version: 66.04
glider: 515
mission: 2
dive: 24
start: 8 15 110 17 20 35
data:
$ID,515
$MISSION,2
$DIVE,24
$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,200
$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,-28346.092
$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,17
$R_STBD_OVSHOOT,11
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,3000
$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
$GPS1,171255,2852.273,-8819.632,146,1.7,147,-0.5
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-77.1
$GPS2,171955,2852.163,-8819.484,8,2.0,12,-0.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,TARGET_NW
$TGT_LATLONG,2839.000,-8829.600
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.284,0.077
$KALMAN_X,42309.5,-1991.7,-597.1,-25284.7,12936.6
$KALMAN_Y,23861.4,-4262.5,-1406.0,-36584.0,9340.7
$MHEAD_RNG_PITCHd_Wd,231.9,29403,-14.9,-10.000
$D_GRID,1093
$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,-0.79,-194.7,0.0,0.0,0,47,0.00,0.00,-32.70,0.000,2,0.000,0.000,194,2502,1464
$GC,49,-0.79,-194.7,3.3,-6.1,3,112,7.88,1.52,-49.58,0.000,4,0.252,0.066,2046,1587,3795
$GC,355,-0.79,-194.7,71.4,-21.0,31,358,0.00,1.52,0.00,0.000,6,0.000,0.048,2040,2500,3796
$GC,469,-0.79,-194.7,92.8,-17.8,42,471,0.00,1.50,0.00,0.000,4,0.000,0.044,2040,1582,3797
$GC,715,-0.79,-194.7,136.2,-17.1,65,717,0.00,1.52,0.00,0.000,6,0.000,0.049,2033,2499,3797
$GC,1035,-0.79,-194.7,194.8,-17.5,96,1039,0.00,1.48,0.00,0.000,4,0.000,0.045,2033,1593,3796
$GC,1078,-0.79,-194.7,202.1,-17.3,100,1081,0.00,1.50,0.00,0.000,6,0.000,0.051,2026,2496,3797
$GC,1399,-0.79,-194.7,259.5,-17.7,131,1402,0.00,1.48,0.00,0.000,4,0.000,0.046,2027,1588,3794
$GC,1435,-0.79,-194.7,265.9,-17.4,134,1443,0.00,1.52,0.00,0.000,6,0.000,0.051,2022,2500,3794
$GC,1754,-0.79,-194.7,322.1,-17.3,165,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2500,3793
$GC,2062,-0.79,-194.7,377.2,-17.5,195,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,2500,3790
$GC,2373,-0.79,-194.7,430.5,-17.2,225,2374,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2500,3788
$GC,2683,-0.79,-194.7,482.6,-17.1,255,2686,0.00,1.38,0.00,0.000,4,0.000,0.070,2015,3394,3785
$GC,2715,-0.79,-194.7,488.2,-18.0,258,2718,0.00,1.30,0.00,0.000,6,0.000,0.042,2015,2499,3784
$GC,3038,-0.79,-194.7,543.6,-17.5,289,3040,0.00,1.48,0.00,0.000,4,0.000,0.055,2015,1597,3781
$GC,3106,-0.79,-194.7,555.5,-16.5,295,3114,0.10,1.52,0.00,0.000,6,0.158,0.057,2039,2498,3780
$GC,3422,-0.79,-194.7,602.8,-14.9,326,3423,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2498,3778
$GC,3733,-0.79,-194.7,647.8,-14.7,356,3736,0.00,1.50,0.00,0.000,4,0.000,0.054,2039,1597,3775
$GC,3786,-0.79,-194.7,655.4,-13.8,361,3789,0.00,1.55,0.00,0.000,6,0.000,0.060,2034,2504,3775
$GC,4109,-0.79,-194.7,702.7,-14.8,392,4110,0.00,0.00,0.00,0.000,6,0.000,0.000,2034,2504,3771
$GC,4418,-0.79,-194.7,749.2,-15.2,422,4419,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2504,3770
$GC,4728,-0.79,-194.7,795.4,-14.9,452,4731,0.00,1.52,0.00,0.000,4,0.000,0.058,2034,1601,3766
$GC,4775,-0.79,-194.7,802.3,-13.9,456,4783,0.00,1.52,0.00,0.000,6,0.000,0.061,2027,2495,3766
$GC,5093,-0.79,-194.7,849.4,-14.4,487,5094,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2495,3763
$GC,5402,-0.79,-194.7,895.7,-14.6,517,5405,0.00,1.50,0.00,0.000,4,0.000,0.057,2027,1596,3760
$GC,5445,-0.79,-194.7,901.9,-14.2,521,5448,0.00,1.55,0.00,0.000,6,0.000,0.063,2020,2501,3760
$GC,5767,-0.79,-194.7,950.0,-14.9,552,5768,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2501,3758
$STATE,6043,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6043,begin apogee
