version: 66.04
glider: 515
mission: 2
dive: 41
start: 8 18 110 18 36 17
data:
$ID,515
$MISSION,2
$DIVE,41
$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,200
$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,-28755.023
$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,2475
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,15
$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
$GPS1,182506,2835.600,-8816.741,34,0.8,34,-0.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-72.9
$GPS2,183444,2835.729,-8816.612,11,1.3,11,-0.5
$SPEED_LIMITS,0.104,0.242
$TGT_NAME,TARGET_NE
$TGT_LATLONG,2839.000,-8812.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.183,0.158
$KALMAN_X,122145.0,-1628.4,-4829.4,-96553.8,51754.8
$KALMAN_Y,-30004.7,1351.0,1939.8,-22232.7,-32139.7
$MHEAD_RNG_PITCHd_Wd,49.3,9639,-7.8,-6.000
$D_GRID,1928
$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,-0.53,-194.7,0.0,0.0,0,47,0.00,0.00,-32.90,0.000,2,0.000,0.000,194,2471,1506
$GC,49,-0.53,-194.7,3.1,-6.5,3,122,7.95,1.40,-55.70,0.000,4,0.243,0.076,2096,3365,3946
$GC,361,-0.53,-194.7,63.8,-17.5,31,368,0.00,1.27,0.00,0.000,6,0.000,0.031,2096,2477,3946
$GC,471,-0.53,-194.7,81.2,-14.5,42,472,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2478,3947
$GC,574,-0.53,-194.7,95.8,-13.9,52,575,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2478,3948
$GC,678,-0.53,-194.7,109.9,-13.3,62,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2478,3948
$GC,988,-0.53,-194.7,149.7,-12.5,92,991,0.00,1.48,0.00,0.000,4,0.000,0.041,2096,1564,3947
$GC,1095,-0.53,-194.7,161.9,-10.7,102,1098,0.00,1.52,0.00,0.000,6,0.000,0.048,2089,2473,3947
$GC,1418,-0.53,-194.7,201.5,-12.1,133,1420,0.00,1.50,0.00,0.000,4,0.000,0.041,2089,1557,3945
$GC,1524,-0.53,-194.7,214.2,-11.4,143,1527,0.00,1.52,0.00,0.000,6,0.000,0.049,2082,2471,3944
$GC,1847,-0.53,-194.7,255.8,-13.0,174,1850,0.00,1.48,0.00,0.000,4,0.000,0.043,2082,1570,3941
$GC,1900,-0.53,-194.7,262.8,-12.4,179,1903,0.00,1.55,0.00,0.000,6,0.000,0.051,2076,2477,3940
$GC,2223,-0.53,-194.7,305.4,-13.3,210,2224,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2478,3938
$GC,2532,-0.53,-194.7,345.3,-12.8,240,2534,0.00,1.50,0.00,0.000,4,0.000,0.044,2076,1574,3935
$GC,2589,-0.53,-194.7,352.6,-12.2,245,2596,0.10,1.52,0.00,0.000,6,0.128,0.051,2104,2473,3934
$GC,2905,-0.53,-194.7,384.3,-10.0,276,2906,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2472,3931
$GC,3216,-0.53,-194.7,414.6,-9.5,306,3219,0.00,1.50,0.00,0.000,4,0.000,0.047,2104,1567,3929
$GC,3280,-0.53,-194.7,420.8,-9.2,312,3283,0.00,1.55,0.00,0.000,6,0.000,0.054,2099,2476,3928
$GC,3603,-0.53,-194.7,453.8,-10.5,343,3605,0.00,1.50,0.00,0.000,4,0.000,0.047,2099,1574,3925
$GC,3681,-0.53,-194.7,462.3,-10.1,350,3689,0.00,1.55,0.00,0.000,6,0.000,0.055,2093,2475,3924
