version: 66.04
glider: 515
mission: 5
dive: 290
start: 7 22 110 17 17 35
data:
$ID,515
$MISSION,5
$DIVE,290
$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,-23973.803
$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,38
$R_STBD_OVSHOOT,25
$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
$GPS1,171031,2844.085,-8825.774,40,0.9,40,-0.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-71.6
$GPS2,171656,2844.154,-8825.818,10,1.2,10,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.257,0.062
$KALMAN_X,29083.8,635.4,-244.3,10038.5,3846.0
$KALMAN_Y,-440970.6,51.0,630.3,469554.5,-11766.0
$MHEAD_RNG_PITCHd_Wd,280.4,31327,-10.8,-7.500
$D_GRID,1476
$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,-194.6,0.0,0.0,0,59,0.00,0.00,-44.50,0.000,2,0.000,0.000,195,2312,1742
$GC,62,-0.64,-194.6,3.4,-4.7,4,122,10.35,1.25,-45.75,0.000,4,0.247,0.066,2538,1408,3635
$GC,361,-0.64,-194.6,58.9,-13.8,31,370,0.00,1.30,0.00,0.000,6,0.000,0.034,2534,2330,3637
$GC,555,-0.64,-194.6,84.2,-12.9,50,557,0.00,1.25,0.00,0.000,4,0.000,0.035,2536,1419,3638
$GC,651,-0.64,-194.6,95.6,-12.0,59,654,0.00,1.25,0.00,0.000,6,0.000,0.034,2532,2327,3638
$GC,848,-0.64,-194.6,119.2,-11.2,78,851,0.00,1.23,0.00,0.000,4,0.000,0.035,2532,1426,3638
$GC,905,-0.64,-194.6,126.0,-11.9,83,913,0.00,1.27,0.00,0.000,6,0.000,0.033,2526,2333,3638
$GC,1223,-0.64,-194.6,164.7,-12.0,114,1226,0.00,1.25,0.00,0.000,4,0.000,0.035,2526,1426,3637
$GC,1313,-0.64,-194.6,175.6,-12.1,122,1320,0.00,1.23,0.00,0.000,6,0.000,0.034,2520,2319,3637
$GC,1631,-0.64,-194.6,213.4,-12.1,153,1634,0.00,1.23,0.00,0.000,4,0.000,0.036,2521,1424,3635
$GC,1716,-0.64,-194.6,223.9,-12.8,161,1719,0.00,1.25,0.00,0.000,6,0.000,0.036,2515,2328,3634
$GC,2039,-0.64,-194.6,263.3,-11.9,192,2042,0.00,1.25,0.00,0.000,4,0.000,0.037,2515,1416,3632
$GC,2096,-0.64,-194.6,270.7,-12.1,197,2104,0.08,1.27,0.00,0.000,6,0.138,0.035,2534,2325,3631
$GC,2413,-0.64,-194.6,303.8,-10.7,228,2416,0.00,1.23,0.00,0.000,4,0.000,0.038,2534,1432,3629
$GC,2445,-0.64,-194.6,307.2,-10.7,231,2448,0.00,1.25,0.00,0.000,6,0.000,0.038,2530,2327,3629
$GC,2768,-0.64,-194.6,341.8,-10.8,262,2770,0.00,1.25,0.00,0.000,4,0.000,0.038,2531,1418,3626
$GC,2821,-0.64,-194.6,348.1,-11.5,267,2824,0.00,1.25,0.00,0.000,6,0.000,0.038,2525,2319,3626
$GC,3143,-0.64,-194.6,383.8,-10.9,298,3146,0.00,1.23,0.00,0.000,4,0.000,0.038,2525,1435,3623
$GC,3196,-0.64,-194.6,389.8,-10.7,303,3200,0.00,1.25,0.00,0.000,6,0.000,0.039,2519,2328,3622
$GC,3519,-0.64,-194.6,424.7,-10.4,334,3522,0.00,1.25,0.00,0.000,4,0.000,0.039,2519,1430,3620
$GC,3609,-0.64,-194.6,434.7,-10.8,342,3616,0.00,1.25,0.00,0.000,6,0.000,0.039,2514,2322,3619
