version: 66.04
glider: 515
mission: 5
dive: 295
start: 7 23 110 20 44 48
data:
$ID,515
$MISSION,5
$DIVE,295
$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,-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,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,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-24939.365
$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,37
$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,30
$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
$GPS1,203037,2842.805,-8835.952,30,0.9,30,-0.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-71.6
$GPS2,204326,2842.749,-8835.948,10,1.6,10,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0723G
$TGT_LATLONG,2830.000,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.251,-0.085
$KALMAN_X,45617.7,-713.7,-319.0,-21537.5,7754.3
$KALMAN_Y,-447900.8,-1800.0,-1121.9,477446.5,4044.2
$MHEAD_RNG_PITCHd_Wd,240.4,27830,-10.8,-7.500
$D_GRID,1004
$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,13,-0.64,-194.6,0.0,0.0,0,79,0.00,0.00,-64.57,0.000,2,0.000,0.000,203,2344,2229
$GC,81,-0.64,-194.6,3.3,-3.4,6,133,10.45,1.30,-36.95,0.000,4,0.250,0.057,2539,1421,3636
$GC,155,-0.64,-194.6,14.5,-29.1,12,162,0.00,1.25,0.00,0.000,6,0.000,0.031,2536,2321,3636
$GC,348,-0.64,-194.6,53.9,-14.4,31,350,0.00,1.50,0.00,0.000,4,0.000,0.044,2529,3209,3637
$GC,593,-0.64,-194.6,85.7,-11.4,54,596,0.00,1.42,0.00,0.000,6,0.000,0.027,2528,2329,3638
$GC,791,-0.64,-194.6,109.5,-12.3,73,793,0.00,1.50,0.00,0.000,4,0.000,0.044,2522,3208,3639
$GC,833,-0.64,-194.6,115.0,-13.3,77,836,0.00,1.42,0.00,0.000,6,0.000,0.028,2522,2325,3639
$GC,1155,-0.64,-194.6,156.5,-13.1,108,1159,0.00,1.23,0.00,0.000,4,0.000,0.037,2522,1406,3638
$GC,1241,-0.64,-194.6,167.1,-12.2,116,1244,0.00,1.25,0.00,0.000,6,0.000,0.035,2518,2320,3638
$GC,1563,-0.64,-194.6,206.1,-12.1,147,1566,0.00,1.23,0.00,0.000,4,0.000,0.037,2518,1421,3635
$GC,1589,-0.64,-194.6,209.6,-12.0,149,1596,0.00,1.25,0.00,0.000,6,0.000,0.035,2512,2325,3635
$GC,1907,-0.64,-194.6,248.3,-12.8,180,1909,0.00,1.23,0.00,0.000,4,0.000,0.037,2512,1423,3633
$GC,1992,-0.64,-194.6,258.6,-12.3,188,1995,0.08,1.25,0.00,0.000,6,0.143,0.038,2532,2325,3633
$GC,2313,-0.64,-194.6,292.9,-10.8,219,2316,0.00,1.25,0.00,0.000,4,0.000,0.038,2532,1410,3631
$GC,2370,-0.64,-194.6,299.4,-11.0,224,2377,0.00,1.27,0.00,0.000,6,0.000,0.037,2528,2325,3630
$GC,2689,-0.64,-194.6,333.6,-10.0,255,2692,0.00,1.25,0.00,0.000,4,0.000,0.038,2528,1404,3628
$GC,2774,-0.64,-194.6,342.6,-10.4,263,2777,0.00,1.27,0.00,0.000,6,0.000,0.038,2523,2324,3627
$GC,3097,-0.64,-194.6,376.7,-10.9,294,3100,0.00,1.25,0.00,0.000,4,0.000,0.038,2522,1414,3625
$GC,3150,-0.64,-194.6,382.6,-11.1,299,3153,0.00,1.27,0.00,0.000,6,0.000,0.039,2517,2326,3625
