version: 66.04
glider: 515
mission: 5
dive: 274
start: 7 19 110 6 0 41
data:
$ID,515
$MISSION,5
$DIVE,274
$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,8
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-23719.166
$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,35
$R_STBD_OVSHOOT,37
$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
$GPS1,055136,2842.604,-8844.992,27,1.0,27,-0.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-73.1
$GPS2,060002,2842.612,-8845.095,11,1.1,11,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.237,0.118
$KALMAN_X,7489.2,-595.0,-66.4,1317.7,7613.1
$KALMAN_Y,-389242.0,1587.7,533.5,413534.9,-9867.1
$MHEAD_RNG_PITCHd_Wd,79.4,31065,-10.8,-7.500
$D_GRID,1121
$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,-0.64,-194.6,0.0,0.0,0,47,0.00,0.00,-32.53,0.000,2,0.000,0.000,207,2348,1391
$GC,49,-0.64,-194.6,3.1,-6.5,3,123,10.62,1.35,-57.53,0.000,4,0.257,0.054,2537,1411,3635
$GC,197,-0.64,-194.6,25.1,-22.8,16,200,0.00,1.23,0.00,0.000,6,0.000,0.034,2534,2308,3636
$GC,394,-0.64,-194.6,58.0,-14.2,35,397,0.00,1.20,0.00,0.000,4,0.000,0.032,2536,1419,3637
$GC,462,-0.64,-194.6,67.0,-12.5,41,470,0.00,1.27,0.00,0.000,6,0.000,0.032,2532,2330,3637
$GC,655,-0.64,-194.6,92.0,-12.7,60,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2330,3638
$GC,841,-0.64,-194.6,116.8,-13.6,78,844,0.00,1.25,0.00,0.000,4,0.000,0.034,2532,1413,3639
$GC,916,-0.64,-194.6,126.5,-13.7,85,919,0.00,1.25,0.00,0.000,6,0.000,0.035,2526,2323,3639
$GC,1238,-0.64,-194.6,166.7,-11.7,116,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2323,3638
$GC,1548,-0.64,-194.6,202.4,-11.0,146,1551,0.00,1.23,0.00,0.000,4,0.000,0.034,2526,1421,3636
$GC,1590,-0.64,-194.6,207.5,-11.6,150,1593,0.00,1.25,0.00,0.000,6,0.000,0.035,2520,2327,3636
$GC,1913,-0.64,-194.6,245.4,-11.7,181,1916,0.00,1.25,0.00,0.000,4,0.000,0.034,2520,1412,3634
$GC,1976,-0.64,-194.6,253.1,-11.6,187,1979,0.00,1.27,0.00,0.000,6,0.000,0.036,2514,2329,3634
$GC,2299,-0.64,-194.6,292.2,-11.9,218,2302,0.00,1.25,0.00,0.000,4,0.000,0.035,2514,1416,3632
$GC,2421,-0.64,-194.6,306.6,-11.4,229,2428,0.12,1.27,0.00,0.000,6,0.140,0.036,2546,2326,3631
$GC,2739,-0.64,-194.6,335.5,-9.0,260,2742,0.00,1.25,0.00,0.000,4,0.000,0.036,2546,1415,3629
$GC,2808,-0.64,-194.6,342.1,-9.3,266,2814,0.00,1.27,0.00,0.000,6,0.000,0.038,2542,2327,3629
$GC,3125,-0.64,-194.6,371.8,-9.1,297,3128,0.00,1.25,0.00,0.000,4,0.000,0.038,2542,1422,3626
$GC,3200,-0.64,-194.6,378.8,-9.0,304,3203,0.00,1.25,0.00,0.000,6,0.000,0.041,2536,2318,3626
$GC,3522,-0.64,-194.6,409.8,-9.5,335,3523,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2318,3623
$GC,3832,-0.64,-194.6,438.6,-9.0,365,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2319,3621
$GC,4142,-0.64,-194.6,468.9,-9.9,395,4144,0.00,1.25,0.00,0.000,4,0.000,0.041,2537,1419,3619
$GC,4195,-0.64,-194.6,474.4,-10.0,400,4198,0.00,1.27,0.00,0.000,6,0.000,0.042,2531,2322,3618
$GC,4517,-0.64,-194.6,506.6,-9.7,431,4518,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2323,3616
$GC,4826,-0.64,-194.6,537.0,-10.0,461,4829,0.00,1.25,0.00,0.000,4,0.000,0.041,2531,1427,3614
$GC,4884,-0.64,-194.6,542.7,-9.9,466,4891,0.00,1.27,0.00,0.000,6,0.000,0.044,2525,2324,3614
$GC,5202,-0.64,-194.6,574.4,-10.1,497,5203,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2324,3612
$GC,5511,-0.64,-194.6,606.8,-10.2,527,5512,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2323,3609
$GC,5821,-0.64,-194.6,637.8,-9.8,557,5824,0.00,1.25,0.00,0.000,4,0.000,0.042,2526,1435,3607
