version: 66.04
glider: 515
mission: 5
dive: 59
start: 6 1 110 2 13 8
data:
$ID,515
$MISSION,5
$DIVE,59
$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,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4869.1602
$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,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,20
$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
$GPS1,020101,2843.872,-8826.372,38,1.5,38,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-68.4
$GPS2,021126,2843.867,-8826.422,13,1.6,13,-0.4
$SPEED_LIMITS,0.117,0.253
$TGT_NAME,NEW0528C
$TGT_LATLONG,2842.500,-8831.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.017,-0.253
$KALMAN_X,-158193.0,683.4,576.6,202115.4,-6103.4
$KALMAN_Y,-5884.2,-1768.7,-745.6,-1657.7,16544.1
$MHEAD_RNG_PITCHd_Wd,267.2,7856,-13.9,-6.735
$D_GRID,1452
$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,12,-0.65,-109.8,0.0,0.0,0,117,0.00,0.00,-101.10,0.000,6,0.000,0.000,200,2279,3249
$GC,118,-0.75,-190.7,3.6,-3.4,10,143,10.18,0.00,-6.55,0.000,6,0.268,0.000,2449,2279,3577
$GC,201,-0.75,-190.7,28.3,-24.1,18,202,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2279,3578
$GC,263,-0.75,-190.7,41.2,-20.5,24,267,0.00,1.35,0.00,0.000,4,0.000,0.038,2455,1301,3578
$GC,509,-0.75,-190.7,81.2,-15.7,47,512,0.00,1.20,0.00,0.000,6,0.000,0.035,2451,2215,3580
$GC,582,-0.75,-190.7,93.0,-16.5,54,585,0.00,1.20,0.00,0.000,4,0.000,0.036,2455,1298,3580
$GC,827,-0.75,-190.7,135.5,-18.1,77,831,0.00,1.17,0.00,0.000,6,0.000,0.034,2451,2206,3580
$GC,961,-0.75,-190.7,158.3,-16.8,90,965,0.00,1.15,0.00,0.000,4,0.000,0.036,2454,1305,3580
$GC,1207,-0.75,-190.7,197.9,-16.3,113,1211,0.00,1.15,0.00,0.000,6,0.000,0.035,2451,2201,3580
$GC,1342,-0.75,-190.7,218.5,-14.0,126,1345,0.00,1.15,0.00,0.000,4,0.000,0.037,2455,1300,3579
$GC,1587,-0.75,-190.7,255.0,-15.7,149,1591,0.00,1.17,0.00,0.000,6,0.000,0.035,2451,2205,3578
$GC,1722,-0.75,-190.7,274.9,-15.3,162,1726,0.00,1.17,0.00,0.000,4,0.000,0.037,2455,1294,3578
$GC,1968,-0.75,-190.7,312.0,-14.5,185,1971,0.00,1.17,0.00,0.000,6,0.000,0.036,2451,2202,3577
$GC,2102,-0.75,-190.7,332.0,-15.1,198,2106,0.00,1.52,0.00,0.000,4,0.000,0.046,2444,3079,3576
$GC,2348,-0.75,-190.7,370.6,-15.5,221,2352,0.00,1.48,0.00,0.000,6,0.000,0.035,2444,2214,3574
$GC,2482,-0.75,-190.7,391.4,-15.2,234,2486,0.00,1.52,0.00,0.000,4,0.000,0.047,2437,3085,3573
$GC,2728,-0.75,-190.7,429.4,-16.3,257,2732,0.00,1.52,0.00,0.000,6,0.000,0.036,2440,2198,3571
$GC,2863,-0.75,-190.7,450.6,-15.9,270,2866,0.00,1.15,0.00,0.000,4,0.000,0.044,2441,1292,3570
$GC,3108,-0.75,-190.7,487.5,-15.8,293,3112,0.00,1.20,0.00,0.000,6,0.000,0.041,2438,2201,3568