$GC,3926,-0.64,-194.6,469.3,-11.3,373,3929,0.00,1.25,0.00,0.000,4,0.000,0.040,2513,1422,3618
$GC,4001,-0.64,-194.6,478.0,-11.9,380,4004,0.08,1.27,0.00,0.000,6,0.143,0.040,2533,2327,3616
$GC,4322,-0.64,-194.6,508.1,-9.2,411,4325,0.00,1.25,0.00,0.000,4,0.000,0.041,2534,1431,3614
$GC,4369,-0.64,-194.6,512.8,-9.6,415,4378,0.00,1.30,0.00,0.000,6,0.000,0.040,2530,2335,3613
$GC,4687,-0.64,-194.6,543.8,-9.6,446,4690,0.00,1.27,0.00,0.000,4,0.000,0.041,2530,1430,3612
$GC,4762,-0.64,-194.6,551.3,-9.9,453,4765,0.00,1.27,0.00,0.000,6,0.000,0.042,2524,2326,3611
$GC,5085,-0.64,-194.6,584.2,-10.7,484,5088,0.00,1.25,0.00,0.000,4,0.000,0.041,2525,1438,3607
$GC,5142,-0.64,-194.6,590.7,-11.1,489,5149,0.00,1.27,0.00,0.000,6,0.000,0.041,2519,2327,3607
$GC,5461,-0.64,-194.6,625.0,-11.3,520,5462,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2327,3605
$GC,5769,-0.64,-194.6,657.9,-10.7,550,5772,0.00,1.27,0.00,0.000,4,0.000,0.043,2519,1424,3602
$GC,5805,-0.64,-194.6,661.9,-10.4,553,5813,0.00,1.30,0.00,0.000,6,0.000,0.043,2514,2325,3602
$GC,6124,-0.64,-194.6,694.8,-10.2,584,6127,0.00,1.25,0.00,0.000,4,0.000,0.042,2514,1435,3600
$GC,6192,-0.64,-194.6,702.3,-11.1,590,6199,0.08,1.27,0.00,0.000,6,0.142,0.043,2533,2327,3599
$GC,6509,-0.64,-194.6,730.5,-8.4,621,6509,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2327,3597
$GC,6819,-0.64,-194.6,757.0,-8.2,651,6820,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2327,3596
$GC,7130,-0.64,-194.6,783.2,-8.5,681,7131,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2327,3594
$GC,7440,-0.64,-194.6,809.2,-8.6,711,7443,0.00,1.27,0.00,0.000,4,0.000,0.045,2533,1433,3592
$GC,7537,-0.64,-194.6,817.4,-8.3,720,7540,0.00,1.27,0.00,0.000,6,0.000,0.045,2529,2318,3591
$GC,7859,-0.64,-194.6,844.1,-8.1,751,7860,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2318,3590
$GC,8172,-0.64,-194.6,870.9,-8.2,781,8173,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2319,3588
$GC,8480,-0.64,-194.6,896.8,-7.9,811,8481,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2319,3587
$GC,8789,-0.64,-194.6,923.0,-8.8,841,8792,0.00,1.25,0.00,0.000,4,0.000,0.047,2529,1443,3585
$GC,8846,-0.64,-194.6,928.0,-8.5,846,8854,0.00,1.30,0.00,0.000,6,0.000,0.047,2524,2331,3585
$GC,9163,-0.64,-194.6,955.3,-8.4,877,9166,0.00,1.27,0.00,0.000,4,0.000,0.046,2524,1446,3584
$GC,9205,-0.64,-194.6,958.9,-8.9,881,9209,0.00,1.27,0.00,0.000,6,0.000,0.047,2519,2325,3584
$GC,9527,-0.64,-194.6,986.8,-8.9,912,9530,0.00,1.27,0.00,0.000,4,0.000,0.044,2519,1434,3583
$STATE,9562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9562,begin apogee
