version: 66.04
glider: 515
mission: 2
dive: 33
start: 8 16 110 23 54 6
data:
$ID,515
$MISSION,2
$DIVE,33
$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,440
$T_MISSION,500
$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,-28628.762
$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,2475
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,10
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,3100
$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,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
$GPS1,234615,2839.532,-8827.168,40,2.4,59,-0.4
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-75.3
$GPS2,235325,2839.498,-8827.125,9,0.9,14,-0.4
$SPEED_LIMITS,0.130,0.278
$TGT_NAME,TARGET_SW2
$TGT_LATLONG,2839.400,-8825.200
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.194,0.199
$KALMAN_X,71777.9,-1276.3,-479.5,-67963.4,25039.9
$KALMAN_Y,6883.3,792.8,38.4,-49617.8,-6424.8
$MHEAD_RNG_PITCHd_Wd,87.7,3133,-22.0,-7.500
$D_GRID,1403
$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,11,begin dive
$GC,14,-0.89,-59.5,0.0,0.0,0,47,0.00,0.00,-31.77,0.000,2,0.000,0.000,188,2463,1395
$GC,49,-0.90,-67.0,3.1,-6.9,3,110,7.85,1.40,-47.28,0.000,4,0.256,0.059,2007,1574,3374
$GC,131,-0.90,-67.0,14.1,-24.1,10,134,0.00,1.50,0.00,0.000,6,0.000,0.043,2002,2477,3374
$GC,245,-0.90,-67.0,42.5,-21.1,21,248,0.00,1.40,0.00,0.000,4,0.000,0.054,1995,3383,3375
$GC,352,-0.90,-67.0,62.0,-14.1,31,355,0.00,1.33,0.00,0.000,6,0.000,0.034,1995,2476,3374
$GC,467,-0.90,-67.0,76.3,-12.7,42,469,0.00,1.42,0.00,0.000,4,0.000,0.041,2002,1577,3375
$GC,584,-0.90,-67.0,91.2,-12.5,53,587,0.00,1.48,0.00,0.000,6,0.000,0.048,1996,2473,3376
$GC,698,-0.90,-67.0,106.6,-14.0,64,701,0.00,1.38,0.00,0.000,4,0.000,0.059,1990,3375,3376
$GC,805,-0.90,-67.0,123.6,-16.1,74,808,0.00,1.30,0.00,0.000,6,0.000,0.035,1991,2477,3376
$GC,1127,-0.90,-67.0,173.3,-15.1,105,1130,0.00,1.45,0.00,0.000,4,0.000,0.044,1993,1566,3376
$GC,1320,-0.90,-67.0,202.2,-13.5,123,1322,0.00,1.48,0.00,0.000,6,0.000,0.048,1988,2470,3376
$GC,1642,-0.90,-67.0,250.0,-14.8,154,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,2470,3375
$GC,1951,-0.90,-67.0,296.5,-14.8,184,1954,0.00,1.45,0.00,0.000,4,0.000,0.044,1988,1566,3373
$GC,2040,-0.90,-67.0,309.5,-14.3,192,2048,0.00,1.48,0.00,0.000,6,0.000,0.049,1981,2469,3372
$GC,2359,-0.90,-67.0,355.7,-14.0,223,2360,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2469,3370
$GC,2668,-0.90,-67.0,401.4,-14.4,253,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2469,3368
$GC,2978,-0.90,-67.0,447.6,-15.0,283,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,2469,3365
$GC,3289,-0.90,-67.0,494.1,-14.5,313,3292,0.00,1.45,0.00,0.000,4,0.000,0.049,1981,1571,3363
$GC,3406,-0.90,-67.0,511.3,-13.8,324,3409,0.08,1.50,0.00,0.000,6,0.184,0.054,2007,2475,3362
$GC,3727,-0.90,-67.0,554.1,-13.4,355,3730,0.00,1.48,0.00,0.000,4,0.000,0.051,2007,1568,3360
$GC,3849,-0.90,-67.0,569.9,-12.7,366,3856,0.00,1.50,0.00,0.000,6,0.000,0.054,2002,2473,3358
$GC,4167,-0.90,-67.0,612.3,-14.2,397,4168,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,2473,3356
