version: 66.04
glider: 515
mission: 5
dive: 298
start: 7 24 110 12 42 47
data:
$ID,515
$MISSION,5
$DIVE,298
$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,-24991.484
$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,35
$R_STBD_OVSHOOT,26
$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
$GPS1,123455,2836.810,-8839.384,36,1.6,36,-0.3
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-66.6
$GPS2,124208,2836.826,-8839.365,14,1.7,14,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0723G
$TGT_LATLONG,2830.000,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.246,-0.097
$KALMAN_X,57813.9,-681.0,-272.9,-39368.1,9047.6
$KALMAN_Y,-453911.2,576.7,812.2,468188.5,-5454.0
$MHEAD_RNG_PITCHd_Wd,247.0,15618,-10.8,-7.500
$D_GRID,1313
$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,14,-0.64,-194.6,0.0,0.0,0,95,0.00,0.00,-78.60,0.000,2,0.000,0.000,195,2334,2579
$GC,97,-0.64,-194.6,3.5,-4.4,8,137,10.48,1.52,-25.15,0.000,4,0.250,0.061,2525,3220,3634
$GC,380,-0.64,-194.6,56.9,-14.1,34,382,0.00,1.45,0.00,0.000,6,0.000,0.027,2525,2325,3636
$GC,576,-0.64,-194.6,84.3,-13.4,53,577,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2324,3638
$GC,762,-0.64,-194.6,109.5,-13.2,71,766,0.00,1.23,0.00,0.000,4,0.000,0.034,2525,1409,3638
$GC,809,-0.64,-194.6,116.0,-13.8,75,816,0.00,1.27,0.00,0.000,6,0.000,0.034,2521,2329,3638
$GC,1127,-0.64,-194.6,157.7,-12.7,106,1130,0.00,1.25,0.00,0.000,4,0.000,0.034,2521,1418,3638
$GC,1216,-0.64,-194.6,169.2,-12.1,114,1225,0.00,1.27,0.00,0.000,6,0.000,0.035,2515,2334,3638
$GC,1535,-0.64,-194.6,207.9,-11.9,145,1538,0.00,1.27,0.00,0.000,4,0.000,0.035,2515,1408,3638
$GC,1610,-0.64,-194.6,217.0,-11.6,152,1613,0.08,1.27,0.00,0.000,6,0.142,0.037,2533,2327,3638
$GC,1930,-0.64,-194.6,251.6,-10.8,183,1934,0.00,1.25,0.00,0.000,4,0.000,0.037,2534,1418,3635
$GC,2052,-0.64,-194.6,265.0,-10.9,194,2061,0.00,1.27,0.00,0.000,6,0.000,0.036,2530,2331,3635
$GC,2371,-0.64,-194.6,299.3,-10.6,225,2374,0.00,1.27,0.00,0.000,4,0.000,0.038,2530,1408,3633
$GC,2434,-0.64,-194.6,306.3,-10.7,231,2437,0.00,1.27,0.00,0.000,6,0.000,0.038,2524,2325,3633
$GC,2757,-0.64,-194.6,341.3,-10.5,262,2760,0.00,1.25,0.00,0.000,4,0.000,0.038,2524,1415,3631
$GC,2864,-0.64,-194.6,352.9,-10.2,272,2867,0.00,1.27,0.00,0.000,6,0.000,0.039,2518,2327,3630
$GC,3187,-0.64,-194.6,388.9,-11.6,303,3190,0.00,1.27,0.00,0.000,4,0.000,0.038,2518,1408,3628
$GC,3240,-0.64,-194.6,395.3,-11.6,308,3243,0.00,1.27,0.00,0.000,6,0.000,0.040,2513,2320,3628
$GC,3562,-0.64,-194.6,433.0,-11.6,339,3565,0.00,1.27,0.00,0.000,4,0.000,0.046,2512,1420,3625
$GC,3642,-0.64,-194.6,442.9,-11.7,346,3650,0.08,1.27,0.00,0.000,6,0.156,0.038,2530,2327,3624