$GC,4000,-0.53,-194.7,496.3,-10.9,381,4000,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2475,3921
$GC,4309,-0.53,-194.7,529.5,-10.7,411,4312,0.00,1.52,0.00,0.000,4,0.000,0.049,2093,1563,3919
$GC,4416,-0.53,-194.7,540.5,-9.9,421,4418,0.00,1.55,0.00,0.000,6,0.000,0.058,2086,2472,3918
$GC,4738,-0.53,-194.7,575.1,-10.5,452,4741,0.00,1.50,0.00,0.000,4,0.000,0.050,2086,1576,3915
$GC,4796,-0.53,-194.7,581.5,-10.4,457,4803,0.00,1.55,0.00,0.000,6,0.000,0.058,2079,2474,3914
$GC,5114,-0.53,-194.7,616.8,-11.3,488,5117,0.00,1.52,0.00,0.000,4,0.000,0.051,2079,1564,3912
$GC,5167,-0.53,-194.7,623.1,-11.1,493,5170,0.00,1.58,0.00,0.000,6,0.000,0.058,2076,2477,3911
$GC,5490,-0.53,-194.7,660.0,-11.6,524,5493,0.00,1.52,0.00,0.000,4,0.000,0.051,2075,1570,3909
$GC,5532,-0.53,-194.7,665.1,-11.2,528,5536,0.10,1.55,0.00,0.000,6,0.131,0.059,2103,2472,3909
$GC,5853,-0.53,-194.7,694.3,-9.2,559,5856,0.00,1.50,0.00,0.000,4,0.000,0.051,2103,1580,3906
$GC,5896,-0.53,-194.7,698.1,-9.2,563,5899,0.00,1.55,0.00,0.000,6,0.000,0.059,2098,2475,3905
$GC,6219,-0.53,-194.7,728.6,-9.7,594,6220,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2475,3903
$GC,6528,-0.53,-194.7,757.4,-9.1,624,6531,0.00,1.52,0.00,0.000,4,0.000,0.053,2098,1568,3901
$GC,6613,-0.53,-194.7,765.1,-9.8,632,6616,0.00,1.58,0.00,0.000,6,0.000,0.061,2092,2476,3900
$GC,6936,-0.53,-194.7,795.4,-9.4,663,6939,0.00,1.52,0.00,0.000,4,0.000,0.052,2092,1573,3898
$GC,7000,-0.53,-194.7,801.5,-9.2,669,7003,0.00,1.55,0.00,0.000,6,0.000,0.061,2087,2472,3898
$GC,7322,-0.53,-194.7,833.2,-10.3,700,7325,0.00,1.52,0.00,0.000,4,0.000,0.053,2087,1570,3895
$GC,7358,-0.53,-194.7,837.0,-9.6,703,7366,0.00,1.58,0.00,0.000,6,0.000,0.061,2080,2474,3895
$GC,7675,-0.53,-194.7,869.3,-10.4,734,7676,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2474,3894
$GC,7986,-0.53,-194.7,900.9,-10.3,764,7989,0.00,1.52,0.00,0.000,4,0.000,0.054,2080,1573,3892
$GC,8061,-0.53,-194.7,908.5,-10.2,771,8064,0.00,1.58,0.00,0.000,6,0.000,0.064,2077,2476,3892
$GC,8383,-0.53,-194.7,941.6,-10.0,802,8385,0.00,1.52,0.00,0.000,4,0.000,0.054,2077,1578,3890
$GC,8425,-0.53,-194.7,946.0,-9.9,806,8428,0.08,1.55,0.00,0.000,6,0.114,0.063,2109,2472,3890
$GC,8746,-0.53,-194.7,971.6,-8.2,837,8749,0.00,1.52,0.00,0.000,4,0.000,0.054,2109,1569,3888
$GC,8793,-0.53,-194.7,975.4,-7.1,841,8800,0.00,1.58,0.00,0.000,6,0.000,0.063,2104,2473,3888
$STATE,8984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8984,begin apogee
$GC,8989,-0.19,0.0,990.6,8.2,860,9137,0.35,0.00,142.93,1.242,6,0.116,0.000,2218,2398,3151
$STATE,9138,end apogee,CONTROL_FINISHED_OK
$STATE,9138,begin climb
$GC,9140,0.53,194.7,996.5,0.0,875,9309,0.65,1.70,160.90,1.213,4,0.073,0.077,2443,3292,2356
$GC,9332,0.53,194.7,985.9,12.7,891,9335,0.00,1.55,0.00,0.000,6,0.000,0.044,2450,2402,2351
