version: 66.04
glider: 515
mission: 2
dive: 13
start: 8 14 110 12 54 27
data:
$ID,515
$MISSION,2
$DIVE,13
$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,225
$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,625
$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,-27098.475
$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,16
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,3600
$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,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
$DEVICE4,101
$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
$GPS1,124658,2900.873,-8821.646,43,2.3,62,-0.5
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-73.2
$GPS2,125346,2900.875,-8821.422,10,2.4,29,-0.5
$SPEED_LIMITS,0.173,0.310
$TGT_NAME,TARGET_NW
$TGT_LATLONG,2839.000,-8829.600
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.143,-0.275
$KALMAN_X,28080.1,-5406.0,-412.9,-10977.8,10919.6
$KALMAN_Y,11917.6,-252.7,-403.9,-13566.3,5930.8
$MHEAD_RNG_PITCHd_Wd,224.7,42636,-13.9,-10.000
$D_GRID,720
$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,-0.80,-219.1,0.0,0.0,0,56,0.00,0.00,-42.65,0.000,2,0.000,0.000,201,2531,2209
$GC,58,-0.80,-219.1,4.5,-8.7,4,106,7.80,1.35,-31.45,0.000,4,0.253,0.078,2027,3411,3962
$GC,181,-0.80,-219.1,43.0,-26.8,15,184,0.00,1.38,0.00,0.000,6,0.000,0.044,2028,2503,3963
$GC,295,-0.80,-219.1,66.7,-20.9,26,296,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2504,3963
$GC,398,-0.80,-219.1,88.2,-20.6,36,402,0.00,1.48,0.00,0.000,4,0.000,0.052,2028,1601,3965
$GC,413,-0.80,-219.1,91.7,-21.6,37,421,0.00,1.48,0.00,0.000,6,0.000,0.050,2023,2493,3965
$GC,523,-0.80,-219.1,114.8,-21.1,48,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2493,3965
$GC,833,-0.80,-219.1,180.8,-21.5,78,836,0.00,1.42,0.00,0.000,4,0.000,0.066,2016,3400,3966
$GC,859,-0.80,-219.1,186.7,-22.3,80,867,0.00,1.35,0.00,0.000,6,0.000,0.041,2016,2500,3966
$GC,1175,-0.80,-219.1,251.6,-19.8,111,1178,0.00,1.45,0.00,0.000,4,0.000,0.051,2016,1589,3965
$GC,1271,-0.80,-219.1,268.7,-17.4,120,1274,0.08,1.50,0.00,0.000,6,0.156,0.054,2033,2496,3964
$GC,1593,-0.80,-219.1,322.2,-16.3,151,1593,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2496,3963
$GC,1903,-0.80,-219.1,376.1,-17.2,181,1906,0.00,1.42,0.00,0.000,4,0.000,0.071,2027,3405,3961
$GC,1928,-0.80,-219.1,380.8,-18.3,183,1936,0.00,1.35,0.00,0.000,6,0.000,0.044,2027,2500,3961
$GC,2247,-0.80,-219.1,434.7,-17.0,214,2249,0.00,1.48,0.00,0.000,4,0.000,0.061,2027,1601,3959
$GC,2310,-0.80,-219.1,445.6,-15.5,220,2313,0.00,1.50,0.00,0.000,6,0.000,0.059,2021,2499,3959
$GC,2634,-0.80,-219.1,500.5,-17.1,251,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2499,3956
$GC,2943,-0.80,-219.1,553.1,-16.5,281,2946,0.00,1.50,0.00,0.000,4,0.000,0.060,2021,1591,3953
$GC,2964,-0.80,-219.1,556.8,-17.2,283,2968,0.00,1.50,0.00,0.000,6,0.000,0.061,2014,2495,3953
$GC,3285,-0.80,-219.1,610.4,-16.6,314,3288,0.00,1.48,0.00,0.000,4,0.000,0.059,2013,1598,3950
$GC,3311,-0.80,-219.1,614.9,-16.9,316,3320,0.08,1.50,0.00,0.000,6,0.156,0.061,2032,2496,3950
$GC,3627,-0.80,-219.1,661.4,-14.6,347,3628,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2496,3947
$GC,3938,-0.80,-219.1,707.9,-14.8,377,3938,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2496,3945
$STATE,4018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4018,begin apogee
$GC,4023,-0.19,0.0,720.4,15.3,385,4092,0.65,0.00,63.30,1.029,6,0.136,0.000,2240,2496,3601
$STATE,4092,end apogee,CONTROL_FINISHED_OK
$STATE,4093,begin climb
$GC,4095,0.80,219.1,723.5,0.0,392,4267,0.85,0.00,168.70,1.016,6,0.040,0.000,2575,2496,2706
$GC,4574,0.80,219.1,699.9,13.6,436,4577,0.00,1.48,0.00,0.000,4,0.000,0.047,2582,1602,2700
