version: 66.04
glider: 515
mission: 5
dive: 292
start: 7 23 110 4 26 23
data:
$ID,515
$MISSION,5
$DIVE,292
$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,-24893.502
$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,32
$R_STBD_OVSHOOT,42
$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
$GPS1,041536,2843.954,-8829.896,28,0.9,28,-0.4
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-70.2
$GPS2,042544,2844.194,-8830.000,13,2.0,13,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.247,0.094
$KALMAN_X,36735.1,-674.3,-505.9,-2835.4,9331.7
$KALMAN_Y,-449710.5,2804.9,2857.7,473279.8,-16014.0
$MHEAD_RNG_PITCHd_Wd,273.7,24591,-10.8,-7.500
$D_GRID,1228
$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,12,begin dive
$GC,14,-0.64,-194.6,0.0,0.0,0,67,0.00,0.00,-51.25,0.000,2,0.000,0.000,197,2357,1913
$GC,69,-0.64,-194.6,3.4,-4.1,5,129,10.50,1.38,-40.50,0.000,4,0.250,0.056,2538,1410,3636
$GC,353,-0.64,-194.6,56.3,-14.7,31,356,0.00,1.23,0.00,0.000,6,0.000,0.035,2535,2305,3638
$GC,550,-0.64,-194.6,81.8,-12.8,50,553,0.00,1.55,0.00,0.000,4,0.000,0.044,2527,3223,3639
$GC,576,-0.64,-194.6,85.3,-13.2,52,583,0.00,1.45,0.00,0.000,6,0.000,0.027,2527,2325,3639
$GC,768,-0.64,-194.6,110.1,-13.3,71,771,0.00,1.23,0.00,0.000,4,0.000,0.036,2527,1407,3639
$GC,821,-0.64,-194.6,117.1,-12.9,76,824,0.00,1.27,0.00,0.000,6,0.000,0.035,2522,2327,3639
$GC,1144,-0.64,-194.6,159.7,-13.0,107,1147,0.00,1.25,0.00,0.000,4,0.000,0.035,2522,1415,3638
$GC,1244,-0.64,-194.6,172.8,-12.4,116,1251,0.00,1.25,0.00,0.000,6,0.000,0.036,2516,2321,3639
$GC,1563,-0.64,-194.6,212.7,-12.7,147,1566,0.00,1.25,0.00,0.000,4,0.000,0.036,2516,1403,3637
$GC,1691,-0.64,-194.6,229.3,-12.6,159,1693,0.00,1.27,0.00,0.000,6,0.000,0.038,2510,2323,3635
$GC,2014,-0.64,-194.6,270.7,-12.4,190,2017,0.12,1.25,0.00,0.000,4,0.146,0.035,2543,1412,3633
$GC,2088,-0.64,-194.6,279.0,-10.1,197,2091,0.00,1.27,0.00,0.000,6,0.000,0.037,2540,2327,3633
$GC,2411,-0.64,-194.6,311.4,-9.7,228,2414,0.00,1.25,0.00,0.000,4,0.000,0.037,2540,1419,3631
$GC,2496,-0.64,-194.6,320.2,-9.8,236,2499,0.00,1.27,0.00,0.000,6,0.000,0.038,2534,2328,3630
$GC,2819,-0.64,-194.6,353.6,-10.3,267,2822,0.00,1.25,0.00,0.000,4,0.000,0.037,2534,1419,3628
$GC,2887,-0.64,-194.6,361.0,-10.4,273,2894,0.00,1.27,0.00,0.000,6,0.000,0.038,2528,2329,3627
$GC,3205,-0.64,-194.6,394.5,-10.7,304,3208,0.00,1.25,0.00,0.000,4,0.000,0.038,2528,1421,3625
$GC,3248,-0.64,-194.6,399.3,-10.9,308,3251,0.00,1.27,0.00,0.000,6,0.000,0.039,2523,2328,3625
$GC,3571,-0.64,-194.6,433.4,-11.3,339,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2328,3622
$GC,3880,-0.64,-194.6,468.0,-11.2,369,3883,0.00,1.27,0.00,0.000,4,0.000,0.039,2522,1410,3619
$GC,3986,-0.64,-194.6,479.5,-10.2,379,3989,0.00,1.30,0.00,0.000,6,0.000,0.042,2516,2327,3618
$GC,4309,-0.64,-194.6,514.9,-10.9,410,4312,0.00,1.27,0.00,0.000,4,0.000,0.039,2517,1409,3617
$GC,4373,-0.64,-194.6,522.0,-10.8,416,4377,0.00,1.27,0.00,0.000,6,0.000,0.041,2511,2317,3616
$GC,4696,-0.64,-194.6,558.7,-11.7,447,4696,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2317,3614
$GC,5005,-0.64,-194.6,594.0,-11.0,477,5008,0.10,1.25,0.00,0.000,4,0.155,0.040,2536,1424,3611
$GC,5058,-0.64,-194.6,599.6,-9.8,482,5061,0.00,1.27,0.00,0.000,6,0.000,0.044,2533,2322,3611
$GC,5382,-0.64,-194.6,631.7,-10.1,513,5385,0.00,1.25,0.00,0.000,4,0.000,0.041,2533,1428,3608
$GC,5439,-0.64,-194.6,638.0,-10.7,518,5448,0.00,1.30,0.00,0.000,6,0.000,0.044,2527,2332,3608
