version: 66.02
glider: 14
mission: 2
dive: 20
start: 12 12 107 14 44 40
data:
$ID,14
$MISSION,2
$DIVE,20
$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,-130815.87
$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,24
$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
$GPS1,143326,4805.897,-12221.957,9,1.6,27,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-67.0
$GPS2,144347,4806.006,-12222.030,13,3.0,32,18.3
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.151,0.180
$KALMAN_X,-3182.4,-9.7,-62.2,4891.6,-284.3
$KALMAN_Y,7814.3,-170.6,111.2,-11077.9,618.1
$MHEAD_RNG_PITCHd_Wd,301.6,4424,-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,-72.95,0.000,2,0.000,0.000,37,2190,1804
$GC,126,-1.16,-146.6,3.0,-2.4,14,219,11.80,2.55,-72.18,0.000,4,0.182,0.089,2117,803,3547
$GC,490,-1.16,-146.6,23.2,-7.4,75,496,0.00,2.42,0.00,0.000,6,0.000,0.062,2117,2196,3547
$GC,689,-1.16,-146.6,36.8,-6.5,94,693,0.00,2.50,0.00,0.000,4,0.000,0.072,2117,795,3547
$GC,801,-1.16,-146.6,44.5,-6.6,103,807,0.00,2.45,0.00,0.000,6,0.000,0.062,2117,2204,3547
$GC,997,-1.16,-146.6,56.3,-5.9,117,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2204,3547
$GC,1305,-1.16,-146.6,74.4,-5.7,132,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2204,3547
$GC,1615,-1.16,-146.6,92.0,-5.5,147,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2205,3548
$GC,1929,-1.16,-146.6,110.4,-5.8,170,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,2117,2204,3547
$STATE,2021,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2021,begin apogee
$GC,2029,-0.32,0.0,116.2,6.2,179,2146,0.88,0.00,112.03,0.809,6,0.097,0.000,2303,2302,2948
$STATE,2147,end apogee,CONTROL_FINISHED_OK
$STATE,2147,begin climb
$GC,2151,1.16,146.6,117.2,0.0,191,2272,1.48,2.78,111.72,0.763,4,0.070,0.114,2632,3702,2349
$GC,2300,1.16,146.6,98.8,19.4,205,2307,0.00,2.47,0.00,0.000,6,0.000,0.066,2632,2307,2348
$GC,2617,1.16,146.6,43.2,17.1,222,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2307,2348
$GC,2811,1.16,146.6,11.8,15.1,244,2816,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2307,2348
$STATE,2871,end climb,SURFACE_DEPTH_REACHED
$STATE,2871,begin surface coast
$FINISH,4.7,1.018288
$STATE,2912,end surface coast,CONTROL_FINISHED_OK
$STATE,2912,begin surface
$SM_CCo,2916,306.42,0.665,0,0,186,677.27
$SM_GC,1.37,11.38,0.00,0.00,0.056,0.000,0.000,38,2178,187,-10.70,-0.62,677.27
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1581
$TCM_TEMP,4.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,18.6,17.8
$ALTIM_BOTTOM_PING,100.4,25.2
$24V_AH,23.8,2.777
$10V_AH,10.1,1.046
$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,25.525,15.500,223.750,306.425,0.000,97.608,97.971,169.080,2.500,0.000,0.000,35.065,442.254,1873.512,624.188,530.665,501.523,33.326,922.695,0.000,265.365,0.000,16.019
$DEVICE_MAMPS,181.779,114.283,809.185,664.989,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,234.149,243.025,451.705,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12867,262
$CFSIZE,254472192,252522496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121207,154132,4806.284,-12222.396,37,2.0,38,18.3