$GC,4781,0.80,219.1,672.0,13.6,455,4789,0.00,1.55,0.00,0.000,6,0.000,0.058,2582,2504,2698
$GC,5100,0.80,219.1,628.3,14.3,486,5102,0.00,1.42,0.00,0.000,4,0.000,0.067,2583,3405,2694
$GC,5217,0.80,219.1,611.5,13.5,497,5220,0.00,1.35,0.00,0.000,6,0.000,0.044,2589,2505,2693
$GC,5540,0.80,219.1,569.1,13.0,528,5543,0.00,1.42,0.00,0.000,4,0.000,0.067,2584,3407,2692
$GC,5583,0.80,219.1,563.1,13.8,532,5586,0.10,1.38,0.00,0.000,6,0.196,0.045,2562,2496,2692
$GC,5903,0.80,219.1,526.4,11.1,563,5907,0.00,1.45,0.00,0.000,4,0.000,0.068,2562,3397,2691
$GC,5968,0.80,219.1,518.3,13.6,569,5970,0.00,1.33,0.00,0.000,6,0.000,0.044,2567,2507,2690
$GC,6290,0.80,219.1,481.7,11.3,600,6293,0.00,1.40,0.00,0.000,4,0.000,0.067,2562,3397,2689
$GC,6316,0.80,219.1,478.5,11.9,602,6322,0.00,1.35,0.00,0.000,6,0.000,0.044,2567,2500,2689
$GC,6633,0.80,219.1,442.4,11.4,633,6636,0.00,1.42,0.00,0.000,4,0.000,0.067,2562,3397,2689
$GC,6719,0.80,219.1,431.7,12.2,641,6722,0.00,1.35,0.00,0.000,6,0.000,0.043,2567,2498,2688
$GC,7041,0.80,219.1,394.6,11.3,672,7044,0.00,1.45,0.00,0.000,4,0.000,0.046,2574,1597,2688
$GC,7138,0.80,219.1,384.0,10.7,681,7140,0.00,1.52,0.00,0.000,6,0.000,0.058,2573,2503,2689
$GC,7460,0.80,219.1,347.8,11.8,712,7463,0.00,1.40,0.00,0.000,4,0.000,0.067,2573,3402,2688
$GC,7706,0.80,219.1,315.2,13.5,735,7709,0.00,1.33,0.00,0.000,6,0.000,0.044,2578,2505,2687
$GC,8028,0.80,219.1,276.4,11.4,766,8031,0.00,1.40,0.00,0.000,4,0.000,0.065,2573,3402,2687
$GC,8274,0.80,219.1,246.0,12.3,789,8277,0.00,1.35,0.00,0.000,6,0.000,0.044,2578,2497,2687
$GC,8596,0.80,219.1,210.6,10.6,820,8599,0.00,1.45,0.00,0.000,4,0.000,0.045,2585,1585,2687
$GC,8703,0.80,219.1,199.6,10.5,830,8706,0.00,1.52,0.00,0.000,6,0.000,0.055,2585,2499,2688
$GC,9026,0.80,219.1,164.8,10.6,861,9029,0.00,1.48,0.00,0.000,4,0.000,0.043,2591,1581,2688
$GC,9083,0.80,219.1,157.8,12.2,866,9091,0.10,1.52,0.00,0.000,6,0.188,0.053,2563,2500,2687
$GC,9400,0.85,256.5,126.6,8.8,897,9433,0.00,1.45,25.35,0.614,4,0.000,0.064,2562,3417,2553
$GC,9459,0.85,256.5,119.9,13.6,902,9466,0.00,1.38,0.00,0.000,6,0.000,0.040,2567,2500,2551
$GC,9777,0.85,256.5,76.1,14.3,933,9778,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2501,2550
$GC,9879,0.85,256.5,63.3,12.1,943,9882,0.00,1.42,0.00,0.000,4,0.000,0.061,2562,3404,2551
$GC,10125,1.00,376.6,38.2,6.3,966,10221,0.12,1.35,87.20,0.545,6,0.068,0.039,2625,2497,2064
$GC,10322,1.04,408.3,20.9,9.0,984,10351,0.00,1.50,23.83,0.505,4,0.000,0.060,2624,3412,1934
$GC,10593,1.40,699.9,11.7,1.0,1009,10802,0.28,1.38,201.95,0.495,2,0.048,0.038,2764,2498,785
$STATE,10802,end climb,SURFACE_DEPTH_REACHED
$STATE,10803,begin surface coast
$FINISH,0.6,1.016814
$STATE,10874,end surface coast,CONTROL_FINISHED_OK
$STATE,10874,begin surface
$SM_CCo,10949,0.00,0.000,0,0,781,691.73
$SM_GC,1.91,7.35,0.00,0.00,0.071,0.000,0.000,199,2497,781,-6.51,-0.06,691.73
$IRIDIUM_FIX,2850.67,-8818.99,081199,101024
$TT8_MAMPS,0.050622
$HUMID,2266
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,24.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,700.1,48.3
$24V_AH,24.2,1.724
$10V_AH,10.8,1.209
$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,17.400,62.925,570.325,0.000,0.000,23.437,44.421,219.792,2.750,0.000,0.000,32.488,0.000,6906.836,528.204,3372.303,533.019,33.321,1596.320,0.000,2951.138,0.000,23.717,0.000
$DEVICE_MAMPS,253.110,78.234,1028.547,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,704.779,766.617,2322.804,2383.195,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72985,1033
$CAP_FILE_SIZE,111361,0
$CFSIZE,260165632,253853696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.148, 84.7,1
$GPS,140810,160131,2859.981,-8821.290,255,1.3,255,-0.5