version: 66.04
glider: 515
mission: 5
dive: 322
start: 7 29 110 10 52 31
data:
$ID,515
$MISSION,5
$DIVE,322
$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,575
$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,-25395.119
$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,28
$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,2375
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,20
$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,20
$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
$GPS1,104437,2843.026,-8832.740,38,0.9,38,-0.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-74.9
$GPS2,105150,2843.165,-8832.578,9,1.8,9,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.171,0.202
$KALMAN_X,96732.4,-69.1,86.0,-68239.6,2278.1
$KALMAN_Y,-518306.9,1062.9,591.1,544066.5,-9161.0
$MHEAD_RNG_PITCHd_Wd,56.1,10714,-10.8,-7.500
$D_GRID,1236
$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,-0.63,-194.6,0.0,0.0,0,47,0.00,0.00,-32.45,0.000,2,0.000,0.000,198,2349,1484
$GC,49,-0.63,-194.6,3.1,-4.8,3,134,10.30,1.23,-67.65,0.000,4,0.243,0.058,2540,1489,3636
$GC,374,-0.63,-194.6,50.0,-14.2,32,381,0.00,1.30,0.00,0.000,6,0.000,0.034,2536,2397,3638
$GC,566,-0.63,-194.6,73.9,-12.3,51,569,0.00,1.27,0.00,0.000,4,0.000,0.033,2537,1496,3638
$GC,801,-0.63,-194.6,101.7,-11.5,73,804,0.00,1.23,0.00,0.000,6,0.000,0.034,2533,2357,3639
$GC,1124,-0.63,-194.6,138.8,-11.7,104,1127,0.00,1.23,0.00,0.000,4,0.000,0.033,2533,1489,3639
$GC,1203,-0.63,-194.6,148.2,-11.7,111,1211,0.00,1.30,0.00,0.000,6,0.000,0.035,2527,2394,3639
$GC,1521,-0.63,-194.6,183.5,-11.1,142,1524,0.00,1.27,0.00,0.000,4,0.000,0.034,2527,1494,3639
$GC,1563,-0.63,-194.6,188.4,-11.8,146,1566,0.00,1.23,0.00,0.000,6,0.000,0.035,2522,2356,3639
$GC,1886,-0.63,-194.6,225.4,-11.6,177,1889,0.00,1.23,0.00,0.000,4,0.000,0.035,2522,1490,3637
$GC,1961,-0.63,-194.6,234.2,-11.3,184,1964,0.00,1.27,0.00,0.000,6,0.000,0.035,2516,2382,3636
$GC,2284,-0.63,-194.6,271.8,-11.5,215,2287,0.00,1.27,0.00,0.000,4,0.000,0.035,2516,1487,3634
$GC,2352,-0.63,-194.6,279.9,-11.2,221,2359,0.08,1.27,0.00,0.000,6,0.142,0.036,2535,2371,3634
$GC,2669,-0.63,-194.6,310.9,-9.8,252,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2372,3632
$GC,2979,-0.63,-194.6,341.1,-9.3,282,2982,0.00,1.25,0.00,0.000,4,0.000,0.035,2535,1495,3630
$GC,3096,-0.63,-194.6,352.6,-10.0,293,3099,0.00,1.27,0.00,0.000,6,0.000,0.038,2532,2380,3629
$GC,3420,-0.63,-194.6,384.7,-9.9,324,3423,0.00,1.27,0.00,0.000,4,0.000,0.036,2532,1490,3626
$GC,3516,-0.63,-194.6,395.1,-10.7,333,3519,0.00,1.27,0.00,0.000,6,0.000,0.038,2526,2370,3626
$GC,3839,-0.63,-194.6,428.9,-10.0,364,3842,0.00,1.25,0.00,0.000,4,0.000,0.036,2526,1501,3623
$GC,3929,-0.63,-194.6,438.4,-10.2,372,3936,0.00,1.27,0.00,0.000,6,0.000,0.038,2520,2377,3623
