version: 66.04
glider: 515
mission: 2
dive: 45
start: 8 19 110 16 11 53
data:
$ID,515
$MISSION,2
$DIVE,45
$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,-28839.025
$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,21
$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
$GPS1,155837,2842.699,-8812.893,52,0.8,52,-0.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-76.0
$GPS2,161114,2842.876,-8812.725,13,1.5,13,-0.6
$SPEED_LIMITS,0.104,0.229
$TGT_NAME,TARGET_SE
$TGT_LATLONG,2835.400,-8816.400
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.221,-0.060
$KALMAN_X,129477.2,168.1,459.3,-104725.7,15304.9
$KALMAN_Y,-34549.0,-196.0,-821.4,-106.4,-8087.3
$MHEAD_RNG_PITCHd_Wd,214.1,15081,-8.7,-6.000
$D_GRID,1736
$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,-170.4,0.0,0.0,0,47,0.00,0.00,-32.62,0.000,2,0.000,0.000,195,2485,1446
$GC,50,-0.53,-170.4,3.2,-5.1,3,121,7.82,1.60,-55.58,0.000,4,0.239,0.057,2102,1551,3845
$GC,253,-0.53,-170.4,42.6,-20.4,21,261,0.00,1.50,0.00,0.000,6,0.000,0.050,2097,2442,3846
$GC,364,-0.53,-170.4,61.6,-15.3,32,366,0.00,1.45,0.00,0.000,4,0.000,0.040,2096,1544,3846
$GC,485,-0.53,-170.4,78.2,-13.2,43,493,0.00,1.50,0.00,0.000,6,0.000,0.048,2090,2447,3847
$GC,595,-0.53,-170.4,93.2,-13.7,54,598,0.00,1.42,0.00,0.000,4,0.000,0.063,2082,3350,3848
$GC,616,-0.53,-170.4,96.1,-13.8,56,619,0.00,1.33,0.00,0.000,6,0.000,0.033,2082,2444,3848
$GC,731,-0.53,-170.4,112.5,-14.3,67,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2444,3848
$GC,1041,-0.53,-170.4,154.8,-13.0,97,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2445,3847
$GC,1352,-0.53,-170.4,195.3,-13.4,127,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2445,3845
$GC,1662,-0.53,-170.4,234.9,-12.6,157,1665,0.00,1.42,0.00,0.000,4,0.000,0.044,2082,1548,3844
$GC,1719,-0.53,-170.4,242.1,-11.7,162,1727,0.00,1.50,0.00,0.000,6,0.000,0.051,2076,2449,3843
$GC,2038,-0.53,-170.4,282.5,-13.1,193,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2449,3841
$GC,2346,-0.53,-170.4,321.8,-12.6,223,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2449,3839
$GC,2657,-0.53,-170.4,361.4,-12.4,253,2658,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2449,3836
$GC,2967,-0.53,-170.4,399.5,-12.3,283,2968,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2449,3834
$GC,3278,-0.53,-170.4,437.1,-12.4,313,3281,0.00,1.48,0.00,0.000,4,0.000,0.049,2076,1552,3829
$GC,3331,-0.53,-170.4,443.4,-11.8,318,3335,0.08,1.50,0.00,0.000,6,0.140,0.056,2096,2446,3829
$GC,3652,-0.53,-170.4,475.9,-9.7,349,3655,0.00,1.48,0.00,0.000,4,0.000,0.048,2096,1546,3827
$GC,3688,-0.53,-170.4,479.5,-8.8,352,3696,0.00,1.52,0.00,0.000,6,0.000,0.055,2091,2450,3826
$GC,4007,-0.53,-170.4,511.9,-10.5,383,4010,0.00,1.40,0.00,0.000,4,0.000,0.072,2084,3343,3823
