version: 66.04
glider: 515
mission: 5
dive: 306
start: 7 26 110 6 7 29
data:
$ID,515
$MISSION,5
$DIVE,306
$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,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-25123.197
$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,24
$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,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
$GPS1,055937,2839.571,-8833.080,31,0.9,31,-0.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-70.8
$GPS2,060650,2839.735,-8833.107,13,1.2,13,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.097,0.246
$KALMAN_X,73868.1,239.4,-32.6,-46388.7,1946.4
$KALMAN_Y,-461966.8,192.8,166.6,482674.2,-3702.0
$MHEAD_RNG_PITCHd_Wd,45.1,13582,-10.8,-7.500
$D_GRID,1460
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.64,-194.6,0.0,0.0,0,80,0.00,0.00,-64.05,0.000,2,0.000,0.000,193,2311,2195
$GC,82,-0.64,-194.6,3.3,-3.1,6,134,10.48,1.52,-37.33,0.000,4,0.249,0.059,2526,3227,3632
$GC,370,-0.64,-194.6,56.4,-14.7,32,377,0.00,1.45,0.00,0.000,6,0.000,0.026,2532,2331,3633
$GC,563,-0.64,-194.6,82.9,-13.6,51,565,0.00,1.25,0.00,0.000,4,0.000,0.034,2536,1403,3634
$GC,637,-0.64,-194.6,92.0,-11.6,58,640,0.00,1.30,0.00,0.000,6,0.000,0.034,2533,2335,3635
$GC,835,-0.64,-194.6,117.2,-12.8,77,837,0.00,1.27,0.00,0.000,4,0.000,0.033,2533,1401,3635
$GC,892,-0.64,-194.6,124.9,-12.4,82,899,0.00,1.30,0.00,0.000,6,0.000,0.033,2527,2335,3635
$GC,1209,-0.64,-194.6,162.4,-12.0,113,1212,0.00,1.27,0.00,0.000,4,0.000,0.034,2527,1401,3635
$GC,1310,-0.64,-194.6,174.4,-11.4,122,1316,0.00,1.27,0.00,0.000,6,0.000,0.034,2522,2327,3635
$GC,1627,-0.64,-194.6,213.0,-11.6,153,1630,0.00,1.25,0.00,0.000,4,0.000,0.035,2522,1413,3635
$GC,1691,-0.64,-194.6,220.8,-12.4,159,1694,0.00,1.25,0.00,0.000,6,0.000,0.035,2516,2324,3634
$GC,2014,-0.64,-194.6,259.0,-11.7,190,2017,0.00,1.25,0.00,0.000,4,0.000,0.035,2516,1408,3633
$GC,2110,-0.64,-194.6,270.0,-10.7,199,2113,0.00,1.27,0.00,0.000,6,0.000,0.037,2510,2327,3632
$GC,2433,-0.64,-194.6,308.8,-11.9,230,2436,0.12,1.25,0.00,0.000,4,0.143,0.035,2544,1424,3631
$GC,2539,-0.64,-194.6,319.4,-8.9,240,2542,0.00,1.25,0.00,0.000,6,0.000,0.038,2540,2322,3630
$GC,2862,-0.64,-194.6,351.2,-10.3,271,2865,0.00,1.25,0.00,0.000,4,0.000,0.038,2539,1415,3628
$GC,2952,-0.64,-194.6,360.7,-10.8,279,2960,0.00,1.27,0.00,0.000,6,0.000,0.038,2534,2326,3627
$GC,3270,-0.64,-194.6,393.0,-10.5,310,3274,0.00,1.25,0.00,0.000,4,0.000,0.038,2535,1420,3625
$GC,3360,-0.64,-194.6,402.4,-10.2,318,3367,0.00,1.27,0.00,0.000,6,0.000,0.039,2529,2326,3624
$GC,3678,-0.64,-194.6,434.0,-9.7,349,3681,0.00,1.25,0.00,0.000,4,0.000,0.039,2529,1417,3622
