version: 66.04
glider: 515
mission: 2
dive: 97
start: 9 1 110 20 20 43
data:
$ID,515
$MISSION,2
$DIVE,97
$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,-29747.781
$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,19
$R_STBD_OVSHOOT,10
$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
$GPS1,201106,2837.861,-8814.520,26,1.6,26,-0.5
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-61.7
$GPS2,202002,2837.903,-8814.452,11,1.6,11,-0.5
$SPEED_LIMITS,0.104,0.229
$TGT_NAME,TARGET_NE
$TGT_LATLONG,2839.000,-8812.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.073,0.217
$KALMAN_X,167909.2,398.2,9718.0,-155478.8,-2637.9
$KALMAN_Y,-301619.9,2034.0,-6051.7,260683.5,-17647.5
$MHEAD_RNG_PITCHd_Wd,70.5,4473,-14.8,-6.000
$D_GRID,1940
$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,-0.59,-81.3,0.0,0.0,0,77,0.00,0.00,-62.90,0.000,2,0.000,0.000,182,2452,2408
$GC,80,-0.64,-119.0,3.3,-4.1,6,117,7.75,1.48,-26.83,0.000,4,0.240,0.075,2056,3337,3637
$GC,357,-0.64,-119.0,70.6,-14.7,31,365,0.00,1.38,0.00,0.000,6,0.000,0.029,2056,2444,3639
$GC,467,-0.64,-119.0,86.3,-14.4,42,470,0.00,1.45,0.00,0.000,4,0.000,0.057,2051,3329,3640
$GC,531,-0.64,-119.0,95.9,-15.3,48,534,0.00,1.33,0.00,0.000,6,0.000,0.030,2052,2448,3640
$GC,645,-0.64,-119.0,114.1,-15.8,59,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2448,3640
$GC,956,-0.64,-119.0,161.1,-14.5,89,958,0.00,1.48,0.00,0.000,4,0.000,0.040,2052,1541,3641
$GC,1095,-0.64,-119.0,180.8,-14.3,102,1098,0.00,1.55,0.00,0.000,6,0.000,0.048,2046,2451,3641
$GC,1418,-0.64,-119.0,230.3,-14.6,133,1421,0.00,1.50,0.00,0.000,4,0.000,0.040,2046,1546,3640
$GC,1482,-0.64,-119.0,240.2,-14.9,139,1485,0.00,1.52,0.00,0.000,6,0.000,0.048,2039,2446,3639
$GC,1805,-0.64,-119.0,291.2,-15.7,170,1808,0.00,1.50,0.00,0.000,4,0.000,0.040,2039,1530,3638
$GC,1837,-0.64,-119.0,296.3,-15.1,173,1840,0.10,1.55,0.00,0.000,6,0.160,0.049,2075,2446,3638
$GC,2158,-0.64,-119.0,336.3,-12.3,204,2161,0.00,1.48,0.00,0.000,4,0.000,0.041,2075,1547,3635
$GC,2222,-0.64,-119.0,343.8,-11.5,210,2225,0.00,1.52,0.00,0.000,6,0.000,0.049,2070,2447,3634
$GC,2545,-0.64,-119.0,383.3,-12.1,241,2548,0.00,1.50,0.00,0.000,4,0.000,0.041,2070,1538,3632
$GC,2609,-0.64,-119.0,391.5,-11.5,247,2612,0.00,1.55,0.00,0.000,6,0.000,0.050,2062,2449,3632
$GC,2932,-0.64,-119.0,432.6,-12.8,278,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2450,3629
$GC,3241,-0.64,-119.0,471.8,-12.5,308,3242,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2449,3626
$GC,3551,-0.64,-119.0,512.5,-13.4,338,3552,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2449,3624
$GC,3861,-0.64,-119.0,552.9,-12.9,368,3864,0.00,1.50,0.00,0.000,4,0.000,0.045,2063,1550,3621
$GC,3972,-0.64,-119.0,566.8,-12.2,378,3980,0.00,1.52,0.00,0.000,6,0.000,0.054,2055,2443,3620
$GC,4290,-0.64,-119.0,606.6,-12.4,409,4291,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2443,3618
$GC,4600,-0.64,-119.0,645.1,-12.1,439,4603,0.00,1.50,0.00,0.000,4,0.000,0.048,2055,1545,3616
$GC,4722,-0.64,-119.0,659.8,-10.8,450,4729,0.00,1.55,0.00,0.000,6,0.000,0.055,2048,2446,3614
$GC,5040,-0.64,-119.0,700.3,-13.0,481,5043,0.00,1.50,0.00,0.000,4,0.000,0.047,2048,1550,3613
$GC,5093,-0.64,-119.0,707.3,-12.6,486,5096,0.00,1.55,0.00,0.000,6,0.000,0.056,2041,2448,3612
$GC,5416,-0.64,-119.0,748.9,-12.9,517,5419,0.00,1.50,0.00,0.000,4,0.000,0.047,2041,1553,3611
$GC,5470,-0.64,-119.0,755.6,-12.4,522,5473,0.08,1.55,0.00,0.000,6,0.140,0.055,2070,2450,3610
