version: 66.04
glider: 515
mission: 2
dive: 76
start: 8 27 110 13 37 37
data:
$ID,515
$MISSION,2
$DIVE,76
$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,-29407.164
$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,30
$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,20
$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
$GPS1,132827,2837.520,-8823.522,46,2.1,65,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-71.7
$GPS2,133656,2837.571,-8823.419,14,1.1,14,-0.4
$SPEED_LIMITS,0.104,0.229
$TGT_NAME,TARGET_CENTER2
$TGT_LATLONG,2839.000,-8820.800
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.043,0.225
$KALMAN_X,164211.6,-444.4,932.4,-156680.4,-897.5
$KALMAN_Y,-199127.9,1815.5,2048.9,149727.3,-24258.5
$MHEAD_RNG_PITCHd_Wd,75.2,5012,-11.7,-6.000
$D_GRID,1662
$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,-115.7,0.0,0.0,0,57,0.00,0.00,-42.97,0.000,2,0.000,0.000,178,2456,1920
$GC,60,-0.55,-132.6,3.4,-5.4,4,108,7.97,1.33,-35.38,0.000,4,0.245,0.074,2087,3326,3692
$GC,348,-0.55,-132.6,70.8,-16.9,30,355,0.00,1.33,0.00,0.000,6,0.000,0.030,2087,2438,3695
$GC,458,-0.55,-132.6,86.6,-14.2,41,460,0.00,1.42,0.00,0.000,4,0.000,0.057,2081,3324,3695
$GC,652,-0.55,-132.6,114.7,-14.1,59,654,0.00,1.30,0.00,0.000,6,0.000,0.031,2081,2442,3695
$GC,973,-0.55,-132.6,161.2,-13.9,90,976,0.00,1.45,0.00,0.000,4,0.000,0.040,2081,1553,3695
$GC,1079,-0.55,-132.6,174.8,-12.9,100,1083,0.00,1.52,0.00,0.000,6,0.000,0.048,2074,2442,3695
$GC,1400,-0.55,-132.6,218.2,-14.0,131,1403,0.00,1.48,0.00,0.000,4,0.000,0.040,2074,1550,3693
$GC,1475,-0.55,-132.6,228.0,-12.9,138,1478,0.00,1.55,0.00,0.000,6,0.000,0.049,2066,2449,3693
$GC,1798,-0.55,-132.6,271.4,-13.4,169,1801,0.00,1.50,0.00,0.000,4,0.000,0.041,2066,1553,3691
$GC,1852,-0.55,-132.6,278.5,-12.2,174,1855,0.08,1.55,0.00,0.000,6,0.122,0.049,2097,2449,3690
$GC,2173,-0.55,-132.6,312.6,-10.5,205,2176,0.00,1.50,0.00,0.000,4,0.000,0.041,2097,1552,3688
$GC,2226,-0.55,-132.6,318.2,-10.1,210,2229,0.00,1.55,0.00,0.000,6,0.000,0.051,2091,2449,3689
$GC,2548,-0.55,-132.6,353.4,-10.9,241,2551,0.00,1.50,0.00,0.000,4,0.000,0.042,2091,1554,3685
$GC,2595,-0.55,-132.6,359.0,-10.5,245,2604,0.00,1.55,0.00,0.000,6,0.000,0.051,2084,2447,3685
$GC,2914,-0.55,-132.6,395.3,-11.2,276,2917,0.00,1.50,0.00,0.000,4,0.000,0.043,2084,1554,3682
$GC,2967,-0.55,-132.6,401.7,-11.5,281,2970,0.00,1.55,0.00,0.000,6,0.000,0.053,2077,2448,3681
$GC,3290,-0.55,-132.6,440.5,-11.8,312,3293,0.00,1.52,0.00,0.000,4,0.000,0.044,2076,1542,3679
$GC,3322,-0.55,-132.6,444.6,-11.9,315,3325,0.00,1.58,0.00,0.000,6,0.000,0.054,2069,2447,3679
$GC,3645,-0.55,-132.6,485.7,-12.8,346,3645,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2447,3676
$GC,3953,-0.55,-132.6,525.7,-12.8,376,3954,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2447,3673
