version: 66.04
glider: 515
mission: 2
dive: 54
start: 8 21 110 20 24 40
data:
$ID,515
$MISSION,2
$DIVE,54
$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,-29021.635
$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,16
$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
$GPS1,201451,2835.800,-8824.312,92,2.9,111,-0.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-76.1
$GPS2,202401,2835.834,-8824.214,9,1.8,9,-0.4
$SPEED_LIMITS,0.104,0.229
$TGT_NAME,TARGET_NW
$TGT_LATLONG,2839.000,-8829.600
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.009,0.229
$KALMAN_X,153508.6,-870.7,-574.8,-145293.9,11385.4
$KALMAN_Y,-71994.7,-751.7,1352.4,22673.6,-15037.1
$MHEAD_RNG_PITCHd_Wd,305.1,10535,-8.7,-6.000
$D_GRID,1723
$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,-32.65,0.000,2,0.000,0.000,189,2443,1454
$GC,49,-0.53,-170.4,3.3,-5.0,3,114,7.95,1.52,-52.80,0.000,4,0.243,0.058,2097,1534,3847
$GC,353,-0.53,-170.4,59.4,-18.3,30,361,0.00,1.52,0.00,0.000,6,0.000,0.043,2091,2446,3848
$GC,463,-0.53,-170.4,77.0,-16.6,41,464,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2446,3848
$GC,566,-0.53,-170.4,91.1,-12.7,51,569,0.00,1.48,0.00,0.000,4,0.000,0.038,2091,1540,3849
$GC,673,-0.53,-170.4,104.2,-12.4,61,676,0.00,1.52,0.00,0.000,6,0.000,0.046,2084,2449,3849
$GC,995,-0.53,-170.4,147.8,-13.5,92,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2450,3849
$GC,1305,-0.53,-170.4,188.5,-13.1,122,1308,0.00,1.48,0.00,0.000,4,0.000,0.041,2084,1545,3847
$GC,1358,-0.53,-170.4,195.1,-12.3,127,1361,0.00,1.52,0.00,0.000,6,0.000,0.048,2077,2452,3847
$GC,1681,-0.53,-170.4,237.1,-13.5,158,1681,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,2452,3845
$GC,1990,-0.53,-170.4,277.8,-12.6,188,1993,0.00,1.50,0.00,0.000,4,0.000,0.043,2077,1541,3841
$GC,2036,-0.53,-170.4,283.8,-12.0,192,2046,0.08,1.52,0.00,0.000,6,0.139,0.049,2096,2447,3841
$GC,2353,-0.53,-170.4,318.0,-10.9,223,2354,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2448,3838
$GC,2664,-0.53,-170.4,351.0,-10.3,253,2666,0.00,1.48,0.00,0.000,4,0.000,0.043,2097,1547,3836
$GC,2749,-0.53,-170.4,359.7,-10.4,261,2752,0.00,1.52,0.00,0.000,6,0.000,0.052,2091,2451,3835
$GC,3072,-0.53,-170.4,393.8,-10.3,292,3074,0.00,1.50,0.00,0.000,4,0.000,0.044,2091,1539,3831
$GC,3129,-0.53,-170.4,400.2,-11.0,297,3136,0.00,1.52,0.00,0.000,6,0.000,0.053,2084,2446,3831
$GC,3447,-0.53,-170.4,434.5,-11.4,328,3450,0.00,1.48,0.00,0.000,4,0.000,0.044,2084,1546,3829
$GC,3479,-0.53,-170.4,438.1,-11.1,331,3482,0.00,1.52,0.00,0.000,6,0.000,0.054,2078,2447,3828
$GC,3802,-0.53,-170.4,475.1,-11.6,362,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2447,3825
$GC,4111,-0.53,-170.4,511.2,-11.5,392,4114,0.00,1.48,0.00,0.000,4,0.000,0.047,2078,1553,3823
