version: 66.04
glider: 515
mission: 5
dive: 173
start: 6 27 110 4 55 17
data:
$ID,515
$MISSION,5
$DIVE,173
$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,8
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-15483.774
$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,2225
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,26
$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,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
$GPS1,044831,2837.193,-8836.114,39,1.2,39,-0.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-65.0
$GPS2,045438,2837.201,-8836.184,10,1.9,10,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0607F
$TGT_LATLONG,2837.000,-8845.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.212,0.158
$KALMAN_X,-7453.5,-136.6,220.8,30006.9,1238.0
$KALMAN_Y,-44933.0,1394.3,700.2,59206.6,-11941.7
$MHEAD_RNG_PITCHd_Wd,284.6,14338,-10.8,-7.500
$D_GRID,1396
$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,-0.63,-194.6,0.0,0.0,0,87,0.00,0.00,-73.57,0.000,2,0.000,0.000,197,2380,2497
$GC,89,-0.63,-194.6,3.0,-3.5,7,137,10.45,1.48,-32.08,0.000,4,0.255,0.066,2533,3268,3634
$GC,376,-0.63,-194.6,55.9,-15.6,33,384,0.00,1.50,0.00,0.000,6,0.000,0.028,2537,2359,3636
$GC,568,-0.63,-194.6,82.2,-13.5,52,572,0.00,1.55,0.00,0.000,4,0.000,0.047,2531,3259,3638
$GC,776,-0.63,-194.6,109.2,-13.1,71,783,0.00,1.48,0.00,0.000,6,0.000,0.028,2532,2359,3638
$GC,1092,-0.63,-194.6,147.8,-12.0,102,1095,0.00,1.55,0.00,0.000,4,0.000,0.048,2527,3259,3639
$GC,1299,-0.63,-194.6,172.3,-10.9,121,1307,0.00,1.48,0.00,0.000,6,0.000,0.028,2527,2361,3639
$GC,1617,-0.63,-194.6,209.3,-11.7,152,1620,0.00,1.55,0.00,0.000,4,0.000,0.048,2520,3263,3638
$GC,1723,-0.63,-194.6,222.0,-12.0,162,1726,0.00,1.45,0.00,0.000,6,0.000,0.029,2520,2366,3637
$GC,2045,-0.63,-194.6,258.7,-11.5,193,2048,0.00,1.52,0.00,0.000,4,0.000,0.048,2512,3257,3635
$GC,2173,-0.63,-194.6,274.1,-11.9,205,2176,0.08,1.42,0.00,0.000,6,0.144,0.030,2536,2368,3634
$GC,2493,-0.63,-194.6,308.7,-10.4,236,2496,0.00,1.52,0.00,0.000,4,0.000,0.049,2531,3259,3632
$GC,2568,-0.63,-194.6,316.4,-10.4,243,2571,0.00,1.42,0.00,0.000,6,0.000,0.031,2532,2372,3632
$GC,2890,-0.63,-194.6,350.9,-11.1,274,2893,0.00,1.52,0.00,0.000,4,0.000,0.051,2524,3259,3630
$GC,2975,-0.63,-194.6,360.5,-10.9,282,2978,0.00,1.42,0.00,0.000,6,0.000,0.031,2524,2376,3629
$GC,3296,-0.63,-194.6,396.0,-11.2,313,3299,0.00,1.50,0.00,0.000,4,0.000,0.052,2517,3255,3627
$GC,3359,-0.63,-194.6,403.4,-11.1,319,3363,0.00,1.42,0.00,0.000,6,0.000,0.032,2517,2372,3626
$GC,3682,-0.63,-194.6,441.0,-11.4,350,3685,0.00,1.52,0.00,0.000,4,0.000,0.053,2510,3257,3624
$GC,3781,-0.63,-194.6,452.9,-11.8,359,3789,0.12,1.45,0.00,0.000,6,0.146,0.032,2541,2373,3623