$GC,3768,-0.64,-194.6,443.0,-9.6,357,3775,0.00,1.27,0.00,0.000,6,0.000,0.039,2524,2324,3621
$GC,4087,-0.64,-194.6,476.6,-10.6,388,4090,0.00,1.25,0.00,0.000,4,0.000,0.039,2523,1424,3618
$GC,4161,-0.64,-194.6,484.5,-10.0,395,4164,0.00,1.27,0.00,0.000,6,0.000,0.041,2518,2326,3618
$GC,4484,-0.64,-194.6,519.2,-11.2,426,4487,0.00,1.25,0.00,0.000,4,0.000,0.040,2518,1430,3616
$GC,4531,-0.64,-194.6,524.9,-11.4,430,4538,0.00,1.27,0.00,0.000,6,0.000,0.041,2512,2327,3616
$GC,4849,-0.64,-194.6,560.8,-11.5,461,4852,0.00,1.27,0.00,0.000,4,0.000,0.041,2512,1412,3614
$GC,4956,-0.64,-194.6,572.9,-10.9,471,4959,0.08,1.30,0.00,0.000,6,0.143,0.041,2532,2328,3614
$GC,5276,-0.64,-194.6,603.6,-9.5,502,5279,0.00,1.27,0.00,0.000,4,0.000,0.041,2532,1416,3611
$GC,5330,-0.64,-194.6,609.0,-10.0,507,5333,0.00,1.30,0.00,0.000,6,0.000,0.043,2529,2328,3611
$GC,5653,-0.64,-194.6,640.2,-9.4,538,5655,0.00,1.27,0.00,0.000,4,0.000,0.041,2529,1417,3609
$GC,5727,-0.64,-194.6,647.7,-10.1,545,5730,0.00,1.30,0.00,0.000,6,0.000,0.044,2524,2328,3608
$GC,6050,-0.64,-194.6,681.1,-10.7,576,6053,0.00,1.27,0.00,0.000,4,0.000,0.042,2523,1422,3607
$GC,6150,-0.64,-194.6,691.7,-10.7,585,6158,0.00,1.30,0.00,0.000,6,0.000,0.043,2518,2327,3605
$GC,6469,-0.64,-194.6,725.2,-11.3,616,6472,0.00,1.27,0.00,0.000,4,0.000,0.042,2518,1426,3604
$GC,6569,-0.64,-194.6,736.2,-10.2,625,6577,0.00,1.30,0.00,0.000,6,0.000,0.044,2512,2330,3603
$GC,6888,-0.64,-194.6,770.3,-10.6,656,6891,0.00,1.27,0.00,0.000,4,0.000,0.042,2512,1427,3601
$GC,6984,-0.64,-194.6,780.5,-10.5,665,6987,0.08,1.30,0.00,0.000,6,0.149,0.045,2531,2331,3601
$GC,7305,-0.64,-194.6,809.0,-8.8,696,7308,0.00,1.27,0.00,0.000,4,0.000,0.043,2531,1433,3599
$GC,7391,-0.64,-194.6,816.8,-9.3,704,7394,0.00,1.27,0.00,0.000,6,0.000,0.044,2528,2323,3599
$GC,7713,-0.64,-194.6,846.0,-9.3,735,7714,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2323,3597
$GC,8023,-0.64,-194.6,873.9,-9.1,765,8026,0.00,1.27,0.00,0.000,4,0.000,0.044,2528,1420,3595
$GC,8151,-0.64,-194.6,885.9,-9.7,777,8154,0.00,1.30,0.00,0.000,6,0.000,0.045,2522,2325,3594
$GC,8474,-0.64,-194.6,916.6,-9.6,808,8475,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2325,3593
$GC,8782,-0.64,-194.6,945.6,-9.3,838,8785,0.00,1.27,0.00,0.000,4,0.000,0.044,2523,1424,3593
$GC,8862,-0.64,-194.6,953.1,-9.5,845,8868,0.00,1.30,0.00,0.000,6,0.000,0.046,2518,2325,3592
$GC,9179,-0.64,-194.6,982.0,-9.1,876,9182,0.00,1.27,0.00,0.000,4,0.000,0.044,2517,1428,3591
$GC,9254,-0.64,-194.6,989.0,-9.3,883,9257,0.00,1.30,0.00,0.000,6,0.000,0.047,2512,2327,3590
$STATE,9273,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9273,begin apogee
$GC,9279,-0.26,0.0,990.9,8.8,885,9437,0.50,0.00,154.88,1.240,6,0.134,0.000,2662,2277,2840
