version: 66.04
glider: 515
mission: 5
dive: 243
start: 7 12 110 1 29 24
data:
$ID,515
$MISSION,5
$DIVE,243
$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,-17894.084
$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,32
$R_STBD_OVSHOOT,31
$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
$GPS1,012130,2843.008,-8829.071,39,0.9,45,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-71.4
$GPS2,012802,2842.985,-8829.008,14,1.1,14,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.245,0.100
$KALMAN_X,-49182.2,121.6,188.5,83187.0,1854.5
$KALMAN_Y,-287914.2,1071.1,927.1,312983.3,-12375.4
$MHEAD_RNG_PITCHd_Wd,301.9,26000,-10.8,-7.500
$D_GRID,1370
$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,-0.63,-194.6,0.0,0.0,0,59,0.00,0.00,-45.75,0.000,2,0.000,0.000,201,2390,1762
$GC,61,-0.63,-194.6,3.1,-4.2,4,136,9.93,1.48,-59.33,0.000,4,0.237,0.062,2530,3262,3635
$GC,260,-0.63,-194.6,33.8,-26.1,22,263,0.00,1.45,0.00,0.000,6,0.000,0.029,2535,2361,3636
$GC,457,-0.63,-194.6,67.0,-15.3,41,460,0.00,1.23,0.00,0.000,4,0.000,0.035,2536,1483,3636
$GC,574,-0.63,-194.6,84.5,-13.6,52,577,0.00,1.27,0.00,0.000,6,0.000,0.034,2532,2374,3637
$GC,772,-0.63,-194.6,110.9,-13.1,71,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2374,3638
$GC,1081,-0.63,-194.6,150.3,-12.7,101,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2374,3638
$GC,1392,-0.63,-194.6,188.1,-11.8,131,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2374,3638
$GC,1702,-0.63,-194.6,223.9,-11.2,161,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2374,3637
$GC,2013,-0.63,-194.6,258.0,-10.8,191,2016,0.00,1.27,0.00,0.000,4,0.000,0.037,2532,1488,3635
$GC,2066,-0.63,-194.6,263.8,-11.0,196,2069,0.00,1.27,0.00,0.000,6,0.000,0.038,2527,2368,3634
$GC,2389,-0.63,-194.6,298.1,-11.2,227,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2368,3633
$GC,2697,-0.63,-194.6,331.6,-10.8,257,2701,0.00,1.27,0.00,0.000,4,0.000,0.038,2527,1484,3631
$GC,2740,-0.63,-194.6,336.3,-10.9,261,2743,0.00,1.30,0.00,0.000,6,0.000,0.039,2521,2382,3631
$GC,3062,-0.63,-194.6,372.3,-11.2,292,3063,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2382,3629
$GC,3371,-0.63,-194.6,407.3,-11.2,322,3374,0.00,1.30,0.00,0.000,4,0.000,0.039,2520,1479,3626
$GC,3407,-0.63,-194.6,411.4,-11.4,325,3414,0.00,1.30,0.00,0.000,6,0.000,0.039,2515,2367,3625
$GC,3725,-0.63,-194.6,447.6,-11.1,356,3726,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2367,3623
$GC,4034,-0.63,-194.6,483.1,-11.2,386,4037,0.00,1.50,0.00,0.000,4,0.000,0.053,2508,3253,3621
$GC,4071,-0.63,-194.6,487.4,-11.3,389,4078,0.10,1.42,0.00,0.000,6,0.133,0.031,2540,2361,3621
$GC,4387,-0.63,-194.6,517.2,-9.0,420,4388,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2362,3619
$GC,4698,-0.63,-194.6,546.1,-9.3,450,4699,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2362,3616
$GC,5008,-0.63,-194.6,574.7,-9.4,480,5011,0.00,1.25,0.00,0.000,4,0.000,0.044,2540,1502,3614
$GC,5055,-0.63,-194.6,579.3,-9.1,484,5062,0.00,1.30,0.00,0.000,6,0.000,0.044,2537,2377,3613
$GC,5373,-0.63,-194.6,609.8,-10.0,515,5375,0.00,1.30,0.00,0.000,4,0.000,0.042,2537,1497,3611
$GC,5404,-0.63,-194.6,613.1,-9.7,518,5407,0.00,1.30,0.00,0.000,6,0.000,0.045,2531,2369,3611
$GC,5727,-0.63,-194.6,646.2,-10.3,549,5728,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2369,3609
$GC,6035,-0.63,-194.6,677.6,-9.9,579,6036,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2369,3606
