version: 66.04
glider: 515
mission: 2
dive: 19
start: 8 15 110 0 58 20
data:
$ID,515
$MISSION,2
$DIVE,19
$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,-27290.791
$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
$GPS1,003902,2837.165,-8547.644,745,1.7,745,-2.3
$_CALLS,3
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-75.9
$GPS2,005739,2856.672,-8820.536,40,1.7,40,-0.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_NW
$TGT_LATLONG,2839.000,-8829.600
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.127,-0.226
$KALMAN_X,30039.2,580.6,-472.3,-17433.6,15649.1
$KALMAN_Y,22500.8,-330.7,-757.3,-31488.8,21275.8
$MHEAD_RNG_PITCHd_Wd,249.7,35891,-27.2,-10.000
$D_GRID,999
$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,13,-1.13,-63.0,0.0,0.0,0,47,0.00,0.00,-32.95,0.000,2,0.000,0.000,199,2501,1752
$GC,49,-1.16,-88.8,3.8,-7.3,3,109,7.20,1.40,-44.85,0.000,4,0.249,0.071,1913,3410,3963
$GC,349,-1.16,-88.8,98.9,-31.7,30,356,0.00,1.35,0.00,0.000,6,0.000,0.037,1918,2498,3963
$GC,458,-1.16,-88.8,132.8,-31.3,41,461,0.00,1.42,0.00,0.000,4,0.000,0.057,1913,3413,3964
$GC,533,-1.16,-88.8,156.5,-31.2,48,536,0.00,1.35,0.00,0.000,6,0.000,0.038,1918,2500,3964
$GC,854,-1.16,-88.8,251.1,-28.4,79,855,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,2500,3962
$GC,1164,-1.16,-88.8,337.7,-27.9,109,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,2500,3961
$GC,1475,-1.16,-88.8,421.5,-26.4,139,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,2500,3957
$GC,1787,-1.16,-88.8,502.8,-25.8,169,1790,0.00,1.42,0.00,0.000,4,0.000,0.053,1919,1600,3954
$GC,1844,-1.16,-88.8,517.9,-23.8,174,1851,0.00,1.50,0.00,0.000,6,0.000,0.054,1914,2503,3953
$STATE,2070,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2070,begin apogee
$GC,2075,-0.19,0.0,575.7,26.0,196,2125,1.05,0.00,45.22,0.882,6,0.172,0.000,2228,2503,3700
$STATE,2125,end apogee,CONTROL_FINISHED_OK
$STATE,2125,begin climb
$GC,2127,1.16,88.8,581.7,0.0,201,2196,1.15,0.00,66.03,0.876,6,0.041,0.000,2682,2503,3338
$GC,2503,1.45,326.5,634.5,-15.3,238,2686,0.22,1.52,178.23,0.931,4,0.061,0.040,2780,1592,2367
$GC,2789,1.45,326.5,597.2,33.3,263,2792,0.00,1.55,0.00,0.000,6,0.000,0.051,2777,2499,2363
$GC,3112,1.45,326.5,488.9,34.1,294,3114,0.00,1.45,0.00,0.000,4,0.000,0.041,2783,1602,2356
$GC,3144,1.45,326.5,477.9,33.3,297,3146,0.00,1.50,0.00,0.000,6,0.000,0.051,2777,2500,2356
$GC,3466,1.45,326.5,369.1,34.7,328,3469,0.00,1.40,0.00,0.000,4,0.000,0.060,2777,3405,2351
$GC,3508,1.45,326.5,353.3,35.3,332,3511,0.00,1.35,0.00,0.000,6,0.000,0.041,2782,2499,2350
$GC,3831,1.45,326.5,246.0,32.4,363,3834,0.00,1.40,0.00,0.000,4,0.000,0.058,2777,3402,2349
$GC,3938,1.45,326.5,208.1,34.9,373,3941,0.00,1.33,0.00,0.000,6,0.000,0.041,2782,2503,2347
$GC,4261,1.45,326.5,102.6,30.4,404,4261,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2504,2347
$GC,4570,1.46,336.6,26.1,8.9,434,4581,0.00,1.40,5.18,0.429,4,0.000,0.056,2777,3414,2326
$GC,4820,1.56,413.7,23.3,1.8,457,4880,0.00,1.35,56.10,0.527,6,0.000,0.037,2783,2498,2012
$GC,4985,1.67,506.5,10.2,0.1,472,5060,0.15,1.48,66.93,0.499,4,0.082,0.055,2840,3406,1634
$GC,5103,1.78,594.6,5.3,0.6,482,5176,0.00,1.38,63.78,0.484,6,0.000,0.037,2847,2498,1272
$GC,5278,1.90,692.5,4.9,-0.4,498,5319,0.17,0.00,39.35,0.470,2,0.069,0.000,2920,2498,1052
$STATE,5320,end climb,NO_VERTICAL_VELOCITY
$STATE,5320,begin surface
$SM_CCo,5322,126.82,0.404,13,0,402,808.50
$SM_GC,2.42,7.38,0.00,0.00,0.044,0.000,0.000,193,2498,399,-6.52,-0.06,809.48
$IRIDIUM_FIX,2845.75,-8821.52,091199,000016
$TT8_MAMPS,0.050622
$HUMID,2312
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,24.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,575.7,7.9
$24V_AH,24.5,2.730
$10V_AH,10.8,1.769
$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,17.325,25.550,520.800,126.825,0.000,83.326,100.744,686.275,1.500,0.000,0.000,42.811,0.000,3368.230,653.478,1688.876,1019.018,33.361,1241.691,0.000,1442.556,0.000,13.304,0.000
$DEVICE_MAMPS,249.275,70.564,931.138,404.209,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,337.342,367.800,1126.685,1157.654,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38290,501
$CAP_FILE_SIZE,73453,0
$CFSIZE,260165632,253665280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,13,0
$CURRENT,0.143, 94.1,1
$GPS,150810,023301,2856.415,-8820.765,42,1.2,42,-0.5