$GC,5757,-0.64,-194.6,670.2,-9.8,549,5758,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2331,3606
$GC,6067,-0.64,-194.6,700.6,-9.5,579,6068,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2332,3603
$GC,6377,-0.64,-194.6,730.7,-9.4,609,6380,0.00,1.30,0.00,0.000,4,0.000,0.043,2527,1412,3601
$GC,6452,-0.64,-194.6,737.7,-9.3,616,6455,0.00,1.30,0.00,0.000,6,0.000,0.046,2521,2323,3601
$GC,6774,-0.64,-194.6,767.5,-9.5,647,6775,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2323,3599
$GC,7084,-0.64,-194.6,796.0,-9.0,677,7085,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2322,3597
$GC,7394,-0.64,-194.6,824.6,-9.2,707,7396,0.00,1.27,0.00,0.000,4,0.000,0.045,2522,1421,3595
$GC,7440,-0.64,-194.6,829.1,-9.3,711,7448,0.00,1.33,0.00,0.000,6,0.000,0.045,2516,2332,3595
$GC,7757,-0.64,-194.6,858.4,-9.3,742,7760,0.00,1.30,0.00,0.000,4,0.000,0.044,2516,1419,3594
$GC,7793,-0.64,-194.6,861.9,-9.4,745,7800,0.00,1.33,0.00,0.000,6,0.000,0.046,2511,2330,3594
$GC,8110,-0.64,-194.6,891.0,-9.4,776,8114,0.12,1.30,0.00,0.000,4,0.149,0.043,2542,1425,3592
$GC,8157,-0.64,-194.6,894.6,-6.5,780,8164,0.00,1.33,0.00,0.000,6,0.000,0.048,2540,2334,3592
$GC,8474,-0.64,-194.6,917.3,-7.2,811,8474,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2334,3590
$GC,8786,-0.64,-194.6,940.4,-7.8,841,8789,0.00,1.30,0.00,0.000,4,0.000,0.045,2540,1432,3589
$GC,8851,-0.64,-194.6,945.4,-7.7,847,8854,0.00,1.30,0.00,0.000,6,0.000,0.049,2535,2324,3589
$GC,9173,-0.64,-194.6,970.8,-8.3,878,9175,0.00,1.60,0.00,0.000,4,0.000,0.060,2528,3237,3588
$GC,9209,-0.64,-194.6,973.9,-8.3,881,9216,0.00,1.52,0.00,0.000,6,0.000,0.037,2528,2332,3587
$STATE,9410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9410,begin apogee
$GC,9415,-0.26,0.0,990.5,8.1,901,9573,0.45,0.00,153.65,1.239,6,0.131,0.000,2663,2272,2840
$STATE,9574,end apogee,CONTROL_FINISHED_OK
$STATE,9574,begin climb
$GC,9576,0.64,194.6,995.4,0.0,917,9753,0.88,1.77,171.15,1.209,4,0.099,0.058,2941,3166,2047
$GC,9791,0.64,194.6,978.2,12.3,936,9798,0.00,1.65,0.00,0.000,6,0.000,0.035,2949,2279,2040
$GC,10110,0.64,194.6,941.0,12.3,967,10112,0.00,1.60,0.00,0.000,4,0.000,0.054,2949,3165,2035
$GC,10135,0.64,194.6,937.7,13.6,969,10142,0.00,1.58,0.00,0.000,6,0.000,0.035,2955,2271,2034
$GC,10454,0.64,194.6,899.4,11.9,1000,10455,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2272,2033
$GC,10762,0.64,194.6,861.6,12.3,1030,10763,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2273,2032
$GC,11073,0.64,194.6,822.9,12.5,1060,11074,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2273,2031
$GC,11383,0.64,194.6,785.6,11.7,1090,11384,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2273,2030
$GC,11694,0.64,194.6,749.9,11.2,1120,11696,0.00,1.60,0.00,0.000,4,0.000,0.055,2955,3161,2030
$GC,11736,0.64,194.6,744.7,12.2,1124,11739,0.00,1.55,0.00,0.000,6,0.000,0.038,2962,2274,2028
$GC,12057,0.64,194.6,706.9,12.0,1155,12060,0.00,1.20,0.00,0.000,4,0.000,0.043,2968,1377,2029
$GC,12083,0.64,194.6,703.9,11.9,1157,12090,0.00,1.23,0.00,0.000,6,0.000,0.044,2968,2269,2029
$GC,12400,0.64,194.6,665.9,12.3,1188,12401,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2269,2029
$GC,12710,0.64,194.6,628.3,12.1,1218,12711,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2269,2029
$GC,13020,0.64,194.6,591.8,11.8,1248,13021,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2269,2028
$GC,13331,0.64,194.6,555.3,11.5,1278,13334,0.00,1.62,0.00,0.000,4,0.000,0.054,2968,3167,2028
$GC,13362,0.64,194.6,551.4,12.2,1281,13365,0.00,1.55,0.00,0.000,6,0.000,0.037,2976,2275,2027
