version: 66.04
glider: 515
mission: 2
dive: 101
start: 9 2 110 19 12 31
data:
$ID,515
$MISSION,2
$DIVE,101
$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,550
$T_MISSION,600
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$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,673.58282
$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,-29812.127
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2275
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,2450
$C_ROLL_CLIMB,2375
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$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,3150
$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,2
$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
$GPS1,185637,2837.386,-8818.537,29,1.4,29,-0.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-66.5
$GPS2,191150,2837.350,-8818.478,11,1.7,11,-0.5
$SPEED_LIMITS,0.104,0.229
$TGT_NAME,TARGET_CENTER
$TGT_LATLONG,2839.000,-8820.800
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.055,0.222
$KALMAN_X,183620.1,-907.2,-713.9,-165925.6,6649.6
$KALMAN_Y,-315095.6,2804.1,-7468.1,273756.5,-39165.7
$MHEAD_RNG_PITCHd_Wd,326.0,4856,-15.9,-6.000
$D_GRID,1811
$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,-0.62,-72.4,0.0,0.0,0,77,0.00,0.00,-62.60,0.000,2,0.000,0.000,188,2447,2188
$GC,79,-0.69,-126.4,3.0,-3.0,6,129,7.62,1.45,-38.33,0.000,4,0.242,0.073,2041,3335,3667
$GC,368,-0.69,-126.4,71.1,-15.7,32,376,0.00,1.35,0.00,0.000,6,0.000,0.029,2046,2447,3669
$GC,478,-0.69,-126.4,87.5,-15.3,43,481,0.00,1.42,0.00,0.000,4,0.000,0.055,2040,3331,3669
$GC,553,-0.69,-126.4,100.3,-17.6,50,556,0.00,1.33,0.00,0.000,6,0.000,0.031,2045,2449,3669
$GC,875,-0.69,-126.4,152.9,-15.5,81,878,0.00,1.48,0.00,0.000,4,0.000,0.039,2046,1541,3669
$GC,1063,-0.69,-126.4,180.1,-14.1,98,1069,0.00,1.55,0.00,0.000,6,0.000,0.046,2040,2452,3669
$GC,1380,-0.69,-126.4,229.1,-15.4,129,1383,0.00,1.50,0.00,0.000,4,0.000,0.040,2039,1547,3668
$GC,1498,-0.69,-126.4,246.9,-14.5,140,1501,0.00,1.52,0.00,0.000,6,0.000,0.048,2032,2448,3666
$GC,1820,-0.69,-126.4,297.8,-15.2,171,1823,0.00,1.50,0.00,0.000,4,0.000,0.040,2033,1536,3664
$GC,1884,-0.69,-126.4,307.7,-14.9,177,1887,0.00,1.55,0.00,0.000,6,0.000,0.048,2026,2450,3664
$GC,2207,-0.69,-126.4,358.8,-15.9,208,2210,0.00,1.40,0.00,0.000,4,0.000,0.061,2019,3327,3660
$GC,2243,-0.69,-126.4,365.5,-17.4,211,2251,0.08,1.33,0.00,0.000,6,0.176,0.033,2043,2446,3661
$GC,2560,-0.69,-126.4,411.4,-14.9,242,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,2447,3658
$GC,2870,-0.69,-126.4,457.1,-15.1,272,2873,0.00,1.48,0.00,0.000,4,0.000,0.046,2045,1550,3655
$GC,2967,-0.69,-126.4,470.6,-13.6,281,2970,0.00,1.52,0.00,0.000,6,0.000,0.051,2039,2446,3654
$GC,3288,-0.69,-126.4,517.6,-14.8,312,3290,0.00,1.50,0.00,0.000,4,0.000,0.044,2039,1545,3652
$GC,3352,-0.69,-126.4,527.0,-13.4,318,3355,0.00,1.55,0.00,0.000,6,0.000,0.052,2032,2449,3650
$GC,3675,-0.69,-126.4,575.2,-14.6,349,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2449,3647
$GC,3983,-0.69,-126.4,621.2,-14.9,379,3984,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2448,3645
$GC,4294,-0.69,-126.4,666.3,-14.3,409,4297,0.00,1.52,0.00,0.000,4,0.000,0.048,2032,1539,3642
$GC,4337,-0.69,-126.4,672.4,-13.9,413,4340,0.00,1.55,0.00,0.000,6,0.000,0.054,2026,2446,3642
$GC,4660,-0.69,-126.4,719.1,-14.7,444,4663,0.00,1.50,0.00,0.000,4,0.000,0.047,2027,1552,3639