$STATE,9437,end apogee,CONTROL_FINISHED_OK
$STATE,9437,begin climb
$GC,9440,0.64,194.6,995.7,0.0,901,9617,0.90,0.00,172.23,1.210,6,0.099,0.000,2946,2277,2045
$GC,9926,0.64,194.6,947.0,11.7,949,9929,0.00,1.62,0.00,0.000,4,0.000,0.058,2947,3157,2035
$GC,9963,0.64,194.6,942.4,12.3,952,9970,0.00,1.55,0.00,0.000,6,0.000,0.036,2954,2268,2033
$GC,10281,0.64,194.6,903.9,11.9,983,10284,0.00,1.62,0.00,0.000,4,0.000,0.054,2954,3160,2033
$GC,10334,0.64,194.6,897.1,12.6,988,10337,0.00,1.52,0.00,0.000,6,0.000,0.036,2962,2273,2031
$GC,10658,0.64,194.6,857.0,13.0,1019,10660,0.00,1.60,0.00,0.000,4,0.000,0.056,2962,3176,2031
$GC,10723,0.64,194.6,848.3,13.6,1025,10725,0.00,1.55,0.00,0.000,6,0.000,0.036,2970,2272,2030
$GC,11045,0.64,194.6,807.1,12.4,1056,11048,0.00,1.62,0.00,0.000,4,0.000,0.054,2969,3168,2030
$GC,11103,0.64,194.6,799.4,13.0,1061,11110,0.00,1.55,0.00,0.000,6,0.000,0.035,2977,2270,2029
$GC,11421,0.64,194.6,757.8,13.2,1092,11424,0.00,1.60,0.00,0.000,4,0.000,0.054,2977,3170,2029
$GC,11457,0.64,194.6,752.3,13.9,1095,11465,0.08,1.55,0.00,0.000,6,0.149,0.035,2960,2271,2029
$GC,11773,0.64,194.6,714.9,11.8,1126,11774,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2272,2028
$GC,12085,0.64,194.6,679.3,11.0,1156,12088,0.00,1.62,0.00,0.000,4,0.000,0.054,2960,3186,2028
$GC,12181,0.64,194.6,667.4,11.8,1165,12184,0.00,1.58,0.00,0.000,6,0.000,0.036,2966,2269,2027
$GC,12503,0.64,194.6,629.3,12.2,1196,12507,0.00,1.62,0.00,0.000,4,0.000,0.054,2966,3163,2027
$GC,12562,0.64,194.6,621.5,12.9,1201,12568,0.00,1.52,0.00,0.000,6,0.000,0.035,2973,2277,2027
$GC,12879,0.64,194.6,582.9,12.0,1232,12882,0.00,1.60,0.00,0.000,4,0.000,0.054,2973,3178,2027
$GC,12970,0.64,194.6,571.0,12.7,1240,12976,0.00,1.58,0.00,0.000,6,0.000,0.035,2980,2266,2026
$GC,13287,0.64,194.6,530.6,12.6,1271,13290,0.00,1.62,0.00,0.000,4,0.000,0.053,2981,3157,2026
$GC,13362,0.64,194.6,520.3,13.3,1278,13366,0.08,1.52,0.00,0.000,6,0.145,0.036,2954,2271,2026
$GC,13684,0.64,194.6,486.3,10.7,1309,13686,0.00,1.60,0.00,0.000,4,0.000,0.052,2953,3173,2026
$GC,13719,0.64,194.6,482.2,11.0,1312,13727,0.00,1.55,0.00,0.000,6,0.000,0.034,2959,2272,2026
$GC,14038,0.64,194.6,447.6,10.8,1343,14039,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2273,2026
$GC,14347,0.64,194.6,413.8,11.1,1373,14350,0.00,1.60,0.00,0.000,4,0.000,0.051,2959,3157,2026
$GC,14422,0.64,194.6,405.2,11.2,1380,14425,0.00,1.52,0.00,0.000,6,0.000,0.035,2967,2269,2026
$GC,14743,0.64,194.6,367.1,11.8,1411,14746,0.00,1.62,0.00,0.000,4,0.000,0.051,2967,3164,2026
$GC,14833,0.64,194.6,355.4,12.4,1419,14841,0.00,1.52,0.00,0.000,6,0.000,0.033,2974,2275,2026
$GC,15151,0.64,194.6,316.4,12.1,1450,15153,0.00,1.60,0.00,0.000,4,0.000,0.051,2974,3182,2026
