version: 66.04
glider: 515
mission: 2
dive: 72
start: 8 26 110 14 42 7
data:
$ID,515
$MISSION,2
$DIVE,72
$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,-29323.35
$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,23
$R_STBD_OVSHOOT,16
$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
$GPS1,143124,2836.535,-8827.275,40,1.1,40,-0.4
$_CALLS,1
$_XMS_NAKs,22
$_XMS_TOUTs,1
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-74.3
$GPS2,144126,2836.457,-8827.210,14,1.2,14,-0.4
$SPEED_LIMITS,0.104,0.229
$TGT_NAME,TARGET_NW
$TGT_LATLONG,2839.000,-8829.600
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.053,0.223
$KALMAN_X,165922.3,-431.0,-1402.8,-162194.3,3718.1
$KALMAN_Y,-177042.1,1055.9,2478.0,125916.0,-27123.3
$MHEAD_RNG_PITCHd_Wd,335.0,6104,-10.2,-6.000
$D_GRID,1643
$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,11,begin dive
$GC,13,-0.51,-139.3,0.0,0.0,0,52,0.00,0.00,-37.45,0.000,2,0.000,0.000,191,2453,1676
$GC,54,-0.54,-161.3,3.2,-5.4,4,114,8.18,1.58,-43.70,0.000,4,0.254,0.060,2100,1542,3808
$GC,354,-0.54,-161.3,64.2,-13.6,31,361,0.00,1.55,0.00,0.000,6,0.000,0.045,2095,2444,3809
$GC,464,-0.54,-161.3,79.8,-14.2,42,466,0.00,1.50,0.00,0.000,4,0.000,0.037,2095,1542,3809
$GC,495,-0.54,-161.3,84.0,-13.3,45,499,0.00,1.58,0.00,0.000,6,0.000,0.047,2087,2451,3809
$GC,609,-0.54,-161.3,100.7,-14.9,56,613,0.00,1.35,0.00,0.000,4,0.000,0.057,2080,3330,3810
$GC,674,-0.54,-161.3,110.6,-15.3,62,677,0.00,1.30,0.00,0.000,6,0.000,0.031,2080,2441,3810
$GC,996,-0.54,-161.3,159.1,-14.4,93,999,0.00,1.45,0.00,0.000,4,0.000,0.039,2080,1548,3810
$GC,1060,-0.54,-161.3,167.8,-13.5,99,1063,0.00,1.55,0.00,0.000,6,0.000,0.048,2073,2450,3810
$GC,1383,-0.54,-161.3,214.2,-14.0,130,1386,0.00,1.52,0.00,0.000,4,0.000,0.040,2073,1535,3808
$GC,1473,-0.54,-161.3,226.6,-12.9,138,1480,0.08,1.55,0.00,0.000,6,0.144,0.048,2092,2443,3808
$GC,1789,-0.54,-161.3,264.3,-11.7,169,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2443,3806
$GC,2099,-0.54,-161.3,300.4,-11.2,199,2102,0.00,1.50,0.00,0.000,4,0.000,0.041,2091,1541,3803
$GC,2131,-0.54,-161.3,304.0,-11.2,202,2134,0.00,1.55,0.00,0.000,6,0.000,0.050,2087,2446,3803
$GC,2454,-0.54,-161.3,341.5,-11.8,233,2457,0.00,1.50,0.00,0.000,4,0.000,0.041,2086,1550,3800
$GC,2507,-0.54,-161.3,347.7,-11.5,238,2510,0.00,1.55,0.00,0.000,6,0.000,0.051,2078,2449,3800
$GC,2830,-0.54,-161.3,386.8,-12.2,269,2833,0.00,1.52,0.00,0.000,4,0.000,0.044,2078,1539,3797
$GC,2930,-0.54,-161.3,398.9,-12.0,278,2938,0.08,1.58,0.00,0.000,6,0.140,0.051,2098,2449,3796
$GC,3247,-0.54,-161.3,432.1,-10.5,309,3247,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2449,3792
$GC,3557,-0.54,-161.3,464.5,-10.2,339,3558,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2449,3789
