00,3.25,0.00,0.000,6,0.000,0.196,3165,2297,2063
$GC,1765,1.22,146.6,54.2,14.0,159,1770,0.00,3.00,0.00,0.000,4,0.000,0.166,3165,884,2063
$GC,1774,1.22,146.6,52.6,13.5,159,1782,0.00,3.25,0.00,0.000,6,0.000,0.194,3165,2306,2063
$GC,2103,1.22,146.6,9.5,11.4,196,2108,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2307,2063
$GC,2175,1.42,260.0,4.3,3.7,209,2192,0.17,0.00,14.55,0.688,2,0.079,0.000,3221,2306,2016
$STATE,2193,end climb,SURFACE_DEPTH_REACHED
$STATE,2193,begin surface coast
$FINISH,4.3,1.020768
$STATE,2321,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2321,begin surface
$SM_CCo,2323,450.98,0.740,0,0,410,755.03
$SM_GC,1.83,11.15,0.00,0.00,0.072,0.000,0.000,706,2307,410,-10.03,0.20,754.67
$IRIDIUM_FIX,4748.51,-12235.20,121207,202016
$TT8_MAMPS,0.021476
$HUMID,1985
$INTERNAL_PRESSURE,9.22221
$TCM_TEMP,19.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.8,39.3
$24V_AH,23.8,117.999
$10V_AH,10.2,34.440
$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,24.750,30.400,237.350,450.975,0.000,38.392,43.324,95.216,1.250,0.000,0.000,32.257,348.679,1293.662,850.084,457.299,209.379,33.304,1150.433,0.000,428.520,0.000,8.504
$DEVICE_MAMPS,198.640,196.157,831.805,739.934,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,154.754,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6448,235
$CFSIZE,260165632,258654208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,121207,183122,4807.800,-12222.692,39,2.4,58,18.3