version: 66.04
glider: 515
mission: 5
dive: 305
start: 7 26 110 0 48 42
data:
$ID,515
$MISSION,5
$DIVE,305
$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,-25107.178
$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,33
$R_STBD_OVSHOOT,24
$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
$GPS1,004037,2837.112,-8835.906,38,1.1,38,-0.3
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-64.0
$GPS2,004801,2837.189,-8835.944,10,1.1,15,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.108,0.241
$KALMAN_X,75143.8,-1033.5,-1156.3,-49881.6,8304.4
$KALMAN_Y,-461395.0,653.9,426.5,476682.0,-5604.7
$MHEAD_RNG_PITCHd_Wd,37.8,20045,-10.8,-7.500
$D_GRID,1423
$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,-194.6,0.0,0.0,0,91,0.00,0.00,-76.82,0.000,2,0.000,0.000,195,2341,2524
$GC,93,-0.64,-194.6,3.0,-3.4,7,141,10.52,1.52,-27.88,0.000,4,0.251,0.061,2527,3233,3635
$GC,226,-0.64,-194.6,30.3,-24.2,19,229,0.00,1.48,0.00,0.000,6,0.000,0.028,2532,2329,3636
$GC,424,-0.64,-194.6,60.7,-12.3,38,426,0.00,1.52,0.00,0.000,4,0.000,0.043,2526,3219,3637
$GC,498,-0.64,-194.6,71.1,-13.5,45,501,0.00,1.45,0.00,0.000,6,0.000,0.028,2527,2322,3637
$GC,695,-0.64,-194.6,97.5,-12.7,64,698,0.00,1.23,0.00,0.000,4,0.000,0.035,2527,1406,3639
$GC,774,-0.64,-194.6,107.8,-13.1,71,781,0.00,1.27,0.00,0.000,6,0.000,0.035,2522,2327,3639
$GC,1091,-0.64,-194.6,148.7,-12.3,102,1094,0.00,1.25,0.00,0.000,4,0.000,0.035,2520,1415,3639
$GC,1219,-0.64,-194.6,164.3,-11.7,114,1222,0.00,1.27,0.00,0.000,6,0.000,0.035,2515,2333,3639
$GC,1542,-0.64,-194.6,204.4,-12.2,145,1545,0.00,1.27,0.00,0.000,4,0.000,0.035,2515,1406,3639
$GC,1632,-0.64,-194.6,215.9,-12.5,153,1639,0.08,1.27,0.00,0.000,6,0.140,0.037,2534,2324,3638
$GC,1949,-0.64,-194.6,250.5,-10.9,184,1952,0.00,1.25,0.00,0.000,4,0.000,0.036,2534,1412,3636
$GC,2039,-0.64,-194.6,260.5,-10.5,192,2046,0.00,1.27,0.00,0.000,6,0.000,0.036,2531,2326,3636
$GC,2357,-0.64,-194.6,294.7,-10.4,223,2360,0.00,1.25,0.00,0.000,4,0.000,0.037,2531,1418,3634
$GC,2457,-0.64,-194.6,305.8,-10.5,232,2465,0.00,1.27,0.00,0.000,6,0.000,0.037,2525,2327,3633
$GC,2776,-0.64,-194.6,339.5,-10.8,263,2779,0.00,1.25,0.00,0.000,4,0.000,0.037,2525,1422,3632
$GC,2866,-0.64,-194.6,349.8,-11.0,271,2873,0.00,1.25,0.00,0.000,6,0.000,0.038,2519,2318,3631
$GC,3184,-0.64,-194.6,384.5,-10.7,302,3187,0.00,1.25,0.00,0.000,4,0.000,0.038,2520,1409,3629
$GC,3285,-0.64,-194.6,396.0,-11.6,311,3291,0.00,1.27,0.00,0.000,6,0.000,0.039,2514,2320,3628
$GC,3603,-0.64,-194.6,433.0,-11.9,342,3606,0.00,1.25,0.00,0.000,4,0.000,0.039,2514,1418,3626
$GC,3671,-0.64,-194.6,441.7,-11.8,348,3678,0.08,1.30,0.00,0.000,6,0.142,0.039,2534,2331,3625
