version: 66.04
glider: 515
mission: 5
dive: 304
start: 7 25 110 19 30 11
data:
$ID,515
$MISSION,5
$DIVE,304
$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,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-25088.896
$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,35
$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,0
$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
$GPS1,192231,2834.790,-8838.706,39,1.8,39,-0.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-67.6
$GPS2,192932,2834.833,-8838.673,12,1.6,12,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.145,0.221
$KALMAN_X,75320.0,-1928.7,-336.3,-54411.9,8058.1
$KALMAN_Y,-459190.4,402.5,-174.2,470968.4,-2788.1
$MHEAD_RNG_PITCHd_Wd,37.3,26215,-10.8,-7.500
$D_GRID,1382
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.64,-194.6,0.0,0.0,0,86,0.00,0.00,-70.22,0.000,2,0.000,0.000,192,2342,2339
$GC,88,-0.64,-194.6,3.2,-3.3,7,140,10.52,1.50,-36.72,0.000,4,0.251,0.073,2526,3216,3635
$GC,301,-0.64,-194.6,44.4,-18.2,26,308,0.00,1.45,0.00,0.000,6,0.000,0.027,2530,2331,3637
$GC,494,-0.64,-194.6,71.9,-13.2,45,497,0.00,1.25,0.00,0.000,4,0.000,0.034,2536,1406,3638
$GC,541,-0.64,-194.6,78.2,-12.0,49,548,0.00,1.27,0.00,0.000,6,0.000,0.034,2532,2325,3639
$GC,733,-0.64,-194.6,102.1,-12.1,68,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2326,3639
$GC,1044,-0.64,-194.6,141.1,-12.3,98,1047,0.00,1.25,0.00,0.000,4,0.000,0.034,2532,1403,3639
$GC,1108,-0.64,-194.6,149.1,-12.7,104,1111,0.00,1.27,0.00,0.000,6,0.000,0.035,2526,2327,3639
$GC,1431,-0.64,-194.6,188.6,-11.9,135,1434,0.00,1.25,0.00,0.000,4,0.000,0.033,2526,1406,3639
$GC,1553,-0.64,-194.6,202.8,-11.0,146,1560,0.00,1.27,0.00,0.000,6,0.000,0.035,2520,2328,3639
$GC,1872,-0.64,-194.6,241.4,-12.6,177,1875,0.00,1.25,0.00,0.000,4,0.000,0.034,2520,1410,3637
$GC,1989,-0.64,-194.6,256.4,-12.7,188,1992,0.00,1.27,0.00,0.000,6,0.000,0.036,2515,2328,3637
$GC,2312,-0.64,-194.6,295.7,-12.1,219,2315,0.00,1.25,0.00,0.000,4,0.000,0.035,2515,1416,3635
$GC,2440,-0.64,-194.6,311.3,-11.6,231,2443,0.08,1.27,0.00,0.000,6,0.139,0.037,2534,2329,3635
$GC,2761,-0.64,-194.6,345.0,-10.4,262,2764,0.00,1.27,0.00,0.000,4,0.000,0.037,2534,1401,3633
$GC,2879,-0.64,-194.6,357.1,-10.4,273,2882,0.00,1.27,0.00,0.000,6,0.000,0.038,2530,2322,3632
$GC,3201,-0.64,-194.6,390.2,-10.2,304,3204,0.00,1.25,0.00,0.000,4,0.000,0.038,2530,1412,3630
$GC,3375,-0.64,-194.6,408.6,-11.0,320,3377,0.00,1.27,0.00,0.000,6,0.000,0.039,2525,2325,3629
$GC,3697,-0.64,-194.6,443.9,-11.2,351,3700,0.00,1.25,0.00,0.000,4,0.000,0.038,2525,1419,3626
$GC,3825,-0.64,-194.6,458.3,-10.0,363,3828,0.00,1.27,0.00,0.000,6,0.000,0.040,2519,2326,3626
