version: 66.04
glider: 515
mission: 2
dive: 39
start: 8 18 110 5 50 48
data:
$ID,515
$MISSION,2
$DIVE,39
$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,-14
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,650
$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,-28728.018
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2300
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$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,2475
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$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
$GPS1,054124,2836.315,-8817.676,23,1.0,41,-0.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-71.5
$GPS2,055007,2836.201,-8817.660,11,1.0,17,-0.5
$SPEED_LIMITS,0.104,0.242
$TGT_NAME,TARGET_SE2
$TGT_LATLONG,2835.400,-8816.400
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.234,0.059
$KALMAN_X,107519.1,-1389.2,-1890.1,-86786.8,28468.4
$KALMAN_Y,-23514.1,801.3,655.9,-26036.1,-16889.6
$MHEAD_RNG_PITCHd_Wd,89.6,2530,-19.1,-6.000
$D_GRID,1895
$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,-0.75,-53.2,0.0,0.0,0,57,0.00,0.00,-42.58,0.000,2,0.000,0.000,187,2466,1691
$GC,59,-0.77,-72.2,3.0,-4.6,4,111,7.82,1.42,-39.28,0.000,4,0.244,0.077,2036,3368,3447
$GC,353,-0.77,-72.2,70.9,-15.6,31,356,0.00,1.30,0.00,0.000,6,0.000,0.034,2036,2473,3449
$GC,468,-0.77,-72.2,85.7,-12.6,42,470,0.00,1.40,0.00,0.000,4,0.000,0.057,2029,3371,3449
$GC,713,-0.77,-72.2,121.8,-15.5,65,716,0.00,1.30,0.00,0.000,6,0.000,0.034,2032,2474,3450
$GC,1034,-0.77,-72.2,167.3,-13.9,96,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,2475,3450
$GC,1345,-0.77,-72.2,210.8,-14.0,126,1348,0.00,1.45,0.00,0.000,4,0.000,0.045,2030,1569,3448
$GC,1377,-0.77,-72.2,215.1,-13.7,129,1379,0.00,1.52,0.00,0.000,6,0.000,0.048,2026,2479,3448
$GC,1699,-0.77,-72.2,260.0,-13.8,160,1702,0.00,1.50,0.00,0.000,4,0.000,0.044,2026,1570,3446
$GC,1796,-0.77,-72.2,273.1,-13.2,169,1799,0.08,1.50,0.00,0.000,6,0.173,0.049,2053,2471,3445
$GC,2116,-0.77,-72.2,311.3,-11.4,200,2119,0.00,1.48,0.00,0.000,4,0.000,0.045,2053,1569,3443
$GC,2195,-0.77,-72.2,320.3,-10.7,207,2203,0.00,1.52,0.00,0.000,6,0.000,0.050,2047,2477,3443
$GC,2514,-0.77,-72.2,357.7,-12.5,238,2517,0.00,1.50,0.00,0.000,4,0.000,0.046,2047,1569,3440
$GC,2589,-0.77,-72.2,366.8,-11.4,245,2592,0.00,1.52,0.00,0.000,6,0.000,0.052,2040,2476,3440
$GC,2912,-0.77,-72.2,406.3,-12.4,276,2914,0.00,1.50,0.00,0.000,4,0.000,0.046,2040,1563,3437
$GC,3040,-0.77,-72.2,422.3,-12.1,288,3043,0.00,1.52,0.00,0.000,6,0.000,0.053,2033,2474,3437
$GC,3362,-0.77,-72.2,463.3,-12.8,319,3365,0.00,1.48,0.00,0.000,4,0.000,0.047,2033,1577,3434
$GC,3409,-0.77,-72.2,469.7,-12.3,323,3416,0.00,1.52,0.00,0.000,6,0.000,0.054,2026,2478,3434
