version: 66.04
glider: 144
mission: 14
dive: 16
start: 5 14 109 6 54 19
data:
$ID,144
$MISSION,14
$DIVE,16
$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,-58901.887
$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,21
$R_STBD_OVSHOOT,23
$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
$GPS1,064752,4807.736,-12224.181,13,4.2,32,18.3
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.27
$_SM_ANGLEo,-61.7
$GPS2,065326,4807.846,-12224.261,15,1.8,15,18.3
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.001,-0.243
$KALMAN_X,-665.1,-191.8,-221.4,-132.0,-256.8
$KALMAN_Y,10106.1,714.0,527.3,-11244.6,1170.1
$MHEAD_RNG_PITCHd_Wd,161.5,2210,-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,14,-0.88,-146.6,0.0,0.0,0,94,0.00,0.00,-76.65,0.000,2,0.000,0.000,100,2310,3287
$GC,96,-0.88,-146.6,3.4,-8.4,13,128,7.10,2.38,-14.50,0.000,4,0.262,0.077,1801,886,3938
$GC,174,-0.88,-146.6,12.3,-13.0,26,180,0.00,2.35,0.00,0.000,6,0.000,0.061,1794,2319,3938
$GC,254,-0.88,-146.6,23.6,-14.8,38,256,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2319,3938
$GC,454,-0.88,-146.6,52.8,-13.5,56,455,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,2319,3939
$GC,763,-0.88,-146.6,93.4,-12.7,71,767,0.00,2.30,0.00,0.000,4,0.000,0.061,1794,888,3939
$GC,790,-0.88,-146.6,96.8,-12.1,72,795,0.10,2.30,0.00,0.000,6,0.160,0.058,1807,2314,3939
$STATE,874,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,874,begin apogee
$GC,879,-0.23,0.0,106.1,11.1,79,987,0.43,0.00,103.22,0.666,6,0.137,0.000,1946,2314,3337
$STATE,988,end apogee,CONTROL_FINISHED_OK
$STATE,988,begin climb
$GC,990,0.88,146.6,109.8,0.0,90,1105,0.70,2.50,105.57,0.641,4,0.080,0.063,2205,890,2738
$GC,1179,0.88,146.6,98.7,12.4,107,1183,0.00,2.38,0.00,0.000,6,0.000,0.058,2204,2310,2734
$GC,1494,0.88,146.6,58.9,12.3,122,1498,0.00,2.30,0.00,0.000,4,0.000,0.065,2204,3716,2732
$GC,1675,0.88,146.6,33.0,13.4,135,1682,0.10,2.28,0.00,0.000,6,0.231,0.054,2194,2294,2731
$GC,1877,0.88,146.6,13.4,8.9,160,1883,0.00,2.33,0.00,0.000,4,0.000,0.070,2195,3727,2731
$GC,1919,0.88,146.6,9.0,10.8,167,1925,0.00,2.28,0.00,0.000,6,0.000,0.056,2204,2296,2731
$GC,1994,1.00,247.6,4.4,4.3,180,2043,0.00,0.00,46.72,0.601,2,0.000,0.000,2204,2296,2470
$STATE,2044,end climb,SURFACE_DEPTH_REACHED
$STATE,2044,begin surface coast
$FINISH,3.0,1.020542
$STATE,2324,end surface coast,CONTROL_FINISHED_OK
$STATE,2324,begin surface
$SM_CCo,2339,282.80,0.582,0,0,891,600.00
$SM_GC,-0.39,0.00,0.00,282.80,0.000,0.000,0.582,101,2295,891,-8.74,-0.23,600.00
$IRIDIUM_FIX,4748.51,-12221.84,080898,060638
$TT8_MAMPS,0.029146
$HUMID,1531
$INTERNAL_PRESSURE,7.39286
$TCM_TEMP,16.90
$XPDR_PINGS,7
$ALTIM_TOP_PING,19.4,8.3
$ALTIM_BOTTOM_PING,80.2,35.8
$24V_AH,24.3,2.053
$10V_AH,10.7,0.741
$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,14.350,23.375,255.525,282.800,0.000,28.465,27.928,177.166,3.000,0.000,0.000,16.856,400.082,1128.411,570.419,540.869,334.466,33.312,870.986,0.000,539.570,0.000,10.159,0.000
$DEVICE_MAMPS,261.547,77.467,665.756,582.153,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,170.633,167.243,244.488,410.196,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12801,238
$CAP_FILE_SIZE,35371,0
$CFSIZE,260165632,258359296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,140509,073906,4807.735,-12224.337,26,1.4,26,18.3