$GC,3473,-0.64,-194.6,418.2,-10.9,330,3475,0.00,1.25,0.00,0.000,4,0.000,0.039,2517,1422,3622
$GC,3537,-0.64,-194.6,425.8,-11.5,336,3540,0.00,1.25,0.00,0.000,6,0.000,0.040,2511,2319,3622
$GC,3859,-0.64,-194.6,463.0,-11.7,367,3862,0.00,1.25,0.00,0.000,4,0.000,0.039,2511,1410,3618
$GC,3913,-0.64,-194.6,469.4,-11.9,372,3916,0.10,1.27,0.00,0.000,6,0.137,0.040,2537,2322,3618
$GC,4234,-0.64,-194.6,500.4,-9.4,403,4235,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2322,3616
$GC,4545,-0.64,-194.6,530.1,-9.7,433,4547,0.00,1.25,0.00,0.000,4,0.000,0.041,2538,1421,3615
$GC,4577,-0.64,-194.6,533.3,-10.2,436,4579,0.00,1.27,0.00,0.000,6,0.000,0.042,2534,2326,3614
$GC,4899,-0.64,-194.6,564.7,-10.1,467,4900,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2326,3611
$GC,5208,-0.64,-194.6,594.6,-9.1,497,5211,0.00,1.27,0.00,0.000,4,0.000,0.041,2534,1412,3609
$GC,5255,-0.64,-194.6,599.3,-9.0,501,5262,0.00,1.30,0.00,0.000,6,0.000,0.043,2529,2328,3608
$GC,5574,-0.64,-194.6,629.9,-9.6,532,5577,0.00,1.27,0.00,0.000,4,0.000,0.042,2529,1417,3606
$GC,5616,-0.64,-194.6,634.3,-10.1,536,5619,0.00,1.27,0.00,0.000,6,0.000,0.044,2524,2320,3606
$GC,5938,-0.64,-194.6,666.1,-10.3,567,5942,0.00,1.58,0.00,0.000,4,0.000,0.054,2516,3216,3603
$GC,5964,-0.64,-194.6,668.8,-10.1,569,5971,0.00,1.48,0.00,0.000,6,0.000,0.035,2516,2331,3603
$GC,6282,-0.64,-194.6,700.7,-10.3,600,6285,0.00,1.27,0.00,0.000,4,0.000,0.044,2516,1423,3601
$GC,6328,-0.64,-194.6,705.8,-10.7,604,6336,0.00,1.30,0.00,0.000,6,0.000,0.044,2511,2325,3601
$GC,6647,-0.64,-194.6,738.1,-10.1,635,6650,0.00,1.27,0.00,0.000,4,0.000,0.044,2511,1424,3599
$GC,6683,-0.64,-194.6,742.0,-10.2,638,6690,0.10,1.33,0.00,0.000,6,0.139,0.045,2537,2329,3599
$GC,6999,-0.64,-194.6,768.5,-8.2,669,7000,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2329,3597
$GC,7310,-0.64,-194.6,795.6,-8.8,699,7311,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2330,3595
$GC,7621,-0.64,-194.6,823.0,-9.0,729,7624,0.00,1.30,0.00,0.000,4,0.000,0.044,2537,1415,3594
$GC,7706,-0.64,-194.6,830.7,-9.2,737,7709,0.00,1.33,0.00,0.000,6,0.000,0.047,2534,2328,3594
$GC,8027,-0.64,-194.6,859.6,-9.0,768,8030,0.00,1.30,0.00,0.000,4,0.000,0.044,2534,1419,3593
$GC,8063,-0.64,-194.6,863.0,-9.3,771,8071,0.00,1.33,0.00,0.000,6,0.000,0.046,2530,2330,3592
$GC,8380,-0.64,-194.6,891.3,-9.1,802,8383,0.00,1.30,0.00,0.000,4,0.000,0.044,2529,1421,3590
$GC,8465,-0.64,-194.6,899.0,-9.3,810,8468,0.00,1.33,0.00,0.000,6,0.000,0.048,2524,2332,3590
$GC,8787,-0.64,-194.6,927.2,-8.7,841,8788,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2332,3589
$GC,9097,-0.64,-194.6,953.5,-8.5,871,9097,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2332,3588
$GC,9410,-0.64,-194.6,980.6,-8.9,901,9413,0.00,1.30,0.00,0.000,4,0.000,0.045,2524,1426,3587
$GC,9463,-0.64,-194.6,985.7,-8.6,906,9466,0.00,1.30,0.00,0.000,6,0.000,0.048,2519,2322,3587