$GC,3243,-0.75,-190.7,508.0,-15.4,306,3246,0.00,1.17,0.00,0.000,4,0.000,0.043,2438,1301,3566
$GC,3488,-0.75,-190.7,545.4,-15.0,329,3492,0.00,1.20,0.00,0.000,6,0.000,0.042,2435,2205,3565
$GC,3623,-0.75,-190.7,565.9,-15.0,342,3627,0.00,1.20,0.00,0.000,4,0.000,0.044,2435,1290,3564
$GC,3869,-0.75,-190.7,602.9,-14.8,365,3873,0.00,1.20,0.00,0.000,6,0.000,0.043,2431,2201,3561
$GC,4004,-0.75,-190.7,623.5,-15.6,378,4007,0.00,1.17,0.00,0.000,4,0.000,0.044,2432,1301,3561
$GC,4249,-0.75,-190.7,661.3,-15.6,401,4253,0.08,1.20,0.00,0.000,6,0.181,0.044,2448,2201,3558
$GC,4384,-0.75,-190.7,680.4,-13.7,414,4388,0.00,1.58,0.00,0.000,4,0.000,0.054,2442,3093,3557
$GC,4629,-0.75,-190.7,715.7,-14.5,437,4633,0.00,1.55,0.00,0.000,6,0.000,0.041,2442,2198,3555
$GC,4764,-0.75,-190.7,734.3,-13.8,450,4767,0.00,1.60,0.00,0.000,4,0.000,0.054,2436,3092,3554
$GC,5009,-0.75,-190.7,769.0,-14.2,473,5013,0.00,1.55,0.00,0.000,6,0.000,0.041,2438,2199,3552
$GC,5144,-0.75,-190.7,787.6,-13.8,486,5148,0.00,1.17,0.00,0.000,4,0.000,0.048,2438,1295,3551
$GC,5389,-0.75,-190.7,822.4,-14.1,509,5393,0.00,1.23,0.00,0.000,6,0.000,0.047,2434,2204,3549
$GC,5525,-0.75,-190.7,840.6,-13.6,522,5528,0.00,1.20,0.00,0.000,4,0.000,0.047,2434,1300,3548
$GC,5770,-0.75,-190.7,874.1,-13.2,545,5774,0.00,1.20,0.00,0.000,6,0.000,0.046,2429,2200,3546
$GC,5905,-0.75,-190.7,892.7,-14.2,558,5908,0.00,1.20,0.00,0.000,4,0.000,0.047,2430,1293,3545
$GC,6150,-0.75,-190.7,926.4,-14.0,581,6154,0.10,1.23,0.00,0.000,6,0.181,0.046,2451,2205,3544
$GC,6285,-0.75,-190.7,943.0,-12.0,594,6288,0.00,1.20,0.00,0.000,4,0.000,0.048,2455,1303,3543
$GC,6530,-0.75,-190.7,973.6,-12.6,617,6534,0.00,1.23,0.00,0.000,6,0.000,0.048,2451,2208,3542
$GC,6665,-0.75,-190.7,990.0,-12.1,630,6668,0.00,1.23,0.00,0.000,4,0.000,0.048,2451,1293,3542
$STATE,6674,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6674,begin apogee
$GC,6678,-0.26,0.0,991.3,11.7,631,6828,0.60,0.00,144.60,1.254,6,0.173,0.000,2615,2207,2801
$STATE,6828,end apogee,CONTROL_FINISHED_OK
$STATE,6828,begin climb
$GC,6829,0.75,190.7,996.3,0.0,646,6997,1.05,1.35,159.30,1.221,4,0.125,0.052,2938,1305,2020
$GC,7237,0.75,190.7,951.0,12.6,682,7244,0.00,1.27,0.00,0.000,6,0.000,0.046,2938,2204,2011
$GC,7367,0.75,190.7,934.5,12.6,695,7368,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2204,2010
$GC,7491,0.75,190.7,918.6,12.9,707,7494,0.00,1.60,0.00,0.000,4,0.000,0.055,2938,3087,2009
$GC,7704,0.75,190.7,887.8,15.0,727,7708,0.00,1.55,0.00,0.000,6,0.000,0.039,2946,2203,2006
$GC,7839,0.75,190.7,869.4,13.4,740,7842,0.00,1.62,0.00,0.000,4,0.000,0.056,2946,3093,2006
$GC,8010,0.75,190.7,844.1,14.4,756,8013,0.00,1.58,0.00,0.000,6,0.000,0.040,2953,2195,2004
