version: 66.04
glider: 515
mission: 5
dive: 302
start: 7 25 110 8 57 43
data:
$ID,515
$MISSION,5
$DIVE,302
$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,-25060.057
$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,31
$R_STBD_OVSHOOT,34
$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
$GPS1,085107,2829.808,-8844.188,36,1.0,36,-0.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-61.8
$GPS2,085702,2829.863,-8844.156,12,1.5,12,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.134,0.228
$KALMAN_X,74407.6,-633.4,-475.0,-63606.3,12720.3
$KALMAN_Y,-456147.8,-192.6,-21.1,459173.2,-3206.4
$MHEAD_RNG_PITCHd_Wd,32.9,38945,-10.8,-7.500
$D_GRID,1294
$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,12,-0.64,-194.6,0.0,0.0,0,88,0.00,0.00,-74.47,0.000,2,0.000,0.000,199,2346,2431
$GC,91,-0.64,-194.6,3.0,-2.9,7,140,10.55,1.52,-34.22,0.000,4,0.254,0.065,2526,3227,3635
$GC,379,-0.64,-194.6,54.2,-13.9,33,387,0.00,1.48,0.00,0.000,6,0.000,0.026,2531,2323,3637
$GC,572,-0.64,-194.6,79.1,-13.2,52,575,0.00,1.23,0.00,0.000,4,0.000,0.036,2533,1413,3639
$GC,672,-0.64,-194.6,92.1,-13.2,61,680,0.00,1.27,0.00,0.000,6,0.000,0.035,2528,2330,3639
$GC,865,-0.64,-194.6,116.6,-12.6,80,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2330,3639
$GC,1175,-0.64,-194.6,155.6,-12.7,110,1179,0.00,1.25,0.00,0.000,4,0.000,0.035,2529,1417,3640
$GC,1261,-0.64,-194.6,165.3,-11.1,118,1263,0.00,1.25,0.00,0.000,6,0.000,0.035,2523,2324,3640
$GC,1583,-0.64,-194.6,201.2,-11.2,149,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2324,3639
$GC,1892,-0.64,-194.6,237.7,-12.2,179,1895,0.00,1.25,0.00,0.000,4,0.000,0.037,2523,1408,3637
$GC,1999,-0.64,-194.6,250.3,-12.1,189,2002,0.00,1.27,0.00,0.000,6,0.000,0.038,2518,2328,3636
$GC,2322,-0.64,-194.6,289.3,-12.0,220,2325,0.00,1.25,0.00,0.000,4,0.000,0.037,2517,1422,3635
$GC,2364,-0.64,-194.6,294.7,-12.6,224,2367,0.00,1.25,0.00,0.000,6,0.000,0.038,2512,2320,3635
$GC,2687,-0.64,-194.6,333.4,-12.0,255,2690,0.00,1.25,0.00,0.000,4,0.000,0.038,2512,1408,3634
$GC,2755,-0.64,-194.6,342.3,-12.1,261,2762,0.10,1.30,0.00,0.000,6,0.133,0.038,2539,2331,3633
$GC,3072,-0.64,-194.6,375.6,-10.0,292,3074,0.00,1.27,0.00,0.000,4,0.000,0.038,2539,1410,3631
$GC,3172,-0.64,-194.6,385.9,-10.0,301,3179,0.00,1.30,0.00,0.000,6,0.000,0.038,2535,2334,3630
$GC,3491,-0.64,-194.6,417.9,-9.9,332,3494,0.00,1.27,0.00,0.000,4,0.000,0.038,2536,1415,3628
$GC,3559,-0.64,-194.6,425.2,-10.2,338,3567,0.00,1.30,0.00,0.000,6,0.000,0.039,2529,2334,3628
$GC,3877,-0.64,-194.6,456.0,-9.7,369,3880,0.00,1.27,0.00,0.000,4,0.000,0.039,2529,1420,3626
$GC,3974,-0.64,-194.6,465.7,-9.8,378,3976,0.00,1.27,0.00,0.000,6,0.000,0.041,2524,2326,3625
