version: 66.04
glider: 515
mission: 5
dive: 312
start: 7 27 110 14 15 29
data:
$ID,515
$MISSION,5
$DIVE,312
$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,-25218.637
$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,36
$R_STBD_OVSHOOT,64
$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
$GPS1,140731,2840.764,-8834.811,38,1.3,38,-0.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-70.2
$GPS2,141450,2840.748,-8834.770,13,1.3,13,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.226,0.138
$KALMAN_X,90925.1,-505.4,-191.5,-65273.9,6675.8
$KALMAN_Y,-483670.6,823.4,932.4,504850.3,-11126.5
$MHEAD_RNG_PITCHd_Wd,299.3,16898,-10.8,-7.500
$D_GRID,1290
$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,-194.6,0.0,0.0,0,77,0.00,0.00,-62.50,0.000,2,0.000,0.000,196,2432,2226
$GC,80,-0.63,-194.6,3.1,-2.9,6,139,10.70,1.38,-41.28,0.000,4,0.255,0.063,2530,3241,3635
$GC,321,-0.63,-194.6,47.7,-15.0,28,324,0.00,1.40,0.00,0.000,6,0.000,0.027,2534,2355,3637
$GC,518,-0.63,-194.6,73.1,-11.9,47,521,0.00,1.20,0.00,0.000,4,0.000,0.035,2536,1498,3638
$GC,640,-0.63,-194.6,88.2,-10.9,58,647,0.00,1.17,0.00,0.000,6,0.000,0.035,2533,2338,3639
$GC,832,-0.63,-194.6,111.5,-12.1,77,835,0.00,1.17,0.00,0.000,4,0.000,0.034,2533,1496,3640
$GC,896,-0.63,-194.6,119.3,-12.2,83,899,0.00,1.27,0.00,0.000,6,0.000,0.035,2527,2381,3640
$GC,1219,-0.63,-194.6,159.6,-11.6,114,1222,0.00,1.27,0.00,0.000,4,0.000,0.034,2527,1485,3640
$GC,1358,-0.63,-194.6,175.8,-11.2,127,1361,0.00,1.27,0.00,0.000,6,0.000,0.035,2521,2375,3639
$GC,1681,-0.63,-194.6,212.4,-10.7,158,1684,0.00,1.25,0.00,0.000,4,0.000,0.035,2521,1492,3638
$GC,1766,-0.63,-194.6,222.5,-11.2,166,1769,0.00,1.27,0.00,0.000,6,0.000,0.037,2515,2378,3638
$GC,2089,-0.63,-194.6,260.7,-12.3,197,2092,0.00,1.27,0.00,0.000,4,0.000,0.035,2515,1490,3636
$GC,2185,-0.63,-194.6,272.4,-11.6,206,2188,0.08,1.27,0.00,0.000,6,0.138,0.038,2535,2368,3636
$GC,2506,-0.63,-194.6,306.6,-10.6,237,2509,0.00,1.25,0.00,0.000,4,0.000,0.037,2536,1501,3634
$GC,2634,-0.63,-194.6,320.2,-10.0,249,2637,0.00,1.27,0.00,0.000,6,0.000,0.039,2532,2381,3633
$GC,2957,-0.63,-194.6,354.0,-10.7,280,2960,0.00,1.27,0.00,0.000,4,0.000,0.038,2532,1500,3631
$GC,3107,-0.63,-194.6,369.8,-10.3,294,3110,0.00,1.27,0.00,0.000,6,0.000,0.040,2526,2373,3630
$GC,3429,-0.63,-194.6,403.2,-10.3,325,3432,0.00,1.27,0.00,0.000,4,0.000,0.038,2527,1493,3628
$GC,3562,-0.63,-194.6,417.4,-11.3,337,3569,0.00,1.30,0.00,0.000,6,0.000,0.040,2521,2381,3627
$GC,3880,-0.63,-194.6,451.3,-10.6,368,3883,0.00,1.27,0.00,0.000,4,0.000,0.039,2521,1507,3625
$GC,3998,-0.63,-194.6,463.8,-10.3,379,4001,0.00,1.25,0.00,0.000,6,0.000,0.041,2515,2360,3624
