version: 66.04
glider: 515
mission: 2
dive: 103
start: 9 3 110 5 57 48
data:
$ID,515
$MISSION,2
$DIVE,103
$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,-29846.385
$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,25
$R_STBD_OVSHOOT,14
$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
$GPS1,053636,2836.864,-8823.444,36,0.8,41,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-71.1
$GPS2,055707,2836.779,-8823.836,10,0.9,15,-0.4
$SPEED_LIMITS,0.104,0.229
$TGT_NAME,TARGET_SW
$TGT_LATLONG,2835.400,-8825.200
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.103,0.204
$KALMAN_X,181294.5,-115.1,-1790.7,-172007.9,3057.9
$KALMAN_Y,-326795.2,254.5,-2281.1,281850.4,-12969.2
$MHEAD_RNG_PITCHd_Wd,208.4,3383,-26.4,-6.000
$D_GRID,1688
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.92,-29.4,0.0,0.0,0,77,0.00,0.00,-62.25,0.000,2,0.000,0.000,197,2448,2222
$GC,79,-0.93,-42.9,3.4,-4.2,6,119,7.28,1.55,-27.27,0.000,4,0.237,0.057,1966,1536,3327
$GC,362,-0.93,-42.9,58.1,-11.1,32,365,0.00,1.52,0.00,0.000,6,0.000,0.040,1961,2447,3328
$GC,476,-0.93,-42.9,70.8,-11.4,43,479,0.00,1.50,0.00,0.000,4,0.000,0.038,1963,1536,3328
$GC,722,-0.93,-42.9,101.7,-13.7,66,725,0.00,1.52,0.00,0.000,6,0.000,0.041,1958,2450,3329
$GC,1044,-0.93,-42.9,148.3,-13.9,97,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,2449,3328
$GC,1353,-0.93,-42.9,192.6,-14.1,127,1356,0.00,1.50,0.00,0.000,4,0.000,0.041,1963,1537,3328
$GC,1422,-0.93,-42.9,203.0,-14.6,133,1429,0.00,1.52,0.00,0.000,6,0.000,0.043,1958,2449,3327
$GC,1740,-0.93,-42.9,250.5,-14.8,164,1741,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,2449,3326
$GC,2048,-0.93,-42.9,297.4,-15.1,194,2051,0.00,1.40,0.00,0.000,4,0.000,0.058,1951,3328,3323
$GC,2166,-0.93,-42.9,315.9,-16.1,205,2169,0.00,1.33,0.00,0.000,6,0.000,0.033,1951,2447,3321
$GC,2489,-0.93,-42.9,364.2,-14.6,236,2492,0.00,1.48,0.00,0.000,4,0.000,0.044,1952,1543,3319
$GC,2654,-0.93,-42.9,389.0,-14.3,251,2662,0.00,1.52,0.00,0.000,6,0.000,0.045,1945,2448,3317
$GC,2972,-0.93,-42.9,436.7,-16.0,282,2975,0.00,1.50,0.00,0.000,4,0.000,0.044,1951,1541,3315
$GC,3025,-0.93,-42.9,444.9,-14.6,287,3028,0.00,1.52,0.00,0.000,6,0.000,0.046,1945,2448,3315
$GC,3348,-0.93,-42.9,493.9,-14.7,318,3349,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2448,3313
$GC,3657,-0.93,-42.9,539.6,-14.3,348,3659,0.00,1.50,0.00,0.000,4,0.000,0.045,1951,1549,3310
$GC,3848,-0.93,-42.9,566.3,-12.8,366,3851,0.00,1.52,0.00,0.000,6,0.000,0.048,1945,2447,3308
$GC,4171,-0.93,-42.9,612.4,-14.8,397,4174,0.00,1.50,0.00,0.000,4,0.000,0.045,1950,1548,3306
$GC,4311,-0.93,-42.9,632.3,-14.3,410,4314,0.00,1.52,0.00,0.000,6,0.000,0.049,1945,2448,3305
