version: 66.04
glider: 515
mission: 5
dive: 120
start: 6 14 110 20 1 53
data:
$ID,515
$MISSION,5
$DIVE,120
$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,495
$T_MISSION,520
$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,-7244.5933
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2733
$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,2425
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,300
$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,5
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,25
$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
$GPS1,195401,2840.719,-8833.119,39,1.2,39,-0.3
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-71.2
$GPS2,200114,2840.570,-8833.160,11,1.2,11,-0.3
$SPEED_LIMITS,0.115,0.252
$TGT_NAME,NEW0602B
$TGT_LATLONG,2845.000,-8829.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.054,0.247
$KALMAN_X,-253547.3,81.9,-600.1,288343.6,2565.7
$KALMAN_Y,-163.6,-78.4,-104.4,-15914.4,-10909.6
$MHEAD_RNG_PITCHd_Wd,23.6,10627,-9.2,-6.667
$D_GRID,1387
$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,-0.58,-194.6,0.0,0.0,0,82,0.00,0.00,-68.20,0.000,2,0.000,0.000,201,2369,2511
$GC,84,-0.58,-194.6,3.6,-3.3,7,127,10.45,1.23,-25.20,0.000,4,0.258,0.062,2540,1508,3636
$GC,184,-0.58,-194.6,20.4,-18.0,16,191,0.00,1.40,0.00,0.000,6,0.000,0.037,2535,2449,3637
$GC,376,-0.58,-194.6,49.5,-13.1,35,379,0.00,1.35,0.00,0.000,4,0.000,0.036,2537,1509,3638
$GC,476,-0.58,-194.6,62.5,-12.2,44,484,0.00,1.35,0.00,0.000,6,0.000,0.035,2532,2434,3639
$GC,668,-0.58,-194.6,86.5,-13.2,63,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2434,3639
$GC,855,-0.58,-194.6,111.0,-12.9,81,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2434,3639
$GC,1165,-0.58,-194.6,149.8,-12.2,111,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2434,3639
$GC,1475,-0.58,-194.6,186.4,-11.1,141,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2434,3638
$GC,1786,-0.58,-194.6,219.7,-10.9,171,1789,0.00,1.33,0.00,0.000,4,0.000,0.038,2532,1501,3636
$GC,1882,-0.58,-194.6,229.7,-10.6,180,1885,0.00,1.33,0.00,0.000,6,0.000,0.037,2526,2430,3636
$GC,2203,-0.58,-194.6,264.9,-10.9,211,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2430,3634
$GC,2513,-0.58,-194.6,297.6,-10.5,241,2516,0.00,1.30,0.00,0.000,4,0.000,0.038,2527,1514,3632
$GC,2587,-0.58,-194.6,305.6,-11.1,248,2591,0.00,1.30,0.00,0.000,6,0.000,0.038,2519,2420,3632
$GC,2909,-0.58,-194.6,340.8,-10.6,279,2910,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2420,3630
$GC,3218,-0.58,-194.6,374.5,-10.7,309,3222,0.00,1.30,0.00,0.000,4,0.000,0.038,2520,1510,3627
$GC,3282,-0.58,-194.6,381.3,-10.3,315,3286,0.08,1.33,0.00,0.000,6,0.147,0.040,2539,2424,3627
$GC,3603,-0.58,-194.6,411.6,-9.3,346,3607,0.00,1.30,0.00,0.000,4,0.000,0.040,2539,1516,3624