$GC,4200,-0.53,-170.4,521.6,-11.2,400,4209,0.08,1.52,0.00,0.000,6,0.139,0.054,2098,2448,3821
$GC,4517,-0.53,-170.4,553.8,-9.9,431,4518,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2448,3818
$GC,4827,-0.53,-170.4,584.4,-9.8,461,4830,0.00,1.50,0.00,0.000,4,0.000,0.048,2098,1542,3816
$GC,4906,-0.53,-170.4,592.4,-10.2,468,4915,0.00,1.55,0.00,0.000,6,0.000,0.056,2092,2450,3816
$GC,5224,-0.53,-170.4,623.9,-9.9,499,5225,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2451,3813
$GC,5533,-0.53,-170.4,653.6,-9.5,529,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2451,3811
$GC,5844,-0.53,-170.4,683.3,-9.2,559,5847,0.00,1.50,0.00,0.000,4,0.000,0.051,2093,1554,3809
$GC,5908,-0.53,-170.4,689.6,-9.5,565,5911,0.00,1.52,0.00,0.000,6,0.000,0.059,2085,2446,3808
$GC,6230,-0.53,-170.4,721.4,-10.0,596,6231,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2446,3806
$GC,6539,-0.53,-170.4,752.2,-9.9,626,6542,0.00,1.50,0.00,0.000,4,0.000,0.051,2085,1544,3803
$GC,6575,-0.53,-170.4,756.0,-10.4,629,6583,0.00,1.55,0.00,0.000,6,0.000,0.059,2079,2448,3802
$GC,6893,-0.53,-170.4,788.8,-10.1,660,6894,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2448,3801
$GC,7203,-0.53,-170.4,821.1,-10.7,690,7204,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2448,3799
$GC,7514,-0.53,-170.4,853.3,-10.1,720,7517,0.00,1.50,0.00,0.000,4,0.000,0.053,2079,1554,3798
$GC,7546,-0.53,-170.4,856.6,-10.0,723,7549,0.00,1.55,0.00,0.000,6,0.000,0.062,2073,2450,3798
$GC,7868,-0.53,-170.4,890.7,-10.6,754,7871,0.00,1.50,0.00,0.000,4,0.000,0.053,2073,1553,3796
$GC,7932,-0.53,-170.4,897.5,-11.1,760,7935,0.10,1.55,0.00,0.000,6,0.146,0.061,2100,2451,3795
$GC,8253,-0.53,-170.4,924.5,-8.6,791,8256,0.00,1.50,0.00,0.000,4,0.000,0.052,2101,1554,3793
$GC,8327,-0.53,-170.4,930.8,-8.2,798,8331,0.00,1.52,0.00,0.000,6,0.000,0.061,2095,2444,3793
$GC,8649,-0.53,-170.4,958.5,-8.6,829,8649,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2444,3792
$GC,8959,-0.53,-170.4,985.6,-9.0,859,8962,0.00,1.50,0.00,0.000,4,0.000,0.053,2095,1547,3791
$STATE,9012,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9012,begin apogee
$GC,9018,-0.19,0.0,990.3,9.1,864,9146,0.35,0.00,124.68,1.238,6,0.127,0.000,2206,2384,3150
$STATE,9147,end apogee,CONTROL_FINISHED_OK
$STATE,9147,begin climb
$GC,9149,0.53,170.4,995.4,0.0,877,9297,0.70,1.55,141.18,1.210,4,0.087,0.046,2447,1483,2455
$GC,9346,0.53,170.4,984.0,9.3,894,9349,0.00,1.50,0.00,0.000,6,0.000,0.055,2447,2376,2451
$GC,9670,0.53,170.4,948.0,11.2,925,9670,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2376,2445
$GC,9978,0.53,170.4,912.0,11.7,955,9979,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2376,2443
$GC,10289,0.53,170.4,876.7,11.4,985,10292,0.00,1.40,0.00,0.000,4,0.000,0.047,2453,1474,2442
$GC,10310,0.53,170.4,874.3,11.4,987,10313,0.00,1.45,0.00,0.000,6,0.000,0.057,2453,2379,2443
