version: 66.04
glider: 515
mission: 5
dive: 299
start: 7 24 110 17 55 17
data:
$ID,515
$MISSION,5
$DIVE,299
$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,-25008.271
$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,34
$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,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
$GPS1,174824,2835.163,-8840.675,41,1.2,41,-0.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-69.1
$GPS2,175438,2835.194,-8840.682,14,1.5,14,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0723G
$TGT_LATLONG,2830.000,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.237,-0.118
$KALMAN_X,62361.7,-937.1,-603.5,-45473.9,11278.3
$KALMAN_Y,-452327.9,-405.7,163.7,465217.7,-463.6
$MHEAD_RNG_PITCHd_Wd,240.3,11913,-10.8,-7.500
$D_GRID,1349
$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,-194.6,0.0,0.0,0,87,0.00,0.00,-72.70,0.000,2,0.000,0.000,189,2336,2412
$GC,90,-0.64,-194.6,3.2,-3.6,7,138,10.52,1.52,-31.50,0.000,4,0.250,0.063,2529,3226,3635
$GC,378,-0.64,-194.6,58.1,-12.6,33,386,0.00,1.45,0.00,0.000,6,0.000,0.026,2533,2330,3636
$GC,570,-0.64,-194.6,82.7,-12.9,52,573,0.00,1.25,0.00,0.000,4,0.000,0.035,2536,1406,3638
$GC,656,-0.64,-194.6,93.7,-13.1,60,659,0.00,1.30,0.00,0.000,6,0.000,0.035,2532,2337,3638
$GC,852,-0.64,-194.6,119.3,-12.7,79,856,0.00,1.27,0.00,0.000,4,0.000,0.035,2532,1411,3639
$GC,949,-0.64,-194.6,132.2,-14.2,88,952,0.00,1.27,0.00,0.000,6,0.000,0.035,2527,2332,3638
$GC,1271,-0.64,-194.6,171.0,-12.1,119,1275,0.00,1.25,0.00,0.000,4,0.000,0.035,2526,1426,3638
$GC,1325,-0.64,-194.6,177.5,-11.4,124,1328,0.00,1.25,0.00,0.000,6,0.000,0.036,2521,2330,3638
$GC,1648,-0.64,-194.6,217.7,-12.4,155,1650,0.00,1.25,0.00,0.000,4,0.000,0.036,2521,1420,3638
$GC,1701,-0.64,-194.6,224.5,-12.4,160,1704,0.00,1.25,0.00,0.000,6,0.000,0.038,2515,2319,3637
$GC,2024,-0.64,-194.6,263.3,-12.2,191,2027,0.00,1.25,0.00,0.000,4,0.000,0.038,2516,1405,3635
$GC,2092,-0.64,-194.6,271.9,-11.9,197,2101,0.08,1.27,0.00,0.000,6,0.142,0.037,2534,2324,3635
$GC,2408,-0.64,-194.6,304.4,-10.0,228,2412,0.00,1.25,0.00,0.000,4,0.000,0.038,2534,1409,3633
$GC,2462,-0.64,-194.6,309.7,-10.1,233,2465,0.00,1.27,0.00,0.000,6,0.000,0.038,2530,2327,3633
$GC,2785,-0.64,-194.6,343.4,-10.7,264,2788,0.00,1.25,0.00,0.000,4,0.000,0.038,2530,1418,3631
$GC,2864,-0.64,-194.6,352.5,-11.1,271,2871,0.00,1.27,0.00,0.000,6,0.000,0.038,2525,2327,3631
$GC,3183,-0.64,-194.6,387.3,-10.9,302,3185,0.00,1.25,0.00,0.000,4,0.000,0.038,2525,1421,3629
$GC,3214,-0.64,-194.6,391.1,-10.7,305,3217,0.00,1.25,0.00,0.000,6,0.000,0.039,2519,2317,3629
$GC,3537,-0.64,-194.6,426.2,-11.0,336,3538,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2317,3627
$GC,3846,-0.64,-194.6,459.8,-11.0,366,3849,0.00,1.25,0.00,0.000,4,0.000,0.040,2519,1409,3624