$STATE,9514,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9514,begin apogee
$GC,9519,-0.26,0.0,990.1,8.6,911,9677,0.47,0.00,153.73,1.238,6,0.131,0.000,2662,2274,2839
$STATE,9678,end apogee,CONTROL_FINISHED_OK
$STATE,9678,begin climb
$GC,9681,0.64,194.6,994.7,0.0,927,9858,0.88,1.80,171.80,1.213,4,0.097,0.058,2941,3160,2045
$GC,9876,0.64,194.6,979.8,11.1,945,9879,0.00,1.67,0.00,0.000,6,0.000,0.036,2949,2271,2041
$GC,10199,0.64,194.6,941.9,11.5,976,10202,0.00,1.23,0.00,0.000,4,0.000,0.043,2954,1372,2035
$GC,10220,0.64,194.6,939.4,11.6,978,10223,0.00,1.25,0.00,0.000,6,0.000,0.044,2954,2265,2034
$GC,10541,0.64,194.6,900.8,12.0,1009,10544,0.00,1.62,0.00,0.000,4,0.000,0.055,2954,3165,2032
$GC,10583,0.64,194.6,895.3,12.8,1013,10586,0.00,1.55,0.00,0.000,6,0.000,0.037,2962,2271,2031
$GC,10905,0.64,194.6,854.7,12.2,1044,10906,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2271,2031
$GC,11215,0.64,194.6,816.8,12.6,1074,11215,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2271,2030
$GC,11526,0.64,194.6,778.3,12.2,1104,11529,0.00,1.62,0.00,0.000,4,0.000,0.054,2962,3167,2029
$GC,11562,0.64,194.6,773.5,12.9,1107,11570,0.00,1.55,0.00,0.000,6,0.000,0.036,2969,2270,2028
$GC,11880,0.64,194.6,733.6,12.8,1138,11883,0.00,1.62,0.00,0.000,4,0.000,0.055,2969,3182,2028
$GC,11933,0.64,194.6,726.4,12.1,1143,11936,0.00,1.58,0.00,0.000,6,0.000,0.037,2977,2269,2027
$GC,12256,0.64,194.6,685.4,12.8,1174,12257,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2270,2028
$GC,12565,0.64,194.6,646.0,12.5,1204,12568,0.00,1.62,0.00,0.000,4,0.000,0.055,2977,3178,2027
$GC,12618,0.64,194.6,638.5,13.1,1209,12622,0.08,1.55,0.00,0.000,6,0.149,0.037,2961,2277,2026
$GC,12939,0.64,194.6,600.5,11.9,1240,12940,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2278,2026
$GC,13250,0.64,194.6,564.4,11.5,1270,13251,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2278,2026
$GC,13560,0.64,194.6,529.2,11.7,1300,13563,0.00,1.60,0.00,0.000,4,0.000,0.054,2961,3178,2026
$GC,13613,0.64,194.6,522.7,11.6,1305,13617,0.00,1.58,0.00,0.000,6,0.000,0.036,2967,2269,2026
$GC,13936,0.64,194.6,485.1,11.6,1336,13939,0.00,1.62,0.00,0.000,4,0.000,0.054,2967,3182,2026
$GC,13979,0.64,194.6,479.7,12.0,1340,13982,0.00,1.55,0.00,0.000,6,0.000,0.036,2974,2278,2026
$GC,14301,0.64,194.6,441.1,12.2,1371,14302,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2279,2026
$GC,14611,0.64,194.6,402.6,12.6,1401,14613,0.00,1.60,0.00,0.000,4,0.000,0.053,2974,3181,2026
$GC,14657,0.64,194.6,396.3,13.2,1405,14664,0.00,1.58,0.00,0.000,6,0.000,0.034,2982,2269,2026
$GC,14976,0.64,194.6,356.3,12.5,1436,14979,0.00,1.62,0.00,0.000,4,0.000,0.052,2982,3179,2026
$GC,15001,0.64,194.6,352.6,13.6,1438,15009,0.10,1.58,0.00,0.000,6,0.145,0.034,2958,2270,2026
