version: 66.04
glider: 515
mission: 5
dive: 297
start: 7 24 110 7 22 40
data:
$ID,515
$MISSION,5
$DIVE,297
$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,-24974.826
$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,25
$R_STBD_OVSHOOT,21
$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
$GPS1,071507,2838.639,-8838.151,32,1.3,32,-0.3
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-68.5
$GPS2,072201,2838.677,-8838.142,11,1.8,17,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0723G
$TGT_LATLONG,2830.000,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.240,-0.112
$KALMAN_X,53870.5,-333.6,-595.4,-33456.9,9481.6
$KALMAN_Y,-454572.6,1871.7,166.3,471623.0,-6371.5
$MHEAD_RNG_PITCHd_Wd,245.7,19565,-10.8,-7.500
$D_GRID,1281
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.64,-194.6,0.0,0.0,0,87,0.00,0.00,-70.62,0.000,2,0.000,0.000,200,2326,2349
$GC,89,-0.64,-194.6,3.2,-3.6,7,141,10.62,1.55,-37.03,0.000,4,0.254,0.061,2528,3219,3635
$GC,373,-0.64,-194.6,54.8,-13.1,33,376,0.00,1.45,0.00,0.000,6,0.000,0.028,2533,2325,3637
$GC,570,-0.64,-194.6,80.4,-13.4,52,572,0.00,1.23,0.00,0.000,4,0.000,0.035,2533,1408,3638
$GC,655,-0.64,-194.6,91.4,-11.9,60,658,0.00,1.30,0.00,0.000,6,0.000,0.035,2529,2337,3639
$GC,852,-0.64,-194.6,118.3,-13.7,79,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2337,3639
$GC,1162,-0.64,-194.6,157.3,-11.7,109,1165,0.00,1.27,0.00,0.000,4,0.000,0.034,2528,1402,3639
$GC,1241,-0.64,-194.6,166.8,-11.9,116,1249,0.00,1.30,0.00,0.000,6,0.000,0.034,2523,2338,3639
$GC,1559,-0.64,-194.6,205.1,-12.3,147,1562,0.00,1.27,0.00,0.000,4,0.000,0.035,2523,1409,3638
$GC,1660,-0.64,-194.6,217.8,-12.5,156,1668,0.00,1.27,0.00,0.000,6,0.000,0.035,2517,2330,3638
$GC,1978,-0.64,-194.6,255.8,-12.3,187,1981,0.00,1.25,0.00,0.000,4,0.000,0.035,2517,1419,3636
$GC,2053,-0.64,-194.6,265.0,-11.9,194,2056,0.00,1.25,0.00,0.000,6,0.000,0.037,2511,2324,3635
$GC,2376,-0.64,-194.6,303.9,-12.0,225,2379,0.00,1.25,0.00,0.000,4,0.000,0.035,2511,1405,3633
$GC,2433,-0.64,-194.6,311.2,-11.5,230,2441,0.10,1.27,0.00,0.000,6,0.136,0.036,2538,2324,3633
$GC,2750,-0.64,-194.6,341.4,-9.7,261,2753,0.00,1.25,0.00,0.000,4,0.000,0.036,2538,1407,3631
$GC,2835,-0.64,-194.6,349.6,-10.0,269,2838,0.00,1.27,0.00,0.000,6,0.000,0.037,2534,2326,3631
$GC,3158,-0.64,-194.6,382.1,-10.2,300,3161,0.00,1.25,0.00,0.000,4,0.000,0.036,2534,1413,3629
$GC,3222,-0.64,-194.6,388.9,-10.3,306,3225,0.00,1.27,0.00,0.000,6,0.000,0.037,2529,2328,3628
$GC,3544,-0.64,-194.6,423.1,-10.9,337,3547,0.00,1.25,0.00,0.000,4,0.000,0.037,2529,1417,3626
$GC,3602,-0.64,-194.6,429.8,-10.5,342,3609,0.00,1.27,0.00,0.000,6,0.000,0.038,2523,2327,3626
