version: 66.04
glider: 515
mission: 2
dive: 42
start: 8 18 110 23 55 47
data:
$ID,515
$MISSION,2
$DIVE,42
$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,-28770.477
$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,19
$R_STBD_OVSHOOT,14
$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
$GPS1,234637,2837.001,-8815.069,34,0.9,34,-0.5
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-69.7
$GPS2,235508,2836.958,-8814.852,13,1.5,13,-0.5
$SPEED_LIMITS,0.104,0.242
$TGT_NAME,TARGET_NE
$TGT_LATLONG,2839.000,-8812.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.158,0.183
$KALMAN_X,131183.8,1230.3,-8726.2,-101766.7,18018.8
$KALMAN_Y,-33781.9,-926.6,5678.9,-17587.8,-11810.4
$MHEAD_RNG_PITCHd_Wd,48.7,5981,-7.8,-6.000
$D_GRID,1964
$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,-194.7,0.0,0.0,0,57,0.00,0.00,-42.85,0.000,2,0.000,0.000,189,2474,1934
$GC,59,-0.53,-194.7,3.8,-7.8,4,112,8.05,1.48,-40.62,0.000,4,0.248,0.058,2101,1569,3946
$GC,352,-0.53,-194.7,62.9,-13.9,30,360,0.00,1.55,0.00,0.000,6,0.000,0.051,2095,2470,3947
$GC,462,-0.53,-194.7,78.8,-14.5,41,465,0.00,1.50,0.00,0.000,4,0.000,0.041,2095,1563,3947
$GC,616,-0.53,-194.7,99.4,-12.8,55,624,0.00,1.58,0.00,0.000,6,0.000,0.049,2088,2479,3948
$GC,726,-0.53,-194.7,114.6,-14.5,66,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2479,3948
$GC,1036,-0.53,-194.7,157.6,-13.1,96,1039,0.00,1.52,0.00,0.000,4,0.000,0.042,2088,1563,3948
$GC,1154,-0.53,-194.7,171.9,-12.0,107,1156,0.00,1.55,0.00,0.000,6,0.000,0.051,2080,2475,3948
$GC,1476,-0.53,-194.7,213.6,-13.0,138,1479,0.00,1.50,0.00,0.000,4,0.000,0.043,2080,1563,3947
$GC,1508,-0.53,-194.7,218.0,-12.7,141,1512,0.08,1.55,0.00,0.000,6,0.136,0.052,2100,2473,3947
$GC,1829,-0.53,-194.7,254.3,-11.6,172,1832,0.00,1.50,0.00,0.000,4,0.000,0.043,2101,1561,3944
$GC,1886,-0.53,-194.7,260.7,-10.1,177,1896,0.00,1.58,0.00,0.000,6,0.000,0.051,2095,2480,3943
$GC,2205,-0.53,-194.7,297.3,-11.4,208,2208,0.00,1.52,0.00,0.000,4,0.000,0.044,2095,1564,3941
$GC,2247,-0.53,-194.7,302.0,-11.0,212,2250,0.00,1.55,0.00,0.000,6,0.000,0.053,2088,2475,3941
$GC,2570,-0.53,-194.7,338.9,-11.8,243,2573,0.00,1.50,0.00,0.000,4,0.000,0.045,2088,1566,3939
$GC,2634,-0.53,-194.7,346.3,-11.0,249,2637,0.00,1.55,0.00,0.000,6,0.000,0.054,2081,2474,3939
$GC,2956,-0.53,-194.7,384.3,-11.3,280,2957,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2474,3935
$GC,3266,-0.53,-194.7,420.8,-11.5,310,3268,0.00,1.50,0.00,0.000,4,0.000,0.048,2081,1574,3933
$GC,3387,-0.53,-194.7,434.6,-11.0,321,3395,0.00,1.55,0.00,0.000,6,0.000,0.056,2076,2475,3932
$GC,3705,-0.53,-194.7,472.5,-12.3,352,3708,0.00,1.52,0.00,0.000,4,0.000,0.049,2075,1564,3930
$GC,3741,-0.53,-194.7,477.0,-11.1,355,3749,0.10,1.55,0.00,0.000,6,0.129,0.055,2104,2473,3930