$GC,6346,-0.63,-194.6,707.6,-9.8,609,6350,0.00,1.30,0.00,0.000,4,0.000,0.044,2531,1495,3605
$GC,6403,-0.63,-194.6,713.2,-9.5,614,6411,0.00,1.35,0.00,0.000,6,0.000,0.047,2526,2381,3605
$GC,6722,-0.63,-194.6,743.5,-9.5,645,6723,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2381,3603
$GC,7030,-0.63,-194.6,772.7,-9.2,675,7033,0.00,1.30,0.00,0.000,4,0.000,0.044,2526,1508,3601
$GC,7067,-0.63,-194.6,776.2,-9.7,678,7074,0.00,1.30,0.00,0.000,6,0.000,0.046,2521,2365,3601
$GC,7385,-0.63,-194.6,805.9,-9.4,709,7386,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2365,3600
$GC,7694,-0.63,-194.6,834.4,-9.4,739,7697,0.00,1.30,0.00,0.000,4,0.000,0.045,2521,1498,3597
$GC,7747,-0.63,-194.6,839.4,-10.1,744,7750,0.00,1.35,0.00,0.000,6,0.000,0.047,2515,2388,3597
$GC,8069,-0.63,-194.6,870.2,-9.8,775,8072,0.00,1.50,0.00,0.000,4,0.000,0.060,2508,3244,3596
$GC,8122,-0.63,-194.6,875.5,-10.1,780,8125,0.10,1.42,0.00,0.000,6,0.137,0.038,2539,2379,3595
$GC,8443,-0.63,-194.6,901.9,-7.9,811,8446,0.00,1.33,0.00,0.000,4,0.000,0.046,2540,1486,3594
$GC,8518,-0.63,-194.6,907.9,-8.3,818,8521,0.00,1.33,0.00,0.000,6,0.000,0.049,2536,2363,3593
$GC,8839,-0.63,-194.6,934.3,-8.3,849,8840,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2365,3593
$GC,9152,-0.63,-194.6,960.2,-8.5,879,9153,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2366,3592
$GC,9461,-0.63,-194.6,986.4,-8.8,909,9464,0.00,1.30,0.00,0.000,4,0.000,0.046,2537,1499,3591
$STATE,9496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9496,begin apogee
$GC,9502,-0.25,0.0,990.1,9.9,912,9659,0.40,0.00,152.40,1.243,6,0.134,0.000,2656,2276,2840
$STATE,9660,end apogee,CONTROL_FINISHED_OK
$STATE,9660,begin climb
$GC,9662,0.63,194.6,995.8,0.0,928,9836,0.90,1.38,169.52,1.211,4,0.105,0.049,2943,1390,2046
$GC,9870,0.63,194.6,979.4,10.7,946,9873,0.00,1.30,0.00,0.000,6,0.000,0.044,2943,2273,2042
$GC,10192,0.63,194.6,941.4,11.3,977,10195,0.00,1.20,0.00,0.000,4,0.000,0.044,2948,1392,2035
$GC,10228,0.63,194.6,936.8,12.7,980,10236,0.00,1.23,0.00,0.000,6,0.000,0.044,2948,2277,2035
$GC,10546,0.63,194.6,899.0,11.9,1011,10549,0.00,1.62,0.00,0.000,4,0.000,0.055,2948,3182,2033
$GC,10582,0.63,194.6,894.2,12.5,1014,10589,0.00,1.55,0.00,0.000,6,0.000,0.037,2955,2296,2032
$GC,10900,0.63,194.6,854.9,12.8,1045,10903,0.00,1.27,0.00,0.000,4,0.000,0.044,2961,1358,2031
$GC,10935,0.63,194.6,850.1,12.9,1048,10943,0.00,1.27,0.00,0.000,6,0.000,0.044,2961,2276,2031
$GC,11254,0.63,194.6,809.3,13.1,1079,11255,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2277,2031
$GC,11563,0.63,194.6,771.3,11.9,1109,11563,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2277,2029
$GC,11873,0.63,194.6,734.3,11.8,1139,11877,0.00,1.23,0.00,0.000,4,0.000,0.044,2966,1366,2029
$GC,11905,0.63,194.6,730.3,11.5,1142,11908,0.00,1.25,0.00,0.000,6,0.000,0.044,2966,2279,2029
$GC,12228,0.63,194.6,690.5,12.0,1173,12231,0.00,1.23,0.00,0.000,4,0.000,0.044,2972,1367,2029
$GC,12270,0.63,194.6,685.3,11.3,1177,12273,0.00,1.25,0.00,0.000,6,0.000,0.044,2972,2279,2028
$GC,12592,0.63,194.6,644.3,13.1,1208,12595,0.00,1.23,0.00,0.000,4,0.000,0.044,2977,1369,2028
$GC,12628,0.63,194.6,639.6,13.0,1211,12636,0.00,1.23,0.00,0.000,6,0.000,0.044,2977,2274,2028
$GC,12945,0.63,194.6,598.0,13.5,1242,12946,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2274,2027
$GC,13255,0.63,194.6,556.5,13.1,1272,13258,0.00,1.23,0.00,0.000,4,0.000,0.044,2983,1359,2027
