version: 66.04
glider: 515
mission: 5
dive: 303
start: 7 25 110 14 14 53
data:
$ID,515
$MISSION,5
$DIVE,303
$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,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-25073.785
$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,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,30
$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
$GPS1,140737,2832.552,-8841.692,28,1.0,28,-0.2
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-67.0
$GPS2,141414,2832.580,-8841.614,11,1.3,11,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.132,0.229
$KALMAN_X,75645.2,-1325.5,-1550.9,-58905.7,12102.1
$KALMAN_Y,-457176.1,-298.2,314.8,464985.5,-2673.9
$MHEAD_RNG_PITCHd_Wd,42.9,32552,-10.8,-7.500
$D_GRID,1348
$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,-194.6,0.0,0.0,0,87,0.00,0.00,-72.28,0.000,2,0.000,0.000,196,2339,2383
$GC,89,-0.64,-194.6,3.2,-3.3,7,139,10.52,1.52,-35.38,0.000,4,0.252,0.064,2526,3215,3635
$GC,320,-0.64,-194.6,48.0,-16.9,28,323,0.00,1.45,0.00,0.000,6,0.000,0.028,2531,2328,3637
$GC,518,-0.64,-194.6,75.4,-14.6,47,520,0.00,1.25,0.00,0.000,4,0.000,0.035,2536,1405,3638
$GC,592,-0.64,-194.6,84.9,-12.2,54,595,0.00,1.27,0.00,0.000,6,0.000,0.036,2532,2325,3638
$GC,789,-0.64,-194.6,111.5,-13.5,73,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2325,3639
$GC,1100,-0.64,-194.6,149.3,-12.0,103,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2326,3639
$GC,1410,-0.64,-194.6,186.2,-11.9,133,1413,0.00,1.25,0.00,0.000,4,0.000,0.035,2532,1403,3639
$GC,1474,-0.64,-194.6,193.8,-11.7,139,1477,0.00,1.27,0.00,0.000,6,0.000,0.037,2527,2328,3639
$GC,1796,-0.64,-194.6,230.4,-10.9,170,1799,0.00,1.25,0.00,0.000,4,0.000,0.036,2527,1413,3636
$GC,1876,-0.64,-194.6,239.7,-11.0,177,1882,0.00,1.25,0.00,0.000,6,0.000,0.036,2521,2318,3636
$GC,2193,-0.64,-194.6,276.0,-11.7,208,2196,0.00,1.23,0.00,0.000,4,0.000,0.037,2521,1428,3635
$GC,2257,-0.64,-194.6,283.6,-12.0,214,2260,0.00,1.25,0.00,0.000,6,0.000,0.038,2516,2324,3634
$GC,2580,-0.64,-194.6,322.4,-12.4,245,2583,0.00,1.25,0.00,0.000,4,0.000,0.038,2516,1412,3633
$GC,2637,-0.64,-194.6,330.0,-12.5,250,2645,0.08,1.30,0.00,0.000,6,0.142,0.037,2534,2336,3633
$GC,2954,-0.64,-194.6,363.9,-10.5,281,2957,0.00,1.27,0.00,0.000,4,0.000,0.038,2534,1414,3630
$GC,3071,-0.64,-194.6,376.4,-11.0,292,3075,0.00,1.27,0.00,0.000,6,0.000,0.039,2530,2326,3630
$GC,3394,-0.64,-194.6,409.8,-10.7,323,3397,0.00,1.25,0.00,0.000,4,0.000,0.038,2531,1419,3627
$GC,3490,-0.64,-194.6,420.1,-10.5,332,3493,0.00,1.27,0.00,0.000,6,0.000,0.040,2525,2327,3627
