version: 66.04
glider: 515
mission: 5
dive: 238
start: 7 10 110 23 3 23
data:
$ID,515
$MISSION,5
$DIVE,238
$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,-17806.861
$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,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,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
$GPS1,225101,2842.858,-8838.053,38,1.5,38,-0.3
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-69.8
$GPS2,230244,2842.864,-8837.979,9,1.5,9,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.227,0.136
$KALMAN_X,-54341.5,421.5,51.0,73593.4,-1501.6
$KALMAN_Y,-268960.6,1550.5,633.8,293607.2,-11123.1
$MHEAD_RNG_PITCHd_Wd,75.6,19501,-10.8,-7.500
$D_GRID,976
$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,-194.6,0.0,0.0,0,99,0.00,0.00,-84.97,0.000,2,0.000,0.000,205,2388,2898
$GC,102,-0.63,-194.6,3.1,-1.5,8,137,10.52,1.27,-19.25,0.000,4,0.254,0.055,2539,1470,3635
$GC,354,-0.63,-194.6,50.9,-16.3,31,363,0.00,1.33,0.00,0.000,6,0.000,0.036,2536,2372,3637
$GC,547,-0.63,-194.6,78.6,-13.7,50,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2373,3638
$GC,734,-0.63,-194.6,103.4,-13.4,68,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2373,3638
$GC,1044,-0.63,-194.6,142.8,-12.4,98,1047,0.00,1.27,0.00,0.000,4,0.000,0.035,2536,1476,3638
$GC,1129,-0.63,-194.6,153.0,-12.0,106,1132,0.00,1.30,0.00,0.000,6,0.000,0.037,2532,2379,3638
$GC,1451,-0.63,-194.6,190.2,-11.3,137,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2380,3637
$GC,1761,-0.63,-194.6,225.4,-11.3,167,1764,0.00,1.30,0.00,0.000,4,0.000,0.036,2532,1472,3635
$GC,1814,-0.63,-194.6,231.3,-11.1,172,1817,0.00,1.30,0.00,0.000,6,0.000,0.038,2526,2370,3635
$GC,2137,-0.63,-194.6,268.3,-11.5,203,2140,0.00,1.50,0.00,0.000,4,0.000,0.049,2519,3263,3633
$GC,2194,-0.63,-194.6,275.6,-12.4,208,2201,0.00,1.48,0.00,0.000,6,0.000,0.028,2519,2351,3633
$GC,2512,-0.63,-194.6,312.6,-11.2,239,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2351,3631
$GC,2821,-0.63,-194.6,346.1,-10.6,269,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2351,3628
$GC,3131,-0.63,-194.6,380.9,-10.6,299,3135,0.00,1.55,0.00,0.000,4,0.000,0.051,2512,3256,3626
$GC,3168,-0.63,-194.6,385.1,-11.1,302,3175,0.08,1.42,0.00,0.000,6,0.138,0.030,2537,2361,3626
$GC,3484,-0.63,-194.6,413.9,-9.5,333,3487,0.00,1.23,0.00,0.000,4,0.000,0.040,2537,1505,3624
$GC,3548,-0.63,-194.6,420.2,-10.0,339,3551,0.00,1.27,0.00,0.000,6,0.000,0.041,2533,2371,3623
$GC,3870,-0.63,-194.6,452.6,-10.2,370,3871,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2371,3620
$GC,4179,-0.63,-194.6,483.6,-10.0,400,4182,0.00,1.27,0.00,0.000,4,0.000,0.041,2533,1502,3618
$GC,4215,-0.63,-194.6,487.5,-9.9,403,4223,0.00,1.30,0.00,0.000,6,0.000,0.042,2527,2380,3618
$GC,4533,-0.63,-194.6,518.9,-10.0,434,4534,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2381,3615
$GC,4843,-0.63,-194.6,551.1,-10.4,464,4843,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2381,3613
$GC,5152,-0.63,-194.6,582.3,-9.8,494,5155,0.00,1.30,0.00,0.000,4,0.000,0.041,2528,1496,3611
$GC,5210,-0.63,-194.6,588.1,-9.1,499,5218,0.00,1.30,0.00,0.000,6,0.000,0.044,2522,2369,3610
$GC,5528,-0.63,-194.6,620.5,-10.2,530,5531,0.00,1.27,0.00,0.000,4,0.000,0.042,2522,1506,3608
$GC,5564,-0.63,-194.6,624.4,-10.4,533,5571,0.00,1.33,0.00,0.000,6,0.000,0.044,2516,2382,3607
$GC,5882,-0.63,-194.6,656.9,-10.4,564,5883,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2383,3605
