version: 66.04
glider: 515
mission: 5
dive: 125
start: 6 15 110 19 6 47
data:
$ID,515
$MISSION,5
$DIVE,125
$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,-7407.7568
$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,2400
$C_ROLL_CLIMB,2230
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,31
$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
$GPS1,185849,2844.545,-8830.385,6,1.3,11,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-73.2
$GPS2,190608,2844.491,-8830.342,12,1.3,12,-0.4
$SPEED_LIMITS,0.115,0.252
$TGT_NAME,NEW0602A
$TGT_LATLONG,2840.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.028,0.114
$KALMAN_X,-249210.0,-781.8,-643.3,289505.0,6192.2
$KALMAN_Y,-18944.6,162.9,269.9,9545.0,-10600.1
$MHEAD_RNG_PITCHd_Wd,121.1,10085,-9.2,-6.667
$D_GRID,1255
$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,-194.6,0.0,0.0,0,77,0.00,0.00,-63.65,0.000,2,0.000,0.000,205,2408,2377
$GC,79,-0.58,-194.6,3.5,-4.5,6,119,10.38,1.50,-25.85,0.000,4,0.260,0.064,2534,3289,3636
$GC,247,-0.58,-194.6,36.0,-14.6,21,255,0.00,1.48,0.00,0.000,6,0.000,0.027,2537,2405,3638
$GC,440,-0.58,-194.6,62.0,-12.9,40,441,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2405,3638
$GC,626,-0.58,-194.6,85.5,-12.1,58,629,0.00,1.23,0.00,0.000,4,0.000,0.035,2537,1504,3639
$GC,726,-0.58,-194.6,97.6,-11.6,67,734,0.00,1.25,0.00,0.000,6,0.000,0.033,2533,2399,3639
$GC,918,-0.58,-194.6,120.7,-12.1,86,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2400,3639
$GC,1229,-0.58,-194.6,157.2,-11.7,116,1232,0.00,1.20,0.00,0.000,4,0.000,0.035,2533,1503,3638
$GC,1367,-0.58,-194.6,172.5,-11.3,129,1371,0.00,1.23,0.00,0.000,6,0.000,0.035,2527,2397,3638
$GC,1688,-0.58,-194.6,208.4,-11.3,160,1691,0.00,1.23,0.00,0.000,4,0.000,0.036,2527,1502,3637
$GC,1852,-0.58,-194.6,227.4,-11.8,175,1861,0.00,1.25,0.00,0.000,6,0.000,0.035,2522,2398,3636
$GC,2169,-0.58,-194.6,263.5,-11.4,206,2173,0.00,1.20,0.00,0.000,4,0.000,0.038,2522,1507,3634
$GC,2211,-0.58,-194.6,268.3,-11.3,210,2215,0.00,1.23,0.00,0.000,6,0.000,0.037,2516,2397,3634
$GC,2533,-0.58,-194.6,304.8,-11.2,241,2536,0.00,1.23,0.00,0.000,4,0.000,0.038,2516,1506,3631
$GC,2660,-0.58,-194.6,319.2,-11.1,253,2664,0.00,1.25,0.00,0.000,6,0.000,0.038,2510,2401,3630
$GC,2982,-0.58,-194.6,355.1,-11.5,284,2985,0.12,1.25,0.00,0.000,4,0.147,0.038,2545,1502,3628
$GC,3217,-0.58,-194.6,377.5,-9.1,306,3220,0.00,1.25,0.00,0.000,6,0.000,0.042,2541,2396,3626
$GC,3538,-0.58,-194.6,407.6,-9.4,337,3541,0.00,1.20,0.00,0.000,4,0.000,0.041,2541,1512,3623
$GC,3665,-0.58,-194.6,419.7,-9.7,349,3669,0.00,1.25,0.00,0.000,6,0.000,0.042,2535,2400,3622
$GC,3988,-0.58,-194.6,450.8,-9.7,380,3990,0.00,1.25,0.00,0.000,4,0.000,0.041,2536,1507,3619
$GC,4109,-0.58,-194.6,463.2,-9.9,391,4117,0.00,1.27,0.00,0.000,6,0.000,0.044,2530,2399,3618
