version: 66.04
glider: 515
mission: 2
dive: 87
start: 8 30 110 9 50 21
data:
$ID,515
$MISSION,2
$DIVE,87
$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,-29597.383
$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,26
$R_STBD_OVSHOOT,15
$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
$GPS1,093936,2835.888,-8824.956,37,1.1,37,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-69.2
$GPS2,094938,2836.065,-8825.086,11,1.7,17,-0.4
$SPEED_LIMITS,0.104,0.229
$TGT_NAME,TARGET_NW
$TGT_LATLONG,2839.000,-8829.600
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.066,0.219
$KALMAN_X,176276.9,-452.3,518.0,-170999.9,471.4
$KALMAN_Y,-255288.3,119.5,2087.3,204804.1,-20320.1
$MHEAD_RNG_PITCHd_Wd,314.3,9130,-11.0,-6.000
$D_GRID,1664
$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,-0.52,-126.4,0.0,0.0,0,57,0.00,0.00,-42.90,0.000,2,0.000,0.000,200,2457,1901
$GC,59,-0.56,-154.6,3.4,-5.1,4,112,7.88,1.58,-41.65,0.000,4,0.243,0.055,2090,1537,3782
$GC,352,-0.56,-154.6,60.9,-13.5,30,359,0.00,1.55,0.00,0.000,6,0.000,0.045,2085,2443,3783
$GC,462,-0.56,-154.6,76.9,-13.5,41,465,0.00,1.48,0.00,0.000,4,0.000,0.035,2084,1543,3784
$GC,665,-0.56,-154.6,103.4,-11.6,60,668,0.00,1.55,0.00,0.000,6,0.000,0.046,2076,2450,3784
$GC,987,-0.56,-154.6,148.6,-14.0,91,988,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2450,3784
$GC,1297,-0.56,-154.6,192.3,-13.6,121,1299,0.00,1.50,0.00,0.000,4,0.000,0.038,2076,1540,3782
$GC,1361,-0.56,-154.6,200.6,-13.2,127,1364,0.00,1.55,0.00,0.000,6,0.000,0.048,2069,2449,3782
$GC,1683,-0.56,-154.6,244.4,-13.4,158,1684,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2449,3779
$GC,1993,-0.56,-154.6,287.0,-13.9,188,1996,0.00,1.50,0.00,0.000,4,0.000,0.041,2069,1545,3777
$GC,2035,-0.56,-154.6,292.8,-13.1,192,2038,0.05,1.55,0.00,0.000,6,0.118,0.050,2091,2450,3777
$GC,2356,-0.56,-154.6,330.2,-11.5,223,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2450,3774
$GC,2667,-0.56,-154.6,365.3,-11.5,253,2670,0.00,1.50,0.00,0.000,4,0.000,0.042,2092,1549,3771
$GC,2710,-0.56,-154.6,370.0,-11.2,257,2712,0.00,1.52,0.00,0.000,6,0.000,0.051,2086,2444,3771
$GC,3032,-0.56,-154.6,407.4,-11.6,288,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2443,3768
$GC,3341,-0.56,-154.6,443.9,-11.7,318,3344,0.00,1.50,0.00,0.000,4,0.000,0.044,2086,1538,3765
$GC,3377,-0.56,-154.6,448.2,-11.1,321,3384,0.00,1.55,0.00,0.000,6,0.000,0.053,2079,2443,3764
$GC,3695,-0.56,-154.6,486.8,-12.3,352,3696,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,2443,3761
$GC,4004,-0.56,-154.6,524.1,-11.9,382,4007,0.00,1.50,0.00,0.000,4,0.000,0.044,2079,1539,3758
$GC,4047,-0.56,-154.6,529.2,-11.9,386,4050,0.00,1.58,0.00,0.000,6,0.000,0.056,2073,2448,3758