$GC,3958,-0.64,-194.6,475.4,-10.3,377,3959,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2328,3622
$GC,4269,-0.64,-194.6,507.0,-10.6,407,4272,0.00,1.27,0.00,0.000,4,0.000,0.041,2530,1418,3620
$GC,4422,-0.64,-194.6,523.1,-10.9,421,4430,0.00,1.27,0.00,0.000,6,0.000,0.041,2527,2320,3618
$GC,4741,-0.64,-194.6,555.6,-10.3,452,4744,0.00,1.25,0.00,0.000,4,0.000,0.041,2526,1430,3617
$GC,4816,-0.64,-194.6,563.6,-10.6,459,4819,0.00,1.27,0.00,0.000,6,0.000,0.042,2521,2328,3616
$GC,5139,-0.64,-194.6,598.4,-10.7,490,5142,0.00,1.27,0.00,0.000,4,0.000,0.041,2521,1422,3615
$GC,5217,-0.64,-194.6,607.1,-10.7,497,5224,0.00,1.27,0.00,0.000,6,0.000,0.042,2516,2319,3614
$GC,5536,-0.64,-194.6,641.0,-10.9,528,5539,0.00,1.55,0.00,0.000,4,0.000,0.054,2508,3204,3613
$GC,5578,-0.64,-194.6,645.9,-10.3,532,5582,0.08,1.45,0.00,0.000,6,0.140,0.034,2534,2331,3612
$GC,5899,-0.64,-194.6,675.0,-8.9,563,5902,0.00,1.27,0.00,0.000,4,0.000,0.043,2534,1425,3610
$GC,6017,-0.64,-194.6,685.5,-9.4,574,6020,0.00,1.30,0.00,0.000,6,0.000,0.045,2530,2328,3609
$GC,6339,-0.64,-194.6,714.1,-8.8,605,6342,0.00,1.30,0.00,0.000,4,0.000,0.043,2530,1412,3607
$GC,6408,-0.64,-194.6,720.4,-9.0,611,6414,0.00,1.33,0.00,0.000,6,0.000,0.044,2526,2330,3607
$GC,6725,-0.64,-194.6,749.7,-9.3,642,6729,0.00,1.30,0.00,0.000,4,0.000,0.044,2526,1417,3605
$GC,6761,-0.64,-194.6,753.5,-10.2,645,6768,0.00,1.33,0.00,0.000,6,0.000,0.044,2520,2331,3604
$GC,7080,-0.64,-194.6,783.5,-9.4,676,7083,0.00,1.30,0.00,0.000,4,0.000,0.043,2520,1417,3603
$GC,7187,-0.64,-194.6,793.7,-9.1,686,7190,0.00,1.30,0.00,0.000,6,0.000,0.045,2514,2323,3603
$GC,7510,-0.64,-194.6,824.8,-9.9,717,7513,0.00,1.27,0.00,0.000,4,0.000,0.043,2514,1424,3601
$GC,7574,-0.64,-194.6,831.2,-10.0,723,7577,0.08,1.30,0.00,0.000,6,0.144,0.045,2534,2326,3601
$GC,7895,-0.64,-194.6,858.6,-8.4,754,7898,0.00,1.30,0.00,0.000,4,0.000,0.044,2533,1408,3598
$GC,7927,-0.64,-194.6,861.3,-8.3,757,7930,0.00,1.33,0.00,0.000,6,0.000,0.046,2530,2327,3599
$GC,8247,-0.64,-194.6,889.5,-9.2,788,8255,0.00,1.30,0.00,0.000,4,0.000,0.044,2530,1411,3598
$GC,8303,-0.64,-194.6,894.6,-9.8,793,8305,0.00,1.33,0.00,0.000,6,0.000,0.047,2525,2327,3597
$GC,8624,-0.64,-194.6,923.9,-8.8,824,8625,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2327,3595
$GC,8934,-0.64,-194.6,950.9,-8.6,854,8937,0.00,1.30,0.00,0.000,4,0.000,0.044,2525,1417,3594
$GC,9030,-0.64,-194.6,959.0,-8.6,863,9033,0.00,1.33,0.00,0.000,6,0.000,0.046,2519,2330,3594
$GC,9352,-0.64,-194.6,986.1,-8.5,894,9352,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2330,3593
$STATE,9402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9402,begin apogee
