version: 66.04
glider: 515
mission: 2
dive: 100
start: 9 2 110 13 22 29
data:
$ID,515
$MISSION,2
$DIVE,100
$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,673.58282
$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,-29797.83
$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,22
$R_STBD_OVSHOOT,12
$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
$GPS1,130637,2835.701,-8816.127,32,1.5,32,-0.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-62.8
$GPS2,132150,2835.759,-8816.162,9,1.8,9,-0.5
$SPEED_LIMITS,0.104,0.229
$TGT_NAME,TARGET_CENTER
$TGT_LATLONG,2839.000,-8820.800
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.087,0.212
$KALMAN_X,184184.5,401.1,181.5,-164987.9,11063.5
$KALMAN_Y,-316752.2,410.5,-4946.4,272458.9,-39259.2
$MHEAD_RNG_PITCHd_Wd,315.7,9636,-8.7,-6.000
$D_GRID,1937
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.50,-170.4,0.0,0.0,0,84,0.00,0.00,-66.00,0.000,2,0.000,0.000,193,2449,2469
$GC,86,-0.50,-170.4,3.2,-3.7,7,135,7.85,1.40,-34.08,0.000,4,0.241,0.072,2100,3326,3845
$GC,374,-0.50,-170.4,64.7,-13.3,33,381,0.00,1.33,0.00,0.000,6,0.000,0.028,2100,2442,3847
$GC,484,-0.50,-170.4,79.0,-13.3,44,487,0.00,1.42,0.00,0.000,4,0.000,0.056,2093,3325,3847
$GC,548,-0.50,-170.4,87.7,-14.3,50,551,0.00,1.30,0.00,0.000,6,0.000,0.030,2093,2447,3848
$GC,663,-0.50,-170.4,103.7,-14.0,61,665,0.00,1.48,0.00,0.000,4,0.000,0.038,2092,1530,3848
$GC,720,-0.50,-170.4,111.7,-13.1,66,727,0.00,1.55,0.00,0.000,6,0.000,0.046,2085,2446,3848
$GC,1039,-0.50,-170.4,154.0,-13.1,97,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2446,3848
$GC,1347,-0.50,-170.4,193.4,-12.9,127,1350,0.00,1.48,0.00,0.000,4,0.000,0.038,2085,1545,3845
$GC,1444,-0.50,-170.4,205.5,-12.6,136,1447,0.08,1.55,0.00,0.000,6,0.108,0.048,2117,2453,3844
$GC,1765,-0.50,-170.4,236.7,-9.2,167,1765,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2452,3842
$GC,2075,-0.50,-170.4,265.4,-9.0,197,2079,0.00,1.50,0.00,0.000,4,0.000,0.041,2118,1549,3840
$GC,2118,-0.50,-170.4,269.5,-9.3,201,2121,0.00,1.52,0.00,0.000,6,0.000,0.050,2112,2447,3839
$GC,2440,-0.50,-170.4,300.9,-9.9,232,2443,0.00,1.48,0.00,0.000,4,0.000,0.041,2113,1549,3837
$GC,2472,-0.50,-170.4,304.2,-9.5,235,2475,0.00,1.52,0.00,0.000,6,0.000,0.051,2106,2445,3836
$GC,2795,-0.50,-170.4,336.6,-10.0,266,2796,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2445,3834
$GC,3104,-0.50,-170.4,368.2,-10.5,296,3105,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2445,3830
$GC,3414,-0.50,-170.4,400.0,-10.6,326,3415,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2445,3828
$GC,3725,-0.50,-170.4,431.4,-10.2,356,3726,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2445,3825
$GC,4035,-0.50,-170.4,461.9,-9.7,386,4036,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2445,3823
