version: 66.04
glider: 515
mission: 2
dive: 20
start: 8 15 110 2 38 37
data:
$ID,515
$MISSION,2
$DIVE,20
$D_SURF,3
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-14
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52026
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2841
$TGT_DEFAULT_LON,-8830
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-27306.635
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2300
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,159
$ROLL_MAX,3575
$ROLL_DEG,25
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,10
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,3700
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-43.012939
$PRESSURE_SLOPE,0.00011628702
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,500
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,4
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,101
$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,0.0043524536
$SEABIRD_T_H,0.00062548812
$SEABIRD_T_I,2.3784551e-05
$SEABIRD_T_J,2.5490917e-06
$SEABIRD_C_G,-10.141768
$SEABIRD_C_H,1.1640214
$SEABIRD_C_I,-0.00094225706
$SEABIRD_C_J,0.0001682234
$GPS1,023301,2856.415,-8820.765,42,1.2,42,-0.5
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-77.8
$GPS2,023756,2856.361,-8820.710,13,1.8,13,-0.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_NW
$TGT_LATLONG,2839.000,-8829.600
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.135,-0.222
$KALMAN_X,32654.4,-839.7,-582.1,-18796.6,21820.7
$KALMAN_Y,25335.7,-913.1,-591.6,-34476.7,27615.1
$MHEAD_RNG_PITCHd_Wd,235.9,35250,-17.5,-10.000
$D_GRID,1010
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,12,-0.85,-146.1,0.0,0.0,0,51,0.00,0.00,-37.65,0.000,2,0.000,0.000,192,2498,1626
$GC,53,-0.85,-146.1,3.7,-5.6,4,116,7.78,1.40,-51.58,0.000,4,0.255,0.069,2007,3428,3961
$GC,358,-0.85,-146.1,81.3,-23.9,32,361,0.00,1.38,0.00,0.000,6,0.000,0.038,2007,2504,3962
$GC,473,-0.85,-146.1,108.1,-23.3,43,475,0.00,1.40,0.00,0.000,4,0.000,0.061,2003,3404,3963
$GC,569,-0.85,-146.1,130.7,-22.2,52,571,0.00,1.33,0.00,0.000,6,0.000,0.037,2003,2501,3963
$GC,889,-0.85,-146.1,201.9,-22.1,83,892,0.00,1.42,0.00,0.000,4,0.000,0.048,2003,1595,3962
$GC,911,-0.85,-146.1,206.6,-22.4,85,913,0.00,1.50,0.00,0.000,6,0.000,0.051,1995,2503,3962
$GC,1233,-0.85,-146.1,277.4,-22.0,116,1234,0.12,0.00,0.00,0.000,6,0.175,0.000,2025,2503,3961
$GC,1544,-0.85,-146.1,333.8,-18.1,146,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2503,3959
$GC,1852,-0.85,-146.1,388.5,-17.5,176,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2503,3957
$GC,2163,-0.85,-146.1,442.5,-16.9,206,2164,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2503,3954
$GC,2473,-0.85,-146.1,495.1,-17.1,236,2474,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2504,3950
$STATE,2660,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2660,begin apogee
$GC,2665,-0.19,0.0,526.3,16.7,254,2712,0.65,0.00,44.90,0.863,6,0.140,0.000,2234,2503,3700
$STATE,2713,end apogee,CONTROL_FINISHED_OK
$STATE,2713,begin climb
$GC,2715,0.85,146.1,529.6,0.0,259,2828,0.88,0.00,107.32,0.861,6,0.043,0.000,2586,2503,3105
$GC,3138,1.34,542.9,564.7,-8.3,299,3445,0.38,1.60,299.95,0.872,4,0.059,0.058,2743,1602,1487
$GC,3610,1.34,542.9,397.2,49.4,339,3618,0.00,1.58,0.00,0.000,6,0.000,0.067,2740,2493,1480
$GC,3929,1.34,542.9,213.2,60.0,370,3932,0.00,1.48,0.00,0.000,4,0.000,0.074,2737,3408,1476
$GC,3950,1.34,542.9,199.5,59.7,372,3953,0.00,1.35,0.00,0.000,6,0.000,0.041,2742,2505,1476
$GC,4272,1.34,542.9,21.0,44.9,403,4275,0.00,1.48,0.00,0.000,4,0.000,0.044,2749,1587,1473
$GC,4326,1.34,542.9,8.2,16.7,408,4329,0.00,1.55,0.00,0.000,6,0.000,0.055,2749,2503,1472
$GC,4440,1.58,740.9,5.5,0.9,419,4586,0.17,1.52,140.02,0.508,4,0.068,0.041,2837,1578,677
$STATE,4590,end climb,SURFACE_DEPTH_REACHED
$STATE,4590,begin surface coast
$FINISH,0.6,1.014218
$STATE,4642,end surface coast,CONTROL_FINISHED_OK
$STATE,4642,begin surface
$SM_CCo,4718,0.00,0.000,0,0,673,742.51
$SM_GC,1.89,7.35,0.00,0.00,0.060,0.000,0.000,199,2500,673,-6.52,0.03,742.51
$IRIDIUM_FIX,2845.75,-8821.52,091199,010100
$TT8_MAMPS,0.050622
$HUMID,2591
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,22.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,526.3,7.9
$24V_AH,24.4,2.872
$10V_AH,10.8,1.843
$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,17.325,20.575,592.200,0.000,0.000,23.783,26.945,155.987,1.250,0.000,0.000,15.217,0.000,2738.425,490.525,1444.714,330.365,33.321,1043.990,0.000,1257.422,0.000,10.378,0.000
$DEVICE_MAMPS,254.644,73.632,872.079,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,292.225,319.742,979.442,1008.469,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31796,436
$CAP_FILE_SIZE,49908,0
$CFSIZE,260165632,253648896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,24.088,251.4,1
$GPS,150810,023756,2856.361,-8820.710,13,1.8,13,-0.5