$GC,4633,-0.93,-42.9,679.1,-13.9,441,4636,0.12,1.48,0.00,0.000,4,0.205,0.045,1973,1547,3302
$GC,4676,-0.93,-42.9,685.0,-13.0,445,4679,0.00,1.52,0.00,0.000,6,0.000,0.051,1967,2446,3301
$GC,4999,-0.93,-42.9,726.3,-12.6,476,4999,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,2446,3299
$GC,5308,-0.93,-42.9,766.1,-12.7,506,5309,0.00,0.00,0.00,0.000,6,0.000,0.000,1967,2446,3297
$GC,5618,-0.93,-42.9,805.1,-12.4,536,5621,0.00,1.42,0.00,0.000,4,0.000,0.065,1960,3322,3295
$GC,5714,-0.93,-42.9,817.7,-13.5,545,5717,0.00,1.33,0.00,0.000,6,0.000,0.039,1960,2453,3293
$GC,6035,-0.93,-42.9,859.1,-13.4,576,6038,0.00,1.52,0.00,0.000,4,0.000,0.051,1960,1545,3291
$GC,6104,-0.93,-42.9,868.0,-12.7,582,6110,0.00,1.52,0.00,0.000,6,0.000,0.052,1953,2441,3291
$GC,6420,-0.93,-42.9,908.9,-12.5,613,6421,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2441,3289
$GC,6730,-0.93,-42.9,947.0,-12.3,643,6733,0.00,1.50,0.00,0.000,4,0.000,0.051,1953,1550,3287
$GC,6794,-0.93,-42.9,954.8,-12.0,649,6797,0.00,1.55,0.00,0.000,6,0.000,0.054,1948,2448,3287
$STATE,7083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7083,begin apogee
$GC,7089,-0.17,0.0,990.5,12.3,677,7119,0.90,0.00,27.45,1.215,6,0.181,0.000,2210,2367,3150
$STATE,7119,end apogee,CONTROL_FINISHED_OK
$STATE,7119,begin climb
$GC,7121,0.93,42.9,992.7,0.0,680,7160,1.05,0.00,35.58,1.203,6,0.089,0.000,2575,2367,2975
$GC,7467,0.93,42.9,968.5,7.5,714,7470,0.00,1.60,0.00,0.000,4,0.000,0.068,2573,3264,2971
$GC,7599,0.93,42.9,958.0,7.6,726,7606,0.00,1.48,0.00,0.000,6,0.000,0.037,2579,2371,2970
$GC,7918,0.93,42.9,934.9,6.8,757,7919,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2372,2969
$GC,8227,0.93,42.9,913.8,6.7,787,8227,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2372,2968
$GC,8538,0.94,45.8,894.0,5.6,817,8538,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2372,2967
$GC,8848,0.94,46.1,875.7,6.0,847,8848,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2372,2966
$GC,9158,0.94,49.7,858.2,5.5,877,9168,0.00,0.00,5.20,0.841,6,0.000,0.000,2579,2372,2947
$GC,9480,0.94,49.7,837.9,6.3,908,9483,0.00,1.38,0.00,0.000,4,0.000,0.042,2586,1460,2947
$GC,9716,0.94,49.7,823.6,6.8,930,9718,0.00,1.45,0.00,0.000,6,0.000,0.053,2581,2375,2947
$GC,10038,0.94,51.7,804.7,5.7,961,10041,0.00,1.52,0.00,0.000,4,0.000,0.062,2573,3275,2946
$GC,10284,0.95,54.2,789.9,5.6,984,10295,0.00,1.45,4.82,0.789,6,0.000,0.039,2579,2374,2929
$GC,10605,0.95,54.2,770.6,6.5,1015,10608,0.00,1.52,0.00,0.000,4,0.000,0.062,2573,3265,2928
$GC,10850,0.95,54.2,754.1,6.6,1038,10853,0.00,1.45,0.00,0.000,6,0.000,0.039,2579,2376,2928
$GC,11174,0.95,57.1,735.7,5.6,1069,11185,0.00,1.55,3.80,0.648,4,0.000,0.061,2573,3271,2917