$GC,6191,-0.63,-194.6,689.1,-10.2,594,6194,0.00,1.30,0.00,0.000,4,0.000,0.043,2516,1504,3604
$GC,6244,-0.63,-194.6,694.9,-10.9,599,6248,0.08,1.27,0.00,0.000,6,0.148,0.047,2535,2360,3603
$GC,6565,-0.63,-194.6,722.7,-8.4,630,6566,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2360,3602
$GC,6876,-0.63,-194.6,748.0,-8.1,660,6877,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2360,3600
$GC,7186,-0.63,-194.6,774.4,-8.7,690,7186,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2360,3598
$GC,7496,-0.63,-194.6,801.7,-8.8,720,7497,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2360,3596
$GC,7807,-0.63,-194.6,828.4,-8.3,750,7808,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2359,3595
$GC,8117,-0.63,-194.6,855.8,-9.3,780,8120,0.00,1.27,0.00,0.000,4,0.000,0.044,2536,1499,3593
$GC,8153,-0.63,-194.6,859.2,-10.0,783,8161,0.00,1.33,0.00,0.000,6,0.000,0.048,2533,2376,3593
$GC,8469,-0.63,-194.6,888.8,-9.1,814,8472,0.00,1.55,0.00,0.000,4,0.000,0.061,2526,3253,3592
$GC,8512,-0.63,-194.6,892.7,-9.4,818,8516,0.00,1.45,0.00,0.000,6,0.000,0.038,2526,2376,3592
$GC,8833,-0.63,-194.6,921.9,-8.7,849,8836,0.00,1.30,0.00,0.000,4,0.000,0.045,2526,1493,3590
$GC,8891,-0.63,-194.6,927.4,-8.9,854,8898,0.00,1.33,0.00,0.000,6,0.000,0.049,2521,2365,3590
$GC,9207,-0.63,-194.6,956.9,-9.3,885,9210,0.00,1.55,0.00,0.000,4,0.000,0.061,2513,3254,3589
$GC,9260,-0.63,-194.6,962.2,-9.5,890,9264,0.00,1.45,0.00,0.000,6,0.000,0.038,2514,2379,3589
$STATE,9403,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9403,begin apogee
$GC,9408,-0.25,0.0,976.0,10.1,904,9568,0.50,0.00,151.45,1.234,6,0.137,0.000,2662,2287,2839
$STATE,9568,end apogee,CONTROL_FINISHED_OK
$STATE,9568,begin climb
$GC,9570,0.63,194.6,980.8,0.0,920,9747,0.93,0.00,168.70,1.203,6,0.101,0.000,2953,2287,2045
$GC,10056,0.63,194.6,929.6,12.6,968,10057,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2286,2035
$GC,10367,0.63,194.6,892.3,11.9,998,10370,0.00,1.23,0.00,0.000,4,0.000,0.044,2959,1376,2033
$GC,10430,0.63,194.6,884.6,11.8,1004,10433,0.00,1.25,0.00,0.000,6,0.000,0.044,2959,2281,2034
$GC,10751,0.63,194.6,845.7,11.8,1035,10752,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2281,2032
$GC,11062,0.63,194.6,807.3,12.2,1065,11063,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2281,2031
$GC,11373,0.63,194.6,769.1,12.6,1095,11373,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2281,2030
$GC,11683,0.63,194.6,730.6,12.2,1125,11686,0.00,1.23,0.00,0.000,4,0.000,0.043,2964,1377,2030
$GC,11746,0.63,194.6,722.8,12.4,1131,11750,0.00,1.25,0.00,0.000,6,0.000,0.045,2964,2285,2030
$GC,12067,0.63,194.6,683.7,11.9,1162,12068,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2285,2029
$GC,12378,0.63,194.6,646.8,12.0,1192,12379,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2285,2029
$GC,12689,0.63,194.6,611.8,10.7,1222,12689,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2285,2029
$GC,12999,0.63,194.6,578.9,10.4,1252,13002,0.00,1.60,0.00,0.000,4,0.000,0.054,2964,3187,2028
$GC,13078,0.63,194.6,569.4,11.6,1259,13086,0.00,1.60,0.00,0.000,6,0.000,0.036,2972,2275,2027
$GC,13395,0.63,194.6,533.2,11.6,1290,13398,0.00,1.62,0.00,0.000,4,0.000,0.054,2972,3171,2027
$GC,13438,0.63,194.6,528.0,12.7,1294,13441,0.00,1.58,0.00,0.000,6,0.000,0.037,2979,2275,2026
$GC,13760,0.63,194.6,487.7,12.5,1325,13763,0.00,1.65,0.00,0.000,4,0.000,0.054,2980,3165,2027