$GC,4248,-0.63,-194.6,472.0,-10.7,403,4251,0.00,1.27,0.00,0.000,4,0.000,0.036,2520,1489,3621
$GC,4295,-0.63,-194.6,477.5,-11.0,407,4303,0.00,1.27,0.00,0.000,6,0.000,0.039,2515,2364,3620
$GC,4613,-0.63,-194.6,513.2,-11.7,438,4617,0.10,1.25,0.00,0.000,4,0.151,0.037,2540,1502,3617
$GC,4699,-0.63,-194.6,521.8,-9.6,446,4701,0.00,1.27,0.00,0.000,6,0.000,0.041,2535,2377,3617
$GC,5022,-0.63,-194.6,551.5,-9.4,477,5025,0.00,1.27,0.00,0.000,4,0.000,0.038,2536,1498,3616
$GC,5129,-0.63,-194.6,561.5,-8.9,487,5133,0.00,1.27,0.00,0.000,6,0.000,0.041,2530,2366,3615
$GC,5452,-0.63,-194.6,592.8,-10.2,518,5453,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2366,3613
$GC,5762,-0.63,-194.6,623.8,-10.0,548,5765,0.00,1.27,0.00,0.000,4,0.000,0.041,2530,1497,3611
$GC,5975,-0.63,-194.6,644.1,-9.8,568,5979,0.00,1.30,0.00,0.000,6,0.000,0.044,2526,2380,3609
$GC,6299,-0.63,-194.6,675.0,-9.5,599,6302,0.00,1.30,0.00,0.000,4,0.000,0.041,2526,1496,3607
$GC,6389,-0.63,-194.6,684.1,-9.4,607,6397,0.00,1.30,0.00,0.000,6,0.000,0.043,2520,2369,3607
$GC,6707,-0.63,-194.6,715.5,-9.9,638,6711,0.00,1.27,0.00,0.000,4,0.000,0.042,2519,1503,3604
$GC,6804,-0.63,-194.6,725.2,-9.2,647,6807,0.00,1.30,0.00,0.000,6,0.000,0.044,2515,2381,3604
$GC,7127,-0.63,-194.6,757.5,-9.5,678,7130,0.12,1.30,0.00,0.000,4,0.147,0.041,2547,1498,3602
$GC,7216,-0.63,-194.6,765.0,-7.7,686,7224,0.00,1.30,0.00,0.000,6,0.000,0.044,2543,2372,3602
$GC,7535,-0.63,-194.6,789.9,-7.8,717,7538,0.00,1.27,0.00,0.000,4,0.000,0.042,2543,1508,3600
$GC,7621,-0.63,-194.6,797.0,-8.0,725,7623,0.00,1.30,0.00,0.000,6,0.000,0.046,2539,2379,3600
$GC,7944,-0.63,-194.6,822.3,-8.0,756,7947,0.00,1.30,0.00,0.000,4,0.000,0.043,2539,1494,3598
$GC,7997,-0.63,-194.6,826.9,-8.6,761,8000,0.00,1.30,0.00,0.000,6,0.000,0.045,2534,2368,3598
$GC,8318,-0.63,-194.6,852.9,-7.9,792,8321,0.00,1.27,0.00,0.000,4,0.000,0.043,2533,1508,3596
$GC,8393,-0.63,-194.6,859.5,-7.8,799,8396,0.00,1.30,0.00,0.000,6,0.000,0.047,2528,2380,3596
$GC,8715,-0.63,-194.6,886.2,-8.1,830,8717,0.00,1.30,0.00,0.000,4,0.000,0.043,2529,1503,3595
$GC,8763,-0.63,-194.6,890.3,-8.7,834,8769,0.00,1.30,0.00,0.000,6,0.000,0.046,2523,2371,3594
$GC,9079,-0.63,-194.6,916.8,-8.4,865,9082,0.00,1.27,0.00,0.000,4,0.000,0.043,2523,1511,3593
$GC,9169,-0.63,-194.6,924.6,-8.4,873,9175,0.00,1.30,0.00,0.000,6,0.000,0.047,2518,2379,3593
$GC,9485,-0.63,-194.6,951.8,-9.1,904,9488,0.00,1.30,0.00,0.000,4,0.000,0.043,2518,1502,3592
$GC,9571,-0.63,-194.6,959.4,-9.4,912,9574,0.08,1.30,0.00,0.000,6,0.145,0.046,2537,2368,3592
$GC,9892,-0.63,-194.6,984.8,-7.4,943,9895,0.00,1.27,0.00,0.000,4,0.000,0.044,2537,1510,3591
$GC,9957,-0.63,-194.6,989.8,-8.4,949,9961,0.00,1.30,0.00,0.000,6,0.000,0.047,2533,2379,3591
