version: 66.04
glider: 515
mission: 5
dive: 287
start: 7 22 110 1 32 25
data:
$ID,515
$MISSION,5
$DIVE,287
$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,440
$T_MISSION,500
$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,597.54108
$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,8
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-23933.986
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2747
$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,2325
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,250
$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,4
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,850
$ALTIM_PING_DELTA,10
$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
$GPS1,012537,2843.175,-8836.283,36,1.2,36,-0.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-65.9
$GPS2,013144,2843.304,-8836.327,12,1.4,12,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.220,0.147
$KALMAN_X,23743.9,-1124.6,-135.6,-50.8,4168.5
$KALMAN_Y,-426707.7,991.2,-16.1,453393.1,-7866.0
$MHEAD_RNG_PITCHd_Wd,76.8,16781,-10.8,-7.500
$D_GRID,981
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.64,-194.6,0.0,0.0,0,81,0.00,0.00,-67.35,0.000,2,0.000,0.000,185,2303,2329
$GC,84,-0.64,-194.6,3.2,-3.7,7,132,10.52,1.62,-28.92,0.000,4,0.250,0.060,2526,3229,3635
$GC,229,-0.64,-194.6,35.4,-25.1,20,232,0.00,1.45,0.00,0.000,6,0.000,0.028,2531,2337,3637
$GC,426,-0.64,-194.6,67.3,-13.4,39,426,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2337,3637
$GC,612,-0.64,-194.6,92.3,-13.4,57,616,0.00,1.25,0.00,0.000,4,0.000,0.035,2537,1416,3638
$GC,709,-0.64,-194.6,104.2,-13.5,66,711,0.00,1.27,0.00,0.000,6,0.000,0.035,2533,2334,3639
$GC,1031,-0.64,-194.6,143.8,-11.1,97,1035,0.00,1.27,0.00,0.000,4,0.000,0.035,2532,1407,3639
$GC,1089,-0.64,-194.6,150.8,-10.7,102,1096,0.00,1.30,0.00,0.000,6,0.000,0.035,2527,2332,3639
$GC,1407,-0.64,-194.6,189.2,-12.2,133,1410,0.00,1.25,0.00,0.000,4,0.000,0.036,2527,1422,3639
$GC,1493,-0.64,-194.6,199.4,-12.1,141,1495,0.00,1.25,0.00,0.000,6,0.000,0.037,2521,2326,3638
$GC,1815,-0.64,-194.6,238.4,-12.0,172,1818,0.00,1.25,0.00,0.000,4,0.000,0.037,2521,1413,3637
$GC,1879,-0.64,-194.6,246.3,-11.3,178,1882,0.00,1.25,0.00,0.000,6,0.000,0.036,2516,2321,3636
$GC,2202,-0.64,-194.6,286.5,-12.5,209,2204,0.00,1.25,0.00,0.000,4,0.000,0.037,2515,1407,3634
$GC,2265,-0.64,-194.6,294.4,-11.6,215,2269,0.08,1.27,0.00,0.000,6,0.142,0.038,2534,2324,3634
$GC,2586,-0.64,-194.6,328.3,-10.4,246,2589,0.00,1.25,0.00,0.000,4,0.000,0.037,2534,1412,3633
$GC,2633,-0.64,-194.6,333.4,-10.1,250,2640,0.00,1.27,0.00,0.000,6,0.000,0.038,2531,2327,3632
$GC,2952,-0.64,-194.6,367.4,-11.2,281,2955,0.00,1.25,0.00,0.000,4,0.000,0.038,2530,1419,3630
$GC,2994,-0.64,-194.6,372.2,-10.8,285,2997,0.00,1.27,0.00,0.000,6,0.000,0.039,2526,2329,3630
$GC,3317,-0.64,-194.6,408.6,-11.1,316,3320,0.00,1.25,0.00,0.000,4,0.000,0.038,2525,1422,3627
$GC,3406,-0.64,-194.6,418.5,-10.1,324,3414,0.00,1.30,0.00,0.000,6,0.000,0.039,2520,2337,3627
$GC,3725,-0.64,-194.6,454.7,-11.6,355,3728,0.00,1.27,0.00,0.000,4,0.000,0.038,2520,1422,3625
$GC,3853,-0.64,-194.6,469.4,-11.8,367,3856,0.00,1.27,0.00,0.000,6,0.000,0.041,2514,2326,3624
$GC,4176,-0.64,-194.6,505.9,-11.4,398,4177,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2326,3622
$GC,4485,-0.64,-194.6,540.5,-11.1,428,4488,0.00,1.25,0.00,0.000,4,0.000,0.040,2514,1430,3619
$GC,4553,-0.64,-194.6,548.3,-11.2,434,4561,0.08,1.30,0.00,0.000,6,0.144,0.041,2534,2339,3619
$GC,4870,-0.64,-194.6,579.1,-10.0,465,4873,0.00,1.30,0.00,0.000,4,0.000,0.041,2534,1413,3617