$GC,3727,-0.77,-72.2,510.5,-12.4,354,3730,0.00,1.50,0.00,0.000,4,0.000,0.049,2026,1573,3431
$GC,3785,-0.77,-72.2,518.3,-12.6,359,3793,0.08,1.52,0.00,0.000,6,0.176,0.053,2042,2473,3431
$GC,4101,-0.77,-72.2,557.7,-12.1,390,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2473,3427
$GC,4412,-0.77,-72.2,595.6,-12.1,420,4415,0.00,1.50,0.00,0.000,4,0.000,0.049,2042,1567,3424
$GC,4501,-0.77,-72.2,606.6,-11.7,428,4509,0.00,1.52,0.00,0.000,6,0.000,0.055,2036,2471,3424
$GC,4820,-0.77,-72.2,645.2,-12.2,459,4823,0.00,1.48,0.00,0.000,4,0.000,0.050,2036,1578,3422
$GC,4863,-0.77,-72.2,650.6,-11.9,463,4866,0.00,1.50,0.00,0.000,6,0.000,0.057,2029,2469,3421
$GC,5186,-0.77,-72.2,690.5,-12.4,494,5186,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2469,3419
$GC,5495,-0.77,-72.2,729.0,-12.5,524,5498,0.00,1.48,0.00,0.000,4,0.000,0.052,2030,1579,3416
$GC,5526,-0.77,-72.2,732.8,-11.5,527,5530,0.00,1.52,0.00,0.000,6,0.000,0.058,2023,2474,3416
$GC,5849,-0.77,-72.2,773.3,-12.7,558,5850,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2474,3415
$GC,6158,-0.77,-72.2,811.9,-12.6,588,6161,0.00,1.50,0.00,0.000,4,0.000,0.052,2022,1571,3413
$GC,6201,-0.77,-72.2,817.0,-12.1,592,6204,0.08,1.52,0.00,0.000,6,0.176,0.058,2049,2471,3412
$GC,6521,-0.77,-72.2,849.9,-10.3,623,6526,0.00,1.50,0.00,0.000,4,0.000,0.053,2049,1571,3410
$GC,6610,-0.77,-72.2,859.2,-9.8,631,6618,0.00,1.55,0.00,0.000,6,0.000,0.058,2043,2479,3409
$GC,6927,-0.77,-72.2,893.6,-10.7,662,6928,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,2479,3408
$GC,7237,-0.77,-72.2,927.0,-10.6,692,7240,0.00,1.52,0.00,0.000,4,0.000,0.054,2043,1571,3406
$GC,7327,-0.77,-72.2,936.8,-11.3,700,7334,0.00,1.55,0.00,0.000,6,0.000,0.059,2036,2476,3405
$GC,7645,-0.77,-72.2,970.6,-10.1,731,7648,0.00,1.50,0.00,0.000,4,0.000,0.053,2036,1580,3404
$GC,7677,-0.77,-72.2,973.8,-10.4,734,7680,0.00,1.52,0.00,0.000,6,0.000,0.060,2030,2474,3404
$STATE,7832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7832,begin apogee
$GC,7837,-0.18,0.0,990.1,10.4,749,7894,0.70,0.00,49.08,1.233,6,0.161,0.000,2239,2388,3149
$STATE,7894,end apogee,CONTROL_FINISHED_OK
$STATE,7894,begin climb
$GC,7896,0.77,72.2,991.7,0.0,755,7960,0.88,1.67,59.35,1.213,4,0.073,0.071,2549,3292,2854
$GC,8015,0.77,72.2,983.1,11.5,765,8018,0.00,1.50,0.00,0.000,6,0.000,0.041,2556,2408,2851
$GC,8338,0.77,72.2,946.0,10.8,796,8338,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2408,2848
$GC,8646,0.77,72.2,912.8,10.5,826,8647,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2408,2847
$GC,8957,0.77,72.2,880.4,10.2,856,8958,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2409,2845
$GC,9267,0.77,72.2,850.3,9.5,886,9270,0.00,1.52,0.00,0.000,4,0.000,0.067,2556,3292,2845
$GC,9303,0.77,72.2,846.4,11.0,889,9312,0.00,1.48,0.00,0.000,6,0.000,0.042,2562,2393,2844