$GC,3667,-0.58,-194.6,417.8,-10.2,352,3671,0.00,1.33,0.00,0.000,6,0.000,0.041,2535,2429,3624
$GC,3989,-0.58,-194.6,449.3,-10.0,383,3990,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2429,3622
$GC,4298,-0.58,-194.6,480.3,-10.0,413,4299,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2429,3620
$GC,4609,-0.58,-194.6,511.3,-9.8,443,4612,0.00,1.33,0.00,0.000,4,0.000,0.043,2534,1505,3617
$GC,4694,-0.58,-194.6,519.8,-9.5,451,4697,0.00,1.35,0.00,0.000,6,0.000,0.044,2528,2430,3617
$GC,5016,-0.58,-194.6,552.1,-10.0,482,5017,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2430,3615
$GC,5325,-0.58,-194.6,582.2,-9.3,512,5326,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2430,3613
$GC,5636,-0.58,-194.6,612.4,-9.2,542,5639,0.00,1.33,0.00,0.000,4,0.000,0.044,2528,1520,3610
$GC,5714,-0.58,-194.6,620.3,-9.9,549,5722,0.00,1.38,0.00,0.000,6,0.000,0.046,2523,2436,3609
$GC,6032,-0.58,-194.6,652.2,-10.5,580,6033,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2436,3608
$GC,6341,-0.58,-194.6,683.2,-9.4,610,6342,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2436,3606
$GC,6652,-0.58,-194.6,712.1,-9.1,640,6655,0.00,1.35,0.00,0.000,4,0.000,0.047,2522,1517,3604
$GC,6698,-0.58,-194.6,716.7,-8.9,644,6706,0.00,1.38,0.00,0.000,6,0.000,0.047,2516,2434,3604
$GC,7015,-0.58,-194.6,746.8,-9.5,675,7016,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2434,3603
$GC,7325,-0.58,-194.6,777.7,-10.0,705,7328,0.00,1.35,0.00,0.000,4,0.000,0.048,2516,1512,3600
$GC,7378,-0.58,-194.6,783.3,-10.3,710,7382,0.10,1.35,0.00,0.000,6,0.143,0.049,2542,2420,3600
$GC,7699,-0.58,-194.6,810.9,-8.7,741,7702,0.00,1.33,0.00,0.000,4,0.000,0.048,2543,1517,3598
$GC,7788,-0.58,-194.6,818.9,-8.3,749,7796,0.00,1.40,0.00,0.000,6,0.000,0.049,2539,2445,3598
$GC,8105,-0.58,-194.6,846.9,-8.6,780,8106,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2445,3597
$GC,8415,-0.58,-194.6,872.2,-8.1,810,8416,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2445,3595
$GC,8725,-0.58,-194.6,896.5,-8.1,840,8729,0.00,1.38,0.00,0.000,4,0.000,0.048,2539,1513,3594
$GC,8858,-0.58,-194.6,907.3,-7.8,852,8865,0.00,1.40,0.00,0.000,6,0.000,0.050,2533,2436,3593
$GC,9175,-0.58,-194.6,933.3,-8.7,883,9176,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2436,3592
$GC,9485,-0.58,-194.6,959.4,-8.6,913,9485,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2436,3591
$GC,9795,-0.58,-194.6,984.5,-7.9,943,9798,0.00,1.38,0.00,0.000,4,0.000,0.049,2533,1507,3590
$GC,9837,-0.58,-194.6,988.1,-9.3,947,9841,0.00,1.38,0.00,0.000,6,0.000,0.051,2528,2425,3590
$STATE,9867,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9867,begin apogee
$GC,9871,-0.26,0.0,990.5,8.0,950,10023,0.40,0.00,149.55,1.269,6,0.141,0.000,2646,2164,2840
$STATE,10023,end apogee,CONTROL_FINISHED_OK
$STATE,10023,begin climb
$GC,10024,0.58,194.6,994.9,0.0,965,10193,0.85,0.00,165.38,1.236,6,0.113,0.000,2908,2163,2046