$GC,4938,-0.64,-194.6,586.2,-10.7,471,4945,0.00,1.33,0.00,0.000,6,0.000,0.041,2530,2338,3617
$GC,5256,-0.64,-194.6,618.4,-10.0,502,5260,0.00,1.30,0.00,0.000,4,0.000,0.041,2530,1417,3615
$GC,5310,-0.64,-194.6,623.7,-9.2,507,5312,0.00,1.30,0.00,0.000,6,0.000,0.043,2525,2330,3614
$GC,5632,-0.64,-194.6,654.5,-9.5,538,5633,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2330,3613
$GC,5941,-0.64,-194.6,684.6,-9.5,568,5944,0.00,1.27,0.00,0.000,4,0.000,0.042,2525,1425,3610
$GC,5999,-0.64,-194.6,690.4,-9.5,573,6006,0.00,1.27,0.00,0.000,6,0.000,0.043,2520,2323,3609
$GC,6317,-0.64,-194.6,722.0,-10.2,604,6321,0.00,1.25,0.00,0.000,4,0.000,0.042,2520,1434,3608
$GC,6392,-0.64,-194.6,729.7,-10.2,611,6395,0.00,1.27,0.00,0.000,6,0.000,0.044,2514,2326,3607
$GC,6714,-0.64,-194.6,761.9,-9.8,642,6715,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2326,3605
$GC,7024,-0.64,-194.6,792.7,-10.1,672,7027,0.00,1.27,0.00,0.000,4,0.000,0.043,2514,1421,3604
$GC,7067,-0.64,-194.6,797.1,-10.4,676,7070,0.08,1.27,0.00,0.000,6,0.146,0.044,2534,2316,3603
$GC,7387,-0.64,-194.6,825.7,-9.1,707,7388,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2316,3603
$GC,7698,-0.64,-194.6,852.9,-9.0,737,7699,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2317,3600
$GC,8011,-0.64,-194.6,878.2,-7.4,767,8012,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2316,3599
$GC,8319,-0.64,-194.6,903.5,-8.3,797,8322,0.00,1.25,0.00,0.000,4,0.000,0.045,2534,1432,3597
$GC,8352,-0.64,-194.6,906.2,-8.1,800,8354,0.00,1.30,0.00,0.000,6,0.000,0.048,2530,2332,3597
$GC,8672,-0.64,-194.6,932.5,-8.8,831,8675,0.00,1.30,0.00,0.000,4,0.000,0.044,2530,1419,3595
$GC,8737,-0.64,-194.6,937.9,-9.2,837,8739,0.00,1.30,0.00,0.000,6,0.000,0.048,2526,2323,3595
$GC,9058,-0.64,-194.6,965.6,-8.7,868,9059,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2323,3594
$STATE,9242,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9242,begin apogee
$GC,9248,-0.26,0.0,981.9,8.2,886,9406,0.45,0.00,154.45,1.231,6,0.133,0.000,2661,2278,2840
$STATE,9407,end apogee,CONTROL_FINISHED_OK
$STATE,9407,begin climb
$GC,9409,0.64,194.6,987.1,0.0,902,9585,0.88,0.00,170.90,1.204,6,0.100,0.000,2939,2278,2046
$GC,9894,0.64,194.6,943.2,10.4,948,9895,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2278,2036
$GC,10204,0.64,194.6,909.6,11.3,978,10205,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2278,2033
$GC,10515,0.64,194.6,875.1,11.2,1008,10518,0.00,1.60,0.00,0.000,4,0.000,0.058,2939,3166,2032
$GC,10547,0.64,194.6,871.4,11.6,1011,10550,0.00,1.55,0.00,0.000,6,0.000,0.038,2946,2273,2031
$GC,10868,0.64,194.6,834.7,10.8,1042,10869,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2274,2031
$GC,11178,0.64,194.6,801.6,11.0,1072,11181,0.00,1.62,0.00,0.000,4,0.000,0.054,2946,3162,2030
$GC,11221,0.64,194.6,796.9,11.7,1076,11224,0.00,1.55,0.00,0.000,6,0.000,0.037,2953,2270,2029
$GC,11544,0.64,194.6,760.2,11.9,1107,11547,0.00,1.60,0.00,0.000,4,0.000,0.055,2954,3165,2029
$GC,11576,0.64,194.6,755.8,13.2,1110,11579,0.00,1.55,0.00,0.000,6,0.000,0.037,2961,2271,2028
$GC,11899,0.64,194.6,717.4,11.4,1141,11899,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2273,2028
$GC,12207,0.64,194.6,681.9,11.5,1171,12210,0.00,1.62,0.00,0.000,4,0.000,0.055,2961,3159,2028
$GC,12239,0.64,194.6,677.9,11.9,1174,12242,0.00,1.52,0.00,0.000,6,0.000,0.037,2968,2277,2027
$GC,12560,0.64,194.6,638.3,12.0,1205,12561,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2278,2027
$GC,12871,0.64,194.6,601.4,12.4,1235,12874,0.00,1.60,0.00,0.000,4,0.000,0.054,2968,3176,2027
$GC,12928,0.64,194.6,593.7,13.1,1240,12936,0.00,1.58,0.00,0.000,6,0.000,0.035,2976,2268,2026