$GC,9568,-0.26,0.0,990.4,9.7,915,9725,0.45,0.00,152.38,1.241,6,0.136,0.000,2654,2275,2840
$STATE,9725,end apogee,CONTROL_FINISHED_OK
$STATE,9725,begin climb
$GC,9727,0.64,194.6,994.6,0.0,931,9905,0.95,0.00,171.10,1.213,6,0.103,0.000,2948,2275,2046
$GC,10214,0.64,194.6,944.0,12.3,979,10217,0.00,1.65,0.00,0.000,4,0.000,0.060,2948,3190,2036
$GC,10257,0.64,194.6,938.6,12.7,983,10260,0.00,1.58,0.00,0.000,6,0.000,0.038,2955,2280,2034
$GC,10578,0.64,194.6,900.0,11.7,1014,10581,0.00,1.62,0.00,0.000,4,0.000,0.056,2955,3173,2033
$GC,10614,0.64,194.6,895.6,12.2,1017,10621,0.00,1.55,0.00,0.000,6,0.000,0.035,2963,2277,2032
$GC,10932,0.64,194.6,856.2,12.4,1048,10936,0.00,1.62,0.00,0.000,4,0.000,0.056,2963,3168,2032
$GC,10986,0.64,194.6,848.8,14.3,1053,10988,0.00,1.55,0.00,0.000,6,0.000,0.037,2970,2273,2031
$GC,11309,0.64,194.6,808.0,12.4,1084,11312,0.00,1.62,0.00,0.000,4,0.000,0.054,2971,3185,2031
$GC,11355,0.64,194.6,801.0,14.3,1088,11363,0.00,1.58,0.00,0.000,6,0.000,0.035,2978,2273,2030
$GC,11674,0.64,194.6,760.1,13.7,1119,11675,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2274,2030
$GC,11983,0.64,194.6,719.9,12.6,1149,11986,0.00,1.62,0.00,0.000,4,0.000,0.054,2978,3184,2029
$GC,12040,0.64,194.6,712.0,14.2,1154,12048,0.10,1.58,0.00,0.000,6,0.141,0.036,2955,2274,2028
$GC,12357,0.64,194.6,676.8,11.1,1185,12360,0.00,1.23,0.00,0.000,4,0.000,0.043,2958,1366,2029
$GC,12389,0.64,194.6,673.2,11.0,1188,12392,0.00,1.25,0.00,0.000,6,0.000,0.043,2958,2271,2029
$GC,12710,0.64,194.6,636.6,11.4,1219,12713,0.00,1.62,0.00,0.000,4,0.000,0.055,2958,3171,2029
$GC,12767,0.64,194.6,629.5,12.2,1224,12774,0.00,1.55,0.00,0.000,6,0.000,0.035,2965,2275,2027
$GC,13086,0.64,194.6,591.9,11.6,1255,13087,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2276,2027
$GC,13394,0.64,194.6,556.6,10.9,1285,13397,0.00,1.60,0.00,0.000,4,0.000,0.054,2965,3172,2027
$GC,13452,0.64,194.6,549.4,11.9,1290,13459,0.00,1.55,0.00,0.000,6,0.000,0.035,2973,2275,2027
$GC,13770,0.64,194.6,512.2,12.1,1321,13771,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2276,2027
$GC,14079,0.64,194.6,475.1,12.1,1351,14082,0.00,1.60,0.00,0.000,4,0.000,0.053,2973,3172,2027
$GC,14122,0.64,194.6,469.4,13.8,1355,14125,0.00,1.55,0.00,0.000,6,0.000,0.035,2980,2274,2027
$GC,14444,0.64,194.6,428.8,13.0,1386,14447,0.00,1.62,0.00,0.000,4,0.000,0.053,2981,3168,2027
$GC,14498,0.64,194.6,421.6,12.5,1391,14501,0.08,1.55,0.00,0.000,6,0.122,0.035,2953,2272,2027
$GC,14819,0.64,194.6,388.0,10.2,1422,14819,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2273,2027
$GC,15130,0.64,194.6,355.9,10.3,1452,15131,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2273,2027
