version: 66.04
glider: 515
mission: 2
dive: 83
start: 8 29 110 8 14 45
data:
$ID,515
$MISSION,2
$DIVE,83
$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,-29517.508
$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,26
$R_STBD_OVSHOOT,12
$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
$GPS1,080007,2835.951,-8816.331,46,0.8,46,-0.5
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-67.4
$GPS2,081402,2836.104,-8816.530,14,0.9,14,-0.5
$SPEED_LIMITS,0.104,0.229
$TGT_NAME,TARGET_CENTER
$TGT_LATLONG,2839.000,-8820.800
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.145,0.178
$KALMAN_X,192318.9,-100.1,-13612.7,-159418.1,56911.2
$KALMAN_Y,-247224.4,585.7,14731.2,183692.7,-72981.4
$MHEAD_RNG_PITCHd_Wd,311.7,8770,-9.2,-6.000
$D_GRID,1923
$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,12,-0.50,-159.8,0.0,0.0,0,52,0.00,0.00,-38.17,0.000,2,0.000,0.000,190,2448,1756
$GC,54,-0.52,-170.4,3.2,-4.4,4,114,7.93,1.38,-45.58,0.000,4,0.242,0.071,2095,3327,3846
$GC,119,-0.52,-170.4,16.1,-23.1,9,127,0.00,1.30,0.00,0.000,6,0.000,0.029,2094,2446,3847
$GC,228,-0.52,-170.4,48.2,-26.1,20,231,0.00,1.40,0.00,0.000,4,0.000,0.055,2089,3330,3847
$GC,474,-0.52,-170.4,88.8,-14.4,43,477,0.00,1.27,0.00,0.000,6,0.000,0.029,2089,2450,3848
$GC,588,-0.52,-170.4,104.1,-13.3,54,591,0.00,1.38,0.00,0.000,4,0.000,0.054,2082,3326,3848
$GC,721,-0.52,-170.4,123.3,-13.7,66,727,0.00,1.30,0.00,0.000,6,0.000,0.029,2082,2442,3848
$GC,1038,-0.52,-170.4,165.9,-12.8,97,1041,0.00,1.45,0.00,0.000,4,0.000,0.039,2082,1544,3847
$GC,1181,-0.52,-170.4,184.1,-12.4,110,1189,0.08,1.55,0.00,0.000,6,0.137,0.047,2101,2449,3847
$GC,1498,-0.52,-170.4,219.2,-11.0,141,1498,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2448,3843
$GC,1808,-0.52,-170.4,253.9,-11.2,171,1811,0.00,1.50,0.00,0.000,4,0.000,0.040,2101,1546,3841
$GC,1872,-0.52,-170.4,260.6,-9.8,177,1875,0.00,1.55,0.00,0.000,6,0.000,0.050,2095,2450,3841
$GC,2195,-0.52,-170.4,297.1,-11.8,208,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2449,3838
$GC,2504,-0.52,-170.4,332.3,-11.2,238,2505,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2450,3834
$GC,2815,-0.52,-170.4,367.3,-10.9,268,2817,0.00,1.50,0.00,0.000,4,0.000,0.043,2095,1550,3831
$GC,2868,-0.52,-170.4,373.0,-10.4,273,2871,0.00,1.55,0.00,0.000,6,0.000,0.053,2088,2450,3831
$GC,3190,-0.52,-170.4,409.9,-11.3,304,3191,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2450,3827
$GC,3500,-0.52,-170.4,444.9,-11.2,334,3500,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2450,3824
$GC,3810,-0.52,-170.4,479.2,-11.0,364,3813,0.00,1.50,0.00,0.000,4,0.000,0.046,2088,1555,3821
$GC,3857,-0.52,-170.4,484.5,-10.3,368,3864,0.00,1.55,0.00,0.000,6,0.000,0.054,2080,2448,3821
$GC,4174,-0.52,-170.4,521.5,-12.0,399,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2448,3818