$GC,3953,-0.64,-194.6,471.4,-10.7,376,3956,0.00,1.27,0.00,0.000,6,0.000,0.041,2512,2320,3623
$GC,4276,-0.64,-194.6,508.4,-11.2,407,4279,0.00,1.25,0.00,0.000,4,0.000,0.041,2514,1422,3621
$GC,4376,-0.64,-194.6,520.2,-11.5,416,4383,0.08,1.27,0.00,0.000,6,0.143,0.041,2533,2323,3620
$GC,4692,-0.64,-194.6,551.0,-9.6,447,4696,0.00,1.25,0.00,0.000,4,0.000,0.040,2533,1427,3618
$GC,4756,-0.64,-194.6,557.1,-9.8,453,4759,0.00,1.27,0.00,0.000,6,0.000,0.043,2529,2325,3618
$GC,5079,-0.64,-194.6,588.2,-10.2,484,5082,0.00,1.25,0.00,0.000,4,0.000,0.041,2529,1424,3616
$GC,5115,-0.64,-194.6,592.1,-9.9,487,5122,0.00,1.27,0.00,0.000,6,0.000,0.043,2524,2324,3616
$GC,5433,-0.64,-194.6,624.2,-10.3,518,5436,0.00,1.27,0.00,0.000,4,0.000,0.041,2524,1410,3614
$GC,5465,-0.64,-194.6,627.5,-10.3,521,5468,0.00,1.30,0.00,0.000,6,0.000,0.044,2519,2326,3614
$GC,5788,-0.64,-194.6,659.7,-9.9,552,5791,0.00,1.27,0.00,0.000,4,0.000,0.041,2518,1419,3612
$GC,5894,-0.64,-194.6,670.9,-10.0,562,5897,0.00,1.30,0.00,0.000,6,0.000,0.044,2513,2329,3611
$GC,6217,-0.64,-194.6,703.9,-10.3,593,6220,0.00,1.27,0.00,0.000,4,0.000,0.041,2513,1422,3609
$GC,6253,-0.64,-194.6,708.2,-10.6,596,6262,0.08,1.33,0.00,0.000,6,0.145,0.044,2532,2331,3609
$GC,6570,-0.64,-194.6,736.2,-8.7,627,6573,0.00,1.27,0.00,0.000,4,0.000,0.043,2533,1427,3607
$GC,6623,-0.64,-194.6,741.0,-9.6,632,6626,0.00,1.30,0.00,0.000,6,0.000,0.046,2529,2331,3606
$GC,6946,-0.64,-194.6,770.4,-9.0,663,6949,0.00,1.27,0.00,0.000,4,0.000,0.043,2529,1432,3605
$GC,7021,-0.64,-194.6,777.4,-9.1,670,7024,0.00,1.27,0.00,0.000,6,0.000,0.046,2523,2324,3604
$GC,7344,-0.64,-194.6,807.8,-9.6,701,7347,0.00,1.27,0.00,0.000,4,0.000,0.043,2523,1424,3602
$GC,7419,-0.64,-194.6,815.5,-10.1,708,7421,0.00,1.30,0.00,0.000,6,0.000,0.046,2518,2328,3602
$GC,7741,-0.64,-194.6,848.0,-10.1,739,7744,0.00,1.27,0.00,0.000,4,0.000,0.043,2518,1427,3601
$GC,7826,-0.64,-194.6,856.7,-10.3,747,7829,0.00,1.30,0.00,0.000,6,0.000,0.046,2512,2327,3601
$GC,8147,-0.64,-194.6,888.0,-9.3,778,8150,0.00,1.27,0.00,0.000,4,0.000,0.044,2512,1427,3599
$GC,8201,-0.64,-194.6,893.2,-10.0,783,8204,0.08,1.27,0.00,0.000,6,0.148,0.046,2532,2316,3599
$GC,8522,-0.64,-194.6,919.2,-8.3,814,8523,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2316,3598
$GC,8832,-0.64,-194.6,945.1,-8.3,844,8835,0.00,1.25,0.00,0.000,4,0.000,0.044,2532,1433,3596
$GC,8911,-0.64,-194.6,952.1,-9.5,851,8918,0.00,1.30,0.00,0.000,6,0.000,0.046,2529,2328,3596
$GC,9228,-0.64,-194.6,979.5,-8.9,882,9235,0.00,1.27,0.00,0.000,4,0.000,0.044,2529,1432,3595
$GC,9262,-0.64,-194.6,982.5,-10.7,885,9264,0.00,1.30,0.00,0.000,6,0.000,0.048,2523,2330,3594
$STATE,9354,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9354,begin apogee
