version: 66.04
glider: 144
mission: 14
dive: 15
start: 5 14 109 6 6 7
data:
$ID,144
$MISSION,14
$DIVE,15
$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,225
$T_TURN_SAMPINT,5
$T_NO_W,600
$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,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51458
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0044757999
$HD_B,0.0099689998
$HD_C,1.0513e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,600
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-58884.402
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,120
$PITCH_MAX,3976
$C_PITCH,2000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,150
$ROLL_MAX,3809
$ROLL_DEG,40
$C_ROLL_DIVE,2303
$C_ROLL_CLIMB,2303
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3950
$C_VBD,3338
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,147
$AH0_10V,122.2
$PHONE_SUPPLY,2
$PRESSURE_YINT,-4.5495057
$PRESSURE_SLOPE,0.00011159377
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043441742
$SEABIRD_T_H,0.00062523223
$SEABIRD_T_I,1.8114715e-05
$SEABIRD_T_J,1.1782754e-06
$SEABIRD_C_G,-10.019677
$SEABIRD_C_H,1.1227477
$SEABIRD_C_I,-0.00077646878
$SEABIRD_C_J,0.00015901824
$GPS1,055921,4807.723,-12224.181,12,2.3,31,18.3
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.28
$_SM_ANGLEo,-63.6
$GPS2,060516,4807.841,-12224.273,14,2.6,33,18.3
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.120,-0.212
$KALMAN_X,-84.5,-211.0,-335.8,-604.7,-86.3
$KALMAN_Y,9201.8,1070.2,317.9,-10491.4,1383.1
$MHEAD_RNG_PITCHd_Wd,132.3,2215,-15.3,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.88,-146.6,0.0,0.0,0,88,0.00,0.00,-70.05,0.000,2,0.000,0.000,100,2307,3077
$GC,91,-0.88,-146.6,3.0,-7.1,12,128,7.05,2.35,-21.20,0.000,4,0.261,0.085,1789,3706,3938
$GC,135,-0.88,-146.6,5.8,-5.1,19,141,0.00,2.25,0.00,0.000,6,0.000,0.056,1789,2303,3939
$GC,211,-0.88,-146.6,16.1,-13.9,32,217,0.00,2.28,0.00,0.000,4,0.000,0.061,1788,889,3939
$GC,329,-0.88,-146.6,34.1,-14.5,45,336,0.08,2.33,0.00,0.000,6,0.157,0.058,1803,2300,3939
$GC,525,-0.88,-146.6,59.1,-12.6,61,529,0.00,2.30,0.00,0.000,4,0.000,0.066,1795,3716,3939
$GC,551,-0.88,-146.6,62.9,-13.3,62,556,0.00,2.25,0.00,0.000,6,0.000,0.049,1794,2297,3939
$GC,874,-0.88,-146.6,103.1,-12.1,79,878,0.00,2.25,0.00,0.000,4,0.000,0.061,1795,888,3939
$STATE,889,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,889,begin apogee
$GC,897,-0.23,0.0,105.4,12.8,80,1005,0.50,0.00,103.22,0.662,6,0.140,0.000,1948,2311,3337
$STATE,1006,end apogee,CONTROL_FINISHED_OK
$STATE,1006,begin climb
$GC,1008,0.88,146.6,109.5,0.0,91,1123,0.70,2.45,105.68,0.639,4,0.080,0.063,2204,900,2739
$GC,1155,0.88,146.6,103.8,11.4,104,1162,0.00,2.40,0.00,0.000,6,0.000,0.058,2204,2302,2735
$GC,1482,0.88,146.6,61.8,13.1,122,1486,0.00,2.33,0.00,0.000,4,0.000,0.067,2205,3717,2731
$GC,1627,0.88,146.6,40.4,14.7,131,1635,0.08,2.30,0.00,0.000,6,0.222,0.055,2183,2309,2731
$GC,1825,0.88,146.6,20.8,8.8,150,1829,0.00,2.30,0.00,0.000,4,0.000,0.065,2183,3717,2730
$GC,1882,0.88,146.6,15.2,10.3,158,1889,0.00,2.25,0.00,0.000,6,0.000,0.060,2192,2299,2731
$GC,1958,0.88,146.6,8.0,9.7,171,1965,0.00,2.28,0.00,0.000,4,0.000,0.067,2203,889,2730
$GC,1982,0.88,146.6,6.1,8.7,175,1989,0.00,2.33,0.00,0.000,6,0.000,0.061,2203,2310,2730
$STATE,2017,end climb,SURFACE_DEPTH_REACHED
$STATE,2017,begin surface coast
$FINISH,3.7,1.021059
$STATE,2090,end surface coast,CONTROL_FINISHED_OK
$STATE,2090,begin surface
$SM_CCo,2105,328.92,0.581,0,0,891,600.00
$SM_GC,-0.23,0.00,0.00,328.92,0.000,0.000,0.581,99,2310,891,-8.74,0.20,600.00
$IRIDIUM_FIX,4751.72,-12219.12,080898,050500
$TT8_MAMPS,0.029146
$HUMID,1533
$INTERNAL_PRESSURE,7.39286
$TCM_TEMP,16.80
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,90.5,24.2
$24V_AH,24.3,1.947
$10V_AH,10.7,0.702
$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,Compass2
$DEVICE_SECS,14.500,36.975,208.900,328.925,0.000,28.164,29.099,176.465,4.250,0.000,0.000,35.973,351.434,1032.328,597.011,492.480,331.662,33.317,874.070,0.000,465.529,0.000,14.485,0.000
$DEVICE_MAMPS,260.780,85.137,661.921,581.386,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,137.639,132.837,198.780,334.443,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9664,194
$CAP_FILE_SIZE,36203,0
$CFSIZE,260165632,258387968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,140509,064752,4807.736,-12224.181,13,4.2,32,18.3