$GC,3990,-0.64,-194.6,474.6,-10.5,379,3993,0.00,1.27,0.00,0.000,4,0.000,0.039,2534,1417,3622
$GC,4058,-0.64,-194.6,482.1,-10.6,385,4065,0.00,1.30,0.00,0.000,6,0.000,0.040,2530,2333,3622
$GC,4376,-0.64,-194.6,515.9,-10.8,416,4379,0.00,1.27,0.00,0.000,4,0.000,0.040,2530,1423,3620
$GC,4473,-0.64,-194.6,526.2,-10.7,425,4476,0.00,1.27,0.00,0.000,6,0.000,0.042,2525,2326,3619
$GC,4795,-0.64,-194.6,560.6,-10.6,456,4798,0.00,1.27,0.00,0.000,4,0.000,0.040,2525,1412,3617
$GC,4870,-0.64,-194.6,568.6,-10.8,463,4873,0.00,1.27,0.00,0.000,6,0.000,0.041,2519,2317,3617
$GC,5193,-0.64,-194.6,601.7,-10.4,494,5196,0.00,1.25,0.00,0.000,4,0.000,0.041,2519,1422,3615
$GC,5310,-0.64,-194.6,614.2,-11.0,505,5314,0.05,1.27,0.00,0.000,6,0.155,0.043,2531,2320,3615
$GC,5631,-0.64,-194.6,644.1,-9.4,536,5632,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2320,3613
$GC,5942,-0.64,-194.6,673.2,-9.6,566,5943,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2320,3611
$GC,6252,-0.64,-194.6,702.0,-9.5,596,6255,0.00,1.25,0.00,0.000,4,0.000,0.043,2531,1429,3609
$GC,6341,-0.64,-194.6,710.7,-9.5,604,6348,0.00,1.27,0.00,0.000,6,0.000,0.044,2528,2323,3608
$GC,6660,-0.64,-194.6,740.9,-9.8,635,6661,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2323,3606
$GC,6969,-0.64,-194.6,770.9,-9.3,665,6971,0.00,1.27,0.00,0.000,4,0.000,0.043,2528,1419,3604
$GC,7097,-0.64,-194.6,783.1,-9.5,677,7100,0.00,1.30,0.00,0.000,6,0.000,0.045,2522,2326,3603
$GC,7420,-0.64,-194.6,814.6,-10.0,708,7421,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2326,3602
$GC,7729,-0.64,-194.6,844.9,-9.8,738,7732,0.00,1.27,0.00,0.000,4,0.000,0.043,2522,1422,3601
$GC,7836,-0.64,-194.6,855.5,-10.5,748,7839,0.00,1.30,0.00,0.000,6,0.000,0.045,2516,2327,3600
$GC,8159,-0.64,-194.6,886.7,-9.8,779,8162,0.00,1.27,0.00,0.000,4,0.000,0.043,2517,1429,3599
$GC,8216,-0.64,-194.6,892.5,-9.7,784,8223,0.00,1.30,0.00,0.000,6,0.000,0.045,2511,2329,3598
$GC,8535,-0.64,-194.6,923.9,-10.2,815,8538,0.00,1.27,0.00,0.000,4,0.000,0.044,2511,1431,3597
$GC,8599,-0.64,-194.6,930.5,-9.4,821,8603,0.10,1.27,0.00,0.000,6,0.140,0.045,2537,2321,3597
$GC,8920,-0.64,-194.6,957.0,-8.1,852,8921,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2321,3595
$GC,9232,-0.64,-194.6,982.3,-8.1,882,9234,0.00,1.27,0.00,0.000,4,0.000,0.044,2537,1420,3594
$GC,9274,-0.64,-194.6,985.9,-7.8,886,9277,0.00,1.30,0.00,0.000,6,0.000,0.047,2534,2319,3594
$STATE,9324,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9324,begin apogee
$GC,9329,-0.26,0.0,990.2,8.2,891,9489,0.43,0.00,155.57,1.239,6,0.130,0.000,2663,2279,2839
$STATE,9489,end apogee,CONTROL_FINISHED_OK
$STATE,9489,begin climb