$GC,10631,0.53,170.4,838.3,11.1,1018,10634,0.00,1.40,0.00,0.000,4,0.000,0.047,2460,1482,2441
$GC,10656,0.53,170.4,835.4,11.3,1020,10665,0.00,1.42,0.00,0.000,6,0.000,0.055,2460,2375,2441
$GC,10975,0.53,170.4,799.8,11.6,1051,10977,0.00,1.52,0.00,0.000,4,0.000,0.067,2460,3261,2440
$GC,11017,0.53,170.4,794.3,12.8,1055,11020,0.00,1.42,0.00,0.000,6,0.000,0.043,2467,2381,2439
$GC,11338,0.53,170.4,756.7,11.9,1086,11341,0.00,1.50,0.00,0.000,4,0.000,0.067,2467,3257,2439
$GC,11359,0.53,170.4,754.0,12.8,1088,11362,0.00,1.45,0.00,0.000,6,0.000,0.042,2474,2368,2438
$GC,11681,0.53,170.4,715.0,12.7,1119,11683,0.00,1.52,0.00,0.000,4,0.000,0.065,2474,3251,2438
$GC,11706,0.53,170.4,711.5,14.5,1121,11714,0.10,1.42,0.00,0.000,6,0.164,0.042,2450,2377,2437
$GC,12023,0.53,170.4,677.6,10.5,1152,12026,0.00,1.38,0.00,0.000,4,0.000,0.047,2455,1467,2437
$GC,12065,0.53,170.4,673.3,10.1,1156,12068,0.00,1.42,0.00,0.000,6,0.000,0.056,2455,2375,2437
$GC,12388,0.53,170.4,638.4,10.5,1187,12389,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2375,2437
$GC,12697,0.53,170.4,604.6,11.1,1217,12700,0.00,1.50,0.00,0.000,4,0.000,0.067,2455,3260,2437
$GC,12751,0.53,170.4,598.1,12.4,1222,12753,0.00,1.42,0.00,0.000,6,0.000,0.043,2462,2376,2436
$GC,13073,0.53,170.4,561.7,11.0,1253,13074,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2377,2436
$GC,13382,0.53,170.4,527.4,11.4,1283,13385,0.00,1.50,0.00,0.000,4,0.000,0.066,2462,3252,2436
$GC,13408,0.53,170.4,524.4,12.7,1285,13415,0.00,1.42,0.00,0.000,6,0.000,0.042,2468,2374,2436
$GC,13726,0.53,170.4,487.9,12.0,1316,13728,0.00,1.35,0.00,0.000,4,0.000,0.047,2474,1482,2436
$GC,13747,0.53,170.4,485.2,12.2,1318,13750,0.00,1.42,0.00,0.000,6,0.000,0.055,2474,2381,2436
$GC,14068,0.53,170.4,447.6,11.5,1349,14070,0.00,1.40,0.00,0.000,4,0.000,0.045,2480,1475,2436
$GC,14089,0.53,170.4,445.3,11.6,1351,14092,0.10,1.42,0.00,0.000,6,0.154,0.055,2448,2379,2436
$GC,14410,0.53,170.4,414.1,9.2,1382,14411,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2379,2436
$GC,14720,0.53,170.4,384.4,10.0,1412,14721,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2379,2436
$GC,15031,0.53,170.4,353.2,9.7,1442,15034,0.00,1.40,0.00,0.000,4,0.000,0.044,2454,1463,2437
$GC,15052,0.53,170.4,351.1,9.4,1444,15055,0.00,1.42,0.00,0.000,6,0.000,0.054,2453,2378,2437
$GC,15373,0.53,170.4,318.9,10.2,1475,15374,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2378,2437
$GC,15684,0.53,170.4,288.5,10.2,1505,15685,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2378,2437
$GC,15994,0.53,170.4,256.6,10.3,1535,15997,0.00,1.38,0.00,0.000,4,0.000,0.042,2460,1469,2439
$GC,16041,0.53,170.4,251.8,8.9,1539,16048,0.00,1.42,0.00,0.000,6,0.000,0.051,2460,2381,2439
$GC,16359,0.53,170.4,219.0,10.8,1570,16360,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2381,2439