$GC,4148,-0.64,-194.6,493.7,-11.2,394,4151,0.00,1.27,0.00,0.000,4,0.000,0.038,2519,1408,3624
$GC,4201,-0.64,-194.6,499.8,-11.3,399,4204,0.00,1.30,0.00,0.000,6,0.000,0.041,2513,2329,3623
$GC,4524,-0.64,-194.6,536.5,-11.6,430,4527,0.00,1.27,0.00,0.000,4,0.000,0.040,2513,1417,3621
$GC,4657,-0.64,-194.6,551.6,-11.7,442,4664,0.08,1.30,0.00,0.000,6,0.144,0.041,2532,2329,3620
$GC,4975,-0.64,-194.6,581.2,-9.5,473,4978,0.00,1.27,0.00,0.000,4,0.000,0.041,2532,1415,3617
$GC,5075,-0.64,-194.6,591.1,-9.6,482,5082,0.00,1.30,0.00,0.000,6,0.000,0.042,2529,2329,3617
$GC,5393,-0.64,-194.6,621.8,-9.6,513,5396,0.00,1.27,0.00,0.000,4,0.000,0.041,2529,1422,3616
$GC,5478,-0.64,-194.6,630.7,-10.0,521,5481,0.00,1.30,0.00,0.000,6,0.000,0.043,2523,2332,3615
$GC,5801,-0.64,-194.6,663.8,-9.8,552,5804,0.00,1.30,0.00,0.000,4,0.000,0.041,2523,1411,3613
$GC,5854,-0.64,-194.6,669.2,-10.0,557,5857,0.00,1.30,0.00,0.000,6,0.000,0.043,2518,2325,3613
$GC,6178,-0.64,-194.6,701.9,-10.1,588,6178,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2325,3611
$GC,6486,-0.64,-194.6,733.3,-9.9,618,6488,0.00,1.27,0.00,0.000,4,0.000,0.042,2517,1414,3609
$GC,6593,-0.64,-194.6,744.1,-10.5,628,6596,0.00,1.30,0.00,0.000,6,0.000,0.044,2512,2326,3608
$GC,6915,-0.64,-194.6,777.9,-10.9,659,6916,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2326,3606
$GC,7225,-0.64,-194.6,810.7,-10.5,689,7228,0.00,1.27,0.00,0.000,4,0.000,0.042,2512,1423,3604
$GC,7289,-0.64,-194.6,817.5,-10.7,695,7293,0.10,1.30,0.00,0.000,6,0.138,0.045,2538,2326,3604
$GC,7611,-0.64,-194.6,844.7,-8.0,726,7614,0.00,1.27,0.00,0.000,4,0.000,0.042,2538,1425,3602
$GC,7674,-0.64,-194.6,850.1,-8.2,732,7677,0.00,1.30,0.00,0.000,6,0.000,0.046,2535,2328,3602
$GC,7997,-0.64,-194.6,877.9,-8.6,763,8000,0.00,1.27,0.00,0.000,4,0.000,0.043,2535,1425,3601
$GC,8072,-0.64,-194.6,884.9,-8.8,770,8075,0.00,1.30,0.00,0.000,6,0.000,0.046,2529,2329,3601
$GC,8394,-0.64,-194.6,913.5,-8.7,801,8395,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2328,3600
$GC,8704,-0.64,-194.6,940.8,-8.7,831,8707,0.00,1.30,0.00,0.000,4,0.000,0.044,2529,1412,3598
$GC,8826,-0.64,-194.6,951.9,-9.0,842,8832,0.00,1.33,0.00,0.000,6,0.000,0.046,2524,2329,3597
$GC,9144,-0.64,-194.6,980.4,-8.3,873,9147,0.00,1.30,0.00,0.000,4,0.000,0.043,2524,1413,3596
$GC,9197,-0.64,-194.6,985.2,-8.9,878,9200,0.00,1.33,0.00,0.000,6,0.000,0.047,2519,2328,3596
$STATE,9247,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9247,begin apogee
$GC,9252,-0.26,0.0,990.1,9.7,883,9411,0.47,0.00,155.62,1.239,6,0.129,0.000,2662,2265,2840
$STATE,9412,end apogee,CONTROL_FINISHED_OK
$STATE,9412,begin climb
