version: 66.04
glider: 515
mission: 2
dive: 22
start: 8 15 110 9 2 16
data:
$ID,515
$MISSION,2
$DIVE,22
$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,75
$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,-28312.635
$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,27
$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,3100
$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,0
$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
$GPS1,085102,2854.785,-8819.390,58,1.5,58,-0.5
$_CALLS,1
$_XMS_NAKs,17
$_XMS_TOUTs,2
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-75.0
$GPS2,090136,2854.834,-8819.231,16,1.5,26,-0.5
$SPEED_LIMITS,0.173,0.187
$TGT_NAME,TARGET_NW
$TGT_LATLONG,2839.000,-8829.600
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.115,-0.147
$KALMAN_X,37752.1,-2616.1,-929.6,-19368.4,13806.9
$KALMAN_Y,25629.8,-1122.6,-1368.4,-36599.4,9822.1
$MHEAD_RNG_PITCHd_Wd,232.9,33822,-25.2,-10.000
$D_GRID,1118
$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,-1.02,-73.0,0.0,0.0,0,51,0.00,0.00,-37.42,0.000,2,0.000,0.000,194,2496,1613
$GC,53,-1.02,-73.0,3.6,-5.7,4,109,7.50,1.50,-41.38,0.000,4,0.248,0.061,1965,1588,3398
$GC,348,-1.02,-73.0,62.4,-13.8,31,355,0.00,1.52,0.00,0.000,6,0.000,0.045,1960,2504,3399
$GC,457,-1.02,-73.0,77.0,-13.5,42,460,0.00,1.48,0.00,0.000,4,0.000,0.043,1964,1596,3399
$GC,532,-1.02,-73.0,88.1,-15.6,49,535,0.00,1.48,0.00,0.000,6,0.000,0.048,1958,2495,3399
$GC,646,-1.02,-73.0,107.2,-16.8,60,649,0.00,1.45,0.00,0.000,4,0.000,0.044,1964,1593,3399
$GC,678,-1.02,-73.0,112.7,-17.1,63,681,0.00,1.50,0.00,0.000,6,0.000,0.048,1958,2504,3399
$GC,1000,-1.02,-73.0,167.4,-16.6,94,1003,0.00,1.48,0.00,0.000,4,0.000,0.046,1963,1595,3399
$GC,1058,-1.02,-73.0,177.1,-14.9,99,1065,0.00,1.48,0.00,0.000,6,0.000,0.048,1958,2493,3399
$GC,1376,-1.02,-73.0,231.3,-18.0,130,1379,0.00,1.45,0.00,0.000,4,0.000,0.046,1963,1591,3397
$GC,1401,-1.02,-73.0,236.3,-17.3,132,1409,0.00,1.48,0.00,0.000,6,0.000,0.048,1958,2494,3396
$GC,1720,-1.02,-73.0,289.8,-16.8,163,1723,0.00,1.40,0.00,0.000,4,0.000,0.063,1951,3401,3394
$GC,1752,-1.02,-73.0,295.6,-17.4,166,1755,0.00,1.30,0.00,0.000,6,0.000,0.040,1951,2505,3394
$GC,2074,-1.02,-73.0,350.1,-15.9,197,2077,0.00,1.48,0.00,0.000,4,0.000,0.051,1951,1590,3390
$GC,2100,-1.02,-73.0,354.7,-16.0,199,2107,0.00,1.50,0.00,0.000,6,0.000,0.051,1946,2498,3390
$GC,2418,-1.02,-73.0,408.3,-17.2,230,2421,0.00,1.38,0.00,0.000,4,0.000,0.064,1939,3399,3387
$GC,2539,-1.02,-73.0,431.0,-18.1,241,2548,0.08,1.33,0.00,0.000,6,0.206,0.041,1959,2498,3387
$GC,2856,-1.02,-73.0,481.6,-16.2,272,2857,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2498,3385
$GC,3167,-1.02,-73.0,533.1,-17.1,302,3167,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,2499,3381
$GC,3477,-1.02,-73.0,584.6,-16.9,332,3480,0.00,1.42,0.00,0.000,4,0.000,0.069,1954,3403,3378
$GC,3498,-1.02,-73.0,588.1,-16.5,334,3501,0.00,1.33,0.00,0.000,6,0.000,0.044,1955,2505,3378
$GC,3821,-1.02,-73.0,641.6,-16.4,365,3824,0.00,1.50,0.00,0.000,4,0.000,0.058,1954,1590,3375