$GC,4296,-0.64,-194.6,499.9,-11.0,409,4299,0.00,1.25,0.00,0.000,4,0.000,0.039,2523,1425,3623
$GC,4414,-0.64,-194.6,513.0,-11.4,420,4417,0.00,1.27,0.00,0.000,6,0.000,0.041,2518,2328,3622
$GC,4736,-0.64,-194.6,550.4,-11.8,451,4739,0.00,1.27,0.00,0.000,4,0.000,0.040,2518,1410,3620
$GC,4826,-0.64,-194.6,560.9,-10.9,459,4833,0.00,1.27,0.00,0.000,6,0.000,0.041,2512,2319,3620
$GC,5144,-0.64,-194.6,595.2,-11.2,490,5147,0.00,1.25,0.00,0.000,4,0.000,0.041,2512,1421,3617
$GC,5197,-0.64,-194.6,601.1,-11.1,495,5200,0.08,1.30,0.00,0.000,6,0.142,0.042,2532,2333,3617
$GC,5518,-0.64,-194.6,631.9,-9.5,526,5521,0.00,1.27,0.00,0.000,4,0.000,0.041,2533,1424,3616
$GC,5691,-0.64,-194.6,647.6,-9.3,542,5694,0.00,1.27,0.00,0.000,6,0.000,0.043,2529,2325,3615
$GC,6013,-0.64,-194.6,678.5,-9.8,573,6016,0.00,1.25,0.00,0.000,4,0.000,0.041,2529,1426,3614
$GC,6109,-0.64,-194.6,688.0,-10.3,582,6112,0.00,1.27,0.00,0.000,6,0.000,0.044,2523,2324,3613
$GC,6432,-0.64,-194.6,718.5,-9.3,613,6435,0.00,1.25,0.00,0.000,4,0.000,0.041,2523,1431,3611
$GC,6490,-0.64,-194.6,724.3,-9.6,618,6498,0.00,1.27,0.00,0.000,6,0.000,0.043,2518,2325,3610
$GC,6809,-0.64,-194.6,754.1,-9.5,649,6809,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2325,3609
$GC,7117,-0.64,-194.6,784.0,-9.6,679,7120,0.00,1.27,0.00,0.000,4,0.000,0.044,2518,1415,3607
$GC,7185,-0.64,-194.6,790.9,-9.7,685,7192,0.00,1.30,0.00,0.000,6,0.000,0.044,2512,2325,3607
$GC,7503,-0.64,-194.6,822.0,-10.0,716,7506,0.00,1.27,0.00,0.000,4,0.000,0.042,2512,1420,3605
$GC,7567,-0.64,-194.6,828.6,-10.1,722,7570,0.08,1.30,0.00,0.000,6,0.143,0.045,2532,2325,3604
$GC,7888,-0.64,-194.6,855.7,-8.3,753,7889,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2324,3603
$GC,8199,-0.64,-194.6,881.6,-8.3,783,8202,0.00,1.27,0.00,0.000,4,0.000,0.044,2532,1416,3602
$GC,8252,-0.64,-194.6,886.2,-8.1,788,8255,0.00,1.30,0.00,0.000,6,0.000,0.047,2529,2324,3601
$GC,8573,-0.64,-194.6,914.1,-9.0,819,8576,0.00,1.27,0.00,0.000,4,0.000,0.044,2529,1421,3601
$GC,8609,-0.64,-194.6,917.5,-9.2,822,8617,0.00,1.30,0.00,0.000,6,0.000,0.046,2523,2323,3601
$GC,8925,-0.64,-194.6,946.4,-9.2,853,8928,0.00,1.27,0.00,0.000,4,0.000,0.044,2523,1418,3599
$GC,8970,-0.64,-194.6,950.4,-9.2,857,8972,0.00,1.33,0.00,0.000,6,0.000,0.047,2518,2333,3599
$GC,9290,-0.64,-194.6,981.3,-9.3,888,9293,0.00,1.30,0.00,0.000,4,0.000,0.044,2518,1421,3597
$GC,9333,-0.64,-194.6,985.4,-10.4,892,9336,0.00,1.30,0.00,0.000,6,0.000,0.047,2513,2324,3597
$STATE,9384,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9384,begin apogee
$GC,9389,-0.26,0.0,990.3,9.5,897,9548,0.50,0.00,155.62,1.238,6,0.132,0.000,2663,2274,2841
