version: 66.04
glider: 515
mission: 5
dive: 115
start: 6 13 110 15 48 35
data:
$ID,515
$MISSION,5
$DIVE,115
$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,495
$T_MISSION,520
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$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,-7172.186
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2733
$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,2367
$C_ROLL_CLIMB,2280
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,2840
$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,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,-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
$GPS1,154136,2836.586,-8844.344,36,1.1,42,-0.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-72.3
$GPS2,154756,2836.560,-8844.262,13,1.7,13,-0.2
$SPEED_LIMITS,0.115,0.252
$TGT_NAME,NEW0607F
$TGT_LATLONG,2837.000,-8845.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.121,0.222
$KALMAN_X,-262572.2,1027.4,458.0,277308.6,-12761.1
$KALMAN_Y,13237.1,1929.0,1381.4,-40300.8,-20457.9
$MHEAD_RNG_PITCHd_Wd,293.1,1451,-26.6,-6.667
$D_GRID,1177
$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,-1.03,-34.4,0.0,0.0,0,67,0.00,0.00,-53.67,0.000,2,0.000,0.000,197,2384,2059
$GC,69,-1.06,-59.9,3.1,-3.4,5,117,9.73,1.45,-30.35,0.000,4,0.258,0.058,2377,3259,3088
$GC,196,-1.06,-59.9,25.8,-16.2,16,203,0.00,1.50,0.00,0.000,6,0.000,0.028,2383,2347,3089
$GC,388,-1.06,-59.9,45.8,-8.5,35,391,0.00,1.55,0.00,0.000,4,0.000,0.040,2376,3265,3089
$GC,633,-1.06,-59.9,66.5,-8.4,58,637,0.00,1.48,0.00,0.000,6,0.000,0.027,2382,2351,3090
$GC,830,-1.06,-59.9,83.8,-8.6,77,833,0.00,1.52,0.00,0.000,4,0.000,0.040,2376,3259,3091
$GC,1076,-1.06,-59.9,108.8,-11.0,100,1079,0.00,1.45,0.00,0.000,6,0.000,0.028,2382,2358,3091
$GC,1397,-1.06,-59.9,143.4,-11.1,131,1400,0.00,1.50,0.00,0.000,4,0.000,0.041,2376,3256,3091
$GC,1642,-1.06,-59.9,168.5,-9.5,154,1646,0.00,1.42,0.00,0.000,6,0.000,0.028,2382,2361,3090
$GC,1964,-1.06,-59.9,194.9,-7.9,185,1967,0.00,1.23,0.00,0.000,4,0.000,0.037,2388,1455,3088
$GC,2064,-1.06,-59.9,203.1,-8.0,194,2072,0.00,1.27,0.00,0.000,6,0.000,0.034,2383,2365,3088
$GC,2380,-1.06,-59.9,228.4,-8.4,225,2381,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2365,3086
$GC,2691,-1.06,-59.9,255.1,-8.8,255,2692,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2366,3084
$GC,3000,-1.06,-59.9,282.8,-9.2,285,3004,0.00,1.23,0.00,0.000,4,0.000,0.038,2389,1468,3083
$GC,3097,-1.06,-59.9,291.3,-8.8,294,3100,0.00,1.25,0.00,0.000,6,0.000,0.036,2383,2367,3082
$GC,3418,-1.06,-59.9,319.4,-9.3,325,3421,0.00,1.25,0.00,0.000,4,0.000,0.038,2388,1466,3080
$GC,3603,-1.06,-59.9,336.3,-8.6,342,3612,0.00,1.27,0.00,0.000,6,0.000,0.036,2384,2367,3079