$GC,9622,0.77,72.2,815.1,10.0,920,9622,0.00,0.00,0.00,0.000,6,0.000,0.000,2562,2394,2844
$GC,9930,0.77,72.2,785.7,9.7,950,9933,0.00,1.55,0.00,0.000,4,0.000,0.067,2562,3293,2843
$GC,10073,0.77,72.2,771.1,10.0,963,10081,0.00,1.45,0.00,0.000,6,0.000,0.041,2568,2401,2842
$GC,10392,0.77,72.2,740.7,9.1,994,10395,0.00,1.52,0.00,0.000,4,0.000,0.066,2568,3290,2842
$GC,10638,0.77,72.2,715.9,9.9,1017,10641,0.00,1.45,0.00,0.000,6,0.000,0.042,2574,2396,2841
$GC,10959,0.77,72.2,686.6,8.9,1048,10960,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2397,2841
$GC,11269,0.77,72.2,658.7,8.9,1078,11272,0.00,1.55,0.00,0.000,4,0.000,0.066,2572,3298,2841
$GC,11369,0.77,72.2,649.5,9.0,1087,11377,0.00,1.45,0.00,0.000,6,0.000,0.041,2578,2401,2841
$GC,11688,0.77,72.2,621.6,8.8,1118,11691,0.00,1.52,0.00,0.000,4,0.000,0.065,2573,3295,2840
$GC,11820,0.77,72.2,609.4,8.3,1130,11828,0.00,1.42,0.00,0.000,6,0.000,0.042,2577,2408,2840
$GC,12139,0.77,72.2,582.5,8.5,1161,12142,0.00,1.38,0.00,0.000,4,0.000,0.046,2584,1486,2840
$GC,12214,0.77,72.2,576.2,8.2,1168,12217,0.10,1.45,0.00,0.000,6,0.195,0.055,2552,2412,2840
$GC,12535,0.77,72.2,552.8,6.8,1199,12538,0.00,1.48,0.00,0.000,4,0.000,0.066,2553,3297,2840
$GC,12770,0.77,72.2,534.2,7.4,1221,12773,0.00,1.45,0.00,0.000,6,0.000,0.042,2558,2397,2840
$GC,13091,0.77,72.2,510.7,7.1,1252,13094,0.00,1.55,0.00,0.000,4,0.000,0.064,2556,3303,2839
$GC,13337,0.77,72.2,491.2,9.0,1275,13340,0.00,1.45,0.00,0.000,6,0.000,0.042,2562,2403,2840
$GC,13658,0.77,72.2,467.9,7.2,1306,13661,0.00,1.52,0.00,0.000,4,0.000,0.064,2562,3300,2840
$GC,13904,0.77,72.2,448.5,6.3,1329,13907,0.00,1.45,0.00,0.000,6,0.000,0.042,2568,2398,2840
$GC,14224,0.77,72.2,426.6,6.6,1360,14227,0.00,1.52,0.00,0.000,4,0.000,0.064,2567,3295,2841
$GC,14470,0.77,72.2,407.3,8.3,1383,14473,0.00,1.42,0.00,0.000,6,0.000,0.040,2574,2403,2841
$GC,14793,0.77,72.2,383.9,7.5,1414,14796,0.00,1.50,0.00,0.000,4,0.000,0.062,2569,3294,2841
$GC,15039,0.77,72.2,363.3,8.8,1437,15042,0.00,1.42,0.00,0.000,6,0.000,0.040,2574,2400,2841
$GC,15361,0.77,72.2,338.1,7.5,1468,15364,0.00,1.52,0.00,0.000,4,0.000,0.062,2569,3302,2842
$GC,15607,0.77,72.2,317.3,7.7,1491,15609,0.00,1.45,0.00,0.000,6,0.000,0.040,2574,2399,2842
$GC,15930,0.77,72.2,294.8,6.9,1522,15932,0.00,1.52,0.00,0.000,4,0.000,0.061,2569,3302,2842
$GC,16176,0.77,72.2,275.9,8.7,1545,16178,0.00,1.42,0.00,0.000,6,0.000,0.039,2575,2402,2843
$GC,16496,0.77,72.2,253.4,6.9,1576,16499,0.00,1.35,0.00,0.000,4,0.000,0.041,2581,1489,2844
$GC,16742,0.77,72.2,234.8,7.8,1599,16745,0.10,1.42,0.00,0.000,6,0.182,0.051,2551,2410,2844
$GC,17063,0.77,72.2,211.8,7.0,1630,17066,0.00,1.38,0.00,0.000,4,0.000,0.040,2556,1494,2846
$GC,17308,0.77,72.2,194.2,6.6,1653,17311,0.00,1.40,0.00,0.000,6,0.000,0.051,2557,2404,2846