$GC,9360,-0.26,0.0,990.9,9.1,894,9518,0.43,0.00,155.30,1.240,6,0.132,0.000,2656,2268,2840
$STATE,9519,end apogee,CONTROL_FINISHED_OK
$STATE,9519,begin climb
$GC,9521,0.64,194.6,996.0,0.0,910,9700,0.93,1.77,172.35,1.211,4,0.102,0.055,2947,3156,2046
$GC,9723,0.64,194.6,980.1,12.2,930,9726,0.00,1.65,0.00,0.000,6,0.000,0.036,2954,2273,2041
$GC,10046,0.64,194.6,941.5,11.6,961,10049,0.00,1.62,0.00,0.000,4,0.000,0.055,2954,3158,2035
$GC,10077,0.64,194.6,937.2,13.0,964,10080,0.00,1.55,0.00,0.000,6,0.000,0.036,2962,2270,2034
$GC,10398,0.64,194.6,897.1,11.8,995,10401,0.00,1.62,0.00,0.000,4,0.000,0.054,2962,3160,2033
$GC,10430,0.64,194.6,893.0,12.5,998,10434,0.00,1.55,0.00,0.000,6,0.000,0.037,2969,2269,2032
$GC,10753,0.64,194.6,851.6,12.6,1029,10756,0.00,1.62,0.00,0.000,4,0.000,0.054,2969,3184,2032
$GC,10774,0.64,194.6,848.5,13.6,1031,10777,0.00,1.58,0.00,0.000,6,0.000,0.037,2976,2271,2031
$GC,11097,0.64,194.6,806.1,13.5,1062,11100,0.00,1.62,0.00,0.000,4,0.000,0.054,2977,3184,2030
$GC,11129,0.64,194.6,801.4,14.2,1065,11132,0.12,1.58,0.00,0.000,6,0.155,0.036,2953,2270,2030
$GC,11450,0.64,194.6,762.7,11.3,1096,11453,0.00,1.20,0.00,0.000,4,0.000,0.042,2957,1373,2030
$GC,11492,0.64,194.6,757.8,11.1,1100,11495,0.00,1.23,0.00,0.000,6,0.000,0.044,2957,2263,2030
$GC,11813,0.64,194.6,719.6,12.4,1131,11816,0.00,1.62,0.00,0.000,4,0.000,0.054,2957,3163,2029
$GC,11899,0.64,194.6,708.8,12.7,1139,11902,0.00,1.52,0.00,0.000,6,0.000,0.036,2965,2274,2028
$GC,12220,0.64,194.6,669.5,12.1,1170,12223,0.00,1.62,0.00,0.000,4,0.000,0.054,2965,3171,2028
$GC,12273,0.64,194.6,662.8,12.8,1175,12276,0.00,1.55,0.00,0.000,6,0.000,0.036,2972,2273,2028
$GC,12596,0.64,194.6,622.1,12.2,1206,12599,0.00,1.60,0.00,0.000,4,0.000,0.053,2972,3174,2028
$GC,12653,0.64,194.6,614.0,14.4,1211,12661,0.00,1.55,0.00,0.000,6,0.000,0.035,2980,2275,2027
$GC,12972,0.64,194.6,573.1,12.7,1242,12973,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2276,2027
$GC,13280,0.64,194.6,533.0,12.7,1272,13284,0.00,1.62,0.00,0.000,4,0.000,0.053,2980,3169,2027
$GC,13355,0.64,194.6,523.1,14.0,1279,13358,0.08,1.55,0.00,0.000,6,0.126,0.036,2953,2271,2027
$GC,13676,0.64,194.6,487.3,11.5,1310,13679,0.00,1.62,0.00,0.000,4,0.000,0.052,2953,3184,2027
$GC,13719,0.64,194.6,482.3,11.8,1314,13722,0.00,1.58,0.00,0.000,6,0.000,0.035,2959,2270,2027
$GC,14042,0.64,194.6,447.0,11.2,1345,14045,0.00,1.62,0.00,0.000,4,0.000,0.051,2959,3166,2026
$GC,14073,0.64,194.6,443.1,11.2,1348,14076,0.00,1.52,0.00,0.000,6,0.000,0.035,2966,2277,2027
$GC,14397,0.64,194.6,405.8,11.6,1379,14399,0.00,1.60,0.00,0.000,4,0.000,0.051,2966,3181,2027
$GC,14461,0.64,194.6,397.3,12.6,1385,14463,0.00,1.55,0.00,0.000,6,0.000,0.035,2974,2276,2027
$GC,14783,0.64,194.6,356.5,12.5,1416,14786,0.00,1.62,0.00,0.000,4,0.000,0.051,2973,3177,2027