$GC,3920,-1.06,-59.9,364.9,-9.0,373,3923,0.00,1.48,0.00,0.000,4,0.000,0.047,2376,3254,3077
$GC,3983,-1.06,-59.9,371.2,-10.1,379,3987,0.00,1.42,0.00,0.000,6,0.000,0.031,2376,2367,3077
$GC,4305,-1.06,-59.9,401.8,-9.3,410,4308,0.00,1.25,0.00,0.000,4,0.000,0.041,2376,1471,3075
$GC,4389,-1.06,-59.9,410.0,-9.7,418,4393,0.00,1.25,0.00,0.000,6,0.000,0.038,2372,2365,3075
$GC,4711,-1.06,-59.9,439.9,-8.9,449,4714,0.00,1.50,0.00,0.000,4,0.000,0.048,2364,3264,3072
$GC,4800,-1.06,-59.9,448.6,-9.0,457,4808,0.00,1.48,0.00,0.000,6,0.000,0.032,2370,2365,3071
$GC,5117,-1.06,-59.9,477.0,-9.1,488,5118,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2366,3070
$GC,5427,-1.06,-59.9,505.2,-9.1,518,5428,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2366,3068
$GC,5737,-1.06,-59.9,533.1,-9.0,548,5740,0.00,1.50,0.00,0.000,4,0.000,0.051,2364,3251,3067
$GC,5790,-1.06,-59.9,538.0,-9.4,553,5794,0.00,1.45,0.00,0.000,6,0.000,0.034,2370,2366,3067
$GC,6112,-1.06,-59.9,566.3,-9.1,584,6113,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2365,3066
$GC,6421,-1.06,-59.9,593.7,-8.8,614,6425,0.00,1.52,0.00,0.000,4,0.000,0.051,2364,3255,3063
$GC,6475,-1.06,-59.9,598.7,-9.7,619,6478,0.00,1.48,0.00,0.000,6,0.000,0.036,2366,2365,3063
$GC,6796,-1.06,-59.9,627.4,-8.9,650,6797,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2365,3061
$GC,7106,-1.06,-59.9,655.8,-9.0,680,7107,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2365,3059
$GC,7416,-1.06,-59.9,684.7,-9.5,710,7420,0.00,1.25,0.00,0.000,4,0.000,0.047,2371,1466,3057
$GC,7469,-1.06,-59.9,689.8,-9.7,715,7473,0.00,1.27,0.00,0.000,6,0.000,0.044,2366,2362,3057
$GC,7791,-1.06,-59.9,719.1,-9.0,746,7794,0.00,1.52,0.00,0.000,4,0.000,0.054,2359,3251,3056
$GC,7918,-1.06,-59.9,731.0,-9.4,758,7922,0.08,1.48,0.00,0.000,6,0.218,0.037,2381,2363,3056
$GC,8239,-1.06,-59.9,756.9,-7.8,789,8240,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2364,3055
$GC,8550,-1.06,-59.9,781.7,-7.8,819,8551,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2364,3054
$GC,8860,-1.06,-59.9,806.0,-8.0,849,8863,0.00,1.25,0.00,0.000,4,0.000,0.048,2387,1472,3053
$GC,9009,-1.06,-59.9,817.5,-7.8,863,9013,0.00,1.27,0.00,0.000,6,0.000,0.046,2382,2360,3052
$GC,9331,-1.06,-59.9,841.9,-7.9,894,9334,0.00,1.55,0.00,0.000,4,0.000,0.056,2374,3258,3050
$GC,9437,-1.06,-59.9,850.4,-7.7,904,9441,0.00,1.50,0.00,0.000,6,0.000,0.040,2374,2362,3050
$GC,9759,-1.06,-59.9,875.8,-8.1,935,9760,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2362,3049
$GC,10069,-1.06,-59.9,900.1,-8.4,965,10069,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2362,3048
$GC,10379,-1.06,-59.9,924.2,-7.8,995,10382,0.00,1.27,0.00,0.000,4,0.000,0.051,2374,1456,3047
