version: 66.02
glider: 14
mission: 2
dive: 18
start: 12 12 107 12 35 15
data:
$ID,14
$MISSION,2
$DIVE,18
$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,-130767.27
$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,30
$R_STBD_OVSHOOT,22
$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
$GPS1,122632,4806.065,-12222.113,37,1.4,38,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-68.1
$GPS2,123421,4806.180,-12222.235,14,1.0,14,18.3
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.103,-0.211
$KALMAN_X,-2798.6,1.3,107.6,4076.4,-431.0
$KALMAN_Y,6800.6,-72.1,-211.2,-9520.6,839.3
$MHEAD_RNG_PITCHd_Wd,135.5,442,-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,-146.6,0.0,0.0,0,132,0.00,0.00,-82.95,0.000,2,0.000,0.000,36,2186,1982
$GC,136,-1.16,-146.6,3.0,-2.9,16,214,11.88,2.47,-58.58,0.000,4,0.184,0.087,2118,801,3547
$GC,244,-1.16,-146.6,8.5,-8.1,35,251,0.00,2.42,0.00,0.000,6,0.000,0.063,2117,2197,3547
$GC,320,-1.16,-146.6,12.7,-5.1,48,326,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2197,3547
$GC,395,-1.16,-146.6,17.2,-6.2,61,401,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2197,3547
$GC,474,-1.16,-146.6,22.2,-6.5,72,476,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2197,3547
$GC,666,-1.16,-146.6,35.1,-6.7,90,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2197,3547
$GC,857,-1.16,-146.6,47.2,-6.3,108,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2196,3546
$GC,1054,-1.16,-146.6,59.5,-5.9,120,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2197,3546
$GC,1363,-1.16,-146.6,78.0,-6.2,135,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2197,3546
$GC,1672,-1.16,-146.6,96.8,-5.8,150,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2197,3546
$STATE,1985,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1985,begin apogee
$GC,1994,-0.32,0.0,115.8,6.2,177,2111,0.88,0.00,111.70,0.793,6,0.098,0.000,2303,2306,2948
$STATE,2112,end apogee,CONTROL_FINISHED_OK
$STATE,2112,begin climb
$GC,2115,1.16,146.6,116.8,0.0,189,2236,1.48,2.58,111.62,0.760,4,0.068,0.075,2633,902,2349
$GC,2266,1.16,146.6,98.9,17.3,203,2272,0.00,2.45,0.00,0.000,6,0.000,0.063,2633,2298,2349
$GC,2583,1.16,146.6,44.5,17.0,220,2584,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2298,2349
$GC,2776,1.16,146.6,13.2,15.8,241,2782,0.00,2.70,0.00,0.000,4,0.000,0.110,2633,3702,2349
$GC,2812,1.16,146.6,8.0,14.0,247,2819,0.00,2.42,0.00,0.000,6,0.000,0.064,2633,2305,2349
$GC,2888,1.46,330.1,4.3,1.0,260,3018,0.25,0.00,125.88,0.699,2,0.061,0.000,2708,2305,1658
$STATE,3019,end climb,SURFACE_DEPTH_REACHED
$STATE,3019,begin surface coast
$FINISH,2.8,1.017523
$STATE,3199,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3199,begin surface
$SM_CCo,3224,146.85,0.667,0,0,501,600.00
$SM_GC,1.97,0.00,0.00,146.85,0.000,0.000,0.667,41,2182,501,-10.75,-0.51,600.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1589
$TCM_TEMP,3.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.5,17.8
$ALTIM_BOTTOM_PING,90.8,34.9
$24V_AH,23.8,2.540
$10V_AH,10.1,0.965
$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,26.500,15.375,349.200,146.850,0.000,65.075,130.670,102.324,1.750,0.000,0.000,15.551,488.571,1780.180,549.946,595.374,443.325,33.327,907.992,0.000,298.967,0.000,11.662
$DEVICE_MAMPS,184.080,109.681,793.078,666.523,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,275.590,283.087,544.737,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15968,316
$CFSIZE,254472192,252571648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,121207,133214,4806.034,-12222.090,7,1.1,8,18.3