$GC,5878,-0.64,-194.6,643.6,-9.3,562,5886,0.00,1.30,0.00,0.000,6,0.000,0.044,2520,2328,3606
$GC,6197,-0.64,-194.6,674.7,-9.5,593,6200,0.00,1.27,0.00,0.000,4,0.000,0.042,2519,1426,3604
$GC,6240,-0.64,-194.6,679.2,-10.2,597,6243,0.00,1.27,0.00,0.000,6,0.000,0.045,2514,2320,3604
$GC,6562,-0.64,-194.6,711.7,-10.3,628,6563,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2320,3602
$GC,6871,-0.64,-194.6,742.7,-10.1,658,6872,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2320,3600
$GC,7182,-0.64,-194.6,773.6,-10.0,688,7183,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2320,3599
$GC,7492,-0.64,-194.6,803.6,-9.7,718,7495,0.00,1.58,0.00,0.000,4,0.000,0.058,2507,3207,3597
$GC,7538,-0.64,-194.6,808.4,-9.8,722,7546,0.08,1.45,0.00,0.000,6,0.146,0.036,2531,2333,3596
$GC,7855,-0.64,-194.6,835.3,-8.7,753,7858,0.00,1.30,0.00,0.000,4,0.000,0.044,2531,1421,3595
$GC,7891,-0.64,-194.6,838.6,-9.3,756,7899,0.00,1.35,0.00,0.000,6,0.000,0.048,2528,2332,3595
$GC,8208,-0.64,-194.6,866.7,-8.9,787,8208,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2332,3594
$GC,8518,-0.64,-194.6,894.4,-9.4,817,8521,0.00,1.30,0.00,0.000,4,0.000,0.044,2528,1429,3593
$GC,8598,-0.64,-194.6,901.8,-9.2,824,8606,0.00,1.33,0.00,0.000,6,0.000,0.049,2523,2330,3592
$GC,8915,-0.64,-194.6,930.2,-9.4,855,8918,0.00,1.30,0.00,0.000,4,0.000,0.044,2523,1424,3591
$GC,8947,-0.64,-194.6,933.4,-9.8,858,8950,0.00,1.33,0.00,0.000,6,0.000,0.049,2517,2328,3591
$GC,9268,-0.64,-194.6,963.5,-9.3,889,9268,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2328,3589
$STATE,9559,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9559,begin apogee
$GC,9563,-0.26,0.0,990.2,9.2,917,9721,0.45,0.00,153.43,1.239,6,0.135,0.000,2654,2273,2840
$STATE,9722,end apogee,CONTROL_FINISHED_OK
$STATE,9722,begin climb
$GC,9724,0.64,194.6,995.4,0.0,933,9901,0.93,0.00,170.80,1.208,6,0.105,0.000,2944,2273,2047
$GC,10210,0.64,194.6,947.3,11.4,981,10213,0.00,1.65,0.00,0.000,4,0.000,0.059,2944,3161,2036
$GC,10235,0.64,194.6,944.1,12.9,983,10243,0.00,1.55,0.00,0.000,6,0.000,0.036,2951,2277,2035
$GC,10554,0.64,194.6,907.7,11.5,1014,10555,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2278,2035
$GC,10862,0.64,194.6,872.2,11.6,1044,10866,0.00,1.23,0.00,0.000,4,0.000,0.044,2957,1373,2034
$GC,10910,0.64,194.6,866.8,11.2,1048,10918,0.00,1.25,0.00,0.000,6,0.000,0.044,2957,2270,2033
$GC,11227,0.64,194.6,829.3,12.0,1079,11228,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2270,2032
$GC,11537,0.64,194.6,792.2,11.5,1109,11540,0.00,1.62,0.00,0.000,4,0.000,0.055,2957,3191,2032
$GC,11562,0.64,194.6,788.8,13.3,1111,11569,0.00,1.60,0.00,0.000,6,0.000,0.036,2964,2269,2030
$GC,11880,0.64,194.6,749.9,12.1,1142,11883,0.00,1.65,0.00,0.000,4,0.000,0.056,2964,3172,2031
$GC,11912,0.64,194.6,745.7,12.0,1145,11915,0.00,1.55,0.00,0.000,6,0.000,0.037,2972,2274,2030
$GC,12234,0.64,194.6,705.4,12.6,1176,12235,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2276,2030
$GC,12544,0.64,194.6,667.8,12.3,1206,12546,0.00,1.60,0.00,0.000,4,0.000,0.054,2972,3172,2029
$GC,12586,0.64,194.6,662.1,12.4,1210,12589,0.00,1.55,0.00,0.000,6,0.000,0.036,2979,2276,2029
$GC,12908,0.64,194.6,621.6,12.8,1241,12909,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2277,2029
$GC,13218,0.64,194.6,581.4,12.9,1271,13218,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2277,2028
$GC,13528,0.64,194.6,542.0,12.2,1301,13528,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2277,2029