$GC,4346,-0.50,-170.4,493.6,-10.1,416,4347,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2445,3821
$GC,4656,-0.50,-170.4,524.8,-10.0,446,4657,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2445,3818
$GC,4967,-0.50,-170.4,555.6,-9.7,476,4970,0.00,1.50,0.00,0.000,4,0.000,0.047,2106,1548,3815
$GC,5020,-0.50,-170.4,560.7,-9.8,481,5023,0.00,1.55,0.00,0.000,6,0.000,0.056,2099,2449,3815
$GC,5342,-0.50,-170.4,592.2,-9.5,512,5343,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2449,3813
$GC,5651,-0.50,-170.4,623.0,-9.7,542,5652,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2449,3812
$GC,5962,-0.50,-170.4,654.6,-10.3,572,5965,0.00,1.50,0.00,0.000,4,0.000,0.048,2099,1556,3811
$GC,6019,-0.50,-170.4,660.5,-10.1,577,6026,0.00,1.55,0.00,0.000,6,0.000,0.056,2092,2451,3810
$GC,6337,-0.50,-170.4,692.7,-10.0,608,6338,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2451,3808
$GC,6647,-0.50,-170.4,723.7,-10.4,638,6650,0.00,1.50,0.00,0.000,4,0.000,0.048,2092,1556,3805
$GC,6678,-0.50,-170.4,726.8,-10.2,641,6681,0.00,1.55,0.00,0.000,6,0.000,0.057,2085,2451,3806
$GC,7001,-0.50,-170.4,761.0,-10.4,672,7002,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2450,3803
$GC,7310,-0.50,-170.4,792.8,-10.2,702,7311,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2450,3802
$GC,7620,-0.50,-170.4,824.1,-9.8,732,7621,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2450,3800
$GC,7932,-0.50,-170.4,854.8,-10.3,762,7933,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2450,3799
$GC,8241,-0.50,-170.4,886.2,-10.1,792,8244,0.00,1.52,0.00,0.000,4,0.000,0.051,2085,1549,3796
$GC,8277,-0.50,-170.4,890.0,-10.2,795,8289,0.08,1.55,0.00,0.000,6,0.140,0.058,2107,2445,3796
$GC,8594,-0.50,-170.4,917.1,-8.6,826,8595,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2445,3796
$GC,8904,-0.50,-170.4,943.5,-8.4,856,8907,0.00,1.52,0.00,0.000,4,0.000,0.051,2107,1540,3794
$GC,8947,-0.50,-170.4,946.9,-8.1,860,8950,0.00,1.58,0.00,0.000,6,0.000,0.059,2102,2449,3793
$GC,9268,-0.50,-170.4,974.8,-8.8,891,9268,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2448,3793
$STATE,9442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9442,begin apogee
$GC,9447,-0.17,0.0,990.8,9.7,908,9576,0.38,0.00,125.90,1.255,6,0.119,0.000,2222,2378,3150
$STATE,9577,end apogee,CONTROL_FINISHED_OK
$STATE,9577,begin climb
$GC,9579,0.50,170.4,996.2,0.0,921,9726,0.60,1.50,141.90,1.226,4,0.076,0.042,2439,1476,2455
$GC,9744,0.50,170.4,990.2,7.9,935,9747,0.00,1.55,0.00,0.000,6,0.000,0.052,2439,2379,2452
$GC,10066,0.50,170.4,957.5,10.0,966,10069,0.00,1.45,0.00,0.000,4,0.000,0.043,2446,1473,2445
$GC,10109,0.50,170.4,953.1,10.2,970,10112,0.00,1.48,0.00,0.000,6,0.000,0.052,2446,2377,2445
$GC,10430,0.50,170.4,917.8,11.3,1001,10431,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2377,2444