$STATE,9548,end apogee,CONTROL_FINISHED_OK
$STATE,9548,begin climb
$GC,9550,0.64,194.6,994.9,0.0,913,9729,0.88,0.00,171.80,1.208,6,0.098,0.000,2941,2274,2046
$GC,10036,0.64,194.6,948.5,11.0,961,10039,0.00,1.62,0.00,0.000,4,0.000,0.060,2941,3151,2036
$GC,10079,0.64,194.6,943.5,12.0,965,10082,0.00,1.52,0.00,0.000,6,0.000,0.037,2948,2274,2034
$GC,10402,0.64,194.6,907.3,11.4,996,10403,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2276,2033
$GC,10710,0.64,194.6,873.1,11.2,1026,10713,0.00,1.60,0.00,0.000,4,0.000,0.055,2948,3158,2032
$GC,10753,0.64,194.6,867.7,13.3,1030,10756,0.00,1.52,0.00,0.000,6,0.000,0.037,2955,2273,2031
$GC,11074,0.64,194.6,830.5,11.5,1061,11077,0.00,1.62,0.00,0.000,4,0.000,0.055,2955,3169,2031
$GC,11099,0.64,194.6,827.1,12.2,1063,11107,0.00,1.55,0.00,0.000,6,0.000,0.035,2962,2269,2030
$GC,11418,0.64,194.6,788.0,12.2,1094,11421,0.00,1.60,0.00,0.000,4,0.000,0.054,2962,3167,2030
$GC,11450,0.64,194.6,783.4,13.7,1097,11453,0.00,1.55,0.00,0.000,6,0.000,0.036,2970,2269,2029
$GC,11773,0.64,194.6,742.8,12.7,1128,11774,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2270,2029
$GC,12082,0.64,194.6,705.9,11.5,1158,12085,0.00,1.62,0.00,0.000,4,0.000,0.054,2970,3161,2029
$GC,12167,0.64,194.6,695.0,13.2,1166,12170,0.00,1.52,0.00,0.000,6,0.000,0.037,2977,2275,2028
$GC,12490,0.64,194.6,653.7,13.0,1197,12491,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2277,2027
$GC,12799,0.64,194.6,613.1,12.8,1227,12800,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2277,2027
$GC,13109,0.64,194.6,573.9,12.5,1257,13110,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2277,2027
$GC,13420,0.64,194.6,534.6,12.9,1287,13423,0.00,1.60,0.00,0.000,4,0.000,0.054,2977,3175,2027
$GC,13456,0.64,194.6,529.7,13.3,1290,13465,0.08,1.55,0.00,0.000,6,0.149,0.035,2961,2276,2026
$GC,13773,0.64,194.6,494.3,11.4,1321,13774,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2277,2026
$GC,14084,0.64,194.6,459.9,11.4,1351,14087,0.00,1.62,0.00,0.000,4,0.000,0.053,2960,3170,2027
$GC,14126,0.64,194.6,454.8,12.0,1355,14129,0.00,1.55,0.00,0.000,6,0.000,0.035,2966,2269,2026
$GC,14449,0.64,194.6,417.6,11.3,1386,14452,0.00,1.62,0.00,0.000,4,0.000,0.052,2966,3180,2026
$GC,14474,0.64,194.6,414.3,12.4,1388,14482,0.00,1.55,0.00,0.000,6,0.000,0.034,2974,2274,2026
$GC,14793,0.64,194.6,375.8,12.5,1419,14795,0.00,1.60,0.00,0.000,4,0.000,0.052,2974,3178,2027
$GC,14825,0.64,194.6,371.5,13.2,1422,14828,0.00,1.55,0.00,0.000,6,0.000,0.035,2981,2272,2027
$GC,15146,0.64,194.6,330.1,12.4,1453,15147,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2273,2026
$GC,15457,0.64,194.6,289.9,13.5,1483,15460,0.00,1.62,0.00,0.000,4,0.000,0.051,2981,3191,2027