$GC,3867,-0.54,-161.3,497.2,-10.3,369,3870,0.00,1.52,0.00,0.000,4,0.000,0.046,2098,1550,3786
$GC,3903,-0.54,-161.3,501.1,-10.2,372,3911,0.00,1.58,0.00,0.000,6,0.000,0.054,2093,2450,3785
$GC,4222,-0.54,-161.3,535.0,-10.8,403,4223,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2450,3783
$GC,4531,-0.54,-161.3,568.5,-10.6,433,4533,0.00,1.52,0.00,0.000,4,0.000,0.048,2092,1556,3779
$GC,4599,-0.54,-161.3,576.0,-10.8,439,4606,0.00,1.58,0.00,0.000,6,0.000,0.055,2085,2450,3779
$GC,4917,-0.54,-161.3,611.1,-11.4,470,4918,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2450,3777
$GC,5226,-0.54,-161.3,645.0,-10.7,500,5229,0.00,1.52,0.00,0.000,4,0.000,0.048,2085,1556,3774
$GC,5273,-0.54,-161.3,650.2,-10.5,504,5280,0.00,1.58,0.00,0.000,6,0.000,0.056,2078,2450,3774
$GC,5591,-0.54,-161.3,685.4,-10.8,535,5592,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2449,3772
$GC,5900,-0.54,-161.3,719.3,-10.6,565,5903,0.00,1.52,0.00,0.000,4,0.000,0.051,2078,1559,3770
$GC,5943,-0.54,-161.3,723.9,-10.4,569,5946,0.00,1.55,0.00,0.000,6,0.000,0.058,2071,2445,3770
$GC,6265,-0.54,-161.3,760.0,-11.3,600,6268,0.00,1.52,0.00,0.000,4,0.000,0.050,2071,1548,3767
$GC,6308,-0.54,-161.3,765.0,-10.7,604,6311,0.12,1.58,0.00,0.000,6,0.153,0.058,2098,2448,3767
$GC,6629,-0.54,-161.3,795.7,-9.5,635,6630,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2447,3764
$GC,6939,-0.54,-161.3,824.9,-9.3,665,6942,0.00,1.52,0.00,0.000,4,0.000,0.051,2098,1559,3763
$GC,6982,-0.54,-161.3,829.0,-9.6,669,6985,0.00,1.58,0.00,0.000,6,0.000,0.058,2092,2450,3763
$GC,7304,-0.54,-161.3,860.7,-9.8,700,7305,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2449,3761
$GC,7616,-0.54,-161.3,890.8,-10.0,730,7617,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2449,3760
$GC,7926,-0.54,-161.3,920.5,-9.8,760,7929,0.00,1.55,0.00,0.000,4,0.000,0.053,2092,1549,3757
$GC,7958,-0.54,-161.3,923.9,-9.7,763,7961,0.00,1.58,0.00,0.000,6,0.000,0.061,2084,2446,3757
$GC,8279,-0.54,-161.3,954.8,-9.8,794,8280,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2446,3756
$GC,8590,-0.54,-161.3,985.7,-9.4,824,8593,0.00,1.52,0.00,0.000,4,0.000,0.052,2085,1559,3754
$GC,8633,-0.54,-161.3,989.8,-9.3,828,8637,0.00,1.58,0.00,0.000,6,0.000,0.061,2078,2449,3754
$STATE,8641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8641,begin apogee
$GC,8647,-0.17,0.0,990.8,10.2,829,8767,0.45,0.00,117.35,1.243,6,0.130,0.000,2220,2381,3150
$STATE,8767,end apogee,CONTROL_FINISHED_OK
$STATE,8767,begin climb
$GC,8769,0.54,161.3,995.0,0.0,841,8913,0.65,1.55,133.70,1.214,4,0.080,0.045,2450,1475,2491
$GC,8960,0.54,161.3,984.0,10.8,857,8967,0.00,1.52,0.00,0.000,6,0.000,0.054,2450,2372,2487
$GC,9279,0.54,161.3,947.6,11.9,888,9279,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2372,2482