$GC,10740,0.50,170.4,883.7,10.8,1031,10743,0.00,1.42,0.00,0.000,4,0.000,0.044,2452,1470,2442
$GC,10773,0.50,170.4,880.3,11.3,1034,10775,0.00,1.45,0.00,0.000,6,0.000,0.051,2452,2376,2443
$GC,11095,0.50,170.4,843.3,11.6,1065,11096,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2375,2441
$GC,11404,0.50,170.4,808.2,11.8,1095,11405,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2375,2441
$GC,11714,0.50,170.4,773.3,11.0,1125,11717,0.00,1.52,0.00,0.000,4,0.000,0.065,2452,3262,2440
$GC,11735,0.50,170.4,770.7,11.3,1127,11739,0.00,1.45,0.00,0.000,6,0.000,0.040,2459,2375,2439
$GC,12058,0.50,170.4,733.8,11.3,1158,12059,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2375,2439
$GC,12367,0.50,170.4,698.7,11.5,1188,12368,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2375,2439
$GC,12678,0.50,170.4,664.3,11.3,1218,12678,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2375,2438
$GC,12988,0.50,170.4,630.6,11.2,1248,12991,0.00,1.38,0.00,0.000,4,0.000,0.045,2466,1479,2438
$GC,13013,0.50,170.4,627.9,11.3,1250,13021,0.08,1.42,0.00,0.000,6,0.151,0.051,2442,2374,2438
$GC,13330,0.50,170.4,596.3,9.8,1281,13333,0.00,1.52,0.00,0.000,4,0.000,0.064,2442,3270,2438
$GC,13373,0.50,170.4,591.7,10.4,1285,13376,0.00,1.45,0.00,0.000,6,0.000,0.040,2447,2376,2437
$GC,13696,0.50,170.4,559.9,9.8,1316,13696,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2375,2437
$GC,14004,0.50,170.4,529.3,9.8,1346,14005,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2375,2437
$GC,14315,0.50,170.4,499.1,9.6,1376,14318,0.00,1.38,0.00,0.000,4,0.000,0.044,2454,1475,2437
$GC,14390,0.50,170.4,491.9,9.1,1383,14393,0.00,1.42,0.00,0.000,6,0.000,0.052,2454,2375,2437
$GC,14713,0.50,170.4,459.9,9.7,1414,14713,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2374,2437
$GC,15021,0.50,170.4,429.0,10.2,1444,15024,0.00,1.50,0.00,0.000,4,0.000,0.064,2454,3261,2437
$GC,15047,0.50,170.4,426.3,9.8,1446,15054,0.00,1.42,0.00,0.000,6,0.000,0.038,2461,2378,2437
$GC,15365,0.50,170.4,393.4,9.8,1477,15366,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2378,2437
$GC,15674,0.50,170.4,360.1,10.7,1507,15677,0.00,1.52,0.00,0.000,4,0.000,0.062,2461,3269,2437
$GC,15706,0.50,170.4,356.4,10.8,1510,15709,0.08,1.45,0.00,0.000,6,0.158,0.039,2443,2374,2438
$GC,16027,0.50,170.4,325.7,9.4,1541,16030,0.00,1.52,0.00,0.000,4,0.000,0.061,2442,3264,2438
$GC,16102,0.50,170.4,317.8,10.5,1548,16105,0.00,1.42,0.00,0.000,6,0.000,0.038,2448,2377,2438
$GC,16424,0.50,170.4,286.0,10.0,1579,16427,0.00,1.38,0.00,0.000,4,0.000,0.041,2454,1470,2439
$GC,16471,0.50,170.4,281.3,10.8,1583,16478,0.00,1.42,0.00,0.000,6,0.000,0.048,2454,2375,2439
$GC,16789,0.50,170.4,248.2,10.6,1614,16790,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2375,2440
$GC,17098,0.50,170.4,216.1,9.8,1644,17099,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2375,2440