$GC,4098,-0.63,-194.6,483.7,-9.5,390,4102,0.00,1.52,0.00,0.000,4,0.000,0.054,2537,3256,3621
$GC,4183,-0.63,-194.6,492.1,-10.0,398,4187,0.00,1.45,0.00,0.000,6,0.000,0.034,2536,2372,3620
$GC,4506,-0.63,-194.6,524.3,-10.2,429,4509,0.00,1.52,0.00,0.000,4,0.000,0.054,2529,3254,3619
$GC,4552,-0.63,-194.6,529.2,-9.7,433,4560,0.00,1.48,0.00,0.000,6,0.000,0.035,2529,2362,3618
$GC,4870,-0.63,-194.6,561.9,-10.6,464,4873,0.00,1.58,0.00,0.000,4,0.000,0.055,2522,3256,3616
$GC,4937,-0.63,-194.6,569.6,-10.8,470,4945,0.00,1.50,0.00,0.000,6,0.000,0.035,2522,2363,3616
$GC,5255,-0.63,-194.6,604.6,-10.6,501,5258,0.00,1.58,0.00,0.000,4,0.000,0.056,2515,3259,3614
$GC,5312,-0.63,-194.6,611.2,-11.4,506,5319,0.00,1.48,0.00,0.000,6,0.000,0.035,2515,2370,3614
$GC,5630,-0.63,-194.6,646.8,-10.7,537,5632,0.00,1.55,0.00,0.000,4,0.000,0.056,2508,3254,3611
$GC,5715,-0.63,-194.6,656.3,-10.8,545,5718,0.10,1.48,0.00,0.000,6,0.139,0.035,2540,2367,3611
$GC,6035,-0.63,-194.6,684.4,-8.5,576,6038,0.00,1.58,0.00,0.000,4,0.000,0.056,2534,3259,3608
$GC,6103,-0.63,-194.6,690.8,-9.3,582,6111,0.00,1.50,0.00,0.000,6,0.000,0.035,2534,2370,3608
$GC,6421,-0.63,-194.6,719.9,-9.6,613,6424,0.00,1.55,0.00,0.000,4,0.000,0.056,2528,3253,3606
$GC,6485,-0.63,-194.6,726.1,-9.9,619,6488,0.00,1.45,0.00,0.000,6,0.000,0.036,2528,2376,3606
$GC,6807,-0.63,-194.6,757.4,-9.6,650,6810,0.00,1.55,0.00,0.000,4,0.000,0.058,2521,3258,3605
$GC,6874,-0.63,-194.6,764.3,-10.0,656,6883,0.00,1.50,0.00,0.000,6,0.000,0.036,2521,2369,3604
$GC,7193,-0.63,-194.6,795.5,-9.7,687,7196,0.00,1.55,0.00,0.000,4,0.000,0.058,2514,3249,3602
$GC,7260,-0.63,-194.6,802.6,-10.4,693,7268,0.12,1.50,0.00,0.000,6,0.146,0.037,2544,2365,3602
$GC,7577,-0.63,-194.6,830.0,-8.5,724,7578,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2365,3602
$GC,7888,-0.63,-194.6,856.2,-8.2,754,7891,0.00,1.58,0.00,0.000,4,0.000,0.059,2539,3251,3599
$GC,7941,-0.63,-194.6,860.7,-8.6,759,7944,0.00,1.48,0.00,0.000,6,0.000,0.038,2539,2370,3599
$GC,8263,-0.63,-194.6,887.5,-8.3,790,8264,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2371,3598
$GC,8572,-0.63,-194.6,913.4,-8.4,820,8575,0.00,1.58,0.00,0.000,4,0.000,0.058,2533,3255,3597
$GC,8672,-0.63,-194.6,922.0,-8.7,829,8680,0.00,1.50,0.00,0.000,6,0.000,0.038,2533,2368,3596
$GC,8990,-0.63,-194.6,949.6,-9.2,860,8990,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2368,3595
$GC,9299,-0.63,-194.6,976.8,-8.6,890,9302,0.00,1.58,0.00,0.000,4,0.000,0.060,2526,3253,3594
$GC,9341,-0.63,-194.6,980.6,-8.8,894,9345,0.00,1.48,0.00,0.000,6,0.000,0.038,2526,2374,3594
$STATE,9454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9454,begin apogee
$GC,9458,-0.25,0.0,990.8,8.8,905,9618,0.47,0.00,151.62,1.249,6,0.140,0.000,2666,2217,2839