$GC,4058,-0.53,-194.7,506.7,-9.3,386,4061,0.00,1.50,0.00,0.000,4,0.000,0.049,2104,1572,3928
$GC,4115,-0.53,-194.7,512.4,-9.6,391,4122,0.00,1.55,0.00,0.000,6,0.000,0.058,2099,2473,3927
$GC,4433,-0.53,-194.7,543.8,-9.9,422,4437,0.00,1.50,0.00,0.000,4,0.000,0.049,2099,1575,3923
$GC,4512,-0.53,-194.7,551.8,-9.9,429,4521,0.00,1.55,0.00,0.000,6,0.000,0.058,2093,2474,3923
$GC,4830,-0.53,-194.7,584.3,-10.2,460,4831,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2474,3921
$GC,5139,-0.53,-194.7,616.0,-9.9,490,5142,0.00,1.52,0.00,0.000,4,0.000,0.051,2092,1563,3918
$GC,5214,-0.53,-194.7,623.8,-10.3,497,5217,0.00,1.58,0.00,0.000,6,0.000,0.061,2086,2474,3918
$GC,5537,-0.53,-194.7,657.6,-10.6,528,5539,0.00,1.52,0.00,0.000,4,0.000,0.051,2086,1565,3915
$GC,5579,-0.53,-194.7,662.2,-10.4,532,5582,0.00,1.58,0.00,0.000,6,0.000,0.062,2080,2474,3915
$GC,5902,-0.53,-194.7,697.1,-10.7,563,5903,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2474,3914
$GC,6211,-0.53,-194.7,730.1,-10.7,593,6214,0.00,1.52,0.00,0.000,4,0.000,0.053,2079,1573,3911
$GC,6258,-0.53,-194.7,735.3,-10.1,597,6267,0.08,1.58,0.00,0.000,6,0.137,0.063,2102,2474,3911
$GC,6576,-0.53,-194.7,762.5,-8.6,628,6579,0.00,1.52,0.00,0.000,4,0.000,0.053,2103,1571,3908
$GC,6612,-0.53,-194.7,765.9,-8.7,631,6619,0.00,1.55,0.00,0.000,6,0.000,0.061,2098,2470,3908
$GC,6930,-0.53,-194.7,794.2,-8.9,662,6933,0.00,1.50,0.00,0.000,4,0.000,0.052,2098,1578,3906
$GC,6988,-0.53,-194.7,799.6,-9.1,667,6995,0.00,1.55,0.00,0.000,6,0.000,0.061,2092,2473,3905
$GC,7306,-0.53,-194.7,829.5,-9.6,698,7309,0.00,1.52,0.00,0.000,4,0.000,0.053,2092,1572,3904
$GC,7349,-0.53,-194.7,833.6,-9.0,702,7352,0.00,1.58,0.00,0.000,6,0.000,0.063,2089,2475,3903
$GC,7670,-0.53,-194.7,864.4,-9.6,733,7671,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2475,3902
$GC,7980,-0.53,-194.7,893.5,-9.5,763,7983,0.00,1.52,0.00,0.000,4,0.000,0.053,2088,1574,3900
$GC,8077,-0.53,-194.7,902.6,-9.8,772,8080,0.00,1.58,0.00,0.000,6,0.000,0.063,2082,2474,3900
$GC,8398,-0.53,-194.7,934.5,-10.2,803,8398,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2474,3899
$GC,8708,-0.53,-194.7,965.0,-9.6,833,8711,0.00,1.52,0.00,0.000,4,0.000,0.054,2082,1577,3897
$GC,8829,-0.53,-194.7,977.2,-10.2,844,8837,0.00,1.58,0.00,0.000,6,0.000,0.063,2076,2476,3896
$STATE,8959,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8959,begin apogee
$GC,8964,-0.19,0.0,990.1,10.1,857,9113,0.43,0.00,145.07,1.241,6,0.123,0.000,2212,2400,3150
$STATE,9113,end apogee,CONTROL_FINISHED_OK
$STATE,9113,begin climb
$GC,9115,0.53,194.7,996.3,0.0,872,9285,0.68,1.52,160.90,1.213,4,0.083,0.053,2446,1500,2356
$GC,9333,0.53,194.7,983.1,11.3,890,9340,0.00,1.55,0.00,0.000,6,0.000,0.063,2446,2401,2352
$GC,9651,0.53,194.7,946.8,11.1,921,9652,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2400,2347
