version: 66.04
glider: 515
mission: 2
dive: 52
start: 8 21 110 10 0 12
data:
$ID,515
$MISSION,2
$DIVE,52
$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,-28992.736
$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,23
$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
$GPS1,094945,2838.678,-8820.636,111,1.1,119,-0.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-77.0
$GPS2,095931,2838.597,-8820.657,9,1.0,14,-0.5
$SPEED_LIMITS,0.104,0.229
$TGT_NAME,TARGET_SW
$TGT_LATLONG,2835.400,-8825.200
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.215,0.079
$KALMAN_X,149320.1,-697.6,-2111.0,-133970.9,15424.5
$KALMAN_Y,-63558.1,1684.6,1799.0,16410.8,-14195.1
$MHEAD_RNG_PITCHd_Wd,239.5,9468,-8.7,-6.000
$D_GRID,1753
$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,-32.70,0.000,2,0.000,0.000,197,2437,1645
$GC,49,-0.53,-170.4,3.6,-5.9,3,118,8.20,1.40,-53.50,0.000,4,0.255,0.071,2089,3355,3845
$GC,357,-0.53,-170.4,65.7,-16.5,31,364,0.00,1.30,0.00,0.000,6,0.000,0.030,2088,2451,3845
$GC,467,-0.53,-170.4,80.7,-13.6,42,470,0.00,1.38,0.00,0.000,4,0.000,0.055,2082,3346,3846
$GC,713,-0.53,-170.4,116.6,-14.2,65,715,0.00,1.27,0.00,0.000,6,0.000,0.032,2082,2454,3846
$GC,1035,-0.53,-170.4,162.9,-14.5,96,1038,0.00,1.48,0.00,0.000,4,0.000,0.041,2081,1543,3845
$GC,1067,-0.53,-170.4,167.5,-13.7,99,1070,0.00,1.50,0.00,0.000,6,0.000,0.047,2074,2446,3845
$GC,1390,-0.53,-170.4,212.3,-13.5,130,1392,0.00,1.48,0.00,0.000,4,0.000,0.041,2075,1540,3843
$GC,1507,-0.53,-170.4,227.8,-13.0,141,1510,0.08,1.52,0.00,0.000,6,0.135,0.049,2106,2450,3842
$GC,1828,-0.53,-170.4,262.0,-10.1,172,1829,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2450,3839
$GC,2138,-0.53,-170.4,294.9,-10.2,202,2141,0.00,1.48,0.00,0.000,4,0.000,0.043,2106,1548,3836
$GC,2202,-0.53,-170.4,301.4,-10.1,208,2205,0.00,1.50,0.00,0.000,6,0.000,0.051,2101,2446,3835
$GC,2524,-0.53,-170.4,333.8,-10.3,239,2526,0.00,1.40,0.00,0.000,4,0.000,0.064,2094,3351,3832
$GC,2570,-0.53,-170.4,339.0,-10.0,243,2578,0.00,1.30,0.00,0.000,6,0.000,0.035,2094,2451,3830
$GC,2889,-0.53,-170.4,374.1,-11.1,274,2891,0.00,1.48,0.00,0.000,4,0.000,0.046,2094,1542,3828
$GC,2935,-0.53,-170.4,379.6,-10.7,278,2943,0.00,1.55,0.00,0.000,6,0.000,0.051,2086,2453,3827
$GC,3254,-0.53,-170.4,416.6,-11.9,309,3255,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2453,3825
$GC,3563,-0.53,-170.4,453.1,-12.0,339,3565,0.00,1.52,0.00,0.000,4,0.000,0.048,2086,1538,3822
$GC,3616,-0.53,-170.4,459.2,-11.4,344,3619,0.00,1.55,0.00,0.000,6,0.000,0.054,2079,2451,3822
$GC,3939,-0.53,-170.4,497.2,-11.7,375,3941,0.00,1.50,0.00,0.000,4,0.000,0.049,2079,1548,3818
$GC,3992,-0.53,-170.4,503.5,-11.5,380,3995,0.00,1.55,0.00,0.000,6,0.000,0.056,2072,2452,3818
