version: 66.04
glider: 515
mission: 2
dive: 28
start: 8 16 110 6 46 23
data:
$ID,515
$MISSION,2
$DIVE,28
$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,550
$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,-28445.637
$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,5
$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
$GPS1,063838,2845.617,-8824.642,56,1.4,56,-0.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-77.7
$GPS2,064544,2845.588,-8824.686,15,1.7,15,-0.4
$SPEED_LIMITS,0.173,0.310
$TGT_NAME,TARGET_NW
$TGT_LATLONG,2839.000,-8829.600
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.290,-0.109
$KALMAN_X,50548.1,-1792.0,-357.3,-42394.3,11367.7
$KALMAN_Y,10209.7,2465.2,-162.3,-43166.0,-4914.9
$MHEAD_RNG_PITCHd_Wd,210.3,14582,-13.9,-10.000
$D_GRID,1408
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-0.78,-219.1,0.0,0.0,0,48,0.00,0.00,-32.83,0.000,2,0.000,0.000,192,2502,1674
$GC,50,-0.78,-219.1,3.1,-5.0,3,123,7.93,1.52,-55.20,0.000,4,0.253,0.061,2045,1585,3961
$GC,362,-0.78,-219.1,73.4,-15.4,31,370,0.00,1.58,0.00,0.000,6,0.000,0.048,2040,2502,3963
$GC,472,-0.78,-219.1,94.5,-21.0,42,473,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2502,3964
$GC,575,-0.78,-219.1,116.0,-20.6,52,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2502,3964
$GC,886,-0.78,-219.1,176.7,-19.1,82,889,0.00,1.50,0.00,0.000,4,0.000,0.038,2040,1590,3965
$GC,918,-0.78,-219.1,182.5,-17.3,85,921,0.00,1.55,0.00,0.000,6,0.000,0.054,2035,2497,3965
$GC,1240,-0.78,-219.1,242.4,-18.1,116,1241,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2497,3964
$GC,1549,-0.78,-219.1,299.9,-18.9,146,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2497,3963
$GC,1860,-0.78,-219.1,355.5,-17.9,176,1861,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2497,3961
$GC,2170,-0.78,-219.1,408.4,-17.4,206,2171,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2497,3959
$GC,2481,-0.78,-219.1,461.3,-16.9,236,2484,0.00,1.50,0.00,0.000,4,0.000,0.048,2035,1594,3956
$GC,2516,-0.78,-219.1,467.4,-16.0,239,2524,0.00,1.58,0.00,0.000,6,0.000,0.057,2028,2505,3956
$GC,2835,-0.78,-219.1,520.7,-17.7,270,2838,0.00,1.52,0.00,0.000,4,0.000,0.049,2028,1598,3954
$GC,2888,-0.78,-219.1,529.9,-16.0,275,2891,0.00,1.55,0.00,0.000,6,0.000,0.058,2021,2500,3953
$GC,3211,-0.78,-219.1,584.2,-17.1,306,3214,0.00,1.50,0.00,0.000,4,0.000,0.050,2021,1598,3950
$GC,3232,-0.78,-219.1,587.9,-16.0,308,3235,0.10,1.55,0.00,0.000,6,0.157,0.059,2046,2499,3950
$GC,3552,-0.78,-219.1,633.7,-14.0,339,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,2499,3947
$GC,3863,-0.78,-219.1,677.6,-14.2,369,3864,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,2499,3944
$GC,4173,-0.78,-219.1,721.6,-14.0,399,4176,0.00,1.52,0.00,0.000,4,0.000,0.054,2046,1594,3942
$GC,4205,-0.78,-219.1,726.0,-13.5,402,4208,0.00,1.58,0.00,0.000,6,0.000,0.062,2040,2502,3941
$GC,4528,-0.78,-219.1,770.9,-13.9,433,4528,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2502,3938
$GC,4836,-0.78,-219.1,814.1,-13.6,463,4837,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2502,3936
$GC,5147,-0.78,-219.1,857.7,-14.5,493,5148,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2502,3933
$GC,5457,-0.78,-219.1,900.2,-13.5,523,5458,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2502,3931
$GC,5768,-0.78,-219.1,943.9,-14.1,553,5771,0.00,1.55,0.00,0.000,4,0.000,0.054,2040,1587,3929
