version: 66.04
glider: 515
mission: 5
dive: 325
start: 7 30 110 3 26 48
data:
$ID,515
$MISSION,5
$DIVE,325
$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,-25447.287
$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,33
$R_STBD_OVSHOOT,38
$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
$GPS1,031806,2843.548,-8830.804,33,0.9,33,-0.4
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-68.3
$GPS2,032526,2843.561,-8830.859,11,1.6,11,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,RECOVER
$TGT_LATLONG,2849.600,-8854.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.233,0.125
$KALMAN_X,95426.2,-1153.1,-276.3,-62665.5,1469.2
$KALMAN_Y,-532872.6,88.3,-56.9,561022.2,-9749.5
$MHEAD_RNG_PITCHd_Wd,319.2,39177,-10.8,-7.500
$D_GRID,1216
$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,-62.80,0.000,2,0.000,0.000,201,2397,2279
$GC,80,-0.63,-194.6,3.5,-4.4,6,126,10.73,1.42,-32.83,0.000,4,0.255,0.062,2534,3258,3634
$GC,320,-0.63,-194.6,46.6,-14.0,28,323,0.00,1.45,0.00,0.000,6,0.000,0.027,2537,2346,3636
$GC,517,-0.63,-194.6,72.7,-12.6,47,520,0.00,1.52,0.00,0.000,4,0.000,0.043,2532,3256,3638
$GC,581,-0.63,-194.6,80.7,-12.4,53,584,0.00,1.40,0.00,0.000,6,0.000,0.026,2537,2370,3637
$GC,778,-0.63,-194.6,103.3,-11.8,72,781,0.00,1.23,0.00,0.000,4,0.000,0.033,2537,1488,3638
$GC,885,-0.63,-194.6,116.3,-12.7,82,888,0.00,1.25,0.00,0.000,6,0.000,0.035,2533,2363,3638
$GC,1208,-0.63,-194.6,154.2,-11.4,113,1211,0.00,1.23,0.00,0.000,4,0.000,0.033,2533,1495,3638
$GC,1251,-0.63,-194.6,159.3,-11.6,117,1254,0.00,1.27,0.00,0.000,6,0.000,0.035,2527,2387,3638
$GC,1574,-0.63,-194.6,198.2,-12.3,148,1578,0.00,1.27,0.00,0.000,4,0.000,0.034,2527,1491,3637
$GC,1681,-0.63,-194.6,210.5,-11.1,158,1684,0.00,1.25,0.00,0.000,6,0.000,0.035,2521,2361,3636
$GC,2005,-0.63,-194.6,247.0,-11.1,189,2007,0.00,1.23,0.00,0.000,4,0.000,0.035,2521,1503,3635
$GC,2105,-0.63,-194.6,258.8,-10.9,198,2112,0.08,1.27,0.00,0.000,6,0.135,0.036,2540,2386,3634
$GC,2421,-0.63,-194.6,289.3,-9.3,229,2425,0.00,1.27,0.00,0.000,4,0.000,0.037,2540,1498,3632
$GC,2490,-0.63,-194.6,296.1,-9.5,235,2497,0.00,1.25,0.00,0.000,6,0.000,0.038,2537,2361,3632
$GC,2808,-0.63,-194.6,327.3,-9.8,266,2811,0.00,1.23,0.00,0.000,4,0.000,0.037,2537,1507,3630
$GC,2866,-0.63,-194.6,333.6,-10.5,271,2872,0.00,1.27,0.00,0.000,6,0.000,0.038,2531,2387,3629
$GC,3184,-0.63,-194.6,366.5,-10.5,302,3186,0.00,1.27,0.00,0.000,4,0.000,0.038,2531,1506,3627
$GC,3247,-0.63,-194.6,373.3,-10.0,308,3251,0.00,1.25,0.00,0.000,6,0.000,0.038,2526,2365,3626
$GC,3570,-0.63,-194.6,406.9,-10.4,339,3573,0.00,1.25,0.00,0.000,4,0.000,0.038,2526,1500,3624
$GC,3634,-0.63,-194.6,413.8,-10.4,345,3637,0.00,1.27,0.00,0.000,6,0.000,0.040,2520,2376,3624
$GC,3958,-0.63,-194.6,448.4,-11.0,376,3961,0.00,1.25,0.00,0.000,4,0.000,0.038,2520,1511,3622
