version: 66.04
glider: 515
mission: 5
dive: 236
start: 7 10 110 12 26 24
data:
$ID,515
$MISSION,5
$DIVE,236
$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,-17772.494
$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,37
$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
$GPS1,121915,2842.762,-8844.838,39,3.4,58,-0.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-73.7
$GPS2,122543,2842.707,-8844.929,11,1.4,16,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.234,0.124
$KALMAN_X,-51387.5,-912.4,-287.4,61001.4,2783.2
$KALMAN_Y,-263213.5,680.5,532.3,288565.5,-13161.3
$MHEAD_RNG_PITCHd_Wd,82.9,30786,-10.8,-7.500
$D_GRID,1123
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.63,-194.6,0.0,0.0,0,80,0.00,0.00,-65.35,0.000,2,0.000,0.000,201,2392,2376
$GC,82,-0.63,-194.6,3.0,-1.8,6,135,10.30,1.30,-38.53,0.000,4,0.247,0.055,2537,1469,3634
$GC,199,-0.63,-194.6,15.7,-21.2,16,202,0.00,1.27,0.00,0.000,6,0.000,0.035,2533,2357,3635
$GC,396,-0.63,-194.6,54.8,-16.1,35,397,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2357,3636
$GC,582,-0.63,-194.6,81.6,-13.4,53,585,0.00,1.25,0.00,0.000,4,0.000,0.033,2535,1471,3638
$GC,656,-0.63,-194.6,91.4,-12.9,60,659,0.00,1.33,0.00,0.000,6,0.000,0.035,2531,2390,3638
$GC,853,-0.63,-194.6,117.1,-12.7,79,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2391,3638
$GC,1163,-0.63,-194.6,158.1,-13.5,109,1166,0.00,1.30,0.00,0.000,4,0.000,0.033,2531,1469,3638
$GC,1211,-0.63,-194.6,164.3,-12.5,113,1219,0.00,1.27,0.00,0.000,6,0.000,0.035,2526,2363,3638
$GC,1528,-0.63,-194.6,205.1,-13.2,144,1531,0.00,1.50,0.00,0.000,4,0.000,0.046,2518,3267,3638
$GC,1564,-0.63,-194.6,210.0,-13.0,147,1571,0.00,1.45,0.00,0.000,6,0.000,0.028,2518,2353,3638
$GC,1882,-0.63,-194.6,249.3,-11.2,178,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2353,3636
$GC,2191,-0.63,-194.6,283.7,-11.6,208,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2353,3635
$GC,2501,-0.63,-194.6,320.5,-11.8,238,2504,0.00,1.20,0.00,0.000,4,0.000,0.036,2518,1493,3632
$GC,2526,-0.63,-194.6,323.6,-11.9,240,2535,0.12,1.33,0.00,0.000,6,0.141,0.038,2544,2391,3632
$GC,2843,-0.63,-194.6,354.7,-9.8,271,2844,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2391,3631
$GC,3153,-0.63,-194.6,384.0,-9.5,301,3156,0.00,1.30,0.00,0.000,4,0.000,0.037,2544,1487,3628
$GC,3228,-0.63,-194.6,391.1,-9.8,308,3232,0.00,1.27,0.00,0.000,6,0.000,0.041,2541,2361,3628
$GC,3550,-0.63,-194.6,421.6,-9.6,339,3551,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2362,3625
$GC,3859,-0.63,-194.6,451.2,-9.6,369,3860,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2362,3623
$GC,4170,-0.63,-194.6,480.6,-9.4,399,4171,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2362,3621
$GC,4480,-0.63,-194.6,510.7,-9.6,429,4481,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2362,3619
$GC,4791,-0.63,-194.6,540.4,-9.7,459,4794,0.00,1.25,0.00,0.000,4,0.000,0.041,2541,1502,3616
$GC,4855,-0.63,-194.6,546.4,-9.8,465,4858,0.00,1.30,0.00,0.000,6,0.000,0.045,2536,2374,3615
$GC,5177,-0.63,-194.6,577.5,-9.8,496,5178,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2374,3614
$GC,5486,-0.63,-194.6,608.4,-10.1,526,5489,0.00,1.30,0.00,0.000,4,0.000,0.043,2536,1492,3612
$GC,5532,-0.63,-194.6,613.2,-9.9,530,5540,0.00,1.35,0.00,0.000,6,0.000,0.045,2530,2385,3611
$GC,5851,-0.63,-194.6,644.1,-9.3,561,5852,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2385,3609