$GC,4320,-0.63,-194.6,499.0,-11.1,410,4323,0.00,1.25,0.00,0.000,4,0.000,0.039,2514,1502,3622
$GC,4416,-0.63,-194.6,509.7,-10.5,419,4420,0.10,1.30,0.00,0.000,6,0.134,0.042,2541,2386,3621
$GC,4737,-0.63,-194.6,539.3,-9.2,450,4740,0.00,1.30,0.00,0.000,4,0.000,0.040,2541,1499,3619
$GC,4812,-0.63,-194.6,546.2,-9.5,457,4815,0.00,1.27,0.00,0.000,6,0.000,0.043,2538,2365,3619
$GC,5135,-0.63,-194.6,576.0,-9.2,488,5138,0.00,1.27,0.00,0.000,4,0.000,0.041,2538,1492,3617
$GC,5210,-0.63,-194.6,582.9,-8.8,495,5213,0.00,1.30,0.00,0.000,6,0.000,0.043,2532,2374,3616
$GC,5533,-0.63,-194.6,611.9,-9.0,526,5536,0.00,1.27,0.00,0.000,4,0.000,0.041,2533,1503,3615
$GC,5655,-0.63,-194.6,623.3,-9.3,537,5662,0.00,1.30,0.00,0.000,6,0.000,0.044,2528,2376,3614
$GC,5972,-0.63,-194.6,654.3,-9.8,568,5976,0.00,1.27,0.00,0.000,4,0.000,0.041,2527,1507,3611
$GC,6073,-0.63,-194.6,664.4,-9.4,577,6080,0.00,1.27,0.00,0.000,6,0.000,0.043,2522,2362,3611
$GC,6391,-0.63,-194.6,694.8,-9.5,608,6395,0.00,1.27,0.00,0.000,4,0.000,0.041,2522,1497,3609
$GC,6459,-0.63,-194.6,701.7,-9.9,614,6467,0.00,1.33,0.00,0.000,6,0.000,0.044,2519,2383,3608
$GC,6778,-0.63,-194.6,731.8,-9.5,645,6781,0.00,1.30,0.00,0.000,4,0.000,0.042,2519,1503,3607
$GC,6879,-0.63,-194.6,741.8,-9.2,654,6885,0.00,1.30,0.00,0.000,6,0.000,0.046,2518,2369,3606
$GC,7197,-0.63,-194.6,772.5,-10.2,685,7200,0.00,1.27,0.00,0.000,4,0.000,0.043,2518,1508,3604
$GC,7293,-0.63,-194.6,781.9,-10.0,694,7296,0.08,1.30,0.00,0.000,6,0.144,0.045,2537,2379,3604
$GC,7614,-0.63,-194.6,809.1,-8.6,725,7617,0.00,1.30,0.00,0.000,4,0.000,0.043,2538,1502,3603
$GC,7667,-0.63,-194.6,814.0,-9.1,730,7670,0.00,1.30,0.00,0.000,6,0.000,0.046,2534,2371,3603
$GC,7991,-0.63,-194.6,842.4,-9.0,761,7994,0.00,1.27,0.00,0.000,4,0.000,0.044,2534,1509,3601
$GC,8065,-0.63,-194.6,849.6,-8.9,768,8069,0.00,1.30,0.00,0.000,6,0.000,0.047,2529,2376,3601
$GC,8386,-0.63,-194.6,878.8,-8.4,799,8389,0.00,1.30,0.00,0.000,4,0.000,0.043,2529,1502,3599
$GC,8429,-0.63,-194.6,882.7,-9.2,803,8432,0.00,1.30,0.00,0.000,6,0.000,0.046,2524,2370,3599
$GC,8750,-0.63,-194.6,911.8,-9.3,834,8753,0.00,1.27,0.00,0.000,4,0.000,0.044,2524,1509,3598
$GC,8819,-0.63,-194.6,918.3,-9.9,840,8826,0.00,1.30,0.00,0.000,6,0.000,0.046,2519,2374,3597
$GC,9135,-0.63,-194.6,946.7,-9.1,871,9138,0.00,1.30,0.00,0.000,4,0.000,0.044,2519,1502,3596
$GC,9193,-0.63,-194.6,952.0,-8.8,876,9200,0.08,1.33,0.00,0.000,6,0.145,0.046,2537,2382,3596
$GC,9509,-0.63,-194.6,975.8,-7.2,907,9512,0.00,1.30,0.00,0.000,4,0.000,0.044,2537,1510,3595
$GC,9616,-0.63,-194.6,984.3,-7.9,917,9619,0.00,1.30,0.00,0.000,6,0.000,0.047,2534,2370,3595
$STATE,9688,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9688,begin apogee
