version: 66.04
glider: 515
mission: 2
dive: 93
start: 8 31 110 21 6 6
data:
$ID,515
$MISSION,2
$DIVE,93
$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,-29688.953
$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,22
$R_STBD_OVSHOOT,11
$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
$GPS1,205601,2838.111,-8821.938,38,1.9,38,-0.5
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-66.1
$GPS2,210525,2837.972,-8821.949,14,1.1,14,-0.5
$SPEED_LIMITS,0.104,0.229
$TGT_NAME,TARGET_CENTER2
$TGT_LATLONG,2839.000,-8820.800
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.041,0.225
$KALMAN_X,170492.5,687.8,2180.4,-162984.7,-1967.3
$KALMAN_Y,-283553.6,1307.9,-1388.6,238826.1,-19191.3
$MHEAD_RNG_PITCHd_Wd,60.2,2667,-18.5,-6.000
$D_GRID,1724
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.69,-55.9,0.0,0.0,0,69,0.00,0.00,-53.25,0.000,2,0.000,0.000,191,2453,2171
$GC,72,-0.72,-81.1,3.3,-4.2,5,113,7.65,1.60,-30.17,0.000,4,0.241,0.062,2044,1541,3482
$GC,230,-0.72,-81.1,44.5,-21.6,19,233,0.00,1.55,0.00,0.000,6,0.000,0.045,2037,2442,3483
$GC,345,-0.72,-81.1,61.7,-14.1,30,348,0.00,1.50,0.00,0.000,4,0.000,0.038,2039,1544,3483
$GC,591,-0.72,-81.1,93.4,-13.5,53,593,0.00,1.55,0.00,0.000,6,0.000,0.044,2033,2449,3485
$GC,705,-0.72,-81.1,109.6,-14.6,64,708,0.00,1.52,0.00,0.000,4,0.000,0.038,2033,1532,3485
$GC,880,-0.72,-81.1,134.6,-13.7,80,888,0.00,1.55,0.00,0.000,6,0.000,0.045,2027,2445,3486
$GC,1198,-0.72,-81.1,180.0,-15.1,111,1202,0.00,1.50,0.00,0.000,4,0.000,0.038,2032,1536,3485
$GC,1371,-0.72,-81.1,204.3,-13.3,127,1374,0.00,1.58,0.00,0.000,6,0.000,0.048,2026,2453,3484
$GC,1694,-0.72,-81.1,251.6,-14.9,158,1697,0.00,1.52,0.00,0.000,4,0.000,0.040,2028,1538,3483
$GC,1783,-0.72,-81.1,265.1,-13.7,166,1791,0.00,1.58,0.00,0.000,6,0.000,0.048,2023,2451,3482
$GC,2102,-0.72,-81.1,310.8,-13.9,197,2105,0.00,1.52,0.00,0.000,4,0.000,0.041,2022,1530,3480
$GC,2219,-0.72,-81.1,327.2,-15.3,208,2222,0.00,1.58,0.00,0.000,6,0.000,0.049,2015,2451,3480
$GC,2542,-0.72,-81.1,373.7,-14.7,239,2545,0.00,1.52,0.00,0.000,4,0.000,0.042,2015,1530,3477
$GC,2643,-0.72,-81.1,388.4,-14.1,248,2649,0.10,1.58,0.00,0.000,6,0.170,0.049,2037,2449,3476
$GC,2958,-0.72,-81.1,430.8,-13.3,279,2959,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2448,3474
$GC,3269,-0.72,-81.1,471.8,-13.8,309,3270,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,2448,3471
$GC,3579,-0.72,-81.1,511.8,-12.9,339,3583,0.00,1.52,0.00,0.000,4,0.000,0.046,2040,1539,3469
$GC,3658,-0.72,-81.1,521.9,-12.6,346,3666,0.00,1.58,0.00,0.000,6,0.000,0.052,2035,2450,3468
$GC,3976,-0.72,-81.1,563.9,-13.3,377,3979,0.00,1.52,0.00,0.000,4,0.000,0.046,2035,1541,3466
$GC,4073,-0.72,-81.1,576.7,-12.6,386,4076,0.00,1.55,0.00,0.000,6,0.000,0.053,2028,2444,3465