$GC,5790,-0.64,-119.0,790.0,-10.9,553,5791,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2449,3608
$GC,6101,-0.64,-119.0,822.8,-10.5,583,6102,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2449,3606
$GC,6412,-0.64,-119.0,854.9,-10.3,613,6415,0.00,1.52,0.00,0.000,4,0.000,0.049,2070,1547,3604
$GC,6455,-0.64,-119.0,859.3,-10.2,617,6459,0.00,1.58,0.00,0.000,6,0.000,0.058,2064,2451,3604
$GC,6776,-0.64,-119.0,893.7,-10.4,648,6779,0.00,1.52,0.00,0.000,4,0.000,0.049,2065,1550,3602
$GC,6812,-0.64,-119.0,897.6,-10.7,651,6821,0.00,1.55,0.00,0.000,6,0.000,0.057,2057,2447,3601
$GC,7128,-0.64,-119.0,932.5,-11.3,682,7131,0.00,1.52,0.00,0.000,4,0.000,0.049,2057,1540,3599
$GC,7164,-0.64,-119.0,936.6,-11.6,685,7172,0.00,1.55,0.00,0.000,6,0.000,0.057,2050,2442,3599
$GC,7481,-0.64,-119.0,972.8,-11.7,716,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2442,3598
$STATE,7635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7635,begin apogee
$GC,7640,-0.17,0.0,990.8,11.3,731,7730,0.55,0.00,87.57,1.251,6,0.140,0.000,2220,2378,3150
$STATE,7731,end apogee,CONTROL_FINISHED_OK
$STATE,7731,begin climb
$GC,7733,0.64,119.0,994.1,0.0,740,7840,0.75,0.00,99.80,1.220,6,0.079,0.000,2480,2378,2663
$GC,8149,0.64,119.0,954.4,10.8,781,8152,0.00,1.60,0.00,0.000,4,0.000,0.071,2479,3259,2656
$GC,8192,0.64,119.0,949.2,13.1,785,8195,0.00,1.48,0.00,0.000,6,0.000,0.040,2487,2374,2654
$GC,8514,0.64,119.0,911.7,11.5,816,8517,0.00,1.58,0.00,0.000,4,0.000,0.064,2487,3271,2653
$GC,8546,0.64,119.0,907.5,13.0,819,8549,0.00,1.48,0.00,0.000,6,0.000,0.040,2494,2375,2652
$GC,8869,0.64,119.0,869.7,11.6,850,8870,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2376,2650
$GC,9178,0.64,119.0,833.1,11.9,880,9181,0.00,1.55,0.00,0.000,4,0.000,0.064,2493,3266,2649
$GC,9242,0.64,119.0,824.9,12.7,886,9245,0.00,1.45,0.00,0.000,6,0.000,0.040,2500,2377,2649
$GC,9565,0.64,119.0,786.4,12.2,917,9565,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2378,2648
$GC,9874,0.64,119.0,749.8,11.7,947,9877,0.00,1.55,0.00,0.000,4,0.000,0.064,2501,3269,2647
$GC,9985,0.64,119.0,735.4,12.8,957,9992,0.00,1.45,0.00,0.000,6,0.000,0.039,2507,2377,2647
$GC,10304,0.64,119.0,697.0,12.2,988,10304,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2378,2647
$GC,10612,0.64,119.0,659.6,11.6,1018,10613,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2378,2646
$GC,10923,0.64,119.0,623.2,11.3,1048,10924,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2378,2646
$GC,11233,0.64,119.0,588.2,11.2,1078,11234,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2378,2646
$GC,11544,0.64,119.0,554.8,11.2,1108,11547,0.00,1.52,0.00,0.000,4,0.000,0.064,2508,3263,2646
$GC,11591,0.64,119.0,548.8,12.1,1112,11598,0.00,1.45,0.00,0.000,6,0.000,0.040,2514,2374,2644
$GC,11909,0.64,119.0,513.0,11.5,1143,11910,0.12,0.00,0.00,0.000,6,0.182,0.000,2485,2375,2644
$GC,12219,0.64,119.0,483.1,9.4,1173,12222,0.00,1.38,0.00,0.000,4,0.000,0.044,2490,1473,2644
$GC,12273,0.64,119.0,478.0,9.6,1178,12275,0.00,1.42,0.00,0.000,6,0.000,0.051,2490,2375,2644
$GC,12596,0.64,119.0,446.3,10.0,1209,12599,0.00,1.50,0.00,0.000,4,0.000,0.064,2490,3263,2644
$GC,12671,0.64,119.0,437.5,11.9,1216,12673,0.00,1.42,0.00,0.000,6,0.000,0.038,2496,2378,2644
$GC,12994,0.64,119.0,403.3,11.1,1247,12997,0.00,1.52,0.00,0.000,4,0.000,0.061,2497,3267,2644
$GC,13069,0.64,119.0,394.3,12.6,1254,13071,0.00,1.42,0.00,0.000,6,0.000,0.038,2503,2378,2644