$GC,4476,-0.90,-67.0,653.6,-13.0,427,4479,0.00,1.45,0.00,0.000,4,0.000,0.051,2002,1579,3353
$GC,4501,-0.90,-67.0,656.9,-12.1,429,4510,0.00,1.50,0.00,0.000,6,0.000,0.056,1995,2476,3353
$GC,4820,-0.90,-67.0,698.5,-13.3,460,4820,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2476,3350
$GC,5129,-0.90,-67.0,738.8,-12.8,490,5132,0.00,1.42,0.00,0.000,4,0.000,0.072,1988,3383,3348
$GC,5229,-0.90,-67.0,753.3,-14.2,499,5236,0.00,1.33,0.00,0.000,6,0.000,0.041,1988,2482,3347
$GC,5547,-0.90,-67.0,796.4,-13.7,530,5548,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,2482,3345
$GC,5856,-0.90,-67.0,838.6,-13.3,560,5857,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,2483,3343
$STATE,5950,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5950,begin apogee
$GC,5955,-0.19,0.0,851.1,13.3,569,6005,0.82,0.00,45.92,1.120,6,0.179,0.000,2231,2363,3100
$STATE,6006,end apogee,CONTROL_FINISHED_OK
$STATE,6006,begin climb
$GC,6008,0.90,67.0,853.9,0.0,574,6071,1.02,1.33,54.00,1.100,4,0.083,0.042,2595,1523,2825
$GC,6093,0.90,67.0,848.8,8.9,582,6095,0.00,1.45,0.00,0.000,6,0.000,0.054,2595,2410,2823
$GC,6415,0.90,67.0,811.0,12.0,613,6418,0.00,1.50,0.00,0.000,4,0.000,0.064,2595,3285,2819
$GC,6547,0.90,67.0,794.0,13.2,625,6556,0.00,1.38,0.00,0.000,6,0.000,0.039,2602,2430,2818
$GC,6865,0.90,67.0,757.3,10.9,656,6868,0.00,1.45,0.00,0.000,4,0.000,0.064,2597,3289,2816
$GC,6944,0.90,67.0,747.5,12.3,663,6952,0.00,1.48,0.00,0.000,6,0.000,0.040,2603,2384,2816
$GC,7263,0.90,67.0,712.0,11.1,694,7266,0.00,1.55,0.00,0.000,4,0.000,0.062,2598,3288,2814
$GC,7476,0.90,67.0,686.4,12.7,714,7479,0.00,1.42,0.00,0.000,6,0.000,0.041,2603,2408,2814
$GC,7799,0.90,67.0,650.9,11.5,745,7802,0.00,1.50,0.00,0.000,4,0.000,0.063,2603,3286,2812
$GC,8045,0.90,67.0,622.5,9.8,768,8048,0.00,1.42,0.00,0.000,6,0.000,0.041,2610,2400,2811
$GC,8367,0.90,67.0,589.2,9.9,799,8368,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2399,2810
$GC,8676,0.90,67.0,557.4,10.6,829,8679,0.00,1.52,0.00,0.000,4,0.000,0.063,2610,3292,2810
$GC,8859,0.90,67.0,537.3,11.5,846,8862,0.00,1.45,0.00,0.000,6,0.000,0.042,2615,2392,2809
$GC,9182,0.90,67.0,504.5,10.0,877,9185,0.00,1.30,0.00,0.000,4,0.000,0.044,2622,1504,2808
$GC,9283,0.90,67.0,495.0,9.6,886,9290,0.10,1.40,0.00,0.000,6,0.193,0.054,2595,2414,2808
$GC,9599,0.90,67.0,464.5,9.5,917,9601,0.00,1.45,0.00,0.000,4,0.000,0.064,2588,3281,2808
$GC,9652,0.90,67.0,459.1,10.1,922,9655,0.00,1.40,0.00,0.000,6,0.000,0.041,2593,2411,2808
$GC,9975,0.90,67.0,428.5,9.4,953,9976,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2412,2807
$GC,10284,0.90,67.0,399.1,9.4,983,10285,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2412,2807
$GC,10594,0.90,67.0,370.9,8.9,1013,10595,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2412,2807
$GC,10904,0.90,67.0,344.1,9.1,1043,10907,0.00,1.48,0.00,0.000,4,0.000,0.062,2588,3280,2808
$GC,11150,0.90,67.0,320.0,10.0,1066,11153,0.00,1.42,0.00,0.000,6,0.000,0.040,2593,2387,2808
$GC,11471,0.90,67.0,291.6,9.6,1097,11474,0.00,1.52,0.00,0.000,4,0.000,0.061,2593,3288,2808
$GC,11710,0.90,67.0,268.4,8.9,1119,11718,0.00,1.38,0.00,0.000,6,0.000,0.038,2598,2420,2809
$GC,12029,0.90,67.0,239.6,8.8,1150,12032,0.00,1.35,0.00,0.000,4,0.000,0.041,2604,1497,2809