$STATE,9618,end apogee,CONTROL_FINISHED_OK
$STATE,9618,begin climb
$GC,9620,0.63,194.6,994.6,0.0,921,9791,0.88,0.00,166.98,1.220,6,0.104,0.000,2940,2217,2046
$GC,10099,0.63,194.6,945.2,12.3,966,10102,0.00,1.15,0.00,0.000,4,0.000,0.046,2945,1335,2035
$GC,10174,0.63,194.6,936.8,11.9,973,10177,0.00,1.20,0.00,0.000,6,0.000,0.044,2945,2241,2035
$GC,10494,0.63,194.6,900.0,11.4,1004,10497,0.00,1.17,0.00,0.000,4,0.000,0.046,2950,1342,2033
$GC,10542,0.63,194.6,894.7,11.3,1008,10550,0.00,1.17,0.00,0.000,6,0.000,0.044,2950,2234,2033
$GC,10858,0.63,194.6,858.5,11.3,1039,10862,0.00,1.17,0.00,0.000,4,0.000,0.046,2955,1332,2032
$GC,10922,0.63,194.6,851.1,12.3,1045,10925,0.00,1.17,0.00,0.000,6,0.000,0.044,2955,2233,2032
$GC,11243,0.63,194.6,812.6,12.5,1076,11246,0.00,1.15,0.00,0.000,4,0.000,0.045,2960,1340,2031
$GC,11289,0.63,194.6,806.7,13.4,1080,11298,0.00,1.17,0.00,0.000,6,0.000,0.044,2960,2229,2031
$GC,11607,0.63,194.6,768.3,12.5,1111,11610,0.00,1.15,0.00,0.000,4,0.000,0.045,2965,1335,2030
$GC,11681,0.63,194.6,759.1,11.6,1118,11685,0.00,1.17,0.00,0.000,6,0.000,0.044,2965,2240,2030
$GC,12004,0.63,194.6,717.8,12.8,1149,12007,0.00,1.17,0.00,0.000,4,0.000,0.045,2970,1331,2029
$GC,12046,0.63,194.6,712.3,13.4,1153,12049,0.00,1.15,0.00,0.000,6,0.000,0.044,2970,2222,2029
$GC,12368,0.63,194.6,671.6,12.9,1184,12369,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2222,2029
$GC,12677,0.63,194.6,631.4,13.0,1214,12678,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2222,2028
$GC,12988,0.63,194.6,591.9,13.0,1244,12991,0.00,1.15,0.00,0.000,4,0.000,0.044,2975,1330,2028
$GC,13115,0.63,194.6,575.4,13.4,1256,13119,0.00,1.17,0.00,0.000,6,0.000,0.044,2975,2231,2028
$GC,13438,0.63,194.6,534.1,12.8,1287,13441,0.00,1.15,0.00,0.000,4,0.000,0.044,2980,1333,2028
$GC,13480,0.63,194.6,528.8,12.1,1291,13483,0.08,1.17,0.00,0.000,6,0.150,0.043,2956,2238,2028
$GC,13801,0.63,194.6,492.2,11.4,1322,13804,0.00,1.15,0.00,0.000,4,0.000,0.043,2959,1336,2028
$GC,13875,0.63,194.6,483.7,11.1,1329,13878,0.00,1.15,0.00,0.000,6,0.000,0.043,2960,2228,2028
$GC,14196,0.63,194.6,446.0,11.3,1360,14197,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2228,2028
$GC,14507,0.63,194.6,409.6,11.7,1390,14510,0.00,1.15,0.00,0.000,4,0.000,0.043,2964,1324,2028
$GC,14549,0.63,194.6,404.8,10.9,1394,14552,0.00,1.17,0.00,0.000,6,0.000,0.042,2965,2232,2028
$GC,14871,0.63,194.6,367.7,11.8,1425,14874,0.00,1.15,0.00,0.000,4,0.000,0.042,2969,1331,2028
$GC,14914,0.63,194.6,362.8,11.1,1429,14917,0.00,1.15,0.00,0.000,6,0.000,0.042,2970,2230,2028
$GC,15234,0.63,194.6,323.4,12.4,1460,15238,0.00,1.15,0.00,0.000,4,0.000,0.041,2974,1329,2028