$GC,3920,-0.64,-194.6,465.3,-11.2,373,3923,0.00,1.25,0.00,0.000,4,0.000,0.037,2523,1423,3623
$GC,3951,-0.64,-194.6,469.1,-11.5,376,3954,0.00,1.25,0.00,0.000,6,0.000,0.040,2518,2317,3623
$GC,4274,-0.64,-194.6,505.3,-11.5,407,4277,0.00,1.25,0.00,0.000,4,0.000,0.039,2518,1411,3620
$GC,4338,-0.64,-194.6,513.0,-12.0,413,4341,0.00,1.27,0.00,0.000,6,0.000,0.040,2512,2322,3620
$GC,4661,-0.64,-194.6,550.9,-11.3,444,4664,0.00,1.25,0.00,0.000,4,0.000,0.041,2512,1426,3617
$GC,4718,-0.64,-194.6,557.9,-11.0,449,4726,0.08,1.27,0.00,0.000,6,0.146,0.041,2531,2325,3617
$GC,5035,-0.64,-194.6,587.7,-9.1,480,5036,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2325,3616
$GC,5346,-0.64,-194.6,617.1,-9.5,510,5348,0.00,1.25,0.00,0.000,4,0.000,0.041,2532,1431,3614
$GC,5414,-0.64,-194.6,623.9,-9.6,516,5422,0.00,1.27,0.00,0.000,6,0.000,0.042,2528,2326,3614
$GC,5732,-0.64,-194.6,654.3,-9.3,547,5733,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2326,3612
$GC,6041,-0.64,-194.6,683.7,-9.7,577,6042,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2326,3609
$GC,6351,-0.64,-194.6,714.2,-9.7,607,6354,0.00,1.27,0.00,0.000,4,0.000,0.043,2529,1419,3608
$GC,6441,-0.64,-194.6,722.9,-9.1,615,6448,0.00,1.30,0.00,0.000,6,0.000,0.044,2523,2327,3607
$GC,6759,-0.64,-194.6,753.6,-9.7,646,6760,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2327,3605
$GC,7068,-0.64,-194.6,783.2,-9.5,676,7071,0.00,1.55,0.00,0.000,4,0.000,0.055,2516,3205,3604
$GC,7100,-0.64,-194.6,786.1,-9.3,679,7103,0.00,1.48,0.00,0.000,6,0.000,0.035,2516,2326,3603
$GC,7423,-0.64,-194.6,817.9,-10.0,710,7426,0.00,1.27,0.00,0.000,4,0.000,0.044,2516,1419,3602
$GC,7470,-0.64,-194.6,822.9,-9.9,714,7477,0.00,1.30,0.00,0.000,6,0.000,0.045,2511,2321,3602
$GC,7788,-0.64,-194.6,855.6,-10.5,745,7790,0.12,0.00,0.00,0.000,6,0.147,0.000,2543,2322,3600
$GC,8097,-0.64,-194.6,881.5,-7.8,775,8099,0.00,1.27,0.00,0.000,4,0.000,0.044,2543,1426,3599
$GC,8140,-0.64,-194.6,885.1,-8.5,779,8142,0.00,1.30,0.00,0.000,6,0.000,0.048,2540,2325,3599
$GC,8461,-0.64,-194.6,913.0,-9.0,810,8461,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2325,3597
$GC,8774,-0.64,-194.6,940.3,-8.7,840,8777,0.00,1.27,0.00,0.000,4,0.000,0.044,2540,1428,3596
$GC,8827,-0.64,-194.6,945.5,-9.5,845,8830,0.00,1.30,0.00,0.000,6,0.000,0.048,2535,2326,3595
$GC,9148,-0.64,-194.6,973.5,-8.8,876,9149,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2326,3595
$STATE,9343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9343,begin apogee
$GC,9348,-0.26,0.0,990.6,8.3,895,9507,0.43,0.00,155.55,1.239,6,0.129,0.000,2664,2265,2840
$STATE,9507,end apogee,CONTROL_FINISHED_OK
$STATE,9507,begin climb
$GC,9510,0.64,194.6,996.5,0.0,911,9687,0.88,0.00,172.07,1.213,6,0.097,0.000,2942,2264,2046