$GC,4395,-0.72,-81.1,619.6,-13.2,417,4396,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2444,3463
$GC,4704,-0.72,-81.1,659.6,-13.0,447,4707,0.00,1.52,0.00,0.000,4,0.000,0.047,2028,1534,3460
$GC,4833,-0.72,-81.1,675.4,-12.1,459,4836,0.00,1.58,0.00,0.000,6,0.000,0.054,2021,2446,3459
$GC,5155,-0.72,-81.1,717.0,-13.1,490,5156,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2446,3457
$GC,5464,-0.72,-81.1,757.6,-12.9,520,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2446,3455
$GC,5775,-0.72,-81.1,797.5,-12.7,550,5777,0.00,1.45,0.00,0.000,4,0.000,0.071,2014,3334,3452
$GC,5811,-0.72,-81.1,802.6,-13.1,553,5818,0.00,1.35,0.00,0.000,6,0.000,0.039,2014,2452,3452
$GC,6129,-0.72,-81.1,843.7,-13.2,584,6130,0.12,0.00,0.00,0.000,6,0.186,0.000,2043,2451,3450
$GC,6437,-0.72,-81.1,879.0,-11.2,614,6441,0.00,1.52,0.00,0.000,4,0.000,0.051,2045,1550,3447
$GC,6559,-0.72,-81.1,893.0,-11.7,625,6566,0.00,1.58,0.00,0.000,6,0.000,0.057,2039,2449,3446
$GC,6876,-0.72,-81.1,927.1,-10.6,656,6876,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2448,3445
$GC,7186,-0.72,-81.1,962.2,-11.2,686,7189,0.00,1.55,0.00,0.000,4,0.000,0.051,2039,1544,3444
$GC,7261,-0.72,-81.1,970.6,-11.1,693,7264,0.00,1.60,0.00,0.000,6,0.000,0.058,2032,2463,3443
$STATE,7436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7437,begin apogee
$GC,7442,-0.17,0.0,990.8,11.6,710,7501,0.62,0.00,57.08,1.244,6,0.156,0.000,2220,2369,3150
$STATE,7502,end apogee,CONTROL_FINISHED_OK
$STATE,7502,begin climb
$GC,7504,0.72,81.1,993.2,0.0,716,7576,0.80,1.73,66.95,1.216,4,0.081,0.069,2500,3269,2819
$GC,7598,0.72,81.1,988.3,8.6,724,7601,0.00,1.52,0.00,0.000,6,0.000,0.038,2506,2375,2816
$GC,7921,0.72,81.1,955.6,10.3,755,7921,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2375,2812
$GC,8229,0.72,81.1,924.9,10.0,785,8230,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2375,2810
$GC,8540,0.72,81.1,894.1,9.4,815,8543,0.00,1.55,0.00,0.000,4,0.000,0.064,2507,3267,2809
$GC,8647,0.72,81.1,882.7,10.9,825,8650,0.00,1.45,0.00,0.000,6,0.000,0.040,2514,2376,2808
$GC,8969,0.72,81.1,850.8,9.6,856,8972,0.00,1.40,0.00,0.000,4,0.000,0.043,2520,1466,2806
$GC,9005,0.72,81.1,847.1,9.0,859,9014,0.00,1.48,0.00,0.000,6,0.000,0.052,2520,2378,2807
$GC,9323,0.72,81.1,816.4,9.5,890,9326,0.00,1.50,0.00,0.000,4,0.000,0.064,2520,3265,2806
$GC,9381,0.72,81.1,810.2,10.5,895,9389,0.00,1.45,0.00,0.000,6,0.000,0.039,2526,2372,2805
$GC,9699,0.72,81.1,779.7,9.5,926,9702,0.00,1.55,0.00,0.000,4,0.000,0.064,2527,3274,2804
$GC,9731,0.72,81.1,776.1,11.1,929,9734,0.00,1.45,0.00,0.000,6,0.000,0.040,2534,2375,2804
$GC,10054,0.72,81.1,744.6,9.7,960,10056,0.00,1.52,0.00,0.000,4,0.000,0.064,2534,3265,2804
$GC,10300,0.72,81.1,718.2,10.7,983,10303,0.10,1.45,0.00,0.000,6,0.200,0.041,2514,2372,2803