$GC,15318,0.64,194.6,319.1,10.5,1469,15319,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2270,2026
$GC,15629,0.64,194.6,286.0,11.7,1499,15632,0.00,1.60,0.00,0.000,4,0.000,0.051,2958,3171,2026
$GC,15671,0.64,194.6,281.0,11.6,1503,15674,0.00,1.55,0.00,0.000,6,0.000,0.034,2963,2268,2026
$GC,15992,0.64,194.6,244.0,11.4,1534,15995,0.00,1.20,0.00,0.000,4,0.000,0.040,2969,1361,2026
$GC,16013,0.64,194.6,241.6,11.2,1536,16016,0.00,1.25,0.00,0.000,6,0.000,0.041,2969,2277,2026
$GC,16335,0.64,194.6,204.4,11.6,1567,16338,0.00,1.58,0.00,0.000,4,0.000,0.050,2969,3167,2026
$GC,16371,0.64,194.6,199.8,13.0,1570,16379,0.00,1.52,0.00,0.000,6,0.000,0.031,2976,2273,2027
$GC,16689,0.64,194.6,161.3,12.0,1601,16692,0.00,1.60,0.00,0.000,4,0.000,0.048,2976,3187,2027
$GC,16715,0.64,194.6,158.1,13.3,1603,16723,0.10,1.55,0.00,0.000,6,0.134,0.031,2952,2274,2027
$GC,17031,0.64,194.6,127.1,9.6,1634,17034,0.00,1.60,0.00,0.000,4,0.000,0.048,2952,3167,2028
$GC,17063,0.64,194.6,124.1,9.8,1637,17066,0.00,1.52,0.00,0.000,6,0.000,0.031,2957,2265,2028
$GC,17384,0.64,194.6,93.9,9.5,1668,17387,0.00,1.62,0.00,0.000,4,0.000,0.047,2958,3174,2029
$GC,17430,0.64,194.6,89.2,11.2,1672,17438,0.00,1.52,0.00,0.000,6,0.000,0.029,2965,2270,2029
$GC,17623,0.64,194.6,70.0,9.9,1691,17626,0.00,1.60,0.00,0.000,4,0.000,0.047,2965,3166,2029
$GC,17655,0.64,194.6,66.7,11.4,1694,17658,0.00,1.50,0.00,0.000,6,0.000,0.029,2972,2274,2030
$GC,17852,0.69,232.4,50.2,6.5,1713,17889,0.00,1.20,28.85,0.535,4,0.000,0.034,2978,1366,1891
$GC,17975,0.74,274.7,41.3,6.4,1724,18012,0.00,1.23,33.42,0.529,6,0.000,0.035,2978,2274,1719
$GC,18207,0.93,427.2,29.0,3.5,1746,18328,0.17,1.58,113.62,0.521,4,0.059,0.041,3072,3170,1097
$GC,18371,0.93,427.2,13.4,8.3,1760,18374,0.08,1.55,0.00,0.000,6,0.107,0.028,3040,2269,1093
$STATE,18566,end climb,SURFACE_DEPTH_REACHED
$STATE,18566,begin surface coast
$FINISH,0.8,1.007804
$STATE,18618,end surface coast,CONTROL_FINISHED_OK
$STATE,18618,begin surface
$SM_CCo,18634,86.60,0.484,0,0,403,597.54
$SM_GC,1.76,0.00,0.00,86.60,0.000,0.000,0.484,198,2350,403,-7.96,0.71,597.54
$IRIDIUM_FIX,2831.00,-8836.47,171099,202046
$TT8_MAMPS,0.049855
$HUMID,1411
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,22.6,51.723
$10V_AH,10.5,71.221
$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,20.150,113.200,501.425,86.600,0.000,93.989,92.502,324.336,3.750,0.000,0.000,12.055,0.000,12493.175,648.548,5401.320,957.607,33.344,2218.294,0.000,4807.003,0.000,28.021,0.000
$DEVICE_MAMPS,250.042,74.399,1237.938,483.977,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1220.264,1300.331,4009.740,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94758,1784
$CAP_FILE_SIZE,181978,0
$CFSIZE,260165632,228737024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.145,114.1,1
$GPS,240710,015737,2840.671,-8836.825,26,1.4,26,-0.3