$GC,4315,-0.53,-170.4,541.9,-11.6,411,4318,0.12,1.48,0.00,0.000,4,0.153,0.047,2107,1549,3814
$GC,4379,-0.53,-170.4,548.3,-8.8,417,4381,0.00,1.52,0.00,0.000,6,0.000,0.056,2102,2447,3814
$GC,4701,-0.53,-170.4,579.2,-9.8,448,4704,0.00,1.50,0.00,0.000,4,0.000,0.048,2102,1542,3812
$GC,4748,-0.53,-170.4,584.1,-9.8,452,4757,0.00,1.55,0.00,0.000,6,0.000,0.056,2095,2449,3812
$GC,5067,-0.53,-170.4,615.3,-9.8,483,5070,0.00,1.50,0.00,0.000,4,0.000,0.049,2095,1547,3810
$GC,5135,-0.53,-170.4,622.5,-10.6,489,5142,0.00,1.52,0.00,0.000,6,0.000,0.057,2088,2444,3809
$GC,5453,-0.53,-170.4,655.8,-10.5,520,5456,0.00,1.48,0.00,0.000,4,0.000,0.050,2088,1555,3806
$GC,5479,-0.53,-170.4,658.8,-10.7,522,5486,0.00,1.55,0.00,0.000,6,0.000,0.058,2082,2452,3806
$GC,5797,-0.53,-170.4,693.2,-11.0,553,5798,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2451,3803
$GC,6106,-0.53,-170.4,726.3,-10.1,583,6109,0.00,1.50,0.00,0.000,4,0.000,0.052,2082,1557,3800
$GC,6181,-0.53,-170.4,734.0,-10.4,590,6184,0.00,1.52,0.00,0.000,6,0.000,0.060,2075,2446,3800
$GC,6503,-0.53,-170.4,770.3,-11.4,621,6506,0.00,1.50,0.00,0.000,4,0.000,0.051,2075,1548,3798
$GC,6535,-0.53,-170.4,774.3,-11.8,624,6538,0.08,1.55,0.00,0.000,6,0.144,0.060,2095,2448,3797
$GC,6856,-0.53,-170.4,805.9,-9.9,655,6857,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2448,3796
$GC,7167,-0.53,-170.4,834.9,-9.4,685,7170,0.00,1.50,0.00,0.000,4,0.000,0.052,2095,1556,3794
$GC,7224,-0.53,-170.4,840.2,-8.8,690,7232,0.00,1.55,0.00,0.000,6,0.000,0.060,2091,2449,3793
$GC,7542,-0.53,-170.4,870.4,-9.6,721,7545,0.00,1.50,0.00,0.000,4,0.000,0.052,2091,1555,3791
$GC,7578,-0.53,-170.4,874.1,-9.4,724,7587,0.00,1.52,0.00,0.000,6,0.000,0.060,2084,2442,3791
$GC,7895,-0.53,-170.4,905.2,-10.2,755,7896,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2442,3789
$GC,8205,-0.53,-170.4,935.2,-9.2,785,8208,0.00,1.50,0.00,0.000,4,0.000,0.053,2084,1546,3788
$GC,8270,-0.53,-170.4,941.4,-9.5,791,8273,0.00,1.55,0.00,0.000,6,0.000,0.061,2077,2448,3787
$GC,8591,-0.53,-170.4,974.6,-10.5,822,8591,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,2447,3786
$STATE,8745,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8745,begin apogee
$GC,8750,-0.19,0.0,990.7,10.3,837,8878,0.43,0.00,123.82,1.234,6,0.127,0.000,2212,2374,3150
$STATE,8878,end apogee,CONTROL_FINISHED_OK
$STATE,8878,begin climb
$GC,8880,0.53,170.4,995.7,0.0,850,9025,0.73,0.00,141.65,1.207,6,0.084,0.000,2451,2371,2455
$GC,9334,0.53,170.4,953.7,10.8,894,9337,0.00,1.40,0.00,0.000,4,0.000,0.046,2458,1477,2445
$GC,9366,0.53,170.4,950.1,10.3,897,9369,0.00,1.48,0.00,0.000,6,0.000,0.057,2458,2380,2445
$GC,9686,0.53,170.4,913.0,11.9,928,9689,0.00,1.52,0.00,0.000,4,0.000,0.068,2458,3261,2443