$GC,6160,-0.63,-194.6,673.1,-9.2,591,6163,0.00,1.30,0.00,0.000,4,0.000,0.043,2530,1508,3607
$GC,6192,-0.63,-194.6,676.2,-9.9,594,6195,0.00,1.27,0.00,0.000,6,0.000,0.047,2525,2360,3607
$GC,6514,-0.63,-194.6,707.3,-9.9,625,6515,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2360,3606
$GC,6823,-0.63,-194.6,738.1,-10.2,655,6824,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2360,3604
$GC,7133,-0.63,-194.6,769.2,-10.3,685,7134,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2360,3603
$GC,7444,-0.63,-194.6,800.7,-10.1,715,7445,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2360,3601
$GC,7754,-0.63,-194.6,832.0,-9.8,745,7757,0.00,1.27,0.00,0.000,4,0.000,0.044,2525,1498,3599
$GC,7807,-0.63,-194.6,837.3,-10.0,750,7811,0.00,1.33,0.00,0.000,6,0.000,0.048,2519,2374,3599
$GC,8129,-0.63,-194.6,870.8,-10.4,781,8132,0.00,1.30,0.00,0.000,4,0.000,0.044,2519,1506,3598
$GC,8186,-0.63,-194.6,877.0,-10.9,786,8194,0.12,1.35,0.00,0.000,6,0.146,0.048,2545,2386,3597
$GC,8503,-0.63,-194.6,903.4,-8.3,817,8503,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2387,3596
$GC,8815,-0.63,-194.6,928.1,-8.1,847,8815,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2387,3595
$GC,9123,-0.63,-194.6,951.9,-7.7,877,9124,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2387,3594
$GC,9435,-0.63,-194.6,975.1,-7.4,907,9438,0.00,1.33,0.00,0.000,4,0.000,0.045,2545,1500,3593
$GC,9478,-0.63,-194.6,978.3,-7.7,911,9481,0.00,1.30,0.00,0.000,6,0.000,0.050,2542,2362,3593
$STATE,9633,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9633,begin apogee
$GC,9637,-0.25,0.0,990.6,7.9,926,9796,0.40,0.00,152.25,1.247,6,0.130,0.000,2662,2299,2839
$STATE,9797,end apogee,CONTROL_FINISHED_OK
$STATE,9797,begin climb
$GC,9799,0.63,194.6,995.0,0.0,942,9976,0.88,1.45,169.40,1.215,4,0.100,0.049,2946,1372,2046
$GC,10002,0.63,194.6,978.5,12.2,960,10010,0.00,1.35,0.00,0.000,6,0.000,0.044,2946,2274,2041
$GC,10320,0.63,194.6,940.6,12.1,991,10321,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2274,2035
$GC,10629,0.63,194.6,903.9,11.8,1021,10632,0.00,1.62,0.00,0.000,4,0.000,0.055,2946,3174,2033
$GC,10661,0.63,194.6,899.8,12.5,1024,10664,0.00,1.58,0.00,0.000,6,0.000,0.038,2953,2280,2032
$GC,10982,0.63,194.6,861.4,11.7,1055,10985,0.00,1.20,0.00,0.000,4,0.000,0.044,2959,1377,2032
$GC,11025,0.63,194.6,856.4,12.1,1059,11027,0.00,1.23,0.00,0.000,6,0.000,0.045,2959,2276,2031
$GC,11345,0.63,194.6,817.6,12.0,1090,11348,0.00,1.23,0.00,0.000,4,0.000,0.044,2964,1375,2030
$GC,11377,0.63,194.6,813.7,12.0,1093,11380,0.00,1.23,0.00,0.000,6,0.000,0.045,2964,2274,2030
$GC,11698,0.63,194.6,773.8,12.6,1124,11698,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2274,2030
$GC,12008,0.63,194.6,735.5,12.7,1154,12011,0.00,1.23,0.00,0.000,4,0.000,0.044,2970,1365,2029
$GC,12045,0.63,194.6,730.9,12.1,1157,12053,0.00,1.25,0.00,0.000,6,0.000,0.044,2969,2281,2029
$GC,12362,0.63,194.6,690.6,12.9,1188,12363,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2281,2029
$GC,12672,0.63,194.6,650.9,13.0,1218,12675,0.00,1.23,0.00,0.000,4,0.000,0.044,2974,1376,2029
$GC,12697,0.63,194.6,647.5,11.9,1220,12704,0.00,1.25,0.00,0.000,6,0.000,0.044,2974,2279,2028
$GC,13015,0.63,194.6,605.6,13.3,1251,13015,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2279,2029
$GC,13325,0.63,194.6,564.7,12.9,1281,13325,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2279,2028
