version: 66.04
glider: 515
mission: 5
dive: 235
start: 7 10 110 7 42 18
data:
$ID,515
$MISSION,5
$DIVE,235
$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,8
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-17753.385
$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,26
$R_STBD_OVSHOOT,29
$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
$GPS1,072607,2842.318,-8842.959,38,1.0,38,-0.2
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-67.7
$GPS2,074137,2842.285,-8842.905,12,1.3,23,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.103,0.244
$KALMAN_X,-51442.7,-436.8,23.6,63558.1,1159.8
$KALMAN_Y,-257843.5,724.7,331.4,282573.8,-10616.3
$MHEAD_RNG_PITCHd_Wd,298.4,3409,-23.6,-7.500
$D_GRID,1138
$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,-0.91,-52.1,0.0,0.0,0,93,0.00,0.00,-79.05,0.000,2,0.000,0.000,197,2391,2666
$GC,96,-0.96,-91.8,3.2,-3.7,8,125,10.07,1.35,-14.93,0.000,4,0.255,0.054,2434,1460,3216
$GC,175,-0.96,-91.8,18.8,-26.9,15,177,0.00,1.33,0.00,0.000,6,0.000,0.035,2430,2371,3217
$GC,371,-0.96,-91.8,60.8,-15.7,34,374,0.00,1.30,0.00,0.000,4,0.000,0.034,2434,1461,3218
$GC,414,-0.96,-91.8,67.2,-14.6,38,417,0.00,1.33,0.00,0.000,6,0.000,0.035,2430,2385,3218
$GC,611,-0.96,-91.8,93.6,-13.1,57,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2385,3218
$GC,796,-0.96,-91.8,118.2,-13.0,75,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2385,3219
$GC,1107,-0.96,-91.8,159.9,-13.0,105,1110,0.00,1.30,0.00,0.000,4,0.000,0.033,2433,1463,3219
$GC,1203,-0.96,-91.8,171.9,-12.5,114,1206,0.00,1.27,0.00,0.000,6,0.000,0.034,2429,2363,3219
$GC,1525,-0.96,-91.8,211.9,-12.0,145,1529,0.00,1.27,0.00,0.000,4,0.000,0.034,2430,1458,3218
$GC,1664,-0.96,-91.8,228.4,-11.7,158,1667,0.00,1.33,0.00,0.000,6,0.000,0.035,2425,2386,3218
$GC,1986,-0.96,-91.8,264.2,-11.1,189,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2386,3216
$GC,2295,-0.96,-91.8,301.6,-12.6,219,2298,0.00,1.30,0.00,0.000,4,0.000,0.035,2428,1464,3214
$GC,2342,-0.96,-91.8,307.5,-12.0,223,2349,0.00,1.33,0.00,0.000,6,0.000,0.035,2424,2374,3215
$GC,2660,-0.96,-91.8,347.1,-12.2,254,2663,0.00,1.30,0.00,0.000,4,0.000,0.035,2424,1463,3212
$GC,2767,-0.96,-91.8,360.5,-12.3,264,2770,0.00,1.30,0.00,0.000,6,0.000,0.037,2420,2365,3211
$GC,3089,-0.96,-91.8,400.2,-12.0,295,3092,0.00,1.27,0.00,0.000,4,0.000,0.036,2422,1470,3209
$GC,3206,-0.96,-91.8,415.0,-12.8,306,3209,0.00,1.33,0.00,0.000,6,0.000,0.038,2418,2387,3208
$GC,3528,-0.96,-91.8,454.9,-12.6,337,3529,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2386,3206
$GC,3837,-0.96,-91.8,493.7,-12.8,367,3838,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2387,3203
$GC,4148,-0.96,-91.8,531.9,-12.4,397,4151,0.00,1.33,0.00,0.000,4,0.000,0.038,2418,1470,3201
$GC,4244,-0.96,-91.8,544.1,-12.4,406,4247,0.00,1.30,0.00,0.000,6,0.000,0.041,2412,2362,3200
$GC,4567,-0.96,-91.8,585.3,-13.2,437,4567,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2362,3198
$GC,4876,-0.96,-91.8,624.7,-12.2,467,4877,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2362,3196
