version: 66.04
glider: 515
mission: 2
dive: 32
start: 8 16 110 19 58 13
data:
$ID,515
$MISSION,2
$DIVE,32
$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,440
$T_MISSION,500
$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,-28611.402
$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,2475
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$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,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,850
$ALTIM_PING_DELTA,10
$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
$GPS1,194758,2839.640,-8828.838,217,8.5,237,-0.4
$_CALLS,1
$_XMS_NAKs,35
$_XMS_TOUTs,1
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-78.8
$GPS2,195732,2839.595,-8828.729,69,1.0,69,-0.4
$SPEED_LIMITS,0.130,0.278
$TGT_NAME,TARGET_SW2
$TGT_LATLONG,2839.400,-8825.200
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.271,0.062
$KALMAN_X,63038.0,-865.5,-760.2,-61947.1,20248.6
$KALMAN_Y,9908.6,-457.9,11.4,-51175.9,-2480.9
$MHEAD_RNG_PITCHd_Wd,93.6,5747,-13.3,-7.500
$D_GRID,1472
$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,-0.67,-141.9,0.0,0.0,0,47,0.00,0.00,-32.83,0.000,2,0.000,0.000,192,2497,1834
$GC,49,-0.68,-153.6,3.8,-7.1,3,101,7.80,1.50,-40.10,0.000,4,0.245,0.059,2076,1562,3727
$GC,332,-0.68,-153.6,60.6,-15.9,29,335,0.00,1.50,0.00,0.000,6,0.000,0.047,2070,2472,3728
$GC,447,-0.68,-153.6,77.7,-15.4,40,450,0.00,1.45,0.00,0.000,4,0.000,0.040,2070,1564,3729
$GC,692,-0.68,-153.6,113.3,-14.9,63,695,0.00,1.50,0.00,0.000,6,0.000,0.050,2063,2474,3729
$GC,1014,-0.68,-153.6,163.9,-15.9,94,1016,0.00,1.45,0.00,0.000,4,0.000,0.041,2063,1569,3729
$GC,1124,-0.68,-153.6,180.7,-14.6,104,1132,0.00,1.50,0.00,0.000,6,0.000,0.050,2056,2477,3729
$GC,1443,-0.68,-153.6,228.2,-14.7,135,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2477,3728
$GC,1752,-0.68,-153.6,274.4,-15.1,165,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2477,3726
$GC,2062,-0.68,-153.6,320.2,-14.8,195,2065,0.00,1.48,0.00,0.000,4,0.000,0.046,2056,1559,3725
$GC,2109,-0.68,-153.6,327.1,-13.9,199,2118,0.08,1.50,0.00,0.000,6,0.159,0.053,2074,2470,3724
$GC,2426,-0.68,-153.6,366.4,-12.3,230,2426,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2470,3722
$GC,2736,-0.68,-153.6,403.8,-11.9,260,2737,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2470,3720
$GC,3046,-0.68,-153.6,441.8,-11.9,290,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2470,3717
$GC,3357,-0.68,-153.6,480.2,-12.6,320,3358,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2471,3714
$GC,3667,-0.68,-153.6,519.1,-12.6,350,3668,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2471,3712
$GC,3978,-0.68,-153.6,556.8,-11.8,380,3979,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2471,3710
$GC,4288,-0.68,-153.6,592.8,-11.8,410,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2471,3707
$GC,4599,-0.68,-153.6,629.0,-11.5,440,4602,0.00,1.45,0.00,0.000,4,0.000,0.051,2074,1576,3704
$GC,4631,-0.68,-153.6,632.9,-11.6,443,4634,0.00,1.52,0.00,0.000,6,0.000,0.060,2070,2480,3704
$GC,4953,-0.68,-153.6,672.4,-12.2,474,4956,0.00,1.50,0.00,0.000,4,0.000,0.052,2070,1567,3702
$GC,4996,-0.68,-153.6,677.7,-11.8,478,4999,0.00,1.50,0.00,0.000,6,0.000,0.060,2063,2470,3702
$GC,5318,-0.68,-153.6,717.3,-12.5,509,5319,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,2470,3698
$GC,5628,-0.68,-153.6,754.6,-12.2,539,5628,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,2471,3697
$GC,5938,-0.68,-153.6,791.0,-12.1,569,5938,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,2471,3696
$GC,6248,-0.68,-153.6,828.8,-12.2,599,6249,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,2471,3693
$GC,6560,-0.68,-153.6,865.4,-12.0,629,6563,0.00,1.45,0.00,0.000,4,0.000,0.078,2056,3376,3690
$GC,6602,-0.68,-153.6,870.7,-12.9,633,6606,0.00,1.35,0.00,0.000,6,0.000,0.046,2055,2473,3690
$STATE,6686,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6686,begin apogee
$GC,6691,-0.19,0.0,880.4,11.8,641,6808,0.55,0.00,111.47,1.154,6,0.138,0.000,2232,2382,3101
