version: 66.04
glider: 515
mission: 2
dive: 104
start: 9 3 110 12 31 1
data:
$ID,515
$MISSION,2
$DIVE,104
$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,-29859.029
$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,28
$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
$GPS1,122007,2835.982,-8825.159,33,0.9,33,-0.4
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-67.1
$GPS2,123020,2835.917,-8825.175,10,1.4,10,-0.4
$SPEED_LIMITS,0.104,0.229
$TGT_NAME,TARGET_NW
$TGT_LATLONG,2839.000,-8829.600
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.052,0.223
$KALMAN_X,180043.3,479.0,23.5,-175353.7,-1358.5
$KALMAN_Y,-336505.0,-301.4,-156.3,288416.4,-18960.7
$MHEAD_RNG_PITCHd_Wd,315.4,9183,-10.2,-6.000
$D_GRID,1677
$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,-0.51,-140.9,0.0,0.0,0,82,0.00,0.00,-67.25,0.000,2,0.000,0.000,192,2450,2332
$GC,85,-0.55,-170.4,3.3,-3.6,7,133,7.88,1.42,-36.40,0.000,4,0.241,0.071,2087,3336,3848
$GC,305,-0.55,-170.4,54.1,-14.1,27,307,0.00,1.33,0.00,0.000,6,0.000,0.029,2087,2456,3848
$GC,419,-0.55,-170.4,70.6,-14.2,38,422,0.00,1.50,0.00,0.000,4,0.000,0.038,2087,1536,3849
$GC,487,-0.55,-170.4,80.4,-13.8,44,495,0.00,1.55,0.00,0.000,6,0.000,0.044,2080,2450,3848
$GC,597,-0.55,-170.4,96.2,-15.1,55,600,0.00,1.50,0.00,0.000,4,0.000,0.037,2080,1538,3849
$GC,661,-0.55,-170.4,105.5,-14.1,61,664,0.00,1.55,0.00,0.000,6,0.000,0.045,2072,2450,3849
$GC,983,-0.55,-170.4,153.1,-14.7,92,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2450,3849
$GC,1293,-0.55,-170.4,196.4,-13.8,122,1295,0.00,1.50,0.00,0.000,4,0.000,0.039,2072,1532,3848
$GC,1367,-0.55,-170.4,206.1,-13.1,129,1371,0.08,1.55,0.00,0.000,6,0.114,0.047,2102,2450,3848
$GC,1688,-0.55,-170.4,241.2,-11.2,160,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2450,3845
$GC,1999,-0.55,-170.4,275.5,-11.4,190,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,2103,2449,3843
$GC,2309,-0.55,-170.4,309.8,-11.2,220,2313,0.00,1.50,0.00,0.000,4,0.000,0.041,2103,1538,3840
$GC,2356,-0.55,-170.4,315.1,-9.6,224,2365,0.00,1.55,0.00,0.000,6,0.000,0.049,2097,2450,3839
$GC,2675,-0.55,-170.4,351.4,-11.6,255,2676,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2449,3837
$GC,2984,-0.55,-170.4,386.8,-11.6,285,2986,0.00,1.50,0.00,0.000,4,0.000,0.043,2097,1537,3834
$GC,3037,-0.55,-170.4,392.5,-9.8,290,3040,0.00,1.55,0.00,0.000,6,0.000,0.051,2090,2450,3833
$GC,3360,-0.55,-170.4,428.5,-11.3,321,3361,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2449,3830
$GC,3668,-0.55,-170.4,462.5,-11.0,351,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2449,3828
$GC,3979,-0.55,-170.4,497.3,-11.1,381,3980,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2449,3826
$GC,4289,-0.55,-170.4,532.7,-11.6,411,4292,0.00,1.50,0.00,0.000,4,0.000,0.045,2090,1552,3823
$GC,4347,-0.55,-170.4,539.3,-11.0,416,4355,0.00,1.55,0.00,0.000,6,0.000,0.054,2083,2450,3822
$GC,4665,-0.55,-170.4,575.9,-11.7,447,4667,0.00,1.50,0.00,0.000,4,0.000,0.045,2082,1546,3820
$GC,4707,-0.55,-170.4,581.0,-11.1,451,4710,0.00,1.55,0.00,0.000,6,0.000,0.056,2075,2449,3820
$GC,5030,-0.55,-170.4,619.2,-11.4,482,5031,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2448,3817
$GC,5339,-0.55,-170.4,656.1,-11.5,512,5342,0.00,1.50,0.00,0.000,4,0.000,0.048,2075,1554,3814
$GC,5386,-0.55,-170.4,661.8,-11.0,516,5394,0.00,1.55,0.00,0.000,6,0.000,0.057,2068,2450,3813
$GC,5703,-0.55,-170.4,699.1,-11.7,547,5707,0.12,1.48,0.00,0.000,4,0.148,0.046,2103,1550,3812
$GC,5740,-0.55,-170.4,703.1,-9.4,550,5747,0.00,1.55,0.00,0.000,6,0.000,0.056,2098,2447,3812