$GC,17408,0.50,170.4,184.9,9.5,1674,17411,0.00,1.38,0.00,0.000,4,0.000,0.040,2460,1481,2441
$GC,17466,0.50,170.4,179.5,8.9,1679,17473,0.00,1.40,0.00,0.000,6,0.000,0.047,2460,2376,2441
$GC,17784,0.50,170.4,146.7,10.0,1710,17787,0.00,1.50,0.00,0.000,4,0.000,0.060,2460,3272,2442
$GC,17810,0.50,170.4,143.8,12.0,1712,17817,0.08,1.42,0.00,0.000,6,0.150,0.035,2443,2378,2442
$GC,18126,0.50,170.4,116.1,8.5,1743,18129,0.00,1.35,0.00,0.000,4,0.000,0.039,2448,1478,2443
$GC,18169,0.50,170.4,112.5,7.0,1747,18172,0.00,1.40,0.00,0.000,6,0.000,0.047,2448,2375,2443
$GC,18492,0.50,170.4,85.1,8.0,1778,18495,0.00,1.38,0.00,0.000,4,0.000,0.038,2453,1471,2443
$GC,18545,0.50,170.4,80.5,8.5,1783,18548,0.00,1.42,0.00,0.000,6,0.000,0.046,2454,2381,2444
$GC,18659,0.50,170.4,71.1,8.2,1794,18662,0.00,1.48,0.00,0.000,4,0.000,0.058,2454,3269,2444
$GC,18681,0.50,170.4,69.3,9.0,1796,18683,0.00,1.42,0.00,0.000,6,0.000,0.035,2461,2375,2444
$GC,18795,0.50,170.4,59.2,8.7,1807,18798,0.00,1.35,0.00,0.000,4,0.000,0.038,2468,1468,2444
$GC,18827,0.50,170.4,56.7,7.9,1810,18830,0.08,1.42,0.00,0.000,6,0.133,0.046,2442,2381,2444
$GC,18941,0.50,170.4,49.4,6.5,1821,18944,0.00,1.48,0.00,0.000,4,0.000,0.058,2442,3270,2444
$GC,18994,0.50,170.4,45.7,7.5,1826,18997,0.00,1.42,0.00,0.000,6,0.000,0.035,2447,2375,2445
$GC,19108,0.65,288.5,40.8,3.1,1837,19198,0.10,1.42,85.75,0.548,4,0.076,0.037,2505,1465,1971
$GC,19221,0.65,292.3,34.6,5.9,1846,19233,0.00,1.48,3.65,0.330,6,0.000,0.044,2505,2382,1959
$GC,19336,0.66,298.5,27.3,5.9,1857,19349,0.00,1.50,5.75,0.418,4,0.000,0.055,2505,3263,1933
$GC,19545,0.83,440.1,19.3,2.6,1876,19653,0.00,1.42,103.85,0.514,6,0.000,0.032,2511,2376,1354
$GC,19756,0.83,440.1,8.2,7.4,1895,19759,0.00,1.40,0.00,0.000,4,0.000,0.038,2511,1468,1348
$STATE,19829,end climb,SURFACE_DEPTH_REACHED
$STATE,19829,begin surface coast
$FINISH,0.9,1.020754
$STATE,19861,end surface coast,CONTROL_FINISHED_OK
$STATE,19861,begin surface
$SM_CCo,19876,119.78,0.481,0,0,402,673.58
$SM_GC,1.64,0.00,0.00,119.78,0.000,0.000,0.481,189,2446,402,-6.51,-0.11,673.58
$IRIDIUM_FIX,2826.10,-8740.11,271199,131316
$TT8_MAMPS,0.051389
$HUMID,2084
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.8,15.133
$10V_AH,10.6,24.555
$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,15.475,93.850,466.800,119.775,0.000,127.674,375.797,0.000,3.750,0.000,0.000,11.317,0.000,13592.171,622.551,5700.312,946.911,33.344,2226.195,0.000,5045.428,0.000,30.156,0.000
$DEVICE_MAMPS,240.838,72.098,1254.812,480.909,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,1311.274,1435.722,4281.848,4407.261,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132916,1905
$CAP_FILE_SIZE,178320,0
$CFSIZE,260165632,244543488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.046,211.6,1
$GPS,020910,185637,2837.386,-8818.537,29,1.4,29,-0.5