version: 66.04
glider: 515
mission: 5
dive: 311
start: 7 27 110 8 49 11
data:
$ID,515
$MISSION,5
$DIVE,311
$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,-25200.432
$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,38
$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,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
$GPS1,084107,2841.386,-8832.896,25,1.7,25,-0.3
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-69.2
$GPS2,084832,2841.410,-8832.789,9,1.9,9,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.245,0.100
$KALMAN_X,87048.9,214.5,-124.6,-58957.3,4947.4
$KALMAN_Y,-479971.1,1559.1,-23.4,502593.9,-8284.5
$MHEAD_RNG_PITCHd_Wd,288.3,19920,-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,-0.63,-194.6,0.0,0.0,0,87,0.00,0.00,-72.50,0.000,2,0.000,0.000,202,2346,2505
$GC,90,-0.63,-194.6,3.3,-3.7,7,138,10.57,1.60,-28.98,0.000,4,0.252,0.064,2534,3275,3636
$GC,192,-0.63,-194.6,22.7,-27.1,16,195,0.00,1.45,0.00,0.000,6,0.000,0.028,2538,2366,3637
$GC,388,-0.63,-194.6,56.6,-13.7,35,391,0.00,1.25,0.00,0.000,4,0.000,0.036,2538,1477,3637
$GC,583,-0.63,-194.6,83.0,-12.2,53,586,0.00,1.30,0.00,0.000,6,0.000,0.035,2534,2383,3638
$GC,779,-0.63,-194.6,106.9,-12.2,72,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2383,3639
$GC,1090,-0.63,-194.6,145.8,-12.4,102,1093,0.00,1.27,0.00,0.000,4,0.000,0.035,2534,1493,3639
$GC,1250,-0.63,-194.6,165.0,-12.0,117,1254,0.00,1.25,0.00,0.000,6,0.000,0.036,2529,2360,3638
$GC,1573,-0.63,-194.6,201.9,-12.1,148,1576,0.00,1.25,0.00,0.000,4,0.000,0.035,2530,1488,3637
$GC,1691,-0.63,-194.6,215.7,-11.2,159,1693,0.00,1.30,0.00,0.000,6,0.000,0.037,2523,2389,3637
$GC,2013,-0.63,-194.6,252.5,-11.3,190,2016,0.00,1.30,0.00,0.000,4,0.000,0.035,2523,1486,3635
$GC,2131,-0.63,-194.6,266.2,-11.4,201,2134,0.00,1.27,0.00,0.000,6,0.000,0.037,2517,2369,3634
$GC,2454,-0.63,-194.6,303.9,-12.0,232,2457,0.00,1.25,0.00,0.000,4,0.000,0.036,2517,1498,3633
$GC,2539,-0.63,-194.6,314.2,-11.2,240,2542,0.08,1.27,0.00,0.000,6,0.140,0.038,2537,2380,3632
$GC,2860,-0.63,-194.6,347.2,-10.2,271,2863,0.00,1.27,0.00,0.000,4,0.000,0.038,2537,1494,3630
$GC,2989,-0.63,-194.6,360.1,-10.6,283,2992,0.00,1.27,0.00,0.000,6,0.000,0.038,2533,2372,3629
$GC,3311,-0.63,-194.6,393.5,-10.6,314,3312,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2372,3627
$GC,3621,-0.63,-194.6,425.4,-10.0,344,3624,0.00,1.27,0.00,0.000,4,0.000,0.039,2533,1490,3624
$GC,3770,-0.63,-194.6,440.7,-10.4,358,3773,0.00,1.30,0.00,0.000,6,0.000,0.041,2528,2377,3624
$GC,4093,-0.63,-194.6,473.6,-10.5,389,4096,0.00,1.27,0.00,0.000,4,0.000,0.039,2528,1497,3621
$GC,4210,-0.63,-194.6,486.2,-9.9,400,4214,0.00,1.27,0.00,0.000,6,0.000,0.041,2522,2368,3620
