version: 66.04
glider: 515
mission: 2
dive: 16
start: 8 14 110 19 28 8
data:
$ID,515
$MISSION,2
$DIVE,16
$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,-27160.098
$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,21
$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
$GPS1,192046,2858.758,-8820.996,31,4.0,50,-0.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-75.4
$GPS2,192728,2858.666,-8820.829,9,4.5,28,-0.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_NW
$TGT_LATLONG,2839.000,-8829.600
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.138,-0.220
$KALMAN_X,28992.0,-1985.9,-788.3,-13963.2,21487.9
$KALMAN_Y,18887.7,-1756.8,-387.8,-23126.2,20521.0
$MHEAD_RNG_PITCHd_Wd,246.2,39112,-17.5,-10.000
$D_GRID,877
$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,-0.85,-146.1,0.0,0.0,0,47,0.00,0.00,-33.12,0.000,2,0.000,0.000,196,2501,1787
$GC,49,-0.85,-146.1,3.4,-6.8,3,109,7.60,1.42,-43.92,0.000,4,0.249,0.075,2015,3410,3961
$GC,284,-0.85,-146.1,64.4,-22.7,24,293,0.00,1.35,0.00,0.000,6,0.000,0.039,2019,2503,3964
$GC,394,-0.85,-146.1,88.7,-23.3,35,397,0.00,1.42,0.00,0.000,4,0.000,0.064,2014,3401,3964
$GC,430,-0.85,-146.1,97.7,-24.3,38,437,0.00,1.35,0.00,0.000,6,0.000,0.040,2019,2499,3964
$GC,540,-0.85,-146.1,122.4,-23.1,49,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2499,3965
$GC,850,-0.85,-146.1,189.1,-21.1,79,853,0.00,1.45,0.00,0.000,4,0.000,0.049,2019,1585,3965
$GC,925,-0.85,-146.1,203.4,-17.8,86,928,0.00,1.52,0.00,0.000,6,0.000,0.054,2013,2501,3965
$GC,1248,-0.85,-146.1,267.8,-19.9,117,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,2501,3964
$GC,1557,-0.85,-146.1,328.0,-19.4,147,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,2501,3962
$GC,1867,-0.85,-146.1,387.3,-18.7,177,1868,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2501,3961
$GC,2177,-0.85,-146.1,445.4,-18.0,207,2178,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2502,3958
$GC,2490,-0.85,-146.1,501.7,-17.6,237,2493,0.00,1.50,0.00,0.000,4,0.000,0.054,2013,1587,3956
$GC,2511,-0.85,-146.1,505.9,-17.9,239,2514,0.00,1.52,0.00,0.000,6,0.000,0.061,2006,2498,3955
$STATE,2762,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2762,begin apogee
$GC,2767,-0.19,0.0,550.7,18.0,263,2815,0.70,0.00,45.92,0.881,6,0.142,0.000,2229,2498,3700
$STATE,2815,end apogee,CONTROL_FINISHED_OK
$STATE,2815,begin climb
$GC,2817,0.85,146.1,554.7,0.0,268,2932,0.90,1.60,108.30,0.879,4,0.044,0.051,2589,1605,3103
$GC,2996,1.30,508.3,570.2,-6.7,284,3278,0.38,1.58,275.75,0.874,6,0.064,0.064,2726,2495,1626
$GC,3586,1.30,508.3,356.2,49.1,337,3589,0.00,1.50,0.00,0.000,4,0.000,0.051,2733,1604,1617
$GC,3672,1.30,508.3,315.6,47.6,345,3674,0.00,1.55,0.00,0.000,6,0.000,0.060,2732,2501,1617
$GC,3994,1.30,508.3,151.5,52.2,376,3995,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2501,1614
$GC,4303,1.30,508.3,10.2,22.0,406,4306,0.00,1.42,0.00,0.000,4,0.000,0.066,2732,3412,1611
$GC,4549,1.57,728.2,6.3,-0.1,429,4708,0.15,1.35,154.70,0.500,6,0.054,0.039,2811,2499,730
$STATE,4723,end climb,SURFACE_DEPTH_REACHED
$STATE,4723,begin surface coast
$FINISH,1.0,1.015707
$STATE,4786,end surface coast,CONTROL_FINISHED_OK
$STATE,4786,begin surface
$SM_CCo,4861,0.00,0.000,0,0,725,729.76
$SM_GC,2.66,7.30,0.00,0.00,0.063,0.000,0.000,201,2499,725,-6.51,-0.03,729.76
$IRIDIUM_FIX,2848.21,-8818.99,081199,181817
$TT8_MAMPS,0.049855
$HUMID,2454
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,22.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,550.7,7.9
$24V_AH,24.4,2.191
$10V_AH,10.8,1.465
$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,17.025,20.550,584.675,0.000,0.000,28.222,46.301,214.585,1.000,0.000,0.000,31.585,0.000,2845.190,486.184,1501.843,422.177,33.310,1044.539,0.000,1294.760,0.000,9.358,0.000
$DEVICE_MAMPS,249.275,75.166,881.283,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,301.708,328.934,1012.132,1039.911,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31984,450
$CAP_FILE_SIZE,50714,0
$CFSIZE,260165632,253812736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.200,101.6,1
$GPS,140810,205325,2858.303,-8821.079,237,1.8,237,-0.5