$GC,13246,0.64,194.6,553.5,13.2,1271,13249,0.00,1.62,0.00,0.000,4,0.000,0.054,2976,3157,2026
$GC,13283,0.64,194.6,548.2,14.5,1274,13289,0.00,1.52,0.00,0.000,6,0.000,0.036,2983,2276,2026
$GC,13600,0.64,194.6,505.7,13.2,1305,13601,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2276,2026
$GC,13910,0.64,194.6,466.5,12.3,1335,13912,0.00,1.62,0.00,0.000,4,0.000,0.053,2984,3189,2026
$GC,13952,0.64,194.6,460.8,13.1,1339,13955,0.10,1.58,0.00,0.000,6,0.145,0.035,2949,2276,2026
$GC,14274,0.64,194.6,427.9,9.7,1370,14274,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2277,2026
$GC,14583,0.64,194.6,395.9,10.3,1400,14584,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2278,2026
$GC,14894,0.64,194.6,364.0,10.3,1430,14895,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2278,2026
$GC,15204,0.64,194.6,331.6,10.7,1460,15205,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2278,2026
$GC,15515,0.64,194.6,299.1,10.0,1490,15518,0.00,1.60,0.00,0.000,4,0.000,0.051,2949,3160,2026
$GC,15568,0.64,194.6,293.3,10.4,1495,15571,0.00,1.52,0.00,0.000,6,0.000,0.034,2954,2275,2026
$GC,15891,0.64,194.6,259.7,10.6,1526,15891,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2275,2026
$GC,16200,0.64,194.6,226.3,10.6,1556,16203,0.00,1.60,0.00,0.000,4,0.000,0.049,2954,3162,2026
$GC,16279,0.64,194.6,217.2,11.2,1563,16286,0.00,1.52,0.00,0.000,6,0.000,0.032,2962,2272,2027
$GC,16597,0.64,194.6,181.2,10.7,1594,16601,0.00,1.60,0.00,0.000,4,0.000,0.048,2962,3160,2028
$GC,16650,0.64,194.6,174.7,11.6,1599,16653,0.00,1.52,0.00,0.000,6,0.000,0.031,2969,2270,2028
$GC,16974,0.64,194.6,138.0,10.8,1630,16974,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2271,2029
$GC,17282,0.64,194.6,105.1,10.3,1660,17285,0.00,1.60,0.00,0.000,4,0.000,0.048,2969,3162,2030
$GC,17357,0.64,194.6,96.5,12.8,1667,17360,0.00,1.50,0.00,0.000,6,0.000,0.031,2977,2276,2030
$GC,17554,0.64,194.6,74.6,10.0,1686,17555,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2277,2030
$GC,17740,0.64,194.6,57.4,8.6,1704,17743,0.00,1.60,0.00,0.000,4,0.000,0.047,2976,3171,2031
$GC,17808,0.64,194.6,51.8,7.7,1710,17816,0.08,1.52,0.00,0.000,6,0.125,0.028,2957,2268,2031
$GC,18001,0.75,282.6,41.0,5.2,1729,18074,0.00,0.00,66.18,0.535,6,0.000,0.000,2957,2269,1688
$GC,18260,0.85,364.7,29.4,5.3,1754,18326,0.17,1.67,62.12,0.515,4,0.071,0.044,3024,3171,1352
$GC,18348,0.86,377.0,23.7,7.2,1762,18362,0.00,1.55,10.18,0.452,6,0.000,0.028,3029,2272,1304
$GC,18556,1.00,485.5,10.1,4.6,1782,18642,0.12,1.23,80.80,0.492,4,0.077,0.035,3076,1361,858
$STATE,18722,end climb,SURFACE_DEPTH_REACHED
$STATE,18722,begin surface coast
$FINISH,0.9,1.007878
$STATE,18754,end surface coast,CONTROL_FINISHED_OK
$STATE,18754,begin surface
$SM_CCo,18771,62.75,0.475,0,0,403,597.54
$SM_GC,1.84,0.00,0.00,62.75,0.000,0.000,0.475,196,2339,403,-7.97,0.40,597.54
$IRIDIUM_FIX,2833.46,-8838.92,151099,202040
$TT8_MAMPS,0.051389
$HUMID,1377
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,23.60
$XPDR_PINGS,1
$24V_AH,22.6,50.407
$10V_AH,10.5,69.349
$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,20.300,90.100,544.625,62.750,0.000,29.548,33.445,177.554,3.750,0.000,0.000,16.062,0.000,12511.726,635.657,5393.152,634.575,33.343,2186.116,0.000,4831.648,0.000,26.226,0.000
$DEVICE_MAMPS,250.042,76.700,1231.035,474.773,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1230.736,1315.467,4045.782,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94682,1800
$CAP_FILE_SIZE,168048,0
$CFSIZE,260165632,229470208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.103,118.3,1
$GPS,220710,064707,2843.486,-8832.292,25,1.6,25,-0.4