version: 66.04
glider: 515
mission: 5
dive: 288
start: 7 22 110 6 54 11
data:
$ID,515
$MISSION,5
$DIVE,288
$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,-14
$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,-23947.258
$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,30
$R_STBD_OVSHOOT,32
$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
$GPS1,064707,2843.486,-8832.292,25,1.6,25,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-68.0
$GPS2,065332,2843.674,-8832.304,10,1.6,10,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.113,0.239
$KALMAN_X,24408.9,-878.4,-572.6,6017.7,5556.2
$KALMAN_Y,-430018.9,633.2,943.1,456800.9,-10083.0
$MHEAD_RNG_PITCHd_Wd,80.8,10239,-10.8,-7.500
$D_GRID,1199
$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,-194.6,0.0,0.0,0,67,0.00,0.00,-52.78,0.000,2,0.000,0.000,194,2341,1927
$GC,70,-0.64,-194.6,3.1,-3.3,5,129,10.70,1.50,-42.67,0.000,4,0.256,0.061,2529,3223,3634
$GC,251,-0.64,-194.6,40.8,-25.7,21,258,0.00,1.48,0.00,0.000,6,0.000,0.027,2534,2327,3635
$GC,444,-0.64,-194.6,70.0,-13.5,40,445,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2327,3636
$GC,630,-0.64,-194.6,93.6,-12.5,58,633,0.00,1.23,0.00,0.000,4,0.000,0.036,2537,1410,3637
$GC,673,-0.64,-194.6,98.9,-12.5,62,676,0.00,1.25,0.00,0.000,6,0.000,0.035,2534,2320,3637
$GC,870,-0.64,-194.6,124.1,-12.5,81,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2321,3637
$GC,1180,-0.64,-194.6,161.4,-11.8,111,1183,0.00,1.25,0.00,0.000,4,0.000,0.036,2533,1402,3637
$GC,1280,-0.64,-194.6,173.3,-12.1,120,1287,0.00,1.30,0.00,0.000,6,0.000,0.035,2527,2329,3637
$GC,1599,-0.64,-194.6,210.5,-12.3,151,1602,0.00,1.25,0.00,0.000,4,0.000,0.036,2527,1415,3636
$GC,1667,-0.64,-194.6,219.3,-11.9,157,1674,0.00,1.27,0.00,0.000,6,0.000,0.035,2521,2332,3636
$GC,1985,-0.64,-194.6,258.1,-12.4,188,1989,0.00,1.27,0.00,0.000,4,0.000,0.038,2522,1406,3634
$GC,2038,-0.64,-194.6,264.7,-12.2,193,2041,0.00,1.27,0.00,0.000,6,0.000,0.037,2516,2327,3634
$GC,2361,-0.64,-194.6,303.4,-12.1,224,2362,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2327,3632
$GC,2670,-0.64,-194.6,340.8,-11.5,254,2673,0.00,1.25,0.00,0.000,4,0.000,0.038,2516,1420,3630
$GC,2744,-0.64,-194.6,349.7,-11.6,261,2747,0.00,1.25,0.00,0.000,6,0.000,0.038,2510,2320,3629
$GC,3067,-0.64,-194.6,388.3,-11.6,292,3070,0.12,1.25,0.00,0.000,4,0.144,0.038,2544,1415,3628
$GC,3153,-0.64,-194.6,397.3,-9.3,300,3156,0.00,1.27,0.00,0.000,6,0.000,0.039,2540,2328,3626
$GC,3475,-0.64,-194.6,430.4,-10.3,331,3479,0.00,1.27,0.00,0.000,4,0.000,0.038,2540,1406,3625
$GC,3550,-0.64,-194.6,438.6,-10.9,338,3553,0.00,1.27,0.00,0.000,6,0.000,0.040,2534,2320,3625