$STATE,9965,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9965,begin apogee
$GC,9970,-0.25,0.0,990.8,8.2,950,10129,0.43,0.00,155.55,1.243,6,0.131,0.000,2662,2290,2840
$STATE,10130,end apogee,CONTROL_FINISHED_OK
$STATE,10130,begin climb
$GC,10132,0.63,194.6,995.5,0.0,966,10311,0.88,0.00,172.10,1.213,6,0.100,0.000,2940,2289,2045
$GC,10619,0.63,194.6,948.6,11.0,1014,10619,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2289,2034
$GC,10930,0.63,194.6,913.8,10.8,1044,10933,0.00,1.58,0.00,0.000,4,0.000,0.058,2940,3152,2033
$GC,10961,0.63,194.6,910.0,12.0,1047,10964,0.00,1.50,0.00,0.000,6,0.000,0.037,2947,2280,2032
$GC,11282,0.63,194.6,872.4,11.9,1078,11285,0.00,1.60,0.00,0.000,4,0.000,0.054,2947,3187,2031
$GC,11315,0.63,194.6,868.3,12.1,1081,11318,0.00,1.55,0.00,0.000,6,0.000,0.036,2955,2279,2030
$GC,11636,0.63,194.6,829.2,12.0,1112,11639,0.00,1.60,0.00,0.000,4,0.000,0.054,2955,3165,2030
$GC,11678,0.63,194.6,823.7,13.8,1116,11681,0.00,1.52,0.00,0.000,6,0.000,0.037,2962,2275,2029
$GC,12001,0.63,194.6,784.7,11.7,1147,12002,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2277,2029
$GC,12310,0.63,194.6,746.7,12.5,1177,12313,0.00,1.60,0.00,0.000,4,0.000,0.054,2962,3160,2029
$GC,12367,0.63,194.6,739.1,13.4,1182,12375,0.00,1.52,0.00,0.000,6,0.000,0.036,2970,2273,2028
$GC,12686,0.63,194.6,698.3,12.9,1213,12687,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2274,2028
$GC,12995,0.63,194.6,659.0,12.5,1243,12998,0.00,1.60,0.00,0.000,4,0.000,0.054,2969,3158,2028
$GC,13038,0.63,194.6,653.3,12.9,1247,13040,0.00,1.52,0.00,0.000,6,0.000,0.037,2977,2273,2027
$GC,13361,0.63,194.6,612.3,13.5,1278,13362,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2274,2027
$GC,13669,0.63,194.6,572.8,12.6,1308,13670,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2274,2027
$GC,13980,0.63,194.6,533.9,12.7,1338,13983,0.00,1.60,0.00,0.000,4,0.000,0.053,2977,3157,2027
$GC,14048,0.63,194.6,524.9,12.7,1344,14055,0.10,1.52,0.00,0.000,6,0.145,0.035,2953,2274,2026
$GC,14365,0.63,194.6,492.7,9.8,1375,14366,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2275,2026
$GC,14675,0.63,194.6,461.1,10.8,1405,14678,0.00,1.60,0.00,0.000,4,0.000,0.052,2953,3179,2026
$GC,14722,0.63,194.6,455.7,12.4,1409,14729,0.00,1.55,0.00,0.000,6,0.000,0.035,2959,2274,2026
$GC,15041,0.63,194.6,419.8,11.2,1440,15042,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2275,2026
$GC,15349,0.63,194.6,385.8,10.2,1470,15352,0.00,1.60,0.00,0.000,4,0.000,0.051,2959,3184,2027
$GC,15403,0.63,194.6,379.8,10.9,1475,15406,0.00,1.55,0.00,0.000,6,0.000,0.035,2965,2274,2026
$GC,15724,0.63,194.6,345.4,10.8,1506,15725,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2276,2026
$GC,16035,0.63,194.6,310.7,10.9,1536,16038,0.00,1.60,0.00,0.000,4,0.000,0.051,2965,3163,2026
