version: 66.04
glider: 515
mission: 2
dive: 10
start: 8 14 110 5 32 22
data:
$ID,515
$MISSION,2
$DIVE,10
$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,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,600
$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,-27025.09
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2328
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$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,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,3200
$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,500
$ALTIM_PING_DELTA,25
$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
$GPS1,052636,2902.129,-8821.950,32,1.1,32,-0.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-71.5
$GPS2,053143,2902.120,-8821.830,10,1.0,15,-0.5
$SPEED_LIMITS,0.173,0.310
$TGT_NAME,TARGET_NW
$TGT_LATLONG,2839.000,-8829.600
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.270,-0.153
$KALMAN_X,12802.6,3274.3,-74.2,-5381.0,4035.0
$KALMAN_Y,5164.9,-77.4,-262.7,-4839.7,4529.9
$MHEAD_RNG_PITCHd_Wd,241.9,44641,-13.9,-10.000
$D_GRID,600
$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,-0.80,-219.1,0.0,0.0,0,67,0.00,0.00,-53.40,0.000,2,0.000,0.000,193,2196,2196
$GC,70,-0.80,-219.1,3.9,-7.1,5,118,7.72,1.65,-35.33,0.000,4,0.247,0.077,2056,3090,3961
$GC,279,-0.80,-219.1,49.9,-16.8,24,282,0.00,1.65,0.00,0.000,6,0.000,0.048,2056,2198,3962
$GC,393,-0.80,-219.1,69.5,-16.9,35,396,0.00,1.65,0.00,0.000,4,0.000,0.061,2048,3079,3963
$GC,429,-0.80,-219.1,76.2,-18.0,38,437,0.00,1.65,0.00,0.000,6,0.000,0.047,2048,2186,3962
$GC,539,-0.80,-219.1,94.8,-17.3,49,541,0.00,1.67,0.00,0.000,4,0.000,0.059,2041,3091,3963
$GC,635,-0.80,-219.1,112.0,-17.8,58,638,0.00,1.60,0.00,0.000,6,0.000,0.048,2040,2205,3964
$GC,957,-0.80,-219.1,165.6,-16.4,89,960,0.00,1.62,0.00,0.000,4,0.000,0.059,2034,3080,3964
$GC,1150,-0.80,-219.1,198.6,-17.2,107,1153,0.12,1.60,0.00,0.000,6,0.163,0.048,2066,2187,3963
$GC,1470,-0.80,-219.1,243.0,-12.7,138,1474,0.00,1.67,0.00,0.000,4,0.000,0.060,2059,3080,3962
$GC,1716,-0.80,-219.1,274.9,-12.8,161,1719,0.00,1.60,0.00,0.000,6,0.000,0.049,2060,2211,3961
$GC,2038,-0.80,-219.1,317.3,-13.4,192,2041,0.00,1.62,0.00,0.000,4,0.000,0.062,2052,3085,3960
$GC,2224,-0.80,-219.1,342.7,-13.6,209,2231,0.00,1.65,0.00,0.000,6,0.000,0.051,2052,2190,3959
$GC,2542,-0.80,-219.1,385.4,-13.8,240,2545,0.00,1.65,0.00,0.000,4,0.000,0.064,2045,3080,3957
$GC,2777,-0.80,-219.1,419.5,-14.3,262,2780,0.00,1.60,0.00,0.000,6,0.000,0.053,2045,2191,3955
$GC,3100,-0.80,-219.1,465.0,-14.0,293,3102,0.00,1.67,0.00,0.000,4,0.000,0.066,2038,3088,3952
$GC,3345,-0.80,-219.1,501.0,-14.4,316,3348,0.05,1.65,0.00,0.000,6,0.134,0.056,2067,2205,3951
$GC,3666,-0.80,-219.1,539.5,-11.7,347,3669,0.00,1.65,0.00,0.000,4,0.000,0.068,2060,3082,3949