$GC,9587,0.54,161.3,911.5,11.6,918,9590,0.00,1.55,0.00,0.000,4,0.000,0.067,2450,3264,2480
$GC,9619,0.54,161.3,907.5,13.8,921,9622,0.00,1.45,0.00,0.000,6,0.000,0.041,2457,2378,2480
$GC,9942,0.54,161.3,867.9,12.3,952,9943,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2378,2479
$GC,10251,0.54,161.3,831.4,11.9,982,10253,0.00,1.42,0.00,0.000,4,0.000,0.047,2464,1463,2478
$GC,10272,0.54,161.3,828.9,11.7,984,10275,0.00,1.48,0.00,0.000,6,0.000,0.056,2464,2373,2478
$GC,10593,0.54,161.3,790.5,11.9,1015,10594,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2373,2477
$GC,10904,0.54,161.3,753.8,12.2,1045,10905,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2373,2476
$GC,11214,0.54,161.3,716.8,11.4,1075,11215,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2373,2476
$GC,11525,0.54,161.3,680.7,11.5,1105,11525,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2373,2475
$GC,11835,0.54,161.3,645.4,11.5,1135,11836,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2373,2475
$GC,12146,0.54,161.3,609.6,11.5,1165,12148,0.00,1.52,0.00,0.000,4,0.000,0.067,2464,3276,2475
$GC,12177,0.54,161.3,605.7,12.8,1168,12181,0.00,1.45,0.00,0.000,6,0.000,0.043,2471,2376,2474
$GC,12500,0.54,161.3,568.2,11.2,1199,12501,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2376,2474
$GC,12809,0.54,161.3,532.4,11.3,1229,12812,0.00,1.40,0.00,0.000,4,0.000,0.047,2477,1470,2474
$GC,12835,0.54,161.3,529.4,11.6,1231,12842,0.00,1.45,0.00,0.000,6,0.000,0.054,2477,2373,2473
$GC,13153,0.54,161.3,494.3,10.8,1262,13154,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2373,2473
$GC,13461,0.54,161.3,459.3,11.6,1292,13464,0.00,1.50,0.00,0.000,4,0.000,0.066,2477,3267,2474
$GC,13541,0.54,161.3,449.1,12.6,1299,13548,0.10,1.42,0.00,0.000,6,0.161,0.041,2454,2377,2473
$GC,13857,0.54,161.3,418.1,9.3,1330,13858,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2378,2473
$GC,14168,0.54,161.3,388.3,10.1,1360,14171,0.00,1.40,0.00,0.000,4,0.000,0.045,2459,1468,2472
$GC,14200,0.54,161.3,385.4,8.3,1363,14203,0.00,1.45,0.00,0.000,6,0.000,0.054,2459,2373,2473
$GC,14522,0.54,161.3,352.9,10.4,1394,14525,0.00,1.50,0.00,0.000,4,0.000,0.064,2459,3270,2473
$GC,14580,0.54,161.3,346.1,10.8,1399,14588,0.00,1.42,0.00,0.000,6,0.000,0.041,2466,2377,2474
$GC,14898,0.54,161.3,312.6,10.2,1430,14901,0.00,1.50,0.00,0.000,4,0.000,0.064,2466,3266,2474
$GC,14945,0.54,161.3,306.9,10.8,1434,14953,0.00,1.42,0.00,0.000,6,0.000,0.040,2473,2374,2474
$GC,15263,0.54,161.3,272.9,11.2,1465,15266,0.00,1.40,0.00,0.000,4,0.000,0.044,2479,1464,2474
$GC,15370,0.54,161.3,261.3,11.2,1475,15373,0.00,1.45,0.00,0.000,6,0.000,0.052,2479,2377,2474
