version: 66.04
glider: 515
mission: 2
dive: 23
start: 8 15 110 13 54 7
data:
$ID,515
$MISSION,2
$DIVE,23
$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,200
$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,-28329.039
$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,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,3000
$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
$GPS1,133054,2853.725,-8819.164,180,0.9,180,-0.5
$_CALLS,3
$_XMS_NAKs,43
$_XMS_TOUTs,3
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-75.6
$GPS2,135327,2853.648,-8818.615,13,1.7,13,-0.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,TARGET_NW
$TGT_LATLONG,2839.000,-8829.600
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.295,0.013
$KALMAN_X,39947.1,-2968.2,-634.3,-20504.5,12133.2
$KALMAN_Y,27013.3,-3777.5,-375.8,-38527.7,9342.6
$MHEAD_RNG_PITCHd_Wd,230.5,32475,-14.9,-10.000
$D_GRID,1152
$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,-0.79,-194.7,0.0,0.0,0,47,0.00,0.00,-32.80,0.000,2,0.000,0.000,191,2504,1622
$GC,49,-0.79,-194.7,3.7,-6.7,3,111,7.40,1.42,-49.47,0.000,4,0.230,0.074,2031,3405,3795
$GC,351,-0.79,-194.7,74.9,-17.3,30,358,0.00,1.35,0.00,0.000,6,0.000,0.035,2031,2495,3796
$GC,461,-0.79,-194.7,95.2,-19.8,41,463,0.00,1.42,0.00,0.000,4,0.000,0.058,2025,3405,3796
$GC,514,-0.79,-194.7,106.0,-19.8,46,517,0.00,1.33,0.00,0.000,6,0.000,0.037,2026,2504,3796
$GC,837,-0.79,-194.7,168.3,-19.2,77,839,0.00,1.40,0.00,0.000,4,0.000,0.060,2021,3401,3796
$GC,869,-0.79,-194.7,174.9,-20.1,80,871,0.00,1.33,0.00,0.000,6,0.000,0.037,2021,2501,3795
$GC,1191,-0.79,-194.7,236.3,-19.1,111,1194,0.00,1.45,0.00,0.000,4,0.000,0.047,2021,1590,3794
$GC,1234,-0.79,-194.7,244.3,-17.6,115,1237,0.00,1.50,0.00,0.000,6,0.000,0.051,2015,2498,3793
$GC,1556,-0.79,-194.7,305.3,-18.5,146,1557,0.12,0.00,0.00,0.000,6,0.183,0.000,2044,2499,3790
$GC,1867,-0.79,-194.7,353.4,-15.1,176,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,2499,3787
$GC,2175,-0.79,-194.7,402.3,-15.9,206,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,2499,3784
$GC,2486,-0.79,-194.7,449.9,-15.4,236,2487,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,2499,3780
$GC,2796,-0.79,-194.7,497.1,-15.5,266,2797,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,2499,3777
$GC,3107,-0.79,-194.7,544.5,-15.2,296,3110,0.00,1.50,0.00,0.000,4,0.000,0.055,2045,1591,3774
$GC,3150,-0.79,-194.7,550.8,-14.7,300,3152,0.00,1.52,0.00,0.000,6,0.000,0.059,2040,2500,3773
$GC,3472,-0.79,-194.7,599.4,-14.1,331,3473,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2500,3769
$GC,3781,-0.79,-194.7,644.4,-14.1,361,3784,0.00,1.50,0.00,0.000,4,0.000,0.056,2040,1591,3766
$GC,3838,-0.79,-194.7,652.5,-13.6,366,3846,0.00,1.52,0.00,0.000,6,0.000,0.061,2033,2496,3766
$GC,4157,-0.79,-194.7,698.0,-15.0,397,4158,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2496,3762
$GC,4466,-0.79,-194.7,743.8,-13.9,427,4466,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2496,3759
$GC,4776,-0.79,-194.7,788.0,-14.5,457,4779,0.00,1.42,0.00,0.000,4,0.000,0.078,2026,3394,3756
$GC,4812,-0.79,-194.7,793.7,-15.7,460,4819,0.00,1.33,0.00,0.000,6,0.000,0.045,2026,2503,3756
$GC,5130,-0.79,-194.7,839.8,-14.6,491,5133,0.00,1.50,0.00,0.000,4,0.000,0.058,2026,1595,3753
$GC,5252,-0.79,-194.7,857.4,-14.4,502,5260,0.00,1.52,0.00,0.000,6,0.000,0.064,2020,2494,3753
$GC,5571,-0.79,-194.7,904.9,-15.2,533,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2494,3750
$GC,5879,-0.79,-194.7,951.6,-15.2,563,5880,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2494,3748
$STATE,6136,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6136,begin apogee