$GC,4264,-0.55,-132.6,564.0,-12.5,406,4267,0.00,1.52,0.00,0.000,4,0.000,0.048,2068,1547,3670
$GC,4343,-0.55,-132.6,573.8,-11.8,413,4351,0.08,1.58,0.00,0.000,6,0.153,0.056,2088,2449,3669
$GC,4659,-0.55,-132.6,607.7,-11.0,444,4662,0.00,1.52,0.00,0.000,4,0.000,0.047,2088,1551,3667
$GC,4691,-0.55,-132.6,611.1,-11.3,447,4694,0.00,1.58,0.00,0.000,6,0.000,0.056,2082,2450,3667
$GC,5014,-0.55,-132.6,646.1,-10.5,478,5014,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2450,3664
$GC,5323,-0.55,-132.6,680.0,-10.6,508,5326,0.00,1.52,0.00,0.000,4,0.000,0.048,2082,1550,3661
$GC,5398,-0.55,-132.6,688.0,-10.5,515,5401,0.00,1.58,0.00,0.000,6,0.000,0.058,2075,2449,3661
$GC,5720,-0.55,-132.6,724.3,-11.2,546,5723,0.00,1.52,0.00,0.000,4,0.000,0.049,2075,1554,3659
$GC,5778,-0.55,-132.6,731.0,-10.5,551,5785,0.00,1.58,0.00,0.000,6,0.000,0.057,2068,2449,3658
$GC,6096,-0.55,-132.6,767.9,-11.3,582,6099,0.00,1.52,0.00,0.000,4,0.000,0.050,2068,1557,3656
$GC,6160,-0.55,-132.6,775.6,-11.7,588,6163,0.12,1.58,0.00,0.000,6,0.156,0.058,2094,2450,3656
$GC,6481,-0.55,-132.6,806.3,-9.2,619,6482,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2450,3653
$GC,6792,-0.55,-132.6,834.9,-9.1,649,6795,0.00,1.52,0.00,0.000,4,0.000,0.050,2094,1558,3651
$GC,6882,-0.55,-132.6,842.9,-8.9,657,6890,0.00,1.58,0.00,0.000,6,0.000,0.058,2089,2449,3651
$GC,7199,-0.55,-132.6,873.2,-9.6,688,7201,0.00,1.52,0.00,0.000,4,0.000,0.050,2089,1560,3649
$GC,7252,-0.55,-132.6,878.2,-8.9,693,7255,0.00,1.58,0.00,0.000,6,0.000,0.058,2081,2450,3649
$GC,7573,-0.55,-132.6,909.3,-9.7,724,7576,0.00,1.52,0.00,0.000,4,0.000,0.050,2081,1560,3647
$GC,7627,-0.55,-132.6,914.5,-9.7,729,7630,0.00,1.58,0.00,0.000,6,0.000,0.059,2074,2450,3647
$GC,7948,-0.55,-132.6,946.9,-10.2,760,7949,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2449,3645
$GC,8258,-0.55,-132.6,978.7,-10.6,790,8261,0.00,1.55,0.00,0.000,4,0.000,0.051,2074,1545,3644
$GC,8311,-0.55,-132.6,984.0,-10.3,795,8314,0.00,1.58,0.00,0.000,6,0.000,0.060,2066,2446,3644
$STATE,8372,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8372,begin apogee
$GC,8377,-0.17,0.0,990.4,10.8,801,8476,0.50,0.00,95.70,1.247,6,0.137,0.000,2222,2377,3150
$STATE,8476,end apogee,CONTROL_FINISHED_OK
$STATE,8476,begin climb
$GC,8478,0.55,132.6,993.6,0.0,811,8595,0.68,0.00,110.25,1.214,6,0.082,0.000,2452,2377,2607
$GC,8905,0.55,132.6,955.4,10.9,853,8905,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2377,2600
$GC,9215,0.55,132.6,922.5,10.3,883,9216,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2376,2598
$GC,9525,0.55,132.6,890.8,10.1,913,9529,0.00,1.58,0.00,0.000,4,0.000,0.072,2452,3273,2596
$GC,9594,0.55,132.6,883.1,10.4,919,9601,0.00,1.45,0.00,0.000,6,0.000,0.041,2459,2378,2596
$GC,9913,0.55,132.6,850.3,10.2,950,9913,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2378,2595