$GC,13634,0.63,194.6,525.0,12.7,1311,13637,0.00,1.23,0.00,0.000,4,0.000,0.042,2980,1373,2028
$GC,13667,0.63,194.6,521.0,11.2,1314,13670,0.08,1.23,0.00,0.000,6,0.143,0.044,2956,2277,2028
$GC,13987,0.63,194.6,484.2,11.5,1345,13990,0.00,1.62,0.00,0.000,4,0.000,0.054,2955,3164,2028
$GC,14013,0.63,194.6,481.4,12.4,1347,14020,0.00,1.58,0.00,0.000,6,0.000,0.036,2961,2271,2027
$GC,14331,0.63,194.6,444.4,11.6,1378,14332,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2272,2027
$GC,14640,0.63,194.6,408.1,11.5,1408,14643,0.00,1.62,0.00,0.000,4,0.000,0.053,2962,3169,2027
$GC,14665,0.63,194.6,405.0,11.1,1410,14672,0.00,1.58,0.00,0.000,6,0.000,0.036,2969,2273,2027
$GC,14983,0.63,194.6,367.1,11.6,1441,14986,0.00,1.17,0.00,0.000,4,0.000,0.042,2974,1372,2027
$GC,15025,0.63,194.6,362.1,11.7,1445,15028,0.00,1.23,0.00,0.000,6,0.000,0.042,2975,2277,2027
$GC,15346,0.63,194.6,321.8,12.9,1476,15346,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2278,2027
$GC,15656,0.63,194.6,281.3,12.9,1506,15659,0.00,1.60,0.00,0.000,4,0.000,0.052,2975,3183,2028
$GC,15688,0.63,194.6,276.9,13.5,1509,15692,0.12,1.58,0.00,0.000,6,0.150,0.035,2951,2273,2028
$GC,16009,0.63,194.6,242.8,9.8,1540,16012,0.00,1.17,0.00,0.000,4,0.000,0.041,2955,1374,2027
$GC,16067,0.63,194.6,236.8,10.2,1545,16075,0.00,1.20,0.00,0.000,6,0.000,0.041,2955,2272,2028
$GC,16384,0.63,194.6,203.6,10.8,1576,16385,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2272,2028
$GC,16694,0.63,194.6,171.2,10.0,1606,16695,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2272,2029
$GC,17004,0.63,194.6,139.3,9.7,1636,17005,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2272,2030
$GC,17315,0.63,194.6,109.7,8.9,1666,17316,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2272,2031
$GC,17625,0.63,194.6,80.6,9.1,1696,17625,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2272,2032
$GC,17811,0.63,194.6,65.3,7.7,1714,17812,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2272,2032
$GC,17997,0.69,245.2,52.4,6.2,1732,18040,0.00,0.00,37.65,0.545,6,0.000,0.000,2955,2272,1841
$GC,18225,0.74,286.0,37.7,6.4,1754,18260,0.00,1.17,32.15,0.526,4,0.000,0.035,2960,1367,1671
$GC,18287,0.84,370.5,34.1,5.3,1759,18355,0.12,1.23,63.78,0.525,6,0.047,0.035,3033,2276,1329
$GC,18538,0.84,370.5,11.5,8.0,1783,18541,0.00,1.20,0.00,0.000,4,0.000,0.035,3039,1371,1321
$STATE,18643,end climb,SURFACE_DEPTH_REACHED
$STATE,18643,begin surface coast
$FINISH,2.1,1.018300
$STATE,18677,end surface coast,CONTROL_FINISHED_OK
$STATE,18677,begin surface
$SM_CCo,18693,121.95,0.494,0,0,493,575.22
$SM_GC,1.90,0.00,0.00,121.95,0.000,0.000,0.494,204,2384,493,-7.95,0.25,575.22
$IRIDIUM_FIX,2831.00,-8843.89,041099,070758
$TT8_MAMPS,0.050622
$HUMID,1347
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,23.10
$XPDR_PINGS,1
$24V_AH,22.8,41.327
$10V_AH,10.6,57.352
$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,19.925,69.275,455.225,121.950,0.000,27.404,33.413,205.260,4.000,0.000,0.000,18.480,0.000,12689.084,643.820,5252.389,592.262,33.340,2100.755,0.000,4698.046,0.000,28.332,0.000
$DEVICE_MAMPS,246.974,65.195,1247.142,493.948,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1229.597,1311.121,4036.703,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94731,1796
$CAP_FILE_SIZE,163163,0
$CFSIZE,260165632,234086400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.052,154.8,1
$GPS,100710,174101,2842.637,-8841.581,40,1.1,40,-0.2