$GC,10501,0.58,194.6,952.1,10.2,1012,10505,0.00,1.75,0.00,0.000,4,0.000,0.055,2909,3076,2035
$GC,10576,0.58,194.6,943.9,10.0,1019,10579,0.00,1.62,0.00,0.000,6,0.000,0.039,2916,2204,2033
$GC,10897,0.58,194.6,909.6,11.0,1050,10897,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2204,2032
$GC,11207,0.58,194.6,875.8,10.6,1080,11210,0.00,1.67,0.00,0.000,4,0.000,0.058,2916,3080,2032
$GC,11243,0.58,194.6,871.6,11.3,1083,11252,0.00,1.65,0.00,0.000,6,0.000,0.039,2924,2179,2031
$GC,11560,0.58,194.6,837.0,10.4,1114,11563,0.00,1.70,0.00,0.000,4,0.000,0.058,2924,3081,2031
$GC,11606,0.58,194.6,831.6,11.1,1118,11614,0.00,1.62,0.00,0.000,6,0.000,0.039,2932,2195,2030
$GC,11923,0.58,194.6,796.7,10.9,1149,11924,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2195,2030
$GC,12234,0.58,194.6,761.4,11.3,1179,12234,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2195,2029
$GC,12543,0.58,194.6,726.3,11.4,1209,12547,0.00,1.67,0.00,0.000,4,0.000,0.055,2931,3083,2028
$GC,12580,0.58,194.6,721.9,12.1,1212,12587,0.00,1.62,0.00,0.000,6,0.000,0.039,2940,2195,2028
$GC,12897,0.58,194.6,686.9,10.5,1243,12900,0.00,1.67,0.00,0.000,4,0.000,0.055,2940,3083,2028
$GC,12949,0.58,194.6,680.7,12.5,1248,12953,0.00,1.60,0.00,0.000,6,0.000,0.039,2947,2201,2027
$GC,13270,0.58,194.6,643.9,11.3,1279,13271,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2201,2027
$GC,13581,0.58,194.6,607.8,12.0,1309,13584,0.00,1.67,0.00,0.000,4,0.000,0.054,2947,3091,2027
$GC,13623,0.58,194.6,602.4,12.9,1313,13627,0.10,1.62,0.00,0.000,6,0.153,0.039,2924,2192,2027
$GC,13944,0.58,194.6,571.4,9.8,1344,13947,0.00,1.67,0.00,0.000,4,0.000,0.055,2924,3081,2026
$GC,13991,0.58,194.6,566.4,11.1,1348,13999,0.00,1.62,0.00,0.000,6,0.000,0.038,2930,2187,2027
$GC,14308,0.58,194.6,534.0,10.4,1379,14311,0.00,1.67,0.00,0.000,4,0.000,0.054,2931,3079,2027
$GC,14354,0.58,194.6,529.0,11.5,1383,14363,0.00,1.60,0.00,0.000,6,0.000,0.038,2938,2198,2027
$GC,14672,0.58,194.6,494.1,10.7,1414,14675,0.00,1.67,0.00,0.000,4,0.000,0.054,2938,3088,2027
$GC,14702,0.58,194.6,490.3,11.2,1417,14706,0.00,1.60,0.00,0.000,6,0.000,0.038,2946,2200,2026
$GC,15025,0.58,194.6,453.8,11.2,1448,15025,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2200,2027
$GC,15334,0.58,194.6,418.1,11.2,1478,15337,0.00,1.65,0.00,0.000,4,0.000,0.052,2946,3083,2027
$GC,15376,0.58,194.6,413.0,13.2,1482,15380,0.10,1.60,0.00,0.000,6,0.151,0.038,2922,2193,2026
$GC,15697,0.58,194.6,382.5,9.6,1513,15698,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2193,2026
$GC,16007,0.58,194.6,353.6,9.2,1543,16008,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2193,2027
$GC,16318,0.58,194.6,324.5,9.1,1573,16321,0.00,1.67,0.00,0.000,4,0.000,0.051,2922,3092,2027
$GC,16371,0.58,194.6,319.4,10.1,1578,16375,0.00,1.60,0.00,0.000,6,0.000,0.037,2929,2194,2027