$GC,15440,0.64,194.6,323.6,10.7,1482,15443,0.00,1.60,0.00,0.000,4,0.000,0.051,2953,3173,2027
$GC,15493,0.64,194.6,317.7,10.6,1487,15496,0.00,1.55,0.00,0.000,6,0.000,0.034,2959,2272,2027
$GC,15814,0.64,194.6,282.9,10.5,1518,15817,0.00,1.62,0.00,0.000,4,0.000,0.050,2959,3166,2027
$GC,15856,0.64,194.6,278.0,12.0,1522,15859,0.00,1.52,0.00,0.000,6,0.000,0.033,2967,2275,2027
$GC,16180,0.64,194.6,242.1,11.0,1553,16181,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2276,2027
$GC,16488,0.64,194.6,206.3,11.0,1583,16489,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2276,2027
$GC,16799,0.64,194.6,170.1,11.7,1613,16802,0.00,1.60,0.00,0.000,4,0.000,0.048,2966,3166,2028
$GC,16862,0.64,194.6,162.8,10.5,1619,16865,0.00,1.52,0.00,0.000,6,0.000,0.031,2974,2271,2028
$GC,17183,0.64,194.6,125.8,11.2,1650,17186,0.00,1.62,0.00,0.000,4,0.000,0.048,2974,3174,2029
$GC,17258,0.64,194.6,117.1,11.6,1657,17261,0.00,1.52,0.00,0.000,6,0.000,0.031,2982,2275,2028
$GC,17581,0.64,194.6,80.8,10.8,1688,17582,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2276,2030
$GC,17765,0.64,194.6,62.4,9.4,1706,17766,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2276,2030
$GC,17952,0.70,245.7,48.2,6.2,1724,17999,0.00,1.62,38.80,0.538,4,0.000,0.045,2982,3174,1838
$GC,18057,0.74,279.5,41.0,6.6,1733,18089,0.00,1.52,26.88,0.523,6,0.000,0.028,2989,2275,1700
$GC,18273,0.84,358.7,30.2,5.4,1754,18342,0.00,1.25,60.10,0.520,4,0.000,0.035,2992,1364,1376
$GC,18582,0.99,476.8,10.7,4.4,1782,18674,0.20,1.25,86.93,0.495,6,0.091,0.034,3062,2280,895
$STATE,18743,end climb,SURFACE_DEPTH_REACHED
$STATE,18743,begin surface coast
$FINISH,0.8,1.018990
$STATE,18803,end surface coast,CONTROL_FINISHED_OK
$STATE,18803,begin surface
$SM_CCo,18818,71.72,0.478,0,0,403,597.54
$SM_GC,2.00,0.00,0.00,71.72,0.000,0.000,0.478,198,2337,403,-7.96,0.34,597.54
$IRIDIUM_FIX,2833.46,-8826.65,161099,121202
$TT8_MAMPS,0.051389
$HUMID,1388
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,23.80
$XPDR_PINGS,11
$24V_AH,22.6,50.847
$10V_AH,10.5,70.032
$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,19.950,99.775,536.175,71.725,0.000,23.301,30.991,198.633,6.500,0.000,0.000,12.457,0.000,12431.492,666.226,5469.354,677.719,33.347,2252.166,0.000,4905.809,0.000,32.149,0.000
$DEVICE_MAMPS,246.974,76.700,1241.006,477.841,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1232.667,1324.546,4052.482,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94512,1803
$CAP_FILE_SIZE,175279,0
$CFSIZE,260165632,229195776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.202,146.6,1
$GPS,220710,223324,2842.927,-8827.727,35,1.7,35,-0.4