version: 66.04
glider: 515
mission: 5
dive: 309
start: 7 26 110 21 40 52
data:
$ID,515
$MISSION,5
$DIVE,309
$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,575
$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,-25173.285
$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,28
$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,2375
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,31
$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
$GPS1,213107,2842.495,-8828.968,36,1.0,36,-0.4
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-67.1
$GPS2,213107,2842.495,-8828.968,36,1.0,36,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.258,0.060
$KALMAN_X,81074.3,-737.6,-52.9,-45884.6,5506.9
$KALMAN_Y,-473044.1,-301.3,-246.1,499805.3,-7508.1
$MHEAD_RNG_PITCHd_Wd,283.7,26043,-10.8,-7.500
$D_GRID,1364
$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,15,-0.63,-194.6,0.0,0.0,0,89,0.00,0.00,-72.72,0.000,2,0.000,0.000,200,2339,2427
$GC,91,-0.63,-194.6,3.2,-3.7,7,140,10.55,1.23,-31.55,0.000,4,0.252,0.056,2540,1477,3635
$GC,257,-0.63,-194.6,36.5,-21.4,22,260,0.00,1.30,0.00,0.000,6,0.000,0.035,2536,2379,3635
$GC,454,-0.63,-194.6,66.1,-13.6,41,457,0.00,1.30,0.00,0.000,4,0.000,0.034,2537,1463,3636
$GC,587,-0.63,-194.6,82.2,-11.8,53,593,0.00,1.30,0.00,0.000,6,0.000,0.034,2533,2372,3637
$GC,779,-0.63,-194.6,105.9,-12.2,72,782,0.00,1.27,0.00,0.000,4,0.000,0.033,2533,1468,3638
$GC,886,-0.63,-194.6,118.8,-11.8,82,889,0.00,1.30,0.00,0.000,6,0.000,0.034,2527,2378,3638
$GC,1209,-0.63,-194.6,156.7,-11.6,113,1211,0.00,1.27,0.00,0.000,4,0.000,0.033,2527,1480,3638
$GC,1240,-0.63,-194.6,160.8,-12.5,116,1243,0.00,1.27,0.00,0.000,6,0.000,0.035,2521,2373,3638
$GC,1563,-0.63,-194.6,198.5,-11.6,147,1566,0.00,1.27,0.00,0.000,4,0.000,0.033,2521,1474,3636
$GC,1660,-0.63,-194.6,209.5,-10.6,156,1663,0.00,1.30,0.00,0.000,6,0.000,0.035,2515,2380,3636
$GC,1983,-0.63,-194.6,247.8,-12.2,187,1986,0.00,1.30,0.00,0.000,4,0.000,0.035,2515,1466,3634
$GC,2111,-0.63,-194.6,263.5,-12.0,199,2114,0.10,1.30,0.00,0.000,6,0.131,0.036,2542,2373,3633
$GC,2431,-0.63,-194.6,295.2,-9.3,230,2434,0.00,1.27,0.00,0.000,4,0.000,0.035,2542,1479,3632
$GC,2596,-0.63,-194.6,311.2,-9.6,245,2603,0.00,1.30,0.00,0.000,6,0.000,0.038,2539,2377,3631
$GC,2914,-0.63,-194.6,341.8,-9.4,276,2918,0.00,1.30,0.00,0.000,4,0.000,0.038,2539,1471,3629
$GC,3042,-0.63,-194.6,354.3,-9.9,288,3045,0.00,1.30,0.00,0.000,6,0.000,0.039,2533,2369,3627
$GC,3366,-0.63,-194.6,385.8,-9.8,319,3369,0.00,1.27,0.00,0.000,4,0.000,0.038,2533,1487,3625
$GC,3515,-0.63,-194.6,401.1,-10.0,333,3518,0.00,1.30,0.00,0.000,6,0.000,0.040,2528,2376,3624
$GC,3838,-0.63,-194.6,433.3,-10.3,364,3841,0.00,1.30,0.00,0.000,4,0.000,0.039,2528,1478,3621
$GC,3982,-0.63,-194.6,448.0,-10.5,377,3988,0.00,1.33,0.00,0.000,6,0.000,0.040,2522,2381,3620