$GC,9492,0.64,194.6,995.4,0.0,907,9669,0.90,0.00,172.23,1.211,6,0.098,0.000,2948,2279,2046
$GC,9979,0.64,194.6,949.2,11.0,955,9982,0.00,1.62,0.00,0.000,4,0.000,0.059,2948,3176,2036
$GC,10064,0.64,194.6,939.2,11.0,963,10067,0.00,1.58,0.00,0.000,6,0.000,0.036,2956,2267,2034
$GC,10386,0.64,194.6,901.7,11.6,994,10387,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2268,2033
$GC,10696,0.64,194.6,865.8,11.6,1024,10699,0.00,1.62,0.00,0.000,4,0.000,0.055,2956,3158,2032
$GC,10753,0.64,194.6,858.6,12.1,1029,10760,0.00,1.52,0.00,0.000,6,0.000,0.036,2962,2274,2031
$GC,11072,0.64,194.6,820.4,12.2,1060,11075,0.00,1.60,0.00,0.000,4,0.000,0.055,2962,3176,2031
$GC,11125,0.64,194.6,813.3,12.9,1065,11128,0.00,1.55,0.00,0.000,6,0.000,0.036,2970,2273,2030
$GC,11446,0.64,194.6,772.4,13.0,1096,11447,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2275,2030
$GC,11757,0.64,194.6,732.9,12.4,1126,11760,0.00,1.62,0.00,0.000,4,0.000,0.055,2970,3188,2029
$GC,11821,0.64,194.6,723.9,14.1,1132,11824,0.00,1.58,0.00,0.000,6,0.000,0.037,2978,2272,2029
$GC,12142,0.64,194.6,681.6,13.0,1163,12144,0.00,1.60,0.00,0.000,4,0.000,0.054,2978,3170,2029
$GC,12227,0.64,194.6,669.9,13.9,1171,12230,0.08,1.55,0.00,0.000,6,0.128,0.036,2952,2270,2028
$GC,12549,0.64,194.6,634.7,10.7,1202,12552,0.00,1.62,0.00,0.000,4,0.000,0.054,2950,3179,2028
$GC,12585,0.64,194.6,630.4,11.2,1205,12592,0.00,1.58,0.00,0.000,6,0.000,0.035,2956,2268,2027
$GC,12904,0.64,194.6,595.4,11.3,1236,12906,0.00,1.62,0.00,0.000,4,0.000,0.054,2956,3178,2027
$GC,12993,0.64,194.6,584.8,10.4,1244,13000,0.00,1.55,0.00,0.000,6,0.000,0.035,2963,2274,2026
$GC,13312,0.64,194.6,548.7,11.5,1275,13315,0.00,1.60,0.00,0.000,4,0.000,0.054,2963,3157,2027
$GC,13343,0.64,194.6,544.5,11.5,1278,13346,0.00,1.52,0.00,0.000,6,0.000,0.035,2970,2274,2026
$GC,13666,0.64,194.6,504.8,12.5,1309,13669,0.00,1.60,0.00,0.000,4,0.000,0.053,2970,3175,2027
$GC,13709,0.64,194.6,499.0,13.4,1313,13712,0.00,1.55,0.00,0.000,6,0.000,0.035,2977,2272,2027
$GC,14032,0.64,194.6,458.7,12.7,1344,14035,0.00,1.62,0.00,0.000,4,0.000,0.052,2978,3168,2026
$GC,14074,0.64,194.6,453.0,12.5,1348,14078,0.10,1.55,0.00,0.000,6,0.144,0.035,2954,2270,2026
$GC,14395,0.64,194.6,419.2,10.5,1379,14398,0.00,1.62,0.00,0.000,4,0.000,0.052,2954,3185,2026
$GC,14438,0.64,194.6,414.5,10.7,1383,14441,0.00,1.55,0.00,0.000,6,0.000,0.035,2960,2276,2026
$GC,14759,0.64,194.6,378.6,11.0,1414,14760,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2277,2026
$GC,15070,0.64,194.6,343.1,11.2,1444,15073,0.00,1.60,0.00,0.000,4,0.000,0.051,2960,3158,2027
$GC,15134,0.64,194.6,335.3,12.0,1450,15137,0.00,1.50,0.00,0.000,6,0.000,0.034,2967,2279,2027