$GC,9997,0.64,194.6,949.7,12.1,958,9999,0.00,1.62,0.00,0.000,4,0.000,0.058,2942,3159,2035
$GC,10044,0.64,194.6,943.8,12.2,962,10051,0.00,1.55,0.00,0.000,6,0.000,0.037,2950,2272,2033
$GC,10361,0.64,194.6,905.3,12.3,993,10365,0.00,1.23,0.00,0.000,4,0.000,0.043,2955,1371,2033
$GC,10387,0.64,194.6,902.2,11.8,995,10394,0.00,1.25,0.00,0.000,6,0.000,0.044,2955,2267,2033
$GC,10704,0.64,194.6,864.3,11.7,1026,10708,0.00,1.62,0.00,0.000,4,0.000,0.055,2955,3173,2032
$GC,10730,0.64,194.6,860.9,13.0,1028,10738,0.00,1.55,0.00,0.000,6,0.000,0.035,2962,2274,2030
$GC,11048,0.64,194.6,822.6,12.2,1059,11052,0.00,1.23,0.00,0.000,4,0.000,0.043,2968,1369,2029
$GC,11074,0.64,194.6,819.2,12.5,1061,11081,0.00,1.27,0.00,0.000,6,0.000,0.043,2968,2277,2030
$GC,11392,0.64,194.6,780.2,12.3,1092,11395,0.00,1.60,0.00,0.000,4,0.000,0.054,2968,3176,2029
$GC,11424,0.64,194.6,775.9,13.0,1095,11427,0.00,1.55,0.00,0.000,6,0.000,0.037,2976,2273,2028
$GC,11745,0.64,194.6,733.7,13.6,1126,11748,0.00,1.62,0.00,0.000,4,0.000,0.054,2976,3195,2028
$GC,11781,0.64,194.6,728.5,14.2,1129,11789,0.08,1.58,0.00,0.000,6,0.145,0.035,2958,2277,2028
$GC,12097,0.64,194.6,690.5,11.6,1160,12100,0.00,1.23,0.00,0.000,4,0.000,0.043,2962,1368,2027
$GC,12141,0.64,194.6,685.5,11.7,1164,12143,0.00,1.27,0.00,0.000,6,0.000,0.043,2963,2278,2028
$GC,12463,0.64,194.6,647.9,11.8,1195,12466,0.00,1.60,0.00,0.000,4,0.000,0.054,2962,3200,2027
$GC,12495,0.64,194.6,643.9,12.3,1198,12498,0.00,1.60,0.00,0.000,6,0.000,0.036,2970,2270,2027
$GC,12816,0.64,194.6,606.0,11.6,1229,12819,0.00,1.65,0.00,0.000,4,0.000,0.053,2969,3178,2026
$GC,12916,0.64,194.6,593.4,12.7,1238,12924,0.00,1.55,0.00,0.000,6,0.000,0.035,2977,2276,2026
$GC,13235,0.64,194.6,554.7,12.5,1269,13238,0.00,1.62,0.00,0.000,4,0.000,0.052,2977,3197,2026
$GC,13267,0.64,194.6,550.3,12.7,1272,13270,0.12,1.58,0.00,0.000,6,0.148,0.035,2954,2275,2026
$GC,13588,0.64,194.6,516.9,10.3,1303,13591,0.00,1.23,0.00,0.000,4,0.000,0.041,2957,1360,2026
$GC,13613,0.64,194.6,514.1,11.2,1305,13620,0.00,1.30,0.00,0.000,6,0.000,0.041,2957,2288,2026
$GC,13932,0.64,194.6,481.0,10.5,1336,13932,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2288,2026
$GC,14240,0.64,194.6,446.6,11.7,1366,14241,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2288,2026
$GC,14551,0.64,194.6,411.0,11.4,1396,14554,0.00,1.55,0.00,0.000,4,0.000,0.052,2957,3161,2026
$GC,14598,0.64,194.6,405.2,12.1,1400,14606,0.00,1.52,0.00,0.000,6,0.000,0.034,2965,2273,2026
$GC,14917,0.64,194.6,367.8,11.6,1431,14920,0.00,1.60,0.00,0.000,4,0.000,0.051,2964,3181,2026
$GC,14960,0.64,194.6,362.2,12.7,1435,14963,0.00,1.55,0.00,0.000,6,0.000,0.034,2972,2274,2026