$GC,4026,-0.63,-194.6,456.4,-11.0,382,4033,0.00,1.27,0.00,0.000,6,0.000,0.039,2515,2383,3621
$GC,4345,-0.63,-194.6,491.9,-11.3,413,4348,0.12,1.27,0.00,0.000,4,0.143,0.038,2549,1502,3618
$GC,4413,-0.63,-194.6,498.4,-8.5,419,4420,0.00,1.25,0.00,0.000,6,0.000,0.041,2545,2356,3618
$GC,4732,-0.63,-194.6,524.9,-7.9,450,4735,0.00,1.23,0.00,0.000,4,0.000,0.040,2546,1509,3616
$GC,4807,-0.63,-194.6,531.6,-9.3,457,4810,0.00,1.30,0.00,0.000,6,0.000,0.042,2540,2394,3616
$GC,5129,-0.63,-194.6,561.7,-9.4,488,5132,0.00,1.30,0.00,0.000,4,0.000,0.041,2540,1504,3614
$GC,5194,-0.63,-194.6,568.0,-9.6,494,5197,0.00,1.25,0.00,0.000,6,0.000,0.043,2535,2357,3613
$GC,5516,-0.63,-194.6,597.9,-8.7,525,5519,0.00,1.25,0.00,0.000,4,0.000,0.040,2535,1500,3611
$GC,5592,-0.63,-194.6,604.9,-9.2,532,5595,0.00,1.30,0.00,0.000,6,0.000,0.042,2530,2384,3611
$GC,5914,-0.63,-194.6,636.2,-9.6,563,5917,0.00,1.27,0.00,0.000,4,0.000,0.041,2529,1514,3608
$GC,5993,-0.63,-194.6,644.4,-10.0,570,6000,0.00,1.25,0.00,0.000,6,0.000,0.043,2525,2357,3608
$GC,6312,-0.63,-194.6,675.3,-9.3,601,6313,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2357,3606
$GC,6620,-0.63,-194.6,704.3,-9.2,631,6623,0.00,1.25,0.00,0.000,4,0.000,0.041,2525,1501,3604
$GC,6674,-0.63,-194.6,709.3,-9.7,636,6677,0.00,1.30,0.00,0.000,6,0.000,0.044,2519,2379,3604
$GC,6996,-0.63,-194.6,740.5,-9.4,667,6997,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2379,3602
$GC,7306,-0.63,-194.6,770.0,-9.9,697,7309,0.00,1.27,0.00,0.000,4,0.000,0.043,2519,1516,3600
$GC,7392,-0.63,-194.6,778.2,-9.1,705,7395,0.08,1.27,0.00,0.000,6,0.145,0.046,2538,2367,3600
$GC,7712,-0.63,-194.6,804.5,-8.7,736,7716,0.00,1.27,0.00,0.000,4,0.000,0.043,2538,1502,3598
$GC,7802,-0.63,-194.6,812.1,-8.5,744,7810,0.00,1.33,0.00,0.000,6,0.000,0.045,2535,2389,3598
$GC,8118,-0.63,-194.6,838.8,-8.7,775,8121,0.00,1.30,0.00,0.000,4,0.000,0.044,2535,1511,3596
$GC,8215,-0.63,-194.6,847.4,-9.0,784,8218,0.00,1.27,0.00,0.000,6,0.000,0.046,2530,2360,3596
$GC,8536,-0.63,-194.6,877.2,-9.4,815,8539,0.00,1.25,0.00,0.000,4,0.000,0.043,2530,1516,3594
$GC,8600,-0.63,-194.6,883.2,-9.0,821,8603,0.00,1.30,0.00,0.000,6,0.000,0.047,2526,2385,3594
$GC,8920,-0.63,-194.6,913.0,-9.6,852,8924,0.00,1.30,0.00,0.000,4,0.000,0.044,2526,1510,3592
$GC,9006,-0.63,-194.6,921.0,-9.0,860,9009,0.00,1.27,0.00,0.000,6,0.000,0.046,2521,2358,3592
$GC,9326,-0.63,-194.6,951.4,-9.6,891,9329,0.00,1.25,0.00,0.000,4,0.000,0.044,2521,1516,3591
$GC,9369,-0.63,-194.6,955.6,-10.7,895,9372,0.00,1.33,0.00,0.000,6,0.000,0.047,2515,2392,3591
$GC,9690,-0.63,-194.6,985.9,-9.1,926,9693,0.00,1.30,0.00,0.000,4,0.000,0.044,2515,1518,3589
$STATE,9736,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9736,begin apogee