$GC,3912,-0.80,-219.1,569.6,-12.0,370,3915,0.00,1.62,0.00,0.000,6,0.000,0.057,2060,2186,3946
$STATE,4163,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4163,begin apogee
$GC,4167,-0.19,0.0,600.3,12.1,394,4305,0.57,0.00,135.18,0.937,6,0.092,0.000,2266,2177,3200
$STATE,4305,end apogee,CONTROL_FINISHED_OK
$STATE,4305,begin climb
$GC,4308,0.80,219.1,600.3,0.0,408,4487,0.88,1.17,167.57,0.914,4,0.053,0.049,2597,1311,2306
$GC,4541,0.80,219.1,580.9,18.6,428,4544,0.00,1.20,0.00,0.000,6,0.000,0.053,2597,2199,2302
$GC,4864,0.80,219.1,519.8,19.0,459,4866,0.00,1.65,0.00,0.000,4,0.000,0.061,2597,3086,2297
$GC,5088,0.80,219.1,472.0,21.6,480,5091,0.00,1.60,0.00,0.000,6,0.000,0.043,2605,2197,2295
$GC,5411,0.80,219.1,408.3,19.9,511,5414,0.00,1.65,0.00,0.000,4,0.000,0.061,2605,3080,2294
$GC,5522,0.80,219.1,384.6,20.9,521,5529,0.00,1.62,0.00,0.000,6,0.000,0.043,2613,2192,2291
$GC,5840,0.80,219.1,318.4,21.2,552,5843,0.00,1.65,0.00,0.000,4,0.000,0.060,2613,3077,2292
$GC,6085,0.80,219.1,263.5,23.0,575,6089,0.15,1.60,0.00,0.000,6,0.189,0.043,2585,2175,2290
$GC,6407,0.80,219.1,210.1,16.7,606,6409,0.00,1.67,0.00,0.000,4,0.000,0.062,2585,3080,2290
$GC,6603,0.80,219.1,172.6,18.6,624,6610,0.00,1.58,0.00,0.000,6,0.000,0.042,2591,2210,2289
$GC,6921,0.80,219.1,116.2,17.1,655,6924,0.00,1.62,0.00,0.000,4,0.000,0.061,2591,3085,2289
$GC,7167,0.80,219.1,71.9,17.2,678,7170,0.00,1.60,0.00,0.000,6,0.000,0.042,2599,2174,2289
$GC,7281,0.80,219.1,53.4,14.9,689,7284,0.00,1.67,0.00,0.000,4,0.000,0.061,2599,3083,2289
$GC,7527,1.04,413.1,26.5,4.0,712,7671,0.17,1.58,137.73,0.533,6,0.074,0.041,2676,2205,1514
$GC,7773,1.14,495.3,5.1,7.5,734,7837,0.00,1.75,59.50,0.501,4,0.000,0.060,2676,3082,1179
$STATE,8004,end climb,SURFACE_DEPTH_REACHED
$STATE,8004,begin surface coast
$FINISH,-0.3,1.007145
$STATE,8132,end surface coast,CONTROL_FINISHED_OK
$STATE,8132,begin surface
$SM_CCo,8147,78.15,0.485,0,0,651,625.01
$SM_GC,0.91,0.00,0.00,78.15,0.000,0.000,0.485,196,2194,651,-6.66,-0.17,625.01
$IRIDIUM_FIX,2853.13,-8821.45,081199,030345
$TT8_MAMPS,0.051389
$HUMID,2584
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,19.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,600.3,7.2
$24V_AH,24.4,1.336
$10V_AH,10.7,0.789
$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,16.300,54.775,499.975,78.150,0.000,24.142,36.424,156.199,1.750,0.000,0.000,17.208,0.000,4831.396,541.720,2740.572,411.096,33.294,1447.182,0.000,2414.766,0.000,14.463,0.000
$DEVICE_MAMPS,246.974,76.700,937.274,484.744,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,520.621,561.093,1725.322,1766.361,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53904,767
$CAP_FILE_SIZE,87948,0
$CFSIZE,260165632,254066688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.191, 78.6,1
$GPS,140810,075022,2902.098,-8821.671,10,2.7,30,-0.5