$GC,12082,0.90,67.0,234.9,8.3,1155,12085,0.00,1.38,0.00,0.000,6,0.000,0.051,2604,2395,2810
$GC,12403,0.90,67.0,207.3,7.7,1186,12404,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2396,2810
$GC,12713,0.90,67.0,181.5,8.7,1216,12716,0.00,1.48,0.00,0.000,4,0.000,0.061,2604,3288,2811
$GC,12886,0.90,67.0,166.0,9.3,1232,12889,0.00,1.42,0.00,0.000,6,0.000,0.038,2610,2385,2812
$GC,13207,0.90,67.0,139.0,8.0,1263,13208,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2385,2813
$GC,13518,0.90,67.0,115.9,7.8,1293,13518,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2385,2814
$GC,13829,0.92,83.6,96.4,6.1,1323,13844,0.00,1.48,11.50,0.546,4,0.000,0.057,2609,3285,2759
$GC,14086,0.94,104.9,76.9,5.7,1347,14109,0.00,1.38,16.80,0.548,6,0.000,0.035,2615,2414,2671
$GC,14212,0.96,118.6,69.6,6.3,1359,14227,0.00,1.48,11.52,0.519,4,0.000,0.056,2615,3284,2615
$GC,14324,0.96,118.6,61.4,7.6,1369,14333,0.00,1.42,0.00,0.000,6,0.000,0.035,2623,2388,2613
$GC,14433,0.99,142.4,54.9,5.5,1380,14457,0.00,1.27,18.35,0.529,4,0.000,0.037,2628,1489,2519
$GC,14581,0.99,144.1,46.0,7.4,1393,14589,0.00,1.40,0.00,0.000,6,0.000,0.048,2629,2402,2518
$GC,14690,1.02,168.0,38.8,5.5,1404,14712,0.00,0.00,19.90,0.515,6,0.000,0.000,2628,2402,2414
$GC,14814,1.04,184.1,31.3,6.1,1416,14830,0.00,1.52,12.82,0.488,4,0.000,0.057,2629,3294,2349
$GC,14887,1.06,201.6,26.7,6.0,1422,14907,0.00,1.42,14.23,0.485,6,0.000,0.035,2635,2412,2278
$GC,15009,1.09,227.5,20.5,5.3,1434,15033,0.00,1.40,19.88,0.490,4,0.000,0.038,2642,1486,2172
$GC,15152,1.09,227.5,10.4,7.8,1447,15155,0.00,1.42,0.00,0.000,6,0.000,0.047,2642,2411,2170
$GC,15266,1.20,313.0,7.9,0.2,1458,15334,0.12,0.00,62.22,0.491,6,0.077,0.000,2695,2411,1823
$GC,15437,1.31,398.9,5.3,0.2,1474,15503,0.00,1.45,62.38,0.479,4,0.000,0.038,2701,1493,1472
$GC,15540,1.40,478.7,4.7,0.7,1482,15601,0.10,1.42,57.78,0.472,6,0.048,0.046,2766,2393,1147
$GC,15708,1.51,563.9,3.9,0.3,1497,15776,0.00,0.00,61.38,0.466,6,0.000,0.000,2766,2393,800
$STATE,15783,end climb,SURFACE_DEPTH_REACHED
$STATE,15783,begin surface coast
$FINISH,0.4,1.009853
$STATE,15877,end surface coast,CONTROL_FINISHED_OK
$STATE,15877,begin surface
$SM_CCo,15952,0.00,0.000,0,0,796,564.92
$SM_GC,3.49,6.90,0.00,0.00,0.040,0.000,0.000,189,2472,796,-6.53,-0.08,564.92
$IRIDIUM_FIX,2828.55,-8826.71,101199,191936
$TT8_MAMPS,0.049088
$HUMID,2077
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,26.60
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,851.1,7.7
$24V_AH,24.4,5.079
$10V_AH,10.8,4.314
$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,17.000,80.625,468.675,0.000,0.000,23.000,29.039,252.482,1.250,0.000,0.000,16.730,0.000,10360.517,490.574,4848.020,656.274,33.335,1925.080,0.000,4291.248,0.000,5.750,0.000
$DEVICE_MAMPS,256.178,72.098,1119.820,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,1035.317,1127.262,3401.190,3498.979,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107473,1513
$CAP_FILE_SIZE,155422,0
$CFSIZE,260165632,252530688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.051,265.6,1
$GPS,170810,042315,2839.636,-8826.400,176,1.0,177,-0.4