$GC,4060,-0.53,-170.4,517.9,-11.1,388,4063,0.00,1.30,0.00,0.000,6,0.000,0.040,2084,2456,3822
$GC,4383,-0.53,-170.4,553.2,-11.2,419,4386,0.00,1.48,0.00,0.000,4,0.000,0.051,2084,1553,3820
$GC,4447,-0.53,-170.4,560.3,-10.7,425,4450,0.00,1.52,0.00,0.000,6,0.000,0.058,2079,2451,3819
$GC,4770,-0.53,-170.4,597.3,-11.5,456,4770,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2452,3816
$GC,5079,-0.53,-170.4,633.7,-11.7,486,5082,0.00,1.50,0.00,0.000,4,0.000,0.052,2079,1548,3813
$GC,5132,-0.53,-170.4,640.0,-11.7,491,5135,0.05,1.52,0.00,0.000,6,0.148,0.059,2101,2449,3813
$GC,5453,-0.53,-170.4,671.7,-9.8,522,5454,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2449,3812
$GC,5764,-0.53,-170.4,700.5,-8.9,552,5764,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2449,3810
$GC,6074,-0.53,-170.4,727.9,-8.7,582,6075,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2449,3807
$GC,6385,-0.53,-170.4,754.6,-8.4,612,6387,0.00,1.50,0.00,0.000,4,0.000,0.055,2102,1550,3804
$GC,6427,-0.53,-170.4,758.3,-9.4,616,6430,0.00,1.52,0.00,0.000,6,0.000,0.061,2097,2447,3805
$GC,6750,-0.53,-170.4,786.3,-8.6,647,6751,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2447,3803
$GC,7059,-0.53,-170.4,814.5,-8.7,677,7062,0.00,1.50,0.00,0.000,4,0.000,0.054,2097,1541,3801
$GC,7106,-0.53,-170.4,818.9,-9.1,681,7113,0.00,1.55,0.00,0.000,6,0.000,0.061,2090,2451,3800
$GC,7424,-0.53,-170.4,849.4,-9.8,712,7428,0.00,1.50,0.00,0.000,4,0.000,0.054,2090,1550,3798
$GC,7449,-0.53,-170.4,852.2,-10.2,714,7457,0.00,1.52,0.00,0.000,6,0.000,0.061,2083,2445,3798
$GC,7766,-0.53,-170.4,884.0,-9.8,745,7766,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2445,3798
$GC,8076,-0.53,-170.4,913.8,-9.7,775,8077,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2445,3796
$GC,8387,-0.53,-170.4,942.6,-9.1,805,8390,0.00,1.48,0.00,0.000,4,0.000,0.054,2083,1558,3794
$GC,8412,-0.53,-170.4,945.1,-9.1,807,8420,0.00,1.55,0.00,0.000,6,0.000,0.062,2079,2456,3794
$GC,8729,-0.53,-170.4,974.5,-9.6,838,8731,0.00,1.52,0.00,0.000,4,0.000,0.054,2079,1547,3792
$GC,8750,-0.53,-170.4,976.5,-9.6,840,8753,0.00,1.52,0.00,0.000,6,0.000,0.063,2072,2445,3792
$STATE,8883,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8883,begin apogee
$GC,8888,-0.19,0.0,990.0,10.0,853,9017,0.45,0.00,124.62,1.244,6,0.128,0.000,2215,2361,3150
$STATE,9017,end apogee,CONTROL_FINISHED_OK
$STATE,9017,begin climb
$GC,9019,0.53,170.4,994.5,0.0,866,9166,0.68,1.45,140.90,1.214,4,0.084,0.046,2449,1489,2455
$GC,9209,0.53,170.4,983.4,10.8,882,9218,0.00,1.52,0.00,0.000,6,0.000,0.057,2449,2390,2451
$GC,9527,0.53,170.4,946.8,11.6,913,9530,0.00,1.52,0.00,0.000,4,0.000,0.068,2449,3259,2446
$GC,9563,0.53,170.4,942.2,12.6,916,9571,0.00,1.45,0.00,0.000,6,0.000,0.042,2456,2391,2444
$GC,9882,0.53,170.4,904.0,12.1,947,9885,0.00,1.42,0.00,0.000,4,0.000,0.048,2462,1469,2443