$GC,14847,0.64,194.6,347.8,12.9,1422,14850,0.00,1.55,0.00,0.000,6,0.000,0.034,2982,2273,2027
$GC,15169,0.64,194.6,305.7,13.6,1453,15172,0.00,1.62,0.00,0.000,4,0.000,0.051,2981,3188,2027
$GC,15238,0.64,194.6,295.7,13.8,1459,15245,0.12,1.58,0.00,0.000,6,0.143,0.033,2950,2273,2027
$GC,15554,0.64,194.6,259.6,11.2,1490,15555,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2272,2027
$GC,15865,0.64,194.6,227.6,9.3,1520,15866,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2273,2027
$GC,16175,0.64,194.6,196.1,10.1,1550,16178,0.00,1.62,0.00,0.000,4,0.000,0.048,2950,3174,2027
$GC,16239,0.64,194.6,189.3,10.4,1556,16242,0.00,1.52,0.00,0.000,6,0.000,0.031,2955,2273,2028
$GC,16560,0.64,194.6,156.4,10.2,1587,16563,0.00,1.60,0.00,0.000,4,0.000,0.048,2956,3167,2028
$GC,16618,0.64,194.6,150.2,10.6,1592,16625,0.00,1.52,0.00,0.000,6,0.000,0.031,2963,2269,2028
$GC,16935,0.64,194.6,116.9,9.9,1623,16939,0.00,1.62,0.00,0.000,4,0.000,0.048,2963,3174,2029
$GC,16961,0.64,194.6,113.9,12.8,1625,16969,0.00,1.52,0.00,0.000,6,0.000,0.030,2970,2272,2029
$GC,17279,0.64,194.6,81.2,9.0,1656,17280,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2273,2030
$GC,17464,0.64,194.6,63.4,9.6,1674,17467,0.00,1.60,0.00,0.000,4,0.000,0.047,2970,3191,2030
$GC,17500,0.64,194.6,59.9,10.6,1677,17509,0.00,1.52,0.00,0.000,6,0.000,0.028,2978,2275,2031
$GC,17693,0.69,234.3,43.9,6.5,1696,17729,0.00,1.20,29.70,0.529,4,0.000,0.035,2984,1371,1888
$GC,17750,0.72,257.3,40.0,6.9,1701,17776,0.00,1.25,19.40,0.513,6,0.000,0.036,2984,2283,1792
$GC,17961,0.88,389.6,28.2,4.0,1721,18070,0.12,1.27,99.97,0.521,4,0.068,0.035,3057,1377,1249
$GC,18134,0.88,389.6,15.6,7.5,1736,18137,0.00,1.23,0.00,0.000,6,0.000,0.035,3057,2274,1246
$STATE,18319,end climb,SURFACE_DEPTH_REACHED
$STATE,18319,begin surface coast
$FINISH,0.8,1.008624
$STATE,18373,end surface coast,CONTROL_FINISHED_OK
$STATE,18373,begin surface
$SM_CCo,18388,99.12,0.484,0,0,402,597.54
$SM_GC,1.69,0.00,0.00,99.12,0.000,0.000,0.484,198,2341,402,-7.96,0.42,597.54
$IRIDIUM_FIX,2828.55,-8841.44,181099,121200
$TT8_MAMPS,0.050622
$HUMID,1388
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,22.5,52.384
$10V_AH,10.5,72.136
$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,20.325,123.825,476.725,99.125,0.000,31.396,22.074,180.731,3.750,0.000,0.000,16.158,0.000,12099.404,662.170,5418.343,649.042,33.344,2247.230,0.000,4818.546,0.000,28.043,0.000
$DEVICE_MAMPS,250.042,77.467,1240.239,483.977,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1202.936,1285.490,3953.573,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91504,1759
$CAP_FILE_SIZE,179665,0
$CFSIZE,260165632,228380672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.102, 99.5,1
$GPS,240710,230425,2833.364,-8841.878,38,2.0,38,-0.2