$GC,15557,0.64,194.6,276.1,14.0,1492,15565,0.10,1.55,0.00,0.000,6,0.140,0.033,2957,2277,2026
$GC,15874,0.64,194.6,242.6,10.5,1523,15877,0.00,1.60,0.00,0.000,4,0.000,0.050,2957,3166,2026
$GC,15910,0.64,194.6,238.4,11.2,1526,15918,0.00,1.52,0.00,0.000,6,0.000,0.032,2962,2271,2026
$GC,16229,0.64,194.6,202.4,11.9,1557,16232,0.00,1.60,0.00,0.000,4,0.000,0.050,2962,3183,2027
$GC,16272,0.64,194.6,196.8,12.2,1561,16274,0.00,1.55,0.00,0.000,6,0.000,0.032,2970,2271,2027
$GC,16594,0.64,194.6,159.2,11.7,1592,16597,0.00,1.60,0.00,0.000,4,0.000,0.048,2970,3162,2028
$GC,16658,0.64,194.6,151.7,11.7,1598,16662,0.00,1.50,0.00,0.000,6,0.000,0.031,2977,2274,2028
$GC,16979,0.64,194.6,114.8,11.5,1629,16982,0.00,1.60,0.00,0.000,4,0.000,0.048,2978,3168,2029
$GC,17101,0.64,194.6,100.6,11.3,1640,17108,0.08,1.52,0.00,0.000,6,0.140,0.030,2960,2269,2029
$GC,17417,0.64,194.6,70.7,8.9,1671,17420,0.00,1.60,0.00,0.000,4,0.000,0.047,2959,3186,2031
$GC,17460,0.64,194.6,66.6,10.7,1675,17463,0.00,1.52,0.00,0.000,6,0.000,0.030,2965,2275,2031
$GC,17657,0.64,194.6,47.5,8.7,1694,17660,0.00,1.58,0.00,0.000,4,0.000,0.046,2965,3163,2031
$GC,17689,0.64,194.6,44.9,9.4,1697,17692,0.00,1.50,0.00,0.000,6,0.000,0.029,2972,2273,2030
$GC,17887,0.69,235.9,33.4,6.4,1716,17923,0.00,1.65,31.50,0.520,4,0.000,0.045,2973,3179,1877
$GC,17981,0.85,368.6,27.3,4.0,1724,18085,0.08,1.52,100.28,0.521,6,0.058,0.028,3032,2271,1337
$GC,18269,0.92,423.7,11.4,6.1,1751,18316,0.00,1.17,41.25,0.493,4,0.000,0.033,3038,1356,1112
$GC,18397,0.98,471.2,3.6,6.3,1762,18408,0.00,1.25,8.20,0.422,2,0.000,0.033,3038,2279,1071
$STATE,18409,end climb,SURFACE_DEPTH_REACHED
$STATE,18409,begin surface coast
$FINISH,0.9,0.997336
$STATE,18445,end surface coast,CONTROL_FINISHED_OK
$STATE,18445,begin surface
$SM_CCo,18461,81.95,0.485,0,0,404,597.54
$SM_GC,1.63,0.00,0.00,81.95,0.000,0.000,0.485,196,2338,404,-7.97,0.37,597.54
$IRIDIUM_FIX,2821.19,-8844.00,191099,040416
$TT8_MAMPS,0.050622
$HUMID,1386
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.40
$XPDR_PINGS,1
$24V_AH,22.5,52.876
$10V_AH,10.5,72.793
$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,20.150,110.075,508.650,81.950,0.000,26.179,29.548,171.343,4.000,0.000,0.000,14.653,0.000,12146.295,665.378,5428.219,633.170,33.346,2252.875,0.000,4845.060,0.000,31.568,0.000
$DEVICE_MAMPS,253.877,76.700,1237.938,484.744,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1207.603,1292.196,3971.640,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94512,1767
$CAP_FILE_SIZE,174273,0
$CFSIZE,260165632,228110336
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.098, 74.6,1
$GPS,250710,140737,2832.552,-8841.692,28,1.0,28,-0.2