$GC,4370,-0.56,-154.6,569.0,-12.1,417,4373,0.00,1.52,0.00,0.000,4,0.000,0.046,2072,1537,3756
$GC,4413,-0.56,-154.6,574.6,-11.6,421,4416,0.00,1.58,0.00,0.000,6,0.000,0.056,2065,2448,3756
$GC,4735,-0.56,-154.6,616.3,-13.3,452,4736,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2448,3752
$GC,5045,-0.56,-154.6,655.9,-12.6,482,5048,0.00,1.52,0.00,0.000,4,0.000,0.048,2065,1543,3749
$GC,5141,-0.56,-154.6,667.6,-11.9,491,5144,0.12,1.58,0.00,0.000,6,0.152,0.058,2091,2449,3749
$GC,5461,-0.56,-154.6,700.9,-10.0,522,5462,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2448,3746
$GC,5772,-0.56,-154.6,732.1,-9.8,552,5775,0.00,1.52,0.00,0.000,4,0.000,0.048,2091,1547,3744
$GC,5830,-0.56,-154.6,737.8,-9.6,557,5837,0.00,1.58,0.00,0.000,6,0.000,0.058,2086,2450,3744
$GC,6147,-0.56,-154.6,769.5,-10.0,588,6148,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2449,3741
$GC,6457,-0.56,-154.6,800.2,-9.6,618,6457,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2450,3738
$GC,6767,-0.56,-154.6,830.7,-9.6,648,6770,0.00,1.52,0.00,0.000,4,0.000,0.049,2085,1549,3736
$GC,6824,-0.56,-154.6,836.3,-9.2,653,6832,0.00,1.58,0.00,0.000,6,0.000,0.059,2079,2448,3736
$GC,7141,-0.56,-154.6,867.1,-9.3,684,7144,0.00,1.42,0.00,0.000,4,0.000,0.075,2074,3320,3734
$GC,7166,-0.56,-154.6,869.7,-10.1,686,7178,0.00,1.33,0.00,0.000,6,0.000,0.041,2074,2449,3734
$GC,7483,-0.56,-154.6,902.1,-10.5,717,7486,0.00,1.52,0.00,0.000,4,0.000,0.051,2074,1546,3732
$GC,7579,-0.56,-154.6,911.9,-10.8,726,7582,0.00,1.58,0.00,0.000,6,0.000,0.061,2066,2445,3732
$GC,7900,-0.56,-154.6,946.9,-11.1,757,7903,0.00,1.52,0.00,0.000,4,0.000,0.050,2066,1549,3730
$GC,7936,-0.56,-154.6,950.9,-10.5,760,7945,0.10,1.58,0.00,0.000,6,0.143,0.061,2094,2444,3730
$GC,8253,-0.56,-154.6,977.9,-8.3,791,8256,0.00,1.42,0.00,0.000,4,0.000,0.075,2089,3321,3729
$GC,8306,-0.56,-154.6,982.8,-9.2,796,8309,0.00,1.33,0.00,0.000,6,0.000,0.041,2089,2448,3727
$STATE,8388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8388,begin apogee
$GC,8393,-0.17,0.0,990.6,9.2,804,8512,0.43,0.00,112.62,1.252,6,0.126,0.000,2223,2375,3150
$STATE,8512,end apogee,CONTROL_FINISHED_OK
$STATE,8512,begin climb
$GC,8515,0.56,154.6,994.5,0.0,816,8650,0.65,1.52,128.70,1.223,4,0.077,0.043,2456,1468,2518
$GC,8693,0.56,154.6,984.3,10.4,831,8701,0.00,1.55,0.00,0.000,6,0.000,0.053,2456,2377,2514
$GC,9011,0.56,154.6,947.4,11.4,862,9012,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2377,2509
$GC,9320,0.56,154.6,912.3,11.6,892,9323,0.00,1.45,0.00,0.000,4,0.000,0.044,2463,1463,2508
$GC,9352,0.56,154.6,908.7,11.0,895,9355,0.00,1.48,0.00,0.000,6,0.000,0.055,2463,2371,2508
$GC,9673,0.56,154.6,870.7,11.9,926,9674,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2371,2506