$GC,4702,-0.69,-126.4,725.2,-13.6,448,4706,0.08,1.55,0.00,0.000,6,0.150,0.054,2055,2449,3639
$GC,5023,-0.69,-126.4,764.1,-12.0,479,5026,0.00,1.45,0.00,0.000,4,0.000,0.070,2050,3331,3636
$GC,5076,-0.69,-126.4,770.9,-13.0,484,5079,0.00,1.35,0.00,0.000,6,0.000,0.038,2049,2452,3635
$GC,5399,-0.69,-126.4,810.8,-12.6,515,5402,0.00,1.52,0.00,0.000,4,0.000,0.050,2049,1538,3633
$GC,5543,-0.69,-126.4,828.2,-11.9,528,5550,0.00,1.58,0.00,0.000,6,0.000,0.056,2042,2450,3632
$GC,5859,-0.69,-126.4,866.7,-12.1,559,5861,0.00,1.52,0.00,0.000,4,0.000,0.049,2042,1550,3630
$GC,5912,-0.69,-126.4,873.1,-11.7,564,5915,0.00,1.55,0.00,0.000,6,0.000,0.057,2035,2446,3629
$GC,6233,-0.69,-126.4,914.6,-12.9,595,6234,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2446,3627
$GC,6543,-0.69,-126.4,954.3,-12.7,625,6546,0.00,1.52,0.00,0.000,4,0.000,0.051,2035,1546,3625
$GC,6608,-0.69,-126.4,962.3,-12.5,631,6610,0.00,1.58,0.00,0.000,6,0.000,0.057,2028,2450,3625
$STATE,6813,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6813,begin apogee
$GC,6819,-0.17,0.0,990.0,13.4,651,6917,0.62,0.00,92.32,1.245,6,0.146,0.000,2220,2371,3150
$STATE,6918,end apogee,CONTROL_FINISHED_OK
$STATE,6918,begin climb
$GC,6920,0.69,126.4,994.0,0.0,661,7034,0.77,1.70,105.32,1.212,4,0.077,0.061,2490,3270,2633
$GC,7060,0.69,126.4,984.6,12.7,674,7067,0.00,1.52,0.00,0.000,6,0.000,0.037,2497,2379,2630
$GC,7378,0.69,126.4,944.0,13.0,705,7381,0.00,1.40,0.00,0.000,4,0.000,0.042,2503,1483,2624
$GC,7421,0.69,126.4,938.4,12.9,709,7424,0.00,1.45,0.00,0.000,6,0.000,0.051,2504,2375,2624
$GC,7743,0.69,126.4,896.0,12.8,740,7746,0.00,1.52,0.00,0.000,4,0.000,0.063,2503,3263,2623
$GC,7807,0.69,126.4,887.0,14.0,746,7810,0.00,1.45,0.00,0.000,6,0.000,0.038,2510,2378,2621
$GC,8130,0.69,126.4,844.4,13.2,777,8133,0.00,1.40,0.00,0.000,4,0.000,0.042,2517,1464,2620
$GC,8183,0.69,126.4,837.2,13.1,782,8186,0.00,1.45,0.00,0.000,6,0.000,0.051,2517,2375,2620
$GC,8506,0.69,126.4,794.0,13.5,813,8509,0.00,1.40,0.00,0.000,4,0.000,0.041,2522,1476,2617
$GC,8560,0.69,126.4,786.8,13.6,818,8563,0.00,1.42,0.00,0.000,6,0.000,0.051,2523,2374,2618
$GC,8882,0.69,126.4,744.1,13.1,849,8885,0.00,1.52,0.00,0.000,4,0.000,0.063,2522,3269,2617
$GC,8904,0.69,126.4,741.1,14.5,851,8907,0.10,1.45,0.00,0.000,6,0.187,0.038,2503,2375,2616
$GC,9225,0.69,126.4,702.0,11.8,882,9228,0.00,1.52,0.00,0.000,4,0.000,0.064,2502,3258,2615
$GC,9279,0.69,126.4,694.9,13.9,887,9281,0.00,1.42,0.00,0.000,6,0.000,0.038,2508,2377,2615
$GC,9601,0.69,126.4,654.4,12.4,918,9604,0.00,1.52,0.00,0.000,4,0.000,0.063,2508,3260,2615
$GC,9702,0.69,126.4,640.5,14.6,927,9709,0.00,1.45,0.00,0.000,6,0.000,0.038,2514,2371,2614
$GC,10020,0.69,126.4,601.4,11.7,958,10023,0.00,1.55,0.00,0.000,4,0.000,0.062,2514,3270,2614
$GC,10056,0.69,126.4,596.6,12.4,961,10063,0.00,1.45,0.00,0.000,6,0.000,0.035,2521,2372,2614
$GC,10374,0.69,126.4,558.1,12.6,992,10375,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2372,2613
$GC,10683,0.69,126.4,520.9,12.0,1022,10686,0.00,1.55,0.00,0.000,4,0.000,0.061,2521,3270,2613
$GC,10704,0.69,126.4,518.1,13.2,1024,10707,0.00,1.45,0.00,0.000,6,0.000,0.038,2526,2375,2613
$GC,11027,0.69,126.4,478.8,12.4,1055,11028,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2375,2613
$GC,11336,0.69,126.4,441.9,12.3,1085,11339,0.00,1.52,0.00,0.000,4,0.000,0.061,2526,3260,2613
$GC,11357,0.69,126.4,438.8,14.3,1087,11360,0.12,1.42,0.00,0.000,6,0.184,0.038,2498,2379,2613