$GC,4533,-0.63,-194.6,521.4,-10.7,431,4537,0.00,1.27,0.00,0.000,4,0.000,0.040,2522,1495,3618
$GC,4655,-0.63,-194.6,535.2,-10.9,442,4662,0.00,1.30,0.00,0.000,6,0.000,0.041,2517,2379,3618
$GC,4974,-0.63,-194.6,569.5,-11.1,473,4977,0.00,1.30,0.00,0.000,4,0.000,0.041,2517,1490,3615
$GC,5074,-0.63,-194.6,581.0,-10.8,482,5081,0.08,1.30,0.00,0.000,6,0.142,0.042,2536,2370,3615
$GC,5390,-0.63,-194.6,609.3,-8.5,513,5394,0.00,1.27,0.00,0.000,4,0.000,0.041,2537,1501,3613
$GC,5519,-0.63,-194.6,620.5,-8.4,525,5521,0.00,1.30,0.00,0.000,6,0.000,0.044,2532,2379,3612
$GC,5842,-0.63,-194.6,648.2,-8.6,556,5845,0.00,1.30,0.00,0.000,4,0.000,0.041,2532,1496,3609
$GC,5974,-0.63,-194.6,660.3,-9.2,568,5983,0.00,1.27,0.00,0.000,6,0.000,0.043,2527,2354,3608
$GC,6292,-0.63,-194.6,689.5,-9.1,599,6295,0.00,1.25,0.00,0.000,4,0.000,0.041,2527,1504,3606
$GC,6335,-0.63,-194.6,693.6,-9.6,603,6338,0.00,1.33,0.00,0.000,6,0.000,0.044,2521,2391,3606
$GC,6658,-0.63,-194.6,725.4,-9.8,634,6660,0.00,1.33,0.00,0.000,4,0.000,0.042,2521,1495,3604
$GC,6765,-0.63,-194.6,736.2,-10.0,644,6768,0.00,1.27,0.00,0.000,6,0.000,0.044,2516,2354,3604
$GC,7087,-0.63,-194.6,767.4,-9.7,675,7088,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2354,3603
$GC,7397,-0.63,-194.6,796.1,-8.8,705,7400,0.00,1.27,0.00,0.000,4,0.000,0.043,2517,1493,3601
$GC,7433,-0.63,-194.6,799.9,-9.4,708,7441,0.08,1.35,0.00,0.000,6,0.143,0.044,2535,2394,3601
$GC,7750,-0.63,-194.6,824.6,-7.9,739,7753,0.00,1.33,0.00,0.000,4,0.000,0.043,2536,1504,3599
$GC,7910,-0.63,-194.6,837.5,-7.6,754,7913,0.00,1.27,0.00,0.000,6,0.000,0.046,2532,2356,3598
$GC,8232,-0.63,-194.6,863.8,-8.3,785,8235,0.00,1.27,0.00,0.000,4,0.000,0.044,2532,1500,3596
$GC,8289,-0.63,-194.6,868.9,-8.7,790,8296,0.00,1.33,0.00,0.000,6,0.000,0.044,2527,2384,3597
$GC,8607,-0.63,-194.6,895.9,-8.4,821,8609,0.00,1.33,0.00,0.000,4,0.000,0.044,2527,1496,3595
$GC,8681,-0.63,-194.6,902.4,-8.6,828,8684,0.00,1.30,0.00,0.000,6,0.000,0.046,2522,2364,3595
$GC,9004,-0.63,-194.6,930.6,-9.3,859,9007,0.00,1.27,0.00,0.000,4,0.000,0.043,2522,1505,3593
$GC,9068,-0.63,-194.6,936.7,-8.8,865,9071,0.00,1.33,0.00,0.000,6,0.000,0.046,2516,2386,3593
$GC,9389,-0.63,-194.6,967.0,-9.4,896,9393,0.00,1.33,0.00,0.000,4,0.000,0.044,2516,1499,3593
$GC,9500,-0.63,-194.6,977.3,-9.6,906,9508,0.10,1.30,0.00,0.000,6,0.136,0.046,2541,2360,3592
$STATE,9671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9671,begin apogee
$GC,9677,-0.25,0.0,990.3,7.3,923,9835,0.40,0.00,155.38,1.242,6,0.127,0.000,2671,2279,2840
$STATE,9835,end apogee,CONTROL_FINISHED_OK
$STATE,9835,begin climb
$GC,9837,0.63,194.6,994.9,0.0,939,10017,0.85,0.00,172.23,1.212,6,0.097,0.000,2940,2279,2047