$GC,9742,-0.25,0.0,990.3,9.6,930,9900,0.47,0.00,155.60,1.238,6,0.136,0.000,2658,2264,2840
$STATE,9901,end apogee,CONTROL_FINISHED_OK
$STATE,9901,begin climb
$GC,9904,0.63,194.6,995.3,0.0,946,10088,0.90,1.85,172.10,1.209,4,0.100,0.055,2944,3166,2045
$GC,10103,0.63,194.6,980.2,11.1,963,10110,0.00,1.58,0.00,0.000,6,0.000,0.035,2950,2308,2041
$GC,10422,0.63,194.6,942.8,11.9,994,10425,0.00,1.30,0.00,0.000,4,0.000,0.043,2956,1375,2035
$GC,10454,0.63,194.6,938.9,12.3,997,10457,0.00,1.25,0.00,0.000,6,0.000,0.045,2956,2269,2035
$GC,10775,0.63,194.6,898.9,12.5,1028,10777,0.00,1.62,0.00,0.000,4,0.000,0.056,2956,3190,2033
$GC,10800,0.63,194.6,895.5,13.6,1030,10808,0.00,1.58,0.00,0.000,6,0.000,0.036,2964,2275,2032
$GC,11118,0.63,194.6,855.8,12.3,1061,11119,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2276,2031
$GC,11427,0.63,194.6,816.7,13.0,1091,11431,0.00,1.62,0.00,0.000,4,0.000,0.054,2964,3172,2031
$GC,11459,0.63,194.6,812.5,13.3,1094,11462,0.00,1.55,0.00,0.000,6,0.000,0.036,2971,2270,2030
$GC,11782,0.63,194.6,771.5,12.9,1125,11783,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2271,2030
$GC,12091,0.63,194.6,730.8,13.2,1155,12091,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2271,2030
$GC,12402,0.63,194.6,690.5,13.3,1185,12405,0.00,1.62,0.00,0.000,4,0.000,0.054,2971,3167,2030
$GC,12455,0.63,194.6,682.9,14.2,1190,12458,0.00,1.52,0.00,0.000,6,0.000,0.036,2979,2278,2028
$GC,12778,0.63,194.6,640.9,12.5,1221,12778,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2279,2028
$GC,13087,0.63,194.6,602.2,12.6,1251,13090,0.00,1.62,0.00,0.000,4,0.000,0.054,2978,3197,2028
$GC,13108,0.63,194.6,599.4,13.2,1253,13111,0.15,1.58,0.00,0.000,6,0.150,0.036,2948,2276,2028
$GC,13429,0.63,194.6,565.8,9.7,1284,13432,0.00,1.23,0.00,0.000,4,0.000,0.044,2952,1367,2028
$GC,13503,0.63,194.6,558.6,9.1,1291,13506,0.00,1.25,0.00,0.000,6,0.000,0.044,2952,2275,2028
$GC,13824,0.63,194.6,525.6,10.6,1322,13827,0.00,1.60,0.00,0.000,4,0.000,0.053,2952,3194,2028
$GC,13867,0.63,194.6,520.8,11.0,1326,13869,0.00,1.58,0.00,0.000,6,0.000,0.035,2959,2271,2027
$GC,14189,0.63,194.6,484.9,11.2,1357,14192,0.00,1.20,0.00,0.000,4,0.000,0.041,2965,1369,2027
$GC,14247,0.63,194.6,478.4,10.5,1362,14254,0.00,1.25,0.00,0.000,6,0.000,0.042,2965,2274,2027
$GC,14565,0.63,194.6,443.7,11.5,1393,14568,0.00,1.60,0.00,0.000,4,0.000,0.053,2965,3194,2027
$GC,14609,0.63,194.6,438.4,12.6,1397,14612,0.00,1.58,0.00,0.000,6,0.000,0.035,2973,2270,2027
$GC,14931,0.63,194.6,401.0,11.2,1428,14932,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2271,2027
$GC,15241,0.63,194.6,365.2,11.5,1458,15242,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2272,2027
$GC,15551,0.63,194.6,329.9,11.8,1488,15553,0.00,1.60,0.00,0.000,4,0.000,0.051,2972,3176,2028