$GC,15219,0.64,194.6,307.5,12.7,1456,15226,0.00,1.55,0.00,0.000,6,0.000,0.034,2982,2275,2026
$GC,15537,0.64,194.6,267.8,12.8,1487,15540,0.00,1.60,0.00,0.000,4,0.000,0.051,2982,3182,2026
$GC,15612,0.64,194.6,257.8,13.2,1494,15615,0.08,1.55,0.00,0.000,6,0.146,0.034,2955,2273,2026
$GC,15933,0.64,194.6,223.6,10.4,1525,15935,0.00,1.60,0.00,0.000,4,0.000,0.050,2954,3160,2026
$GC,15969,0.64,194.6,219.4,11.4,1528,15976,0.00,1.52,0.00,0.000,6,0.000,0.032,2960,2270,2026
$GC,16287,0.64,194.6,185.1,10.7,1559,16291,0.00,1.60,0.00,0.000,4,0.000,0.049,2960,3162,2026
$GC,16351,0.64,194.6,177.7,11.3,1565,16354,0.00,1.52,0.00,0.000,6,0.000,0.032,2967,2268,2026
$GC,16674,0.64,194.6,142.7,11.3,1596,16677,0.00,1.60,0.00,0.000,4,0.000,0.048,2967,3180,2027
$GC,16781,0.64,194.6,130.3,12.6,1606,16784,0.00,1.55,0.00,0.000,6,0.000,0.031,2975,2268,2028
$GC,17102,0.64,194.6,93.8,10.3,1637,17105,0.00,1.60,0.00,0.000,4,0.000,0.048,2975,3161,2028
$GC,17160,0.64,194.6,87.2,9.6,1642,17167,0.00,1.50,0.00,0.000,6,0.000,0.030,2982,2272,2029
$GC,17352,0.64,194.6,66.1,11.5,1661,17355,0.00,1.60,0.00,0.000,4,0.000,0.047,2982,3191,2029
$GC,17385,0.64,194.6,62.7,10.7,1664,17388,0.08,1.55,0.00,0.000,6,0.112,0.030,2954,2267,2029
$GC,17582,0.72,261.9,49.7,5.7,1683,17635,0.00,0.00,51.08,0.543,6,0.000,0.000,2954,2269,1772
$GC,17818,0.93,430.3,37.8,3.1,1706,17953,0.25,1.65,126.30,0.527,4,0.048,0.044,3068,3160,1084
$GC,17996,0.93,430.3,21.4,9.0,1722,17999,0.00,1.52,0.00,0.000,6,0.000,0.028,3076,2273,1080
$GC,18192,1.00,486.4,7.3,6.0,1741,18237,0.00,1.58,41.35,0.489,4,0.000,0.045,3075,3170,858
$STATE,18285,end climb,SURFACE_DEPTH_REACHED
$STATE,18285,begin surface coast
$FINISH,0.7,1.001455
$STATE,18341,end surface coast,CONTROL_FINISHED_OK
$STATE,18341,begin surface
$SM_CCo,18357,66.32,0.482,0,0,403,597.54
$SM_GC,1.89,0.00,0.00,66.32,0.000,0.000,0.482,194,2328,403,-7.98,0.08,597.54
$IRIDIUM_FIX,2826.10,-8839.04,201099,000042
$TT8_MAMPS,0.049855
$HUMID,1417
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,23.80
$XPDR_PINGS,4
$24V_AH,22.5,53.553
$10V_AH,10.5,73.714
$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,20.375,122.650,545.825,66.325,0.000,31.732,29.844,232.115,1.000,0.000,0.000,15.390,0.000,11929.004,692.803,5453.810,748.036,33.344,2316.930,0.000,4912.253,0.000,0.543,0.000
$DEVICE_MAMPS,248.508,70.564,1240.239,481.676,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1198.603,1290.316,3944.562,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91549,1755
$CAP_FILE_SIZE,176038,0
$CFSIZE,260165632,227753984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.123, 89.3,1
$GPS,260710,111537,2841.994,-8829.854,41,1.4,41,-0.4