$STATE,6809,end apogee,CONTROL_FINISHED_OK
$STATE,6809,begin climb
$GC,6811,0.68,153.6,884.6,0.0,653,6944,0.82,0.00,125.40,1.125,6,0.079,0.000,2515,2382,2472
$GC,7253,0.68,153.6,826.6,15.8,695,7256,0.00,1.60,0.00,0.000,4,0.000,0.066,2515,3295,2463
$GC,7317,0.68,153.6,815.6,17.5,701,7320,0.00,1.45,0.00,0.000,6,0.000,0.043,2521,2419,2462
$GC,7639,0.68,153.6,763.8,16.1,732,7640,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2420,2461
$GC,7948,0.68,153.6,714.3,16.0,762,7951,0.00,1.52,0.00,0.000,4,0.000,0.067,2522,3301,2459
$GC,7995,0.68,153.6,706.2,16.8,766,8002,0.00,1.50,0.00,0.000,6,0.000,0.043,2529,2388,2457
$GC,8313,0.68,153.6,654.0,16.0,797,8316,0.00,1.30,0.00,0.000,4,0.000,0.045,2535,1511,2456
$GC,8334,0.68,153.6,650.3,16.4,799,8337,0.00,1.42,0.00,0.000,6,0.000,0.057,2535,2416,2456
$GC,8657,0.68,153.6,597.6,16.5,830,8659,0.00,1.38,0.00,0.000,4,0.000,0.045,2542,1512,2456
$GC,8693,0.68,153.6,591.0,17.3,833,8700,0.00,1.40,0.00,0.000,6,0.000,0.055,2541,2411,2456
$GC,9011,0.68,153.6,537.6,16.7,864,9012,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2411,2455
$GC,9320,0.68,153.6,485.7,16.3,894,9323,0.00,1.35,0.00,0.000,4,0.000,0.045,2548,1513,2455
$GC,9352,0.68,153.6,480.4,16.5,897,9354,0.00,1.38,0.00,0.000,6,0.000,0.056,2547,2398,2455
$GC,9674,0.68,153.6,426.8,16.8,928,9677,0.00,1.50,0.00,0.000,4,0.000,0.066,2547,3282,2454
$GC,9700,0.68,153.6,421.9,19.4,930,9708,0.12,1.40,0.00,0.000,6,0.189,0.041,2520,2415,2453
$GC,10016,0.68,153.6,374.1,14.5,961,10017,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2416,2454
$GC,10327,0.68,153.6,327.7,14.9,991,10330,0.00,1.48,0.00,0.000,4,0.000,0.064,2517,3281,2453
$GC,10391,0.68,153.6,317.6,16.4,997,10393,0.00,1.42,0.00,0.000,6,0.000,0.041,2522,2395,2453
$GC,10711,0.68,153.6,270.3,14.4,1028,10712,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2396,2453
$GC,11022,0.68,153.6,224.1,15.0,1058,11025,0.00,1.50,0.00,0.000,4,0.000,0.063,2522,3280,2453
$GC,11054,0.68,153.6,219.3,15.0,1061,11057,0.00,1.40,0.00,0.000,6,0.000,0.041,2528,2408,2453
$GC,11375,0.68,153.6,169.7,14.9,1092,11378,0.00,1.48,0.00,0.000,4,0.000,0.063,2528,3279,2454
$GC,11422,0.68,153.6,162.0,16.8,1096,11429,0.00,1.42,0.00,0.000,6,0.000,0.039,2535,2389,2454
$GC,11740,0.68,153.6,114.3,14.7,1127,11740,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2390,2455
$GC,12049,0.68,153.6,72.3,12.2,1157,12052,0.00,1.50,0.00,0.000,4,0.000,0.061,2535,3280,2456
$GC,12295,0.71,173.5,43.9,6.8,1180,12311,0.00,1.38,13.40,0.520,6,0.000,0.038,2541,2413,2391
$GC,12415,0.79,239.9,37.3,5.1,1191,12467,0.00,1.55,49.22,0.540,4,0.000,0.060,2541,3290,2119
$GC,12596,0.84,278.6,25.4,6.1,1207,12632,0.00,1.45,28.38,0.512,6,0.000,0.038,2547,2394,1964
$GC,12735,0.88,312.3,17.3,6.3,1220,12769,0.10,1.38,25.42,0.496,4,0.080,0.040,2599,1494,1826
$GC,12801,0.88,312.3,10.8,11.1,1226,12804,0.00,1.42,0.00,0.000,6,0.000,0.048,2600,2402,1825
$GC,12915,1.06,456.9,6.9,2.3,1237,13023,0.12,1.45,104.32,0.495,4,0.064,0.041,2666,1497,1236
$STATE,13246,end climb,NO_VERTICAL_VELOCITY
$STATE,13246,begin surface
$SM_CCo,13248,161.62,0.410,17,0,403,661.32
$SM_GC,2.01,6.68,0.00,0.00,0.040,0.000,0.000,190,2462,400,-6.52,-0.37,662.30
$IRIDIUM_FIX,2831.00,-8834.01,101199,171755
$TT8_MAMPS,0.050622
$HUMID,2054
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,25.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,880.4,7.3
$24V_AH,24.0,4.979
$10V_AH,10.7,4.080
$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,16.275,58.525,457.625,161.625,0.000,30.918,32.610,348.549,2.000,0.000,0.000,72.448,0.000,8830.842,696.394,3950.143,679.666,33.334,1837.682,0.000,3446.226,0.000,16.466,0.000
$DEVICE_MAMPS,244.673,78.234,1153.568,409.578,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,867.879,947.115,2848.465,2930.204,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88555,1267
$CAP_FILE_SIZE,126451,0
$CFSIZE,260165632,252661760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,17,0
$CURRENT,0.040,249.6,1
$GPS,160810,234615,2839.532,-8827.168,40,2.4,59,-0.4