version: 66.04
glider: 515
mission: 5
dive: 321
start: 7 29 110 5 25 12
data:
$ID,515
$MISSION,5
$DIVE,321
$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,-25383.191
$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,45
$R_STBD_OVSHOOT,19
$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
$GPS1,051755,2842.787,-8837.064,39,1.1,39,-0.3
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-73.2
$GPS2,052431,2842.864,-8837.117,11,1.0,16,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.218,0.149
$KALMAN_X,95132.9,-255.0,67.0,-73835.9,1589.8
$KALMAN_Y,-516244.3,1677.6,626.5,540776.0,-9894.6
$MHEAD_RNG_PITCHd_Wd,68.8,18106,-10.8,-7.500
$D_GRID,964
$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,12,-0.63,-194.6,0.0,0.0,0,72,0.00,0.00,-58.12,0.000,2,0.000,0.000,204,2350,2140
$GC,74,-0.63,-194.6,3.3,-3.7,6,130,10.48,1.60,-42.08,0.000,4,0.251,0.063,2529,3273,3634
$GC,166,-0.63,-194.6,16.4,-23.2,14,174,0.00,1.48,0.00,0.000,6,0.000,0.038,2534,2367,3636
$GC,360,-0.63,-194.6,51.6,-13.4,33,360,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2363,3636
$GC,545,-0.63,-194.6,73.6,-11.7,51,546,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2363,3638
$GC,731,-0.63,-194.6,95.8,-12.6,69,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2363,3639
$GC,918,-0.63,-194.6,118.8,-12.1,87,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2363,3640
$GC,1228,-0.63,-194.6,155.3,-11.5,117,1231,0.00,1.23,0.00,0.000,4,0.000,0.034,2537,1486,3640
$GC,1271,-0.63,-194.6,159.9,-10.8,121,1273,0.00,1.30,0.00,0.000,6,0.000,0.035,2532,2397,3639
$GC,1594,-0.63,-194.6,196.1,-10.9,152,1597,0.00,1.30,0.00,0.000,4,0.000,0.034,2532,1482,3639
$GC,1679,-0.63,-194.6,205.7,-10.6,160,1682,0.00,1.25,0.00,0.000,6,0.000,0.035,2527,2358,3639
$GC,2002,-0.63,-194.6,242.0,-11.2,191,2005,0.00,1.23,0.00,0.000,4,0.000,0.035,2527,1495,3637
$GC,2049,-0.63,-194.6,247.5,-10.7,195,2057,0.00,1.27,0.00,0.000,6,0.000,0.035,2521,2383,3636
$GC,2368,-0.63,-194.6,282.7,-11.6,226,2370,0.00,1.27,0.00,0.000,4,0.000,0.035,2521,1487,3635
$GC,2421,-0.63,-194.6,288.7,-11.2,231,2424,0.00,1.27,0.00,0.000,6,0.000,0.037,2515,2369,3635
$GC,2743,-0.63,-194.6,323.8,-11.2,262,2746,0.00,1.25,0.00,0.000,4,0.000,0.035,2515,1490,3634
$GC,2797,-0.63,-194.6,330.2,-11.1,267,2800,0.08,1.27,0.00,0.000,6,0.140,0.037,2535,2377,3633
$GC,3118,-0.63,-194.6,361.8,-9.9,298,3121,0.00,1.27,0.00,0.000,4,0.000,0.035,2535,1486,3632
$GC,3204,-0.63,-194.6,370.2,-9.7,306,3207,0.00,1.27,0.00,0.000,6,0.000,0.038,2532,2370,3631
$GC,3527,-0.63,-194.6,401.9,-10.2,337,3530,0.00,1.25,0.00,0.000,4,0.000,0.036,2531,1498,3629
$GC,3595,-0.63,-194.6,408.9,-10.0,343,3603,0.00,1.27,0.00,0.000,6,0.000,0.038,2525,2378,3628