$GC,8144,0.75,190.7,825.5,13.6,769,8148,0.00,1.62,0.00,0.000,4,0.000,0.056,2953,3085,2004
$GC,8326,0.75,190.7,798.8,14.9,786,8329,0.00,1.55,0.00,0.000,6,0.000,0.041,2961,2199,2003
$GC,8461,0.75,190.7,780.4,13.6,799,8464,0.00,1.62,0.00,0.000,4,0.000,0.056,2961,3090,2003
$GC,8695,0.75,190.7,745.8,15.0,821,8699,0.08,1.55,0.00,0.000,6,0.173,0.040,2947,2200,2002
$GC,8830,0.75,190.7,729.1,12.0,834,8833,0.00,1.62,0.00,0.000,4,0.000,0.056,2946,3096,2002
$GC,8990,0.75,190.7,707.7,12.8,849,8993,0.00,1.55,0.00,0.000,6,0.000,0.039,2952,2200,2001
$GC,9124,0.75,190.7,690.5,12.8,862,9128,0.00,1.62,0.00,0.000,4,0.000,0.055,2952,3097,2001
$GC,9353,0.75,190.7,658.0,13.8,883,9362,0.00,1.58,0.00,0.000,6,0.000,0.038,2959,2196,2000
$GC,9483,0.75,190.7,640.7,13.4,896,9487,0.00,1.62,0.00,0.000,4,0.000,0.055,2959,3093,2000
$GC,9696,0.75,190.7,609.2,15.2,916,9700,0.00,1.55,0.00,0.000,6,0.000,0.039,2967,2199,1999
$GC,9831,0.75,190.7,590.2,14.0,929,9835,0.00,1.60,0.00,0.000,4,0.000,0.055,2966,3088,2000
$GC,10049,0.75,190.7,556.3,16.1,949,10057,0.12,1.55,0.00,0.000,6,0.176,0.038,2944,2202,1999
$GC,10179,0.75,190.7,540.3,12.0,962,10183,0.00,1.60,0.00,0.000,4,0.000,0.054,2944,3086,1999
$GC,10328,0.75,190.7,520.8,12.6,976,10332,0.00,1.55,0.00,0.000,6,0.000,0.039,2950,2195,1999
$GC,10463,0.75,190.7,504.7,11.8,989,10467,0.00,1.62,0.00,0.000,4,0.000,0.056,2950,3091,1999
$GC,10644,0.75,190.7,480.9,13.2,1006,10648,0.00,1.55,0.00,0.000,6,0.000,0.039,2957,2194,1999
$GC,10779,0.75,190.7,464.0,12.6,1019,10783,0.00,1.62,0.00,0.000,4,0.000,0.055,2957,3091,1999
$GC,10911,0.75,190.7,445.0,14.4,1031,10920,0.00,1.58,0.00,0.000,6,0.000,0.038,2965,2192,1999
$GC,11042,0.75,190.7,427.9,13.1,1044,11045,0.00,1.62,0.00,0.000,4,0.000,0.054,2965,3088,1999
$GC,11180,0.75,190.7,407.9,15.0,1057,11184,0.08,1.52,0.00,0.000,6,0.170,0.038,2950,2202,1999
$GC,11315,0.75,190.7,391.5,11.3,1070,11318,0.00,1.60,0.00,0.000,4,0.000,0.054,2950,3090,1999
$GC,11560,0.75,190.7,359.4,13.9,1093,11564,0.00,1.52,0.00,0.000,6,0.000,0.038,2955,2200,1999
$GC,11695,0.75,190.7,343.0,12.1,1106,11698,0.00,1.60,0.00,0.000,4,0.000,0.054,2955,3091,1999
$GC,11887,0.75,190.7,316.9,13.1,1124,11891,0.00,1.52,0.00,0.000,6,0.000,0.038,2962,2202,1998
$GC,12022,0.75,190.7,299.5,12.4,1137,12025,0.00,1.60,0.00,0.000,4,0.000,0.053,2963,3090,1998
$GC,12203,0.75,190.7,274.8,14.5,1154,12207,0.00,1.52,0.00,0.000,6,0.000,0.036,2970,2201,1999
$GC,12338,0.75,190.7,256.8,13.5,1167,12341,0.00,1.60,0.00,0.000,4,0.000,0.052,2970,3092,1999
$GC,12459,0.75,190.7,239.0,14.4,1178,12468,0.15,1.55,0.00,0.000,6,0.166,0.036,2939,2197,1999
$GC,12589,0.75,190.7,225.0,9.9,1191,12593,0.00,1.60,0.00,0.000,4,0.000,0.051,2939,3089,1999