$GC,9654,0.53,194.7,946.2,12.3,922,9657,0.00,1.42,0.00,0.000,4,0.000,0.048,2457,1487,2346
$GC,9686,0.53,194.7,942.1,12.3,925,9689,0.00,1.50,0.00,0.000,6,0.000,0.058,2457,2403,2345
$GC,10008,0.53,194.7,901.3,12.7,956,10009,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2403,2344
$GC,10318,0.53,194.7,862.0,12.7,986,10319,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2403,2343
$GC,10628,0.53,194.7,822.8,12.7,1016,10629,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2403,2342
$GC,10938,0.53,194.7,783.2,12.7,1046,10939,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2403,2341
$GC,11249,0.53,194.7,744.3,12.4,1076,11249,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2403,2341
$GC,11559,0.53,194.7,706.0,12.0,1106,11560,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2404,2341
$GC,11870,0.53,194.7,669.9,11.9,1136,11870,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2403,2340
$GC,12180,0.53,194.7,634.2,11.2,1166,12183,0.00,1.40,0.00,0.000,4,0.000,0.048,2464,1497,2340
$GC,12201,0.53,194.7,631.8,11.6,1168,12204,0.00,1.45,0.00,0.000,6,0.000,0.058,2464,2404,2340
$GC,12524,0.53,194.7,594.8,11.4,1199,12527,0.00,1.50,0.00,0.000,4,0.000,0.070,2463,3295,2340
$GC,12556,0.53,194.7,590.7,12.8,1202,12559,0.00,1.45,0.00,0.000,6,0.000,0.044,2471,2398,2338
$GC,12876,0.53,194.7,551.5,12.2,1233,12879,0.00,1.38,0.00,0.000,4,0.000,0.048,2477,1488,2338
$GC,12930,0.53,194.7,545.2,10.9,1238,12934,0.10,1.45,0.00,0.000,6,0.151,0.057,2446,2403,2338
$GC,13252,0.53,194.7,511.3,10.6,1269,13253,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2403,2338
$GC,13562,0.53,194.7,478.5,10.4,1299,13565,0.00,1.50,0.00,0.000,4,0.000,0.068,2446,3298,2338
$GC,13583,0.53,194.7,476.0,11.8,1301,13586,0.00,1.45,0.00,0.000,6,0.000,0.044,2451,2399,2338
$GC,13906,0.53,194.7,441.0,11.1,1332,13909,0.00,1.35,0.00,0.000,4,0.000,0.046,2458,1502,2338
$GC,13981,0.53,194.7,433.0,10.0,1339,13984,0.00,1.42,0.00,0.000,6,0.000,0.056,2458,2403,2338
$GC,14303,0.53,194.7,396.8,11.0,1370,14304,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2403,2338
$GC,14612,0.53,194.7,361.9,11.3,1400,14615,0.00,1.50,0.00,0.000,4,0.000,0.068,2458,3301,2338
$GC,14644,0.53,194.7,358.1,13.0,1403,14647,0.00,1.42,0.00,0.000,6,0.000,0.043,2465,2406,2338
$GC,14965,0.53,194.7,321.2,11.6,1434,14966,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2407,2338
$GC,15276,0.53,194.7,284.1,12.1,1464,15276,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2407,2339
$GC,15586,0.53,194.7,246.4,11.7,1494,15587,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2407,2339
$GC,15896,0.53,194.7,209.5,11.7,1524,15897,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2408,2340
$GC,16207,0.53,194.7,173.0,11.6,1554,16210,0.00,1.38,0.00,0.000,4,0.000,0.044,2471,1492,2342