$GC,9414,0.64,194.6,995.1,0.0,899,9593,0.88,0.00,172.12,1.210,6,0.097,0.000,2942,2265,2046
$GC,9900,0.64,194.6,948.3,11.2,947,9903,0.00,1.67,0.00,0.000,4,0.000,0.058,2941,3185,2036
$GC,9944,0.64,194.6,943.2,12.6,951,9947,0.00,1.58,0.00,0.000,6,0.000,0.036,2949,2272,2034
$GC,10266,0.64,194.6,906.7,11.4,982,10267,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2273,2033
$GC,10575,0.64,194.6,871.9,11.3,1012,10578,0.00,1.62,0.00,0.000,4,0.000,0.056,2950,3187,2033
$GC,10628,0.64,194.6,865.1,12.2,1017,10632,0.00,1.58,0.00,0.000,6,0.000,0.036,2957,2271,2031
$GC,10951,0.64,194.6,827.4,11.4,1048,10954,0.00,1.60,0.00,0.000,4,0.000,0.056,2957,3169,2031
$GC,10994,0.64,194.6,821.8,12.9,1052,10997,0.00,1.55,0.00,0.000,6,0.000,0.036,2965,2268,2030
$GC,11314,0.64,194.6,782.2,12.0,1083,11317,0.00,1.62,0.00,0.000,4,0.000,0.055,2965,3160,2030
$GC,11358,0.64,194.6,776.5,14.2,1087,11360,0.00,1.52,0.00,0.000,6,0.000,0.037,2972,2272,2030
$GC,11679,0.64,194.6,735.1,13.2,1118,11682,0.00,1.60,0.00,0.000,4,0.000,0.055,2972,3172,2029
$GC,11753,0.64,194.6,724.9,14.5,1125,11756,0.00,1.55,0.00,0.000,6,0.000,0.036,2979,2269,2029
$GC,12076,0.64,194.6,682.4,12.9,1156,12077,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2270,2028
$GC,12385,0.64,194.6,642.3,12.9,1186,12388,0.00,1.62,0.00,0.000,4,0.000,0.054,2979,3187,2028
$GC,12449,0.64,194.6,633.3,14.7,1192,12452,0.10,1.58,0.00,0.000,6,0.150,0.036,2957,2271,2028
$GC,12770,0.64,194.6,596.9,11.0,1223,12773,0.00,1.62,0.00,0.000,4,0.000,0.054,2956,3187,2027
$GC,12807,0.64,194.6,592.4,11.9,1226,12813,0.00,1.58,0.00,0.000,6,0.000,0.035,2962,2272,2027
$GC,13124,0.64,194.6,557.1,11.1,1257,13125,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2273,2027
$GC,13434,0.64,194.6,521.4,11.5,1287,13437,0.00,1.62,0.00,0.000,4,0.000,0.053,2962,3165,2027
$GC,13487,0.64,194.6,515.0,12.6,1292,13490,0.00,1.55,0.00,0.000,6,0.000,0.035,2970,2269,2027
$GC,13808,0.64,194.6,475.7,12.3,1323,13810,0.00,1.62,0.00,0.000,4,0.000,0.053,2970,3159,2027
$GC,13861,0.64,194.6,468.8,11.8,1328,13864,0.00,1.55,0.00,0.000,6,0.000,0.035,2977,2264,2027
$GC,14182,0.64,194.6,428.0,12.7,1359,14185,0.00,1.65,0.00,0.000,4,0.000,0.053,2977,3168,2027
$GC,14251,0.64,194.6,418.7,14.2,1365,14257,0.10,1.55,0.00,0.000,6,0.144,0.034,2954,2268,2026
$GC,14566,0.64,194.6,384.7,10.6,1396,14569,0.00,1.62,0.00,0.000,4,0.000,0.051,2953,3160,2026
$GC,14599,0.64,194.6,381.3,11.4,1399,14602,0.00,1.52,0.00,0.000,6,0.000,0.034,2959,2271,2027
$GC,14920,0.64,194.6,346.0,11.0,1430,14920,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2272,2027
$GC,15231,0.64,194.6,312.3,10.6,1460,15234,0.00,1.60,0.00,0.000,4,0.000,0.051,2959,3158,2027