$GC,4484,-0.52,-170.4,557.7,-11.7,429,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2448,3815
$GC,4794,-0.52,-170.4,592.7,-11.4,459,4797,0.00,1.50,0.00,0.000,4,0.000,0.048,2080,1555,3812
$GC,4851,-0.52,-170.4,599.1,-10.8,464,4859,0.08,1.55,0.00,0.000,6,0.141,0.056,2100,2446,3811
$GC,5168,-0.52,-170.4,629.3,-9.4,495,5171,0.00,1.50,0.00,0.000,4,0.000,0.048,2100,1555,3810
$GC,5232,-0.52,-170.4,635.2,-9.4,501,5235,0.00,1.55,0.00,0.000,6,0.000,0.057,2095,2447,3810
$GC,5555,-0.52,-170.4,667.0,-9.5,532,5556,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2446,3808
$GC,5863,-0.52,-170.4,697.9,-10.1,562,5864,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2447,3805
$GC,6174,-0.52,-170.4,729.0,-10.2,592,6176,0.00,1.52,0.00,0.000,4,0.000,0.049,2095,1545,3802
$GC,6242,-0.52,-170.4,735.9,-10.2,598,6249,0.00,1.58,0.00,0.000,6,0.000,0.058,2088,2447,3802
$GC,6561,-0.52,-170.4,768.9,-10.5,629,6561,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2447,3800
$GC,6869,-0.52,-170.4,800.8,-10.1,659,6872,0.00,1.52,0.00,0.000,4,0.000,0.050,2088,1548,3798
$GC,6923,-0.52,-170.4,806.2,-9.7,664,6926,0.00,1.58,0.00,0.000,6,0.000,0.059,2080,2449,3797
$GC,7245,-0.52,-170.4,839.0,-10.1,695,7246,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2449,3795
$GC,7557,-0.52,-170.4,870.6,-10.2,725,7560,0.00,1.52,0.00,0.000,4,0.000,0.051,2080,1557,3793
$GC,7636,-0.52,-170.4,879.2,-10.8,732,7643,0.00,1.58,0.00,0.000,6,0.000,0.059,2074,2450,3793
$GC,7953,-0.52,-170.4,911.7,-10.9,763,7956,0.12,1.50,0.00,0.000,4,0.153,0.049,2108,1554,3792
$GC,7989,-0.52,-170.4,915.2,-8.3,766,7996,0.00,1.58,0.00,0.000,6,0.000,0.059,2103,2450,3792
$GC,8306,-0.52,-170.4,941.7,-8.3,797,8306,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2450,3790
$GC,8617,-0.52,-170.4,967.7,-8.3,827,8618,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2450,3789
$STATE,8896,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8896,begin apogee
$GC,8901,-0.17,0.0,990.3,7.8,854,9029,0.35,0.00,124.53,1.248,6,0.122,0.000,2218,2382,3150
$STATE,9030,end apogee,CONTROL_FINISHED_OK
$STATE,9030,begin climb
$GC,9032,0.52,170.4,994.8,0.0,867,9180,0.62,1.55,141.30,1.216,4,0.082,0.043,2441,1475,2454
$GC,9208,0.52,170.4,985.1,10.8,882,9211,0.00,1.55,0.00,0.000,6,0.000,0.054,2441,2375,2450
$GC,9531,0.52,170.4,948.8,11.8,913,9534,0.00,1.55,0.00,0.000,4,0.000,0.064,2441,3265,2445
$GC,9567,0.52,170.4,944.1,13.1,916,9574,0.00,1.48,0.00,0.000,6,0.000,0.040,2448,2373,2445
$GC,9885,0.52,170.4,907.1,11.7,947,9888,0.00,1.58,0.00,0.000,4,0.000,0.066,2448,3276,2443
$GC,9906,0.52,170.4,904.4,12.1,949,9910,0.00,1.48,0.00,0.000,6,0.000,0.041,2454,2374,2443
$GC,10229,0.52,170.4,866.9,11.5,980,10232,0.00,1.40,0.00,0.000,4,0.000,0.046,2461,1472,2442