$GC,15691,0.54,161.3,224.3,12.1,1506,15694,0.00,1.40,0.00,0.000,4,0.000,0.043,2485,1478,2474
$GC,15727,0.54,161.3,220.3,10.7,1509,15734,0.10,1.42,0.00,0.000,6,0.156,0.051,2454,2373,2475
$GC,16043,0.54,161.3,188.2,9.6,1540,16047,0.00,1.40,0.00,0.000,4,0.000,0.041,2460,1469,2475
$GC,16090,0.54,161.3,183.6,9.9,1544,16099,0.00,1.42,0.00,0.000,6,0.000,0.051,2459,2372,2475
$GC,16409,0.54,161.3,152.2,9.5,1575,16412,0.00,1.38,0.00,0.000,4,0.000,0.041,2466,1476,2476
$GC,16445,0.54,161.3,148.6,9.2,1578,16452,0.00,1.42,0.00,0.000,6,0.000,0.049,2466,2374,2476
$GC,16763,0.54,161.3,117.5,8.8,1609,16764,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2374,2478
$GC,17072,0.54,161.3,89.7,7.6,1639,17075,0.00,1.40,0.00,0.000,4,0.000,0.041,2473,1460,2479
$GC,17173,0.54,161.3,82.0,7.1,1648,17181,0.00,1.45,0.00,0.000,6,0.000,0.048,2473,2378,2479
$GC,17283,0.54,161.3,73.3,8.1,1659,17285,0.00,1.48,0.00,0.000,4,0.000,0.059,2473,3277,2480
$GC,17500,0.54,161.3,54.8,8.1,1679,17508,0.00,1.42,0.00,0.000,6,0.000,0.035,2480,2371,2480
$GC,17611,0.54,161.3,47.3,6.1,1690,17614,0.12,1.35,0.00,0.000,4,0.145,0.038,2451,1469,2480
$GC,17857,0.70,295.1,39.3,2.1,1713,17957,0.10,1.42,95.95,0.532,6,0.055,0.048,2514,2375,1947
$GC,18068,0.71,297.5,27.5,5.9,1732,18068,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2375,1939
$GC,18171,0.77,344.4,22.6,4.6,1742,18212,0.00,1.45,36.00,0.499,4,0.000,0.038,2519,1472,1745
$GC,18266,0.82,388.7,18.0,4.7,1750,18303,0.00,1.48,33.30,0.490,6,0.000,0.045,2519,2378,1564
$GC,18407,0.89,447.2,11.2,4.3,1763,18456,0.12,1.55,43.33,0.486,4,0.077,0.056,2565,3269,1327
$GC,18695,1.14,650.9,7.9,-0.0,1789,18830,0.20,1.45,129.90,0.477,2,0.109,0.037,2636,2374,589
$STATE,18830,end climb,SURFACE_DEPTH_REACHED
$STATE,18830,begin surface coast
$FINISH,0.7,0.997611
$STATE,18870,end surface coast,CONTROL_FINISHED_OK
$STATE,18870,begin surface
$SM_CCo,18944,0.00,0.000,0,0,586,628.69
$SM_GC,1.52,6.55,0.00,0.00,0.035,0.000,0.000,196,2453,586,-6.42,0.08,628.69
$IRIDIUM_FIX,2826.10,-8826.78,201199,080834
$TT8_MAMPS,0.051389
$HUMID,2084
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,25.30
$XPDR_PINGS,17
$24V_AH,23.8,10.922
$10V_AH,10.6,16.099
$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,16.850,101.575,589.525,0.000,0.000,31.106,30.014,382.270,8.000,0.000,0.000,16.829,0.000,12473.025,591.844,5547.062,889.809,33.331,2219.315,0.000,4925.357,0.000,28.358,0.000
$DEVICE_MAMPS,253.877,66.729,1243.307,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,1238.561,1359.319,4055.351,4175.940,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126627,1804
$CAP_FILE_SIZE,182290,0
$CFSIZE,260165632,247894016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.066,244.6,1
$GPS,260810,195854,2838.413,-8829.290,25,0.8,42,-0.4