version: 66.02
glider: 14
mission: 2
dive: 12
start: 12 12 107 6 34 36
data:
$ID,14
$MISSION,2
$DIVE,12
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$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,240
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$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,22
$KALMAN_USE,1
$HD_A,0.00312
$HD_B,0.0099099996
$HD_C,2.4896e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,600
$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,-130651.01
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,42
$PITCH_MAX,3363
$C_PITCH,2378
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15.5
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,202
$ROLL_MAX,3893
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,187
$VBD_MAX,3559
$C_VBD,2948
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00159
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,95.400002
$AH0_10V,61.200001
$PRESSURE_YINT,-15.060091
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,-0.69999999
$TCM_ROLL_OFFSET,0.5
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$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,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,17
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042855334
$SEABIRD_T_H,0.00062604493
$SEABIRD_T_I,2.1829796e-05
$SEABIRD_T_J,2.0724553e-06
$SEABIRD_C_G,-9.9956274
$SEABIRD_C_H,1.1210338
$SEABIRD_C_I,-0.0011134691
$SEABIRD_C_J,0.00016706332
$GPS1,062847,4806.834,-12222.772,10,2.5,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-66.2
$GPS2,063339,4806.892,-12222.806,10,1.7,10,18.3
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.101,-0.212
$KALMAN_X,-798.2,-161.6,-108.6,1747.7,-133.1
$KALMAN_Y,2875.5,447.8,197.4,-5203.5,387.2
$MHEAD_RNG_PITCHd_Wd,136.2,1930,-14.4,-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,42,end surface,CONTROL_FINISHED_OK
$STATE,42,begin dive
$GC,46,-1.16,-146.6,0.0,0.0,0,122,0.00,0.00,-72.78,0.000,2,0.000,0.000,39,2180,2040
$GC,126,-1.16,-146.6,3.0,-4.1,14,193,11.93,2.72,-48.35,0.000,4,0.186,0.110,2116,3608,3547
$GC,448,-1.16,-146.6,26.1,-8.3,65,452,0.00,2.42,0.00,0.000,6,0.000,0.064,2116,2212,3547
$GC,647,-1.16,-146.6,39.2,-6.1,83,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2212,3547
$GC,847,-1.16,-146.6,52.7,-6.3,100,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2211,3547
$GC,1159,-1.16,-146.6,71.0,-5.8,115,1163,0.00,2.60,0.00,0.000,4,0.000,0.097,2116,3603,3547
$GC,1222,-1.16,-146.6,75.0,-6.6,118,1226,0.00,2.45,0.00,0.000,6,0.000,0.066,2116,2193,3547
$GC,1550,-1.16,-146.6,94.6,-5.9,134,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2192,3547
$STATE,1798,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1798,begin apogee
$GC,1806,-0.32,0.0,109.8,6.1,153,1923,0.90,0.00,112.00,0.799,6,0.103,0.000,2305,2305,2948
$STATE,1924,end apogee,CONTROL_FINISHED_OK
$STATE,1924,begin climb
$GC,1928,1.16,146.6,110.9,0.0,165,2045,1.48,0.00,111.40,0.797,6,0.073,0.000,2631,2305,2349
$GC,2359,1.16,146.6,47.0,16.8,192,2364,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2305,2349
$GC,2559,1.16,146.6,15.3,14.0,214,2565,0.00,2.58,0.00,0.000,4,0.000,0.081,2631,898,2348
$GC,2601,1.16,146.6,11.2,9.0,221,2607,0.00,2.45,0.00,0.000,6,0.000,0.061,2631,2302,2349
$GC,2677,1.30,230.7,7.1,4.8,234,2748,0.12,2.70,63.12,0.714,4,0.067,0.106,2672,3699,2006
$GC,2914,1.70,483.8,7.4,-1.6,276,2997,0.32,2.42,75.85,0.700,2,0.059,0.063,2760,2297,1594
$STATE,2997,end climb,SURFACE_DEPTH_REACHED
$STATE,2997,begin surface coast
$FINISH,3.3,1.017418
$STATE,3053,end surface coast,CONTROL_FINISHED_OK
$STATE,3053,begin surface
$SM_CCo,3079,133.98,0.672,0,0,501,600.00
$SM_GC,1.27,0.00,0.00,133.98,0.000,0.000,0.672,37,2190,501,-10.77,-0.31,600.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1581
$TCM_TEMP,3.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.3
$ALTIM_BOTTOM_PING,81.1,38.2
$24V_AH,23.8,1.852
$10V_AH,10.1,0.712
$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,27.050,20.675,362.375,133.975,0.000,32.539,35.454,116.440,1.250,0.000,0.000,12.103,471.198,1622.418,540.676,563.479,326.756,33.328,882.081,0.000,289.902,0.000,12.942
$DEVICE_MAMPS,186.381,110.448,799.214,671.892,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,264.187,269.834,518.879,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15909,301
$CFSIZE,254472192,252723200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,121207,072857,4806.633,-12222.682,7,2.0,8,18.3