$GC,4300,-0.63,-194.6,481.0,-10.3,408,4303,0.00,1.33,0.00,0.000,4,0.000,0.041,2522,1469,3619
$GC,4439,-0.63,-194.6,496.4,-10.7,421,4442,0.00,1.30,0.00,0.000,6,0.000,0.041,2517,2358,3618
$GC,4762,-0.63,-194.6,530.2,-10.3,452,4765,0.00,1.27,0.00,0.000,4,0.000,0.041,2516,1488,3616
$GC,4847,-0.63,-194.6,539.6,-10.8,460,4850,0.08,1.33,0.00,0.000,6,0.139,0.041,2535,2386,3615
$GC,5169,-0.63,-194.6,567.7,-8.8,491,5171,0.00,1.33,0.00,0.000,4,0.000,0.041,2536,1483,3613
$GC,5258,-0.63,-194.6,575.4,-8.3,499,5265,0.00,1.30,0.00,0.000,6,0.000,0.041,2532,2364,3612
$GC,5577,-0.63,-194.6,603.8,-9.0,530,5580,0.00,1.30,0.00,0.000,4,0.000,0.041,2532,1474,3610
$GC,5645,-0.63,-194.6,610.6,-10.4,536,5654,0.00,1.35,0.00,0.000,6,0.000,0.042,2527,2385,3609
$GC,5963,-0.63,-194.6,640.9,-9.7,567,5966,0.00,1.33,0.00,0.000,4,0.000,0.041,2527,1487,3607
$GC,6074,-0.63,-194.6,652.0,-9.7,577,6081,0.00,1.30,0.00,0.000,6,0.000,0.043,2521,2364,3607
$GC,6392,-0.63,-194.6,683.2,-9.7,608,6395,0.00,1.30,0.00,0.000,4,0.000,0.042,2521,1482,3605
$GC,6482,-0.63,-194.6,692.3,-9.7,616,6490,0.00,1.35,0.00,0.000,6,0.000,0.044,2515,2389,3604
$GC,6800,-0.63,-194.6,722.5,-9.7,647,6803,0.00,1.33,0.00,0.000,4,0.000,0.042,2515,1489,3603
$GC,6879,-0.63,-194.6,730.8,-9.9,654,6886,0.10,1.30,0.00,0.000,6,0.133,0.044,2541,2365,3603
$GC,7195,-0.63,-194.6,756.3,-8.3,685,7198,0.00,1.30,0.00,0.000,4,0.000,0.043,2541,1477,3601
$GC,7253,-0.63,-194.6,761.3,-9.0,690,7260,0.00,1.35,0.00,0.000,6,0.000,0.045,2538,2383,3600
$GC,7571,-0.63,-194.6,787.3,-8.4,721,7574,0.00,1.33,0.00,0.000,4,0.000,0.044,2538,1488,3599
$GC,7656,-0.63,-194.6,794.7,-8.8,729,7660,0.00,1.33,0.00,0.000,6,0.000,0.045,2532,2372,3598
$GC,7979,-0.63,-194.6,821.2,-8.0,760,7982,0.00,1.30,0.00,0.000,4,0.000,0.043,2533,1492,3597
$GC,8076,-0.63,-194.6,829.5,-8.2,769,8078,0.00,1.33,0.00,0.000,6,0.000,0.046,2527,2379,3596
$GC,8396,-0.63,-194.6,856.9,-8.5,800,8399,0.00,1.33,0.00,0.000,4,0.000,0.043,2528,1485,3595
$GC,8486,-0.63,-194.6,865.0,-9.1,808,8494,0.00,1.33,0.00,0.000,6,0.000,0.046,2522,2368,3594
$GC,8802,-0.63,-194.6,893.0,-8.6,839,8806,0.00,1.30,0.00,0.000,4,0.000,0.044,2522,1490,3593
$GC,8866,-0.63,-194.6,898.7,-8.4,845,8869,0.00,1.35,0.00,0.000,6,0.000,0.046,2516,2390,3593
$GC,9187,-0.63,-194.6,928.8,-9.4,876,9190,0.00,1.35,0.00,0.000,4,0.000,0.043,2516,1479,3592
$GC,9287,-0.63,-194.6,938.5,-10.0,885,9295,0.08,1.33,0.00,0.000,6,0.141,0.046,2536,2360,3592
$GC,9604,-0.63,-194.6,964.5,-8.4,916,9607,0.00,1.30,0.00,0.000,4,0.000,0.044,2536,1487,3590
$GC,9689,-0.63,-194.6,971.9,-9.8,924,9692,0.00,1.35,0.00,0.000,6,0.000,0.048,2532,2384,3590
$STATE,9906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9906,begin apogee
$GC,9912,-0.25,0.0,990.4,8.5,945,10078,0.40,0.00,156.48,1.231,6,0.131,0.000,2657,2272,2841