$GC,3873,-0.64,-194.6,472.4,-10.3,369,3876,0.00,1.25,0.00,0.000,4,0.000,0.040,2534,1415,3621
$GC,3915,-0.64,-194.6,477.1,-10.8,373,3919,0.00,1.30,0.00,0.000,6,0.000,0.041,2529,2333,3621
$GC,4238,-0.64,-194.6,511.3,-10.5,404,4241,0.00,1.27,0.00,0.000,4,0.000,0.040,2529,1418,3619
$GC,4334,-0.64,-194.6,521.1,-10.0,413,4337,0.00,1.27,0.00,0.000,6,0.000,0.041,2523,2326,3618
$GC,4656,-0.64,-194.6,554.4,-10.2,444,4660,0.00,1.27,0.00,0.000,4,0.000,0.041,2523,1409,3616
$GC,4725,-0.64,-194.6,561.7,-10.0,450,4733,0.00,1.30,0.00,0.000,6,0.000,0.041,2518,2328,3615
$GC,5042,-0.64,-194.6,595.2,-10.9,481,5046,0.00,1.27,0.00,0.000,4,0.000,0.041,2518,1417,3614
$GC,5074,-0.64,-194.6,598.8,-11.3,484,5077,0.00,1.30,0.00,0.000,6,0.000,0.043,2512,2329,3614
$GC,5397,-0.64,-194.6,633.3,-10.3,515,5400,0.00,1.27,0.00,0.000,4,0.000,0.041,2512,1421,3611
$GC,5487,-0.64,-194.6,643.8,-11.7,523,5494,0.10,1.30,0.00,0.000,6,0.139,0.042,2538,2324,3610
$GC,5805,-0.64,-194.6,671.7,-8.5,554,5808,0.00,1.27,0.00,0.000,4,0.000,0.042,2538,1415,3608
$GC,5841,-0.64,-194.6,675.2,-9.1,557,5848,0.00,1.33,0.00,0.000,6,0.000,0.043,2534,2337,3608
$GC,6160,-0.64,-194.6,703.0,-8.8,588,6161,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2337,3606
$GC,6468,-0.64,-194.6,731.3,-10.0,618,6471,0.00,1.30,0.00,0.000,4,0.000,0.043,2534,1423,3604
$GC,6568,-0.64,-194.6,741.1,-8.7,627,6576,0.00,1.33,0.00,0.000,6,0.000,0.044,2529,2331,3603
$GC,6887,-0.64,-194.6,771.3,-9.9,658,6890,0.00,1.30,0.00,0.000,4,0.000,0.043,2529,1412,3602
$GC,6929,-0.64,-194.6,775.6,-9.9,662,6932,0.00,1.30,0.00,0.000,6,0.000,0.046,2524,2322,3601
$GC,7253,-0.64,-194.6,805.4,-9.3,693,7255,0.00,1.27,0.00,0.000,4,0.000,0.044,2524,1414,3599
$GC,7295,-0.64,-194.6,809.8,-10.1,697,7298,0.00,1.30,0.00,0.000,6,0.000,0.046,2518,2324,3599
$GC,7617,-0.64,-194.6,840.6,-9.3,728,7618,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2324,3597
$GC,7929,-0.64,-194.6,869.5,-9.1,758,7933,0.00,1.27,0.00,0.000,4,0.000,0.044,2518,1419,3596
$GC,7986,-0.64,-194.6,875.2,-9.4,763,7993,0.00,1.30,0.00,0.000,6,0.000,0.045,2513,2324,3596
$GC,8303,-0.64,-194.6,905.8,-9.8,794,8304,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2324,3594
$GC,8613,-0.64,-194.6,936.3,-9.8,824,8616,0.00,1.27,0.00,0.000,4,0.000,0.044,2513,1424,3593
$GC,8646,-0.64,-194.6,939.2,-9.9,827,8649,0.08,1.30,0.00,0.000,6,0.145,0.047,2533,2325,3593
$GC,8966,-0.64,-194.6,966.2,-8.2,858,8967,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2325,3592
$STATE,9247,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9247,begin apogee
$GC,9252,-0.26,0.0,990.2,8.7,885,9409,0.40,0.00,154.52,1.238,6,0.130,0.000,2658,2268,2840
