version: 66.04
glider: 515
mission: 2
dive: 27
start: 8 16 110 3 30 12
data:
$ID,515
$MISSION,2
$DIVE,27
$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,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,500
$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,-28427.914
$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,15
$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,3075
$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
$GPS1,031026,2847.421,-8823.352,50,3.4,69,-0.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-74.7
$GPS2,032933,2847.198,-8823.428,11,2.7,30,-0.5
$SPEED_LIMITS,0.173,0.310
$TGT_NAME,TARGET_NW
$TGT_LATLONG,2839.000,-8829.600
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.285,-0.122
$KALMAN_X,46663.7,-1112.9,-374.2,-37130.5,8998.7
$KALMAN_Y,9726.5,2082.3,827.6,-40293.5,-7032.4
$MHEAD_RNG_PITCHd_Wd,212.5,18196,-13.9,-10.000
$D_GRID,1341
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,12,-0.78,-219.1,0.0,0.0,0,51,0.00,0.00,-37.65,0.000,2,0.000,0.000,192,2500,1726
$GC,53,-0.78,-219.1,3.6,-6.0,4,114,7.82,1.45,-47.08,0.000,4,0.248,0.060,2046,1582,3960
$GC,235,-0.78,-219.1,48.4,-24.6,20,243,0.00,1.58,0.00,0.000,6,0.000,0.052,2040,2500,3960
$GC,345,-0.78,-219.1,72.5,-20.7,31,348,0.00,1.50,0.00,0.000,4,0.000,0.041,2041,1588,3960
$GC,431,-0.78,-219.1,89.1,-19.1,39,433,0.00,1.58,0.00,0.000,6,0.000,0.051,2035,2506,3961
$GC,544,-0.78,-219.1,112.3,-20.7,50,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2506,3961
$GC,855,-0.78,-219.1,174.9,-19.2,80,858,0.00,1.52,0.00,0.000,4,0.000,0.043,2035,1579,3961
$GC,887,-0.78,-219.1,180.9,-18.8,83,890,0.00,1.55,0.00,0.000,6,0.000,0.051,2028,2501,3961
$GC,1209,-0.78,-219.1,242.0,-18.6,114,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2501,3960
$GC,1518,-0.78,-219.1,300.0,-17.8,144,1519,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2501,3958
$GC,1829,-0.78,-219.1,356.5,-18.4,174,1829,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2501,3955
$GC,2139,-0.78,-219.1,412.9,-17.6,204,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2501,3952
$GC,2449,-0.78,-219.1,466.2,-16.4,234,2450,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2501,3949
$GC,2760,-0.78,-219.1,518.4,-16.6,264,2763,0.00,1.52,0.00,0.000,4,0.000,0.050,2028,1581,3946
$GC,2813,-0.78,-219.1,527.0,-15.3,269,2816,0.00,1.55,0.00,0.000,6,0.000,0.057,2021,2499,3945
$GC,3136,-0.78,-219.1,582.1,-17.3,300,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2498,3942
$GC,3445,-0.78,-219.1,635.4,-17.7,330,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2499,3939
$GC,3755,-0.78,-219.1,687.6,-17.1,360,3758,0.00,1.50,0.00,0.000,4,0.000,0.053,2021,1597,3934
$GC,3798,-0.78,-219.1,694.3,-15.2,364,3801,0.08,1.52,0.00,0.000,6,0.157,0.061,2050,2494,3934
$GC,4119,-0.78,-219.1,738.5,-14.0,395,4120,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2495,3931
$GC,4429,-0.78,-219.1,781.0,-13.5,425,4430,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2494,3929
$GC,4740,-0.78,-219.1,822.7,-13.0,455,4740,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2494,3925
$GC,5050,-0.78,-219.1,861.2,-11.9,485,5053,0.00,1.42,0.00,0.000,4,0.000,0.077,2044,3405,3922
$GC,5104,-0.78,-219.1,867.9,-11.8,490,5106,0.00,1.33,0.00,0.000,6,0.000,0.046,2044,2499,3921
$GC,5426,-0.78,-219.1,909.4,-12.9,521,5429,0.00,1.50,0.00,0.000,4,0.000,0.058,2044,1598,3920
$GC,5484,-0.78,-219.1,917.0,-12.0,526,5491,0.00,1.55,0.00,0.000,6,0.000,0.062,2037,2495,3920
$GC,5802,-0.78,-219.1,958.6,-13.6,557,5805,0.00,1.40,0.00,0.000,4,0.000,0.077,2031,3398,3917
