version: 66.04
glider: 515
mission: 5
dive: 324
start: 7 29 110 21 51 4
data:
$ID,515
$MISSION,5
$DIVE,324
$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,-14
$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,-25433.041
$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,41
$R_STBD_OVSHOOT,33
$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,800
$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
$GPS1,213436,2844.332,-8828.145,39,1.0,39,-0.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-71.2
$GPS2,214925,2844.094,-8828.339,10,2.0,16,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,RECOVER
$TGT_LATLONG,2849.600,-8854.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.080,0.252
$KALMAN_X,97321.8,-670.7,-305.3,-60912.4,1700.8
$KALMAN_Y,-524969.4,-132.1,-1.3,554259.8,-6554.4
$MHEAD_RNG_PITCHd_Wd,299.6,42866,-10.8,-7.500
$D_GRID,1401
$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,-194.6,0.0,0.0,0,69,0.00,0.00,-52.47,0.000,2,0.000,0.000,193,2400,2018
$GC,72,-0.63,-194.6,3.3,-3.5,5,133,10.27,1.48,-45.38,0.000,4,0.242,0.069,2529,3259,3635
$GC,347,-0.63,-194.6,47.1,-13.1,30,350,0.00,1.42,0.00,0.000,6,0.000,0.025,2534,2352,3637
$GC,544,-0.63,-194.6,70.2,-11.5,49,547,0.00,1.20,0.00,0.000,4,0.000,0.035,2536,1487,3637
$GC,608,-0.63,-194.6,77.9,-11.6,55,611,0.00,1.25,0.00,0.000,6,0.000,0.034,2532,2370,3637
$GC,805,-0.63,-194.6,101.4,-11.5,74,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2371,3637
$GC,1116,-0.63,-194.6,137.4,-11.1,104,1118,0.00,1.25,0.00,0.000,4,0.000,0.034,2532,1486,3637
$GC,1205,-0.63,-194.6,147.5,-10.5,112,1212,0.00,1.27,0.00,0.000,6,0.000,0.034,2527,2382,3637
$GC,1524,-0.63,-194.6,183.9,-11.6,143,1527,0.00,1.25,0.00,0.000,4,0.000,0.035,2526,1500,3634
$GC,1566,-0.63,-194.6,189.1,-11.9,147,1569,0.00,1.23,0.00,0.000,6,0.000,0.035,2521,2359,3633
$GC,1889,-0.63,-194.6,225.4,-11.5,178,1892,0.00,1.23,0.00,0.000,4,0.000,0.036,2521,1501,3631
$GC,1985,-0.63,-194.6,236.3,-11.1,187,1988,0.00,1.27,0.00,0.000,6,0.000,0.037,2515,2388,3630
$GC,2308,-0.63,-194.6,272.8,-11.6,218,2311,0.00,1.27,0.00,0.000,4,0.000,0.037,2515,1498,3628
$GC,2415,-0.63,-194.6,285.1,-11.2,228,2418,0.08,1.25,0.00,0.000,6,0.137,0.037,2536,2369,3627
$GC,2736,-0.63,-194.6,315.8,-9.6,259,2739,0.00,1.25,0.00,0.000,4,0.000,0.036,2536,1495,3624
$GC,2794,-0.63,-194.6,321.5,-9.4,264,2801,0.00,1.27,0.00,0.000,6,0.000,0.037,2532,2380,3623
$GC,3112,-0.63,-194.6,351.7,-9.8,295,3115,0.00,1.27,0.00,0.000,4,0.000,0.037,2532,1489,3620
$GC,3219,-0.63,-194.6,362.6,-9.8,305,3222,0.00,1.27,0.00,0.000,6,0.000,0.038,2526,2371,3619
$GC,3542,-0.63,-194.6,395.8,-10.5,336,3545,0.00,1.25,0.00,0.000,4,0.000,0.038,2526,1502,3616
$GC,3628,-0.63,-194.6,404.9,-10.3,344,3630,0.00,1.27,0.00,0.000,6,0.000,0.039,2521,2382,3616