$GC,3913,-0.63,-194.6,440.6,-10.4,374,3917,0.00,1.27,0.00,0.000,4,0.000,0.036,2526,1492,3626
$GC,3977,-0.63,-194.6,447.6,-11.1,380,3980,0.00,1.27,0.00,0.000,6,0.000,0.039,2520,2367,3625
$GC,4300,-0.63,-194.6,482.0,-10.8,411,4303,0.00,1.25,0.00,0.000,4,0.000,0.038,2520,1498,3623
$GC,4375,-0.63,-194.6,490.3,-10.8,418,4378,0.00,1.30,0.00,0.000,6,0.000,0.041,2514,2385,3624
$GC,4698,-0.63,-194.6,526.1,-11.2,449,4701,0.12,1.30,0.00,0.000,4,0.144,0.038,2550,1493,3621
$GC,4815,-0.63,-194.6,536.8,-8.8,460,4818,0.00,1.27,0.00,0.000,6,0.000,0.041,2546,2363,3620
$GC,5139,-0.63,-194.6,564.5,-8.7,491,5142,0.00,1.27,0.00,0.000,4,0.000,0.040,2545,1488,3618
$GC,5239,-0.63,-194.6,573.6,-9.6,500,5246,0.00,1.33,0.00,0.000,6,0.000,0.042,2540,2383,3617
$GC,5557,-0.63,-194.6,601.6,-9.4,531,5560,0.00,1.30,0.00,0.000,4,0.000,0.041,2541,1491,3615
$GC,5669,-0.63,-194.6,611.6,-8.8,541,5676,0.00,1.30,0.00,0.000,6,0.000,0.043,2535,2372,3615
$GC,5987,-0.63,-194.6,640.7,-9.8,572,5989,0.00,1.27,0.00,0.000,4,0.000,0.041,2535,1500,3614
$GC,6040,-0.63,-194.6,646.3,-10.4,577,6044,0.00,1.30,0.00,0.000,6,0.000,0.044,2529,2375,3613
$GC,6363,-0.63,-194.6,678.5,-10.0,608,6364,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2375,3611
$GC,6673,-0.63,-194.6,707.9,-9.1,638,6675,0.00,1.27,0.00,0.000,4,0.000,0.042,2529,1507,3609
$GC,6837,-0.63,-194.6,723.0,-9.5,653,6844,0.00,1.30,0.00,0.000,6,0.000,0.044,2525,2376,3608
$GC,7156,-0.63,-194.6,751.1,-9.3,684,7159,0.00,1.30,0.00,0.000,4,0.000,0.041,2524,1492,3607
$GC,7252,-0.63,-194.6,759.9,-8.9,693,7255,0.00,1.30,0.00,0.000,6,0.000,0.044,2519,2367,3606
$GC,7575,-0.63,-194.6,790.9,-9.9,724,7578,0.00,1.27,0.00,0.000,4,0.000,0.043,2519,1504,3605
$GC,7618,-0.63,-194.6,795.3,-9.9,728,7621,0.00,1.30,0.00,0.000,6,0.000,0.047,2519,2372,3604
$GC,7940,-0.63,-194.6,825.7,-9.4,759,7943,0.00,1.30,0.00,0.000,4,0.000,0.043,2519,1491,3603
$GC,7988,-0.63,-194.6,830.4,-10.2,763,7995,0.00,1.33,0.00,0.000,6,0.000,0.046,2518,2376,3603
$GC,8306,-0.63,-194.6,860.3,-10.0,794,8309,0.00,1.30,0.00,0.000,4,0.000,0.043,2518,1496,3602
$GC,8364,-0.63,-194.6,866.2,-9.3,799,8372,0.08,1.33,0.00,0.000,6,0.144,0.046,2538,2378,3601
$GC,8680,-0.63,-194.6,892.2,-8.3,830,8683,0.00,1.30,0.00,0.000,4,0.000,0.043,2537,1500,3600
$GC,8749,-0.63,-194.6,898.3,-8.5,836,8756,0.00,1.30,0.00,0.000,6,0.000,0.045,2535,2368,3599
$GC,9065,-0.63,-194.6,926.1,-8.6,867,9068,0.00,1.27,0.00,0.000,4,0.000,0.044,2535,1506,3598
$GC,9133,-0.63,-194.6,931.9,-8.4,873,9140,0.00,1.30,0.00,0.000,6,0.000,0.045,2529,2373,3598
$GC,9450,-0.63,-194.6,957.7,-8.2,904,9453,0.00,1.27,0.00,0.000,4,0.000,0.043,2529,1507,3597
$STATE,9527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9527,begin apogee