$GC,15282,0.64,194.6,322.4,12.2,1466,15286,0.00,1.60,0.00,0.000,4,0.000,0.051,2972,3162,2026
$GC,15318,0.64,194.6,317.4,11.9,1469,15325,0.00,1.52,0.00,0.000,6,0.000,0.033,2979,2276,2026
$GC,15637,0.64,194.6,276.4,13.4,1500,15640,0.00,1.60,0.00,0.000,4,0.000,0.050,2979,3186,2026
$GC,15673,0.64,194.6,271.0,12.9,1503,15681,0.10,1.55,0.00,0.000,6,0.137,0.033,2955,2277,2026
$GC,15990,0.64,194.6,236.6,10.6,1534,15991,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2278,2026
$GC,16300,0.64,194.6,203.5,10.6,1564,16301,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2278,2026
$GC,16611,0.64,194.6,171.3,9.6,1594,16614,0.00,1.60,0.00,0.000,4,0.000,0.048,2955,3169,2027
$GC,16675,0.64,194.6,164.2,10.9,1600,16678,0.00,1.52,0.00,0.000,6,0.000,0.031,2961,2272,2027
$GC,16996,0.64,194.6,130.6,9.8,1631,16999,0.00,1.20,0.00,0.000,4,0.000,0.037,2966,1358,2028
$GC,17039,0.64,194.6,126.7,9.3,1635,17042,0.00,1.23,0.00,0.000,6,0.000,0.038,2966,2268,2028
$GC,17360,0.64,194.6,95.2,9.8,1666,17363,0.00,1.60,0.00,0.000,4,0.000,0.048,2966,3195,2029
$GC,17418,0.64,194.6,88.9,10.6,1671,17425,0.00,1.55,0.00,0.000,6,0.000,0.029,2973,2271,2029
$GC,17611,0.64,194.6,69.2,9.8,1690,17611,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2272,2029
$GC,17797,0.64,194.6,51.4,9.2,1708,17798,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2272,2030
$GC,17983,0.72,259.1,38.2,5.8,1726,18035,0.00,1.65,48.95,0.535,4,0.000,0.044,2974,3170,1783
$GC,18157,0.90,409.7,27.9,3.5,1741,18275,0.12,1.52,112.75,0.522,6,0.048,0.028,3057,2266,1168
$GC,18468,0.91,417.1,6.2,7.3,1770,18480,0.00,1.17,6.03,0.393,4,0.000,0.033,3062,1367,1138
$STATE,18514,end climb,SURFACE_DEPTH_REACHED
$STATE,18514,begin surface coast
$FINISH,0.8,1.022623
$STATE,18568,end surface coast,CONTROL_FINISHED_OK
$STATE,18570,begin surface
$SM_CCo,18586,89.12,0.483,0,0,403,597.54
$SM_GC,1.69,0.00,0.00,89.12,0.000,0.000,0.483,196,2333,403,-7.97,0.23,597.54
$IRIDIUM_FIX,2828.55,-8836.53,181099,020246
$TT8_MAMPS,0.050622
$HUMID,1412
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,22.5,52.053
$10V_AH,10.5,71.680
$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,20.250,106.025,495.350,89.125,0.000,28.198,29.398,217.708,3.750,0.000,0.000,19.204,0.000,12302.026,669.412,5402.148,683.714,33.345,2235.011,0.000,4817.153,0.000,28.024,0.000
$DEVICE_MAMPS,253.877,69.030,1238.705,483.210,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1216.239,1299.001,3998.502,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94626,1779
$CAP_FILE_SIZE,175184,0
$CFSIZE,260165632,228560896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.140,111.3,1
$GPS,240710,123455,2836.810,-8839.384,36,1.6,36,-0.3