$GC,13839,0.64,194.6,501.7,13.0,1331,13842,0.00,1.62,0.00,0.000,4,0.000,0.054,2980,3186,2029
$GC,13870,0.64,194.6,497.3,13.9,1334,13873,0.10,1.58,0.00,0.000,6,0.145,0.036,2956,2275,2028
$GC,14191,0.64,194.6,463.0,10.7,1365,14192,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2277,2028
$GC,14502,0.64,194.6,429.6,10.8,1395,14504,0.00,1.23,0.00,0.000,4,0.000,0.042,2960,1363,2028
$GC,14534,0.64,194.6,426.2,10.2,1398,14536,0.00,1.25,0.00,0.000,6,0.000,0.042,2960,2272,2028
$GC,14856,0.64,194.6,391.8,11.1,1429,14859,0.00,1.60,0.00,0.000,4,0.000,0.053,2960,3165,2028
$GC,14888,0.64,194.6,387.8,11.6,1432,14891,0.00,1.52,0.00,0.000,6,0.000,0.035,2967,2277,2028
$GC,15208,0.64,194.6,349.9,12.1,1463,15209,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2278,2028
$GC,15519,0.64,194.6,313.0,11.4,1493,15520,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2278,2028
$GC,15830,0.64,194.6,277.6,11.5,1523,15831,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2278,2028
$GC,16141,0.64,194.6,242.0,11.8,1553,16142,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2278,2028
$GC,16451,0.64,194.6,205.2,11.9,1583,16454,0.00,1.62,0.00,0.000,4,0.000,0.051,2967,3202,2028
$GC,16483,0.64,194.6,201.4,12.4,1586,16485,0.00,1.58,0.00,0.000,6,0.000,0.032,2975,2275,2028
$GC,16805,0.64,194.6,162.2,12.3,1617,16808,0.00,1.62,0.00,0.000,4,0.000,0.049,2975,3178,2028
$GC,16880,0.64,194.6,152.1,12.7,1624,16883,0.00,1.55,0.00,0.000,6,0.000,0.032,2983,2273,2029
$GC,17201,0.64,194.6,114.0,11.7,1655,17204,0.00,1.62,0.00,0.000,4,0.000,0.048,2983,3172,2030
$GC,17286,0.64,194.6,103.6,11.8,1663,17289,0.10,1.52,0.00,0.000,6,0.136,0.031,2957,2276,2030
$GC,17607,0.64,194.6,73.3,8.7,1694,17610,0.00,1.17,0.00,0.000,4,0.000,0.037,2961,1371,2031
$GC,17639,0.64,194.6,70.6,8.9,1697,17642,0.00,1.23,0.00,0.000,6,0.000,0.037,2961,2280,2030
$GC,17836,0.64,194.6,54.7,7.5,1716,17839,0.00,1.58,0.00,0.000,4,0.000,0.047,2961,3174,2030
$GC,17872,0.65,198.6,51.7,7.4,1719,17880,0.00,1.52,0.00,0.000,6,0.000,0.029,2969,2273,2031
$GC,18065,0.72,259.7,38.0,5.9,1738,18117,0.00,1.23,49.42,0.534,4,0.000,0.035,2974,1366,1779
$GC,18150,0.81,330.5,33.4,5.6,1745,18208,0.00,1.23,54.15,0.524,6,0.000,0.035,2974,2274,1490
$GC,18395,0.84,353.3,20.9,6.9,1768,18419,0.12,1.23,17.50,0.486,4,0.081,0.035,3022,1358,1399
$GC,18495,0.86,372.9,13.9,7.0,1777,18519,0.00,1.25,16.35,0.474,6,0.000,0.035,3023,2279,1319
$GC,18704,1.10,564.7,5.6,2.5,1797,18767,0.17,0.00,60.22,0.486,2,0.077,0.000,3092,2279,991
$STATE,18767,end climb,SURFACE_DEPTH_REACHED
$STATE,18767,begin surface coast
$FINISH,0.7,1.019448
$STATE,18824,end surface coast,CONTROL_FINISHED_OK
$STATE,18824,begin surface
$SM_CCo,18839,82.28,0.476,0,0,404,597.54
$SM_GC,1.77,0.00,0.00,82.28,0.000,0.000,0.476,196,2329,404,-7.97,0.11,597.54
$IRIDIUM_FIX,2831.00,-8846.29,131099,010101
$TT8_MAMPS,0.050622
$HUMID,1389
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,22.7,48.212
$10V_AH,10.6,66.441
$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,20.525,85.400,521.875,82.275,0.000,65.029,61.791,200.174,3.750,0.000,0.000,13.666,0.000,12705.220,647.472,5361.896,686.472,33.338,2171.277,0.000,4791.177,0.000,28.026,0.000
$DEVICE_MAMPS,256.945,75.166,1239.472,476.307,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1236.202,1322.272,4063.816,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94592,1808
$CAP_FILE_SIZE,168702,0
$CFSIZE,260165632,230612992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.064,119.4,1
$GPS,190710,111700,2842.985,-8841.227,34,1.9,34,-0.2