$GC,10272,0.52,170.4,861.9,10.8,984,10274,0.00,1.48,0.00,0.000,6,0.000,0.055,2461,2377,2442
$GC,10592,0.52,170.4,824.3,11.8,1015,10593,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2376,2441
$GC,10903,0.52,170.4,787.9,11.4,1045,10904,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2377,2440
$GC,11213,0.52,170.4,752.3,11.5,1075,11216,0.00,1.50,0.00,0.000,4,0.000,0.067,2461,3262,2439
$GC,11235,0.52,170.4,749.6,13.0,1077,11237,0.00,1.42,0.00,0.000,6,0.000,0.042,2468,2378,2439
$GC,11557,0.52,170.4,711.0,11.7,1108,11560,0.00,1.40,0.00,0.000,4,0.000,0.046,2474,1475,2438
$GC,11578,0.52,170.4,708.3,12.0,1110,11581,0.10,1.45,0.00,0.000,6,0.153,0.054,2443,2374,2438
$GC,11899,0.52,170.4,675.2,10.0,1141,11902,0.00,1.50,0.00,0.000,4,0.000,0.066,2443,3264,2437
$GC,11931,0.52,170.4,671.8,12.3,1144,11934,0.00,1.42,0.00,0.000,6,0.000,0.041,2448,2377,2437
$GC,12254,0.52,170.4,638.4,10.7,1175,12255,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2378,2437
$GC,12563,0.52,170.4,607.7,9.4,1205,12565,0.00,1.40,0.00,0.000,4,0.000,0.044,2455,1478,2437
$GC,12616,0.52,170.4,602.4,9.1,1210,12619,0.00,1.45,0.00,0.000,6,0.000,0.054,2455,2377,2437
$GC,12939,0.52,170.4,568.3,10.8,1241,12939,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2376,2437
$GC,13248,0.52,170.4,534.9,10.6,1271,13251,0.00,1.50,0.00,0.000,4,0.000,0.066,2454,3268,2436
$GC,13284,0.52,170.4,530.6,11.8,1274,13293,0.00,1.42,0.00,0.000,6,0.000,0.041,2462,2377,2437
$GC,13603,0.52,170.4,494.9,11.5,1305,13603,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2377,2437
$GC,13911,0.52,170.4,461.6,10.3,1335,13914,0.00,1.40,0.00,0.000,4,0.000,0.044,2468,1462,2437
$GC,13948,0.52,170.4,457.7,10.0,1338,13956,0.00,1.48,0.00,0.000,6,0.000,0.053,2469,2376,2437
$GC,14266,0.52,170.4,421.9,11.9,1369,14269,0.00,1.50,0.00,0.000,4,0.000,0.064,2468,3275,2437
$GC,14330,0.52,170.4,413.7,12.0,1375,14333,0.10,1.42,0.00,0.000,6,0.157,0.041,2444,2376,2437
$GC,14651,0.52,170.4,382.3,9.9,1406,14654,0.00,1.40,0.00,0.000,4,0.000,0.044,2449,1468,2437
$GC,14704,0.52,170.4,377.2,8.8,1411,14707,0.00,1.45,0.00,0.000,6,0.000,0.053,2449,2375,2437
$GC,15027,0.52,170.4,345.9,9.8,1442,15030,0.00,1.50,0.00,0.000,4,0.000,0.064,2449,3276,2437
$GC,15052,0.52,170.4,342.8,10.7,1444,15060,0.00,1.42,0.00,0.000,6,0.000,0.039,2456,2377,2437
$GC,15371,0.52,170.4,309.5,10.4,1475,15374,0.00,1.50,0.00,0.000,4,0.000,0.063,2455,3267,2438
$GC,15418,0.52,170.4,304.1,10.1,1479,15425,0.00,1.40,0.00,0.000,6,0.000,0.038,2460,2380,2438
$GC,15735,0.52,170.4,270.7,10.2,1510,15739,0.00,1.50,0.00,0.000,4,0.000,0.062,2460,3274,2438
$GC,15767,0.52,170.4,266.9,11.2,1513,15770,0.00,1.42,0.00,0.000,6,0.000,0.039,2468,2376,2438
$GC,16090,0.52,170.4,230.3,11.7,1544,16093,0.00,1.38,0.00,0.000,4,0.000,0.042,2474,1471,2439
$GC,16175,0.52,170.4,221.0,9.5,1552,16179,0.08,1.45,0.00,0.000,6,0.150,0.051,2449,2377,2440
