version: 66.04
glider: 14
mission: 6
dive: 341
start: 10 15 108 23 7 33
data:
$ID,14
$MISSION,6
$DIVE,341
$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,-656722.81
$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,20
$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
$GPS1,230210,6401.908,-1316.256,31,1.4,33,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-60.4
$GPS2,230708,6401.980,-1315.987,8,1.6,14,-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,274.1,12316,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-60.72,0.000,2,0.000,0.000,379,1586,2745
$GC,83,-1.16,-146.6,3.6,-4.6,3,110,11.38,2.55,-9.77,0.000,4,0.177,0.086,2413,3006,3138
$GC,285,-1.16,-146.6,29.2,-11.8,12,289,0.00,2.45,0.00,0.000,6,0.000,0.063,2414,1597,3140
$GC,606,-1.16,-146.6,65.7,-11.9,28,611,0.00,2.50,0.00,0.000,4,0.000,0.080,2414,209,3140
$GC,685,-1.16,-146.6,75.0,-11.1,31,692,0.00,2.40,0.00,0.000,6,0.000,0.058,2414,1614,3140
$GC,1004,-1.16,-146.6,112.1,-12.3,47,1008,0.00,2.53,0.00,0.000,4,0.000,0.076,2414,212,3141
$GC,1049,-1.16,-146.6,118.3,-12.8,49,1053,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1605,3141
$GC,1370,-1.16,-146.6,154.8,-11.4,65,1375,0.00,2.50,0.00,0.000,4,0.000,0.076,2414,211,3141
$GC,1416,-1.16,-146.6,160.5,-12.9,67,1420,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1603,3141
$GC,1737,-1.16,-146.6,198.7,-11.8,83,1742,0.00,2.50,0.00,0.000,4,0.000,0.075,2414,206,3141
$STATE,1746,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1746,begin apogee
$GC,1758,-0.32,0.0,199.9,11.4,83,1885,0.90,0.00,121.88,0.787,6,0.114,0.000,2599,2187,2539
$STATE,1885,end apogee,CONTROL_FINISHED_OK
$STATE,1885,begin climb
$GC,1890,1.16,146.6,208.0,0.0,90,2012,1.55,0.00,116.65,0.762,6,0.083,0.000,2929,2188,1941
$GC,2318,1.25,197.8,189.0,6.1,111,2364,0.00,2.58,41.12,0.742,4,0.000,0.072,2929,787,1731
$GC,2512,1.28,217.8,176.0,7.2,120,2536,0.10,2.47,17.27,0.708,6,0.071,0.063,2965,2206,1649
$GC,2845,1.32,245.1,151.2,7.0,136,2874,0.00,2.60,22.60,0.712,4,0.000,0.072,2965,800,1538
$GC,2960,1.33,253.1,142.7,7.7,141,2977,0.00,2.45,7.65,0.627,6,0.000,0.062,2965,2204,1506
$GC,3289,1.33,253.1,119.4,8.5,157,3293,0.00,2.53,0.00,0.000,4,0.000,0.072,2965,791,1506
$GC,3420,1.33,253.1,105.7,11.0,163,3424,0.00,2.47,0.00,0.000,6,0.000,0.063,2965,2201,1506
$GC,3747,1.33,253.1,70.0,9.5,179,3751,0.00,2.53,0.00,0.000,4,0.000,0.072,2965,789,1505
$GC,3905,1.33,253.1,54.3,10.2,186,3909,0.00,2.47,0.00,0.000,6,0.000,0.062,2965,2200,1505
$GC,4227,1.33,253.1,24.0,9.2,202,4231,0.00,2.53,0.00,0.000,4,0.000,0.073,2965,784,1504
$GC,4322,1.33,253.1,14.8,9.0,206,4327,0.00,2.50,0.00,0.000,6,0.000,0.062,2965,2209,1504
$STATE,4470,end climb,SURFACE_DEPTH_REACHED
$STATE,4470,begin surface coast
$FINISH,0.4,1.027201
$STATE,4494,end surface coast,CONTROL_FINISHED_OK
$STATE,4494,begin surface
$SM_CCo,4521,25.02,0.634,0,0,1316,300.00
$SM_GC,1.42,0.00,0.00,25.02,0.000,0.000,0.634,375,1602,1316,-10.58,0.03,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1868
$TCM_TEMP,17.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,152.3,57.4
$24V_AH,23.8,45.144
$10V_AH,10.2,22.593
$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,25.150,51.850,327.175,25.025,0.000,37.758,31.317,106.703,0.750,0.000,0.000,16.047,461.399,2984.837,407.897,659.670,344.668,0.000,767.936,0.000,645.513,0.000,5.583,0.000
$DEVICE_MAMPS,177.177,85.904,786.942,633.542,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,160.320,143.833,266.266,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9711,214
$CAP_FILE_SIZE,43184,0
$CFSIZE,254472192,236740608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,161008,002429,6402.402,-1313.846,6,5.6,26,-12.6