$GC,10325,0.63,194.6,949.4,10.5,987,10326,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2279,2036
$GC,10635,0.63,194.6,915.6,10.6,1017,10639,0.00,1.62,0.00,0.000,4,0.000,0.058,2941,3166,2034
$GC,10661,0.63,194.6,912.5,12.8,1019,10668,0.00,1.52,0.00,0.000,6,0.000,0.037,2948,2278,2033
$GC,10979,0.63,194.6,876.5,11.4,1050,10980,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2280,2033
$GC,11288,0.63,194.6,841.9,11.1,1080,11291,0.00,1.60,0.00,0.000,4,0.000,0.054,2948,3189,2032
$GC,11314,0.63,194.6,838.7,12.4,1082,11321,0.00,1.55,0.00,0.000,6,0.000,0.036,2955,2277,2031
$GC,11632,0.63,194.6,802.5,12.0,1113,11635,0.00,1.23,0.00,0.000,4,0.000,0.043,2961,1374,2031
$GC,11675,0.63,194.6,797.5,11.2,1117,11678,0.00,1.25,0.00,0.000,6,0.000,0.044,2961,2273,2031
$GC,11996,0.63,194.6,758.3,11.9,1148,11999,0.00,1.60,0.00,0.000,4,0.000,0.054,2961,3167,2031
$GC,12060,0.63,194.6,750.0,12.6,1154,12063,0.00,1.52,0.00,0.000,6,0.000,0.036,2968,2275,2029
$GC,12383,0.63,194.6,708.7,12.5,1185,12384,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2277,2029
$GC,12692,0.63,194.6,669.3,13.2,1215,12695,0.00,1.60,0.00,0.000,4,0.000,0.054,2968,3182,2029
$GC,12734,0.63,194.6,663.6,13.8,1219,12737,0.00,1.55,0.00,0.000,6,0.000,0.037,2976,2276,2028
$GC,13057,0.63,194.6,621.6,12.7,1250,13058,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2277,2028
$GC,13366,0.63,194.6,582.5,12.8,1280,13367,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2277,2028
$GC,13676,0.63,194.6,544.1,12.2,1310,13679,0.00,1.62,0.00,0.000,4,0.000,0.054,2976,3176,2028
$GC,13723,0.63,194.6,538.2,12.6,1314,13730,0.10,1.55,0.00,0.000,6,0.143,0.035,2953,2272,2028
$GC,14040,0.63,194.6,505.7,10.3,1345,14041,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2272,2028
$GC,14350,0.63,194.6,473.7,10.0,1375,14353,0.00,1.60,0.00,0.000,4,0.000,0.053,2952,3176,2028
$GC,14383,0.63,194.6,470.0,11.4,1378,14386,0.00,1.55,0.00,0.000,6,0.000,0.035,2958,2272,2028
$GC,14706,0.63,194.6,435.1,11.2,1409,14709,0.00,1.62,0.00,0.000,4,0.000,0.052,2958,3173,2028
$GC,14732,0.63,194.6,431.8,12.5,1411,14739,0.00,1.55,0.00,0.000,6,0.000,0.035,2965,2271,2027
$GC,15050,0.63,194.6,394.3,12.1,1442,15053,0.00,1.62,0.00,0.000,4,0.000,0.051,2965,3171,2028
$GC,15097,0.63,194.6,388.0,12.2,1446,15104,0.00,1.52,0.00,0.000,6,0.000,0.034,2973,2275,2027
$GC,15415,0.63,194.6,348.9,12.2,1477,15418,0.00,1.60,0.00,0.000,4,0.000,0.051,2973,3164,2028
$GC,15461,0.63,194.6,342.6,13.4,1481,15469,0.08,1.52,0.00,0.000,6,0.147,0.033,2956,2275,2028
$GC,15778,0.63,194.6,308.5,10.7,1512,15781,0.00,1.60,0.00,0.000,4,0.000,0.051,2955,3165,2028
$GC,15810,0.63,194.6,304.8,11.3,1515,15813,0.00,1.52,0.00,0.000,6,0.000,0.034,2961,2273,2028
$GC,16133,0.63,194.6,269.7,11.2,1546,16136,0.00,1.62,0.00,0.000,4,0.000,0.051,2961,3196,2029