$GC,4426,-0.58,-194.6,495.6,-10.1,422,4429,0.00,1.23,0.00,0.000,4,0.000,0.044,2530,1512,3617
$GC,4493,-0.58,-194.6,502.7,-10.2,428,4501,0.00,1.27,0.00,0.000,6,0.000,0.044,2524,2400,3616
$GC,4811,-0.58,-194.6,536.1,-10.3,459,4814,0.00,1.25,0.00,0.000,4,0.000,0.043,2524,1511,3614
$GC,4927,-0.58,-194.6,548.6,-10.6,470,4931,0.08,1.27,0.00,0.000,6,0.142,0.045,2542,2402,3613
$GC,5248,-0.58,-194.6,577.8,-9.1,501,5252,0.00,1.23,0.00,0.000,4,0.000,0.044,2543,1517,3611
$GC,5365,-0.58,-194.6,588.8,-9.1,512,5369,0.00,1.25,0.00,0.000,6,0.000,0.044,2539,2397,3610
$GC,5688,-0.58,-194.6,618.8,-9.2,543,5691,0.00,1.25,0.00,0.000,4,0.000,0.044,2539,1509,3608
$GC,5798,-0.58,-194.6,629.6,-9.4,553,5806,0.00,1.30,0.00,0.000,6,0.000,0.046,2533,2404,3607
$GC,6115,-0.58,-194.6,659.3,-9.3,584,6118,0.00,1.27,0.00,0.000,4,0.000,0.045,2534,1506,3605
$GC,6275,-0.58,-194.6,674.6,-9.6,599,6278,0.00,1.27,0.00,0.000,6,0.000,0.047,2528,2398,3603
$GC,6597,-0.58,-194.6,706.4,-9.9,630,6600,0.00,1.23,0.00,0.000,4,0.000,0.046,2528,1516,3601
$GC,6750,-0.58,-194.6,722.2,-9.8,644,6757,0.00,1.27,0.00,0.000,6,0.000,0.046,2522,2401,3601
$GC,7067,-0.58,-194.6,754.6,-10.5,675,7070,0.00,1.25,0.00,0.000,4,0.000,0.045,2523,1507,3599
$GC,7173,-0.58,-194.6,765.6,-10.2,685,7177,0.00,1.27,0.00,0.000,6,0.000,0.048,2517,2399,3599
$GC,7496,-0.58,-194.6,798.7,-10.7,716,7499,0.00,1.25,0.00,0.000,4,0.000,0.046,2517,1514,3597
$GC,7634,-0.58,-194.6,813.5,-10.2,729,7638,0.10,1.27,0.00,0.000,6,0.148,0.048,2542,2401,3596
$GC,7954,-0.58,-194.6,839.8,-8.3,760,7958,0.00,1.25,0.00,0.000,4,0.000,0.045,2542,1507,3595
$GC,8083,-0.58,-194.6,850.6,-8.1,772,8086,0.00,1.27,0.00,0.000,6,0.000,0.048,2539,2398,3594
$GC,8405,-0.58,-194.6,877.0,-8.0,803,8408,0.00,1.25,0.00,0.000,4,0.000,0.047,2539,1517,3593
$GC,8564,-0.58,-194.6,890.6,-8.5,818,8568,0.00,1.25,0.00,0.000,6,0.000,0.048,2534,2394,3592
$GC,8886,-0.58,-194.6,918.5,-8.8,849,8889,0.00,1.25,0.00,0.000,4,0.000,0.047,2534,1511,3591
$GC,9003,-0.58,-194.6,928.7,-8.7,860,9006,0.00,1.27,0.00,0.000,6,0.000,0.048,2529,2399,3590
$GC,9325,-0.58,-194.6,956.7,-8.7,891,9328,0.00,1.25,0.00,0.000,4,0.000,0.047,2529,1518,3589
$GC,9442,-0.58,-194.6,967.1,-9.1,902,9445,0.00,1.27,0.00,0.000,6,0.000,0.049,2523,2401,3589
$STATE,9699,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9699,begin apogee
$GC,9703,-0.26,0.0,990.1,9.2,927,9854,0.43,0.00,148.23,1.264,6,0.139,0.000,2650,2215,2840
$STATE,9854,end apogee,CONTROL_FINISHED_OK
$STATE,9854,begin climb
$GC,9856,0.58,194.6,995.2,0.0,942,10028,0.82,1.90,163.38,1.230,4,0.110,0.061,2908,3109,2044
$GC,10085,0.58,194.6,977.4,10.9,962,10093,0.00,1.73,0.00,0.000,6,0.000,0.038,2916,2238,2039