$GC,6141,-0.19,0.0,990.4,15.0,588,6290,0.70,0.00,144.07,1.230,6,0.153,0.000,2234,2494,3000
$STATE,6290,end apogee,CONTROL_FINISHED_OK
$STATE,6290,begin climb
$GC,6292,0.79,194.7,996.9,0.0,603,6463,0.93,1.58,160.60,1.201,4,0.081,0.077,2546,3393,2205
$GC,6479,0.79,194.7,974.3,20.9,620,6485,0.00,1.40,0.00,0.000,6,0.000,0.043,2552,2506,2201
$GC,6796,0.79,194.7,903.3,21.8,651,6799,0.00,1.52,0.00,0.000,4,0.000,0.046,2560,1598,2194
$GC,6893,0.79,194.7,882.0,21.1,660,6895,0.00,1.55,0.00,0.000,6,0.000,0.060,2560,2493,2194
$GC,7215,0.79,194.7,809.7,21.6,691,7218,0.00,1.50,0.00,0.000,4,0.000,0.047,2566,1589,2192
$GC,7336,0.79,194.7,783.4,20.7,702,7344,0.00,1.58,0.00,0.000,6,0.000,0.058,2566,2500,2192
$GC,7655,0.79,194.7,710.9,23.4,733,7656,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2500,2190
$GC,7964,0.79,194.7,638.7,23.6,763,7965,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2500,2189
$GC,8274,0.79,194.7,567.6,23.0,793,8277,0.00,1.50,0.00,0.000,4,0.000,0.047,2573,1596,2189
$GC,8364,0.79,194.7,548.1,21.3,801,8371,0.00,1.52,0.00,0.000,6,0.000,0.058,2573,2494,2189
$GC,8682,0.79,194.7,476.7,22.5,832,8685,0.00,1.48,0.00,0.000,4,0.000,0.045,2580,1596,2188
$GC,8725,0.79,194.7,466.8,22.1,836,8728,0.00,1.52,0.00,0.000,6,0.000,0.059,2580,2495,2188
$GC,9046,0.79,194.7,390.0,22.9,867,9047,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2495,2188
$GC,9356,0.79,194.7,316.8,24.7,897,9357,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2495,2187
$GC,9667,0.79,194.7,244.3,23.4,927,9670,0.00,1.48,0.00,0.000,4,0.000,0.045,2586,1594,2187
$GC,9752,0.79,194.7,224.5,23.8,935,9756,0.08,1.52,0.00,0.000,6,0.189,0.058,2555,2496,2188
$GC,10073,0.79,194.7,157.0,20.9,966,10076,0.00,1.48,0.00,0.000,4,0.000,0.044,2561,1595,2187
$GC,10120,0.79,194.7,147.8,19.6,970,10127,0.00,1.52,0.00,0.000,6,0.000,0.055,2560,2500,2187
$GC,10438,0.79,194.7,83.6,19.8,1001,10441,0.00,1.48,0.00,0.000,4,0.000,0.043,2567,1595,2188
$GC,10463,0.79,194.7,78.6,18.8,1003,10472,0.00,1.52,0.00,0.000,6,0.000,0.054,2567,2500,2188
$GC,10574,0.79,194.7,58.8,18.1,1014,10577,0.00,1.40,0.00,0.000,4,0.000,0.065,2567,3410,2188
$GC,10777,0.89,272.2,29.6,7.3,1033,10837,0.00,1.35,54.47,0.549,6,0.000,0.041,2574,2493,1889
$GC,10939,0.92,299.9,17.8,9.0,1048,10963,0.00,1.50,20.80,0.510,4,0.000,0.043,2580,1589,1777
$GC,11203,1.19,516.7,6.6,2.5,1072,11364,0.22,1.55,155.68,0.502,6,0.040,0.052,2691,2500,893
$GC,11465,1.58,832.3,6.4,-1.0,1096,11559,0.30,1.40,87.55,0.482,4,0.089,0.055,2798,3408,404
$STATE,11612,end climb,SURFACE_DEPTH_REACHED
$STATE,11612,begin surface coast
$FINISH,0.2,1.006005
$STATE,11686,end surface coast,CONTROL_FINISHED_OK
$STATE,11686,begin surface
$SM_CCo,11762,0.00,0.000,0,0,401,637.77
$SM_GC,1.52,7.00,0.00,0.00,0.041,0.000,0.000,195,2503,401,-6.52,0.08,637.77
$IRIDIUM_FIX,2843.29,-8816.68,091199,131300
$TT8_MAMPS,0.049855
$HUMID,2229
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,25.30
$XPDR_PINGS,4
$24V_AH,23.9,3.357
$10V_AH,10.7,2.522
$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,16.750,55.775,623.175,0.000,0.000,90.378,89.667,902.461,1.000,0.000,0.000,15.772,0.000,7675.050,575.681,3471.398,1356.695,33.338,1656.290,0.000,3071.994,0.000,1.467,0.000
$DEVICE_MAMPS,230.100,78.234,1229.501,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,762.397,827.504,2509.341,2575.691,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,79233,1116
$CAP_FILE_SIZE,126660,0
$CFSIZE,260165632,253300736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.088,126.4,1
$GPS,150810,171255,2852.273,-8819.632,146,1.7,147,-0.5