$GC,16497,0.52,170.4,189.9,9.2,1583,16497,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2377,2440
$GC,16807,0.52,170.4,160.5,9.8,1613,16808,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2377,2440
$GC,17118,0.52,170.4,130.6,9.9,1643,17119,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2377,2441
$GC,17428,0.52,170.4,101.5,9.3,1673,17431,0.00,1.40,0.00,0.000,4,0.000,0.040,2454,1470,2443
$GC,17450,0.52,170.4,99.6,9.8,1675,17452,0.00,1.42,0.00,0.000,6,0.000,0.049,2455,2374,2443
$GC,17564,0.52,170.4,89.4,9.2,1686,17567,0.00,1.48,0.00,0.000,4,0.000,0.060,2455,3266,2443
$GC,17703,0.52,170.4,75.1,9.6,1699,17706,0.00,1.40,0.00,0.000,6,0.000,0.036,2462,2375,2444
$GC,17818,0.52,170.4,65.0,8.6,1710,17820,0.00,1.38,0.00,0.000,4,0.000,0.039,2468,1466,2443
$GC,17860,0.52,170.4,61.4,8.9,1714,17863,0.00,1.42,0.00,0.000,6,0.000,0.048,2468,2373,2444
$GC,17975,0.52,170.4,52.8,7.2,1725,17977,0.00,1.50,0.00,0.000,4,0.000,0.058,2469,3281,2444
$GC,18000,0.52,170.4,50.8,7.1,1727,18008,0.10,1.42,0.00,0.000,6,0.130,0.035,2441,2374,2444
$GC,18110,0.63,264.6,46.0,3.6,1738,18183,0.12,1.38,68.12,0.551,4,0.067,0.037,2507,1457,2071
$GC,18284,0.63,264.6,35.5,7.4,1753,18291,0.00,1.50,0.00,0.000,6,0.000,0.046,2507,2381,2066
$GC,18393,0.66,288.7,28.8,5.4,1764,18417,0.00,1.48,17.95,0.505,4,0.000,0.055,2507,3284,1974
$GC,18443,0.72,339.8,26.8,4.7,1768,18487,0.00,1.45,39.05,0.516,6,0.000,0.034,2513,2377,1763
$GC,18589,0.75,364.2,19.5,5.4,1782,18610,0.00,0.00,18.65,0.489,6,0.000,0.000,2513,2378,1664
$GC,18712,0.87,457.2,14.8,3.6,1794,18786,0.12,1.48,68.65,0.501,4,0.064,0.038,2585,1461,1284
$GC,18852,1.03,585.5,9.4,2.7,1807,18950,0.00,1.48,93.00,0.489,6,0.000,0.044,2585,2372,761
$STATE,18987,end climb,SURFACE_DEPTH_REACHED
$STATE,18987,begin surface coast
$FINISH,0.7,1.008595
$STATE,19041,end surface coast,CONTROL_FINISHED_OK
$STATE,19041,begin surface
$SM_CCo,19055,24.55,0.459,0,0,600,625.01
$SM_GC,1.41,0.00,0.00,24.55,0.000,0.000,0.459,190,2454,600,-6.51,0.14,625.01
$IRIDIUM_FIX,2826.10,-8819.35,231199,080857
$TT8_MAMPS,0.049855
$HUMID,2097
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.8,12.630
$10V_AH,10.7,19.433
$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,16.125,106.025,571.250,24.550,0.000,57.782,61.283,471.391,3.750,0.000,0.000,15.827,0.000,12647.052,613.683,5531.359,1070.075,33.366,2223.634,0.000,4907.548,0.000,28.649,0.000
$DEVICE_MAMPS,242.372,71.331,1247.909,458.666,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,1253.670,1381.146,4100.276,4231.477,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126522,1824
$CAP_FILE_SIZE,188500,0
$CFSIZE,260165632,246591488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.039,273.1,1
$GPS,290810,133337,2837.666,-8819.104,29,1.1,29,-0.5