version: 66.02
glider: 30
mission: 4
dive: 20
start: 12 12 107 14 49 56
data:
$ID,30
$MISSION,4
$DIVE,20
$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,-57160.09
$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,7
$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
$GPS1,144538,4808.283,-12223.102,12,1.2,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-71.8
$GPS2,144903,4808.319,-12223.119,16,2.0,16,18.3
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.162,-0.174
$KALMAN_X,-5775.0,279.7,-125.6,5393.6,-630.1
$KALMAN_Y,14804.5,-1639.9,242.5,-12793.5,995.2
$MHEAD_RNG_PITCHd_Wd,118.6,2447,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-1.22,-146.6,0.0,0.0,0,101,0.00,0.00,-81.25,0.000,2,0.000,0.000,706,2201,1196
$GC,103,-1.22,-146.6,3.1,-2.3,16,261,11.20,2.95,-137.30,0.000,4,0.199,0.156,2677,782,2691
$GC,480,-1.22,-146.6,25.2,-7.3,80,485,0.00,3.08,0.00,0.000,6,0.000,0.174,2677,2199,2690
$GC,677,-1.22,-146.6,38.8,-7.0,98,681,0.00,3.03,0.00,0.000,4,0.000,0.176,2677,3611,2690
$GC,855,-1.22,-146.6,51.2,-7.2,113,859,0.00,2.75,0.00,0.000,6,0.000,0.127,2676,2197,2689
$GC,1177,-1.22,-146.6,69.3,-5.5,129,1181,0.00,2.92,0.00,0.000,4,0.000,0.164,2677,787,2690
$GC,1275,-1.22,-146.6,75.3,-6.5,133,1282,0.00,3.08,0.00,0.000,6,0.000,0.176,2677,2199,2690
$GC,1591,-1.22,-146.6,91.8,-5.6,149,1595,0.00,3.03,0.00,0.000,4,0.000,0.179,2676,3611,2690
$GC,1780,-1.22,-146.6,103.3,-5.9,159,1787,0.00,2.75,0.00,0.000,6,0.000,0.129,2677,2201,2690
$STATE,1859,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1859,begin apogee
$GC,1862,-0.32,0.0,107.4,5.2,167,1981,0.98,0.00,111.18,0.834,6,0.119,0.000,2878,2201,2292
$STATE,1982,end apogee,CONTROL_FINISHED_OK
$STATE,1982,begin climb
$GC,1983,1.22,146.6,106.6,0.0,179,2106,1.52,3.10,111.25,0.809,4,0.092,0.174,3217,787,1893
$GC,2154,1.22,146.6,77.6,21.6,190,2159,0.00,3.25,0.00,0.000,6,0.000,0.196,3216,2199,1893
$GC,2477,1.22,146.6,13.9,18.7,216,2482,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2199,1893
$STATE,2543,end climb,SURFACE_DEPTH_REACHED
$STATE,2543,begin surface coast
$FINISH,3.3,1.015627
$STATE,2572,end surface coast,CONTROL_FINISHED_OK
$STATE,2572,begin surface
$SM_CCo,2589,413.50,0.735,0,0,410,692.48
$SM_CCo,3005,0.00,0.000,0,0,410,692.48
$SM_CCo,3007,0.00,0.000,0,0,410,692.48
$SM_GC,1.57,0.00,0.00,0.00,0.000,0.000,0.000,704,2200,410,-10.33,0.00,692.48
$IRIDIUM_FIX,4751.72,-12226.29,121207,171733
$TT8_MAMPS,0.021476
$HUMID,1984
$INTERNAL_PRESSURE,9.2319
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.9,36.1
$24V_AH,23.8,117.544
$10V_AH,10.2,34.368
$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,24.975,29.925,222.425,413.500,0.000,39.140,38.102,64.610,1.000,0.000,0.000,16.149,371.019,1392.362,799.900,495.002,174.372,33.309,1118.644,0.000,480.055,0.000,8.503
$DEVICE_MAMPS,198.640,196.157,834.288,734.968,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,153.898,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6442,233
$CFSIZE,260165632,258711552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,121207,154045,4808.183,-12223.026,11,1.7,11,18.3