version: 66.04
glider: 14
mission: 6
dive: 340
start: 10 15 108 20 36 7
data:
$ID,14
$MISSION,6
$DIVE,340
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$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,412.5
$T_MISSION,440
$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,2
$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,300
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-656706.12
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,383
$PITCH_MAX,3719
$C_PITCH,2675
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,202
$ROLL_MAX,3893
$ROLL_DEG,40
$C_ROLL_DIVE,1600
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,187
$VBD_MAX,3559
$C_VBD,2539
$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,0
$AH0_24V,95.400002
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-15.110782
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,-0.69999999
$TCM_ROLL_OFFSET,0.5
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,0
$XPDR_INHIBIT,90
$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,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043093944
$SEABIRD_T_H,0.00064003747
$SEABIRD_T_I,2.16239e-05
$SEABIRD_T_J,2.0570888e-06
$SEABIRD_C_G,-10.001513
$SEABIRD_C_H,1.1265433
$SEABIRD_C_I,-0.0010666439
$SEABIRD_C_J,0.00016314148
$GPS1,202308,6400.128,-1318.869,32,1.0,32,-12.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-55.7
$GPS2,203545,6400.287,-1318.453,12,1.4,12,-12.6
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,BT1
$TGT_LATLONG,6401.000,-1331.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.083,-0.242
$KALMAN_X,65426.2,-9.8,97.6,-67618.7,1620.8
$KALMAN_Y,66441.6,-131.4,393.1,-108976.0,1249.1
$MHEAD_RNG_PITCHd_Wd,290.0,10266,-14.4,-8.000
$D_GRID,990
$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,16,-1.16,-146.6,0.0,0.0,0,99,0.00,0.00,-80.80,0.000,2,0.000,0.000,376,1585,3006
$GC,103,-1.16,-146.6,4.8,-5.7,4,125,11.50,2.60,-2.70,0.000,4,0.180,0.087,2415,3005,3143
$GC,259,-1.16,-146.6,31.5,-12.2,10,265,0.00,2.45,0.00,0.000,6,0.000,0.064,2416,1594,3144
$GC,576,-1.16,-146.6,71.5,-13.1,26,577,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1594,3144
$GC,885,-1.16,-146.6,107.3,-11.6,41,889,0.00,2.47,0.00,0.000,4,0.000,0.079,2416,213,3144
$GC,952,-1.16,-146.6,115.4,-11.7,44,957,0.00,2.40,0.00,0.000,6,0.000,0.058,2415,1620,3144
$GC,1274,-1.16,-146.6,155.1,-13.0,60,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,1622,3144
$GC,1584,-1.16,-146.6,194.6,-10.6,75,1588,0.00,2.55,0.00,0.000,4,0.000,0.076,2416,206,3144
$GC,1669,-1.16,-146.6,203.2,-9.6,79,1674,0.00,2.38,0.00,0.000,6,0.000,0.058,2416,1597,3145
$GC,1997,-1.16,-146.6,228.4,-8.4,95,2001,0.00,2.50,0.00,0.000,4,0.000,0.077,2416,209,3145
$GC,2064,-1.16,-146.6,234.9,-9.7,98,2068,0.00,2.38,0.00,0.000,6,0.000,0.058,2416,1602,3144
$GC,2392,-1.16,-146.6,272.4,-12.3,114,2396,0.00,2.50,0.00,0.000,4,0.000,0.077,2416,213,3145
$GC,2459,-1.16,-146.6,280.9,-12.6,117,2463,0.00,2.38,0.00,0.000,6,0.000,0.058,2416,1600,3145
$GC,2781,-1.16,-146.6,318.7,-11.1,133,2785,0.00,2.50,0.00,0.000,4,0.000,0.077,2416,212,3145
$GC,2871,-1.16,-146.6,329.2,-11.9,137,2875,0.00,2.38,0.00,0.000,6,0.000,0.059,2416,1599,3145
$GC,3193,-1.16,-146.6,361.8,-11.6,153,3197,0.00,2.53,0.00,0.000,4,0.000,0.081,2416,209,3146