$STATE,10079,end apogee,CONTROL_FINISHED_OK
$STATE,10079,begin climb
$GC,10082,0.63,194.6,995.9,0.0,962,10264,0.90,1.77,171.90,1.214,4,0.100,0.058,2940,3165,2045
$GC,10289,0.63,194.6,980.2,11.8,979,10297,0.00,1.65,0.00,0.000,6,0.000,0.035,2948,2272,2040
$GC,10608,0.63,194.6,944.3,11.6,1010,10609,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2272,2034
$GC,10917,0.63,194.6,909.8,10.7,1040,10920,0.00,1.62,0.00,0.000,4,0.000,0.056,2948,3189,2032
$GC,10960,0.63,194.6,905.0,11.7,1044,10963,0.00,1.58,0.00,0.000,6,0.000,0.036,2955,2272,2031
$GC,11280,0.63,194.6,868.7,11.2,1075,11284,0.00,1.62,0.00,0.000,4,0.000,0.055,2955,3165,2031
$GC,11306,0.63,194.6,865.6,13.1,1077,11313,0.00,1.55,0.00,0.000,6,0.000,0.036,2963,2268,2031
$GC,11624,0.63,194.6,828.0,12.0,1108,11628,0.00,1.62,0.00,0.000,4,0.000,0.054,2963,3165,2030
$GC,11660,0.63,194.6,822.9,12.9,1111,11668,0.00,1.55,0.00,0.000,6,0.000,0.036,2970,2269,2029
$GC,11979,0.63,194.6,782.6,12.3,1142,11982,0.00,1.20,0.00,0.000,4,0.000,0.044,2975,1375,2029
$GC,12005,0.63,194.6,779.0,12.9,1144,12013,0.00,1.23,0.00,0.000,6,0.000,0.043,2975,2262,2030
$GC,12322,0.63,194.6,738.1,12.7,1175,12325,0.00,1.62,0.00,0.000,4,0.000,0.054,2976,3166,2029
$GC,12412,0.63,194.6,725.5,13.3,1183,12419,0.10,1.55,0.00,0.000,6,0.147,0.036,2953,2268,2028
$GC,12728,0.63,194.6,690.7,10.5,1214,12729,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2268,2028
$GC,13039,0.63,194.6,657.7,10.7,1244,13040,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2268,2028
$GC,13349,0.63,194.6,624.6,10.9,1274,13350,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2268,2028
$GC,13660,0.63,194.6,591.2,10.1,1304,13661,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2268,2028
$GC,13970,0.63,194.6,558.8,10.7,1334,13971,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2268,2027
$GC,14281,0.63,194.6,525.6,10.9,1364,14282,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2268,2027
$GC,14591,0.63,194.6,493.0,10.0,1394,14594,0.00,1.60,0.00,0.000,4,0.000,0.054,2952,3170,2027
$GC,14637,0.63,194.6,487.7,11.3,1398,14645,0.00,1.55,0.00,0.000,6,0.000,0.035,2958,2268,2027
$GC,14956,0.63,194.6,454.2,10.7,1429,14959,0.00,1.60,0.00,0.000,4,0.000,0.053,2958,3171,2027
$GC,14999,0.63,194.6,449.1,11.3,1433,15002,0.00,1.52,0.00,0.000,6,0.000,0.035,2965,2275,2027
$GC,15320,0.63,194.6,412.6,11.6,1464,15321,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2277,2027
$GC,15631,0.63,194.6,376.8,11.7,1494,15634,0.00,1.60,0.00,0.000,4,0.000,0.052,2966,3185,2027
$GC,15711,0.63,194.6,367.2,12.3,1501,15717,0.00,1.55,0.00,0.000,6,0.000,0.035,2973,2276,2027
$GC,16029,0.63,194.6,328.3,12.5,1532,16032,0.00,1.60,0.00,0.000,4,0.000,0.051,2973,3190,2027
$GC,16061,0.63,194.6,323.9,12.8,1535,16064,0.08,1.55,0.00,0.000,6,0.127,0.035,2947,2274,2027