$GC,9914,0.53,170.4,900.1,12.2,950,9917,0.00,1.45,0.00,0.000,6,0.000,0.058,2462,2381,2443
$GC,10235,0.53,170.4,860.5,12.3,981,10238,0.00,1.50,0.00,0.000,4,0.000,0.068,2463,3252,2442
$GC,10277,0.53,170.4,855.0,13.5,985,10280,0.00,1.45,0.00,0.000,6,0.000,0.044,2470,2370,2441
$GC,10598,0.53,170.4,814.5,12.8,1016,10599,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2371,2442
$GC,10909,0.53,170.4,774.9,12.3,1046,10909,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2371,2440
$GC,11219,0.53,170.4,735.9,12.8,1076,11223,0.00,1.52,0.00,0.000,4,0.000,0.067,2469,3251,2439
$GC,11251,0.53,170.4,731.7,13.6,1079,11254,0.00,1.42,0.00,0.000,6,0.000,0.044,2476,2382,2439
$GC,11572,0.53,170.4,690.3,12.7,1110,11575,0.00,1.38,0.00,0.000,4,0.000,0.047,2482,1471,2439
$GC,11604,0.53,170.4,686.3,12.8,1113,11607,0.10,1.42,0.00,0.000,6,0.157,0.057,2452,2377,2439
$GC,11925,0.53,170.4,650.8,10.7,1144,11928,0.00,1.50,0.00,0.000,4,0.000,0.067,2452,3258,2438
$GC,11968,0.53,170.4,645.9,10.7,1148,11971,0.00,1.45,0.00,0.000,6,0.000,0.044,2457,2368,2438
$GC,12289,0.53,170.4,610.4,10.9,1179,12290,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2369,2437
$GC,12600,0.53,170.4,576.4,10.9,1209,12601,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2369,2437
$GC,12910,0.53,170.4,542.0,11.2,1239,12913,0.00,1.52,0.00,0.000,4,0.000,0.067,2458,3252,2437
$GC,13021,0.53,170.4,528.7,12.3,1249,13028,0.00,1.40,0.00,0.000,6,0.000,0.043,2462,2389,2437
$GC,13339,0.53,170.4,493.5,10.8,1280,13342,0.00,1.38,0.00,0.000,4,0.000,0.047,2470,1476,2437
$GC,13382,0.53,170.4,488.7,9.7,1284,13385,0.00,1.42,0.00,0.000,6,0.000,0.056,2470,2385,2437
$GC,13704,0.53,170.4,450.9,12.0,1315,13707,0.00,1.48,0.00,0.000,4,0.000,0.067,2470,3255,2437
$GC,13800,0.53,170.4,438.3,12.7,1324,13803,0.00,1.45,0.00,0.000,6,0.000,0.044,2477,2359,2437
$GC,14121,0.53,170.4,399.4,12.4,1355,14124,0.00,1.52,0.00,0.000,4,0.000,0.065,2477,3252,2437
$GC,14168,0.53,170.4,393.0,14.5,1359,14176,0.10,1.40,0.00,0.000,6,0.160,0.041,2453,2386,2437
$GC,14485,0.53,170.4,360.0,9.9,1390,14488,0.00,1.48,0.00,0.000,4,0.000,0.064,2453,3247,2437
$GC,14510,0.53,170.4,357.0,11.6,1392,14518,0.00,1.42,0.00,0.000,6,0.000,0.041,2458,2367,2437
$GC,14829,0.53,170.4,323.1,10.6,1423,14832,0.00,1.33,0.00,0.000,4,0.000,0.045,2465,1476,2438
$GC,14871,0.53,170.4,318.8,9.3,1427,14874,0.00,1.40,0.00,0.000,6,0.000,0.054,2465,2376,2438
$GC,15194,0.53,170.4,283.9,10.8,1458,15197,0.00,1.48,0.00,0.000,4,0.000,0.064,2464,3253,2438
$GC,15252,0.53,170.4,277.3,11.3,1463,15259,0.05,1.40,0.00,0.000,6,0.177,0.040,2456,2384,2438
$GC,15568,0.53,170.4,245.7,10.2,1494,15571,0.00,1.48,0.00,0.000,4,0.000,0.063,2455,3250,2439
$GC,15647,0.53,170.4,237.0,10.5,1501,15654,0.00,1.42,0.00,0.000,6,0.000,0.039,2460,2364,2439