$GC,15292,0.63,194.6,316.3,12.1,1465,15299,0.00,1.17,0.00,0.000,6,0.000,0.041,2973,2231,2028
$GC,15609,0.63,194.6,276.8,12.7,1496,15612,0.00,1.15,0.00,0.000,4,0.000,0.041,2979,1326,2028
$GC,15656,0.63,194.6,270.7,12.7,1500,15664,0.00,1.15,0.00,0.000,6,0.000,0.040,2979,2225,2028
$GC,15973,0.63,194.6,230.5,12.6,1531,15976,0.00,1.12,0.00,0.000,4,0.000,0.041,2984,1335,2028
$GC,16047,0.63,194.6,220.9,12.8,1538,16050,0.10,1.15,0.00,0.000,6,0.142,0.040,2953,2236,2028
$GC,16368,0.63,194.6,185.5,10.7,1569,16371,0.00,1.15,0.00,0.000,4,0.000,0.040,2956,1326,2028
$GC,16421,0.63,194.6,179.9,10.4,1574,16424,0.00,1.15,0.00,0.000,6,0.000,0.039,2955,2230,2028
$GC,16743,0.63,194.6,144.8,11.2,1605,16746,0.00,1.12,0.00,0.000,4,0.000,0.040,2960,1333,2029
$GC,16810,0.63,194.6,137.8,9.7,1611,16818,0.00,1.17,0.00,0.000,6,0.000,0.038,2960,2246,2029
$GC,17128,0.63,194.6,105.6,10.3,1642,17131,0.00,1.15,0.00,0.000,4,0.000,0.038,2965,1330,2029
$GC,17170,0.63,194.6,101.4,9.8,1646,17174,0.00,1.15,0.00,0.000,6,0.000,0.038,2965,2236,2030
$GC,17492,0.63,194.6,68.4,9.6,1677,17495,0.00,1.12,0.00,0.000,4,0.000,0.038,2970,1330,2030
$GC,17534,0.63,194.6,64.3,9.7,1681,17538,0.00,1.12,0.00,0.000,6,0.000,0.036,2970,2229,2031
$GC,17731,0.63,194.6,45.5,8.9,1700,17734,0.00,1.12,0.00,0.000,4,0.000,0.037,2974,1326,2031
$GC,17806,0.64,202.5,39.6,7.3,1707,17817,0.00,1.12,5.18,0.422,6,0.000,0.036,2974,2222,2015
$GC,18002,0.78,320.2,27.4,4.4,1726,18100,0.00,1.15,88.88,0.539,4,0.000,0.036,2978,1333,1533
$GC,18121,0.81,347.0,22.1,6.8,1736,18145,0.00,1.15,20.92,0.506,6,0.000,0.035,2978,2225,1424
$GC,18330,0.87,389.3,8.7,6.4,1756,18366,0.15,1.67,32.17,0.500,4,0.083,0.044,3032,3102,1251
$STATE,18411,end climb,SURFACE_DEPTH_REACHED
$STATE,18411,begin surface coast
$FINISH,1.2,1.022830
$STATE,18434,end surface coast,CONTROL_FINISHED_OK
$STATE,18434,begin surface
$SM_CCo,18449,90.25,0.492,0,0,494,575.22
$SM_GC,1.52,0.00,0.00,90.25,0.000,0.000,0.492,203,2364,494,-7.95,-0.31,575.22
$IRIDIUM_FIX,2828.55,-8836.53,200999,232325
$TT8_MAMPS,0.050622
$HUMID,1341
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.70
$XPDR_PINGS,6
$24V_AH,23.0,31.506
$10V_AH,10.6,43.670
$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,20.275,112.750,465.750,90.250,0.000,27.536,25.973,198.136,1.500,0.000,0.000,12.492,0.000,12154.583,661.361,5499.585,558.134,33.324,2278.967,0.000,4919.836,0.000,0.847,0.000
$DEVICE_MAMPS,255.411,65.962,1248.676,492.414,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1208.070,1292.803,3967.050,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91499,1765
$CAP_FILE_SIZE,179308,0
$CFSIZE,260165632,239501312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.110,233.6,1
$GPS,270610,100507,2837.502,-8839.990,30,1.9,30,-0.2