$GC,16382,0.63,194.6,291.8,9.9,1566,16382,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2275,2027
$GC,16693,0.63,194.6,261.3,9.8,1596,16696,0.00,1.60,0.00,0.000,4,0.000,0.051,2946,3167,2028
$GC,16724,0.63,194.6,258.0,10.3,1599,16727,0.00,1.52,0.00,0.000,6,0.000,0.033,2952,2268,2029
$GC,17047,0.63,194.6,225.1,10.2,1630,17048,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2270,2028
$GC,17356,0.63,194.6,193.8,10.2,1660,17359,0.00,1.60,0.00,0.000,4,0.000,0.049,2952,3185,2028
$GC,17425,0.63,194.6,186.6,10.2,1666,17432,0.00,1.55,0.00,0.000,6,0.000,0.031,2959,2269,2028
$GC,17744,0.63,194.6,154.8,9.2,1697,17747,0.00,1.60,0.00,0.000,4,0.000,0.048,2959,3188,2029
$GC,17769,0.63,194.6,151.9,10.2,1699,17776,0.00,1.55,0.00,0.000,6,0.000,0.031,2967,2268,2030
$GC,18088,0.63,194.6,119.2,10.0,1730,18091,0.00,1.60,0.00,0.000,4,0.000,0.048,2967,3189,2030
$GC,18152,0.63,194.6,112.0,11.7,1736,18155,0.00,1.52,0.00,0.000,6,0.000,0.031,2974,2275,2030
$GC,18473,0.63,194.6,77.7,10.6,1767,18476,0.00,1.60,0.00,0.000,4,0.000,0.048,2974,3174,2031
$GC,18527,0.63,194.6,72.3,8.1,1772,18530,0.08,1.50,0.00,0.000,6,0.137,0.030,2946,2275,2032
$GC,18724,0.71,259.8,59.2,5.8,1791,18782,0.00,1.25,49.85,0.551,4,0.000,0.035,2950,1361,1779
$GC,18836,0.73,280.1,52.2,7.0,1801,18859,0.00,1.25,16.67,0.516,6,0.000,0.036,2950,2273,1697
$GC,19044,0.82,349.2,39.3,5.7,1821,19104,0.17,1.23,53.47,0.529,4,0.059,0.033,3049,1360,1414
$GC,19130,0.83,362.4,32.3,7.2,1828,19144,0.10,1.27,10.90,0.470,6,0.117,0.035,3015,2276,1361
$GC,19332,0.93,442.7,17.7,5.4,1847,19399,0.00,1.25,60.17,0.508,4,0.000,0.035,3017,1374,1034
$GC,19426,1.00,495.5,13.3,6.1,1855,19470,0.10,1.25,40.25,0.492,6,0.051,0.033,3083,2283,819
$STATE,19559,end climb,SURFACE_DEPTH_REACHED
$STATE,19559,begin surface coast
$FINISH,0.8,1.013182
$STATE,19592,end surface coast,CONTROL_FINISHED_OK
$STATE,19592,begin surface
$SM_CCo,19607,40.58,0.479,0,0,495,575.22
$SM_GC,1.69,0.00,0.00,40.58,0.000,0.000,0.479,196,2418,495,-7.97,1.22,575.22
$IRIDIUM_FIX,2831.00,-8826.65,201099,161601
$TT8_MAMPS,0.052156
$HUMID,1435
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,23.20
$XPDR_PINGS,10
$24V_AH,22.5,54.017
$10V_AH,10.5,74.406
$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,20.500,117.475,559.700,40.575,0.000,29.966,32.526,302.622,6.250,0.000,0.000,14.755,0.000,12821.074,667.467,5812.157,860.961,33.344,2396.604,0.000,5201.026,0.000,28.326,0.000
$DEVICE_MAMPS,251.576,57.525,1231.035,479.375,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1279.040,1375.172,4205.266,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97914,1871
$CAP_FILE_SIZE,192809,0
$CFSIZE,260165632,227454976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.111,121.3,1
$GPS,270710,030907,2842.005,-8831.016,23,1.8,23,-0.4