version: 66.04
glider: 515
mission: 5
dive: 138
start: 6 18 110 16 4 16
data:
$ID,515
$MISSION,5
$DIVE,138
$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,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51931
$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,575
$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,-7697.5396
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2747
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,0
$ROLL_MIN,159
$ROLL_MAX,3575
$ROLL_DEG,25
$C_ROLL_DIVE,2375
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,2840
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-42.932224
$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,850
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$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,-1
$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
$GPS1,155246,2842.419,-8843.482,30,2.2,49,-0.2
$_CALLS,2
$_XMS_NAKs,19
$_XMS_TOUTs,2
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-64.5
$GPS2,160336,2842.354,-8843.429,34,0.9,34,-0.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NEW0618E
$TGT_LATLONG,2839.700,-8844.900
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.191,0.224
$KALMAN_X,-237989.4,-899.8,-401.2,256939.9,36.5
$KALMAN_Y,-74025.5,911.6,1146.6,59000.3,-12013.7
$MHEAD_RNG_PITCHd_Wd,213.5,5467,-23.1,-10.000
$D_GRID,1147
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-1.11,-86.7,0.0,0.0,0,62,0.00,0.00,-48.80,0.000,2,0.000,0.000,203,2371,1935
$GC,64,-1.22,-177.2,3.5,-3.0,5,115,9.88,1.55,-36.62,0.000,4,0.268,0.061,2341,3274,3564
$GC,357,-1.22,-177.2,63.7,-22.6,32,360,0.00,1.50,0.00,0.000,6,0.000,0.028,2347,2366,3566
$GC,554,-1.22,-177.2,109.1,-24.3,51,557,0.00,1.52,0.00,0.000,4,0.000,0.041,2341,3267,3567
$GC,703,-1.22,-177.2,146.9,-24.7,65,706,0.00,1.48,0.00,0.000,6,0.000,0.028,2347,2366,3567
$GC,1024,-1.22,-177.2,223.3,-23.5,96,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2365,3567
$GC,1334,-1.22,-177.2,296.2,-23.4,126,1338,0.00,1.52,0.00,0.000,4,0.000,0.043,2341,3265,3565
$GC,1355,-1.22,-177.2,301.3,-24.6,128,1359,0.00,1.48,0.00,0.000,6,0.000,0.029,2346,2366,3565
$GC,1677,-1.22,-177.2,375.7,-22.9,159,1680,0.00,1.52,0.00,0.000,4,0.000,0.044,2341,3265,3563
$GC,1708,-1.22,-177.2,383.2,-24.0,162,1712,0.00,1.45,0.00,0.000,6,0.000,0.030,2346,2368,3563
$GC,2030,-1.22,-177.2,455.5,-22.5,193,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2368,3560
$GC,2340,-1.22,-177.2,524.7,-22.1,223,2343,0.00,1.23,0.00,0.000,4,0.000,0.041,2349,1483,3555
$GC,2425,-1.22,-177.2,543.3,-21.8,231,2428,0.00,1.27,0.00,0.000,6,0.000,0.040,2345,2375,3554
$GC,2747,-1.22,-177.2,614.1,-21.7,262,2747,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2376,3551
$GC,3056,-1.22,-177.2,682.0,-21.4,292,3060,0.00,1.25,0.00,0.000,4,0.000,0.044,2349,1486,3548
$GC,3109,-1.22,-177.2,693.3,-20.0,297,3112,0.00,1.27,0.00,0.000,6,0.000,0.043,2345,2374,3547
$GC,3431,-1.22,-177.2,761.1,-20.8,328,3432,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2374,3543
$GC,3741,-1.22,-177.2,825.5,-20.8,358,3741,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2374,3540
$GC,4051,-1.22,-177.2,888.5,-20.0,388,4054,0.00,1.27,0.00,0.000,4,0.000,0.047,2347,1477,3536