$GC,9960,0.53,194.7,910.6,11.6,951,9963,0.00,1.42,0.00,0.000,4,0.000,0.049,2452,1497,2346
$GC,9996,0.53,194.7,906.4,10.4,954,10004,0.00,1.48,0.00,0.000,6,0.000,0.058,2452,2403,2345
$GC,10315,0.53,194.7,868.8,11.8,985,10318,0.00,1.42,0.00,0.000,4,0.000,0.048,2458,1498,2344
$GC,10336,0.53,194.7,866.1,11.7,987,10339,0.00,1.48,0.00,0.000,6,0.000,0.058,2458,2406,2344
$GC,10659,0.53,194.7,827.0,11.9,1018,10662,0.00,1.52,0.00,0.000,4,0.000,0.071,2458,3297,2343
$GC,10684,0.53,194.7,823.4,14.4,1020,10692,0.00,1.45,0.00,0.000,6,0.000,0.044,2466,2403,2342
$GC,11003,0.53,194.7,782.9,13.1,1051,11005,0.00,1.40,0.00,0.000,4,0.000,0.048,2472,1496,2342
$GC,11035,0.53,194.7,778.6,12.2,1054,11037,0.00,1.45,0.00,0.000,6,0.000,0.057,2472,2402,2342
$GC,11357,0.53,194.7,735.8,13.2,1085,11358,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2402,2342
$GC,11666,0.53,194.7,694.2,13.1,1115,11667,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2402,2341
$GC,11977,0.53,194.7,653.8,13.0,1145,11979,0.00,1.50,0.00,0.000,4,0.000,0.070,2472,3291,2341
$GC,12008,0.53,194.7,649.4,13.8,1148,12011,0.10,1.42,0.00,0.000,6,0.160,0.045,2448,2405,2340
$GC,12329,0.53,194.7,614.0,10.5,1179,12332,0.00,1.40,0.00,0.000,4,0.000,0.048,2453,1493,2339
$GC,12372,0.53,194.7,609.4,11.0,1183,12375,0.00,1.45,0.00,0.000,6,0.000,0.057,2453,2402,2340
$GC,12693,0.53,194.7,574.5,11.0,1214,12694,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2402,2340
$GC,13004,0.53,194.7,540.1,11.3,1244,13005,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2402,2340
$GC,13314,0.53,194.7,505.6,10.9,1274,13317,0.00,1.40,0.00,0.000,4,0.000,0.047,2459,1498,2339
$GC,13357,0.53,194.7,500.9,10.5,1278,13360,0.00,1.42,0.00,0.000,6,0.000,0.057,2460,2400,2340
$GC,13678,0.53,194.7,463.5,12.2,1309,13679,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2400,2339
$GC,13989,0.53,194.7,427.7,11.5,1339,13989,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2400,2339
$GC,14299,0.53,194.7,393.1,11.1,1369,14302,0.00,1.40,0.00,0.000,4,0.000,0.047,2466,1492,2340
$GC,14324,0.53,194.7,390.2,11.6,1371,14333,0.00,1.45,0.00,0.000,6,0.000,0.055,2466,2404,2340
$GC,14642,0.53,194.7,354.0,11.6,1402,14645,0.00,1.40,0.00,0.000,4,0.000,0.045,2473,1495,2340
$GC,14674,0.53,194.7,350.2,10.9,1405,14677,0.00,1.45,0.00,0.000,6,0.000,0.056,2473,2407,2340
$GC,14997,0.53,194.7,311.4,12.3,1436,14998,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2407,2340
$GC,15306,0.53,194.7,274.2,12.4,1466,15306,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2407,2340
$GC,15616,0.53,194.7,235.3,13.0,1496,15619,0.00,1.40,0.00,0.000,4,0.000,0.043,2479,1494,2340
$GC,15642,0.53,194.7,232.0,13.4,1498,15649,0.10,1.42,0.00,0.000,6,0.142,0.052,2447,2402,2340
$GC,15959,0.53,194.7,198.8,10.5,1529,15961,0.00,1.48,0.00,0.000,4,0.000,0.065,2447,3287,2342