$GC,9712,0.53,170.4,909.5,13.6,930,9719,0.00,1.45,0.00,0.000,6,0.000,0.041,2465,2380,2442
$GC,10030,0.53,170.4,869.0,12.5,961,10031,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2381,2442
$GC,10340,0.53,170.4,829.3,12.9,991,10342,0.00,1.52,0.00,0.000,4,0.000,0.067,2465,3263,2440
$GC,10386,0.53,170.4,822.6,14.4,995,10394,0.00,1.45,0.00,0.000,6,0.000,0.041,2472,2374,2440
$GC,10705,0.53,170.4,781.0,12.6,1026,10708,0.00,1.52,0.00,0.000,4,0.000,0.066,2473,3256,2439
$GC,10758,0.53,170.4,773.5,13.9,1031,10761,0.10,1.42,0.00,0.000,6,0.166,0.042,2449,2376,2438
$GC,11079,0.53,170.4,739.3,10.6,1062,11082,0.00,1.38,0.00,0.000,4,0.000,0.047,2454,1472,2438
$GC,11111,0.53,170.4,736.2,10.2,1065,11114,0.00,1.45,0.00,0.000,6,0.000,0.057,2454,2382,2438
$GC,11434,0.53,170.4,700.6,11.3,1096,11437,0.00,1.48,0.00,0.000,4,0.000,0.067,2454,3255,2437
$GC,11492,0.53,170.4,693.2,12.6,1101,11498,0.00,1.42,0.00,0.000,6,0.000,0.043,2461,2378,2437
$GC,11809,0.53,170.4,656.4,11.6,1132,11812,0.00,1.38,0.00,0.000,4,0.000,0.047,2467,1470,2436
$GC,11835,0.53,170.4,653.2,11.9,1134,11842,0.00,1.45,0.00,0.000,6,0.000,0.055,2467,2381,2436
$GC,12153,0.53,170.4,614.9,11.8,1165,12156,0.00,1.48,0.00,0.000,4,0.000,0.067,2467,3256,2436
$GC,12189,0.53,170.4,609.9,13.5,1168,12198,0.00,1.45,0.00,0.000,6,0.000,0.043,2474,2368,2436
$GC,12508,0.53,170.4,572.1,12.3,1199,12508,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2368,2436
$GC,12816,0.53,170.4,535.4,12.6,1229,12817,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2368,2435
$GC,13127,0.53,170.4,500.0,11.0,1259,13130,0.00,1.35,0.00,0.000,4,0.000,0.045,2480,1470,2435
$GC,13152,0.53,170.4,497.0,12.0,1261,13160,0.10,1.45,0.00,0.000,6,0.155,0.054,2449,2384,2435
$GC,13469,0.53,170.4,466.6,9.7,1292,13472,0.00,1.48,0.00,0.000,4,0.000,0.066,2449,3262,2435
$GC,13490,0.53,170.4,464.6,9.0,1294,13493,0.00,1.42,0.00,0.000,6,0.000,0.042,2454,2379,2435
$GC,13813,0.53,170.4,431.4,10.3,1325,13816,0.00,1.38,0.00,0.000,4,0.000,0.046,2461,1472,2435
$GC,13856,0.53,170.4,426.9,10.3,1329,13859,0.00,1.42,0.00,0.000,6,0.000,0.055,2460,2380,2435
$GC,14177,0.53,170.4,392.3,10.3,1360,14178,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2380,2435
$GC,14487,0.53,170.4,358.7,10.7,1390,14490,0.00,1.48,0.00,0.000,4,0.000,0.065,2461,3251,2436
$GC,14551,0.53,170.4,351.3,11.2,1396,14554,0.00,1.40,0.00,0.000,6,0.000,0.042,2468,2380,2436
$GC,14874,0.53,170.4,315.8,10.8,1427,14877,0.00,1.50,0.00,0.000,4,0.000,0.064,2468,3262,2436
$GC,14953,0.53,170.4,306.2,11.4,1434,14960,0.00,1.42,0.00,0.000,6,0.000,0.040,2475,2376,2436
$GC,15271,0.53,170.4,270.7,11.3,1465,15272,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2376,2437
$GC,15580,0.53,170.4,234.6,11.7,1495,15583,0.00,1.50,0.00,0.000,4,0.000,0.062,2474,3258,2437