$GC,16159,0.63,194.6,266.4,10.9,1548,16167,0.00,1.58,0.00,0.000,6,0.000,0.032,2969,2271,2028
$GC,16478,0.63,194.6,228.8,11.9,1579,16480,0.00,1.60,0.00,0.000,4,0.000,0.049,2969,3181,2028
$GC,16524,0.63,194.6,222.7,13.0,1583,16531,0.00,1.55,0.00,0.000,6,0.000,0.032,2976,2270,2028
$GC,16842,0.63,194.6,183.7,11.5,1614,16846,0.00,1.62,0.00,0.000,4,0.000,0.048,2976,3176,2030
$GC,16885,0.63,194.6,177.9,11.4,1618,16889,0.10,1.52,0.00,0.000,6,0.138,0.031,2952,2274,2030
$GC,17207,0.63,194.6,146.3,9.5,1649,17209,0.00,1.60,0.00,0.000,4,0.000,0.048,2952,3192,2030
$GC,17228,0.63,194.6,144.2,8.5,1651,17231,0.00,1.55,0.00,0.000,6,0.000,0.031,2957,2271,2030
$GC,17549,0.63,194.6,114.6,9.2,1682,17552,0.00,1.60,0.00,0.000,4,0.000,0.048,2957,3169,2031
$GC,17585,0.63,194.6,111.2,10.1,1685,17593,0.00,1.50,0.00,0.000,6,0.000,0.029,2965,2276,2031
$GC,17904,0.63,194.6,80.9,8.4,1716,17907,0.00,1.60,0.00,0.000,4,0.000,0.047,2965,3200,2032
$GC,17925,0.63,194.6,78.8,8.7,1718,17928,0.00,1.55,0.00,0.000,6,0.000,0.029,2972,2273,2032
$GC,18123,0.63,194.6,60.6,8.9,1737,18126,0.00,1.60,0.00,0.000,4,0.000,0.046,2973,3197,2033
$GC,18145,0.63,194.6,58.7,8.4,1739,18148,0.08,1.52,0.00,0.000,6,0.131,0.029,2954,2278,2033
$GC,18343,0.77,315.1,46.1,4.3,1758,18439,0.12,1.27,91.47,0.542,4,0.067,0.035,3016,1360,1554
$GC,18514,0.82,354.7,33.1,6.5,1773,18549,0.00,1.27,30.90,0.515,6,0.000,0.035,3016,2282,1392
$GC,18735,0.94,446.7,21.6,5.1,1794,18809,0.00,1.30,68.60,0.511,4,0.000,0.034,3021,1362,1017
$GC,18853,1.05,539.5,15.2,5.1,1804,18931,0.15,1.25,69.47,0.499,6,0.042,0.032,3108,2278,639
$STATE,18979,end climb,SURFACE_DEPTH_REACHED
$STATE,18979,begin surface coast
$FINISH,0.8,1.022094
$STATE,19002,end surface coast,CONTROL_FINISHED_OK
$STATE,19002,begin surface
$SM_CCo,19018,20.20,0.464,0,0,495,575.22
$SM_GC,1.81,0.00,0.00,20.20,0.000,0.000,0.464,197,2427,495,-7.97,1.47,575.22
$IRIDIUM_FIX,2828.55,-8838.98,211099,030321
$TT8_MAMPS,0.052156
$HUMID,1426
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,23.60
$XPDR_PINGS,1
$24V_AH,22.5,54.359
$10V_AH,10.5,74.883
$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,20.675,116.100,588.050,20.200,0.000,25.837,23.899,260.258,4.000,0.000,0.000,11.389,0.000,12432.090,650.302,5625.023,742.000,33.347,2319.390,0.000,5022.830,0.000,34.405,0.000
$DEVICE_MAMPS,251.576,63.661,1241.773,464.035,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1242.753,1330.133,4085.783,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94707,1818
$CAP_FILE_SIZE,185747,0
$CFSIZE,260165632,227270656
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.142,136.9,1
$GPS,270710,140731,2840.764,-8834.811,38,1.3,38,-0.3