$GC,15991,0.53,194.7,195.1,11.7,1532,15994,0.00,1.42,0.00,0.000,6,0.000,0.041,2452,2397,2342
$GC,16313,0.53,194.7,161.1,10.5,1563,16314,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2398,2343
$GC,16622,0.53,194.7,130.0,10.1,1593,16625,0.00,1.52,0.00,0.000,4,0.000,0.063,2452,3301,2343
$GC,16686,0.53,194.7,123.0,11.3,1599,16689,0.00,1.42,0.00,0.000,6,0.000,0.039,2459,2400,2343
$GC,17009,0.53,194.7,90.5,9.7,1630,17012,0.00,1.35,0.00,0.000,4,0.000,0.041,2466,1492,2344
$GC,17041,0.53,194.7,87.6,9.0,1633,17044,0.00,1.42,0.00,0.000,6,0.000,0.051,2466,2404,2345
$GC,17155,0.53,194.7,76.5,9.7,1644,17158,0.00,1.45,0.00,0.000,4,0.000,0.062,2466,3288,2345
$GC,17240,0.53,194.7,67.7,11.9,1652,17243,0.00,1.40,0.00,0.000,6,0.000,0.038,2473,2401,2346
$GC,17354,0.53,194.7,58.0,7.4,1663,17357,0.00,1.35,0.00,0.000,4,0.000,0.040,2479,1489,2346
$GC,17429,0.53,194.7,52.5,7.4,1670,17432,0.10,1.42,0.00,0.000,6,0.130,0.050,2445,2404,2346
$GC,17544,0.59,248.0,46.2,4.9,1681,17585,0.00,1.45,38.42,0.545,4,0.000,0.039,2450,1479,2139
$GC,17629,0.67,309.9,42.3,4.7,1688,17681,0.08,1.45,46.10,0.533,6,0.060,0.048,2504,2402,1885
$GC,17791,0.67,309.9,29.7,7.2,1703,17792,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2402,1878
$GC,17895,0.72,348.8,23.8,5.2,1713,17928,0.00,0.00,28.77,0.505,6,0.000,0.000,2504,2402,1727
$GC,18029,0.81,421.1,17.9,4.5,1726,18086,0.00,0.00,53.40,0.502,6,0.000,0.000,2504,2402,1431
$GC,18189,0.81,421.1,9.2,6.9,1741,18192,0.00,1.42,0.00,0.000,4,0.000,0.041,2504,1493,1426
$GC,18232,0.96,546.5,7.6,3.3,1745,18329,0.17,1.45,90.28,0.490,6,0.084,0.048,2580,2400,921
$GC,18433,1.33,849.5,5.1,-0.4,1763,18532,0.38,1.50,92.22,0.477,4,0.137,0.058,2691,3291,404
$STATE,18534,end climb,SURFACE_DEPTH_REACHED
$STATE,18534,begin surface coast
$FINISH,0.6,1.015321
$STATE,18577,end surface coast,CONTROL_FINISHED_OK
$STATE,18577,begin surface
$SM_CCo,18652,0.00,0.000,0,0,403,673.83
$SM_GC,2.68,6.72,0.00,0.00,0.035,0.000,0.000,190,2472,403,-6.45,-0.08,673.83
$IRIDIUM_FIX,2826.10,-8819.35,121199,181848
$TT8_MAMPS,0.050622
$HUMID,2102
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,23.8,6.455
$10V_AH,10.6,6.805
$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,17.050,113.200,655.175,0.000,0.000,23.741,25.076,316.224,4.000,0.000,0.000,14.825,0.000,12217.437,651.667,5440.189,812.129,33.345,2278.357,0.000,4832.237,0.000,28.338,0.000
$DEVICE_MAMPS,247.741,70.564,1241.006,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,1217.471,1339.300,3990.253,4116.667,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123318,1775
$CAP_FILE_SIZE,180335,0
$CFSIZE,260165632,251506688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.087,236.4,1
$GPS,190810,050737,2838.441,-8813.613,38,1.9,38,-0.6