$GC,5186,-0.96,-91.8,662.2,-11.8,497,5189,0.00,1.30,0.00,0.000,4,0.000,0.041,2412,1468,3193
$GC,5239,-0.96,-91.8,668.6,-12.6,502,5243,0.00,1.35,0.00,0.000,6,0.000,0.042,2406,2384,3193
$GC,5561,-0.96,-91.8,705.9,-11.6,533,5564,0.12,1.35,0.00,0.000,4,0.192,0.040,2440,1466,3191
$GC,5700,-0.96,-91.8,721.2,-10.9,546,5703,0.00,1.33,0.00,0.000,6,0.000,0.043,2436,2365,3191
$GC,6022,-0.96,-91.8,755.0,-10.3,577,6022,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2365,3189
$GC,6331,-0.96,-91.8,787.0,-10.3,607,6332,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2365,3187
$GC,6642,-0.96,-91.8,818.8,-9.9,637,6644,0.00,1.33,0.00,0.000,4,0.000,0.043,2440,1465,3185
$GC,6791,-0.96,-91.8,833.9,-10.6,651,6794,0.00,1.38,0.00,0.000,6,0.000,0.044,2436,2385,3183
$GC,7112,-0.96,-91.8,866.2,-9.9,682,7112,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2385,3182
$GC,7422,-0.96,-91.8,897.0,-10.2,712,7425,0.00,1.35,0.00,0.000,4,0.000,0.044,2440,1469,3181
$GC,7519,-0.96,-91.8,906.3,-9.4,721,7521,0.00,1.33,0.00,0.000,6,0.000,0.045,2436,2364,3180
$GC,7839,-0.96,-91.8,937.1,-9.7,752,7842,0.00,1.33,0.00,0.000,4,0.000,0.044,2440,1465,3178
$GC,7957,-0.96,-91.8,948.1,-9.6,763,7960,0.00,1.38,0.00,0.000,6,0.000,0.046,2435,2387,3178
$GC,8277,-0.96,-91.8,978.5,-9.3,794,8278,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2386,3177
$STATE,8411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8411,begin apogee
$GC,8416,-0.25,0.0,990.8,9.1,807,8487,0.85,0.00,68.93,1.237,6,0.182,0.000,2662,2275,2840
$STATE,8488,end apogee,CONTROL_FINISHED_OK
$STATE,8488,begin climb
$GC,8490,0.96,91.8,992.8,0.0,814,8575,1.20,1.77,79.43,1.218,4,0.104,0.058,3045,3161,2465
$GC,8619,0.96,91.8,979.2,15.2,825,8627,0.00,1.62,0.00,0.000,6,0.000,0.036,3051,2276,2460
$GC,8936,0.96,91.8,929.9,15.8,856,8937,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2277,2455
$GC,9245,0.96,91.8,881.7,16.0,886,9248,0.00,1.65,0.00,0.000,4,0.000,0.054,3046,3164,2453
$GC,9299,0.96,91.8,873.5,15.0,891,9302,0.00,1.58,0.00,0.000,6,0.000,0.037,3052,2272,2452
$GC,9621,0.96,91.8,824.7,15.0,922,9621,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2272,2451
$GC,9930,0.96,91.8,778.7,14.6,952,9933,0.00,1.62,0.00,0.000,4,0.000,0.054,3050,3167,2451
$GC,10005,0.96,91.8,767.3,16.1,959,10008,0.00,1.58,0.00,0.000,6,0.000,0.037,3056,2274,2449
$GC,10328,0.96,91.8,722.3,14.3,990,10330,0.00,1.62,0.00,0.000,4,0.000,0.054,3050,3171,2449
$GC,10370,0.96,91.8,716.1,14.1,994,10373,0.00,1.58,0.00,0.000,6,0.000,0.037,3056,2275,2449
$GC,10692,0.96,91.8,672.1,13.7,1025,10693,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2276,2447
$GC,11002,0.96,91.8,628.7,13.5,1055,11003,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2275,2447
$GC,11311,0.96,91.8,586.0,14.1,1085,11314,0.00,1.65,0.00,0.000,4,0.000,0.054,3050,3169,2447
$GC,11386,0.96,91.8,575.2,15.0,1092,11389,0.00,1.58,0.00,0.000,6,0.000,0.037,3057,2274,2446
$GC,11708,0.96,91.8,531.0,13.9,1123,11709,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2275,2447
$GC,12018,0.96,91.8,489.6,13.0,1153,12021,0.00,1.65,0.00,0.000,4,0.000,0.054,3056,3168,2446