$GC,15288,0.64,194.6,305.6,11.8,1465,15295,0.00,1.52,0.00,0.000,6,0.000,0.033,2966,2269,2027
$GC,15606,0.64,194.6,270.6,11.1,1496,15609,0.00,1.60,0.00,0.000,4,0.000,0.050,2966,3176,2027
$GC,15660,0.64,194.6,263.8,12.3,1501,15663,0.00,1.55,0.00,0.000,6,0.000,0.033,2974,2268,2027
$GC,15983,0.64,194.6,224.2,12.6,1532,15986,0.00,1.62,0.00,0.000,4,0.000,0.050,2974,3191,2027
$GC,16040,0.64,194.6,216.8,13.2,1537,16047,0.00,1.58,0.00,0.000,6,0.000,0.031,2982,2268,2027
$GC,16358,0.64,194.6,177.2,12.2,1568,16361,0.00,1.62,0.00,0.000,4,0.000,0.049,2982,3188,2028
$GC,16401,0.64,194.6,171.5,13.7,1572,16404,0.08,1.55,0.00,0.000,6,0.123,0.032,2954,2272,2027
$GC,16722,0.64,194.6,138.8,9.9,1603,16723,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2272,2028
$GC,17032,0.64,194.6,111.2,9.0,1633,17035,0.00,1.60,0.00,0.000,4,0.000,0.048,2954,3188,2029
$GC,17080,0.64,194.6,106.8,10.1,1637,17086,0.00,1.55,0.00,0.000,6,0.000,0.030,2960,2269,2029
$GC,17397,0.64,194.6,78.8,8.7,1668,17400,0.00,1.60,0.00,0.000,4,0.000,0.047,2960,3161,2030
$GC,17434,0.64,194.6,75.2,9.3,1671,17441,0.00,1.50,0.00,0.000,6,0.000,0.030,2967,2270,2030
$GC,17626,0.64,194.6,57.8,7.9,1690,17629,0.00,1.60,0.00,0.000,4,0.000,0.047,2968,3168,2030
$GC,17822,0.72,257.3,43.0,5.9,1708,17878,0.00,1.50,47.58,0.535,6,0.000,0.028,2975,2272,1790
$GC,18063,0.86,371.1,30.4,4.5,1731,18159,0.15,1.67,86.00,0.523,4,0.059,0.044,3049,3176,1325
$GC,18185,0.86,371.1,21.3,8.8,1741,18192,0.10,1.55,0.00,0.000,6,0.119,0.028,3023,2273,1322
$GC,18377,1.04,516.5,10.7,3.7,1760,18466,0.17,0.00,86.68,0.498,2,0.051,0.000,3106,2274,846
$STATE,18466,end climb,SURFACE_DEPTH_REACHED
$STATE,18466,begin surface coast
$FINISH,0.9,1.022365
$STATE,18493,end surface coast,CONTROL_FINISHED_OK
$STATE,18493,begin surface
$SM_CCo,18509,55.67,0.482,0,0,404,597.54
$SM_GC,1.50,0.00,0.00,55.67,0.000,0.000,0.482,197,2340,404,-7.97,0.42,597.54
$IRIDIUM_FIX,2823.64,-8839.04,191099,141435
$TT8_MAMPS,0.051389
$HUMID,1403
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,22.5,53.211
$10V_AH,10.5,73.252
$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,20.625,112.125,548.000,55.675,0.000,28.526,30.282,227.573,0.250,0.000,0.000,14.482,0.000,12126.712,653.963,5461.484,710.946,33.345,2265.355,0.000,4906.572,0.000,0.543,0.000
$DEVICE_MAMPS,250.809,72.865,1239.472,481.676,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1210.134,1297.468,3980.537,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94530,1771
$CAP_FILE_SIZE,173587,0
$CFSIZE,260165632,227930112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.110, 96.2,1
$GPS,260710,004037,2837.112,-8835.906,38,1.1,38,-0.3