$GC,15455,0.64,194.6,297.6,11.9,1481,15458,0.00,1.60,0.00,0.000,4,0.000,0.051,2967,3164,2027
$GC,15492,0.64,194.6,292.9,13.2,1484,15498,0.00,1.52,0.00,0.000,6,0.000,0.034,2974,2275,2027
$GC,15809,0.64,194.6,254.8,11.6,1515,15812,0.00,1.60,0.00,0.000,4,0.000,0.050,2974,3162,2027
$GC,15841,0.64,194.6,250.6,12.5,1518,15844,0.00,1.52,0.00,0.000,6,0.000,0.032,2982,2271,2027
$GC,16164,0.64,194.6,209.8,12.5,1549,16167,0.00,1.60,0.00,0.000,4,0.000,0.049,2982,3160,2027
$GC,16260,0.64,194.6,196.9,13.3,1558,16263,0.10,1.50,0.00,0.000,6,0.141,0.032,2958,2277,2027
$GC,16581,0.64,194.6,163.8,10.3,1589,16584,0.00,1.60,0.00,0.000,4,0.000,0.048,2957,3168,2028
$GC,16656,0.64,194.6,156.0,9.2,1596,16658,0.00,1.52,0.00,0.000,6,0.000,0.031,2962,2270,2028
$GC,16976,0.64,194.6,123.6,9.8,1627,16979,0.00,1.60,0.00,0.000,4,0.000,0.048,2962,3183,2029
$GC,17002,0.64,194.6,120.8,11.4,1629,17009,0.00,1.52,0.00,0.000,6,0.000,0.030,2970,2275,2029
$GC,17320,0.64,194.6,89.3,10.0,1660,17321,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2276,2030
$GC,17505,0.64,194.6,71.6,8.9,1678,17505,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2276,2030
$GC,17691,0.67,217.0,55.9,6.9,1696,17714,0.00,1.60,17.00,0.524,4,0.000,0.045,2969,3165,1954
$GC,17783,0.67,217.0,48.8,9.9,1704,17790,0.00,1.50,0.00,0.000,6,0.000,0.029,2977,2275,1953
$GC,17975,0.81,332.4,36.5,4.5,1723,18070,0.00,1.62,88.00,0.532,4,0.000,0.044,2977,3164,1485
$GC,18145,0.93,428.1,28.9,5.0,1738,18222,0.12,1.52,72.18,0.514,6,0.044,0.028,3074,2270,1094
$GC,18415,1.01,496.6,7.8,5.7,1763,18476,0.00,1.67,50.83,0.491,4,0.000,0.043,3074,3177,814
$STATE,18495,end climb,SURFACE_DEPTH_REACHED
$STATE,18495,begin surface coast
$FINISH,0.7,1.021463
$STATE,18530,end surface coast,CONTROL_FINISHED_OK
$STATE,18530,begin surface
$SM_CCo,18547,53.95,0.479,0,0,403,597.54
$SM_GC,1.56,0.00,0.00,53.95,0.000,0.000,0.479,193,2310,403,-7.98,-0.42,597.54
$IRIDIUM_FIX,2823.64,-8836.59,191099,191935
$TT8_MAMPS,0.051389
$HUMID,1403
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,23.70
$XPDR_PINGS,1
$24V_AH,22.5,53.382
$10V_AH,10.5,73.484
$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,20.300,114.750,555.800,53.950,0.000,26.830,28.491,247.912,0.250,0.000,0.000,17.652,0.000,12145.888,673.506,5456.131,739.212,33.343,2290.226,0.000,4901.931,0.000,0.544,0.000
$DEVICE_MAMPS,250.809,81.302,1238.705,479.375,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1211.344,1302.060,3984.966,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94705,1773
$CAP_FILE_SIZE,174944,0
$CFSIZE,260165632,227840000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.114, 90.3,1
$GPS,260710,055937,2839.571,-8833.080,31,0.9,31,-0.3