$GC,11425,0.95,57.1,718.9,6.9,1092,11432,0.00,1.45,0.00,0.000,6,0.000,0.038,2579,2375,2917
$GC,11743,0.95,57.1,699.1,6.2,1123,11746,0.00,1.52,0.00,0.000,4,0.000,0.061,2573,3268,2917
$GC,11988,0.95,57.1,683.9,6.6,1146,11991,0.00,1.45,0.00,0.000,6,0.000,0.039,2579,2375,2916
$GC,12311,0.96,60.7,665.9,5.5,1177,12322,0.00,1.55,4.68,0.726,4,0.000,0.061,2573,3270,2901
$GC,12561,0.96,62.2,650.0,5.8,1200,12569,0.00,1.45,0.00,0.000,6,0.000,0.038,2579,2377,2901
$GC,12880,0.96,65.0,632.5,5.6,1231,12890,0.00,0.00,5.05,0.738,6,0.000,0.000,2579,2377,2885
$GC,13200,0.96,65.0,611.3,6.9,1262,13203,0.00,1.38,0.00,0.000,4,0.000,0.043,2585,1476,2884
$GC,13307,0.96,65.0,603.9,6.9,1272,13310,0.00,1.42,0.00,0.000,6,0.000,0.051,2581,2377,2884
$GC,13628,0.96,65.0,582.8,6.3,1303,13632,0.00,1.40,0.00,0.000,4,0.000,0.041,2586,1471,2884
$GC,13874,0.96,65.0,566.9,6.4,1326,13876,0.00,1.42,0.00,0.000,6,0.000,0.051,2582,2376,2884
$GC,14195,0.96,66.4,546.8,5.8,1357,14198,0.00,1.50,0.00,0.000,4,0.000,0.061,2575,3264,2884
$GC,14220,0.97,69.3,545.2,5.6,1359,14231,0.00,1.45,5.07,0.701,6,0.000,0.038,2580,2370,2867
$GC,14537,0.97,69.3,524.1,7.1,1390,14540,0.00,1.35,0.00,0.000,4,0.000,0.042,2587,1482,2866
$GC,14782,0.97,69.3,506.8,6.5,1413,14785,0.00,1.40,0.00,0.000,6,0.000,0.050,2582,2372,2867
$GC,15106,0.97,69.3,485.7,6.5,1444,15108,0.00,1.38,0.00,0.000,4,0.000,0.040,2587,1477,2866
$GC,15319,0.97,72.8,472.8,5.5,1464,15331,0.00,1.42,4.20,0.597,6,0.000,0.050,2582,2379,2853
$GC,15640,0.97,72.8,450.6,6.9,1495,15640,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2378,2853
$GC,15950,0.97,72.8,428.6,7.5,1525,15953,0.00,1.50,0.00,0.000,4,0.000,0.061,2582,3266,2854
$GC,16015,0.97,72.8,423.5,8.6,1531,16018,0.00,1.42,0.00,0.000,6,0.000,0.038,2587,2380,2854
$GC,16336,0.97,72.8,398.0,8.3,1562,16336,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2378,2854
$GC,16647,0.97,72.8,372.3,7.9,1592,16650,0.00,1.38,0.00,0.000,4,0.000,0.041,2594,1477,2855
$GC,16800,0.97,72.8,360.1,6.6,1606,16807,0.00,1.42,0.00,0.000,6,0.000,0.048,2594,2377,2855
$GC,17119,0.97,72.8,335.3,7.3,1637,17120,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2377,2856
$GC,17428,0.97,72.8,312.6,7.3,1667,17429,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2377,2855
$GC,17738,0.97,72.8,288.8,7.0,1697,17741,0.00,1.50,0.00,0.000,4,0.000,0.058,2587,3275,2856
$GC,17781,0.97,72.8,285.4,7.2,1701,17784,0.00,1.45,0.00,0.000,6,0.000,0.035,2593,2371,2857
$GC,18102,0.97,72.8,260.6,7.9,1732,18105,0.00,1.52,0.00,0.000,4,0.000,0.057,2588,3267,2858
$GC,18156,0.97,72.8,256.2,9.5,1737,18158,0.00,1.42,0.00,0.000,6,0.000,0.035,2593,2375,2858
$GC,18479,0.97,72.8,233.3,6.7,1768,18482,0.00,1.50,0.00,0.000,4,0.000,0.057,2588,3265,2858