$GC,17629,0.77,72.2,172.8,6.4,1684,17630,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2404,2847
$GC,17940,0.77,72.2,154.4,6.2,1714,17943,0.00,1.45,0.00,0.000,4,0.000,0.061,2556,3281,2848
$GC,18132,0.77,72.2,142.0,6.3,1732,18135,0.00,1.40,0.00,0.000,6,0.000,0.038,2563,2402,2848
$GC,18453,0.79,86.3,125.0,4.9,1763,18468,0.00,1.50,10.57,0.562,4,0.000,0.058,2564,3283,2798
$GC,18599,0.79,86.3,114.4,7.4,1776,18606,0.00,1.40,0.00,0.000,6,0.000,0.037,2571,2402,2798
$GC,18916,0.79,86.3,92.4,6.8,1807,18919,0.00,1.48,0.00,0.000,4,0.000,0.059,2570,3280,2798
$GC,19002,0.79,86.3,86.5,6.6,1815,19005,0.00,1.40,0.00,0.000,6,0.000,0.037,2577,2398,2798
$GC,19117,0.79,86.3,79.6,6.4,1826,19119,0.00,1.33,0.00,0.000,4,0.000,0.039,2584,1490,2799
$GC,19289,0.81,105.2,71.5,4.6,1842,19312,0.00,1.40,14.98,0.539,6,0.000,0.048,2583,2405,2721
$GC,19415,0.81,105.2,63.6,6.7,1854,19418,0.00,1.45,0.00,0.000,4,0.000,0.058,2584,3281,2721
$GC,19661,0.88,163.8,55.3,1.5,1877,19709,0.00,1.38,43.50,0.546,6,0.000,0.035,2590,2404,2481
$GC,19812,0.88,163.8,46.3,8.7,1891,19815,0.00,1.35,0.00,0.000,4,0.000,0.038,2597,1500,2478
$GC,20058,0.93,201.1,32.4,3.2,1914,20093,0.00,1.40,27.35,0.510,6,0.000,0.048,2597,2404,2330
$GC,20196,0.94,212.5,25.0,5.1,1927,20208,0.00,1.52,9.80,0.459,4,0.000,0.058,2597,3297,2282
$GC,20401,0.94,212.5,15.5,6.5,1946,20404,0.00,1.42,0.00,0.000,6,0.000,0.035,2604,2401,2280
$GC,20516,1.03,284.2,12.1,0.5,1957,20578,0.00,1.40,52.50,0.492,4,0.000,0.038,2610,1484,1990
$GC,20797,1.14,374.6,8.2,-0.9,1982,20867,0.12,1.42,65.07,0.479,6,0.048,0.045,2680,2403,1622
$GC,20979,1.24,453.2,7.3,0.0,1999,21041,0.00,1.55,57.08,0.469,4,0.000,0.056,2680,3291,1301
$STATE,21210,end climb,SURFACE_DEPTH_REACHED
$STATE,21210,begin surface coast
$FINISH,0.5,1.008465
$STATE,21382,end surface coast,CONTROL_FINISHED_OK
$STATE,21382,begin surface
$SM_CCo,21397,120.18,0.460,0,0,499,650.03
$SM_GC,1.55,0.00,0.00,120.18,0.000,0.000,0.460,184,2471,499,-6.61,-0.11,650.03
$IRIDIUM_FIX,2826.10,-8816.90,111199,232331
$TT8_MAMPS,0.050622
$HUMID,1967
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,27.20
$XPDR_PINGS,2
$24V_AH,24.1,5.991
$10V_AH,10.7,5.923
$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,16.475,120.525,389.275,120.175,0.000,30.788,27.749,300.072,4.250,0.000,0.000,19.268,0.000,13813.546,570.135,6723.333,888.745,33.336,2512.267,0.000,5995.264,0.000,28.367,0.000
$DEVICE_MAMPS,243.906,76.700,1233.336,460.200,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,1399.355,1530.872,4577.159,4717.166,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142292,2036
$CAP_FILE_SIZE,210298,0
$CFSIZE,260165632,251826176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.084,247.1,1
$GPS,180810,115025,2835.983,-8817.326,37,1.3,37,-0.5