$GC,9533,-0.25,0.0,964.2,7.8,911,9692,0.43,0.00,155.55,1.222,6,0.133,0.000,2657,2279,2839
$STATE,9692,end apogee,CONTROL_FINISHED_OK
$STATE,9692,begin climb
$GC,9694,0.63,194.6,968.7,0.0,927,9871,0.90,0.00,170.73,1.193,6,0.101,0.000,2942,2278,2047
$GC,10181,0.63,194.6,920.7,11.1,975,10182,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2278,2035
$GC,10491,0.63,194.6,888.2,10.5,1005,10492,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2278,2034
$GC,10802,0.63,194.6,851.6,12.3,1035,10805,0.00,1.62,0.00,0.000,4,0.000,0.058,2942,3190,2033
$GC,10845,0.63,194.6,845.7,13.8,1039,10848,0.00,1.52,0.00,0.000,6,0.000,0.036,2950,2289,2032
$GC,11166,0.63,194.6,807.0,10.6,1070,11167,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2290,2032
$GC,11476,0.63,194.6,774.7,10.5,1100,11479,0.00,1.25,0.00,0.000,4,0.000,0.042,2955,1371,2031
$GC,11519,0.63,194.6,770.0,10.5,1104,11522,0.00,1.25,0.00,0.000,6,0.000,0.044,2955,2272,2031
$GC,11840,0.63,194.6,734.1,10.9,1135,11841,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2272,2030
$GC,12151,0.63,194.6,698.1,12.0,1165,12154,0.00,1.60,0.00,0.000,4,0.000,0.054,2955,3186,2030
$GC,12177,0.63,194.6,694.6,13.8,1167,12184,0.00,1.55,0.00,0.000,6,0.000,0.036,2963,2278,2029
$GC,12494,0.63,194.6,657.8,11.7,1198,12497,0.00,1.23,0.00,0.000,4,0.000,0.042,2968,1369,2029
$GC,12526,0.63,194.6,654.5,9.9,1201,12529,0.00,1.27,0.00,0.000,6,0.000,0.044,2968,2276,2029
$GC,12849,0.63,194.6,618.2,12.3,1232,12852,0.00,1.60,0.00,0.000,4,0.000,0.054,2968,3198,2029
$GC,12928,0.63,194.6,607.5,13.5,1239,12936,0.00,1.58,0.00,0.000,6,0.000,0.035,2976,2274,2028
$GC,13247,0.63,194.6,566.9,12.5,1270,13248,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2275,2028
$GC,13555,0.63,194.6,526.9,12.7,1300,13558,0.00,1.62,0.00,0.000,4,0.000,0.053,2976,3196,2028
$GC,13588,0.63,194.6,522.8,13.4,1303,13591,0.12,1.58,0.00,0.000,6,0.154,0.035,2953,2273,2028
$GC,13909,0.63,194.6,489.5,9.7,1334,13912,0.00,1.20,0.00,0.000,4,0.000,0.042,2956,1376,2028
$GC,13973,0.63,194.6,483.5,8.7,1340,13976,0.00,1.25,0.00,0.000,6,0.000,0.043,2956,2280,2028
$GC,14294,0.63,194.6,449.5,10.9,1371,14295,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2281,2028
$GC,14604,0.63,194.6,416.3,11.0,1401,14607,0.00,1.58,0.00,0.000,4,0.000,0.052,2956,3168,2028
$GC,14637,0.63,194.6,412.8,11.3,1404,14639,0.00,1.52,0.00,0.000,6,0.000,0.035,2963,2273,2028
$GC,14957,0.63,194.6,377.8,11.2,1435,14958,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2273,2027
$GC,15268,0.63,194.6,345.1,10.4,1465,15271,0.00,1.60,0.00,0.000,4,0.000,0.052,2963,3184,2028
$GC,15301,0.63,194.6,341.4,12.0,1468,15303,0.00,1.55,0.00,0.000,6,0.000,0.034,2970,2273,2028
