version: 66.04
glider: 515
mission: 2
dive: 35
start: 8 17 110 8 41 6
data:
$ID,515
$MISSION,2
$DIVE,35
$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,275
$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,675
$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,-28660.908
$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,27
$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,0
$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
$GPS1,083154,2839.483,-8824.112,62,1.5,62,-0.4
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-75.5
$GPS2,084026,2839.486,-8824.117,11,1.5,11,-0.4
$SPEED_LIMITS,0.130,0.301
$TGT_NAME,TARGET_CENTER2
$TGT_LATLONG,2839.000,-8820.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.254,0.162
$KALMAN_X,82821.0,-2890.6,-783.4,-72174.5,25819.8
$KALMAN_Y,-4411.0,-224.4,237.6,-37534.6,-13925.3
$MHEAD_RNG_PITCHd_Wd,99.7,5466,-11.5,-7.500
$D_GRID,1482
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.65,-177.3,0.0,0.0,0,47,0.00,0.00,-32.42,0.000,2,0.000,0.000,193,2460,1419
$GC,49,-0.69,-216.6,3.0,-6.4,3,126,7.93,1.48,-64.97,0.000,4,0.247,0.080,2064,3384,3960
$GC,325,-0.69,-216.6,65.9,-17.0,28,328,0.00,1.33,0.00,0.000,6,0.000,0.034,2064,2477,3961
$GC,440,-0.69,-216.6,85.8,-17.2,39,442,0.00,1.40,0.00,0.000,4,0.000,0.059,2057,3373,3961
$GC,579,-0.69,-216.6,109.9,-17.0,52,582,0.00,1.30,0.00,0.000,6,0.000,0.035,2057,2480,3963
$GC,901,-0.69,-216.6,164.7,-16.6,83,904,0.00,1.45,0.00,0.000,4,0.000,0.045,2058,1577,3963
$GC,980,-0.69,-216.6,177.7,-15.7,90,987,0.00,1.50,0.00,0.000,6,0.000,0.049,2050,2476,3963
$GC,1297,-0.69,-216.6,230.4,-16.3,121,1300,0.00,1.48,0.00,0.000,4,0.000,0.044,2051,1569,3961
$GC,1350,-0.69,-216.6,239.3,-16.5,126,1354,0.08,1.50,0.00,0.000,6,0.151,0.051,2070,2473,3961
$GC,1671,-0.69,-216.6,285.9,-14.5,157,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2474,3959
$GC,1982,-0.69,-216.6,328.9,-13.5,187,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2474,3958
$GC,2292,-0.69,-216.6,369.7,-13.0,217,2295,0.00,1.48,0.00,0.000,4,0.000,0.047,2070,1567,3956
$GC,2328,-0.69,-216.6,374.7,-12.9,220,2337,0.00,1.50,0.00,0.000,6,0.000,0.053,2064,2471,3955
$GC,2647,-0.69,-216.6,417.2,-13.6,251,2647,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2471,3953
$GC,2955,-0.69,-216.6,457.7,-12.7,281,2956,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2471,3950
$GC,3266,-0.69,-216.6,497.2,-12.8,311,3269,0.00,1.48,0.00,0.000,4,0.000,0.049,2065,1568,3948
$GC,3298,-0.69,-216.6,501.2,-12.4,314,3301,0.00,1.52,0.00,0.000,6,0.000,0.057,2057,2476,3948
$GC,3620,-0.69,-216.6,544.4,-13.6,345,3621,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2476,3945
$GC,3929,-0.69,-216.6,586.0,-13.2,375,3930,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2476,3942
$GC,4239,-0.69,-216.6,626.0,-12.6,405,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2476,3939
$GC,4550,-0.69,-216.6,665.7,-12.7,435,4551,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,2476,3938
$GC,4860,-0.69,-216.6,704.9,-12.7,465,4863,0.00,1.50,0.00,0.000,4,0.000,0.055,2057,1571,3933
$GC,4896,-0.69,-216.6,709.4,-11.6,468,4905,0.00,1.52,0.00,0.000,6,0.000,0.060,2051,2473,3933
$GC,5215,-0.69,-216.6,750.0,-12.8,499,5215,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2473,3931
$GC,5524,-0.69,-216.6,789.6,-12.7,529,5525,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2473,3929
$GC,5834,-0.69,-216.6,829.6,-13.2,559,5837,0.00,1.48,0.00,0.000,4,0.000,0.054,2051,1581,3926
$GC,5866,-0.69,-216.6,833.6,-13.3,562,5869,0.08,1.52,0.00,0.000,6,0.156,0.062,2071,2475,3926
$GC,6187,-0.69,-216.6,868.8,-10.7,593,6187,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,2475,3924
$GC,6497,-0.69,-216.6,902.2,-11.0,623,6500,0.00,1.50,0.00,0.000,4,0.000,0.056,2071,1569,3923
$GC,6540,-0.69,-216.6,906.6,-10.5,627,6543,0.00,1.52,0.00,0.000,6,0.000,0.062,2065,2472,3922
$GC,6862,-0.69,-216.6,941.5,-11.0,658,6863,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2473,3920
$GC,7172,-0.69,-216.6,974.8,-11.1,688,7174,0.00,1.48,0.00,0.000,4,0.000,0.054,2066,1579,3918
