version: 66.04
glider: 515
mission: 2
dive: 50
start: 8 20 110 22 15 58
data:
$ID,515
$MISSION,2
$DIVE,50
$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,550
$T_MISSION,600
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$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,-28958.756
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2275
$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,2450
$C_ROLL_CLIMB,2375
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,13
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,3150
$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,2
$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
$GPS1,220530,2836.885,-8819.254,129,2.7,148,-0.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-77.7
$GPS2,221516,2836.895,-8819.030,16,2.2,35,-0.5
$SPEED_LIMITS,0.104,0.229
$TGT_NAME,TARGET_CENTER
$TGT_LATLONG,2839.000,-8820.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.059,0.221
$KALMAN_X,144590.8,-196.9,-2668.0,-126530.8,14399.1
$KALMAN_Y,-61201.1,1257.1,3841.0,9330.0,-24144.8
$MHEAD_RNG_PITCHd_Wd,329.7,4845,-12.1,-6.000
$D_GRID,1835
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.58,-110.9,0.0,0.0,0,44,0.00,0.00,-27.58,0.000,2,0.000,0.000,193,2438,1484
$GC,46,-0.64,-158.2,3.2,-4.3,3,109,7.88,1.50,-51.45,0.000,4,0.249,0.058,2064,1537,3797
$GC,349,-0.64,-158.2,66.7,-18.5,30,356,0.00,1.52,0.00,0.000,6,0.000,0.048,2058,2445,3798
$GC,459,-0.64,-158.2,83.8,-15.8,41,462,0.00,1.45,0.00,0.000,4,0.000,0.039,2059,1551,3799
$GC,619,-0.64,-158.2,107.3,-14.6,56,622,0.00,1.50,0.00,0.000,6,0.000,0.047,2053,2449,3799
$GC,941,-0.64,-158.2,159.7,-16.0,87,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2449,3799
$GC,1250,-0.64,-158.2,209.5,-15.6,117,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2449,3797
$GC,1561,-0.64,-158.2,257.1,-15.4,147,1564,0.00,1.48,0.00,0.000,4,0.000,0.044,2053,1547,3795
$GC,1614,-0.64,-158.2,265.2,-14.7,152,1617,0.00,1.52,0.00,0.000,6,0.000,0.051,2046,2455,3794
$GC,1937,-0.64,-158.2,315.2,-16.0,183,1937,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2455,3791
$GC,2245,-0.64,-158.2,361.7,-14.9,213,2249,0.00,1.50,0.00,0.000,4,0.000,0.044,2046,1541,3788
$GC,2299,-0.64,-158.2,369.3,-14.2,218,2301,0.00,1.52,0.00,0.000,6,0.000,0.053,2040,2451,3787
$GC,2621,-0.64,-158.2,417.1,-14.9,249,2624,0.00,1.48,0.00,0.000,4,0.000,0.046,2039,1552,3785
$GC,2689,-0.64,-158.2,427.5,-14.1,255,2697,0.08,1.50,0.00,0.000,6,0.163,0.053,2056,2445,3784
$GC,3006,-0.64,-158.2,469.8,-13.9,286,3007,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2445,3782
$GC,3316,-0.64,-158.2,511.8,-13.7,316,3319,0.00,1.48,0.00,0.000,4,0.000,0.049,2056,1552,3778
$GC,3370,-0.64,-158.2,518.8,-12.2,321,3373,0.00,1.52,0.00,0.000,6,0.000,0.056,2051,2451,3778
$GC,3693,-0.64,-158.2,561.5,-13.4,352,3694,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2451,3774
$GC,4002,-0.64,-158.2,602.0,-12.6,382,4005,0.00,1.50,0.00,0.000,4,0.000,0.051,2050,1547,3772
$GC,4059,-0.64,-158.2,609.5,-12.3,387,4067,0.00,1.50,0.00,0.000,6,0.000,0.057,2044,2440,3771
$GC,4378,-0.64,-158.2,652.5,-13.8,418,4380,0.00,1.48,0.00,0.000,4,0.000,0.050,2044,1542,3768
$GC,4431,-0.64,-158.2,660.1,-13.4,423,4434,0.00,1.52,0.00,0.000,6,0.000,0.058,2037,2446,3767
$GC,4753,-0.64,-158.2,706.1,-14.3,454,4755,0.12,0.00,0.00,0.000,6,0.169,0.000,2070,2446,3764