$GC,10403,0.58,194.6,944.3,10.5,993,10406,0.00,1.75,0.00,0.000,4,0.000,0.057,2916,3118,2035
$GC,10487,0.58,194.6,934.7,10.6,1001,10491,0.00,1.67,0.00,0.000,6,0.000,0.039,2924,2227,2034
$GC,10808,0.58,194.6,899.8,10.8,1032,10811,0.00,1.75,0.00,0.000,4,0.000,0.057,2924,3123,2033
$GC,10897,0.58,194.6,889.4,11.4,1040,10905,0.00,1.70,0.00,0.000,6,0.000,0.038,2932,2215,2032
$GC,11215,0.58,194.6,853.0,11.8,1071,11218,0.00,1.75,0.00,0.000,4,0.000,0.056,2932,3118,2031
$GC,11299,0.58,194.6,842.7,12.9,1079,11303,0.00,1.65,0.00,0.000,6,0.000,0.038,2940,2231,2030
$GC,11622,0.58,194.6,804.0,12.2,1110,11624,0.00,1.70,0.00,0.000,4,0.000,0.055,2940,3127,2030
$GC,11706,0.58,194.6,792.9,12.9,1118,11710,0.00,1.65,0.00,0.000,6,0.000,0.038,2948,2235,2029
$GC,12027,0.58,194.6,752.7,12.1,1149,12030,0.00,1.73,0.00,0.000,4,0.000,0.055,2948,3126,2029
$GC,12101,0.58,194.6,742.6,14.5,1156,12105,0.10,1.65,0.00,0.000,6,0.153,0.038,2926,2235,2028
$GC,12422,0.58,194.6,708.6,10.1,1187,12426,0.00,1.73,0.00,0.000,4,0.000,0.055,2926,3128,2028
$GC,12480,0.58,194.6,702.1,11.0,1192,12488,0.00,1.67,0.00,0.000,6,0.000,0.038,2932,2225,2028
$GC,12797,0.58,194.6,667.7,10.9,1223,12800,0.00,1.73,0.00,0.000,4,0.000,0.054,2932,3122,2028
$GC,12865,0.58,194.6,659.2,11.4,1229,12872,0.00,1.67,0.00,0.000,6,0.000,0.038,2940,2222,2027
$GC,13182,0.58,194.6,623.1,11.3,1260,13185,0.00,1.73,0.00,0.000,4,0.000,0.054,2940,3120,2027
$GC,13239,0.58,194.6,616.2,11.5,1265,13246,0.00,1.67,0.00,0.000,6,0.000,0.038,2948,2207,2027
$GC,13556,0.58,194.6,578.4,12.1,1296,13559,0.00,1.73,0.00,0.000,4,0.000,0.054,2947,3129,2027
$GC,13613,0.58,194.6,571.0,12.8,1301,13621,0.10,1.67,0.00,0.000,6,0.150,0.037,2925,2226,2027
$GC,13930,0.58,194.6,540.0,9.2,1332,13933,0.00,1.70,0.00,0.000,4,0.000,0.054,2925,3115,2026
$GC,14047,0.58,194.6,527.5,10.0,1343,14050,0.00,1.62,0.00,0.000,6,0.000,0.038,2931,2232,2026
$GC,14368,0.58,194.6,495.1,10.0,1374,14371,0.00,1.73,0.00,0.000,4,0.000,0.054,2931,3128,2026
$GC,14431,0.58,194.6,488.2,10.6,1380,14435,0.00,1.65,0.00,0.000,6,0.000,0.037,2939,2228,2026
$GC,14752,0.58,194.6,454.0,10.9,1411,14756,0.00,1.73,0.00,0.000,4,0.000,0.053,2939,3128,2026
$GC,14863,0.58,194.6,441.1,11.9,1421,14871,0.00,1.65,0.00,0.000,6,0.000,0.036,2946,2228,2026
$GC,15181,0.58,194.6,406.0,11.1,1452,15184,0.00,1.70,0.00,0.000,4,0.000,0.053,2947,3118,2027
$GC,15270,0.58,194.6,395.0,12.0,1460,15278,0.12,1.65,0.00,0.000,6,0.159,0.036,2923,2225,2026
$GC,15586,0.58,194.6,365.0,9.2,1491,15590,0.00,1.70,0.00,0.000,4,0.000,0.051,2923,3116,2027
$GC,15633,0.58,194.6,360.2,10.4,1495,15642,0.00,1.65,0.00,0.000,6,0.000,0.036,2929,2226,2026
$GC,15951,0.58,194.6,329.3,9.9,1526,15954,0.00,1.70,0.00,0.000,4,0.000,0.051,2929,3135,2026
$GC,16046,0.58,194.6,318.9,11.2,1535,16049,0.00,1.65,0.00,0.000,6,0.000,0.035,2937,2229,2027