$GC,3813,-0.64,-194.6,455.3,-10.8,363,3816,0.00,1.27,0.00,0.000,4,0.000,0.039,2525,1406,3625
$GC,3952,-0.64,-194.6,470.6,-10.5,376,3955,0.00,1.27,0.00,0.000,6,0.000,0.040,2519,2318,3624
$GC,4275,-0.64,-194.6,506.7,-11.0,407,4278,0.00,1.25,0.00,0.000,4,0.000,0.040,2519,1417,3621
$GC,4364,-0.64,-194.6,517.1,-11.1,415,4372,0.00,1.27,0.00,0.000,6,0.000,0.040,2514,2324,3621
$GC,4682,-0.64,-194.6,553.2,-11.7,446,4686,0.00,1.25,0.00,0.000,4,0.000,0.041,2514,1426,3619
$GC,4779,-0.64,-194.6,564.1,-11.0,455,4782,0.08,1.27,0.00,0.000,6,0.145,0.042,2533,2327,3618
$GC,5100,-0.64,-194.6,595.4,-10.0,486,5103,0.00,1.27,0.00,0.000,4,0.000,0.041,2534,1410,3617
$GC,5233,-0.64,-194.6,608.1,-9.3,498,5239,0.00,1.30,0.00,0.000,6,0.000,0.042,2530,2327,3616
$GC,5551,-0.64,-194.6,637.7,-9.6,529,5554,0.00,1.27,0.00,0.000,4,0.000,0.040,2530,1421,3614
$GC,5609,-0.64,-194.6,643.5,-9.8,534,5615,0.00,1.30,0.00,0.000,6,0.000,0.043,2525,2331,3614
$GC,5927,-0.64,-194.6,674.1,-9.8,565,5929,0.00,1.27,0.00,0.000,4,0.000,0.042,2525,1428,3612
$GC,6017,-0.64,-194.6,683.1,-9.6,573,6023,0.00,1.27,0.00,0.000,6,0.000,0.044,2519,2325,3611
$GC,6334,-0.64,-194.6,713.9,-9.9,604,6337,0.00,1.27,0.00,0.000,4,0.000,0.043,2519,1412,3610
$GC,6398,-0.64,-194.6,720.4,-10.3,610,6401,0.00,1.30,0.00,0.000,6,0.000,0.044,2514,2324,3609
$GC,6721,-0.64,-194.6,752.5,-9.7,641,6724,0.00,1.27,0.00,0.000,4,0.000,0.042,2514,1417,3607
$GC,6828,-0.64,-194.6,763.4,-9.8,651,6831,0.08,1.30,0.00,0.000,6,0.144,0.045,2533,2326,3607
$GC,7148,-0.64,-194.6,790.5,-8.4,682,7149,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2326,3605
$GC,7459,-0.64,-194.6,815.9,-8.2,712,7462,0.00,1.27,0.00,0.000,4,0.000,0.043,2533,1418,3603
$GC,7502,-0.64,-194.6,819.5,-8.3,716,7505,0.00,1.30,0.00,0.000,6,0.000,0.045,2530,2325,3602
$GC,7825,-0.64,-194.6,847.9,-9.1,747,7826,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2325,3601
$GC,8134,-0.64,-194.6,875.0,-8.9,777,8137,0.00,1.27,0.00,0.000,4,0.000,0.044,2529,1416,3600
$GC,8181,-0.64,-194.6,879.2,-8.4,781,8188,0.00,1.30,0.00,0.000,6,0.000,0.046,2525,2321,3600
$GC,8497,-0.64,-194.6,906.8,-8.8,812,8498,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2321,3599
$GC,8808,-0.64,-194.6,933.5,-8.5,842,8811,0.00,1.27,0.00,0.000,4,0.000,0.044,2525,1419,3597
$GC,8883,-0.64,-194.6,939.7,-8.0,849,8887,0.00,1.30,0.00,0.000,6,0.000,0.047,2519,2323,3597
$GC,9203,-0.64,-194.6,968.8,-8.6,880,9206,0.00,1.27,0.00,0.000,4,0.000,0.044,2520,1427,3595
$GC,9246,-0.64,-194.6,972.8,-8.9,884,9249,0.00,1.30,0.00,0.000,6,0.000,0.048,2514,2327,3595
$STATE,9432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9432,begin apogee