$GC,13297,0.63,194.6,550.8,13.3,1276,13300,0.10,1.25,0.00,0.000,6,0.145,0.044,2952,2276,2027
$GC,13618,0.63,194.6,514.8,11.0,1307,13619,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2277,2027
$GC,13928,0.63,194.6,480.9,10.3,1337,13932,0.00,1.23,0.00,0.000,4,0.000,0.043,2956,1370,2027
$GC,13964,0.63,194.6,476.8,10.9,1340,13972,0.00,1.25,0.00,0.000,6,0.000,0.043,2956,2280,2027
$GC,14283,0.63,194.6,442.5,10.6,1371,14284,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2280,2027
$GC,14591,0.63,194.6,408.4,11.2,1401,14592,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2280,2027
$GC,14902,0.63,194.6,373.9,11.3,1431,14906,0.00,1.23,0.00,0.000,4,0.000,0.041,2961,1367,2027
$GC,14945,0.63,194.6,369.1,11.0,1435,14948,0.00,1.23,0.00,0.000,6,0.000,0.042,2961,2277,2027
$GC,15267,0.63,194.6,331.7,11.8,1466,15268,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2277,2027
$GC,15577,0.63,194.6,295.5,11.8,1496,15580,0.00,1.23,0.00,0.000,4,0.000,0.040,2966,1355,2027
$GC,15624,0.63,194.6,290.1,11.2,1500,15631,0.00,1.23,0.00,0.000,6,0.000,0.041,2966,2274,2027
$GC,15941,0.63,194.6,252.5,11.9,1531,15944,0.00,1.20,0.00,0.000,4,0.000,0.040,2971,1365,2027
$GC,15972,0.63,194.6,248.6,11.1,1534,15975,0.00,1.23,0.00,0.000,6,0.000,0.041,2971,2278,2027
$GC,16295,0.63,194.6,209.5,12.2,1565,16298,0.00,1.23,0.00,0.000,4,0.000,0.039,2976,1352,2027
$GC,16338,0.63,194.6,204.3,10.8,1569,16341,0.00,1.23,0.00,0.000,6,0.000,0.040,2977,2275,2028
$GC,16658,0.63,194.6,164.2,12.2,1600,16659,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2275,2028
$GC,16969,0.63,194.6,127.5,11.4,1630,16970,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2275,2029
$GC,17280,0.63,194.6,91.7,12.1,1660,17281,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2275,2030
$GC,17466,0.63,194.6,72.6,9.8,1678,17469,0.00,1.20,0.00,0.000,4,0.000,0.038,2982,1357,2030
$GC,17508,0.63,194.6,68.8,8.6,1682,17512,0.08,1.23,0.00,0.000,6,0.128,0.038,2955,2280,2031
$GC,17705,0.66,219.5,53.8,6.8,1701,17726,0.00,0.00,18.42,0.529,6,0.000,0.000,2955,2280,1944
$GC,17912,0.71,264.8,40.9,6.3,1721,17953,0.00,0.00,35.33,0.531,6,0.000,0.000,2955,2280,1760
$GC,18138,0.86,386.4,28.9,4.3,1743,18235,0.17,1.27,91.18,0.519,4,0.068,0.034,3035,1361,1263
$GC,18331,0.86,386.4,15.8,8.1,1760,18334,0.00,1.23,0.00,0.000,6,0.000,0.035,3035,2277,1258
$STATE,18515,end climb,SURFACE_DEPTH_REACHED
$STATE,18515,begin surface coast
$FINISH,3.3,1.017663
$STATE,18569,end surface coast,CONTROL_FINISHED_OK
$STATE,18569,begin surface
$SM_CCo,18571,137.10,0.486,0,0,403,597.54
$SM_GC,1.71,7.78,0.00,0.00,0.045,0.000,0.000,196,2390,400,-7.92,0.42,598.52
$IRIDIUM_FIX,2835.91,-8826.58,051099,202026
$TT8_MAMPS,0.050622
$HUMID,1364
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,23.20
$XPDR_PINGS,1
$24V_AH,22.8,42.429
$10V_AH,10.6,58.935
$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,19.550,75.200,466.850,137.100,0.000,28.934,31.015,203.154,4.000,0.000,0.000,16.855,0.000,12606.254,660.502,5271.069,677.413,33.340,2145.440,0.000,4730.942,0.000,28.327,0.000
$DEVICE_MAMPS,237.003,62.127,1242.540,486.278,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1219.705,1302.030,4007.517,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94705,1783
$CAP_FILE_SIZE,167846,0
$CFSIZE,260165632,233463808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.113,184.2,1
$GPS,120710,064401,2843.333,-8831.777,43,1.0,43,-0.4