$GC,6058,-0.55,-170.4,732.5,-9.3,581,6061,0.00,1.50,0.00,0.000,4,0.000,0.072,2090,3336,3811
$GC,6084,-0.55,-170.4,735.3,-9.7,583,6091,0.00,1.38,0.00,0.000,6,0.000,0.038,2090,2450,3810
$GC,6402,-0.55,-170.4,766.9,-10.1,614,6405,0.00,1.50,0.00,0.000,4,0.000,0.049,2090,1550,3808
$GC,6466,-0.55,-170.4,773.5,-10.3,620,6469,0.00,1.58,0.00,0.000,6,0.000,0.058,2083,2452,3808
$GC,6789,-0.55,-170.4,807.2,-10.7,651,6790,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2452,3806
$GC,7098,-0.55,-170.4,839.9,-10.7,681,7101,0.00,1.55,0.00,0.000,4,0.000,0.051,2083,1543,3804
$GC,7144,-0.55,-170.4,845.1,-10.8,685,7152,0.00,1.58,0.00,0.000,6,0.000,0.059,2076,2447,3803
$GC,7462,-0.55,-170.4,880.2,-11.0,716,7463,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2447,3802
$GC,7772,-0.55,-170.4,914.0,-10.5,746,7775,0.00,1.52,0.00,0.000,4,0.000,0.050,2076,1545,3799
$GC,7825,-0.55,-170.4,919.6,-10.6,751,7829,0.00,1.58,0.00,0.000,6,0.000,0.059,2068,2448,3800
$GC,8146,-0.55,-170.4,955.1,-11.2,782,8146,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2448,3798
$GC,8456,-0.55,-170.4,989.2,-11.1,812,8459,0.00,1.52,0.00,0.000,4,0.000,0.051,2068,1554,3797
$STATE,8466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8466,begin apogee
$GC,8472,-0.17,0.0,990.2,10.9,813,8601,0.47,0.00,126.70,1.253,6,0.131,0.000,2216,2379,3150
$STATE,8602,end apogee,CONTROL_FINISHED_OK
$STATE,8602,begin climb
$GC,8604,0.55,170.4,995.3,0.0,826,8752,0.68,0.00,141.98,1.223,6,0.081,0.000,2446,2379,2454
$GC,9061,0.55,170.4,954.4,11.4,870,9064,0.00,1.45,0.00,0.000,4,0.000,0.044,2453,1480,2445
$GC,9114,0.55,170.4,948.3,11.0,875,9117,0.00,1.48,0.00,0.000,6,0.000,0.054,2453,2377,2445
$GC,9437,0.55,170.4,910.7,11.5,906,9437,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2376,2444
$GC,9746,0.55,170.4,874.3,11.6,936,9749,0.00,1.42,0.00,0.000,4,0.000,0.043,2459,1477,2443
$GC,9767,0.55,170.4,871.7,12.8,938,9770,0.00,1.45,0.00,0.000,6,0.000,0.054,2459,2374,2443
$GC,10090,0.55,170.4,832.7,11.9,969,10091,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2374,2441
$GC,10399,0.55,170.4,794.8,12.4,999,10399,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2373,2441
$GC,10709,0.55,170.4,757.7,11.8,1029,10712,0.00,1.55,0.00,0.000,4,0.000,0.064,2459,3271,2439
$GC,10756,0.55,170.4,751.6,13.5,1033,10764,0.00,1.45,0.00,0.000,6,0.000,0.039,2466,2378,2439
$GC,11075,0.55,170.4,713.0,12.0,1064,11077,0.00,1.52,0.00,0.000,4,0.000,0.065,2466,3264,2438
$GC,11107,0.55,170.4,708.5,13.5,1067,11110,0.00,1.45,0.00,0.000,6,0.000,0.040,2473,2373,2438
$GC,11429,0.55,170.4,669.1,12.0,1098,11430,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2373,2438
$GC,11739,0.55,170.4,630.7,12.4,1128,11739,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2373,2437
$GC,12049,0.55,170.4,593.7,11.7,1158,12052,0.00,1.38,0.00,0.000,4,0.000,0.044,2480,1479,2437
$GC,12070,0.55,170.4,591.3,12.1,1160,12073,0.00,1.45,0.00,0.000,6,0.000,0.051,2480,2381,2436
$GC,12392,0.55,170.4,551.4,12.2,1191,12395,0.00,1.42,0.00,0.000,4,0.000,0.044,2486,1463,2436
$GC,12428,0.55,170.4,546.8,11.0,1194,12436,0.10,1.45,0.00,0.000,6,0.154,0.051,2455,2377,2436
$GC,12745,0.55,170.4,514.1,9.9,1225,12748,0.00,1.40,0.00,0.000,4,0.000,0.043,2460,1479,2436
$GC,12813,0.55,170.4,507.1,10.4,1231,12820,0.00,1.42,0.00,0.000,6,0.000,0.051,2460,2376,2436
$GC,13132,0.55,170.4,473.8,10.7,1262,13133,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2375,2436
$GC,13440,0.55,170.4,440.5,11.1,1292,13441,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2375,2436
$GC,13751,0.55,170.4,406.6,11.0,1322,13754,0.00,1.52,0.00,0.000,4,0.000,0.063,2460,3275,2436
