version: 66.04
glider: 515
mission: 2
dive: 29
start: 8 16 110 10 13 41
data:
$ID,515
$MISSION,2
$DIVE,29
$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,550
$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,-28489.344
$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,9
$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
$GPS1,095858,2844.120,-8825.973,9,2.6,28,-0.4
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-73.4
$GPS2,101301,2844.174,-8826.023,41,1.2,41,-0.4
$SPEED_LIMITS,0.173,0.310
$TGT_NAME,TARGET_NW
$TGT_LATLONG,2839.000,-8829.600
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.303,-0.067
$KALMAN_X,53575.5,-1494.3,-970.3,-47262.5,13030.1
$KALMAN_Y,10703.1,1101.2,761.5,-45828.4,-5358.3
$MHEAD_RNG_PITCHd_Wd,205.0,11207,-13.9,-10.000
$D_GRID,1479
$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,-0.78,-219.1,0.0,0.0,0,57,0.00,0.00,-42.72,0.000,2,0.000,0.000,189,2504,1753
$GC,59,-0.78,-219.1,3.8,-7.9,4,119,7.88,1.58,-47.65,0.000,4,0.251,0.064,2048,1581,3960
$GC,183,-0.78,-219.1,30.8,-32.3,15,186,0.00,1.58,0.00,0.000,6,0.000,0.047,2042,2501,3961
$GC,297,-0.78,-219.1,62.8,-25.5,26,300,0.00,1.50,0.00,0.000,4,0.000,0.036,2042,1592,3961
$GC,322,-0.78,-219.1,67.8,-18.2,28,330,0.00,1.58,0.00,0.000,6,0.000,0.052,2035,2501,3961
$GC,433,-0.78,-219.1,89.1,-20.9,39,436,0.00,1.35,0.00,0.000,4,0.000,0.063,2029,3390,3961
$GC,518,-0.78,-219.1,108.1,-21.4,47,521,0.00,1.30,0.00,0.000,6,0.000,0.037,2029,2495,3962
$GC,841,-0.78,-219.1,174.9,-20.8,78,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2029,2496,3962
$GC,1150,-0.78,-219.1,235.2,-18.1,108,1153,0.00,1.45,0.00,0.000,4,0.000,0.046,2029,1600,3961
$GC,1181,-0.78,-219.1,241.5,-18.2,111,1185,0.00,1.55,0.00,0.000,6,0.000,0.051,2022,2501,3961
$GC,1504,-0.78,-219.1,304.1,-19.1,142,1507,0.00,1.52,0.00,0.000,4,0.000,0.045,2023,1583,3959
$GC,1525,-0.78,-219.1,308.7,-20.6,144,1528,0.08,1.58,0.00,0.000,6,0.163,0.053,2039,2502,3959
$GC,1846,-0.78,-219.1,362.5,-16.8,175,1849,0.00,1.52,0.00,0.000,4,0.000,0.047,2040,1582,3956
$GC,1889,-0.78,-219.1,369.3,-14.6,179,1892,0.00,1.58,0.00,0.000,6,0.000,0.054,2034,2500,3956
$GC,2211,-0.78,-219.1,422.5,-16.3,210,2214,0.00,1.50,0.00,0.000,4,0.000,0.048,2034,1599,3952
$GC,2258,-0.78,-219.1,430.7,-16.0,214,2266,0.00,1.55,0.00,0.000,6,0.000,0.054,2027,2500,3952
$GC,2576,-0.78,-219.1,484.8,-17.1,245,2579,0.00,1.50,0.00,0.000,4,0.000,0.048,2027,1597,3949
$GC,2602,-0.78,-219.1,489.4,-17.6,247,2609,0.00,1.55,0.00,0.000,6,0.000,0.054,2020,2501,3949
$GC,2920,-0.78,-219.1,545.0,-17.7,278,2923,0.00,1.50,0.00,0.000,4,0.000,0.048,2020,1600,3945
$GC,2963,-0.78,-219.1,552.7,-16.9,282,2966,0.08,1.55,0.00,0.000,6,0.141,0.056,2049,2501,3945
$GC,3284,-0.78,-219.1,599.6,-14.4,313,3284,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2501,3942
$GC,3594,-0.78,-219.1,642.9,-14.1,343,3595,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2501,3939
$GC,3905,-0.78,-219.1,686.4,-14.0,373,3908,0.00,1.52,0.00,0.000,4,0.000,0.051,2049,1592,3935
$GC,3930,-0.78,-219.1,690.2,-13.8,375,3937,0.00,1.58,0.00,0.000,6,0.000,0.059,2043,2501,3935
$GC,4248,-0.78,-219.1,734.3,-13.7,406,4249,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,2501,3932
$GC,4557,-0.78,-219.1,778.3,-14.4,436,4560,0.00,1.52,0.00,0.000,4,0.000,0.052,2043,1596,3929
$GC,4589,-0.78,-219.1,782.7,-13.8,439,4592,0.00,1.55,0.00,0.000,6,0.000,0.061,2036,2498,3929
$GC,4910,-0.78,-219.1,828.9,-14.2,470,4911,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2498,3925
$GC,5220,-0.78,-219.1,873.2,-13.7,500,5223,0.00,1.50,0.00,0.000,4,0.000,0.053,2037,1604,3923
$GC,5263,-0.78,-219.1,878.9,-12.7,504,5266,0.00,1.55,0.00,0.000,6,0.000,0.061,2030,2499,3923
$GC,5586,-0.78,-219.1,923.8,-14.0,535,5589,0.00,1.52,0.00,0.000,4,0.000,0.053,2030,1590,3921
$GC,5639,-0.78,-219.1,931.2,-13.0,540,5642,0.00,1.55,0.00,0.000,6,0.000,0.062,2023,2496,3920
