version: 66.04
glider: 144
mission: 14
dive: 23
start: 5 14 109 13 4 17
data:
$ID,144
$MISSION,14
$DIVE,23
$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,-59104.035
$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,24
$R_STBD_OVSHOOT,21
$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
$GPS1,125750,4807.124,-12223.935,11,1.9,11,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-70.8
$GPS2,130325,4807.143,-12223.954,15,1.9,27,18.3
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.148,-0.193
$KALMAN_X,-596.5,-1072.7,-120.8,941.5,-54.1
$KALMAN_Y,17370.6,-1427.1,-445.1,-16695.0,1351.9
$MHEAD_RNG_PITCHd_Wd,124.2,1210,-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,-146.6,0.0,0.0,0,64,0.00,0.00,-46.95,0.000,2,0.000,0.000,99,2302,2412
$GC,66,-0.88,-146.6,3.1,-8.9,8,110,7.12,2.28,-29.33,0.000,4,0.262,0.071,1802,886,3936
$GC,364,-0.88,-146.6,43.4,-11.6,44,368,0.00,2.30,0.00,0.000,6,0.000,0.054,1794,2311,3937
$GC,569,-0.88,-146.6,70.1,-13.4,56,573,0.00,2.28,0.00,0.000,4,0.000,0.054,1793,887,3937
$GC,613,-0.88,-146.6,76.4,-12.7,58,618,0.10,2.30,0.00,0.000,6,0.163,0.056,1807,2313,3938
$STATE,815,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,815,begin apogee
$GC,820,-0.23,0.0,98.7,10.8,68,928,0.45,0.00,102.82,0.659,6,0.133,0.000,1951,2313,3337
$STATE,929,end apogee,CONTROL_FINISHED_OK
$STATE,929,begin climb
$GC,931,0.88,146.6,102.5,0.0,78,1043,0.68,2.47,105.18,0.636,4,0.071,0.061,2205,893,2739
$GC,1098,0.88,146.6,94.3,12.3,91,1102,0.00,2.38,0.00,0.000,6,0.000,0.056,2205,2308,2735
$GC,1420,0.88,146.6,52.8,12.6,107,1424,0.00,2.30,0.00,0.000,4,0.000,0.065,2205,3714,2732
$GC,1672,0.88,146.6,18.2,11.6,129,1680,0.05,2.28,0.00,0.000,6,0.218,0.057,2192,2310,2732
$GC,1748,0.89,154.7,11.6,7.7,142,1761,0.00,2.30,6.10,0.508,4,0.000,0.068,2201,881,2708
$GC,1768,0.92,185.8,10.4,6.9,145,1799,0.00,2.30,24.12,0.593,6,0.000,0.062,2201,2310,2578
$GC,1869,1.13,356.1,8.8,1.8,162,2000,0.15,2.40,123.47,0.588,4,0.082,0.069,2258,3723,1884
$GC,2021,1.32,504.0,5.0,2.6,187,2094,0.00,2.33,67.38,0.572,2,0.000,0.053,2267,2296,1514
$STATE,2095,end climb,SURFACE_DEPTH_REACHED
$STATE,2095,begin surface coast
$FINISH,2.0,1.016143
$STATE,2336,end surface coast,CONTROL_FINISHED_OK
$STATE,2336,begin surface
$SM_CCo,2351,112.85,0.578,0,0,892,600.00
$SM_GC,0.50,0.00,0.00,112.85,0.000,0.000,0.578,101,2296,892,-8.74,-0.20,600.00
$IRIDIUM_FIX,4751.72,-12214.67,080898,121217
$TT8_MAMPS,0.028379
$HUMID,1535
$INTERNAL_PRESSURE,7.41239
$TCM_TEMP,17.10
$XPDR_PINGS,9
$ALTIM_TOP_PING,19.5,20.8
$ALTIM_BOTTOM_PING,92.0,14.7
$24V_AH,24.3,2.789
$10V_AH,10.7,1.027
$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,14.375,27.900,429.075,112.850,0.000,25.742,26.490,169.224,4.000,0.000,0.000,28.856,380.424,1009.936,504.742,600.533,319.367,33.311,857.721,0.000,576.377,0.000,14.484,0.000
$DEVICE_MAMPS,261.547,71.331,658.853,578.318,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,172.373,164.983,247.436,417.353,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12892,242
$CAP_FILE_SIZE,36210,0
$CFSIZE,260165632,258179072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,140509,134637,4806.997,-12223.756,37,1.6,38,18.3