$GC,15587,0.63,194.6,325.3,12.7,1491,15595,0.00,1.55,0.00,0.000,6,0.000,0.033,2980,2269,2028
$GC,15905,0.63,194.6,287.4,12.4,1522,15907,0.12,0.00,0.00,0.000,6,0.153,0.000,2949,2269,2028
$GC,16215,0.63,194.6,257.6,9.3,1552,16218,0.00,1.60,0.00,0.000,4,0.000,0.051,2949,3177,2028
$GC,16259,0.63,194.6,253.3,9.8,1556,16262,0.00,1.55,0.00,0.000,6,0.000,0.033,2955,2267,2028
$GC,16580,0.63,194.6,221.2,9.8,1587,16580,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2268,2028
$GC,16891,0.63,194.6,189.8,10.0,1617,16892,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2268,2029
$GC,17201,0.63,194.6,158.4,10.3,1647,17204,0.00,1.62,0.00,0.000,4,0.000,0.048,2955,3194,2029
$GC,17254,0.63,194.6,153.0,11.4,1652,17258,0.00,1.55,0.00,0.000,6,0.000,0.031,2962,2273,2029
$GC,17575,0.63,194.6,121.5,9.7,1683,17576,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2274,2030
$GC,17886,0.63,194.6,92.3,8.9,1713,17887,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2274,2031
$GC,18072,0.63,194.6,75.2,8.7,1731,18075,0.00,1.60,0.00,0.000,4,0.000,0.047,2962,3196,2032
$GC,18130,0.63,194.6,70.2,8.9,1736,18138,0.00,1.55,0.00,0.000,6,0.000,0.028,2969,2272,2032
$GC,18323,0.63,194.7,55.4,7.5,1755,18324,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2272,2033
$GC,18509,0.67,233.9,43.1,6.5,1773,18543,0.00,1.65,30.50,0.523,4,0.000,0.045,2970,3177,1885
$GC,18565,0.67,233.9,39.0,7.7,1778,18568,0.00,1.52,0.00,0.000,6,0.000,0.028,2976,2272,1883
$GC,18762,0.82,354.1,29.1,4.3,1797,18859,0.10,1.60,91.60,0.519,4,0.073,0.042,3030,3179,1395
$GC,18898,0.86,388.1,21.4,6.6,1809,18928,0.00,1.55,26.67,0.491,6,0.000,0.028,3038,2271,1256
$GC,19113,0.96,464.1,8.6,5.5,1830,19173,0.00,1.23,56.62,0.489,4,0.000,0.034,3042,1367,948
$STATE,19217,end climb,SURFACE_DEPTH_REACHED
$STATE,19218,begin surface coast
$FINISH,0.9,1.009111
$STATE,19292,end surface coast,CONTROL_FINISHED_OK
$STATE,19292,begin surface
$SM_CCo,19309,55.08,0.473,0,0,494,575.22
$SM_GC,1.55,0.00,0.00,55.08,0.000,0.000,0.473,195,2394,494,-7.98,0.54,575.22
$IRIDIUM_FIX,2833.46,-8831.56,231099,212115
$TT8_MAMPS,0.052156
$HUMID,1392
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,22.5,56.625
$10V_AH,10.5,77.799
$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,20.275,113.075,533.100,55.075,0.000,25.417,30.897,241.753,5.000,0.000,0.000,13.616,0.000,12737.648,626.037,5653.572,794.909,33.343,2273.382,0.000,5047.476,0.000,42.320,0.000
$DEVICE_MAMPS,254.644,62.127,1237.938,473.239,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1262.125,1352.061,4148.523,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97835,1846
$CAP_FILE_SIZE,186243,0
$CFSIZE,260165632,226082816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.144,161.6,1
$GPS,300710,085037,2844.083,-8832.581,41,1.0,41,-0.3