$GC,11678,0.69,126.4,402.2,11.7,1118,11681,0.00,1.52,0.00,0.000,4,0.000,0.061,2498,3268,2613
$GC,11700,0.69,126.4,399.7,11.9,1120,11703,0.00,1.45,0.00,0.000,6,0.000,0.038,2503,2374,2613
$GC,12022,0.69,126.4,362.7,11.1,1151,12025,0.00,1.52,0.00,0.000,4,0.000,0.061,2502,3261,2613
$GC,12081,0.69,126.4,355.5,12.7,1156,12089,0.00,1.42,0.00,0.000,6,0.000,0.036,2508,2375,2613
$GC,12398,0.69,126.4,319.5,10.9,1187,12401,0.00,1.52,0.00,0.000,4,0.000,0.060,2508,3265,2614
$GC,12462,0.69,126.4,311.3,13.0,1193,12465,0.00,1.42,0.00,0.000,6,0.000,0.037,2514,2376,2614
$GC,12783,0.69,126.4,273.4,12.3,1224,12784,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2376,2614
$GC,13093,0.69,126.4,235.5,12.4,1254,13097,0.00,1.52,0.00,0.000,4,0.000,0.058,2514,3268,2615
$GC,13126,0.69,126.4,231.4,13.3,1257,13128,0.00,1.42,0.00,0.000,6,0.000,0.037,2521,2377,2615
$GC,13448,0.69,126.4,190.7,11.9,1288,13449,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2376,2615
$GC,13758,0.69,126.4,152.3,12.1,1318,13761,0.00,1.35,0.00,0.000,4,0.000,0.038,2528,1479,2616
$GC,13843,0.69,126.4,141.7,12.3,1326,13846,0.10,1.40,0.00,0.000,6,0.163,0.046,2497,2377,2617
$GC,14164,0.69,126.4,110.0,9.2,1357,14165,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2376,2618
$GC,14474,0.69,126.4,81.4,8.1,1387,14477,0.00,1.50,0.00,0.000,4,0.000,0.058,2498,3275,2618
$GC,14517,0.69,126.4,77.2,9.7,1391,14520,0.00,1.42,0.00,0.000,6,0.000,0.034,2503,2376,2618
$GC,14632,0.69,126.4,66.6,9.0,1402,14633,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2375,2619
$GC,14735,0.69,126.4,57.1,9.7,1412,14735,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2375,2619
$GC,14838,0.69,126.4,49.6,7.6,1422,14841,0.00,1.35,0.00,0.000,4,0.000,0.037,2509,1466,2619
$GC,15084,0.78,204.7,36.9,1.6,1445,15144,0.00,1.42,55.67,0.548,6,0.000,0.045,2509,2382,2314
$GC,15246,0.78,204.7,28.5,7.1,1460,15249,0.00,1.50,0.00,0.000,4,0.000,0.057,2509,3270,2309
$GC,15314,0.84,253.5,25.6,3.3,1466,15359,0.00,1.45,36.38,0.522,6,0.000,0.032,2516,2374,2115
$GC,15462,0.96,352.0,23.0,0.5,1480,15538,0.17,1.42,72.30,0.518,4,0.052,0.037,2608,1470,1713
$GC,15741,1.00,384.1,13.6,4.2,1505,15767,0.00,1.45,23.77,0.486,6,0.000,0.042,2608,2382,1583
$GC,15873,1.03,408.3,7.6,4.6,1517,15897,0.00,1.48,18.55,0.471,4,0.000,0.054,2609,3271,1486
$STATE,15995,end climb,SURFACE_DEPTH_REACHED
$STATE,15995,begin surface coast
$FINISH,0.7,1.012120
$STATE,16059,end surface coast,CONTROL_FINISHED_OK
$STATE,16059,begin surface
$SM_CCo,16074,142.82,0.477,0,0,402,673.58
$SM_GC,1.50,0.00,0.00,142.82,0.000,0.000,0.477,191,2446,402,-6.51,-0.11,673.58
$IRIDIUM_FIX,2828.55,-8826.71,271199,191913
$TT8_MAMPS,0.051389
$HUMID,2052
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,24.0,15.272
$10V_AH,10.7,24.794
$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,16.100,103.250,404.325,142.825,0.000,136.057,375.794,0.000,3.750,0.000,0.000,13.668,0.000,10743.099,599.024,4816.715,931.119,33.332,2005.794,0.000,4263.337,0.000,28.033,0.000
$DEVICE_MAMPS,242.372,72.865,1244.841,477.074,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,1054.200,1158.797,3448.335,3553.011,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107476,1534
$CAP_FILE_SIZE,156875,0
$CFSIZE,260165632,244424704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.047,216.2,1
$GPS,020910,234336,2838.463,-8820.069,24,1.2,24,-0.5