$GC,15606,0.53,170.4,231.4,13.1,1497,15613,0.10,1.42,0.00,0.000,6,0.158,0.039,2450,2373,2438
$GC,15922,0.53,170.4,199.6,9.8,1528,15923,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2373,2439
$GC,16233,0.53,170.4,169.9,9.6,1558,16233,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2373,2439
$GC,16543,0.53,170.4,141.2,9.1,1588,16546,0.00,1.33,0.00,0.000,4,0.000,0.041,2456,1473,2441
$GC,16600,0.53,170.4,136.3,8.4,1593,16608,0.00,1.40,0.00,0.000,6,0.000,0.049,2455,2375,2441
$GC,16919,0.53,170.4,107.8,8.1,1624,16920,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2375,2441
$GC,17228,0.53,170.4,81.0,7.7,1654,17231,0.00,1.35,0.00,0.000,4,0.000,0.040,2462,1471,2442
$GC,17329,0.53,170.4,74.1,6.2,1663,17335,0.00,1.40,0.00,0.000,6,0.000,0.048,2462,2377,2443
$GC,17438,0.53,170.4,67.3,6.1,1674,17441,0.00,1.45,0.00,0.000,4,0.000,0.060,2462,3252,2444
$GC,17560,0.53,170.4,58.8,6.6,1685,17567,0.00,1.38,0.00,0.000,6,0.000,0.036,2469,2378,2444
$GC,17670,0.58,209.7,52.2,5.0,1696,17706,0.00,1.40,28.17,0.535,4,0.000,0.039,2475,1463,2294
$GC,17721,0.60,228.1,49.7,5.6,1700,17742,0.00,1.42,15.25,0.508,6,0.000,0.047,2475,2376,2218
$GC,17845,0.64,255.3,43.4,5.3,1712,17870,0.00,1.52,20.67,0.513,4,0.000,0.058,2476,3261,2108
$GC,17993,0.65,262.3,34.1,5.8,1725,18003,0.00,1.42,6.28,0.424,6,0.000,0.035,2482,2374,2080
$GC,18114,0.74,336.7,28.4,4.2,1737,18175,0.00,1.35,55.33,0.511,4,0.000,0.038,2484,1460,1776
$GC,18211,0.78,368.4,24.3,5.2,1745,18241,0.08,1.45,24.12,0.486,6,0.072,0.045,2529,2378,1648
$GC,18344,0.78,371.8,16.2,5.9,1758,18349,0.00,0.00,3.53,0.302,6,0.000,0.000,2528,2378,1633
$GC,18453,0.85,424.2,10.3,4.7,1768,18501,0.00,1.50,39.55,0.482,4,0.000,0.055,2528,3252,1418
$STATE,18717,end climb,NO_VERTICAL_VELOCITY
$STATE,18717,begin surface
$SM_CCo,18720,211.80,0.394,26,0,403,673.58
$SM_GC,1.88,6.22,0.00,0.00,0.032,0.000,0.000,189,2454,400,-6.44,0.11,674.56
$IRIDIUM_FIX,2828.55,-8819.35,151199,030326
$TT8_MAMPS,0.051389
$HUMID,2072
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,23.9,7.993
$10V_AH,10.6,9.767
$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,16.225,113.725,458.375,211.800,0.000,30.997,28.766,352.071,3.750,0.000,0.000,15.887,0.000,12440.526,883.653,5511.876,861.241,33.333,2481.062,0.000,4879.077,0.000,30.370,0.000
$DEVICE_MAMPS,254.644,70.564,1234.103,394.238,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,1230.146,1346.102,4027.058,4148.589,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126424,1792
$CAP_FILE_SIZE,186874,0
$CFSIZE,260165632,250347520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,26,0
$CURRENT,0.034, 68.4,1
$GPS,210810,152037,2837.160,-8822.651,37,1.3,37,-0.4