version: 66.04
glider: 515
mission: 2
dive: 34
start: 8 17 110 4 36 24
data:
$ID,515
$MISSION,2
$DIVE,34
$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,275
$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,675
$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,-28647.23
$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,20
$R_STBD_OVSHOOT,15
$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,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
$GPS1,042315,2839.636,-8826.400,176,1.0,177,-0.4
$_CALLS,2
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-78.2
$GPS2,043544,2839.544,-8826.354,14,1.6,14,-0.4
$SPEED_LIMITS,0.130,0.301
$TGT_NAME,TARGET_CENTER2
$TGT_LATLONG,2839.000,-8820.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.126,0.274
$KALMAN_X,77678.7,-1820.1,-1599.8,-70918.2,24575.1
$KALMAN_Y,1982.9,668.3,25.3,-44497.5,-9616.0
$MHEAD_RNG_PITCHd_Wd,95.0,9082,-8.5,-7.500
$D_GRID,1398
$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,-0.65,-267.8,0.0,0.0,0,47,0.00,0.00,-32.80,0.000,2,0.000,0.000,188,2472,1846
$GC,50,-0.65,-267.8,3.7,-6.4,3,110,8.07,1.50,-47.97,0.000,4,0.251,0.058,2083,1558,3961
$GC,350,-0.65,-267.8,64.4,-14.8,30,357,0.00,1.50,0.00,0.000,6,0.000,0.044,2077,2472,3962
$GC,459,-0.65,-267.8,81.0,-16.0,41,460,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,2472,3962
$GC,562,-0.65,-267.8,97.2,-15.4,51,565,0.00,1.40,0.00,0.000,4,0.000,0.054,2070,3380,3963
$GC,663,-0.65,-267.8,114.0,-17.1,60,671,0.00,1.35,0.00,0.000,6,0.000,0.033,2070,2466,3963
$GC,979,-0.65,-267.8,164.1,-15.7,91,983,0.00,1.40,0.00,0.000,4,0.000,0.044,2070,1572,3963
$GC,1022,-0.65,-267.8,170.6,-14.7,95,1025,0.00,1.50,0.00,0.000,6,0.000,0.048,2063,2480,3963
$GC,1344,-0.65,-267.8,221.9,-15.3,126,1347,0.00,1.48,0.00,0.000,4,0.000,0.043,2063,1569,3961
$GC,1370,-0.65,-267.8,226.1,-15.2,128,1379,0.10,1.50,0.00,0.000,6,0.139,0.049,2090,2474,3961
$GC,1686,-0.65,-267.8,264.8,-11.5,159,1687,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2475,3959
$GC,1997,-0.65,-267.8,300.9,-11.4,189,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2475,3957
$GC,2307,-0.65,-267.8,335.9,-10.8,219,2308,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2475,3954
$GC,2618,-0.65,-267.8,370.7,-11.4,249,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2475,3951
$GC,2928,-0.65,-267.8,405.1,-10.8,279,2931,0.00,1.45,0.00,0.000,4,0.000,0.048,2090,1579,3949
$GC,2960,-0.65,-267.8,408.5,-11.5,282,2962,0.00,1.50,0.00,0.000,6,0.000,0.055,2085,2476,3949
$GC,3282,-0.65,-267.8,444.9,-11.4,313,3283,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2476,3945
$GC,3591,-0.65,-267.8,479.7,-11.2,343,3594,0.00,1.45,0.00,0.000,4,0.000,0.051,2085,1585,3943
$GC,3623,-0.65,-267.8,483.3,-11.4,346,3626,0.00,1.48,0.00,0.000,6,0.000,0.057,2079,2470,3942
$GC,3945,-0.65,-267.8,521.1,-11.8,377,3946,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2470,3939
$GC,4255,-0.65,-267.8,556.6,-11.4,407,4255,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2470,3937
$GC,4565,-0.65,-267.8,591.7,-11.5,437,4566,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2470,3934
$GC,4875,-0.65,-267.8,627.7,-11.7,467,4878,0.00,1.42,0.00,0.000,4,0.000,0.075,2072,3367,3932
$GC,4907,-0.65,-267.8,631.4,-12.1,470,4910,0.00,1.27,0.00,0.000,6,0.000,0.044,2073,2489,3931
$GC,5230,-0.65,-267.8,667.9,-10.9,501,5233,0.00,1.52,0.00,0.000,4,0.000,0.055,2072,1566,3929
$GC,5251,-0.65,-267.8,670.6,-11.5,503,5254,0.00,1.52,0.00,0.000,6,0.000,0.061,2065,2473,3929
$GC,5574,-0.65,-267.8,709.1,-12.1,534,5574,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2474,3926
$GC,5883,-0.65,-267.8,746.5,-12.0,564,5884,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2474,3924
$GC,6193,-0.65,-267.8,783.4,-11.5,594,6196,0.00,1.50,0.00,0.000,4,0.000,0.056,2066,1565,3921
$GC,6218,-0.65,-267.8,786.5,-11.7,596,6227,0.08,1.55,0.00,0.000,6,0.143,0.061,2085,2479,3921
$GC,6537,-0.65,-267.8,817.4,-10.0,627,6538,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2479,3919
$GC,6846,-0.65,-267.8,848.5,-9.9,657,6846,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2479,3917
$GC,7156,-0.65,-267.8,878.7,-9.7,687,7157,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2479,3916