$GC,12081,0.96,91.8,480.6,14.1,1159,12084,0.00,1.58,0.00,0.000,6,0.000,0.036,3064,2274,2446
$GC,12403,0.96,91.8,436.9,13.6,1190,12406,0.00,1.62,0.00,0.000,4,0.000,0.053,3062,3173,2446
$GC,12456,0.96,91.8,429.3,14.4,1195,12460,0.00,1.58,0.00,0.000,6,0.000,0.035,3068,2275,2445
$GC,12779,0.96,91.8,384.1,13.5,1226,12780,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2275,2446
$GC,13088,0.96,91.8,340.4,13.9,1256,13091,0.00,1.62,0.00,0.000,4,0.000,0.051,3067,3158,2445
$GC,13130,0.96,91.8,334.3,13.6,1260,13133,0.00,1.55,0.00,0.000,6,0.000,0.035,3074,2275,2445
$GC,13453,0.96,91.8,288.9,13.9,1291,13453,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2276,2446
$GC,13761,0.96,91.8,245.2,13.5,1321,13764,0.00,1.62,0.00,0.000,4,0.000,0.051,3073,3157,2446
$GC,13826,0.96,91.8,235.3,16.7,1327,13828,0.00,1.55,0.00,0.000,6,0.000,0.034,3080,2271,2446
$GC,14147,0.96,91.8,190.6,12.4,1358,14150,0.00,1.17,0.00,0.000,4,0.000,0.039,3085,1359,2446
$GC,14194,0.96,91.8,184.5,12.9,1362,14201,0.08,1.23,0.00,0.000,6,0.177,0.040,3063,2278,2446
$GC,14510,0.96,91.8,144.7,12.7,1393,14511,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2278,2447
$GC,14821,0.96,91.8,106.6,11.8,1423,14824,0.00,1.60,0.00,0.000,4,0.000,0.048,3062,3168,2448
$GC,14885,0.96,91.8,98.7,12.3,1429,14888,0.00,1.55,0.00,0.000,6,0.000,0.031,3068,2270,2448
$GC,15082,0.96,91.8,77.5,10.4,1448,15082,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2270,2449
$GC,15268,0.96,91.8,59.9,7.8,1466,15272,0.00,1.62,0.00,0.000,4,0.000,0.047,3069,3165,2450
$GC,15357,0.96,91.8,52.1,8.7,1474,15365,0.00,1.52,0.00,0.000,6,0.000,0.029,3076,2273,2450
$GC,15550,1.00,130.0,39.5,3.8,1493,15586,0.00,1.20,27.90,0.538,4,0.000,0.035,3081,1359,2309
$GC,15618,1.05,164.2,37.0,4.2,1499,15654,0.00,1.23,27.02,0.528,6,0.000,0.037,3081,2280,2169
$GC,15839,1.10,205.3,22.3,3.5,1520,15875,0.00,1.62,31.60,0.515,4,0.000,0.045,3081,3164,2001
$GC,16046,1.10,205.3,7.7,8.1,1539,16049,0.00,1.52,0.00,0.000,6,0.000,0.028,3088,2275,1996
$STATE,16158,end climb,SURFACE_DEPTH_REACHED
$STATE,16158,begin surface coast
$FINISH,2.9,1.021530
$STATE,16304,end surface coast,NO_VERTICAL_VELOCITY
$STATE,16305,begin surface
$SM_CCo,16319,217.05,0.492,0,0,493,575.22
$SM_GC,1.95,0.00,0.00,217.05,0.000,0.000,0.492,200,2390,493,-7.96,0.42,575.22
$IRIDIUM_FIX,2831.00,-8843.84,041099,070714
$TT8_MAMPS,0.050622
$HUMID,1334
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,23.90
$XPDR_PINGS,1
$24V_AH,23.6,41.164
$10V_AH,10.6,57.123
$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,20.475,78.125,234.875,217.050,0.000,112.185,207.826,286.976,4.000,0.000,0.000,25.726,0.000,11204.329,539.667,4772.933,922.151,33.345,1857.325,0.000,4247.878,0.000,30.542,0.000
$DEVICE_MAMPS,254.644,57.525,1237.171,491.647,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1071.542,1149.612,3515.361,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82055,1564
$CAP_FILE_SIZE,158552,0
$CFSIZE,260165632,234188800
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.025,214.6,1
$GPS,100710,121915,2842.762,-8844.838,39,3.4,58,-0.2