$GC,10540,-1.06,-59.9,936.7,-7.5,1010,10543,0.00,1.33,0.00,0.000,6,0.000,0.048,2369,2367,3046
$GC,10862,-1.06,-59.9,961.4,-7.4,1041,10865,0.00,1.52,0.00,0.000,4,0.000,0.057,2362,3253,3046
$GC,10957,-1.06,-59.9,968.9,-7.3,1050,10960,0.08,1.50,0.00,0.000,6,0.222,0.041,2381,2366,3045
$STATE,11266,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11266,begin apogee
$GC,11269,-0.26,0.0,990.6,6.9,1080,11319,0.98,0.00,41.38,1.246,6,0.198,0.000,2641,2272,2840
$STATE,11319,end apogee,CONTROL_FINISHED_OK
$STATE,11319,begin climb
$GC,11321,1.06,59.9,991.7,0.0,1085,11380,1.35,0.00,51.22,1.233,6,0.114,0.000,3067,2272,2595
$GC,11687,1.06,59.9,944.4,14.3,1121,11691,0.00,1.73,0.00,0.000,4,0.000,0.061,3065,3181,2588
$GC,11777,1.06,59.9,930.9,13.9,1129,11784,0.00,1.65,0.00,0.000,6,0.000,0.038,3072,2280,2588
$GC,12094,1.06,59.9,886.3,14.0,1160,12095,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2280,2587
$GC,12404,1.06,59.9,842.6,14.3,1190,12405,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2281,2586
$GC,12714,1.06,59.9,800.0,13.3,1220,12717,0.00,1.67,0.00,0.000,4,0.000,0.057,3071,3180,2585
$GC,12799,1.06,59.9,787.5,14.9,1228,12803,0.00,1.60,0.00,0.000,6,0.000,0.038,3079,2281,2584
$GC,13120,1.06,59.9,742.1,14.1,1259,13121,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2281,2584
$GC,13431,1.06,59.9,698.9,13.5,1289,13434,0.00,1.65,0.00,0.000,4,0.000,0.057,3077,3175,2584
$GC,13473,1.06,59.9,692.7,13.9,1293,13476,0.00,1.60,0.00,0.000,6,0.000,0.038,3084,2279,2583
$GC,13795,1.06,59.9,648.6,13.7,1324,13798,0.00,1.67,0.00,0.000,4,0.000,0.057,3084,3176,2583
$GC,13955,1.06,59.9,625.1,14.9,1339,13958,0.00,1.58,0.00,0.000,6,0.000,0.038,3092,2284,2583
$GC,14275,1.06,59.9,582.0,13.2,1370,14278,0.00,1.65,0.00,0.000,4,0.000,0.056,3092,3184,2583
$GC,14386,1.06,59.9,566.7,13.7,1380,14394,0.00,1.62,0.00,0.000,6,0.000,0.038,3100,2278,2582
$GC,14703,1.06,59.9,526.1,12.5,1411,14706,0.00,1.65,0.00,0.000,4,0.000,0.057,3099,3192,2582
$GC,14809,1.06,59.9,511.7,13.1,1421,14813,0.10,1.62,0.00,0.000,6,0.201,0.038,3080,2278,2582
$GC,15130,1.06,59.9,472.8,12.0,1452,15133,0.00,1.65,0.00,0.000,4,0.000,0.055,3072,3176,2582
$GC,15302,1.06,59.9,450.7,12.7,1468,15304,0.00,1.60,0.00,0.000,6,0.000,0.038,3079,2277,2582
$GC,15622,1.06,59.9,412.7,11.7,1499,15625,0.00,1.65,0.00,0.000,4,0.000,0.054,3072,3193,2582
$GC,15665,1.06,59.9,407.5,12.4,1503,15668,0.00,1.62,0.00,0.000,6,0.000,0.038,3079,2278,2582
$GC,15986,1.06,59.9,369.5,12.0,1534,15987,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2277,2582
$GC,16295,1.06,59.9,333.2,11.8,1564,16296,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2277,2582
$GC,16606,1.06,59.9,296.7,11.8,1594,16607,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2277,2582
