version: 66.02
glider: 30
mission: 4
dive: 21
start: 12 12 107 15 45 21
data:
$ID,30
$MISSION,4
$DIVE,21
$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,-57196.945
$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,10
$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
$GPS1,154045,4808.183,-12223.026,11,1.7,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-70.5
$GPS2,154429,4808.216,-12223.037,16,2.4,35,18.3
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.156,-0.179
$KALMAN_X,-6276.8,309.8,-154.2,5995.7,-589.8
$KALMAN_Y,15348.0,-1859.7,348.3,-13413.9,822.4
$MHEAD_RNG_PITCHd_Wd,120.6,2252,-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,-146.6,0.0,0.0,0,106,0.00,0.00,-86.47,0.000,2,0.000,0.000,704,2200,1239
$GC,108,-1.22,-146.6,3.0,-2.1,17,266,11.25,2.97,-137.38,0.000,4,0.201,0.154,2676,793,2691
$GC,501,-1.22,-146.6,26.4,-7.1,82,508,0.00,3.05,0.00,0.000,6,0.000,0.176,2676,2200,2690
$GC,699,-1.22,-146.6,39.3,-6.2,101,703,0.00,3.03,0.00,0.000,4,0.000,0.176,2676,3611,2690
$GC,882,-1.22,-146.6,51.9,-6.4,116,887,0.00,2.78,0.00,0.000,6,0.000,0.129,2676,2195,2689
$GC,1204,-1.22,-146.6,70.7,-5.5,132,1208,0.00,2.95,0.00,0.000,4,0.000,0.166,2676,785,2690
$GC,1325,-1.22,-146.6,77.7,-5.5,137,1332,0.00,3.08,0.00,0.000,6,0.000,0.176,2676,2200,2690
$GC,1640,-1.22,-146.6,94.7,-5.6,153,1645,0.00,3.03,0.00,0.000,4,0.000,0.179,2676,3611,2689
$STATE,1839,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1839,begin apogee
$GC,1845,-0.32,0.0,106.7,5.5,166,1962,0.95,0.00,111.15,0.837,6,0.127,0.000,2874,2199,2292
$STATE,1962,end apogee,CONTROL_FINISHED_OK
$STATE,1963,begin climb
$GC,1964,1.22,146.6,106.0,0.0,178,2086,1.58,3.08,111.55,0.812,4,0.094,0.174,3216,787,1893
$GC,2106,1.22,146.6,83.3,21.9,188,2114,0.00,3.28,0.00,0.000,6,0.000,0.196,3216,2199,1892
$GC,2426,1.22,146.6,19.1,18.3,211,2431,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2198,1892
$GC,2498,1.22,146.6,6.3,16.7,224,2504,0.00,3.08,0.00,0.000,4,0.000,0.186,3215,3611,1892
$GC,2509,1.22,146.6,4.6,15.9,226,2516,0.00,2.80,0.00,0.000,6,0.000,0.134,3216,2198,1893
$STATE,2519,end climb,SURFACE_DEPTH_REACHED
$STATE,2519,begin surface coast
$FINISH,3.2,1.016118
$STATE,2549,end surface coast,CONTROL_FINISHED_OK
$STATE,2549,begin surface
$SM_CCo,2566,414.20,0.732,0,0,410,692.48
$SM_CCo,2983,0.03,0.298,0,0,410,692.48
$SM_CCo,2986,0.00,0.000,0,0,411,692.48
$SM_GC,1.83,0.00,0.00,0.00,0.000,0.000,0.000,706,2195,411,-10.32,-0.14,692.48
$IRIDIUM_FIX,4751.72,-12211.95,121207,181857
$TT8_MAMPS,0.021476
$HUMID,1985
$INTERNAL_PRESSURE,9.2319
$TCM_TEMP,19.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.0,26.5
$24V_AH,23.8,117.689
$10V_AH,10.2,34.391
$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,25.125,35.900,222.700,414.225,0.000,37.841,33.331,68.678,1.500,0.000,0.000,36.227,366.081,1364.250,811.825,513.906,173.727,33.306,1133.243,0.000,477.965,0.000,12.864
$DEVICE_MAMPS,201.123,196.157,836.771,732.485,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,153.580,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6426,233
$CFSIZE,260165632,258691072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,121207,163628,4808.090,-12222.918,30,4.5,49,18.3