version: 66.04
glider: 515
mission: 5
dive: 58
start: 5 31 110 21 28 49
data:
$ID,515
$MISSION,5
$DIVE,58
$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,490
$T_MISSION,510
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51931
$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,575
$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,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4852.9985
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,159
$ROLL_MAX,3575
$ROLL_DEG,25
$C_ROLL_DIVE,2275
$C_ROLL_CLIMB,2270
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,-42.932224
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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,-1
$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
$GPS1,212136,2844.962,-8828.582,32,1.0,32,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-67.9
$GPS2,212750,2844.917,-8828.556,11,1.9,11,-0.4
$SPEED_LIMITS,0.117,0.253
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.141,-0.211
$KALMAN_X,-158553.4,920.7,558.8,198752.5,-7266.4
$KALMAN_Y,-9163.8,-1442.6,-798.6,3324.5,14704.8
$MHEAD_RNG_PITCHd_Wd,102.7,4814,-12.0,-6.735
$D_GRID,1398
$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,11,-0.61,-137.9,0.0,0.0,0,106,0.00,0.00,-92.80,0.000,2,0.000,0.000,198,2275,3045
$GC,108,-0.68,-194.6,3.3,-3.3,9,133,10.25,1.25,-11.50,0.000,4,0.265,0.061,2479,1377,3595
$GC,372,-0.68,-194.6,59.4,-15.6,33,379,0.00,1.27,0.00,0.000,6,0.000,0.037,2475,2278,3598
$GC,439,-0.68,-194.6,69.3,-15.2,40,443,0.00,1.23,0.00,0.000,4,0.000,0.038,2479,1378,3598
$GC,685,-0.68,-194.6,105.7,-15.0,63,689,0.00,1.25,0.00,0.000,6,0.000,0.038,2475,2275,3599
$GC,819,-0.68,-194.6,127.3,-16.2,76,823,0.00,1.23,0.00,0.000,4,0.000,0.038,2479,1367,3600
$GC,1012,-0.68,-194.6,157.8,-14.4,94,1015,0.00,1.25,0.00,0.000,6,0.000,0.038,2475,2271,3599
$GC,1147,-0.68,-194.6,177.5,-13.9,107,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2271,3599
$GC,1270,-0.68,-194.6,195.7,-14.4,119,1271,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2271,3599
$GC,1395,-0.68,-194.6,213.5,-14.1,131,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2271,3598
$GC,1519,-0.68,-194.6,230.8,-13.3,143,1520,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2271,3598
$GC,1643,-0.68,-194.6,248.1,-13.8,155,1647,0.00,1.20,0.00,0.000,4,0.000,0.040,2479,1379,3598
$GC,1792,-0.68,-194.6,268.2,-13.8,169,1796,0.00,1.23,0.00,0.000,6,0.000,0.040,2475,2268,3597
$GC,1927,-0.68,-194.6,287.3,-14.6,182,1928,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2268,3596
$GC,2051,-0.68,-194.6,304.4,-13.6,194,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2269,3596
$GC,2176,-0.68,-194.6,321.6,-13.9,206,2179,0.00,1.20,0.00,0.000,4,0.000,0.041,2479,1380,3595
$GC,2250,-0.68,-194.6,331.9,-13.3,213,2254,0.00,1.25,0.00,0.000,6,0.000,0.041,2474,2274,3595
$GC,2385,-0.68,-194.6,349.9,-13.6,226,2385,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2274,3595
$GC,2509,-0.68,-194.6,366.7,-13.3,238,2509,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2275,3594
$GC,2633,-0.68,-194.6,383.4,-13.3,250,2633,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2275,3593
$GC,2757,-0.68,-194.6,400.1,-13.6,262,2758,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2275,3592
$GC,2881,-0.68,-194.6,416.5,-13.2,274,2882,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2275,3591
$GC,3005,-0.68,-194.6,432.7,-12.9,286,3006,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2275,3591
$GC,3130,-0.68,-194.6,448.8,-13.1,298,3133,0.00,1.23,0.00,0.000,4,0.000,0.044,2478,1377,3589
$GC,3165,-0.68,-194.6,453.5,-12.0,301,3173,0.00,1.27,0.00,0.000,6,0.000,0.043,2473,2274,3589
$GC,3295,-0.68,-194.6,470.0,-13.0,314,3299,0.00,1.23,0.00,0.000,4,0.000,0.044,2473,1373,3587
$GC,3342,-0.68,-194.6,476.2,-12.5,318,3350,0.00,1.27,0.00,0.000,6,0.000,0.043,2468,2275,3588
$GC,3472,-0.68,-194.6,492.9,-13.3,331,3475,0.00,1.20,0.00,0.000,4,0.000,0.044,2468,1392,3587
