version: 66.04
glider: 515
mission: 2
dive: 26
start: 8 16 110 0 1 34
data:
$ID,515
$MISSION,2
$DIVE,26
$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,-28394.24
$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,19
$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,3075
$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
$GPS1,234924,2849.128,-8822.107,57,1.8,58,-0.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-71.2
$GPS2,000055,2848.925,-8822.070,12,2.0,29,-0.5
$SPEED_LIMITS,0.173,0.310
$TGT_NAME,TARGET_NW
$TGT_LATLONG,2839.000,-8829.600
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.256,-0.175
$KALMAN_X,44093.3,-252.8,-1024.3,-32555.4,9882.6
$KALMAN_Y,11536.2,67.7,545.3,-36583.0,-3328.7
$MHEAD_RNG_PITCHd_Wd,218.4,22082,-13.9,-10.000
$D_GRID,1085
$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,-0.78,-219.1,0.0,0.0,0,59,0.00,0.00,-45.00,0.000,2,0.000,0.000,198,2502,1905
$GC,61,-0.78,-219.1,3.5,-4.6,4,121,7.75,1.50,-44.67,0.000,4,0.248,0.060,2045,1591,3961
$GC,360,-0.78,-219.1,74.1,-17.7,31,368,0.00,1.55,0.00,0.000,6,0.000,0.054,2040,2497,3962
$GC,470,-0.78,-219.1,96.3,-21.7,42,473,0.00,1.50,0.00,0.000,4,0.000,0.043,2040,1589,3963
$GC,684,-0.78,-219.1,136.6,-17.4,62,687,0.00,1.55,0.00,0.000,6,0.000,0.054,2033,2500,3963
$GC,1005,-0.78,-219.1,199.4,-19.4,93,1008,0.00,1.50,0.00,0.000,4,0.000,0.044,2033,1587,3963
$GC,1047,-0.78,-219.1,207.4,-17.9,97,1050,0.00,1.52,0.00,0.000,6,0.000,0.053,2026,2495,3963
$GC,1370,-0.78,-219.1,269.4,-18.9,128,1371,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2494,3961
$GC,1679,-0.78,-219.1,327.3,-18.2,158,1679,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,2495,3960
$GC,1989,-0.78,-219.1,381.8,-16.4,188,1992,0.00,1.40,0.00,0.000,4,0.000,0.067,2020,3407,3957
$GC,2032,-0.78,-219.1,389.4,-17.9,192,2035,0.00,1.33,0.00,0.000,6,0.000,0.040,2019,2496,3957
$GC,2354,-0.78,-219.1,447.4,-17.5,223,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2497,3955
$GC,2663,-0.78,-219.1,503.5,-17.5,253,2666,0.00,1.48,0.00,0.000,4,0.000,0.052,2020,1592,3951
$GC,2695,-0.78,-219.1,509.1,-17.6,256,2698,0.08,1.55,0.00,0.000,6,0.138,0.058,2048,2499,3951
$GC,3016,-0.78,-219.1,555.5,-14.7,287,3017,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2500,3948
$GC,3327,-0.78,-219.1,600.1,-14.4,317,3329,0.00,1.50,0.00,0.000,4,0.000,0.053,2048,1602,3944
$GC,3363,-0.78,-219.1,605.3,-13.3,320,3370,0.00,1.52,0.00,0.000,6,0.000,0.058,2042,2496,3943
$GC,3681,-0.78,-219.1,652.1,-15.4,351,3682,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2497,3941
$GC,3990,-0.78,-219.1,698.1,-14.4,381,3991,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,2497,3939
$GC,4300,-0.78,-219.1,743.8,-14.8,411,4303,0.00,1.50,0.00,0.000,4,0.000,0.056,2043,1607,3935
$GC,4358,-0.78,-219.1,752.0,-13.6,416,4365,0.00,1.52,0.00,0.000,6,0.000,0.061,2036,2495,3934
$GC,4676,-0.78,-219.1,797.8,-14.6,447,4679,0.00,1.50,0.00,0.000,4,0.000,0.055,2036,1598,3932
$GC,4707,-0.78,-219.1,802.3,-13.1,450,4710,0.00,1.55,0.00,0.000,6,0.000,0.062,2029,2500,3931
$GC,5030,-0.78,-219.1,851.0,-15.2,481,5033,0.00,1.40,0.00,0.000,4,0.000,0.076,2023,3406,3929
$GC,5056,-0.78,-219.1,855.6,-16.0,483,5064,0.00,1.30,0.00,0.000,6,0.000,0.046,2023,2510,3929
$GC,5374,-0.78,-219.1,906.2,-16.3,514,5377,0.00,1.55,0.00,0.000,4,0.000,0.057,2023,1583,3926
$GC,5410,-0.78,-219.1,912.0,-14.9,517,5418,0.08,1.58,0.00,0.000,6,0.160,0.062,2039,2499,3926
$GC,5727,-0.78,-219.1,956.0,-14.3,548,5728,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2499,3923