$GC,18724,0.97,72.8,214.8,8.3,1791,18727,0.00,1.42,0.00,0.000,6,0.000,0.035,2594,2374,2859
$GC,19048,0.97,72.8,191.2,7.5,1822,19050,0.00,1.52,0.00,0.000,4,0.000,0.057,2588,3275,2860
$GC,19220,0.97,72.8,176.8,9.8,1838,19223,0.00,1.42,0.00,0.000,6,0.000,0.035,2594,2376,2860
$GC,19543,0.97,72.8,152.7,7.0,1869,19546,0.00,1.50,0.00,0.000,4,0.000,0.055,2588,3265,2861
$GC,19705,0.97,72.8,141.5,6.7,1884,19717,0.00,1.42,3.47,0.383,6,0.000,0.035,2594,2371,2853
$GC,20026,0.97,76.0,122.4,5.6,1915,20039,0.00,1.52,4.28,0.433,4,0.000,0.054,2588,3267,2839
$GC,20278,0.98,79.8,107.1,5.5,1938,20286,0.00,1.42,4.68,0.430,6,0.000,0.033,2594,2374,2824
$GC,20595,0.98,84.5,89.4,5.4,1969,20606,0.00,1.50,5.07,0.453,4,0.000,0.054,2589,3260,2805
$GC,20846,0.98,84.5,73.6,6.6,1992,20853,0.00,1.40,0.00,0.000,6,0.000,0.031,2594,2375,2805
$GC,20956,1.00,96.4,68.1,4.4,2003,20970,0.00,1.55,10.48,0.526,4,0.000,0.053,2589,3278,2756
$GC,21209,1.00,96.4,50.9,6.1,2026,21217,0.00,1.42,0.00,0.000,6,0.000,0.031,2594,2374,2756
$GC,21320,1.03,124.1,47.3,2.2,2037,21346,0.00,1.52,21.80,0.541,4,0.000,0.054,2594,3263,2642
$GC,21557,1.08,162.3,40.0,0.8,2059,21594,0.00,1.42,28.90,0.533,6,0.000,0.032,2600,2372,2487
$GC,21697,1.08,162.3,32.9,6.5,2072,21700,0.00,1.55,0.00,0.000,4,0.000,0.054,2600,3274,2483
$GC,21943,1.13,202.3,31.1,0.5,2095,21981,0.00,1.42,29.77,0.518,6,0.000,0.031,2606,2376,2325
$GC,22084,1.16,226.1,27.6,2.7,2108,22108,0.12,1.58,19.02,0.496,4,0.076,0.051,2657,3275,2227
$GC,22161,1.16,226.1,22.5,8.2,2115,22164,0.00,1.45,0.00,0.000,6,0.000,0.031,2663,2376,2225
$GC,22275,1.16,226.1,13.0,7.7,2126,22278,0.00,1.35,0.00,0.000,4,0.000,0.035,2669,1472,2224
$STATE,22427,end climb,NO_VERTICAL_VELOCITY
$STATE,22429,begin surface
$SM_CCo,22431,261.33,0.440,17,0,403,673.58
$SM_GC,1.65,6.62,0.00,0.00,0.032,0.000,0.000,192,2450,400,-6.44,0.00,674.56
$IRIDIUM_FIX,2826.10,-8821.81,281199,000039
$TT8_MAMPS,0.049855
$HUMID,1980
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,24.60
$XPDR_PINGS,3
$24V_AH,24.6,15.579
$10V_AH,10.7,25.426
$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,16.100,112.225,223.325,261.325,0.000,25.649,29.914,1015.435,4.500,0.000,0.000,17.148,0.000,14754.683,711.414,6969.111,1636.530,33.338,2655.979,0.000,6244.422,0.000,28.346,0.000
$DEVICE_MAMPS,237.003,68.263,1214.928,440.258,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,1475.663,1622.018,4810.208,4974.649,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,148686,2140
$CAP_FILE_SIZE,235179,0
$CFSIZE,260165632,244211712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,17,0
$CURRENT,0.072,288.8,1
$GPS,030910,122007,2835.982,-8825.159,33,0.9,33,-0.4