$GC,16367,0.58,194.6,285.3,10.7,1566,16371,0.00,1.70,0.00,0.000,4,0.000,0.051,2937,3121,2027
$GC,16456,0.58,194.6,275.1,10.8,1574,16464,0.00,1.65,0.00,0.000,6,0.000,0.035,2945,2223,2027
$GC,16774,0.58,194.6,240.3,10.5,1605,16777,0.00,1.67,0.00,0.000,4,0.000,0.050,2944,3122,2028
$GC,16837,0.58,194.6,233.0,10.6,1611,16840,0.00,1.62,0.00,0.000,6,0.000,0.034,2953,2230,2027
$GC,17159,0.58,194.6,196.5,11.5,1642,17162,0.12,1.67,0.00,0.000,4,0.154,0.049,2921,3130,2028
$GC,17233,0.58,194.6,188.3,12.1,1649,17237,0.00,1.62,0.00,0.000,6,0.000,0.034,2927,2232,2028
$GC,17554,0.58,194.6,158.7,8.8,1680,17557,0.00,1.70,0.00,0.000,4,0.000,0.049,2927,3129,2029
$GC,17618,0.58,194.6,152.5,10.2,1686,17622,0.00,1.65,0.00,0.000,6,0.000,0.034,2935,2214,2028
$GC,17938,0.58,194.6,122.8,9.1,1717,17942,0.00,1.70,0.00,0.000,4,0.000,0.047,2933,3120,2029
$GC,18056,0.58,194.6,110.4,10.0,1728,18060,0.00,1.60,0.00,0.000,6,0.000,0.032,2942,2231,2030
$GC,18377,0.58,194.6,80.6,9.0,1759,18380,0.00,1.67,0.00,0.000,4,0.000,0.047,2942,3119,2030
$GC,18456,0.58,194.6,72.5,12.2,1766,18464,0.08,1.60,0.00,0.000,6,0.134,0.031,2925,2229,2031
$GC,18648,0.58,194.6,57.6,7.6,1785,18651,0.00,1.67,0.00,0.000,4,0.000,0.046,2925,3120,2031
$GC,18701,0.58,194.6,53.4,7.7,1790,18705,0.00,1.60,0.00,0.000,6,0.000,0.031,2931,2227,2032
$GC,18898,0.62,228.7,40.3,5.9,1809,18933,0.00,1.73,24.95,0.545,4,0.000,0.044,2930,3128,1906
$GC,18969,0.66,261.8,35.8,5.9,1815,19002,0.00,1.65,25.67,0.537,6,0.000,0.030,2938,2221,1771
$GC,19187,0.76,337.8,23.9,4.9,1836,19250,0.12,0.00,57.20,0.534,6,0.067,0.000,3004,2220,1461
$GC,19436,0.81,382.5,9.0,5.6,1860,19476,0.00,0.00,33.40,0.510,6,0.000,0.000,3004,2220,1279
$STATE,19617,end climb,SURFACE_DEPTH_REACHED
$STATE,19617,begin surface coast
$FINISH,2.6,1.018054
$STATE,19773,end surface coast,CONTROL_FINISHED_OK
$STATE,19773,begin surface
$SM_CCo,19786,121.15,0.499,0,0,495,575.22
$SM_GC,1.88,0.00,0.00,121.15,0.000,0.000,0.499,202,2408,495,-7.91,0.23,575.22
$IRIDIUM_FIX,2833.46,-8829.10,090999,181856
$TT8_MAMPS,0.051389
$HUMID,1304
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,23.5,23.533
$10V_AH,10.7,31.857
$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,20.300,134.550,452.825,121.150,0.000,29.458,25.142,293.380,0.250,0.000,0.000,14.695,0.000,12948.431,710.351,6014.196,673.256,33.328,2477.201,0.000,5407.053,0.000,0.852,0.000
$DEVICE_MAMPS,260.013,63.661,1264.016,498.550,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1295.679,1394.376,4254.716,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100974,1893
$CAP_FILE_SIZE,196137,0
$CFSIZE,260165632,244060160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$CURRENT,0.054,214.1,1
$GPS,160610,003930,2843.270,-8827.662,36,2.0,36,-0.4