$GC,5962,-0.78,-219.1,977.6,-15.0,571,5965,0.00,1.50,0.00,0.000,4,0.000,0.054,2023,1602,3918
$GC,5998,-0.78,-219.1,983.5,-15.4,574,6006,0.08,1.55,0.00,0.000,6,0.160,0.061,2040,2497,3917
$STATE,6054,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6054,begin apogee
$GC,6058,-0.19,0.0,991.2,13.4,580,6228,0.62,0.00,162.95,1.233,6,0.136,0.000,2239,2497,3075
$STATE,6228,end apogee,CONTROL_FINISHED_OK
$STATE,6228,begin climb
$GC,6230,0.78,219.1,998.4,0.0,597,6418,0.88,1.58,180.40,1.204,4,0.063,0.075,2548,3401,2180
$GC,6428,0.78,219.1,974.9,22.4,613,6431,0.00,1.40,0.00,0.000,6,0.000,0.044,2554,2509,2177
$GC,6751,0.78,219.1,897.5,23.7,644,6754,0.00,1.58,0.00,0.000,4,0.000,0.048,2562,1598,2170
$GC,6879,0.78,219.1,868.5,21.9,656,6882,0.00,1.60,0.00,0.000,6,0.000,0.059,2561,2507,2170
$GC,7202,0.78,219.1,791.5,24.4,687,7205,0.00,1.58,0.00,0.000,4,0.000,0.048,2568,1593,2167
$GC,7270,0.78,219.1,775.4,22.6,693,7277,0.00,1.60,0.00,0.000,6,0.000,0.058,2568,2500,2168
$GC,7588,0.78,219.1,698.2,25.8,724,7589,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2500,2166
$GC,7897,0.78,219.1,623.3,23.7,754,7900,0.00,1.55,0.00,0.000,4,0.000,0.047,2575,1578,2165
$GC,7961,0.78,219.1,608.2,23.2,760,7964,0.00,1.60,0.00,0.000,6,0.000,0.058,2576,2509,2165
$GC,8284,0.78,219.1,529.6,24.6,791,8287,0.00,1.55,0.00,0.000,4,0.000,0.047,2582,1594,2164
$GC,8330,0.78,219.1,517.7,24.5,795,8340,0.10,1.58,0.00,0.000,6,0.183,0.057,2555,2501,2164
$GC,8647,0.78,219.1,445.6,22.8,826,8650,0.00,1.52,0.00,0.000,4,0.000,0.046,2560,1591,2163
$GC,8722,0.78,219.1,429.5,22.3,833,8725,0.00,1.58,0.00,0.000,6,0.000,0.058,2561,2502,2163
$GC,9044,0.78,219.1,356.0,23.2,864,9047,0.00,1.52,0.00,0.000,4,0.000,0.045,2567,1585,2162
$GC,9130,0.78,219.1,336.8,21.3,872,9133,0.00,1.58,0.00,0.000,6,0.000,0.058,2567,2501,2162
$GC,9452,0.78,219.1,261.0,23.7,903,9455,0.00,1.52,0.00,0.000,4,0.000,0.045,2574,1582,2162
$GC,9548,0.78,219.1,239.3,21.3,912,9551,0.00,1.58,0.00,0.000,6,0.000,0.056,2574,2500,2162
$GC,9871,0.78,219.1,163.8,22.9,943,9874,0.00,1.38,0.00,0.000,4,0.000,0.066,2574,3401,2162
$GC,9924,0.78,219.1,150.6,25.1,948,9927,0.00,1.33,0.00,0.000,6,0.000,0.042,2581,2496,2161
$GC,10246,0.78,219.1,75.8,22.3,979,10247,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2497,2161
$GC,10349,0.78,219.1,52.4,24.3,989,10352,0.00,1.38,0.00,0.000,4,0.000,0.064,2581,3391,2161
$GC,10445,0.78,219.1,37.2,13.9,998,10448,0.10,1.27,0.00,0.000,6,0.166,0.040,2557,2500,2162
$GC,10559,0.88,297.4,27.0,7.6,1009,10619,0.00,1.50,54.88,0.548,4,0.000,0.042,2562,1587,1863
$GC,10773,0.94,346.9,10.5,8.5,1028,10817,0.08,1.58,37.03,0.513,6,0.063,0.052,2610,2497,1660
$GC,10918,1.35,675.0,4.2,-0.1,1042,11090,0.30,0.00,169.30,0.500,2,0.044,0.000,2752,2497,698
$STATE,11091,end climb,SURFACE_DEPTH_REACHED
$STATE,11092,begin surface coast
$FINISH,0.2,1.011424
$STATE,11282,end surface coast,CONTROL_FINISHED_OK
$STATE,11282,begin surface
$SM_CCo,11357,0.00,0.000,0,0,693,584.30
$SM_GC,3.22,6.78,0.00,0.00,0.034,0.000,0.000,190,2497,693,-6.52,-0.11,584.30
$IRIDIUM_FIX,2833.46,-8824.19,101199,101044
$TT8_MAMPS,0.049855
$HUMID,2223
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,24.70
$XPDR_PINGS,3
$24V_AH,23.8,4.451
$10V_AH,10.7,3.550
$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,16.950,75.900,604.550,0.000,0.000,64.239,79.020,483.451,0.750,0.000,0.000,43.080,0.000,7330.206,561.734,3380.360,904.742,33.337,1627.900,0.000,2956.276,0.000,1.155,0.000
$DEVICE_MAMPS,250.809,75.166,1233.336,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,734.908,801.750,2416.951,2484.614,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,76176,1075
$CAP_FILE_SIZE,119518,0
$CFSIZE,260165632,252882944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.041,331.9,1
$GPS,160810,132444,2842.667,-8827.106,83,1.7,86,-0.4