version: 66.04
glider: 14
mission: 6
dive: 342
start: 10 16 108 0 29 31
data:
$ID,14
$MISSION,6
$DIVE,342
$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,-656736.94
$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,20
$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
$GPS1,002429,6402.402,-1313.846,6,5.6,26,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-61.3
$GPS2,002909,6402.396,-1313.639,12,2.0,12,-12.6
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,BT4
$TGT_LATLONG,6339.000,-1315.000
$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,194.1,43344,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-1.16,-146.6,0.0,0.0,0,82,0.00,0.00,-60.40,0.000,2,0.000,0.000,375,1598,2744
$GC,86,-1.16,-146.6,3.4,-4.6,3,116,11.50,2.53,-9.90,0.000,4,0.180,0.087,2414,3008,3138
$GC,377,-1.16,-146.6,39.5,-10.3,16,381,0.00,2.45,0.00,0.000,6,0.000,0.064,2414,1597,3139
$GC,704,-1.16,-146.6,81.0,-14.5,32,708,0.00,2.50,0.00,0.000,4,0.000,0.081,2414,209,3139
$GC,777,-1.16,-146.6,93.3,-17.7,35,781,0.00,2.40,0.00,0.000,6,0.000,0.058,2415,1614,3139
$GC,1095,-1.16,-146.6,147.2,-16.1,50,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1619,3139
$GC,1402,-1.16,-146.6,183.2,-12.0,65,1406,0.00,2.53,0.00,0.000,4,0.000,0.076,2414,212,3139
$GC,1442,-1.16,-146.6,188.3,-12.9,67,1447,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1601,3139
$GC,1771,-1.16,-146.6,231.3,-13.2,83,1772,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1603,3140
$STATE,1932,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1932,begin apogee
$GC,1942,-0.32,0.0,252.7,12.6,91,2075,0.93,0.00,123.70,0.809,6,0.109,0.000,2604,2198,2538
$STATE,2076,end apogee,CONTROL_FINISHED_OK
$STATE,2076,begin climb
$GC,2079,1.16,146.6,262.8,0.0,98,2205,1.48,2.78,117.35,0.797,4,0.074,0.100,2928,3595,1940
$GC,2256,1.31,237.8,260.2,4.5,106,2335,0.15,2.47,72.78,0.782,6,0.064,0.067,2973,2198,1569
$GC,2645,1.34,255.3,231.3,7.3,125,2667,0.00,2.58,15.05,0.725,4,0.000,0.074,2973,786,1497
$GC,2718,1.36,267.6,225.9,7.5,128,2735,0.00,2.47,11.48,0.703,6,0.000,0.061,2973,2199,1448
$GC,3045,1.36,267.6,197.0,8.5,144,3048,0.00,2.53,0.00,0.000,4,0.000,0.072,2973,794,1446
$GC,3169,1.38,282.1,187.0,7.4,149,3189,0.00,2.45,13.07,0.709,6,0.000,0.061,2973,2199,1387
$GC,3513,1.38,282.2,161.2,8.0,166,3517,0.00,2.53,0.00,0.000,4,0.000,0.072,2973,795,1386
$GC,3631,1.41,304.0,153.1,7.2,171,3656,0.00,2.45,18.05,0.712,6,0.000,0.062,2973,2205,1299
$GC,3976,1.57,402.5,134.6,4.3,188,4062,0.17,2.60,78.18,0.726,4,0.062,0.072,3028,795,896
$GC,4198,1.57,402.5,114.6,10.2,198,4203,0.00,2.47,0.00,0.000,6,0.000,0.062,3028,2198,894
$GC,4527,1.62,435.4,90.3,6.8,214,4561,0.00,2.58,26.98,0.676,4,0.000,0.073,3028,795,763
$GC,4683,1.62,435.4,78.2,10.7,221,4687,0.00,2.47,0.00,0.000,6,0.000,0.063,3028,2199,762
$GC,5012,1.62,435.4,39.3,12.5,237,5016,0.00,2.53,0.00,0.000,4,0.000,0.073,3028,795,762
$GC,5113,1.62,435.4,23.8,15.7,241,5120,0.00,2.47,0.00,0.000,6,0.000,0.062,3028,2203,762
$STATE,5282,end climb,SURFACE_DEPTH_REACHED
$STATE,5282,begin surface coast
$FINISH,0.5,1.024572
$STATE,5304,end surface coast,CONTROL_FINISHED_OK
$STATE,5304,begin surface
$SM_CCo,5390,0.00,0.000,0,0,760,435.90
$SM_GC,1.21,11.40,0.00,0.00,0.054,0.000,0.000,372,1599,760,-10.51,0.00,435.90
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1880
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,175.7,85.8
$24V_AH,23.7,45.256
$10V_AH,10.2,22.630
$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,25.625,52.250,476.625,0.000,0.000,37.754,43.199,94.285,1.000,0.000,0.000,13.506,518.042,3547.412,489.181,784.460,343.073,0.000,936.019,0.000,763.633,0.000,10.210,0.000
$DEVICE_MAMPS,180.245,100.477,809.185,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,183.642,168.090,261.353,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12812,251
$CAP_FILE_SIZE,47934,0
$CFSIZE,254472192,236707840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,1,0
$GPS,161008,020038,6401.346,-1311.922,37,1.2,38,-12.6