$GC,16692,0.58,194.6,288.7,9.6,1609,16696,0.00,1.65,0.00,0.000,4,0.000,0.051,2929,3081,2028
$GC,16745,0.58,194.6,283.2,9.7,1614,16748,0.00,1.58,0.00,0.000,6,0.000,0.036,2936,2196,2028
$GC,17067,0.58,194.6,253.5,9.2,1645,17070,0.00,1.62,0.00,0.000,4,0.000,0.050,2936,3092,2029
$GC,17156,0.58,194.6,244.1,10.5,1653,17163,0.00,1.60,0.00,0.000,6,0.000,0.035,2944,2201,2029
$GC,17473,0.58,194.6,211.0,11.4,1684,17476,0.00,1.65,0.00,0.000,4,0.000,0.050,2944,3091,2029
$GC,17515,0.58,194.6,206.1,11.6,1688,17519,0.08,1.58,0.00,0.000,6,0.150,0.034,2927,2203,2028
$GC,17835,0.58,194.6,176.5,9.3,1719,17839,0.00,1.62,0.00,0.000,4,0.000,0.049,2927,3079,2030
$GC,17878,0.58,194.6,172.6,9.3,1723,17882,0.00,1.58,0.00,0.000,6,0.000,0.034,2933,2193,2029
$GC,18199,0.58,194.6,142.9,8.4,1754,18200,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2194,2030
$GC,18510,0.58,194.6,115.6,8.7,1784,18513,0.00,1.65,0.00,0.000,4,0.000,0.048,2932,3086,2030
$GC,18546,0.58,194.6,112.1,9.6,1787,18554,0.00,1.60,0.00,0.000,6,0.000,0.032,2940,2183,2031
$GC,18863,0.58,194.6,83.9,9.0,1818,18866,0.00,1.65,0.00,0.000,4,0.000,0.047,2941,3084,2032
$GC,18920,0.58,194.6,78.1,9.5,1823,18929,0.00,1.58,0.00,0.000,6,0.000,0.031,2948,2197,2032
$GC,19112,0.58,194.6,60.6,8.4,1842,19113,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2197,2033
$GC,19298,0.58,194.6,45.2,8.8,1860,19302,0.00,1.62,0.00,0.000,4,0.000,0.045,2948,3087,2033
$GC,19441,0.58,194.6,33.7,6.7,1873,19449,0.12,1.58,0.00,0.000,6,0.134,0.030,2921,2192,2034
$GC,19634,0.70,295.1,25.0,4.3,1892,19711,0.12,1.65,73.28,0.542,4,0.065,0.042,2983,3091,1635
$GC,19792,0.70,295.1,14.8,6.7,1906,19799,0.08,1.58,0.00,0.000,6,0.114,0.030,2963,2210,1628
$GC,19983,0.91,463.1,7.5,2.7,1925,20115,0.20,1.15,121.55,0.516,4,0.079,0.035,3033,1310,952
$STATE,20119,end climb,SURFACE_DEPTH_REACHED
$STATE,20119,begin surface coast
$FINISH,1.7,1.017423
$STATE,20181,end surface coast,CONTROL_FINISHED_OK
$STATE,20182,begin surface
$SM_CCo,20196,74.22,0.500,0,0,494,575.22
$SM_GC,2.00,0.00,0.00,74.22,0.000,0.000,0.500,202,2445,494,-7.91,0.57,575.22
$IRIDIUM_FIX,2831.00,-8836.47,080999,141459
$TT8_MAMPS,0.051389
$HUMID,1276
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,23.90
$XPDR_PINGS,1
$24V_AH,23.3,22.887
$10V_AH,10.6,30.853
$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,20.625,100.225,509.750,74.225,0.000,28.859,33.450,259.901,0.250,0.000,0.000,14.103,0.000,13640.202,684.542,5764.941,580.119,33.350,2312.620,0.000,5172.314,0.000,0.847,0.000
$DEVICE_MAMPS,257.712,62.127,1268.618,500.084,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1329.253,1421.018,4365.045,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100778,1942
$CAP_FILE_SIZE,180527,0
$CFSIZE,260165632,244494336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.036,100.6,1
$GPS,150610,014037,2843.189,-8831.678,33,1.2,33,-0.4