version: 66.04
glider: 515
mission: 5
dive: 245
start: 7 12 110 12 19 58
data:
$ID,515
$MISSION,5
$DIVE,245
$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,-17927.746
$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,30
$R_STBD_OVSHOOT,47
$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
$GPS1,121154,2843.524,-8834.542,40,0.9,57,-0.3
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-73.0
$GPS2,121919,2843.454,-8834.570,9,1.2,14,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.248,0.092
$KALMAN_X,-44686.4,-267.2,-36.3,70265.6,3633.7
$KALMAN_Y,-290532.3,1266.9,847.9,316342.4,-9537.4
$MHEAD_RNG_PITCHd_Wd,285.2,17054,-10.8,-7.500
$D_GRID,1048
$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,14,-0.63,-194.6,0.0,0.0,0,47,0.00,0.00,-31.80,0.000,2,0.000,0.000,202,2404,1472
$GC,49,-0.63,-194.6,3.3,-6.0,3,130,10.27,1.42,-62.33,0.000,4,0.247,0.064,2531,3246,3635
$GC,369,-0.63,-194.6,54.8,-15.4,32,377,0.00,1.42,0.00,0.000,6,0.000,0.026,2536,2351,3635
$GC,562,-0.63,-194.6,81.3,-12.9,51,565,0.00,1.48,0.00,0.000,4,0.000,0.041,2531,3244,3636
$GC,637,-0.63,-194.6,91.1,-13.3,58,640,0.00,1.38,0.00,0.000,6,0.000,0.028,2536,2361,3636
$GC,834,-0.63,-194.6,116.9,-13.0,77,836,0.00,1.20,0.00,0.000,4,0.000,0.034,2536,1497,3637
$GC,919,-0.63,-194.6,128.3,-13.9,85,922,0.00,1.23,0.00,0.000,6,0.000,0.035,2533,2353,3637
$GC,1241,-0.63,-194.6,169.1,-11.7,116,1244,0.00,1.20,0.00,0.000,4,0.000,0.035,2533,1503,3637
$GC,1315,-0.63,-194.6,178.3,-11.5,123,1318,0.00,1.27,0.00,0.000,6,0.000,0.038,2527,2386,3637
$GC,1638,-0.63,-194.6,217.7,-11.7,154,1641,0.00,1.27,0.00,0.000,4,0.000,0.036,2527,1495,3635
$GC,1702,-0.63,-194.6,225.3,-11.4,160,1705,0.00,1.25,0.00,0.000,6,0.000,0.038,2521,2361,3634
$GC,2024,-0.63,-194.6,262.5,-11.3,191,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2361,3634
$GC,2333,-0.63,-194.6,297.6,-11.3,221,2336,0.00,1.23,0.00,0.000,4,0.000,0.037,2521,1507,3631
$GC,2419,-0.63,-194.6,307.1,-11.4,229,2422,0.00,1.27,0.00,0.000,6,0.000,0.038,2515,2387,3631
$GC,2740,-0.63,-194.6,343.5,-11.4,260,2744,0.00,1.27,0.00,0.000,4,0.000,0.038,2515,1505,3628
$GC,2783,-0.63,-194.6,348.8,-12.4,264,2786,0.08,1.25,0.00,0.000,6,0.143,0.040,2535,2361,3628
$GC,3104,-0.63,-194.6,380.8,-10.3,295,3105,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2361,3625
$GC,3414,-0.63,-194.6,413.2,-10.4,325,3417,0.00,1.25,0.00,0.000,4,0.000,0.040,2535,1503,3623
$GC,3451,-0.63,-194.6,417.1,-10.4,328,3457,0.00,1.30,0.00,0.000,6,0.000,0.041,2532,2387,3623
$GC,3768,-0.63,-194.6,450.2,-9.8,359,3769,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2388,3621
$GC,4078,-0.63,-194.6,480.9,-9.6,389,4080,0.00,1.30,0.00,0.000,4,0.000,0.041,2532,1497,3619
$GC,4141,-0.63,-194.6,487.1,-9.6,395,4145,0.00,1.27,0.00,0.000,6,0.000,0.043,2526,2362,3618
$GC,4463,-0.63,-194.6,519.0,-9.6,426,4466,0.00,1.52,0.00,0.000,4,0.000,0.054,2519,3254,3616
$GC,4495,-0.63,-194.6,522.5,-10.7,429,4498,0.00,1.40,0.00,0.000,6,0.000,0.033,2519,2389,3616
$GC,4817,-0.63,-194.6,556.6,-10.6,460,4820,0.00,1.30,0.00,0.000,4,0.000,0.043,2519,1496,3612
$GC,4871,-0.63,-194.6,562.4,-11.1,465,4874,0.08,1.33,0.00,0.000,6,0.145,0.044,2537,2386,3612
$GC,5191,-0.63,-194.6,592.6,-9.3,496,5192,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2386,3610
$GC,5502,-0.63,-194.6,622.0,-10.1,526,5505,0.00,1.33,0.00,0.000,4,0.000,0.043,2537,1488,3607
$GC,5566,-0.63,-194.6,628.1,-9.6,532,5569,0.00,1.30,0.00,0.000,6,0.000,0.044,2534,2362,3607