$GC,15965,0.53,170.4,203.1,10.7,1532,15968,0.00,1.30,0.00,0.000,4,0.000,0.042,2467,1484,2440
$GC,16019,0.53,170.4,197.6,9.7,1537,16022,0.00,1.40,0.00,0.000,6,0.000,0.052,2467,2388,2440
$GC,16340,0.53,170.4,163.1,10.6,1568,16340,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2388,2441
$GC,16650,0.53,170.4,130.9,10.5,1598,16653,0.00,1.45,0.00,0.000,4,0.000,0.061,2467,3254,2442
$GC,16697,0.53,170.4,125.9,10.3,1602,16706,0.00,1.40,0.00,0.000,6,0.000,0.038,2473,2381,2442
$GC,17015,0.53,170.4,93.6,10.4,1633,17016,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2381,2443
$GC,17118,0.53,170.4,84.0,9.0,1643,17121,0.00,1.48,0.00,0.000,4,0.000,0.060,2473,3254,2444
$GC,17203,0.53,170.4,75.1,9.8,1651,17206,0.10,1.40,0.00,0.000,6,0.146,0.037,2448,2368,2444
$GC,17318,0.53,170.4,66.7,6.6,1662,17320,0.00,1.50,0.00,0.000,4,0.000,0.060,2449,3258,2444
$GC,17461,0.53,170.4,55.5,6.8,1675,17468,0.00,1.40,0.00,0.000,6,0.000,0.036,2453,2378,2444
$GC,17571,0.57,197.6,49.2,5.3,1686,17595,0.00,1.30,19.70,0.532,4,0.000,0.039,2460,1471,2344
$GC,17708,0.66,275.8,42.7,4.1,1698,17769,0.00,1.40,57.83,0.538,6,0.000,0.048,2460,2376,2024
$GC,17874,0.76,355.0,36.2,4.1,1713,17935,0.17,1.38,57.97,0.523,4,0.059,0.038,2555,1473,1703
$GC,17964,0.76,355.0,28.4,8.9,1721,17967,0.10,1.45,0.00,0.000,6,0.121,0.048,2522,2383,1698
$GC,18078,0.76,355.0,20.2,6.3,1732,18079,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2384,1694
$GC,18182,0.83,409.1,14.5,4.7,1742,18223,0.00,0.00,39.62,0.496,6,0.000,0.000,2522,2384,1481
$GC,18326,0.98,535.5,9.4,2.9,1756,18422,0.22,1.42,91.75,0.492,4,0.106,0.039,2592,1484,965
$GC,18665,1.33,818.0,4.4,-0.8,1787,18767,0.32,1.40,97.28,0.476,2,0.146,0.047,2698,2374,414
$STATE,18767,end climb,SURFACE_DEPTH_REACHED
$STATE,18767,begin surface coast
$FINISH,0.6,1.015071
$STATE,18839,end surface coast,CONTROL_FINISHED_OK
$STATE,18839,begin surface
$SM_CCo,18914,0.00,0.000,0,0,412,671.62
$SM_GC,2.66,6.70,0.00,0.00,0.035,0.000,0.000,191,2441,412,-6.44,-0.25,671.62
$IRIDIUM_FIX,2833.46,-8814.37,131199,161657
$TT8_MAMPS,0.050622
$HUMID,2098
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,25.10
$XPDR_PINGS,1
$24V_AH,23.8,6.987
$10V_AH,10.6,7.635
$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,16.950,105.075,629.675,0.000,0.000,53.055,59.931,425.852,4.000,0.000,0.000,14.969,0.000,12502.547,635.275,5512.458,976.929,33.352,2261.047,0.000,4873.340,0.000,28.672,0.000
$DEVICE_MAMPS,239.304,72.098,1244.074,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,1236.268,1352.722,4050.866,4167.804,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126281,1802
$CAP_FILE_SIZE,188412,0
$CFSIZE,260165632,251179008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.066,132.0,1
$GPS,190810,212806,2840.185,-8813.648,39,1.7,39,-0.6