$GC,6048,-0.19,0.0,991.0,14.9,579,6198,0.70,0.00,146.15,1.230,6,0.153,0.000,2234,2501,3000
$STATE,6199,end apogee,CONTROL_FINISHED_OK
$STATE,6199,begin climb
$GC,6201,0.79,194.7,995.9,0.0,594,6368,0.95,1.58,160.55,1.200,4,0.083,0.075,2551,3401,2205
$GC,6396,0.79,194.7,968.7,22.8,610,6403,0.00,1.42,0.00,0.000,6,0.000,0.042,2557,2504,2200
$GC,6714,0.79,194.7,894.6,23.9,641,6716,0.00,1.52,0.00,0.000,4,0.000,0.048,2564,1597,2194
$GC,6814,0.79,194.7,870.9,23.5,650,6821,0.00,1.58,0.00,0.000,6,0.000,0.058,2564,2498,2194
$GC,7132,0.79,194.7,795.4,24.5,681,7135,0.00,1.52,0.00,0.000,4,0.000,0.046,2571,1589,2192
$GC,7228,0.79,194.7,773.7,22.5,690,7231,0.00,1.58,0.00,0.000,6,0.000,0.058,2571,2501,2192
$GC,7551,0.79,194.7,699.2,23.6,721,7554,0.00,1.52,0.00,0.000,4,0.000,0.047,2578,1593,2190
$GC,7587,0.79,194.7,690.7,22.0,724,7594,0.00,1.55,0.00,0.000,6,0.000,0.058,2578,2498,2190
$GC,7905,0.79,194.7,615.7,24.4,755,7908,0.00,1.50,0.00,0.000,4,0.000,0.047,2585,1595,2189
$GC,7948,0.79,194.7,605.7,22.5,759,7951,0.00,1.55,0.00,0.000,6,0.000,0.058,2585,2499,2189
$GC,8269,0.79,194.7,528.4,24.2,790,8272,0.00,1.50,0.00,0.000,4,0.000,0.046,2592,1593,2189
$GC,8343,0.79,194.7,510.8,24.5,797,8347,0.10,1.55,0.00,0.000,6,0.190,0.058,2563,2498,2189
$GC,8665,0.79,194.7,438.3,23.0,828,8665,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2499,2188
$GC,8975,0.79,194.7,369.2,22.6,858,8976,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2498,2188
$GC,9286,0.79,194.7,300.9,22.1,888,9288,0.00,1.50,0.00,0.000,4,0.000,0.045,2568,1587,2187
$GC,9311,0.79,194.7,295.1,23.2,890,9318,0.00,1.58,0.00,0.000,6,0.000,0.057,2569,2505,2187
$GC,9629,0.79,194.7,222.0,22.3,921,9630,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2505,2187
$GC,9938,0.79,194.7,152.3,22.0,951,9941,0.00,1.50,0.00,0.000,4,0.000,0.044,2574,1591,2187
$GC,10017,0.79,194.7,135.7,19.7,958,10024,0.00,1.52,0.00,0.000,6,0.000,0.054,2575,2497,2188
$GC,10335,0.79,194.7,67.8,19.1,989,10338,0.00,1.40,0.00,0.000,4,0.000,0.065,2575,3403,2188
$GC,10442,0.79,194.7,46.4,18.6,999,10445,0.00,1.33,0.00,0.000,6,0.000,0.040,2581,2497,2187
$GC,10556,0.79,194.7,31.3,10.2,1010,10557,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2498,2187
$GC,10660,0.96,333.1,25.2,5.2,1020,10767,0.00,1.55,97.90,0.542,4,0.000,0.042,2588,1583,1641
$GC,10899,1.06,411.5,8.4,7.3,1041,10961,0.10,1.58,57.00,0.507,6,0.051,0.052,2652,2497,1323
$GC,11073,1.41,698.6,7.1,0.0,1057,11235,0.25,0.00,159.10,0.493,2,0.048,0.000,2772,2497,422
$STATE,11236,end climb,SURFACE_DEPTH_REACHED
$STATE,11236,begin surface coast
$FINISH,0.2,1.015541
$STATE,11303,end surface coast,CONTROL_FINISHED_OK
$STATE,11303,begin surface
$SM_CCo,11377,0.00,0.000,0,0,419,633.11
$SM_GC,1.63,6.95,0.00,0.00,0.036,0.000,0.000,190,2497,419,-6.53,-0.08,633.11
$IRIDIUM_FIX,2843.29,-8816.68,091199,131327
$TT8_MAMPS,0.051389
$HUMID,2246
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,23.9,3.524
$10V_AH,10.7,2.694
$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,17.025,57.200,620.700,0.000,0.000,30.213,35.789,239.261,0.250,0.000,0.000,16.421,0.000,7299.571,560.382,3349.464,562.136,33.329,1619.100,0.000,2970.134,0.000,0.850,0.000
$DEVICE_MAMPS,252.343,75.166,1230.268,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,736.197,804.067,2421.503,2494.743,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,76035,1077
$CAP_FILE_SIZE,107776,0
$CFSIZE,260165632,253243392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.073,143.8,1
$GPS,150810,203126,2850.673,-8820.713,34,2.0,54,-0.5