$GC,10620,0.72,81.1,689.0,9.0,1014,10623,0.00,1.55,0.00,0.000,4,0.000,0.064,2513,3274,2803
$GC,10838,0.72,81.1,668.0,9.1,1034,10845,0.00,1.45,0.00,0.000,6,0.000,0.039,2518,2375,2802
$GC,11156,0.72,81.1,640.6,8.1,1065,11159,0.00,1.38,0.00,0.000,4,0.000,0.042,2524,1471,2802
$GC,11329,0.72,81.1,626.8,8.0,1081,11332,0.00,1.45,0.00,0.000,6,0.000,0.053,2524,2381,2802
$GC,11650,0.72,81.1,600.2,7.7,1112,11651,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2380,2802
$GC,11961,0.72,81.1,575.4,7.6,1142,11964,0.00,1.50,0.00,0.000,4,0.000,0.064,2524,3272,2802
$GC,12040,0.72,81.1,568.2,9.3,1149,12047,0.00,1.45,0.00,0.000,6,0.000,0.038,2529,2373,2801
$GC,12358,0.72,81.1,540.9,8.9,1180,12361,0.00,1.35,0.00,0.000,4,0.000,0.042,2536,1482,2801
$GC,12433,0.72,81.1,534.4,7.7,1187,12436,0.00,1.42,0.00,0.000,6,0.000,0.051,2535,2378,2801
$GC,12756,0.72,81.1,506.2,8.1,1218,12759,0.00,1.50,0.00,0.000,4,0.000,0.063,2535,3273,2801
$GC,12799,0.72,81.1,502.2,9.0,1222,12802,0.10,1.45,0.00,0.000,6,0.196,0.039,2514,2373,2802
$GC,13119,0.72,81.1,476.4,7.6,1253,13123,0.00,1.52,0.00,0.000,4,0.000,0.062,2511,3266,2802
$GC,13301,0.72,81.1,460.0,8.8,1270,13304,0.00,1.42,0.00,0.000,6,0.000,0.039,2516,2377,2801
$GC,13624,0.72,81.1,434.4,8.1,1301,13627,0.00,1.52,0.00,0.000,4,0.000,0.061,2515,3274,2802
$GC,13806,0.72,81.1,418.5,8.5,1318,13809,0.00,1.42,0.00,0.000,6,0.000,0.038,2521,2378,2802
$GC,14129,0.72,81.1,393.4,8.0,1349,14129,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2379,2802
$GC,14437,0.72,81.1,369.2,8.3,1379,14440,0.00,1.38,0.00,0.000,4,0.000,0.041,2527,1476,2802
$GC,14538,0.72,81.1,361.3,8.5,1388,14545,0.00,1.42,0.00,0.000,6,0.000,0.050,2527,2378,2803
$GC,14856,0.72,81.1,334.1,8.7,1419,14856,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2378,2803
$GC,15165,0.72,81.1,307.4,8.5,1449,15166,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2378,2804
$GC,15475,0.72,81.1,281.1,8.6,1479,15478,0.00,1.48,0.00,0.000,4,0.000,0.061,2527,3261,2804
$GC,15539,0.72,81.1,275.8,7.8,1485,15542,0.00,1.40,0.00,0.000,6,0.000,0.036,2534,2375,2805
$GC,15860,0.72,81.1,251.2,7.2,1516,15863,0.00,1.50,0.00,0.000,4,0.000,0.059,2534,3264,2806
$GC,15939,0.72,81.1,244.4,9.0,1523,15947,0.10,1.40,0.00,0.000,6,0.187,0.035,2514,2379,2806
$GC,16255,0.72,81.1,222.0,7.3,1554,16258,0.00,1.38,0.00,0.000,4,0.000,0.038,2517,1468,2807
$GC,16345,0.72,81.1,215.6,7.3,1562,16352,0.00,1.42,0.00,0.000,6,0.000,0.047,2516,2377,2807
$GC,16664,0.72,81.1,193.3,7.0,1593,16666,0.00,1.48,0.00,0.000,4,0.000,0.060,2516,3265,2808
$GC,16749,0.72,81.1,186.5,7.9,1601,16752,0.00,1.40,0.00,0.000,6,0.000,0.035,2521,2376,2808
$GC,17072,0.72,81.1,163.1,8.0,1632,17075,0.00,1.50,0.00,0.000,4,0.000,0.058,2521,3267,2809