$GC,3950,-0.63,-194.6,439.5,-10.5,375,3953,0.00,1.27,0.00,0.000,4,0.000,0.039,2521,1496,3614
$GC,4029,-0.63,-194.6,448.3,-11.0,382,4036,0.00,1.27,0.00,0.000,6,0.000,0.039,2515,2375,3613
$GC,4347,-0.63,-194.6,482.4,-10.6,413,4351,0.00,1.25,0.00,0.000,4,0.000,0.038,2515,1504,3610
$GC,4416,-0.63,-194.6,490.5,-10.9,419,4423,0.10,1.27,0.00,0.000,6,0.131,0.039,2542,2377,3610
$GC,4732,-0.63,-194.6,518.6,-8.7,450,4735,0.00,1.27,0.00,0.000,4,0.000,0.039,2542,1497,3607
$GC,4850,-0.63,-194.6,528.8,-8.8,461,4853,0.00,1.27,0.00,0.000,6,0.000,0.041,2539,2366,3607
$GC,5173,-0.63,-194.6,557.9,-8.8,492,5176,0.00,1.25,0.00,0.000,4,0.000,0.041,2539,1507,3603
$GC,5236,-0.63,-194.6,564.2,-9.1,498,5239,0.00,1.27,0.00,0.000,6,0.000,0.041,2533,2377,3602
$GC,5559,-0.63,-194.6,593.9,-9.2,529,5562,0.00,1.27,0.00,0.000,4,0.000,0.041,2533,1505,3600
$GC,5709,-0.63,-194.6,608.1,-9.8,543,5712,0.00,1.27,0.00,0.000,6,0.000,0.042,2528,2373,3600
$GC,6032,-0.63,-194.6,639.0,-9.6,574,6035,0.00,1.27,0.00,0.000,4,0.000,0.041,2528,1502,3597
$GC,6085,-0.63,-194.6,644.2,-9.9,579,6088,0.00,1.27,0.00,0.000,6,0.000,0.042,2522,2369,3597
$GC,6408,-0.63,-194.6,676.3,-10.7,610,6410,0.00,1.27,0.00,0.000,4,0.000,0.041,2522,1500,3594
$GC,6508,-0.63,-194.6,686.7,-10.5,619,6515,0.00,1.33,0.00,0.000,6,0.000,0.042,2516,2394,3594
$GC,6826,-0.63,-194.6,718.7,-10.0,650,6829,0.00,1.30,0.00,0.000,4,0.000,0.042,2516,1509,3592
$GC,6884,-0.63,-194.6,724.8,-10.0,655,6891,0.08,1.25,0.00,0.000,6,0.140,0.044,2536,2354,3591
$GC,7200,-0.63,-194.6,751.7,-8.2,686,7203,0.00,1.25,0.00,0.000,4,0.000,0.042,2537,1501,3590
$GC,7247,-0.63,-194.6,755.9,-8.5,690,7254,0.00,1.33,0.00,0.000,6,0.000,0.044,2533,2391,3590
$GC,7566,-0.63,-194.6,783.7,-9.2,721,7569,0.00,1.30,0.00,0.000,4,0.000,0.043,2533,1511,3588
$GC,7662,-0.63,-194.6,792.6,-8.8,730,7665,0.00,1.27,0.00,0.000,6,0.000,0.046,2528,2365,3587
$GC,7983,-0.63,-194.6,823.1,-9.3,761,7986,0.00,1.27,0.00,0.000,4,0.000,0.043,2528,1500,3585
$GC,8079,-0.63,-194.6,832.1,-9.5,770,8082,0.00,1.30,0.00,0.000,6,0.000,0.045,2522,2376,3585
$GC,8400,-0.63,-194.6,862.0,-9.2,801,8403,0.00,1.27,0.00,0.000,4,0.000,0.043,2522,1511,3584
$GC,8485,-0.63,-194.6,869.6,-9.0,809,8489,0.00,1.27,0.00,0.000,6,0.000,0.045,2516,2366,3584
$GC,8806,-0.63,-194.6,899.5,-9.4,840,8810,0.00,1.27,0.00,0.000,4,0.000,0.044,2517,1503,3583
$GC,8859,-0.63,-194.6,904.5,-9.9,845,8862,0.08,1.30,0.00,0.000,6,0.145,0.045,2536,2376,3582
$GC,9180,-0.63,-194.6,931.7,-8.7,876,9183,0.00,1.27,0.00,0.000,4,0.000,0.043,2536,1510,3581
$GC,9291,-0.63,-194.6,941.4,-8.7,886,9298,0.00,1.27,0.00,0.000,6,0.000,0.045,2533,2363,3580
$GC,9608,-0.63,-194.6,968.1,-8.4,917,9608,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2363,3579