$GC,9984,0.56,154.6,833.5,11.9,956,9984,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2371,2505
$GC,10294,0.56,154.6,797.1,11.5,986,10295,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2371,2505
$GC,10604,0.56,154.6,761.0,11.5,1016,10605,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2371,2504
$GC,10915,0.56,154.6,724.5,11.9,1046,10918,0.00,1.52,0.00,0.000,4,0.000,0.067,2463,3268,2503
$GC,10951,0.56,154.6,719.9,12.9,1049,10958,0.00,1.45,0.00,0.000,6,0.000,0.041,2470,2374,2502
$GC,11269,0.56,154.6,681.8,12.2,1080,11270,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2375,2502
$GC,11578,0.56,154.6,645.6,11.7,1110,11581,0.00,1.40,0.00,0.000,4,0.000,0.045,2476,1460,2501
$GC,11610,0.56,154.6,642.0,10.7,1113,11613,0.00,1.48,0.00,0.000,6,0.000,0.054,2476,2377,2501
$GC,11932,0.56,154.6,603.4,11.9,1144,11933,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2377,2501
$GC,12242,0.56,154.6,566.1,12.4,1174,12242,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2377,2500
$GC,12552,0.56,154.6,530.1,11.4,1204,12555,0.00,1.42,0.00,0.000,4,0.000,0.044,2483,1466,2500
$GC,12573,0.56,154.6,527.7,10.9,1206,12576,0.00,1.45,0.00,0.000,6,0.000,0.054,2483,2372,2500
$GC,12896,0.56,154.6,489.7,11.9,1237,12899,0.00,1.52,0.00,0.000,4,0.000,0.064,2483,3276,2500
$GC,12917,0.56,154.6,486.8,12.5,1239,12920,0.10,1.45,0.00,0.000,6,0.166,0.040,2460,2372,2499
$GC,13238,0.56,154.6,454.2,9.8,1270,13241,0.00,1.38,0.00,0.000,4,0.000,0.044,2465,1475,2499
$GC,13263,0.56,154.6,451.7,10.2,1272,13271,0.00,1.45,0.00,0.000,6,0.000,0.052,2465,2375,2499
$GC,13582,0.56,154.6,419.6,10.1,1303,13585,0.00,1.50,0.00,0.000,4,0.000,0.065,2465,3270,2500
$GC,13614,0.56,154.6,415.8,11.4,1306,13617,0.00,1.42,0.00,0.000,6,0.000,0.040,2472,2376,2499
$GC,13936,0.56,154.6,380.8,10.5,1337,13937,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2377,2500
$GC,14246,0.56,154.6,346.8,11.7,1367,14246,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2378,2500
$GC,14556,0.56,154.6,311.3,11.3,1397,14559,0.00,1.52,0.00,0.000,4,0.000,0.063,2471,3279,2500
$GC,14592,0.56,154.6,306.8,13.2,1400,14599,0.00,1.42,0.00,0.000,6,0.000,0.038,2477,2377,2500
$GC,14910,0.56,154.6,270.7,11.7,1431,14913,0.00,1.50,0.00,0.000,4,0.000,0.061,2478,3272,2501
$GC,14931,0.56,154.6,267.9,12.4,1433,14934,0.00,1.40,0.00,0.000,6,0.000,0.038,2485,2380,2501
$GC,15252,0.56,154.6,229.0,11.7,1464,15255,0.00,1.50,0.00,0.000,4,0.000,0.061,2485,3276,2501
$GC,15331,0.56,154.6,218.7,12.9,1471,15340,0.10,1.42,0.00,0.000,6,0.161,0.037,2461,2377,2501
$GC,15648,0.56,154.6,187.6,9.1,1502,15650,0.00,1.38,0.00,0.000,4,0.000,0.041,2466,1478,2502
$GC,15694,0.56,154.6,183.2,9.4,1506,15702,0.00,1.42,0.00,0.000,6,0.000,0.049,2466,2375,2503