$GC,7197,-0.69,-216.6,977.6,-11.2,690,7204,0.00,1.52,0.00,0.000,6,0.000,0.063,2059,2475,3918
$STATE,7315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7315,begin apogee
$GC,7320,-0.19,0.0,990.6,10.9,702,7481,0.55,0.00,158.40,1.237,6,0.127,0.000,2236,2384,3100
$STATE,7481,end apogee,CONTROL_FINISHED_OK
$STATE,7482,begin climb
$GC,7484,0.69,216.6,997.3,0.0,718,7668,0.82,1.70,179.40,1.208,4,0.061,0.065,2526,3301,2215
$GC,7712,0.69,216.6,969.9,23.0,739,7719,0.00,1.50,0.00,0.000,6,0.000,0.041,2533,2422,2209
$GC,8030,0.69,216.6,901.6,21.1,770,8033,0.00,1.45,0.00,0.000,4,0.000,0.048,2539,1492,2204
$GC,8073,0.69,216.6,892.5,20.7,774,8075,0.00,1.48,0.00,0.000,6,0.000,0.056,2540,2412,2204
$GC,8395,0.69,216.6,822.8,21.4,805,8398,0.00,1.42,0.00,0.000,4,0.000,0.046,2546,1487,2203
$GC,8416,0.69,216.6,818.0,21.3,807,8419,0.00,1.45,0.00,0.000,6,0.000,0.057,2546,2404,2202
$GC,8738,0.69,216.6,747.6,22.2,838,8739,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2405,2200
$GC,9047,0.69,216.6,682.3,20.6,868,9050,0.00,1.50,0.00,0.000,4,0.000,0.068,2546,3283,2201
$GC,9073,0.69,216.6,676.6,22.8,870,9080,0.10,1.48,0.00,0.000,6,0.189,0.044,2525,2390,2198
$GC,9389,0.69,216.6,617.5,18.6,901,9390,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2391,2198
$GC,9700,0.69,216.6,559.2,19.0,931,9701,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2391,2197
$GC,10010,0.69,216.6,501.5,18.8,961,10014,0.00,1.55,0.00,0.000,4,0.000,0.067,2524,3289,2197
$GC,10042,0.69,216.6,495.3,20.1,964,10045,0.00,1.45,0.00,0.000,6,0.000,0.044,2529,2407,2197
$GC,10363,0.69,216.6,434.0,18.8,995,10364,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2408,2197
$GC,10674,0.69,216.6,374.5,18.6,1025,10675,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2408,2197
$GC,10984,0.69,216.6,314.5,19.0,1055,10985,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2408,2197
$GC,11294,0.69,216.6,254.1,20.0,1085,11297,0.00,1.50,0.00,0.000,4,0.000,0.064,2529,3283,2197
$GC,11341,0.69,216.6,244.0,21.5,1089,11349,0.00,1.45,0.00,0.000,6,0.000,0.041,2535,2387,2197
$GC,11660,0.69,216.6,181.4,18.9,1120,11663,0.00,1.30,0.00,0.000,4,0.000,0.043,2541,1498,2197
$GC,11692,0.69,216.6,175.0,18.3,1123,11695,0.00,1.40,0.00,0.000,6,0.000,0.053,2541,2408,2197
$GC,12013,0.69,216.6,110.8,19.9,1154,12013,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2408,2198
$GC,12323,0.69,216.6,58.0,14.1,1184,12326,0.00,1.48,0.00,0.000,4,0.000,0.064,2541,3286,2198
$GC,12568,0.70,224.0,31.1,7.3,1207,12580,0.00,1.40,4.15,0.380,6,0.000,0.039,2548,2410,2187
$GC,12682,0.81,311.8,23.8,5.0,1218,12753,0.00,1.38,65.05,0.534,4,0.000,0.040,2554,1496,1829
$GC,12790,0.82,319.0,16.9,7.3,1227,12801,0.00,1.42,6.43,0.422,6,0.000,0.050,2554,2396,1800
$GC,12911,0.86,349.6,7.8,6.6,1239,12938,0.00,1.42,23.65,0.493,4,0.000,0.041,2561,1490,1673
$GC,13013,1.15,587.6,6.1,0.6,1248,13192,0.25,1.45,171.40,0.496,6,0.058,0.051,2677,2409,702
$STATE,13258,end climb,SURFACE_DEPTH_REACHED
$STATE,13258,begin surface coast
$FINISH,0.3,1.015970
$STATE,13372,end surface coast,CONTROL_FINISHED_OK
$STATE,13372,begin surface
$SM_CCo,13386,47.70,0.470,0,0,403,661.32
$SM_CCo,13437,0.00,0.000,0,0,402,661.56
$SM_CCo,13439,0.00,0.000,0,0,402,661.81
$SM_GC,2.09,0.00,0.00,0.00,0.000,0.000,0.000,191,2472,402,-6.59,-0.08,661.81
$IRIDIUM_FIX,2828.55,-8829.17,111199,040436
$TT8_MAMPS,0.050622
$HUMID,2145
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,23.8,5.461
$10V_AH,10.6,4.725
$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,16.450,59.025,608.475,47.700,0.000,27.612,36.747,323.946,0.000,0.000,0.000,13.051,0.000,8756.401,619.113,3852.549,697.053,33.325,1786.238,0.000,3435.306,0.000,0.848,0.000
$DEVICE_MAMPS,246.974,79.768,1237.171,470.171,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,876.959,963.258,2879.903,2970.382,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91782,1281
$CAP_FILE_SIZE,124259,0
$CFSIZE,260165632,252399616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049,268.7,1
$GPS,170810,122607,2839.219,-8822.003,38,1.1,38,-0.5