$GC,5800,-0.78,-219.1,948.4,-14.1,556,5803,0.00,1.58,0.00,0.000,6,0.000,0.064,2033,2497,3929
$STATE,6099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6099,begin apogee
$GC,6104,-0.19,0.0,991.2,14.3,585,6273,0.65,0.00,164.95,1.231,6,0.137,0.000,2239,2497,3075
$STATE,6273,end apogee,CONTROL_FINISHED_OK
$STATE,6273,begin climb
$GC,6276,0.78,219.1,1000.3,0.0,602,6465,0.88,0.00,180.95,1.205,6,0.061,0.000,2549,2497,2180
$GC,6775,0.78,219.1,909.5,22.4,648,6778,0.00,1.60,0.00,0.000,4,0.000,0.058,2555,1594,2171
$GC,6864,0.78,219.1,890.1,21.6,656,6871,0.00,1.62,0.00,0.000,6,0.000,0.067,2555,2497,2171
$GC,7182,0.78,219.1,816.0,23.3,687,7185,0.00,1.55,0.00,0.000,4,0.000,0.053,2562,1606,2170
$GC,7229,0.78,219.1,804.8,22.5,691,7236,0.00,1.60,0.00,0.000,6,0.000,0.065,2562,2500,2169
$GC,7547,0.78,219.1,730.0,23.7,722,7548,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2499,2168
$GC,7856,0.78,219.1,657.9,23.2,752,7859,0.00,1.55,0.00,0.000,4,0.000,0.054,2569,1599,2166
$GC,7952,0.78,219.1,636.7,22.7,761,7955,0.00,1.58,0.00,0.000,6,0.000,0.063,2569,2495,2166
$GC,8273,0.78,219.1,561.7,23.7,792,8276,0.00,1.52,0.00,0.000,4,0.000,0.051,2575,1604,2165
$GC,8319,0.78,219.1,550.8,21.7,796,8327,0.00,1.55,0.00,0.000,6,0.000,0.058,2575,2496,2165
$GC,8638,0.78,219.1,475.2,24.7,827,8641,0.00,1.50,0.00,0.000,4,0.000,0.048,2582,1598,2164
$GC,8745,0.78,219.1,449.5,22.9,837,8748,0.00,1.55,0.00,0.000,6,0.000,0.059,2581,2496,2164
$GC,9068,0.78,219.1,370.7,24.9,868,9070,0.00,1.50,0.00,0.000,4,0.000,0.048,2589,1600,2164
$GC,9110,0.78,219.1,359.8,24.2,872,9113,0.10,1.55,0.00,0.000,6,0.185,0.059,2560,2497,2164
$GC,9431,0.78,219.1,286.2,23.0,903,9434,0.00,1.50,0.00,0.000,4,0.000,0.046,2565,1598,2163
$GC,9506,0.78,219.1,269.9,20.7,910,9509,0.00,1.55,0.00,0.000,6,0.000,0.058,2565,2498,2163
$GC,9827,0.78,219.1,194.1,23.7,941,9830,0.00,1.50,0.00,0.000,4,0.000,0.044,2571,1596,2163
$GC,9863,0.78,219.1,186.0,21.2,944,9870,0.00,1.55,0.00,0.000,6,0.000,0.058,2572,2498,2163
$GC,10181,0.78,219.1,112.5,22.7,975,10182,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2499,2163
$GC,10490,0.78,219.1,46.3,17.4,1005,10493,0.00,1.38,0.00,0.000,4,0.000,0.064,2571,3399,2164
$GC,10633,0.78,219.1,27.6,12.2,1018,10642,0.00,1.30,0.00,0.000,6,0.000,0.040,2578,2500,2163
$GC,10743,0.99,389.3,20.3,4.7,1029,10868,0.12,1.58,120.82,0.534,4,0.077,0.042,2641,1590,1486
$STATE,11048,end climb,NO_VERTICAL_VELOCITY
$STATE,11048,begin surface
$SM_CCo,11050,223.50,0.420,25,0,403,655.19
$SM_GC,1.52,6.57,0.00,0.00,0.034,0.000,0.000,191,2501,400,-6.52,0.03,656.17
$IRIDIUM_FIX,2838.37,-8821.67,101199,030306
$TT8_MAMPS,0.051389
$HUMID,2135
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,22.50
$XPDR_PINGS,1
$24V_AH,23.8,4.260
$10V_AH,10.7,3.377
$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,16.350,52.275,466.725,223.500,0.000,22.572,27.237,263.956,0.250,0.000,0.000,17.095,0.000,7316.912,813.174,3231.856,546.221,33.332,1789.177,0.000,2862.436,0.000,0.849,0.000
$DEVICE_MAMPS,253.110,66.729,1231.035,420.316,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,723.751,789.698,2373.893,2440.625,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,76031,1056
$CAP_FILE_SIZE,105218,0
$CFSIZE,260165632,252968960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,25,0
$CURRENT,0.036,310.6,1
$GPS,160810,095858,2844.120,-8825.973,9,2.6,28,-0.4