$GC,5823,-0.78,-219.1,961.6,-13.0,559,5826,0.00,1.33,0.00,0.000,6,0.000,0.046,2031,2498,3916
$STATE,6038,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6038,begin apogee
$GC,6043,-0.19,0.0,990.9,13.7,580,6212,0.65,0.00,162.98,1.226,6,0.138,0.000,2236,2500,3074
$STATE,6213,end apogee,CONTROL_FINISHED_OK
$STATE,6213,begin climb
$GC,6215,0.78,219.1,997.9,0.0,597,6400,0.90,0.00,180.32,1.201,6,0.060,0.000,2553,2500,2181
$GC,6708,0.78,219.1,902.6,23.7,643,6712,0.00,1.55,0.00,0.000,4,0.000,0.056,2561,1603,2171
$GC,6773,0.78,219.1,888.1,22.6,649,6776,0.00,1.60,0.00,0.000,6,0.000,0.064,2561,2503,2170
$GC,7095,0.78,219.1,811.0,23.7,680,7098,0.00,1.58,0.00,0.000,4,0.000,0.053,2568,1602,2169
$GC,7138,0.78,219.1,800.5,23.2,684,7140,0.00,1.60,0.00,0.000,6,0.000,0.064,2567,2508,2169
$GC,7460,0.78,219.1,723.5,24.4,715,7463,0.00,1.58,0.00,0.000,4,0.000,0.054,2575,1605,2167
$GC,7524,0.78,219.1,708.6,22.0,721,7527,0.00,1.58,0.00,0.000,6,0.000,0.062,2575,2499,2167
$GC,7846,0.78,219.1,630.8,24.1,752,7849,0.00,1.55,0.00,0.000,4,0.000,0.053,2582,1595,2166
$GC,7915,0.78,219.1,613.8,23.5,758,7922,0.00,1.58,0.00,0.000,6,0.000,0.060,2582,2498,2166
$GC,8233,0.78,219.1,535.3,25.5,789,8235,0.00,1.52,0.00,0.000,4,0.000,0.051,2588,1602,2165
$GC,8290,0.78,219.1,521.0,23.5,794,8298,0.10,1.58,0.00,0.000,6,0.181,0.058,2560,2503,2165
$GC,8606,0.78,219.1,450.1,22.1,825,8609,0.00,1.55,0.00,0.000,4,0.000,0.050,2565,1586,2163
$GC,8692,0.78,219.1,432.0,20.3,833,8695,0.00,1.58,0.00,0.000,6,0.000,0.058,2565,2500,2163
$GC,9014,0.78,219.1,358.8,23.5,864,9015,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2500,2163
$GC,9324,0.78,219.1,285.8,23.8,894,9324,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2500,2163
$GC,9634,0.78,219.1,211.5,24.2,924,9637,0.00,1.52,0.00,0.000,4,0.000,0.048,2572,1591,2163
$GC,9670,0.78,219.1,202.7,23.1,927,9677,0.00,1.58,0.00,0.000,6,0.000,0.055,2572,2504,2162
$GC,9988,0.78,219.1,126.5,24.0,958,9989,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2504,2163
$GC,10297,0.78,219.1,57.0,22.6,988,10300,0.00,1.52,0.00,0.000,4,0.000,0.044,2578,1587,2163
$GC,10361,0.78,219.1,47.3,12.9,994,10364,0.00,1.55,0.00,0.000,6,0.000,0.053,2579,2500,2162
$GC,10475,0.78,219.1,34.0,11.9,1005,10478,0.00,1.38,0.00,0.000,4,0.000,0.063,2578,3409,2163
$GC,10720,0.97,373.8,13.7,5.2,1028,10833,0.00,1.30,109.20,0.525,6,0.000,0.039,2585,2502,1551
$GC,10937,1.38,703.9,4.6,-0.2,1047,11099,0.40,0.00,159.02,0.495,2,0.044,0.000,2764,2502,648
$STATE,11099,end climb,SURFACE_DEPTH_REACHED
$STATE,11099,begin surface coast
$FINISH,-0.0,1.007817
$STATE,11157,end surface coast,CONTROL_FINISHED_OK
$STATE,11157,begin surface
$SM_CCo,11231,0.00,0.000,0,0,644,596.31
$SM_GC,2.85,6.95,0.00,0.00,0.038,0.000,0.000,193,2502,644,-6.52,0.06,596.31
$IRIDIUM_FIX,2838.37,-8816.75,101199,030322
$TT8_MAMPS,0.051389
$HUMID,2268
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,23.8,4.079
$10V_AH,10.7,3.209
$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,16.900,51.475,611.525,0.000,0.000,84.421,118.750,675.832,0.000,0.000,0.000,33.043,0.000,7399.941,549.372,3268.129,1136.696,33.335,1558.252,0.000,2880.115,0.000,1.462,0.000
$DEVICE_MAMPS,247.741,76.700,1226.433,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,729.824,798.651,2398.833,2466.597,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75958,1067
$CAP_FILE_SIZE,113457,0
$CFSIZE,260165632,253030400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.018,301.3,1
$GPS,160810,063838,2845.617,-8824.642,56,1.4,56,-0.4