$STATE,9878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9878,begin apogee
$GC,9883,-0.25,0.0,990.2,8.2,943,10040,0.38,0.00,152.32,1.242,6,0.134,0.000,2650,2292,2840
$STATE,10041,end apogee,CONTROL_FINISHED_OK
$STATE,10041,begin climb
$GC,10043,0.63,194.6,995.6,0.0,959,10225,0.93,1.73,171.15,1.212,4,0.106,0.056,2940,3169,2044
$GC,10272,0.63,194.6,976.8,11.0,978,10279,0.00,1.62,0.00,0.000,6,0.000,0.035,2947,2274,2038
$GC,10590,0.63,194.6,940.7,11.3,1009,10594,0.00,1.62,0.00,0.000,4,0.000,0.054,2947,3169,2034
$GC,10612,0.63,194.6,937.9,12.2,1011,10615,0.00,1.55,0.00,0.000,6,0.000,0.036,2954,2274,2032
$GC,10935,0.63,194.6,899.3,11.8,1042,10936,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2276,2031
$GC,11244,0.63,194.6,862.3,11.6,1072,11245,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2276,2030
$GC,11554,0.63,194.6,827.0,11.1,1102,11557,0.00,1.60,0.00,0.000,4,0.000,0.054,2955,3179,2030
$GC,11586,0.63,194.6,823.2,12.1,1105,11589,0.00,1.55,0.00,0.000,6,0.000,0.036,2962,2274,2029
$GC,11909,0.63,194.6,784.3,12.1,1136,11910,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2276,2028
$GC,12218,0.63,194.6,746.8,11.8,1166,12221,0.00,1.60,0.00,0.000,4,0.000,0.054,2962,3178,2028
$GC,12254,0.63,194.6,742.0,12.7,1169,12262,0.00,1.55,0.00,0.000,6,0.000,0.036,2970,2274,2027
$GC,12572,0.63,194.6,701.8,12.7,1200,12575,0.00,1.60,0.00,0.000,4,0.000,0.054,2970,3182,2027
$GC,12630,0.63,194.6,693.5,13.9,1205,12638,0.00,1.58,0.00,0.000,6,0.000,0.036,2977,2268,2026
$GC,12948,0.63,194.6,652.9,12.9,1236,12948,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2269,2026
$GC,13257,0.63,194.6,612.8,13.0,1266,13260,0.00,1.62,0.00,0.000,4,0.000,0.053,2977,3186,2026
$GC,13311,0.63,194.6,605.7,14.3,1271,13314,0.12,1.58,0.00,0.000,6,0.153,0.036,2953,2268,2026
$GC,13632,0.63,194.6,571.3,10.4,1302,13634,0.00,1.20,0.00,0.000,4,0.000,0.042,2958,1371,2026
$GC,13700,0.63,194.6,564.5,9.7,1308,13707,0.00,1.25,0.00,0.000,6,0.000,0.043,2957,2272,2025
$GC,14018,0.63,194.6,531.2,11.0,1339,14021,0.00,1.60,0.00,0.000,4,0.000,0.053,2957,3192,2026
$GC,14072,0.63,194.6,525.0,11.5,1344,14075,0.00,1.58,0.00,0.000,6,0.000,0.035,2965,2268,2025
$GC,14395,0.63,194.6,488.1,11.6,1375,14397,0.00,1.20,0.00,0.000,4,0.000,0.041,2970,1370,2025
$GC,14426,0.63,194.6,484.3,10.2,1378,14429,0.00,1.25,0.00,0.000,6,0.000,0.043,2971,2277,2025
$GC,14747,0.63,194.6,447.4,11.5,1409,14750,0.00,1.58,0.00,0.000,4,0.000,0.051,2971,3165,2025
$GC,14790,0.63,194.6,442.2,11.7,1413,14793,0.00,1.52,0.00,0.000,6,0.000,0.035,2978,2270,2025
$GC,15111,0.63,194.6,402.2,12.2,1444,15111,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2272,2025
$GC,15421,0.63,194.6,363.0,12.7,1474,15424,0.00,1.60,0.00,0.000,4,0.000,0.051,2978,3182,2025