$GC,16668,0.53,170.4,186.3,10.0,1600,16672,0.00,1.48,0.00,0.000,4,0.000,0.062,2460,3266,2440
$GC,16747,0.53,170.4,177.5,10.5,1607,16755,0.00,1.42,0.00,0.000,6,0.000,0.038,2467,2369,2440
$GC,17066,0.53,170.4,145.4,9.6,1638,17069,0.00,1.50,0.00,0.000,4,0.000,0.061,2467,3258,2441
$GC,17220,0.53,170.4,127.6,11.7,1652,17229,0.00,1.38,0.00,0.000,6,0.000,0.037,2474,2383,2442
$GC,17538,0.53,170.4,95.1,10.1,1683,17541,0.00,1.45,0.00,0.000,4,0.000,0.059,2474,3256,2443
$GC,17628,0.53,170.4,84.8,12.0,1691,17636,0.10,1.40,0.00,0.000,6,0.143,0.036,2448,2373,2443
$GC,17737,0.53,170.4,75.3,7.7,1702,17740,0.00,1.33,0.00,0.000,4,0.000,0.040,2453,1475,2444
$GC,17870,0.53,170.4,67.0,6.3,1714,17877,0.00,1.40,0.00,0.000,6,0.000,0.048,2453,2381,2444
$GC,17979,0.53,170.4,60.3,6.1,1725,17980,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2380,2444
$GC,18083,0.58,209.3,55.0,5.1,1735,18116,0.00,0.00,28.15,0.539,6,0.000,0.000,2453,2380,2296
$GC,18219,0.68,290.8,48.4,4.0,1748,18282,0.12,0.00,60.12,0.535,6,0.070,0.000,2513,2381,1963
$GC,18381,0.68,290.8,35.2,8.7,1763,18384,0.00,1.48,0.00,0.000,4,0.000,0.058,2513,3251,1957
$GC,18450,0.68,290.8,30.0,7.6,1769,18457,0.00,1.42,0.00,0.000,6,0.000,0.035,2520,2375,1955
$GC,18559,0.75,347.4,23.7,4.6,1780,18607,0.00,1.38,41.30,0.503,4,0.000,0.038,2523,1472,1733
$GC,18633,0.80,391.0,20.0,4.9,1786,18669,0.00,1.45,33.15,0.491,6,0.000,0.044,2524,2381,1554
$GC,18774,0.80,391.0,11.5,6.0,1799,18777,0.00,1.40,0.00,0.000,4,0.000,0.038,2529,1482,1549
$GC,18832,0.93,491.0,8.7,3.6,1804,18912,0.10,1.42,71.93,0.484,6,0.048,0.044,2596,2380,1148
$GC,19016,1.23,736.0,4.9,0.1,1821,19152,0.20,1.42,131.95,0.476,4,0.113,0.040,2663,1466,405
$STATE,19173,end climb,SURFACE_DEPTH_REACHED
$STATE,19173,begin surface coast
$FINISH,0.7,1.014920
$STATE,19237,end surface coast,CONTROL_FINISHED_OK
$STATE,19237,begin surface
$SM_CCo,19313,0.00,0.000,0,0,402,674.07
$SM_GC,2.91,6.60,0.00,0.00,0.035,0.000,0.000,190,2438,402,-6.45,-0.34,674.07
$IRIDIUM_FIX,2826.10,-8821.81,151199,151503
$TT8_MAMPS,0.050622
$HUMID,2081
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,25.70
$XPDR_PINGS,1
$24V_AH,23.8,8.316
$10V_AH,10.6,10.300
$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,16.575,105.675,632.450,0.000,0.000,25.222,42.986,338.196,4.000,0.000,0.000,11.292,0.000,12724.812,626.078,5604.023,868.900,33.342,2281.189,0.000,4994.317,0.000,28.342,0.000
$DEVICE_MAMPS,243.139,67.496,1237.938,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,1263.002,1388.104,4135.984,4276.387,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129775,1840
$CAP_FILE_SIZE,184978,0
$CFSIZE,260165632,250130432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.037,156.6,1
$GPS,220810,014835,2836.766,-8826.588,98,1.2,102,-0.4