$GC,4109,-1.22,-177.2,900.3,-20.0,393,4116,0.00,1.30,0.00,0.000,6,0.000,0.044,2343,2374,3536
$GC,4425,-1.22,-177.2,963.0,-20.2,424,4425,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2374,3534
$STATE,4569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4569,begin apogee
$GC,4573,-0.30,0.0,991.8,20.2,438,4715,1.10,0.00,135.90,1.240,6,0.189,0.000,2642,2251,2840
$STATE,4715,end apogee,CONTROL_FINISHED_OK
$STATE,4716,begin climb
$GC,4717,1.22,177.2,998.6,0.0,452,4876,1.55,1.83,147.85,1.207,4,0.111,0.051,3128,3141,2116
$GC,4897,1.22,177.2,968.5,27.9,469,4901,0.00,1.70,0.00,0.000,6,0.000,0.036,3135,2263,2113
$GC,5218,1.22,177.2,880.9,26.5,500,5222,0.00,1.67,0.00,0.000,4,0.000,0.052,3135,3140,2105
$GC,5260,1.22,177.2,868.9,28.1,504,5264,0.00,1.65,0.00,0.000,6,0.000,0.037,3143,2244,2104
$GC,5582,1.22,177.2,781.3,27.3,535,5585,0.00,1.70,0.00,0.000,4,0.000,0.052,3142,3140,2102
$GC,5656,1.22,177.2,760.8,27.7,542,5659,0.00,1.62,0.00,0.000,6,0.000,0.038,3148,2252,2100
$GC,5977,1.22,177.2,674.2,27.0,573,5980,0.00,1.70,0.00,0.000,4,0.000,0.051,3147,3152,2099
$GC,6051,1.22,177.2,653.7,27.9,580,6054,0.00,1.62,0.00,0.000,6,0.000,0.037,3154,2254,2098
$GC,6373,1.22,177.2,567.2,26.5,611,6376,0.00,1.67,0.00,0.000,4,0.000,0.051,3154,3144,2097
$GC,6500,1.22,177.2,531.7,28.4,623,6504,0.00,1.62,0.00,0.000,6,0.000,0.037,3161,2249,2096
$GC,6823,1.22,177.2,445.5,27.1,654,6825,0.00,1.65,0.00,0.000,4,0.000,0.051,3160,3146,2095
$GC,6854,1.22,177.2,436.6,28.0,657,6857,0.00,1.62,0.00,0.000,6,0.000,0.036,3168,2249,2095
$GC,7176,1.22,177.2,347.9,27.6,688,7179,0.00,1.67,0.00,0.000,4,0.000,0.051,3167,3157,2094
$GC,7271,1.22,177.2,321.0,28.1,697,7275,0.10,1.62,0.00,0.000,6,0.212,0.035,3148,2256,2094
$GC,7592,1.22,177.2,238.2,25.8,728,7595,0.00,1.67,0.00,0.000,4,0.000,0.050,3147,3153,2093
$GC,7624,1.22,177.2,229.6,26.3,731,7627,0.00,1.62,0.00,0.000,6,0.000,0.035,3154,2242,2093
$GC,7945,1.22,177.2,146.1,26.3,762,7948,0.00,1.67,0.00,0.000,4,0.000,0.049,3154,3143,2093
$GC,8056,1.22,177.2,117.2,25.9,772,8063,0.00,1.60,0.00,0.000,6,0.000,0.034,3161,2256,2093
$GC,8373,1.22,177.2,40.6,23.0,803,8376,0.00,1.62,0.00,0.000,4,0.000,0.048,3161,3146,2093
$GC,8618,1.31,245.2,7.8,4.7,826,8669,0.00,1.60,47.62,0.549,6,0.000,0.031,3168,2234,1840
$STATE,8852,end climb,NO_VERTICAL_VELOCITY
$STATE,8853,begin surface
$SM_CCo,8854,291.48,0.472,19,0,403,597.54
$SM_GC,2.35,8.35,0.00,0.00,0.056,0.000,0.000,205,2380,400,-7.90,0.14,598.52
$IRIDIUM_FIX,2831.00,-8846.29,120999,161600
$TT8_MAMPS,0.050622
$HUMID,1321
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.70
$XPDR_PINGS,1
$24V_AH,23.7,25.688
$10V_AH,10.7,34.709
$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,20.975,53.400,331.375,291.475,0.000,50.438,63.784,361.999,4.000,0.000,0.000,37.270,0.000,5912.059,756.893,2685.512,627.100,33.352,1553.016,0.000,2355.952,0.000,29.707,0.000
$DEVICE_MAMPS,267.683,60.593,1240.239,472.472,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,578.833,621.598,1906.173,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44264,848
$CAP_FILE_SIZE,97392,0
$CFSIZE,260165632,243023872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,19,0
$CURRENT,0.034,168.2,1
$GPS,180610,184143,2840.983,-8844.043,75,1.7,82,-0.2