$GC,3949,-1.02,-73.0,662.5,-16.0,377,3952,0.00,1.50,0.00,0.000,6,0.000,0.058,1948,2493,3374
$GC,4271,-1.02,-73.0,715.2,-16.2,408,4274,0.00,1.48,0.00,0.000,4,0.000,0.055,1948,1596,3370
$GC,4293,-1.02,-73.0,718.9,-16.1,410,4295,0.00,1.50,0.00,0.000,6,0.000,0.058,1941,2495,3370
$GC,4614,-1.02,-73.0,771.5,-16.3,441,4617,0.00,1.42,0.00,0.000,4,0.000,0.071,1934,3409,3368
$GC,4767,-1.02,-73.0,798.5,-16.9,455,4775,0.10,1.35,0.00,0.000,6,0.203,0.045,1961,2500,3366
$GC,5084,-1.02,-73.0,845.7,-15.0,486,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2500,3364
$GC,5395,-1.02,-73.0,891.8,-14.7,516,5397,0.00,1.48,0.00,0.000,4,0.000,0.058,1963,1598,3361
$GC,5448,-1.02,-73.0,899.5,-13.7,521,5451,0.00,1.52,0.00,0.000,6,0.000,0.061,1958,2500,3361
$GC,5770,-1.02,-73.0,947.4,-14.8,552,5773,0.00,1.50,0.00,0.000,4,0.000,0.058,1960,1595,3358
$GC,5824,-1.02,-73.0,955.2,-13.5,557,5826,0.00,1.52,0.00,0.000,6,0.000,0.061,1954,2499,3358
$STATE,6060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6060,begin apogee
$GC,6065,-0.19,0.0,990.7,15.3,580,6117,0.98,0.00,49.42,1.222,6,0.179,0.000,2238,2499,3100
$STATE,6117,end apogee,CONTROL_FINISHED_OK
$STATE,6117,begin climb
$GC,6119,1.02,73.0,993.4,0.0,585,6184,1.10,1.62,59.70,1.198,4,0.074,0.051,2634,1602,2802
$GC,6207,1.02,73.0,987.3,10.2,592,6214,0.00,1.60,0.00,0.000,6,0.000,0.058,2634,2492,2800
$GC,6524,1.02,73.0,943.4,13.9,623,6527,0.00,1.45,0.00,0.000,4,0.000,0.067,2634,3398,2796
$GC,6560,1.02,73.0,937.8,14.8,626,6568,0.00,1.35,0.00,0.000,6,0.000,0.043,2638,2503,2795
$GC,6879,1.02,73.0,894.1,14.2,657,6879,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2504,2794
$GC,7188,1.02,73.0,851.0,13.8,687,7191,0.00,1.48,0.00,0.000,4,0.000,0.047,2646,1597,2792
$GC,7391,1.02,73.0,823.8,13.4,706,7394,0.00,1.55,0.00,0.000,6,0.000,0.058,2646,2502,2791
$GC,7713,1.02,73.0,781.8,13.0,737,7716,0.00,1.50,0.00,0.000,4,0.000,0.047,2653,1595,2789
$GC,7760,1.02,73.0,775.7,12.8,741,7769,0.00,1.52,0.00,0.000,6,0.000,0.058,2653,2494,2789
$GC,8078,1.02,73.0,734.8,12.4,772,8081,0.00,1.42,0.00,0.000,4,0.000,0.067,2653,3405,2788
$GC,8324,1.02,73.0,700.7,14.3,795,8327,0.10,1.35,0.00,0.000,6,0.218,0.044,2633,2500,2787
$GC,8645,1.02,73.0,662.5,11.9,826,8648,0.00,1.42,0.00,0.000,4,0.000,0.066,2627,3410,2786
$GC,8891,1.02,73.0,632.0,12.8,849,8894,0.00,1.35,0.00,0.000,6,0.000,0.043,2632,2499,2785
$GC,9213,1.02,73.0,595.9,10.4,880,9214,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2500,2785
$GC,9522,1.02,73.0,562.3,10.9,910,9523,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2500,2785
$GC,9833,1.02,73.0,529.9,10.1,940,9835,0.00,1.42,0.00,0.000,4,0.000,0.067,2627,3402,2785
$GC,9997,1.02,73.0,511.0,11.8,955,10004,0.00,1.35,0.00,0.000,6,0.000,0.042,2632,2497,2785
$GC,10315,1.02,73.5,477.9,10.0,986,10318,0.00,1.42,0.00,0.000,4,0.000,0.065,2627,3403,2785
$GC,10444,1.02,73.5,463.8,11.8,998,10446,0.00,1.33,0.00,0.000,6,0.000,0.044,2632,2503,2785