$GC,10221,0.55,132.6,819.0,10.2,980,10224,0.00,1.42,0.00,0.000,4,0.000,0.046,2466,1463,2594
$GC,10246,0.55,132.6,816.4,9.9,982,10254,0.00,1.48,0.00,0.000,6,0.000,0.056,2465,2374,2594
$GC,10565,0.55,132.6,783.2,10.5,1013,10566,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2374,2594
$GC,10874,0.55,132.6,751.4,10.0,1043,10877,0.00,1.52,0.00,0.000,4,0.000,0.067,2466,3276,2594
$GC,10910,0.55,132.6,747.2,11.6,1046,10917,0.00,1.45,0.00,0.000,6,0.000,0.041,2471,2375,2592
$GC,11228,0.55,132.6,713.4,10.1,1077,11229,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2375,2592
$GC,11537,0.55,132.6,681.5,9.7,1107,11540,0.00,1.40,0.00,0.000,4,0.000,0.047,2478,1475,2592
$GC,11573,0.55,132.6,677.7,10.5,1110,11580,0.00,1.45,0.00,0.000,6,0.000,0.054,2478,2374,2592
$GC,11891,0.55,132.6,643.3,10.8,1141,11894,0.00,1.50,0.00,0.000,4,0.000,0.067,2478,3265,2591
$GC,11945,0.55,132.6,636.8,12.8,1146,11948,0.10,1.42,0.00,0.000,6,0.170,0.042,2455,2376,2591
$GC,12266,0.55,132.6,606.7,8.7,1177,12267,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2376,2590
$GC,12577,0.55,132.6,579.5,8.8,1207,12578,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2376,2590
$GC,12887,0.55,132.6,552.7,8.4,1237,12888,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2376,2590
$GC,13198,0.55,132.6,525.4,9.2,1267,13199,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2376,2590
$GC,13508,0.55,132.6,498.0,9.1,1297,13508,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2376,2590
$GC,13818,0.55,132.6,470.7,8.4,1327,13821,0.00,1.52,0.00,0.000,4,0.000,0.065,2453,3271,2590
$GC,13871,0.55,132.6,465.4,9.3,1332,13874,0.00,1.42,0.00,0.000,6,0.000,0.042,2459,2377,2590
$GC,14193,0.55,132.6,437.3,8.6,1363,14195,0.00,1.52,0.00,0.000,4,0.000,0.065,2458,3278,2590
$GC,14218,0.55,132.6,434.8,10.2,1365,14227,0.00,1.42,0.00,0.000,6,0.000,0.041,2464,2379,2590
$GC,14536,0.55,132.6,406.4,9.1,1396,14539,0.00,1.40,0.00,0.000,4,0.000,0.044,2470,1478,2590
$GC,14562,0.55,132.6,403.8,9.4,1398,14569,0.00,1.45,0.00,0.000,6,0.000,0.053,2470,2376,2590
$GC,14880,0.55,132.6,372.8,9.8,1429,14881,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2376,2591
$GC,15189,0.55,132.6,342.0,9.4,1459,15190,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2376,2591
$GC,15499,0.55,132.6,311.6,9.6,1489,15500,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2376,2591
$GC,15810,0.55,132.6,282.7,9.4,1519,15811,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2376,2591
$GC,16120,0.55,132.6,252.8,10.0,1549,16123,0.00,1.50,0.00,0.000,4,0.000,0.063,2470,3279,2592
$GC,16163,0.55,132.6,248.0,11.5,1553,16166,0.00,1.42,0.00,0.000,6,0.000,0.039,2477,2377,2592
$GC,16486,0.55,132.6,215.6,10.2,1584,16487,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2376,2593
$GC,16795,0.55,132.6,185.6,9.6,1614,16795,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2377,2594