$GC,3518,-0.68,-194.6,499.4,-13.5,335,3526,0.00,1.25,0.00,0.000,6,0.000,0.044,2462,2274,3587
$GC,3648,-0.68,-194.6,516.7,-14.2,348,3649,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2275,3585
$GC,3772,-0.68,-194.6,533.5,-13.5,360,3776,0.00,1.23,0.00,0.000,4,0.000,0.045,2462,1377,3585
$GC,3825,-0.68,-194.6,540.6,-12.9,365,3829,0.00,1.25,0.00,0.000,6,0.000,0.044,2458,2269,3584
$GC,3960,-0.68,-194.6,558.7,-13.9,378,3961,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2269,3583
$GC,4084,-0.68,-194.6,575.6,-13.8,390,4085,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2269,3582
$GC,4208,-0.68,-194.6,592.4,-13.5,402,4212,0.00,1.20,0.00,0.000,4,0.000,0.045,2458,1389,3581
$GC,4262,-0.68,-194.6,599.4,-12.8,407,4265,0.00,1.25,0.00,0.000,6,0.000,0.046,2453,2274,3580
$GC,4396,-0.68,-194.6,618.0,-14.0,420,4397,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2274,3580
$GC,4520,-0.68,-194.6,635.4,-14.2,432,4521,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2274,3578
$GC,4644,-0.68,-194.6,652.7,-13.5,444,4645,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2274,3577
$GC,4769,-0.68,-194.6,669.6,-13.6,456,4772,0.00,1.23,0.00,0.000,4,0.000,0.048,2453,1382,3576
$GC,4794,-0.68,-194.6,673.3,-13.6,458,4802,0.12,1.30,0.00,0.000,6,0.177,0.047,2476,2282,3576
$GC,4923,-0.68,-194.6,688.5,-12.0,471,4924,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2282,3575
$GC,5048,-0.68,-194.6,703.0,-12.0,483,5049,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2282,3574
$GC,5172,-0.68,-194.6,717.4,-11.4,495,5173,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2282,3574
$GC,5296,-0.68,-194.6,731.7,-11.7,507,5297,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2282,3573
$GC,5420,-0.68,-194.6,746.2,-11.9,519,5424,0.00,1.25,0.00,0.000,4,0.000,0.048,2477,1380,3572
$GC,5463,-0.68,-194.6,751.5,-11.9,523,5466,0.00,1.27,0.00,0.000,6,0.000,0.048,2473,2277,3572
$GC,5597,-0.68,-194.6,767.4,-12.1,536,5598,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2277,3570
$GC,5721,-0.68,-194.6,782.3,-12.2,548,5722,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2277,3570
$GC,5845,-0.68,-194.6,797.1,-12.0,560,5846,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2277,3569
$GC,5970,-0.68,-194.6,811.9,-11.8,572,5973,0.00,1.23,0.00,0.000,4,0.000,0.048,2473,1394,3568
$GC,6023,-0.68,-194.6,818.2,-12.5,577,6026,0.00,1.25,0.00,0.000,6,0.000,0.048,2468,2273,3568
$GC,6157,-0.68,-194.6,834.4,-12.1,590,6158,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2274,3567
$GC,6282,-0.68,-194.6,849.4,-12.1,602,6283,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2274,3567
$GC,6406,-0.68,-194.6,864.6,-12.0,614,6409,0.00,1.23,0.00,0.000,4,0.000,0.049,2468,1391,3565
$GC,6442,-0.68,-194.6,869.0,-11.8,617,6449,0.00,1.30,0.00,0.000,6,0.000,0.049,2462,2283,3565
$GC,6571,-0.68,-194.6,884.5,-12.0,630,6572,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2285,3564
$GC,6696,-0.68,-194.6,899.6,-12.1,642,6697,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2285,3564
$GC,6820,-0.68,-194.6,915.0,-11.8,654,6821,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2285,3563
$GC,6944,-0.68,-194.6,929.8,-11.8,666,6945,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2285,3563
$GC,7068,-0.68,-194.6,945.1,-12.8,678,7072,0.00,1.25,0.00,0.000,4,0.000,0.048,2462,1388,3562
$GC,7121,-0.68,-194.6,951.5,-12.2,683,7125,0.00,1.25,0.00,0.000,6,0.000,0.049,2457,2269,3562
$GC,7256,-0.68,-194.6,968.0,-12.8,696,7257,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2269,3561
$GC,7380,-0.68,-194.6,983.1,-12.2,708,7384,0.00,1.23,0.00,0.000,4,0.000,0.048,2458,1378,3560
$GC,7416,-0.68,-194.6,987.8,-12.3,711,7424,0.00,1.30,0.00,0.000,6,0.000,0.049,2452,2277,3560
$STATE,7441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7441,begin apogee
$GC,7444,-0.26,0.0,990.9,12.3,714,7596,0.55,0.00,148.93,1.257,6,0.166,0.000,2609,2278,2801
$STATE,7597,end apogee,CONTROL_FINISHED_OK