$GC,5064,-0.64,-158.2,742.0,-11.4,484,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2445,3762
$GC,5373,-0.64,-158.2,776.0,-10.7,514,5376,0.00,1.48,0.00,0.000,4,0.000,0.053,2070,1560,3759
$GC,5426,-0.64,-158.2,781.9,-10.7,519,5429,0.00,1.52,0.00,0.000,6,0.000,0.061,2065,2451,3759
$GC,5749,-0.64,-158.2,818.1,-10.9,550,5749,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2450,3756
$GC,6059,-0.64,-158.2,853.1,-11.4,580,6062,0.00,1.50,0.00,0.000,4,0.000,0.054,2064,1554,3753
$GC,6138,-0.64,-158.2,862.0,-10.0,587,6145,0.00,1.52,0.00,0.000,6,0.000,0.061,2058,2446,3752
$GC,6454,-0.64,-158.2,897.7,-11.2,618,6455,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2446,3751
$GC,6765,-0.64,-158.2,933.0,-11.0,648,6767,0.00,1.50,0.00,0.000,4,0.000,0.055,2058,1548,3749
$GC,6818,-0.64,-158.2,938.8,-10.5,653,6821,0.00,1.55,0.00,0.000,6,0.000,0.061,2050,2453,3749
$GC,7139,-0.64,-158.2,975.8,-11.4,684,7142,0.00,1.50,0.00,0.000,4,0.000,0.054,2050,1560,3746
$GC,7192,-0.64,-158.2,982.0,-11.2,689,7195,0.00,1.55,0.00,0.000,6,0.000,0.061,2044,2456,3746
$STATE,7264,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7264,begin apogee
$GC,7269,-0.19,0.0,990.5,11.6,696,7387,0.55,0.00,115.68,1.231,6,0.136,0.000,2217,2372,3150
$STATE,7388,end apogee,CONTROL_FINISHED_OK
$STATE,7388,begin climb
$GC,7390,0.64,158.2,994.6,0.0,708,7527,0.77,1.48,130.80,1.203,4,0.081,0.044,2488,1473,2505
$GC,7559,0.64,158.2,982.5,12.6,722,7568,0.00,1.55,0.00,0.000,6,0.000,0.054,2488,2388,2500
$GC,7878,0.64,158.2,938.2,14.1,753,7879,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2388,2495
$GC,8187,0.64,158.2,894.4,13.9,783,8188,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2388,2493
$GC,8497,0.64,158.2,851.3,14.6,813,8498,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2388,2491
$GC,8808,0.64,158.2,808.5,13.6,843,8809,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2387,2490
$GC,9118,0.64,158.2,767.6,13.4,873,9121,0.00,1.50,0.00,0.000,4,0.000,0.067,2488,3264,2489
$GC,9139,0.64,158.2,764.5,15.2,875,9142,0.00,1.45,0.00,0.000,6,0.000,0.043,2494,2378,2488
$GC,9462,0.64,158.2,721.0,14.3,906,9463,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2380,2488
$GC,9771,0.64,158.2,680.0,13.4,936,9774,0.00,1.52,0.00,0.000,4,0.000,0.067,2495,3259,2487
$GC,9835,0.64,158.2,670.7,15.1,942,9838,0.00,1.45,0.00,0.000,6,0.000,0.044,2502,2373,2486
$GC,10158,0.64,158.2,626.3,13.5,973,10158,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2373,2486
$GC,10467,0.64,158.2,584.1,13.7,1003,10469,0.00,1.52,0.00,0.000,4,0.000,0.066,2502,3258,2486
$GC,10488,0.64,158.2,581.1,14.6,1005,10491,0.08,1.45,0.00,0.000,6,0.179,0.042,2487,2375,2484
$GC,10809,0.64,158.2,540.7,12.4,1036,10812,0.00,1.35,0.00,0.000,4,0.000,0.046,2492,1472,2485
$GC,10830,0.64,158.2,538.1,12.4,1038,10833,0.00,1.45,0.00,0.000,6,0.000,0.055,2492,2386,2485
$GC,11153,0.64,158.2,497.5,12.9,1069,11156,0.00,1.48,0.00,0.000,4,0.000,0.066,2492,3264,2485
$GC,11178,0.64,158.2,493.7,14.3,1071,11186,0.00,1.45,0.00,0.000,6,0.000,0.041,2499,2371,2484
$GC,11497,0.64,158.2,452.5,13.1,1102,11499,0.00,1.52,0.00,0.000,4,0.000,0.065,2499,3261,2484
$GC,11522,0.64,158.2,448.5,15.3,1104,11531,0.00,1.42,0.00,0.000,6,0.000,0.041,2506,2381,2484
$GC,11840,0.64,158.2,405.7,12.8,1135,11841,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2382,2484