$GC,13772,0.55,170.4,404.0,12.8,1324,13775,0.00,1.45,0.00,0.000,6,0.000,0.038,2467,2374,2436
$GC,14094,0.55,170.4,367.0,10.9,1355,14094,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2374,2436
$GC,14404,0.55,170.4,332.0,11.0,1385,14405,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2374,2436
$GC,14715,0.55,170.4,297.2,10.7,1415,14716,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2374,2437
$GC,15025,0.55,170.4,262.5,10.4,1445,15028,0.00,1.52,0.00,0.000,4,0.000,0.061,2466,3267,2438
$GC,15089,0.55,170.4,254.3,12.4,1451,15092,0.00,1.42,0.00,0.000,6,0.000,0.038,2474,2376,2438
$GC,15412,0.55,170.4,217.3,11.5,1482,15413,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2376,2439
$GC,15720,0.55,170.4,180.5,12.0,1512,15721,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2376,2440
$GC,16031,0.55,170.4,143.9,12.2,1542,16034,0.00,1.52,0.00,0.000,4,0.000,0.059,2474,3276,2441
$GC,16074,0.55,170.4,138.3,12.5,1546,16076,0.00,1.45,0.00,0.000,6,0.000,0.035,2481,2370,2440
$GC,16395,0.55,170.4,101.5,11.3,1577,16398,0.00,1.35,0.00,0.000,4,0.000,0.039,2488,1474,2441
$GC,16427,0.55,170.4,98.0,10.5,1580,16430,0.10,1.42,0.00,0.000,6,0.139,0.046,2455,2381,2442
$GC,16540,0.55,170.4,87.8,9.3,1591,16544,0.00,1.48,0.00,0.000,4,0.000,0.059,2454,3266,2442
$GC,16562,0.55,170.4,86.0,9.3,1593,16565,0.00,1.42,0.00,0.000,6,0.000,0.035,2460,2373,2442
$GC,16676,0.55,170.4,75.7,8.6,1604,16679,0.00,1.35,0.00,0.000,4,0.000,0.039,2466,1476,2442
$GC,16730,0.55,170.4,71.3,7.6,1609,16733,0.00,1.40,0.00,0.000,6,0.000,0.046,2467,2374,2443
$GC,16844,0.55,170.4,61.0,8.9,1620,16847,0.00,1.50,0.00,0.000,4,0.000,0.058,2467,3275,2443
$GC,16887,0.55,170.4,57.0,8.3,1624,16890,0.00,1.42,0.00,0.000,6,0.000,0.035,2474,2376,2443
$GC,17001,0.55,170.4,47.1,7.7,1635,17004,0.00,1.50,0.00,0.000,4,0.000,0.057,2474,3265,2443
$GC,17044,0.55,170.4,43.3,8.6,1639,17047,0.00,1.42,0.00,0.000,6,0.000,0.035,2481,2372,2443
$GC,17159,0.55,170.4,35.3,6.1,1650,17160,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2372,2443
$GC,17262,0.66,260.0,30.7,3.4,1660,17335,0.00,1.40,64.85,0.544,4,0.000,0.037,2487,1473,2088
$GC,17575,0.75,337.2,19.6,3.8,1688,17635,0.00,1.42,56.40,0.521,6,0.000,0.044,2487,2376,1774
$GC,17746,0.93,481.3,14.1,1.8,1704,17854,0.22,0.00,104.97,0.508,6,0.100,0.000,2564,2376,1187
$GC,17955,0.96,504.2,6.8,5.3,1723,17979,0.00,1.40,17.73,0.466,4,0.000,0.035,2564,1462,1092
$GC,17993,0.96,504.2,4.4,6.3,1726,18001,0.00,1.48,0.00,0.000,6,0.000,0.042,2560,2376,1091
$STATE,18028,end climb,SURFACE_DEPTH_REACHED
$STATE,18028,begin surface coast
$FINISH,0.8,1.017868
$STATE,18080,end surface coast,CONTROL_FINISHED_OK
$STATE,18081,begin surface
$SM_CCo,18095,69.30,0.482,0,0,600,625.01
$SM_GC,1.69,0.00,0.00,69.30,0.000,0.000,0.482,193,2451,600,-6.50,0.06,625.01
$IRIDIUM_FIX,2823.64,-8824.33,281199,050500
$TT8_MAMPS,0.051389
$HUMID,2104
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,23.9,15.743
$10V_AH,10.7,25.690
$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,15.925,94.650,512.625,69.300,0.000,31.710,32.610,377.628,3.750,0.000,0.000,12.016,0.000,12018.049,618.576,5216.087,873.631,33.358,2119.950,0.000,4618.179,0.000,28.363,0.000
$DEVICE_MAMPS,240.838,72.098,1253.278,481.676,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,1192.367,1307.985,3900.001,4015.052,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123280,1735
$CAP_FILE_SIZE,173987,0
$CFSIZE,260165632,244170752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036,269.5,1
$GPS,030910,173437,2837.722,-8827.893,28,0.8,28,-0.4