$GC,9408,-0.26,0.0,990.4,8.5,899,9566,0.45,0.00,155.43,1.239,6,0.133,0.000,2657,2270,2840
$STATE,9567,end apogee,CONTROL_FINISHED_OK
$STATE,9567,begin climb
$GC,9569,0.64,194.6,994.0,0.0,915,9748,0.90,1.83,172.20,1.209,4,0.100,0.056,2941,3158,2044
$GC,9775,0.64,194.6,976.1,13.3,933,9782,0.00,1.65,0.00,0.000,6,0.000,0.035,2948,2275,2039
$GC,10093,0.64,194.6,937.7,12.4,964,10096,0.00,1.62,0.00,0.000,4,0.000,0.056,2948,3163,2034
$GC,10129,0.64,194.6,932.8,13.1,967,10137,0.00,1.55,0.00,0.000,6,0.000,0.035,2955,2274,2033
$GC,10448,0.64,194.6,893.8,12.7,998,10448,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2275,2032
$GC,10756,0.64,194.6,855.3,12.6,1028,10757,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2275,2031
$GC,11067,0.64,194.6,816.8,12.4,1058,11070,0.00,1.62,0.00,0.000,4,0.000,0.054,2955,3168,2030
$GC,11098,0.64,194.6,812.4,13.2,1061,11101,0.00,1.55,0.00,0.000,6,0.000,0.036,2962,2271,2029
$GC,11419,0.64,194.6,771.5,12.7,1092,11420,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2272,2029
$GC,11730,0.64,194.6,732.1,12.3,1122,11733,0.00,1.62,0.00,0.000,4,0.000,0.054,2962,3187,2029
$GC,11772,0.64,194.6,726.3,14.6,1126,11775,0.00,1.58,0.00,0.000,6,0.000,0.037,2970,2272,2028
$GC,12095,0.64,194.6,683.7,13.1,1157,12096,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2273,2028
$GC,12404,0.64,194.6,643.6,12.6,1187,12405,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2273,2028
$GC,12714,0.64,194.6,606.0,11.7,1217,12717,0.00,1.62,0.00,0.000,4,0.000,0.054,2970,3165,2028
$GC,12793,0.64,194.6,596.1,11.2,1224,12800,0.00,1.55,0.00,0.000,6,0.000,0.035,2977,2270,2027
$GC,13111,0.64,194.6,557.6,12.7,1255,13115,0.00,1.62,0.00,0.000,4,0.000,0.054,2977,3161,2026
$GC,13164,0.64,194.6,550.4,13.0,1260,13168,0.08,1.55,0.00,0.000,6,0.148,0.036,2960,2270,2027
$GC,13485,0.64,194.6,513.9,11.3,1291,13486,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2271,2027
$GC,13796,0.64,194.6,478.6,11.5,1321,13797,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2271,2026
$GC,14107,0.64,194.6,442.9,11.2,1351,14110,0.00,1.60,0.00,0.000,4,0.000,0.052,2960,3169,2027
$GC,14132,0.64,194.6,439.7,12.1,1353,14140,0.00,1.55,0.00,0.000,6,0.000,0.035,2966,2270,2027
$GC,14451,0.64,194.6,402.7,11.7,1384,14454,0.00,1.62,0.00,0.000,4,0.000,0.052,2966,3165,2027
$GC,14526,0.64,194.6,393.2,12.3,1391,14529,0.00,1.52,0.00,0.000,6,0.000,0.035,2973,2274,2027
$GC,14847,0.64,194.6,352.9,12.5,1422,14851,0.00,1.60,0.00,0.000,4,0.000,0.052,2973,3160,2026
$GC,14890,0.64,194.6,347.0,13.5,1426,14893,0.00,1.52,0.00,0.000,6,0.000,0.035,2981,2273,2027