$GC,13817,0.63,194.6,479.5,13.4,1330,13825,0.10,1.58,0.00,0.000,6,0.150,0.036,2956,2274,2027
$GC,14134,0.63,194.6,446.3,10.2,1361,14137,0.00,1.65,0.00,0.000,4,0.000,0.053,2955,3165,2027
$GC,14176,0.63,194.6,441.6,11.5,1365,14179,0.00,1.58,0.00,0.000,6,0.000,0.036,2961,2273,2027
$GC,14497,0.63,194.6,405.5,11.2,1396,14500,0.00,1.67,0.00,0.000,4,0.000,0.054,2961,3176,2027
$GC,14561,0.63,194.6,397.9,12.2,1402,14564,0.00,1.58,0.00,0.000,6,0.000,0.036,2969,2275,2027
$GC,14883,0.63,194.6,360.7,11.4,1433,14887,0.00,1.65,0.00,0.000,4,0.000,0.053,2969,3170,2027
$GC,14990,0.63,194.6,347.4,13.1,1443,14993,0.00,1.58,0.00,0.000,6,0.000,0.035,2976,2272,2027
$GC,15312,0.63,194.6,309.8,11.1,1474,15315,0.00,1.62,0.00,0.000,4,0.000,0.051,2976,3171,2027
$GC,15387,0.63,194.6,300.6,12.1,1481,15390,0.10,1.58,0.00,0.000,6,0.145,0.035,2953,2273,2027
$GC,15708,0.63,194.6,268.0,9.6,1512,15711,0.00,1.62,0.00,0.000,4,0.000,0.051,2953,3173,2027
$GC,15755,0.63,194.6,263.1,10.3,1516,15762,0.00,1.58,0.00,0.000,6,0.000,0.034,2958,2274,2027
$GC,16072,0.63,194.6,231.2,10.5,1547,16075,0.00,1.65,0.00,0.000,4,0.000,0.051,2958,3174,2028
$GC,16147,0.63,194.6,223.0,11.1,1554,16150,0.00,1.55,0.00,0.000,6,0.000,0.033,2965,2276,2028
$GC,16467,0.63,194.6,187.4,10.7,1585,16471,0.00,1.65,0.00,0.000,4,0.000,0.049,2965,3179,2029
$GC,16521,0.63,194.6,181.1,11.6,1590,16524,0.00,1.55,0.00,0.000,6,0.000,0.032,2973,2280,2029
$GC,16843,0.63,194.6,145.6,10.7,1621,16846,0.00,1.60,0.00,0.000,4,0.000,0.048,2973,3182,2030
$GC,16890,0.63,194.6,140.1,11.5,1625,16897,0.08,1.55,0.00,0.000,6,0.140,0.031,2956,2280,2030
$GC,17207,0.63,194.6,110.8,8.9,1656,17209,0.00,1.60,0.00,0.000,4,0.000,0.048,2955,3182,2031
$GC,17253,0.63,194.6,106.1,9.3,1660,17261,0.00,1.58,0.00,0.000,6,0.000,0.031,2961,2267,2031
$GC,17571,0.63,194.6,77.7,8.8,1691,17572,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2268,2032
$GC,17756,0.63,194.6,62.0,8.4,1709,17759,0.00,1.62,0.00,0.000,4,0.000,0.046,2961,3183,2032
$GC,17820,0.63,199.7,56.6,7.4,1715,17823,0.00,1.55,0.00,0.000,6,0.000,0.029,2969,2275,2032
$GC,18017,0.73,280.4,43.5,5.4,1734,18087,0.00,0.00,64.03,0.538,6,0.000,0.000,2969,2275,1695
$GC,18271,0.87,392.6,29.7,4.6,1758,18359,0.17,1.65,83.65,0.518,4,0.058,0.044,3065,3178,1237
$GC,18417,0.87,392.6,15.4,11.7,1770,18425,0.12,1.58,0.00,0.000,6,0.123,0.028,3032,2279,1232
$STATE,18567,end climb,SURFACE_DEPTH_REACHED
$STATE,18567,begin surface coast
$FINISH,2.5,1.018901
$STATE,18599,end surface coast,CONTROL_FINISHED_OK
$STATE,18599,begin surface
$SM_CCo,18614,112.95,0.491,0,0,495,575.22
$SM_GC,2.00,0.00,0.00,112.95,0.000,0.000,0.491,202,2396,495,-7.95,0.59,575.22
$IRIDIUM_FIX,2833.46,-8836.47,041099,232355
$TT8_MAMPS,0.051389
$HUMID,1338
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.40
$XPDR_PINGS,3
$24V_AH,22.9,41.662
$10V_AH,10.6,57.806
$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,20.450,88.050,467.825,112.950,0.000,57.648,61.358,386.972,5.000,0.000,0.000,19.820,0.000,12553.897,669.188,5332.128,845.190,33.338,2171.442,0.000,4753.997,0.000,37.457,0.000
$DEVICE_MAMPS,253.877,61.360,1234.103,490.880,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1222.144,1306.040,4018.804,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94598,1788
$CAP_FILE_SIZE,173457,0
$CFSIZE,260165632,233897984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.099,135.3,1
$GPS,110710,041631,2843.053,-8834.316,39,1.4,39,-0.3