$GC,15479,0.63,194.6,355.4,11.8,1479,15486,0.10,1.55,0.00,0.000,6,0.140,0.034,2954,2275,2025
$GC,15795,0.63,194.6,323.3,10.0,1510,15796,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2276,2025
$GC,16106,0.63,194.6,291.6,10.1,1540,16107,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2276,2025
$GC,16416,0.63,194.6,260.9,9.6,1570,16417,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2276,2026
$GC,16727,0.63,194.6,230.4,10.0,1600,16728,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2276,2025
$GC,17037,0.63,194.6,199.7,9.9,1630,17038,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2276,2026
$GC,17348,0.63,194.6,169.2,9.4,1660,17349,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2276,2026
$GC,17658,0.63,194.6,140.6,9.0,1690,17659,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2276,2027
$GC,17969,0.63,194.6,112.2,9.7,1720,17972,0.00,1.60,0.00,0.000,4,0.000,0.047,2954,3200,2028
$GC,18005,0.63,194.6,108.5,10.1,1723,18012,0.00,1.55,0.00,0.000,6,0.000,0.030,2960,2272,2028
$GC,18323,0.63,194.6,80.0,9.0,1754,18324,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2273,2029
$GC,18508,0.63,194.6,64.5,7.9,1772,18509,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2273,2029
$GC,18694,0.71,265.0,51.4,5.7,1790,18754,0.00,1.60,53.92,0.541,4,0.000,0.044,2960,3180,1757
$GC,18808,0.71,265.0,44.0,7.6,1800,18811,0.00,1.52,0.00,0.000,6,0.000,0.029,2967,2276,1753
$GC,19005,0.78,320.6,32.1,6.0,1819,19053,0.00,1.23,42.60,0.519,4,0.000,0.035,2972,1365,1532
$GC,19096,0.92,431.1,27.8,4.6,1827,19183,0.15,1.25,83.28,0.513,6,0.056,0.035,3045,2276,1082
$GC,19377,0.95,459.9,8.0,6.7,1853,19401,0.00,1.27,22.12,0.473,4,0.000,0.035,3048,1353,965
$STATE,19453,end climb,SURFACE_DEPTH_REACHED
$STATE,19453,begin surface coast
$FINISH,0.7,1.020891
$STATE,19487,end surface coast,CONTROL_FINISHED_OK
$STATE,19487,begin surface
$SM_CCo,19504,60.75,0.475,0,0,493,575.22
$SM_GC,1.69,0.00,0.00,60.75,0.000,0.000,0.475,200,2397,493,-7.96,0.62,575.22
$IRIDIUM_FIX,2831.00,-8829.10,231099,212137
$TT8_MAMPS,0.051389
$HUMID,1404
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,23.30
$XPDR_PINGS,2
$24V_AH,22.6,56.458
$10V_AH,10.5,77.558
$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,19.975,104.000,525.400,60.750,0.000,75.807,91.292,442.241,5.500,0.000,0.000,18.369,0.000,13021.771,622.383,5732.979,1103.850,33.345,2287.492,0.000,5098.623,0.000,38.006,0.000
$DEVICE_MAMPS,241.605,69.030,1241.773,474.773,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1274.561,1366.294,4187.356,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97826,1863
$CAP_FILE_SIZE,191289,0
$CFSIZE,260165632,226172928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.164,165.5,1
$GPS,300710,031806,2843.548,-8830.804,33,0.9,33,-0.4