$GC,9693,-0.25,0.0,990.3,8.1,924,9852,0.43,0.00,156.10,1.242,6,0.129,0.000,2663,2285,2839
$STATE,9853,end apogee,CONTROL_FINISHED_OK
$STATE,9853,begin climb
$GC,9855,0.63,194.6,995.1,0.0,940,10033,0.88,0.00,172.60,1.211,6,0.098,0.000,2940,2285,2046
$GC,10342,0.63,194.6,948.8,10.7,988,10342,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2285,2035
$GC,10652,0.63,194.6,915.4,10.5,1018,10656,0.00,1.60,0.00,0.000,4,0.000,0.058,2940,3160,2033
$GC,10684,0.63,194.6,911.7,11.9,1021,10687,0.00,1.52,0.00,0.000,6,0.000,0.038,2947,2278,2032
$GC,11005,0.63,194.6,874.8,11.9,1052,11006,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2279,2032
$GC,11316,0.63,194.6,838.7,11.7,1082,11319,0.00,1.60,0.00,0.000,4,0.000,0.054,2948,3162,2031
$GC,11348,0.63,194.6,834.8,12.3,1085,11351,0.00,1.52,0.00,0.000,6,0.000,0.037,2955,2278,2030
$GC,11668,0.63,194.6,795.6,12.0,1116,11672,0.00,1.60,0.00,0.000,4,0.000,0.055,2955,3160,2030
$GC,11704,0.63,194.6,791.0,12.6,1119,11713,0.00,1.55,0.00,0.000,6,0.000,0.036,2963,2270,2029
$GC,12023,0.63,194.6,751.8,12.4,1150,12024,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2272,2029
$GC,12332,0.63,194.6,714.2,11.8,1180,12332,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2272,2029
$GC,12643,0.63,194.6,676.6,12.0,1210,12646,0.00,1.62,0.00,0.000,4,0.000,0.054,2963,3160,2029
$GC,12685,0.63,194.6,671.2,11.8,1214,12688,0.00,1.55,0.00,0.000,6,0.000,0.038,2970,2271,2028
$GC,13008,0.63,194.6,631.8,12.5,1245,13011,0.00,1.62,0.00,0.000,4,0.000,0.054,2970,3163,2028
$GC,13040,0.63,194.6,627.5,12.0,1248,13043,0.00,1.55,0.00,0.000,6,0.000,0.036,2977,2268,2028
$GC,13361,0.63,194.6,588.2,12.2,1279,13361,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2269,2028
$GC,13672,0.63,194.6,550.4,12.3,1309,13674,0.00,1.60,0.00,0.000,4,0.000,0.053,2977,3165,2028
$GC,13750,0.63,194.6,540.3,11.0,1316,13758,0.10,1.55,0.00,0.000,6,0.144,0.035,2954,2271,2027
$GC,14067,0.63,194.6,507.8,10.0,1347,14068,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2272,2027
$GC,14377,0.63,194.6,475.6,10.2,1377,14380,0.00,1.60,0.00,0.000,4,0.000,0.052,2953,3172,2027
$GC,14431,0.63,194.6,469.9,10.9,1382,14434,0.00,1.55,0.00,0.000,6,0.000,0.035,2959,2271,2028
$GC,14753,0.63,194.6,436.0,10.8,1413,14754,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2272,2027
$GC,15063,0.63,194.6,402.3,11.4,1443,15066,0.00,1.62,0.00,0.000,4,0.000,0.052,2959,3169,2027
$GC,15095,0.63,194.6,398.5,12.0,1446,15098,0.00,1.55,0.00,0.000,6,0.000,0.035,2967,2268,2027
$GC,15416,0.63,194.6,360.4,11.9,1477,15419,0.00,1.62,0.00,0.000,4,0.000,0.051,2967,3186,2027
$GC,15469,0.63,194.6,353.5,12.0,1482,15472,0.00,1.55,0.00,0.000,6,0.000,0.035,2974,2276,2027