$GC,9437,-0.26,0.0,990.3,9.3,902,9595,0.45,0.00,155.18,1.239,6,0.133,0.000,2655,2276,2840
$STATE,9596,end apogee,CONTROL_FINISHED_OK
$STATE,9596,begin climb
$GC,9598,0.64,194.6,995.3,0.0,918,9775,0.93,0.00,171.88,1.209,6,0.101,0.000,2945,2275,2046
$GC,10084,0.64,194.6,946.5,11.4,966,10087,0.00,1.62,0.00,0.000,4,0.000,0.058,2945,3154,2036
$GC,10131,0.64,194.6,940.7,12.4,970,10138,0.00,1.52,0.00,0.000,6,0.000,0.036,2952,2275,2033
$GC,10450,0.64,194.6,902.4,12.2,1001,10451,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2276,2033
$GC,10758,0.64,194.6,866.3,11.9,1031,10761,0.00,1.60,0.00,0.000,4,0.000,0.055,2952,3181,2032
$GC,10822,0.64,194.6,858.2,12.8,1037,10825,0.00,1.55,0.00,0.000,6,0.000,0.036,2960,2274,2031
$GC,11145,0.64,194.6,819.0,12.5,1068,11146,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2275,2031
$GC,11454,0.64,194.6,780.3,12.1,1098,11457,0.00,1.60,0.00,0.000,4,0.000,0.056,2960,3177,2030
$GC,11540,0.64,194.6,769.2,13.0,1106,11542,0.00,1.55,0.00,0.000,6,0.000,0.037,2967,2275,2028
$GC,11863,0.64,194.6,727.2,12.9,1137,11863,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2276,2029
$GC,12171,0.64,194.6,687.7,12.6,1167,12174,0.00,1.60,0.00,0.000,4,0.000,0.055,2967,3177,2028
$GC,12256,0.64,194.6,675.8,13.7,1175,12259,0.00,1.55,0.00,0.000,6,0.000,0.037,2975,2274,2027
$GC,12579,0.64,194.6,633.3,13.6,1206,12582,0.00,1.60,0.00,0.000,4,0.000,0.054,2975,3174,2028
$GC,12675,0.64,194.6,619.6,14.8,1215,12678,0.00,1.55,0.00,0.000,6,0.000,0.036,2982,2274,2027
$GC,12999,0.64,194.6,576.2,12.8,1246,13001,0.00,1.60,0.00,0.000,4,0.000,0.054,2982,3175,2027
$GC,13035,0.64,194.6,570.8,14.2,1249,13042,0.12,1.55,0.00,0.000,6,0.143,0.035,2952,2275,2027
$GC,13351,0.64,194.6,537.1,10.4,1280,13352,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2276,2026
$GC,13662,0.64,194.6,503.6,11.1,1310,13664,0.00,1.60,0.00,0.000,4,0.000,0.054,2952,3159,2026
$GC,13748,0.64,194.6,493.3,11.5,1318,13751,0.00,1.52,0.00,0.000,6,0.000,0.035,2957,2271,2026
$GC,14068,0.64,194.6,457.0,11.4,1349,14072,0.00,1.60,0.00,0.000,4,0.000,0.052,2957,3155,2026
$GC,14132,0.64,194.6,449.4,12.6,1355,14135,0.00,1.52,0.00,0.000,6,0.000,0.035,2965,2270,2026
$GC,14455,0.64,194.6,412.6,11.4,1386,14458,0.00,1.62,0.00,0.000,4,0.000,0.051,2965,3187,2026
$GC,14498,0.64,194.6,407.3,11.4,1390,14500,0.00,1.58,0.00,0.000,6,0.000,0.035,2973,2267,2026
$GC,14821,0.64,194.6,368.0,12.3,1421,14824,0.00,1.60,0.00,0.000,4,0.000,0.051,2972,3169,2026
$GC,14853,0.64,194.6,363.6,13.1,1424,14855,0.00,1.55,0.00,0.000,6,0.000,0.034,2980,2268,2027
$GC,15176,0.64,194.6,321.1,13.5,1455,15178,0.00,1.62,0.00,0.000,4,0.000,0.051,2979,3183,2026