$GC,15212,0.64,194.6,303.8,12.8,1457,15215,0.00,1.60,0.00,0.000,4,0.000,0.051,2981,3160,2026
$GC,15281,0.64,194.6,294.1,13.9,1463,15287,0.10,1.52,0.00,0.000,6,0.139,0.033,2957,2274,2026
$GC,15597,0.64,194.6,258.8,10.9,1494,15600,0.00,1.62,0.00,0.000,4,0.000,0.050,2957,3173,2026
$GC,15640,0.64,194.6,253.9,11.7,1498,15643,0.00,1.52,0.00,0.000,6,0.000,0.032,2962,2274,2027
$GC,15962,0.64,194.6,216.5,12.0,1529,15965,0.00,1.60,0.00,0.000,4,0.000,0.050,2962,3162,2027
$GC,16015,0.64,194.6,209.7,12.2,1534,16018,0.00,1.52,0.00,0.000,6,0.000,0.032,2970,2272,2027
$GC,16336,0.64,194.6,170.8,11.6,1565,16339,0.00,1.60,0.00,0.000,4,0.000,0.049,2970,3160,2028
$GC,16422,0.64,194.6,160.5,11.5,1573,16424,0.00,1.52,0.00,0.000,6,0.000,0.032,2977,2270,2027
$GC,16744,0.64,194.6,122.1,10.5,1604,16745,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2270,2028
$GC,17053,0.64,194.6,86.7,11.4,1634,17056,0.00,1.60,0.00,0.000,4,0.000,0.048,2977,3163,2030
$GC,17079,0.64,194.6,83.9,12.5,1636,17086,0.08,1.50,0.00,0.000,6,0.140,0.030,2959,2274,2030
$GC,17271,0.64,194.6,66.9,8.4,1655,17274,0.00,1.20,0.00,0.000,4,0.000,0.036,2963,1362,2030
$GC,17328,0.68,230.3,62.6,6.6,1660,17361,0.00,1.23,26.92,0.546,6,0.000,0.036,2963,2272,1900
$GC,17544,0.71,254.5,47.2,6.9,1681,17569,0.00,1.62,19.90,0.525,4,0.000,0.046,2963,3174,1802
$GC,17612,0.75,284.8,42.5,6.7,1687,17640,0.00,1.52,24.62,0.524,6,0.000,0.029,2970,2272,1679
$GC,17828,0.93,432.7,32.1,3.6,1707,17948,0.22,0.00,110.95,0.523,6,0.054,0.000,3077,2272,1075
$GC,18132,0.93,432.7,3.6,7.6,1737,18135,0.00,1.17,0.00,0.000,4,0.000,0.034,3083,1374,1068
$STATE,18140,end climb,SURFACE_DEPTH_REACHED
$STATE,18140,begin surface coast
$FINISH,0.7,1.014242
$STATE,18173,end surface coast,CONTROL_FINISHED_OK
$STATE,18173,begin surface
$SM_CCo,18190,83.18,0.486,0,0,402,597.54
$SM_GC,1.62,0.00,0.00,83.18,0.000,0.000,0.486,191,2335,402,-7.99,0.25,597.54
$IRIDIUM_FIX,2826.10,-8836.53,181099,070709
$TT8_MAMPS,0.051389
$HUMID,1391
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,22.5,52.222
$10V_AH,10.5,71.907
$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,20.300,107.450,510.025,83.175,0.000,23.487,33.242,233.447,3.750,0.000,0.000,16.030,0.000,11978.612,664.592,5338.726,691.623,33.345,2225.105,0.000,4752.022,0.000,29.792,0.000
$DEVICE_MAMPS,250.042,67.496,1238.705,486.278,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1190.377,1276.271,3913.115,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91388,1741
$CAP_FILE_SIZE,174548,0
$CFSIZE,260165632,228478976
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.114,105.9,1
$GPS,240710,174824,2835.163,-8840.675,41,1.2,41,-0.2