$STATE,5983,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5983,begin apogee
$GC,5988,-0.19,0.0,991.0,13.8,573,6158,0.62,0.00,163.43,1.229,6,0.139,0.000,2238,2500,3078
$STATE,6159,end apogee,CONTROL_FINISHED_OK
$STATE,6159,begin climb
$GC,6161,0.78,219.1,998.5,0.0,590,6346,0.90,0.00,181.43,1.203,6,0.061,0.000,2552,2499,2181
$GC,6654,0.78,219.1,907.0,23.8,638,6657,0.00,1.60,0.00,0.000,4,0.000,0.058,2560,1595,2171
$GC,6733,0.78,219.1,889.2,22.2,645,6740,0.00,1.62,0.00,0.000,6,0.000,0.066,2560,2498,2171
$GC,7051,0.78,219.1,814.9,24.1,676,7054,0.00,1.55,0.00,0.000,4,0.000,0.054,2567,1603,2170
$GC,7083,0.78,219.1,806.8,23.7,679,7086,0.00,1.58,0.00,0.000,6,0.000,0.066,2567,2495,2170
$GC,7406,0.78,219.1,731.4,23.8,710,7409,0.00,1.52,0.00,0.000,4,0.000,0.051,2573,1606,2168
$GC,7480,0.78,219.1,714.2,21.7,717,7483,0.00,1.55,0.00,0.000,6,0.000,0.060,2573,2496,2168
$GC,7802,0.78,219.1,637.6,24.6,748,7804,0.00,1.52,0.00,0.000,4,0.000,0.048,2580,1582,2167
$GC,7880,0.78,219.1,618.9,22.6,755,7888,0.00,1.58,0.00,0.000,6,0.000,0.058,2580,2496,2167
$GC,8199,0.78,219.1,541.1,24.7,786,8201,0.00,1.52,0.00,0.000,4,0.000,0.047,2587,1582,2166
$GC,8256,0.78,219.1,526.6,24.5,791,8263,0.10,1.58,0.00,0.000,6,0.188,0.058,2559,2497,2166
$GC,8572,0.78,219.1,456.3,22.1,822,8575,0.00,1.52,0.00,0.000,4,0.000,0.046,2565,1584,2165
$GC,8626,0.78,219.1,444.7,21.9,827,8629,0.00,1.58,0.00,0.000,6,0.000,0.058,2565,2500,2165
$GC,8949,0.78,219.1,372.1,22.0,858,8949,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2500,2165
$GC,9258,0.78,219.1,300.3,23.7,888,9258,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2500,2164
$GC,9568,0.78,219.1,226.9,23.1,918,9571,0.00,1.50,0.00,0.000,4,0.000,0.047,2572,1597,2164
$GC,9600,0.78,219.1,219.5,22.2,921,9603,0.00,1.55,0.00,0.000,6,0.000,0.058,2572,2500,2164
$GC,9922,0.78,219.1,142.0,24.0,952,9923,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2500,2164
$GC,10231,0.78,219.1,71.8,21.3,982,10234,0.00,1.50,0.00,0.000,4,0.000,0.045,2579,1588,2165
$GC,10353,0.78,219.1,49.0,16.9,993,10360,0.00,1.55,0.00,0.000,6,0.000,0.054,2579,2500,2165
$GC,10462,0.78,219.1,34.9,10.5,1004,10465,0.00,1.38,0.00,0.000,4,0.000,0.065,2579,3399,2165
$GC,10708,0.98,379.4,17.4,5.0,1027,10828,0.00,1.30,113.62,0.529,6,0.000,0.039,2585,2499,1527
$GC,10930,1.26,602.0,7.0,3.1,1047,11096,0.30,1.45,159.98,0.499,4,0.047,0.061,2721,3401,620
$STATE,11143,end climb,SURFACE_DEPTH_REACHED
$STATE,11143,begin surface coast
$FINISH,0.2,1.008690
$STATE,11207,end surface coast,CONTROL_FINISHED_OK
$STATE,11207,begin surface
$SM_CCo,11223,16.02,0.449,0,0,526,625.01
$SM_GC,3.65,0.00,0.00,16.02,0.000,0.000,0.449,193,2499,526,-6.59,-0.03,625.01
$IRIDIUM_FIX,2835.91,-8821.67,101199,000006
$TT8_MAMPS,0.051389
$HUMID,2290
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,23.8,3.875
$10V_AH,10.7,3.034
$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,16.675,60.150,618.450,16.025,0.000,51.592,66.479,367.942,0.250,0.000,0.000,30.999,0.000,7216.373,605.257,3336.867,750.219,33.343,1645.442,0.000,2942.479,0.000,1.154,0.000
$DEVICE_MAMPS,247.741,75.933,1228.734,449.462,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,731.675,798.370,2407.844,2478.093,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,76114,1071
$CAP_FILE_SIZE,111178,0
$CFSIZE,260165632,253104128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.016,241.2,1
$GPS,160810,031026,2847.421,-8823.352,50,3.4,69,-0.5