$GC,15792,0.63,194.6,314.2,12.4,1513,15793,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2277,2027
$GC,16101,0.63,194.6,276.4,12.0,1543,16104,0.00,1.60,0.00,0.000,4,0.000,0.050,2974,3167,2027
$GC,16176,0.63,194.6,267.1,13.0,1550,16179,0.08,1.52,0.00,0.000,6,0.143,0.033,2948,2274,2027
$GC,16497,0.63,194.6,235.7,9.3,1581,16498,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2275,2027
$GC,16807,0.63,194.6,206.6,9.3,1611,16810,0.00,1.60,0.00,0.000,4,0.000,0.050,2947,3187,2028
$GC,16855,0.63,194.6,202.1,9.9,1615,16862,0.00,1.55,0.00,0.000,6,0.000,0.032,2953,2275,2028
$GC,17172,0.63,194.6,172.8,8.6,1646,17173,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2275,2029
$GC,17482,0.63,194.6,143.2,9.7,1676,17485,0.00,1.60,0.00,0.000,4,0.000,0.048,2953,3192,2030
$GC,17528,0.63,194.6,138.1,10.0,1680,17536,0.00,1.55,0.00,0.000,6,0.000,0.030,2961,2273,2030
$GC,17847,0.63,194.6,107.6,8.8,1711,17848,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2274,2030
$GC,18156,0.63,194.6,79.8,8.8,1741,18159,0.00,1.60,0.00,0.000,4,0.000,0.047,2961,3196,2031
$GC,18213,0.63,194.6,74.7,9.1,1746,18221,0.00,1.55,0.00,0.000,6,0.000,0.028,2968,2270,2032
$GC,18406,0.63,194.6,58.4,8.6,1765,18407,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2271,2032
$GC,18592,0.67,233.0,44.4,6.5,1783,18626,0.00,0.00,29.48,0.527,6,0.000,0.000,2968,2271,1890
$GC,18812,0.76,302.9,30.5,5.7,1804,18872,0.00,1.62,54.08,0.524,4,0.000,0.045,2968,3162,1604
$GC,18920,0.90,416.0,25.7,4.5,1813,19010,0.12,1.52,84.95,0.515,6,0.044,0.028,3052,2270,1143
$GC,19195,0.99,494.3,8.3,5.4,1839,19257,0.00,1.15,58.40,0.492,4,0.000,0.032,3054,1368,824
$STATE,19288,end climb,SURFACE_DEPTH_REACHED
$STATE,19288,begin surface coast
$FINISH,1.0,1.021470
$STATE,19331,end surface coast,CONTROL_FINISHED_OK
$STATE,19331,begin surface
$SM_CCo,19347,44.10,0.476,0,0,495,575.22
$SM_GC,1.85,0.00,0.00,44.10,0.000,0.000,0.476,194,2388,495,-7.98,0.37,575.22
$IRIDIUM_FIX,2828.55,-8834.07,211099,080811
$TT8_MAMPS,0.051389
$HUMID,1401
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,22.5,54.528
$10V_AH,10.5,75.124
$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,20.350,108.550,555.600,44.100,0.000,31.085,26.132,235.245,3.750,0.000,0.000,17.577,0.000,12724.767,644.261,5717.282,710.261,33.341,2315.551,0.000,5094.888,0.000,30.174,0.000
$DEVICE_MAMPS,255.411,62.894,1241.773,476.307,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1266.082,1354.827,4160.312,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97790,1851
$CAP_FILE_SIZE,184545,0
$CFSIZE,260165632,227176448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.154,146.8,1
$GPS,270710,193936,2840.534,-8836.693,31,0.8,31,-0.3