$GC,15218,0.64,194.6,314.8,13.3,1459,15221,0.10,1.55,0.00,0.000,6,0.141,0.034,2956,2275,2027
$GC,15539,0.64,194.6,279.3,10.8,1490,15542,0.00,1.60,0.00,0.000,4,0.000,0.050,2956,3165,2027
$GC,15572,0.64,194.6,275.5,12.2,1493,15575,0.00,1.52,0.00,0.000,6,0.000,0.033,2961,2271,2027
$GC,15892,0.64,194.6,239.1,11.1,1524,15896,0.00,1.60,0.00,0.000,4,0.000,0.050,2961,3157,2027
$GC,15946,0.64,194.6,233.1,10.9,1529,15949,0.00,1.50,0.00,0.000,6,0.000,0.032,2968,2274,2026
$GC,16269,0.64,194.6,195.2,12.3,1560,16272,0.00,1.60,0.00,0.000,4,0.000,0.049,2969,3187,2027
$GC,16322,0.64,194.6,188.1,12.4,1565,16325,0.00,1.55,0.00,0.000,6,0.000,0.032,2976,2272,2027
$GC,16645,0.64,194.6,148.9,12.2,1596,16646,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2273,2028
$GC,16953,0.64,194.6,113.8,10.8,1626,16956,0.00,1.60,0.00,0.000,4,0.000,0.048,2976,3166,2029
$GC,17071,0.64,194.6,100.0,11.6,1637,17074,0.00,1.50,0.00,0.000,6,0.000,0.031,2983,2274,2029
$GC,17392,0.64,194.6,65.1,9.8,1668,17395,0.12,1.55,0.00,0.000,4,0.141,0.045,2950,3165,2030
$GC,17532,0.64,194.6,53.8,7.9,1681,17535,0.00,1.50,0.00,0.000,6,0.000,0.029,2955,2272,2030
$GC,17729,0.67,218.7,42.2,6.9,1700,17753,0.00,1.20,18.30,0.513,4,0.000,0.034,2961,1360,1947
$GC,17808,0.78,308.1,37.4,5.2,1707,17882,0.08,1.23,69.15,0.532,6,0.054,0.035,3008,2271,1582
$GC,18065,0.96,457.3,21.1,3.6,1731,18184,0.15,1.62,110.25,0.511,4,0.056,0.044,3079,3168,973
$GC,18212,0.96,457.3,7.2,9.9,1743,18219,0.08,1.52,0.00,0.000,6,0.119,0.028,3059,2276,970
$STATE,18267,end climb,SURFACE_DEPTH_REACHED
$STATE,18267,begin surface coast
$FINISH,0.9,1.022387
$STATE,18309,end surface coast,CONTROL_FINISHED_OK
$STATE,18309,begin surface
$SM_CCo,18324,71.00,0.486,0,0,403,597.54
$SM_GC,1.71,0.00,0.00,71.00,0.000,0.000,0.486,193,2340,403,-7.98,0.42,597.54
$IRIDIUM_FIX,2818.74,-8846.45,191099,090902
$TT8_MAMPS,0.050622
$HUMID,1400
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,23.10
$XPDR_PINGS,1
$24V_AH,22.5,53.043
$10V_AH,10.5,73.021
$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,20.400,107.375,524.750,71.000,0.000,23.139,27.499,213.800,4.000,0.000,0.000,13.102,0.000,12042.368,639.332,5400.739,678.531,33.345,2220.032,0.000,4836.573,0.000,28.043,0.000
$DEVICE_MAMPS,251.576,72.098,1239.472,486.278,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1198.545,1286.304,3940.127,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91475,1753
$CAP_FILE_SIZE,172943,0
$CFSIZE,260165632,228024320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.104, 92.1,1
$GPS,250710,192231,2834.790,-8838.706,39,1.8,39,-0.3