$GC,16013,0.56,154.6,152.7,9.3,1537,16016,0.00,1.48,0.00,0.000,4,0.000,0.061,2466,3264,2504
$GC,16164,0.56,154.6,137.1,11.2,1551,16167,0.00,1.40,0.00,0.000,6,0.000,0.036,2472,2376,2504
$GC,16487,0.56,154.6,104.8,9.8,1582,16490,0.00,1.38,0.00,0.000,4,0.000,0.039,2479,1465,2504
$GC,16583,0.56,154.6,95.5,9.7,1591,16586,0.00,1.42,0.00,0.000,6,0.000,0.048,2479,2373,2505
$GC,16698,0.56,154.6,84.6,9.8,1602,16701,0.00,1.38,0.00,0.000,4,0.000,0.040,2486,1469,2506
$GC,16751,0.56,154.6,79.0,10.6,1607,16754,0.08,1.42,0.00,0.000,6,0.147,0.048,2461,2376,2506
$GC,16865,0.56,154.6,69.2,8.9,1618,16866,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2375,2506
$GC,16969,0.56,154.6,61.8,6.8,1628,16970,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2375,2506
$GC,17072,0.56,157.7,55.0,5.9,1638,17075,0.00,1.38,0.00,0.000,4,0.000,0.038,2466,1474,2507
$GC,17227,0.59,183.2,47.3,5.2,1652,17251,0.00,1.42,20.40,0.536,6,0.000,0.048,2466,2377,2402
$GC,17355,0.65,227.9,41.0,4.6,1664,17393,0.00,1.42,34.05,0.535,4,0.000,0.037,2472,1477,2219
$GC,17416,0.67,242.3,38.0,5.5,1669,17435,0.00,1.45,11.45,0.489,6,0.000,0.045,2472,2376,2163
$GC,17537,0.71,280.1,31.0,4.8,1681,17574,0.00,1.40,29.10,0.518,4,0.000,0.036,2477,1473,2007
$GC,17627,0.80,348.8,27.9,3.8,1689,17688,0.12,1.45,51.28,0.518,6,0.046,0.045,2564,2375,1725
$GC,17791,0.80,348.8,14.5,9.7,1704,17795,0.12,1.50,0.00,0.000,4,0.137,0.054,2532,3281,1719
$GC,17828,0.80,348.8,11.4,7.0,1707,17837,0.00,1.45,0.00,0.000,6,0.000,0.033,2537,2376,1718
$GC,17938,0.96,483.0,9.1,1.7,1718,18044,0.15,1.45,96.72,0.496,4,0.064,0.037,2604,1469,1178
$STATE,18116,end climb,SURFACE_DEPTH_REACHED
$STATE,18116,begin surface coast
$FINISH,0.6,1.018807
$STATE,18170,end surface coast,CONTROL_FINISHED_OK
$STATE,18170,begin surface
$SM_CCo,18185,82.70,0.475,0,0,601,625.01
$SM_GC,1.53,0.00,0.00,82.70,0.000,0.000,0.475,195,2445,601,-6.50,-0.11,625.01
$IRIDIUM_FIX,2828.55,-8821.81,241199,020223
$TT8_MAMPS,0.050622
$HUMID,2054
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,23.9,13.181
$10V_AH,10.7,20.725
$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,16.300,103.850,484.325,82.700,0.000,32.075,26.855,354.121,3.750,0.000,0.000,19.057,0.000,12008.786,607.763,5330.663,868.290,33.342,2156.715,0.000,4715.003,0.000,30.480,0.000
$DEVICE_MAMPS,243.139,75.166,1251.744,474.773,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,1195.133,1312.684,3909.208,4030.435,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123609,1739
$CAP_FILE_SIZE,179489,0
$CFSIZE,260165632,246099968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.067,279.7,1
$GPS,300810,145554,2837.739,-8827.853,24,0.9,42,-0.4