$STATE,7597,begin climb
$GC,7598,0.68,194.6,996.5,0.0,729,7766,1.02,0.00,163.40,1.224,6,0.120,0.000,2915,2277,2005
$GC,7889,0.68,194.6,967.0,12.7,758,7890,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2277,1997
$GC,8012,0.68,194.6,951.9,11.8,770,8013,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2278,1996
$GC,8136,0.68,194.6,937.0,11.8,782,8137,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2277,1994
$GC,8261,0.68,194.6,921.5,12.5,794,8264,0.00,1.27,0.00,0.000,4,0.000,0.050,2921,1390,1993
$GC,8292,0.68,194.6,917.5,12.3,797,8296,0.00,1.27,0.00,0.000,6,0.000,0.048,2920,2267,1993
$GC,8427,0.68,194.6,899.9,13.0,810,8428,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2267,1992
$GC,8551,0.68,194.6,883.7,13.4,822,8555,0.00,1.58,0.00,0.000,4,0.000,0.058,2921,3173,1992
$GC,8572,0.68,194.6,880.9,13.2,824,8576,0.00,1.48,0.00,0.000,6,0.000,0.039,2928,2281,1991
$GC,8707,0.68,194.6,862.6,13.9,837,8708,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2279,1990
$GC,8831,0.68,194.6,846.3,13.1,849,8834,0.00,1.27,0.00,0.000,4,0.000,0.046,2934,1377,1990
$GC,8863,0.68,194.6,842.2,12.7,852,8866,0.00,1.30,0.00,0.000,6,0.000,0.048,2934,2274,1990
$GC,8997,0.68,194.6,824.2,13.7,865,8998,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2275,1989
$GC,9121,0.68,194.6,807.5,13.6,877,9122,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2275,1989
$GC,9245,0.68,194.6,791.1,13.3,889,9246,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2275,1989
$GC,9369,0.68,194.6,775.3,12.2,901,9370,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2275,1989
$GC,9494,0.68,194.6,759.3,12.5,913,9497,0.00,1.27,0.00,0.000,4,0.000,0.046,2939,1363,1989
$GC,9525,0.68,194.6,755.3,12.6,916,9529,0.00,1.30,0.00,0.000,6,0.000,0.047,2939,2269,1989
$GC,9660,0.68,194.6,737.5,13.7,929,9664,0.00,1.52,0.00,0.000,4,0.000,0.058,2939,3159,1988
$GC,9681,0.68,194.6,734.5,14.3,931,9685,0.00,1.48,0.00,0.000,6,0.000,0.040,2946,2267,1987
$GC,9815,0.68,194.6,715.7,13.7,944,9819,0.00,1.25,0.00,0.000,4,0.000,0.045,2953,1372,1987
$GC,9841,0.68,194.6,711.9,15.3,946,9850,0.12,1.30,0.00,0.000,6,0.163,0.046,2922,2270,1987
$GC,9971,0.68,194.6,696.2,11.7,959,9972,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2271,1987
$GC,10095,0.68,194.6,681.4,12.3,971,10096,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2271,1987
$GC,10219,0.68,194.6,666.6,12.1,983,10223,0.00,1.52,0.00,0.000,4,0.000,0.057,2922,3163,1987
$GC,10240,0.68,194.6,664.0,13.0,985,10244,0.00,1.48,0.00,0.000,6,0.000,0.039,2927,2268,1986
$GC,10375,0.68,194.6,647.4,11.9,998,10376,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2268,1986
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$GC,15710,0.72,225.0,25.2,5.7,1513,15737,0.00,1.27,21.40,0.530,4,0.000,0.048,2951,1358,1882
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$STATE,16105,end climb,SURFACE_DEPTH_REACHED
$STATE,16105,begin surface coast
$FINISH,0.6,1.014005
$STATE,16148,end surface coast,CONTROL_FINISHED_OK
$STATE,16148,begin surface
$SM_CCo,16161,113.40,0.507,0,0,454,575.22
$SM_GC,1.41,0.00,0.00,113.40,0.000,0.000,0.507,200,2277,454,-7.81,0.06,575.22
$IRIDIUM_FIX,2840.83,-8833.89,250899,161622
$TT8_MAMPS,0.051389
$HUMID,1264
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.90
$XPDR_PINGS,12
$24V_AH,23.7,13.431
$10V_AH,10.6,16.162
$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,19.775,99.625,429.175,113.400,0.000,24.276,26.337,221.717,3.000,0.000,0.000,14.858,0.000,10606.446,720.386,4802.292,505.192,33.345,2149.511,0.000,4208.228,0.000,0.846,0.000
$DEVICE_MAMPS,265.382,60.593,1257.113,506.987,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1062.618,1149.882,3490.549,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82074,1553
$CAP_FILE_SIZE,198722,0
$CFSIZE,260165632,250744832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$CURRENT,0.092,215.6,1
$GPS,010610,020101,2843.872,-8826.372,38,1.5,38,-0.4