$GC,12150,0.64,158.2,364.5,13.1,1165,12150,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2381,2484
$GC,12460,0.64,158.2,323.7,13.2,1195,12460,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2382,2484
$GC,12770,0.64,158.2,283.0,13.2,1225,12773,0.00,1.50,0.00,0.000,4,0.000,0.063,2506,3262,2484
$GC,12807,0.64,158.2,277.5,13.5,1228,12815,0.10,1.45,0.00,0.000,6,0.169,0.040,2483,2364,2484
$GC,13123,0.64,158.2,239.7,11.7,1259,13124,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2364,2485
$GC,13434,0.64,158.2,203.0,12.3,1289,13437,0.00,1.52,0.00,0.000,4,0.000,0.061,2482,3262,2486
$GC,13477,0.64,158.2,197.4,13.8,1293,13480,0.00,1.40,0.00,0.000,6,0.000,0.040,2488,2384,2486
$GC,13797,0.64,158.2,160.1,11.5,1324,13800,0.00,1.50,0.00,0.000,4,0.000,0.061,2488,3269,2487
$GC,13883,0.64,158.2,149.5,13.1,1332,13886,0.00,1.42,0.00,0.000,6,0.000,0.038,2495,2374,2487
$GC,14206,0.64,158.2,112.6,11.5,1363,14209,0.00,1.50,0.00,0.000,4,0.000,0.060,2495,3264,2489
$GC,14274,0.64,158.2,103.8,12.5,1369,14281,0.00,1.42,0.00,0.000,6,0.000,0.038,2502,2370,2489
$GC,14592,0.64,158.2,71.9,7.9,1400,14595,0.00,1.33,0.00,0.000,4,0.000,0.040,2508,1470,2490
$GC,14806,0.64,158.2,57.4,6.2,1420,14809,0.00,1.42,0.00,0.000,6,0.000,0.048,2508,2391,2490
$GC,14921,0.64,158.2,49.5,6.7,1431,14923,0.00,1.38,0.00,0.000,4,0.000,0.038,2514,1477,2491
$GC,15006,0.74,241.7,46.0,2.9,1439,15069,0.00,1.40,59.38,0.542,6,0.000,0.048,2514,2386,2163
$GC,15179,0.74,241.7,36.8,6.2,1455,15182,0.00,1.48,0.00,0.000,4,0.000,0.058,2514,3261,2157
$GC,15270,0.74,241.7,30.4,6.8,1463,15276,0.00,1.42,0.00,0.000,6,0.000,0.035,2521,2377,2156
$GC,15379,0.77,266.3,23.9,5.1,1474,15400,0.00,0.00,18.45,0.494,6,0.000,0.000,2521,2378,2063
$GC,15503,0.79,282.8,18.0,5.4,1486,15522,0.00,0.00,13.48,0.472,6,0.000,0.000,2521,2378,1995
$GC,15625,0.79,282.8,11.2,6.1,1498,15626,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2378,1993
$GC,15728,0.91,378.3,8.5,2.5,1508,15802,0.15,1.42,69.68,0.492,4,0.055,0.039,2602,1466,1607
$GC,16042,1.11,535.4,6.8,0.2,1536,16159,0.00,1.42,112.57,0.478,6,0.000,0.045,2602,2378,966
$GC,16270,1.28,679.2,5.4,0.7,1557,16374,0.25,1.42,99.82,0.466,4,0.130,0.039,2681,1463,404
$STATE,16396,end climb,SURFACE_DEPTH_REACHED
$STATE,16396,begin surface coast
$FINISH,0.7,1.005010
$STATE,16468,end surface coast,CONTROL_FINISHED_OK
$STATE,16469,begin surface
$SM_CCo,16544,0.00,0.000,0,0,401,674.32
$SM_GC,2.89,6.57,0.00,0.00,0.031,0.000,0.000,194,2436,401,-6.44,-0.40,674.32
$IRIDIUM_FIX,2828.55,-8819.35,141199,151551
$TT8_MAMPS,0.049855
$HUMID,2046
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,26.60
$XPDR_PINGS,1
$24V_AH,23.9,7.721
$10V_AH,10.7,9.132
$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,16.550,83.000,619.850,0.000,0.000,25.435,25.238,342.300,4.000,0.000,0.000,37.867,0.000,10845.213,579.036,4872.017,782.929,33.335,2018.939,0.000,4293.378,0.000,30.256,0.000
$DEVICE_MAMPS,248.508,67.496,1231.035,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,1078.301,1177.233,3538.804,3643.670,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110889,1574
$CAP_FILE_SIZE,159921,0
$CFSIZE,260165632,250617856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.061,173.7,1
$GPS,210810,025317,2838.009,-8820.403,74,0.9,74,-0.5