$GC,15624,0.63,194.6,303.4,12.3,1499,15624,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2274,2028
$GC,15932,0.63,194.6,267.8,10.9,1529,15935,0.00,1.60,0.00,0.000,4,0.000,0.050,2970,3185,2028
$GC,15964,0.63,194.6,263.9,12.7,1532,15967,0.00,1.55,0.00,0.000,6,0.000,0.033,2977,2272,2028
$GC,16287,0.63,194.6,226.7,11.7,1563,16290,0.00,1.60,0.00,0.000,4,0.000,0.049,2978,3164,2028
$GC,16319,0.63,194.6,222.4,12.3,1566,16322,0.10,1.52,0.00,0.000,6,0.143,0.032,2954,2269,2029
$GC,16640,0.63,194.6,190.5,9.8,1597,16641,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2270,2028
$GC,16950,0.63,194.6,159.8,9.9,1627,16951,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2270,2029
$GC,17261,0.63,194.6,129.0,9.1,1657,17264,0.00,1.60,0.00,0.000,4,0.000,0.048,2953,3166,2031
$GC,17347,0.63,194.6,120.7,10.6,1665,17349,0.00,1.50,0.00,0.000,6,0.000,0.031,2959,2274,2031
$GC,17670,0.63,194.6,92.5,9.5,1696,17670,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2274,2031
$GC,17854,0.63,194.6,76.4,7.7,1714,17855,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2275,2032
$GC,18040,0.63,194.6,60.0,8.0,1732,18043,0.00,1.60,0.00,0.000,4,0.000,0.046,2959,3201,2033
$GC,18173,0.63,194.7,50.3,7.5,1744,18180,0.00,1.55,0.00,0.000,6,0.000,0.028,2967,2272,2033
$GC,18365,0.77,310.7,39.7,4.5,1763,18460,0.00,1.65,88.07,0.534,4,0.000,0.044,2966,3177,1571
$GC,18482,0.80,338.0,33.7,6.8,1773,18506,0.00,1.52,21.52,0.502,6,0.000,0.028,2973,2279,1461
$GC,18690,0.84,371.3,21.0,6.6,1793,18723,0.12,0.00,25.85,0.494,6,0.086,0.000,3018,2278,1325
$GC,18909,0.90,415.8,5.9,6.3,1814,18946,0.00,1.60,33.83,0.482,4,0.000,0.042,3018,3206,1145
$STATE,18961,end climb,SURFACE_DEPTH_REACHED
$STATE,18961,begin surface coast
$FINISH,2.7,1.017802
$STATE,18973,end surface coast,CONTROL_FINISHED_OK
$STATE,18973,begin surface
$SM_CCo,18989,112.18,0.482,0,0,494,575.22
$SM_GC,2.45,0.00,0.00,112.18,0.000,0.000,0.482,199,2348,494,-7.96,-0.76,575.22
$IRIDIUM_FIX,2831.00,-8838.92,231099,010149
$TT8_MAMPS,0.049855
$HUMID,1399
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,22.80
$XPDR_PINGS,3
$24V_AH,22.5,56.002
$10V_AH,10.5,76.837
$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,20.175,101.875,495.550,112.175,0.000,25.810,27.669,211.513,3.750,0.000,0.000,18.273,0.000,12614.694,672.672,5501.674,687.625,33.353,2251.677,0.000,4916.103,0.000,25.418,0.000
$DEVICE_MAMPS,250.809,62.894,1221.831,482.443,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1244.306,1333.748,4090.880,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94620,1820
$CAP_FILE_SIZE,176372,0
$CFSIZE,260165632,226467840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.167,137.8,1
$GPS,290710,104437,2843.026,-8832.740,38,0.9,38,-0.3