$GC,10766,1.02,73.5,429.4,10.7,1029,10769,0.00,1.48,0.00,0.000,4,0.000,0.046,2640,1586,2785
$GC,11012,1.03,80.1,405.3,9.4,1052,11024,0.00,1.52,3.95,0.540,6,0.000,0.056,2640,2498,2774
$GC,11333,1.03,80.1,371.6,10.6,1083,11336,0.00,1.48,0.00,0.000,4,0.000,0.045,2645,1592,2774
$GC,11376,1.04,82.5,367.4,9.8,1087,11387,0.00,1.52,3.80,0.510,6,0.000,0.056,2640,2501,2763
$GC,11696,1.04,82.5,331.6,10.8,1118,11699,0.00,1.38,0.00,0.000,4,0.000,0.065,2637,3395,2763
$GC,11941,1.04,82.5,303.5,12.0,1141,11944,0.00,1.30,0.00,0.000,6,0.000,0.042,2642,2505,2763
$GC,12264,1.04,82.5,269.0,10.5,1172,12267,0.00,1.38,0.00,0.000,4,0.000,0.064,2637,3396,2763
$GC,12510,1.04,82.5,239.4,12.8,1195,12513,0.00,1.30,0.00,0.000,6,0.000,0.042,2643,2504,2764
$GC,12832,1.04,82.5,203.9,11.4,1226,12835,0.00,1.38,0.00,0.000,4,0.000,0.063,2638,3398,2764
$GC,13046,1.04,82.5,177.9,11.2,1246,13049,0.00,1.30,0.00,0.000,6,0.000,0.041,2643,2502,2765
$GC,13367,1.05,91.3,145.1,9.2,1277,13380,0.00,1.42,8.70,0.573,4,0.000,0.061,2638,3408,2726
$GC,13620,1.05,91.3,116.5,10.8,1300,13627,0.00,1.33,0.00,0.000,6,0.000,0.038,2643,2501,2726
$GC,13938,1.07,113.7,85.7,7.9,1331,13958,0.00,0.00,17.95,0.576,6,0.000,0.000,2643,2501,2635
$GC,14060,1.07,113.7,72.2,12.0,1343,14063,0.00,1.40,0.00,0.000,4,0.000,0.061,2638,3395,2634
$GC,14306,1.16,181.9,50.1,3.8,1366,14365,0.00,1.30,50.45,0.556,6,0.000,0.038,2643,2502,2357
$GC,14468,1.16,181.9,34.8,12.7,1381,14470,0.00,1.42,0.00,0.000,4,0.000,0.061,2638,3404,2352
$GC,14714,1.28,285.4,26.6,0.5,1404,14793,0.15,1.33,75.28,0.522,6,0.069,0.037,2710,2503,1936
$GC,14898,1.29,292.3,6.5,9.4,1420,14909,0.00,1.45,5.28,0.381,4,0.000,0.059,2710,3403,1909
$GC,15123,1.41,385.5,6.8,1.5,1441,15199,0.08,1.33,68.65,0.489,6,0.063,0.035,2757,2503,1526
$GC,15303,1.54,493.7,6.3,0.1,1457,15389,0.12,1.45,78.12,0.479,4,0.070,0.058,2814,3402,1085
$GC,15629,1.68,605.1,5.8,-0.2,1486,15712,0.00,1.33,79.80,0.466,6,0.000,0.034,2820,2504,632
$STATE,15794,end climb,SURFACE_DEPTH_REACHED
$STATE,15794,begin surface coast
$FINISH,0.4,1.014409
$STATE,15887,end surface coast,CONTROL_FINISHED_OK
$STATE,15887,begin surface
$SM_CCo,15902,13.70,0.423,0,0,551,625.01
$SM_GC,4.29,0.00,0.00,13.70,0.000,0.000,0.423,197,2504,551,-6.57,0.11,625.01
$IRIDIUM_FIX,2843.29,-8819.06,091199,040417
$TT8_MAMPS,0.050622
$HUMID,2125
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,27.00
$XPDR_PINGS,2
$24V_AH,24.2,3.145
$10V_AH,10.7,2.334
$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,17.200,91.625,501.100,13.700,0.000,33.065,32.355,425.265,0.500,0.000,0.000,29.472,0.000,10157.220,528.906,4990.644,841.706,33.324,2031.761,0.000,4411.643,0.000,0.852,0.000
$DEVICE_MAMPS,247.741,71.331,1221.831,422.617,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,1035.154,1125.476,3395.258,3480.004,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107630,1510
$CAP_FILE_SIZE,162766,0
$CFSIZE,260165632,253329408
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.089,105.9,1
$GPS,150810,133054,2853.725,-8819.164,180,0.9,180,-0.5