$GC,13391,0.64,119.0,360.2,10.5,1285,13394,0.00,1.38,0.00,0.000,4,0.000,0.042,2510,1477,2644
$GC,13434,0.64,119.0,355.6,9.7,1289,13437,0.00,1.42,0.00,0.000,6,0.000,0.051,2510,2379,2645
$GC,13755,0.64,119.0,319.6,11.4,1320,13758,0.00,1.50,0.00,0.000,4,0.000,0.061,2509,3273,2645
$GC,13798,0.64,119.0,314.2,12.5,1324,13801,0.10,1.45,0.00,0.000,6,0.178,0.038,2486,2374,2645
$GC,14119,0.64,119.0,281.7,9.9,1355,14120,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2375,2645
$GC,14430,0.64,119.0,250.7,9.7,1385,14431,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2374,2646
$GC,14740,0.64,119.0,221.0,9.1,1415,14740,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2374,2647
$GC,15050,0.64,119.0,189.5,10.4,1445,15051,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2374,2648
$GC,15361,0.64,119.0,159.9,9.3,1475,15364,0.00,1.52,0.00,0.000,4,0.000,0.060,2486,3268,2648
$GC,15461,0.64,119.0,150.8,9.2,1484,15468,0.00,1.42,0.00,0.000,6,0.000,0.035,2491,2376,2648
$GC,15779,0.64,119.0,121.2,9.4,1515,15780,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2377,2649
$GC,16088,0.64,119.0,93.3,8.8,1545,16089,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2377,2651
$GC,16191,0.64,119.0,84.5,8.5,1555,16194,0.00,1.52,0.00,0.000,4,0.000,0.058,2492,3273,2650
$GC,16287,0.64,119.0,75.7,8.5,1564,16290,0.00,1.45,0.00,0.000,6,0.000,0.035,2498,2370,2651
$GC,16402,0.64,119.0,66.5,7.7,1575,16404,0.00,1.52,0.00,0.000,4,0.000,0.057,2502,3266,2652
$GC,16434,0.64,119.0,63.9,9.2,1578,16436,0.00,1.42,0.00,0.000,6,0.000,0.035,2509,2374,2652
$GC,16548,0.64,119.0,55.6,6.7,1589,16551,0.00,1.35,0.00,0.000,4,0.000,0.038,2515,1463,2652
$GC,16638,0.64,119.0,50.3,6.5,1597,16645,0.10,1.42,0.00,0.000,6,0.146,0.045,2484,2380,2652
$GC,16748,0.69,156.3,44.9,4.1,1608,16782,0.00,1.40,26.77,0.548,4,0.000,0.036,2489,1478,2510
$GC,16797,0.72,187.1,43.1,4.5,1612,16828,0.00,1.42,23.52,0.533,6,0.000,0.045,2489,2380,2386
$GC,16931,0.75,212.3,36.4,4.7,1625,16954,0.00,1.55,19.67,0.519,4,0.000,0.058,2489,3274,2284
$GC,16975,0.80,247.4,34.7,4.2,1629,17012,0.08,1.48,27.40,0.522,6,0.058,0.034,2544,2372,2139
$GC,17113,0.84,280.2,27.1,4.4,1642,17141,0.00,1.55,24.92,0.512,4,0.000,0.055,2544,3271,2006
$GC,17302,0.92,346.3,20.3,2.7,1659,17361,0.00,1.45,48.85,0.510,6,0.000,0.032,2551,2377,1737
$GC,17462,1.00,408.9,16.8,2.9,1674,17512,0.12,1.45,46.22,0.499,4,0.070,0.037,2623,1464,1482
$STATE,17681,end climb,SURFACE_DEPTH_REACHED
$STATE,17681,begin surface coast
$FINISH,0.7,1.020604
$STATE,17724,end surface coast,CONTROL_FINISHED_OK
$STATE,17724,begin surface
$SM_CCo,17740,107.25,0.478,0,0,601,625.01
$SM_GC,1.53,0.00,0.00,107.25,0.000,0.000,0.478,198,2451,601,-6.49,0.03,625.01
$IRIDIUM_FIX,2826.10,-8814.45,261199,141408
$TT8_MAMPS,0.050622
$HUMID,2045
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,23.9,14.705
$10V_AH,10.7,23.671
$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,16.175,95.575,404.750,107.250,0.000,31.573,28.851,319.504,3.750,0.000,0.000,13.050,0.000,11738.639,575.367,5192.497,835.625,33.333,2055.760,0.000,4629.632,0.000,28.363,0.000
$DEVICE_MAMPS,240.071,75.166,1250.977,477.841,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,1167.844,1289.327,3816.777,3949.522,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120188,1698
$CAP_FILE_SIZE,170205,0
$CFSIZE,260165632,244953088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.019,100.4,1
$GPS,020910,011924,2838.667,-8812.162,33,1.6,50,-0.6