$GC,13686,0.64,194.6,511.8,12.1,1312,13689,0.00,1.60,0.00,0.000,4,0.000,0.054,2975,3169,2027
$GC,13717,0.64,194.6,507.4,12.0,1315,13721,0.08,1.55,0.00,0.000,6,0.148,0.036,2959,2274,2027
$GC,14038,0.64,194.6,471.4,11.3,1346,14039,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2275,2027
$GC,14350,0.64,194.6,436.5,11.3,1376,14350,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2275,2027
$GC,14659,0.64,194.6,402.4,10.6,1406,14660,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2276,2027
$GC,14970,0.64,194.6,368.8,11.0,1436,14973,0.00,1.62,0.00,0.000,4,0.000,0.052,2959,3165,2027
$GC,15006,0.64,194.6,364.8,11.1,1439,15013,0.00,1.55,0.00,0.000,6,0.000,0.034,2965,2272,2027
$GC,15325,0.64,194.6,329.3,11.4,1470,15326,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2272,2027
$GC,15633,0.64,194.6,294.3,11.0,1500,15634,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2273,2027
$GC,15944,0.64,194.6,260.5,10.8,1530,15947,0.00,1.20,0.00,0.000,4,0.000,0.040,2970,1360,2027
$GC,15976,0.64,194.6,257.0,9.7,1533,15979,0.00,1.25,0.00,0.000,6,0.000,0.041,2970,2276,2027
$GC,16297,0.64,194.6,221.1,11.1,1564,16298,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2276,2027
$GC,16607,0.64,194.6,186.2,11.2,1594,16610,0.00,1.23,0.00,0.000,4,0.000,0.038,2974,1362,2028
$GC,16660,0.64,194.6,180.5,11.1,1599,16663,0.00,1.23,0.00,0.000,6,0.000,0.039,2974,2276,2028
$GC,16981,0.64,194.6,142.7,11.2,1630,16984,0.00,1.58,0.00,0.000,4,0.000,0.048,2974,3161,2029
$GC,17017,0.64,194.6,138.2,11.3,1633,17024,0.00,1.52,0.00,0.000,6,0.000,0.031,2982,2268,2029
$GC,17336,0.64,194.6,101.9,11.2,1664,17339,0.00,1.17,0.00,0.000,4,0.000,0.038,2988,1363,2030
$GC,17411,0.64,194.6,93.5,11.8,1671,17414,0.10,1.23,0.00,0.000,6,0.128,0.038,2955,2275,2030
$GC,17607,0.64,194.6,76.0,8.0,1690,17608,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2275,2031
$GC,17794,0.64,194.6,62.1,7.6,1708,17797,0.00,1.58,0.00,0.000,4,0.000,0.047,2955,3169,2031
$GC,17858,0.64,194.6,56.7,9.5,1714,17862,0.00,1.52,0.00,0.000,6,0.000,0.029,2961,2268,2031
$GC,18056,0.70,244.0,43.5,6.2,1733,18096,0.00,1.20,37.62,0.532,4,0.000,0.035,2966,1370,1844
$GC,18151,0.83,345.9,37.9,4.8,1741,18235,0.10,1.23,77.78,0.529,6,0.051,0.035,3025,2275,1428
$GC,18420,0.90,403.5,20.4,6.0,1766,18465,0.00,0.00,43.20,0.503,6,0.000,0.000,3026,2276,1193
$GC,18650,0.95,447.1,5.9,6.4,1788,18686,0.00,1.25,32.80,0.483,4,0.000,0.034,3026,1362,1016
$STATE,18716,end climb,SURFACE_DEPTH_REACHED
$STATE,18716,begin surface coast
$FINISH,0.9,1.019883
$STATE,18783,end surface coast,CONTROL_FINISHED_OK
$STATE,18783,begin surface
$SM_CCo,18799,83.45,0.482,0,0,402,597.54
$SM_GC,1.68,0.00,0.00,83.45,0.000,0.000,0.482,200,2342,402,-7.96,0.48,597.54
$IRIDIUM_FIX,2831.00,-8829.10,171099,040438
$TT8_MAMPS,0.052156
$HUMID,1374
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,24.20
$XPDR_PINGS,2
$24V_AH,22.6,51.200
$10V_AH,10.5,70.521
$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,20.050,89.975,516.200,83.450,0.000,59.783,61.125,288.227,4.250,0.000,0.000,14.962,0.000,12594.139,636.281,5413.521,814.820,33.345,2188.086,0.000,4847.216,0.000,28.024,0.000
$DEVICE_MAMPS,250.042,72.865,1238.705,481.676,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1231.335,1316.066,4045.844,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94704,1800
$CAP_FILE_SIZE,174883,0
$CFSIZE,260165632,229015552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.146,127.4,1
$GPS,230710,094207,2843.263,-8831.929,38,1.1,38,-0.4