$GC,16228,0.53,194.7,170.6,12.2,1556,16231,0.00,1.42,0.00,0.000,6,0.000,0.052,2472,2404,2342
$GC,16549,0.53,194.7,133.0,11.4,1587,16552,0.00,1.48,0.00,0.000,4,0.000,0.063,2471,3298,2342
$GC,16581,0.53,194.7,129.1,11.2,1590,16584,0.10,1.42,0.00,0.000,6,0.147,0.040,2446,2400,2343
$GC,16902,0.53,194.7,99.0,8.8,1621,16905,0.00,1.35,0.00,0.000,4,0.000,0.042,2451,1488,2343
$GC,16960,0.53,194.7,94.2,7.3,1626,16967,0.00,1.42,0.00,0.000,6,0.000,0.050,2452,2402,2344
$GC,17069,0.53,194.7,84.7,8.7,1637,17072,0.00,1.48,0.00,0.000,4,0.000,0.063,2452,3296,2344
$GC,17116,0.53,194.7,80.4,10.5,1641,17124,0.00,1.42,0.00,0.000,6,0.000,0.039,2458,2400,2344
$GC,17226,0.53,194.7,71.1,7.9,1652,17229,0.00,1.35,0.00,0.000,4,0.000,0.041,2465,1485,2345
$GC,17376,0.53,194.7,60.7,6.1,1666,17378,0.00,1.42,0.00,0.000,6,0.000,0.050,2465,2405,2345
$GC,17490,0.53,194.7,53.2,6.4,1677,17491,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2405,2345
$GC,17593,0.64,284.5,48.0,4.1,1687,17665,0.00,1.50,64.78,0.544,4,0.000,0.061,2465,3290,1988
$GC,17691,0.64,284.5,42.6,6.8,1695,17697,0.00,1.45,0.00,0.000,6,0.000,0.036,2472,2396,1984
$GC,17800,0.64,284.5,35.9,6.4,1706,17801,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2396,1983
$GC,17904,0.71,339.5,30.5,4.8,1716,17951,0.00,1.38,40.33,0.515,4,0.000,0.041,2472,1501,1763
$GC,17966,0.81,421.8,28.1,4.3,1721,18034,0.15,1.45,60.80,0.509,6,0.048,0.047,2548,2404,1428
$GC,18138,0.81,421.8,15.1,8.6,1737,18141,0.00,1.42,0.00,0.000,4,0.000,0.038,2555,1502,1422
$GC,18170,0.81,421.8,12.2,7.6,1740,18173,0.00,1.45,0.00,0.000,6,0.000,0.047,2555,2407,1421
$GC,18284,0.98,562.0,7.6,3.0,1751,18393,0.12,1.52,100.20,0.489,4,0.112,0.059,2590,3287,856
$STATE,18455,end climb,SURFACE_DEPTH_REACHED
$STATE,18456,begin surface coast
$FINISH,0.5,1.016972
$STATE,18509,end surface coast,CONTROL_FINISHED_OK
$STATE,18509,begin surface
$SM_CCo,18524,40.03,0.466,0,0,602,625.01
$SM_GC,1.41,0.00,0.00,40.03,0.000,0.000,0.466,190,2473,602,-6.51,-0.06,625.01
$IRIDIUM_FIX,2826.10,-8814.45,121199,121255
$TT8_MAMPS,0.050622
$HUMID,2114
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,23.8,6.278
$10V_AH,10.6,6.533
$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,16.100,103.975,569.925,40.025,0.000,22.649,38.099,347.480,4.000,0.000,0.000,13.571,0.000,12253.680,609.919,5418.717,859.843,33.333,2189.732,0.000,4781.390,0.000,28.344,0.000
$DEVICE_MAMPS,243.139,76.700,1241.773,465.569,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,1216.026,1321.263,3981.130,4094.658,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123238,1771
$CAP_FILE_SIZE,179045,0
$CFSIZE,260165632,251617280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.082,223.3,1
$GPS,180810,234637,2837.001,-8815.069,34,0.9,34,-0.5