$GC,3307,-1.16,-146.6,378.6,-13.2,158,3311,0.00,2.40,0.00,0.000,6,0.000,0.060,2416,1608,3146
$GC,3628,-1.16,-146.6,415.2,-10.3,174,3629,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,1610,3146
$STATE,3790,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3790,begin apogee
$GC,3800,-0.32,0.0,432.7,10.3,182,3933,0.93,0.00,125.88,0.966,6,0.117,0.000,2602,2191,2538
$STATE,3933,end apogee,CONTROL_FINISHED_OK
$STATE,3933,begin climb
$GC,3937,1.16,146.6,439.1,0.0,189,4065,1.50,2.80,118.90,0.940,4,0.079,0.110,2927,3590,1940
$GC,4174,1.27,211.0,428.5,5.6,200,4236,0.10,2.47,52.65,0.911,6,0.071,0.067,2960,2197,1677
$GC,4546,1.31,238.3,401.8,7.0,218,4576,0.00,2.62,22.98,0.882,4,0.000,0.076,2960,798,1566
$GC,4617,1.31,238.3,395.3,10.8,221,4622,0.00,2.47,0.00,0.000,6,0.000,0.062,2960,2205,1566
$GC,4945,1.31,238.3,361.8,11.3,237,4949,0.00,2.55,0.00,0.000,4,0.000,0.073,2960,787,1565
$GC,5133,1.31,238.3,340.6,8.7,245,5137,0.00,2.50,0.00,0.000,6,0.000,0.063,2960,2208,1565
$GC,5450,1.31,238.3,312.4,8.7,260,5454,0.00,2.55,0.00,0.000,4,0.000,0.072,2960,794,1564
$GC,5590,1.31,238.3,298.7,9.5,266,5594,0.00,2.47,0.00,0.000,6,0.000,0.063,2960,2203,1564
$GC,5907,1.31,238.3,272.5,8.7,281,5911,0.00,2.53,0.00,0.000,4,0.000,0.072,2960,789,1562
$GC,6048,1.31,238.3,257.9,11.3,287,6052,0.00,2.47,0.00,0.000,6,0.000,0.062,2960,2207,1562
$GC,6369,1.31,238.3,223.3,11.3,303,6374,0.00,2.53,0.00,0.000,4,0.000,0.072,2960,792,1562
$GC,6500,1.31,238.3,207.7,11.7,309,6504,0.00,2.45,0.00,0.000,6,0.000,0.063,2960,2201,1562
$GC,6834,1.31,238.3,169.3,11.4,325,6838,0.00,2.53,0.00,0.000,4,0.000,0.072,2960,786,1562
$GC,6942,1.31,238.3,156.1,12.7,330,6946,0.00,2.47,0.00,0.000,6,0.000,0.063,2960,2208,1562
$GC,7275,1.31,238.3,120.7,10.0,346,7280,0.00,2.53,0.00,0.000,4,0.000,0.072,2960,792,1562
$GC,7394,1.31,238.3,108.4,10.4,351,7398,0.00,2.45,0.00,0.000,6,0.000,0.062,2960,2199,1562
$GC,7712,1.31,238.3,77.2,10.1,366,7717,0.00,2.50,0.00,0.000,4,0.000,0.071,2960,794,1561
$GC,7836,1.31,238.3,63.8,10.5,371,7843,0.00,2.45,0.00,0.000,6,0.000,0.062,2960,2200,1562
$GC,8155,1.32,241.7,35.8,7.9,387,8164,0.00,2.55,3.55,0.453,4,0.000,0.072,2960,791,1551
$GC,8295,1.32,241.7,24.9,8.7,393,8300,0.00,2.47,0.00,0.000,6,0.000,0.063,2960,2208,1552
$STATE,8594,end climb,SURFACE_DEPTH_REACHED
$STATE,8594,begin surface coast
$FINISH,0.5,1.023182
$STATE,8618,end surface coast,CONTROL_FINISHED_OK
$STATE,8618,begin surface
$SM_CCo,8645,35.17,0.636,1,0,1316,300.00
$SM_GC,1.42,0.00,0.00,35.17,0.000,0.000,0.636,378,1590,1316,-10.56,-0.37,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1885
$TCM_TEMP,17.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,375.6,65.0
$24V_AH,23.6,45.059
$10V_AH,10.2,22.560
$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,25.225,86.900,323.950,35.175,0.000,115.977,86.877,287.235,3.250,0.000,0.000,14.320,833.701,6254.394,454.294,1163.020,743.239,0.000,1053.107,0.000,1134.764,0.000,20.171,0.000
$DEVICE_MAMPS,180.245,109.681,966.420,635.843,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,303.137,277.596,326.225,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22189,409
$CAP_FILE_SIZE,75575,0
$CFSIZE,254472192,236732416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,1,0
$GPS,151008,230210,6401.908,-1316.256,31,1.4,33,-12.6