$GC,16082,0.63,194.6,305.0,11.9,1540,16089,0.00,1.52,0.00,0.000,6,0.000,0.033,2973,2270,2026
$GC,16401,0.63,194.6,268.3,11.8,1571,16404,0.00,1.60,0.00,0.000,4,0.000,0.050,2973,3181,2027
$GC,16444,0.63,194.6,262.7,11.5,1575,16447,0.08,1.55,0.00,0.000,6,0.127,0.033,2946,2270,2026
$GC,16765,0.63,194.6,232.3,9.3,1606,16766,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2271,2027
$GC,17076,0.63,194.6,204.1,9.0,1636,17079,0.00,1.60,0.00,0.000,4,0.000,0.049,2945,3162,2027
$GC,17112,0.63,194.6,200.4,9.1,1639,17120,0.00,1.50,0.00,0.000,6,0.000,0.031,2951,2275,2027
$GC,17431,0.63,194.6,170.9,9.0,1670,17432,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2276,2028
$GC,17739,0.63,194.6,140.6,9.5,1700,17742,0.00,1.58,0.00,0.000,4,0.000,0.048,2951,3160,2029
$GC,17797,0.63,194.6,135.0,9.5,1705,17804,0.00,1.50,0.00,0.000,6,0.000,0.030,2958,2271,2029
$GC,18116,0.63,194.6,106.2,9.3,1736,18119,0.00,1.60,0.00,0.000,4,0.000,0.046,2958,3195,2030
$GC,18163,0.63,194.6,101.5,8.6,1740,18170,0.00,1.55,0.00,0.000,6,0.000,0.029,2965,2269,2030
$GC,18481,0.63,194.6,72.1,9.2,1771,18482,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2270,2031
$GC,18666,0.63,194.6,56.5,7.8,1789,18669,0.00,1.60,0.00,0.000,4,0.000,0.045,2965,3194,2031
$GC,18709,0.63,194.6,53.1,7.7,1793,18712,0.00,1.52,0.00,0.000,6,0.000,0.029,2973,2274,2031
$GC,18906,0.70,255.6,40.2,5.9,1812,18957,0.00,1.62,46.83,0.531,4,0.000,0.044,2973,3173,1795
$GC,18997,0.82,349.6,35.5,5.0,1820,19072,0.00,1.52,71.75,0.526,6,0.000,0.028,2980,2272,1414
$GC,19260,0.86,386.4,19.4,6.5,1844,19294,0.12,0.00,28.35,0.499,6,0.080,0.000,3028,2270,1263
$GC,19479,0.88,400.9,4.9,7.1,1865,19494,0.00,1.58,11.82,0.447,4,0.000,0.044,3028,3171,1204
$STATE,19508,end climb,SURFACE_DEPTH_REACHED
$STATE,19508,begin surface coast
$FINISH,0.8,1.020820
$STATE,19551,end surface coast,CONTROL_FINISHED_OK
$STATE,19551,begin surface
$SM_CCo,19567,91.53,0.479,0,0,495,575.22
$SM_GC,1.82,0.00,0.00,91.53,0.000,0.000,0.479,193,2348,495,-7.98,-0.76,575.22
$IRIDIUM_FIX,2833.46,-8836.47,231099,050551
$TT8_MAMPS,0.050622
$HUMID,1415
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,22.5,56.168
$10V_AH,10.5,77.081
$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,19.775,108.775,486.400,91.525,0.000,24.360,40.612,228.229,3.750,0.000,0.000,11.298,0.000,12903.103,651.687,5739.985,766.473,33.347,2314.231,0.000,5157.013,0.000,30.370,0.000
$DEVICE_MAMPS,243.139,58.292,1243.307,479.375,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1280.358,1373.369,4205.303,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97815,1871
$CAP_FILE_SIZE,183505,0
$CFSIZE,260165632,226369536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.157,143.3,1
$GPS,290710,162107,2844.004,-8829.033,34,0.9,34,-0.4