version: 66.04
glider: 515
mission: 2
dive: 17
start: 8 14 110 21 11 48
data:
$ID,515
$MISSION,2
$DIVE,17
$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,-27179.205
$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,7
$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
$GPS1,205325,2858.303,-8821.079,237,1.8,237,-0.5
$_CALLS,3
$_XMS_NAKs,40
$_XMS_TOUTs,5
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-75.3
$GPS2,211107,2858.007,-8820.665,9,1.6,14,-0.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_NW
$TGT_LATLONG,2839.000,-8829.600
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.132,-0.224
$KALMAN_X,28076.6,-333.5,-852.7,-14373.4,17669.7
$KALMAN_Y,19209.6,-1054.7,-678.0,-25074.7,19348.2
$MHEAD_RNG_PITCHd_Wd,247.9,38078,-17.5,-10.000
$D_GRID,942
$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,-146.1,0.0,0.0,0,49,0.00,0.00,-35.15,0.000,2,0.000,0.000,200,2499,1863
$GC,51,-0.85,-146.1,3.6,-6.0,3,104,7.57,1.45,-42.00,0.000,4,0.247,0.073,2013,3411,3961
$GC,344,-0.85,-146.1,77.8,-22.3,29,351,0.00,1.38,0.00,0.000,6,0.000,0.037,2018,2498,3962
$GC,454,-0.85,-146.1,102.5,-22.5,40,456,0.00,1.42,0.00,0.000,4,0.000,0.046,2019,1590,3963
$GC,485,-0.85,-146.1,109.6,-21.2,43,488,0.00,1.50,0.00,0.000,6,0.000,0.051,2014,2500,3963
$GC,808,-0.85,-146.1,180.3,-21.1,74,811,0.00,1.48,0.00,0.000,4,0.000,0.045,2014,1581,3962
$GC,850,-0.85,-146.1,189.3,-19.4,78,853,0.00,1.50,0.00,0.000,6,0.000,0.053,2009,2498,3962
$GC,1173,-0.85,-146.1,254.9,-20.3,109,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2498,3961
$GC,1482,-0.85,-146.1,315.6,-19.5,139,1483,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2498,3957
$GC,1793,-0.85,-146.1,375.1,-18.8,169,1793,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2498,3956
$GC,2103,-0.85,-146.1,434.1,-19.5,199,2106,0.00,1.42,0.00,0.000,4,0.000,0.072,2002,3401,3953
$GC,2135,-0.85,-146.1,440.2,-19.4,202,2138,0.00,1.33,0.00,0.000,6,0.000,0.042,2002,2503,3952
$GC,2456,-0.85,-146.1,502.2,-19.3,233,2459,0.00,1.45,0.00,0.000,4,0.000,0.054,2002,1599,3948
$GC,2492,-0.85,-146.1,509.4,-18.7,236,2500,0.08,1.50,0.00,0.000,6,0.155,0.060,2019,2498,3947
$GC,2809,-0.85,-146.1,563.3,-17.0,267,2809,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,2498,3944
$STATE,2882,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2882,begin apogee
$GC,2887,-0.19,0.0,575.3,16.7,274,2935,0.65,0.00,44.25,0.895,6,0.142,0.000,2228,2498,3700
$STATE,2935,end apogee,CONTROL_FINISHED_OK
$STATE,2935,begin climb
$GC,2937,0.85,146.1,578.9,0.0,279,3052,0.90,1.58,108.43,0.896,4,0.048,0.075,2578,3417,3104
$GC,3202,1.34,545.5,602.7,-8.4,303,3516,0.35,1.40,304.15,0.894,6,0.055,0.039,2741,2499,1476
$GC,3824,1.34,545.5,353.4,55.9,359,3827,0.00,1.45,0.00,0.000,4,0.000,0.059,2740,3411,1466
$GC,3888,1.34,545.5,318.6,54.2,365,3891,0.00,1.38,0.00,0.000,6,0.000,0.041,2745,2499,1465
$GC,4211,1.34,545.5,135.8,57.0,396,4213,0.00,1.45,0.00,0.000,4,0.000,0.043,2752,1580,1463
$GC,4264,1.34,545.5,105.6,56.0,401,4267,0.00,1.52,0.00,0.000,6,0.000,0.054,2752,2497,1463
$GC,4587,1.60,753.5,6.8,0.4,432,4730,0.17,0.00,140.10,0.510,2,0.070,0.000,2830,2497,667
$STATE,4730,end climb,SURFACE_DEPTH_REACHED
$STATE,4730,begin surface coast
$FINISH,1.5,1.014898
$STATE,4789,end surface coast,CONTROL_FINISHED_OK
$STATE,4789,begin surface
$SM_CCo,4864,0.00,0.000,0,0,662,745.21
$SM_GC,2.46,7.38,0.00,0.00,0.064,0.000,0.000,201,2497,662,-6.51,-0.08,745.21
$IRIDIUM_FIX,2848.21,-8816.53,081199,212147
$TT8_MAMPS,0.051389
$HUMID,2587
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,20.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,575.3,8.3
$24V_AH,24.4,2.371
$10V_AH,10.8,1.555
$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,17.100,23.200,596.925,0.000,0.000,95.789,179.721,568.737,1.500,0.000,0.000,18.477,0.000,2953.792,496.210,1487.654,981.891,33.323,1056.767,0.000,1291.403,0.000,15.206,0.000
$DEVICE_MAMPS,246.974,75.166,895.856,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,302.171,329.025,1012.075,1041.664,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31910,450
$CAP_FILE_SIZE,62751,0
$CFSIZE,260165632,253755392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.173,104.3,1
$GPS,140810,224245,2857.491,-8820.943,554,3.1,573,-0.5