$GC,7466,-0.65,-267.8,908.9,-9.6,717,7469,0.00,1.50,0.00,0.000,4,0.000,0.054,2085,1575,3914
$GC,7520,-0.65,-267.8,913.9,-9.4,722,7523,0.00,1.52,0.00,0.000,6,0.000,0.064,2080,2475,3914
$GC,7841,-0.65,-267.8,945.6,-9.8,753,7842,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2475,3912
$GC,8151,-0.65,-267.8,975.4,-9.3,783,8152,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2475,3910
$STATE,8305,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8305,begin apogee
$GC,8310,-0.19,0.0,990.5,9.7,798,8470,0.50,0.00,157.10,1.239,6,0.116,0.000,2243,2378,3100
$STATE,8470,end apogee,CONTROL_FINISHED_OK
$STATE,8470,begin climb
$GC,8472,0.65,267.8,997.3,0.0,814,8701,0.75,1.77,220.98,1.210,4,0.058,0.075,2513,3289,2008
$GC,8737,0.65,267.8,964.4,23.3,837,8745,0.00,1.50,0.00,0.000,6,0.000,0.043,2520,2421,2002
$GC,9056,0.65,267.8,893.8,22.1,868,9059,0.00,1.42,0.00,0.000,4,0.000,0.048,2526,1504,1996
$GC,9131,0.65,267.8,877.9,20.5,875,9133,0.00,1.45,0.00,0.000,6,0.000,0.057,2526,2410,1996
$GC,9453,0.65,267.8,807.2,22.0,906,9454,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2410,1995
$GC,9762,0.65,267.8,738.7,22.3,936,9765,0.00,1.40,0.00,0.000,4,0.000,0.048,2533,1503,1994
$GC,9794,0.65,267.8,731.7,21.9,939,9797,0.00,1.42,0.00,0.000,6,0.000,0.056,2533,2409,1994
$GC,10116,0.65,267.8,660.6,21.7,970,10117,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2409,1993
$GC,10425,0.65,267.8,592.5,22.4,1000,10428,0.00,1.50,0.00,0.000,4,0.000,0.067,2533,3291,1992
$GC,10457,0.65,267.8,585.3,23.1,1003,10460,0.10,1.48,0.00,0.000,6,0.180,0.044,2512,2391,1991
$GC,10778,0.65,267.8,521.1,20.6,1034,10781,0.00,1.33,0.00,0.000,4,0.000,0.048,2516,1507,1990
$GC,10825,0.65,267.8,512.1,18.6,1038,10834,0.00,1.40,0.00,0.000,6,0.000,0.054,2517,2403,1990
$GC,11143,0.65,267.8,448.7,20.5,1069,11144,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2404,1990
$GC,11452,0.65,267.8,384.7,20.9,1099,11453,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2404,1990
$GC,11763,0.65,267.8,320.0,20.8,1129,11763,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2404,1990
$GC,12073,0.65,267.8,255.6,20.9,1159,12076,0.00,1.48,0.00,0.000,4,0.000,0.065,2516,3279,1990
$GC,12116,0.65,267.8,246.2,22.0,1163,12118,0.00,1.40,0.00,0.000,6,0.000,0.042,2522,2411,1989
$GC,12437,0.65,267.8,177.0,20.9,1194,12440,0.00,1.35,0.00,0.000,4,0.000,0.044,2529,1498,1990
$GC,12490,0.65,267.8,166.2,19.2,1199,12493,0.00,1.40,0.00,0.000,6,0.000,0.053,2529,2408,1990
$GC,12811,0.65,267.8,97.5,20.9,1230,12812,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2408,1990
$GC,12914,0.65,267.8,77.4,18.5,1240,12915,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2408,1990
$GC,13018,0.65,267.8,59.7,16.5,1250,13021,0.00,1.48,0.00,0.000,4,0.000,0.064,2529,3284,1991
$GC,13232,0.65,267.8,29.9,9.6,1270,13235,0.00,1.42,0.00,0.000,6,0.000,0.039,2536,2394,1991
$GC,13346,0.70,312.2,21.4,6.6,1281,13383,0.00,1.33,31.10,0.532,4,0.000,0.042,2543,1501,1828
$GC,13473,0.78,376.0,13.1,6.3,1292,13528,0.00,1.40,47.40,0.518,6,0.000,0.051,2542,2402,1568
$GC,13630,1.07,612.6,5.4,3.0,1307,13806,0.25,1.45,170.60,0.500,4,0.061,0.049,2652,1508,602
$STATE,13812,end climb,SURFACE_DEPTH_REACHED
$STATE,13812,begin surface coast
$FINISH,0.4,1.005457
$STATE,13982,end surface coast,CONTROL_FINISHED_OK
$STATE,13982,begin surface
$SM_CCo,13997,31.90,0.425,2,0,404,661.32
$SM_CCo,14042,0.00,0.000,0,0,402,661.56
$SM_CCo,14045,0.00,0.000,0,0,402,661.81
$SM_GC,1.86,0.00,0.00,0.00,0.000,0.000,0.000,193,2459,402,-6.58,-0.45,661.81
$IRIDIUM_FIX,2826.10,-8826.71,111199,040428
$TT8_MAMPS,0.050622
$HUMID,2162
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,24.60
$XPDR_PINGS,2
$24V_AH,23.8,5.279
$10V_AH,10.6,4.526
$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,16.350,58.550,627.175,31.900,0.000,52.211,68.308,426.568,0.500,0.000,0.000,17.840,0.000,9250.180,628.036,4030.614,852.290,33.341,1827.064,0.000,3573.044,0.000,1.158,0.000
$DEVICE_MAMPS,250.809,75.166,1238.705,424.918,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,918.112,1001.896,3012.514,3096.835,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94990,1340
$CAP_FILE_SIZE,133074,0
$CFSIZE,260165632,252469248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.047,278.3,1
$GPS,170810,083154,2839.483,-8824.112,62,1.5,62,-0.4