$STATE,9410,end apogee,CONTROL_FINISHED_OK
$STATE,9410,begin climb
$GC,9412,0.64,194.6,995.3,0.0,901,9590,0.90,1.83,171.30,1.211,4,0.100,0.058,2944,3153,2045
$GC,9623,0.64,194.6,978.8,12.4,919,9630,0.00,1.62,0.00,0.000,6,0.000,0.035,2951,2279,2040
$GC,9942,0.64,194.6,941.6,11.8,950,9945,0.00,1.25,0.00,0.000,4,0.000,0.044,2957,1366,2034
$GC,9967,0.64,194.6,938.3,12.6,952,9974,0.00,1.25,0.00,0.000,6,0.000,0.044,2957,2263,2034
$GC,10285,0.64,194.6,899.4,12.4,983,10288,0.00,1.65,0.00,0.000,4,0.000,0.055,2957,3170,2032
$GC,10332,0.64,194.6,893.1,12.9,987,10339,0.00,1.55,0.00,0.000,6,0.000,0.036,2964,2274,2031
$GC,10649,0.64,194.6,854.0,12.0,1018,10650,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2275,2031
$GC,10959,0.64,194.6,815.9,12.4,1048,10960,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2274,2030
$GC,11269,0.64,194.6,777.6,12.5,1078,11270,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2274,2029
$GC,11580,0.64,194.6,739.3,12.5,1108,11580,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2274,2029
$GC,11890,0.64,194.6,701.2,12.5,1138,11893,0.00,1.62,0.00,0.000,4,0.000,0.055,2964,3185,2028
$GC,11932,0.64,194.6,695.7,13.2,1142,11935,0.00,1.58,0.00,0.000,6,0.000,0.037,2971,2273,2027
$GC,12255,0.64,194.6,654.9,12.5,1173,12258,0.00,1.62,0.00,0.000,4,0.000,0.054,2972,3164,2027
$GC,12291,0.64,194.6,649.8,13.5,1176,12298,0.00,1.55,0.00,0.000,6,0.000,0.035,2979,2272,2027
$GC,12610,0.64,194.6,610.4,12.2,1207,12613,0.00,1.62,0.00,0.000,4,0.000,0.054,2979,3182,2026
$GC,12635,0.64,194.6,606.6,13.9,1209,12642,0.08,1.58,0.00,0.000,6,0.143,0.035,2962,2276,2027
$GC,12952,0.64,194.6,571.8,10.9,1240,12952,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2277,2026
$GC,13262,0.64,194.6,537.1,11.3,1270,13265,0.00,1.62,0.00,0.000,4,0.000,0.053,2962,3165,2026
$GC,13298,0.64,194.6,532.7,13.2,1273,13305,0.00,1.55,0.00,0.000,6,0.000,0.035,2967,2271,2025
$GC,13617,0.64,194.6,495.7,11.8,1304,13620,0.00,1.62,0.00,0.000,4,0.000,0.053,2967,3163,2026
$GC,13653,0.64,194.6,490.9,13.3,1307,13660,0.00,1.52,0.00,0.000,6,0.000,0.035,2975,2277,2025
$GC,13971,0.64,194.6,452.6,11.8,1338,13972,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2278,2026
$GC,14280,0.64,194.6,415.5,12.3,1368,14283,0.00,1.62,0.00,0.000,4,0.000,0.052,2975,3171,2026
$GC,14337,0.64,194.6,408.0,12.5,1373,14344,0.00,1.55,0.00,0.000,6,0.000,0.035,2983,2275,2026
$GC,14656,0.64,194.6,367.1,13.4,1404,14656,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2275,2025
$GC,14964,0.64,194.6,326.2,12.6,1434,14967,0.00,1.60,0.00,0.000,4,0.000,0.051,2982,3174,2026
$GC,15001,0.64,194.6,321.4,12.6,1437,15008,0.10,1.55,0.00,0.000,6,0.143,0.033,2958,2275,2025