$GC,17103,0.72,81.1,160.4,7.1,1635,17107,0.00,1.42,0.00,0.000,6,0.000,0.035,2527,2374,2809
$GC,17425,0.72,81.1,137.1,6.7,1666,17428,0.00,1.50,0.00,0.000,4,0.000,0.057,2522,3265,2810
$GC,17606,0.72,81.1,122.7,6.5,1683,17609,0.00,1.40,0.00,0.000,6,0.000,0.034,2527,2374,2811
$GC,17929,0.72,81.1,102.8,6.0,1714,17932,0.00,1.50,0.00,0.000,4,0.000,0.056,2528,3265,2811
$GC,17976,0.72,81.1,99.7,6.0,1718,17983,0.00,1.40,0.00,0.000,6,0.000,0.033,2535,2374,2812
$GC,18086,0.73,89.3,93.4,5.4,1729,18097,0.00,0.00,6.53,0.492,6,0.000,0.000,2535,2374,2785
$GC,18200,0.73,89.3,85.6,7.7,1740,18203,0.00,1.35,0.00,0.000,4,0.000,0.037,2541,1469,2786
$GC,18439,0.73,89.3,69.9,6.6,1762,18447,0.10,1.42,0.00,0.000,6,0.166,0.045,2512,2379,2786
$GC,18549,0.73,89.3,63.2,6.1,1773,18550,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2379,2785
$GC,18652,0.75,108.1,58.2,4.6,1783,18671,0.00,1.42,15.27,0.535,4,0.000,0.036,2517,1461,2708
$GC,18864,0.77,127.7,48.5,4.6,1802,18888,0.00,1.42,15.60,0.525,6,0.000,0.045,2517,2375,2629
$GC,18989,0.80,145.6,42.1,4.7,1814,19013,0.00,1.42,14.73,0.513,4,0.000,0.035,2523,1461,2555
$GC,19061,0.86,201.1,39.7,2.0,1820,19106,0.05,1.45,41.47,0.532,6,0.075,0.044,2557,2379,2329
$GC,19206,0.86,201.1,32.8,8.5,1834,19209,0.00,1.50,0.00,0.000,4,0.000,0.056,2556,3266,2325
$GC,19452,0.94,261.0,25.6,1.7,1857,19501,0.00,1.40,43.92,0.512,6,0.000,0.032,2561,2378,2085
$GC,19603,0.95,266.5,18.6,5.6,1871,19616,0.00,1.52,5.00,0.377,4,0.000,0.054,2561,3267,2063
$GC,19856,1.06,361.3,15.7,-0.9,1894,19934,0.10,1.42,69.82,0.494,6,0.052,0.031,2628,2373,1675
$GC,20038,1.14,427.5,11.2,1.2,1911,20090,0.00,1.40,48.42,0.479,4,0.000,0.035,2633,1449,1406
$STATE,20287,end climb,SURFACE_DEPTH_REACHED
$STATE,20288,begin surface coast
$FINISH,0.9,1.018624
$STATE,20438,end surface coast,CONTROL_FINISHED_OK
$STATE,20438,begin surface
$SM_CCo,20453,110.30,0.465,0,0,601,625.01
$SM_GC,1.90,0.00,0.00,110.30,0.000,0.000,0.465,187,2447,601,-6.52,-0.08,625.01
$IRIDIUM_FIX,2828.55,-8824.26,251199,151504
$TT8_MAMPS,0.051389
$HUMID,1964
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,26.30
$XPDR_PINGS,0
$24V_AH,24.1,14.076
$10V_AH,10.7,22.539
$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,16.200,119.150,384.800,110.300,0.000,30.598,27.130,346.740,3.750,0.000,0.000,16.434,0.000,13327.713,579.352,6305.821,873.494,33.331,2394.622,0.000,5588.326,0.000,30.463,0.000
$DEVICE_MAMPS,240.838,70.564,1244.074,464.802,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,1339.140,1459.411,4378.770,4503.979,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,138988,1948
$CAP_FILE_SIZE,202288,0
$CFSIZE,260165632,245366784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.064,263.9,1
$GPS,010910,024955,2838.920,-8821.318,42,0.9,42,-0.5