$GC,17105,0.55,132.6,156.5,8.9,1644,17108,0.00,1.38,0.00,0.000,4,0.000,0.041,2484,1480,2595
$GC,17152,0.55,132.6,152.0,9.7,1648,17160,0.00,1.42,0.00,0.000,6,0.000,0.050,2483,2375,2595
$GC,17471,0.55,132.6,122.4,9.0,1679,17472,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2375,2596
$GC,17779,0.55,132.6,93.5,8.9,1709,17782,0.00,1.40,0.00,0.000,4,0.000,0.041,2490,1475,2597
$GC,17800,0.55,132.6,91.7,9.1,1711,17803,0.10,1.45,0.00,0.000,6,0.152,0.050,2459,2381,2597
$GC,17915,0.55,132.6,83.4,6.5,1722,17918,0.00,1.45,0.00,0.000,4,0.000,0.059,2453,3267,2597
$GC,17968,0.55,132.6,79.2,7.4,1727,17971,0.00,1.40,0.00,0.000,6,0.000,0.036,2459,2374,2597
$GC,18082,0.55,132.6,70.9,8.0,1738,18085,0.00,1.38,0.00,0.000,4,0.000,0.041,2466,1469,2597
$GC,18169,0.56,141.4,65.6,5.7,1746,18180,0.00,1.42,6.43,0.472,6,0.000,0.049,2465,2373,2572
$GC,18283,0.57,147.8,59.1,5.8,1757,18295,0.00,1.38,6.20,0.459,4,0.000,0.038,2472,1455,2548
$GC,18360,0.59,162.3,55.6,5.5,1764,18375,0.00,1.48,12.50,0.520,6,0.000,0.048,2472,2382,2488
$GC,18480,0.63,197.5,49.7,4.8,1775,18512,0.00,0.00,26.75,0.539,6,0.000,0.000,2472,2381,2344
$GC,18614,0.65,211.0,42.5,5.5,1788,18629,0.00,1.45,11.45,0.495,4,0.000,0.038,2479,1465,2288
$GC,18770,0.70,252.9,35.9,4.5,1802,18805,0.00,1.45,31.50,0.522,6,0.000,0.047,2479,2374,2118
$GC,18909,0.75,292.2,30.0,4.6,1815,18945,0.12,1.50,30.02,0.510,4,0.066,0.056,2547,3281,1957
$GC,18957,0.77,307.3,27.5,5.5,1819,18972,0.10,1.48,12.23,0.472,6,0.130,0.034,2522,2370,1896
$GC,19077,0.83,358.6,21.7,4.2,1830,19120,0.00,0.00,38.35,0.502,6,0.000,0.000,2522,2370,1687
$GC,19221,0.91,419.4,15.4,3.9,1844,19272,0.15,0.00,45.00,0.493,6,0.054,0.000,2595,2371,1439
$GC,19375,1.10,578.7,11.8,0.4,1859,19497,0.10,1.45,115.35,0.489,4,0.087,0.038,2637,1480,788
$STATE,19591,end climb,SURFACE_DEPTH_REACHED
$STATE,19591,begin surface coast
$FINISH,0.7,1.018079
$STATE,19656,end surface coast,CONTROL_FINISHED_OK
$STATE,19656,begin surface
$SM_CCo,19672,26.08,0.431,1,0,602,625.01
$SM_GC,1.48,0.00,0.00,26.08,0.000,0.000,0.431,191,2449,602,-6.51,-0.03,625.01
$IRIDIUM_FIX,2826.10,-8821.81,211199,070711
$TT8_MAMPS,0.050622
$HUMID,2057
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,23.9,11.543
$10V_AH,10.7,17.275
$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,16.575,104.375,541.725,26.075,0.000,30.695,28.580,289.551,3.750,0.000,0.000,16.594,0.000,13044.962,606.610,5717.981,800.162,33.342,2245.349,0.000,5069.369,0.000,28.338,0.000
$DEVICE_MAMPS,244.673,74.399,1247.142,431.054,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,1294.576,1420.932,4235.079,4360.469,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132694,1884
$CAP_FILE_SIZE,186856,0
$CFSIZE,260165632,247422976
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.070,282.6,1
$GPS,270810,190700,2838.311,-8821.680,38,1.3,38,-0.5