$GC,5888,-0.63,-194.6,659.4,-9.8,563,5889,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2362,3606
$GC,6197,-0.63,-194.6,689.7,-9.6,593,6198,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2362,3604
$GC,6507,-0.63,-194.6,718.7,-9.3,623,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2362,3602
$GC,6818,-0.63,-194.6,747.4,-9.5,653,6819,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2362,3600
$GC,7128,-0.63,-194.6,776.4,-9.3,683,7129,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2362,3597
$GC,7439,-0.63,-194.6,805.0,-9.1,713,7440,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2363,3596
$GC,7749,-0.63,-194.6,833.4,-9.7,743,7750,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2363,3595
$GC,8061,-0.63,-194.6,861.5,-9.1,773,8062,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2363,3593
$GC,8371,-0.63,-194.6,889.0,-9.0,803,8374,0.00,1.30,0.00,0.000,4,0.000,0.046,2534,1496,3592
$GC,8429,-0.63,-194.6,894.4,-8.9,808,8436,0.00,1.35,0.00,0.000,6,0.000,0.048,2529,2381,3592
$GC,8745,-0.63,-194.6,923.3,-9.0,839,8746,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2381,3591
$GC,9060,-0.63,-194.6,950.5,-8.6,869,9067,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2382,3590
$GC,9375,-0.63,-194.6,978.2,-8.3,900,9379,0.00,1.33,0.00,0.000,4,0.000,0.047,2528,1499,3588
$STATE,9431,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9431,begin apogee
$GC,9437,-0.25,0.0,983.5,8.9,905,9594,0.43,0.00,151.50,1.239,6,0.136,0.000,2657,2276,2839
$STATE,9594,end apogee,CONTROL_FINISHED_OK
$STATE,9594,begin climb
$GC,9596,0.63,194.6,987.9,0.0,921,9770,0.90,0.00,169.27,1.208,6,0.104,0.000,2940,2277,2046
$GC,10077,0.63,194.6,939.5,11.8,968,10080,0.00,1.23,0.00,0.000,4,0.000,0.051,2945,1401,2035
$GC,10145,0.63,194.6,931.3,11.7,974,10153,0.00,1.23,0.00,0.000,6,0.000,0.045,2945,2273,2035
$GC,10464,0.63,194.6,893.9,11.7,1005,10467,0.00,1.20,0.00,0.000,4,0.000,0.044,2950,1385,2033
$GC,10500,0.63,194.6,889.5,11.2,1008,10507,0.00,1.25,0.00,0.000,6,0.000,0.044,2950,2280,2033
$GC,10818,0.63,194.6,850.8,12.7,1039,10821,0.00,1.20,0.00,0.000,4,0.000,0.044,2956,1394,2032
$GC,10871,0.63,194.6,844.3,11.9,1044,10874,0.00,1.20,0.00,0.000,6,0.000,0.044,2955,2272,2032
$GC,11192,0.63,194.6,804.0,12.1,1075,11192,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2273,2032
$GC,11502,0.63,194.6,767.1,11.5,1105,11505,0.00,1.17,0.00,0.000,4,0.000,0.044,2961,1396,2031
$GC,11534,0.63,194.6,763.4,11.4,1108,11537,0.00,1.20,0.00,0.000,6,0.000,0.044,2961,2275,2030
$GC,11855,0.63,194.6,725.1,11.6,1139,11855,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2275,2030
$GC,12165,0.63,194.6,688.6,11.8,1169,12168,0.00,1.20,0.00,0.000,4,0.000,0.045,2965,1382,2029
$GC,12229,0.63,194.6,681.2,11.0,1175,12232,0.00,1.23,0.00,0.000,6,0.000,0.044,2966,2277,2029
$GC,12552,0.63,194.6,642.9,11.6,1206,12552,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2277,2029
$GC,12861,0.63,194.6,606.6,11.5,1236,12864,0.00,1.20,0.00,0.000,4,0.000,0.044,2971,1387,2028
$GC,12935,0.63,194.6,597.9,10.5,1243,12938,0.00,1.20,0.00,0.000,6,0.000,0.044,2971,2274,2028
$GC,13258,0.63,194.6,559.4,12.0,1274,13261,0.00,1.62,0.00,0.000,4,0.000,0.054,2971,3179,2028
$GC,13283,0.63,194.6,555.9,13.6,1276,13291,0.00,1.52,0.00,0.000,6,0.000,0.036,2978,2298,2027
$GC,13601,0.63,194.6,515.8,12.8,1307,13604,0.00,1.25,0.00,0.000,4,0.000,0.043,2984,1373,2027
$GC,13675,0.63,194.6,505.8,12.6,1314,13679,0.10,1.23,0.00,0.000,6,0.143,0.044,2953,2278,2027