$GC,12739,0.75,190.7,207.8,12.3,1205,12743,0.00,1.52,0.00,0.000,6,0.000,0.036,2945,2198,1999
$GC,12873,0.75,190.7,193.2,10.7,1218,12877,0.00,1.60,0.00,0.000,4,0.000,0.051,2945,3094,1999
$GC,13066,0.75,190.7,169.6,12.0,1236,13069,0.00,1.52,0.00,0.000,6,0.000,0.035,2952,2199,1999
$GC,13200,0.75,190.7,154.1,11.2,1249,13204,0.00,1.60,0.00,0.000,4,0.000,0.050,2952,3097,1999
$GC,13386,0.75,190.7,131.5,12.5,1266,13394,0.00,1.55,0.00,0.000,6,0.000,0.033,2959,2195,2000
$GC,13516,0.75,190.7,117.1,11.1,1279,13519,0.00,1.60,0.00,0.000,4,0.000,0.050,2959,3091,2000
$GC,13637,0.75,190.7,101.6,11.9,1290,13645,0.00,1.55,0.00,0.000,6,0.000,0.033,2967,2191,2001
$GC,13768,0.75,190.7,86.0,12.0,1303,13771,0.00,1.60,0.00,0.000,4,0.000,0.048,2967,3090,2001
$GC,13949,0.75,190.7,61.5,13.4,1320,13953,0.10,1.52,0.00,0.000,6,0.154,0.032,2943,2194,2002
$GC,14022,0.75,190.7,54.4,8.9,1327,14023,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2195,2002
$GC,14084,0.75,190.7,49.0,8.4,1333,14087,0.00,1.60,0.00,0.000,4,0.000,0.048,2943,3094,2002
$GC,14265,0.75,190.7,33.5,7.3,1350,14269,0.00,1.52,0.00,0.000,6,0.000,0.032,2949,2193,2003
$GC,14338,0.77,208.9,29.0,6.0,1357,14353,0.00,1.60,12.00,0.512,4,0.000,0.048,2949,3106,1948
$GC,14498,0.78,216.3,17.8,6.4,1372,14510,0.00,1.52,7.15,0.458,6,0.000,0.031,2957,2204,1917
$GC,14571,0.83,257.1,13.9,5.0,1379,14608,0.00,1.17,31.27,0.525,4,0.000,0.036,2961,1291,1751
$GC,14654,0.89,307.8,10.2,4.6,1386,14699,0.00,1.25,38.08,0.518,6,0.000,0.035,2961,2217,1545
$GC,14759,0.92,325.0,3.9,6.0,1396,14781,0.00,1.58,14.02,0.480,4,0.000,0.044,2961,3086,1474
$STATE,14784,end climb,SURFACE_DEPTH_REACHED
$STATE,14784,begin surface coast
$FINISH,0.6,1.022470
$STATE,14826,end surface coast,CONTROL_FINISHED_OK
$STATE,14826,begin surface
$SM_CCo,14840,122.20,0.505,0,0,455,575.22
$SM_GC,1.32,0.00,0.00,122.20,0.000,0.000,0.505,195,2199,455,-7.83,-0.03,575.22
$IRIDIUM_FIX,2833.46,-8829.10,250899,212103
$TT8_MAMPS,0.050622
$HUMID,1255
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,23.30
$XPDR_PINGS,8
$24V_AH,23.7,13.600
$10V_AH,10.7,16.364
$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,20.025,126.550,406.425,122.200,0.000,22.784,27.570,454.550,2.000,0.000,0.000,15.534,0.000,8874.902,676.579,5292.355,777.858,33.347,2357.023,0.000,4711.554,0.000,0.847,0.000
$DEVICE_MAMPS,267.683,55.991,1254.045,504.686,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,959.037,1045.114,3151.210,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75650,1402
$CAP_FILE_SIZE,192568,0
$CFSIZE,260165632,250671104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.054,207.2,1
$GPS,010610,062330,2842.722,-8827.900,36,1.1,41,-0.4