$GC,16917,1.06,59.9,259.1,12.3,1624,16917,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2277,2583
$GC,17227,1.06,59.9,220.4,12.2,1654,17230,0.00,1.65,0.00,0.000,4,0.000,0.052,3073,3177,2583
$GC,17305,1.06,59.9,210.1,12.2,1661,17313,0.00,1.60,0.00,0.000,6,0.000,0.034,3080,2276,2583
$GC,17623,1.06,59.9,173.4,11.2,1692,17626,0.00,1.65,0.00,0.000,4,0.000,0.051,3077,3177,2584
$GC,17739,1.06,59.9,159.6,10.9,1703,17743,0.00,1.58,0.00,0.000,6,0.000,0.034,3084,2280,2584
$GC,18061,1.06,59.9,124.9,10.1,1734,18062,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2280,2586
$GC,18371,1.06,59.9,93.8,10.2,1764,18374,0.00,1.62,0.00,0.000,4,0.000,0.048,3083,3179,2587
$GC,18407,1.06,59.9,89.8,11.9,1767,18415,0.00,1.60,0.00,0.000,6,0.000,0.031,3090,2272,2587
$GC,18599,1.06,59.9,69.9,10.3,1786,18603,0.00,1.10,0.00,0.000,4,0.000,0.037,3096,1374,2588
$GC,18695,1.06,59.9,61.1,8.4,1795,18699,0.00,1.17,0.00,0.000,6,0.000,0.038,3095,2289,2588
$GC,18892,1.06,59.9,46.8,7.1,1814,18893,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2289,2589
$GC,19078,1.10,92.7,40.6,2.4,1832,19111,0.00,0.00,24.88,0.548,6,0.000,0.000,3095,2289,2460
$GC,19295,1.12,107.7,28.5,4.7,1853,19310,0.00,1.58,12.57,0.508,4,0.000,0.045,3095,3178,2399
$GC,19550,1.17,149.1,19.8,1.3,1876,19586,0.00,1.60,31.83,0.525,6,0.000,0.029,3103,2271,2231
$GC,19780,1.23,196.0,10.6,0.6,1898,19818,0.00,1.15,35.38,0.512,4,0.000,0.035,3109,1374,2040
$GC,19828,1.27,228.2,10.1,2.5,1902,19857,0.00,1.17,25.17,0.499,6,0.000,0.035,3109,2277,1908
$GC,20051,1.31,262.4,4.8,2.2,1923,20086,0.12,1.67,25.60,0.490,4,0.071,0.043,3161,3187,1769
$STATE,20088,end climb,SURFACE_DEPTH_REACHED
$STATE,20088,begin surface coast
$FINISH,1.5,1.020021
$STATE,20153,end surface coast,CONTROL_FINISHED_OK
$STATE,20153,begin surface
$SM_CCo,20168,170.55,0.495,0,0,494,575.22
$SM_GC,1.69,0.00,0.00,170.55,0.000,0.000,0.495,201,2353,494,-7.91,-0.40,575.22
$IRIDIUM_FIX,2826.10,-8843.89,070999,090953
$TT8_MAMPS,0.049855
$HUMID,1261
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,24.50
$XPDR_PINGS,3
$24V_AH,24.0,22.035
$10V_AH,10.7,29.633
$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,21.000,97.400,248.025,170.550,0.000,23.942,30.367,212.368,0.750,0.000,0.000,15.110,0.000,13596.478,559.898,5978.662,548.105,33.348,2210.491,0.000,5381.702,0.000,0.851,0.000
$DEVICE_MAMPS,258.479,61.360,1245.608,494.715,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1324.572,1423.312,4342.502,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,101047,1932
$CAP_FILE_SIZE,185883,0
$CFSIZE,260165632,244965376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$CURRENT,0.036,146.8,1
$GPS,130610,212836,2836.727,-8845.470,37,0.9,42,-0.2