$GC,13996,0.63,194.6,470.4,10.7,1345,13997,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2278,2027
$GC,14307,0.63,194.6,436.6,10.4,1375,14310,0.00,1.23,0.00,0.000,4,0.000,0.041,2956,1370,2027
$GC,14371,0.63,194.6,430.0,10.3,1381,14374,0.00,1.23,0.00,0.000,6,0.000,0.043,2956,2276,2027
$GC,14693,0.63,194.6,395.2,11.1,1412,14694,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2277,2027
$GC,15002,0.63,194.6,360.4,10.8,1442,15005,0.00,1.23,0.00,0.000,4,0.000,0.041,2961,1363,2027
$GC,15045,0.63,194.6,355.5,10.8,1446,15048,0.00,1.23,0.00,0.000,6,0.000,0.043,2961,2275,2027
$GC,15367,0.63,194.6,318.7,11.1,1477,15370,0.00,1.60,0.00,0.000,4,0.000,0.052,2961,3173,2027
$GC,15392,0.63,194.6,315.5,12.5,1479,15399,0.00,1.58,0.00,0.000,6,0.000,0.035,2968,2273,2027
$GC,15710,0.63,194.6,278.6,11.6,1510,15713,0.00,1.17,0.00,0.000,4,0.000,0.041,2974,1372,2027
$GC,15763,0.63,194.6,272.2,12.0,1515,15766,0.00,1.20,0.00,0.000,6,0.000,0.041,2974,2271,2027
$GC,16086,0.63,194.6,232.8,12.6,1546,16086,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2271,2027
$GC,16394,0.63,194.6,195.3,11.8,1576,16395,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2271,2028
$GC,16706,0.63,194.6,157.5,12.4,1606,16706,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2271,2028
$GC,17015,0.63,194.6,121.4,11.3,1636,17016,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2271,2029
$GC,17326,0.63,194.6,86.9,10.4,1666,17329,0.00,1.62,0.00,0.000,4,0.000,0.048,2973,3175,2030
$GC,17357,0.63,194.6,83.4,11.2,1669,17361,0.08,1.58,0.00,0.000,6,0.137,0.031,2956,2265,2030
$GC,17554,0.63,194.6,67.0,8.2,1688,17557,0.00,1.62,0.00,0.000,4,0.000,0.048,2956,3180,2031
$GC,17591,0.63,194.6,64.0,9.0,1691,17598,0.00,1.55,0.00,0.000,6,0.000,0.031,2962,2274,2031
$GC,17783,0.64,203.9,49.4,7.3,1710,17794,0.00,1.12,6.57,0.450,4,0.000,0.035,2967,1368,2009
$GC,17819,0.64,203.9,46.5,7.7,1713,17828,0.00,1.23,0.00,0.000,6,0.000,0.035,2967,2280,2009
$GC,18012,0.71,261.5,33.0,6.0,1732,18064,0.00,0.00,45.30,0.529,6,0.000,0.000,2967,2280,1772
$GC,18249,0.87,395.4,22.1,4.0,1755,18356,0.17,1.25,99.88,0.515,4,0.058,0.034,3072,1364,1224
$GC,18399,0.87,395.4,7.9,11.3,1768,18402,0.12,1.23,0.00,0.000,6,0.115,0.034,3030,2275,1221
$GC,18595,1.28,723.8,3.9,-1.1,1787,18715,0.35,0.00,117.00,0.491,2,0.107,0.000,3147,2275,569
$STATE,18716,end climb,SURFACE_DEPTH_REACHED
$STATE,18716,begin surface coast
$FINISH,0.7,1.007279
$STATE,18865,end surface coast,CONTROL_FINISHED_OK
$STATE,18865,begin surface
$SM_CCo,18880,11.62,0.435,0,0,494,575.22
$SM_GC,3.83,0.00,0.00,11.62,0.000,0.000,0.435,198,2407,494,-7.97,0.90,575.22
$IRIDIUM_FIX,2828.55,-8834.07,061099,060603
$TT8_MAMPS,0.050622
$HUMID,1365
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,24.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,970.1,32.8
$24V_AH,22.8,42.764
$10V_AH,10.6,59.403
$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,20.425,78.525,589.525,11.625,0.000,30.295,28.032,259.001,4.000,0.000,0.000,15.999,0.000,12613.965,619.386,5409.415,661.537,33.341,2173.688,0.000,4831.064,0.000,33.179,0.000
$DEVICE_MAMPS,246.974,64.428,1238.705,434.889,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1238.252,1322.565,4072.117,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94598,1812
$CAP_FILE_SIZE,171797,0
$CFSIZE,260165632,233283584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.078,164.4,1
$GPS,120710,173637,2843.443,-8837.282,85,0.9,85,-0.3