$GC,15317,0.64,194.6,287.8,11.0,1468,15320,0.00,1.62,0.00,0.000,4,0.000,0.051,2957,3170,2026
$GC,15349,0.64,194.6,284.2,10.6,1471,15352,0.00,1.55,0.00,0.000,6,0.000,0.033,2962,2268,2026
$GC,15670,0.64,194.6,248.6,11.1,1502,15671,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2269,2026
$GC,15981,0.64,194.6,213.3,11.1,1532,15984,0.00,1.60,0.00,0.000,4,0.000,0.049,2962,3170,2026
$GC,16056,0.64,194.6,204.3,12.3,1539,16059,0.00,1.52,0.00,0.000,6,0.000,0.032,2970,2276,2026
$GC,16378,0.64,194.6,167.1,11.2,1570,16381,0.00,1.60,0.00,0.000,4,0.000,0.048,2970,3188,2027
$GC,16447,0.64,194.6,159.0,10.0,1576,16454,0.00,1.55,0.00,0.000,6,0.000,0.031,2977,2275,2027
$GC,16765,0.64,194.6,121.6,11.6,1607,16768,0.00,1.60,0.00,0.000,4,0.000,0.048,2977,3165,2028
$GC,16822,0.64,194.6,114.7,12.5,1612,16829,0.08,1.52,0.00,0.000,6,0.140,0.030,2961,2270,2028
$GC,17139,0.64,194.6,84.3,9.2,1643,17142,0.00,1.60,0.00,0.000,4,0.000,0.048,2960,3183,2029
$GC,17181,0.64,194.6,80.3,10.1,1647,17184,0.00,1.52,0.00,0.000,6,0.000,0.030,2965,2274,2030
$GC,17379,0.64,194.6,63.3,8.2,1666,17379,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2276,2030
$GC,17565,0.66,212.6,48.9,7.0,1684,17581,0.00,1.65,13.40,0.506,4,0.000,0.045,2965,3184,1973
$GC,17716,0.74,272.1,41.3,5.9,1697,17770,0.00,1.52,46.65,0.532,6,0.000,0.028,2973,2276,1729
$GC,17957,0.90,405.0,31.8,4.0,1720,18064,0.17,1.23,99.22,0.518,4,0.058,0.034,3074,1370,1188
$GC,18106,0.90,405.0,18.1,9.7,1733,18110,0.10,1.25,0.00,0.000,6,0.114,0.034,3040,2281,1185
$GC,18303,1.11,576.1,5.5,3.0,1752,18365,0.17,0.00,59.33,0.488,2,0.078,0.000,3107,2281,860
$STATE,18365,end climb,SURFACE_DEPTH_REACHED
$STATE,18365,begin surface coast
$FINISH,0.8,1.013366
$STATE,18442,end surface coast,CONTROL_FINISHED_OK
$STATE,18442,begin surface
$SM_CCo,18458,64.97,0.477,0,0,404,597.54
$SM_GC,2.01,0.00,0.00,64.97,0.000,0.000,0.477,197,2332,404,-7.97,0.17,597.54
$IRIDIUM_FIX,2831.00,-8841.38,161099,010139
$TT8_MAMPS,0.052156
$HUMID,1371
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,22.6,50.574
$10V_AH,10.6,69.577
$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,20.750,101.950,544.425,64.975,0.000,29.230,29.572,196.824,3.750,0.000,0.000,12.643,0.000,12218.446,656.446,5340.968,660.389,33.338,2226.009,0.000,4777.191,0.000,28.039,0.000
$DEVICE_MAMPS,256.178,90.506,1237.938,477.074,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1206.088,1290.769,3967.054,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91503,1765
$CAP_FILE_SIZE,171310,0
$CFSIZE,260165632,229384192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.137,132.4,1
$GPS,220710,120400,2843.535,-8828.139,37,1.6,43,-0.4