version: 66.04
glider: 515
mission: 5
dive: 246
start: 7 12 110 17 43 47
data:
$ID,515
$MISSION,5
$DIVE,246
$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,-17943.809
$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,29
$R_STBD_OVSHOOT,52
$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
$GPS1,173637,2843.443,-8837.282,85,0.9,85,-0.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-74.5
$GPS2,174308,2843.440,-8837.303,13,1.6,13,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.257,0.063
$KALMAN_X,-42374.5,-417.6,-232.2,63852.7,4832.9
$KALMAN_Y,-291034.9,325.4,483.7,318132.9,-6142.3
$MHEAD_RNG_PITCHd_Wd,278.6,12651,-10.8,-7.500
$D_GRID,960
$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,-194.6,0.0,0.0,0,47,0.00,0.00,-32.97,0.000,2,0.000,0.000,197,2407,1520
$GC,49,-0.63,-194.6,3.3,-4.8,3,126,10.55,1.38,-62.05,0.000,4,0.254,0.055,2545,1466,3634
$GC,368,-0.63,-194.6,49.0,-13.7,32,372,0.00,1.25,0.00,0.000,6,0.000,0.035,2542,2346,3636
$GC,565,-0.63,-194.6,77.4,-13.8,51,568,0.00,1.23,0.00,0.000,4,0.000,0.033,2545,1467,3637
$GC,759,-0.63,-194.6,101.5,-12.1,69,761,0.00,1.33,0.00,0.000,6,0.000,0.035,2541,2390,3638
$GC,1081,-0.63,-194.6,142.3,-12.5,100,1084,0.00,1.33,0.00,0.000,4,0.000,0.034,2541,1457,3637
$GC,1124,-0.63,-194.6,147.8,-12.7,104,1126,0.00,1.30,0.00,0.000,6,0.000,0.035,2535,2367,3638
$GC,1445,-0.63,-194.6,185.8,-11.7,135,1448,0.00,1.27,0.00,0.000,4,0.000,0.034,2535,1469,3636
$GC,1487,-0.63,-194.6,190.9,-11.2,139,1491,0.00,1.30,0.00,0.000,6,0.000,0.036,2529,2374,3636
$GC,1810,-0.63,-194.6,228.6,-11.1,170,1813,0.00,1.27,0.00,0.000,4,0.000,0.034,2529,1472,3635
$GC,1873,-0.63,-194.6,236.3,-12.1,176,1877,0.00,1.30,0.00,0.000,6,0.000,0.037,2523,2376,3635
$GC,2196,-0.63,-194.6,274.5,-12.1,207,2199,0.00,1.30,0.00,0.000,4,0.000,0.035,2523,1465,3633
$GC,2253,-0.63,-194.6,281.8,-11.5,212,2262,0.00,1.33,0.00,0.000,6,0.000,0.037,2516,2376,3633
$GC,2572,-0.63,-194.6,318.8,-11.8,243,2575,0.00,1.30,0.00,0.000,4,0.000,0.035,2517,1465,3631
$GC,2640,-0.63,-194.6,327.3,-12.2,249,2647,0.12,1.35,0.00,0.000,6,0.142,0.038,2542,2387,3631
$GC,2956,-0.63,-194.6,358.1,-9.2,280,2957,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2387,3628
$GC,3267,-0.63,-194.6,387.9,-9.7,310,3270,0.00,1.33,0.00,0.000,4,0.000,0.038,2545,1469,3625
$GC,3310,-0.63,-194.6,391.9,-9.1,314,3313,0.00,1.30,0.00,0.000,6,0.000,0.041,2541,2360,3625
$GC,3632,-0.63,-194.6,421.3,-9.3,345,3633,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2360,3624
$GC,3941,-0.63,-194.6,450.8,-9.5,375,3944,0.00,1.27,0.00,0.000,4,0.000,0.040,2541,1480,3621
$GC,4016,-0.63,-194.6,457.8,-8.6,382,4019,0.00,1.33,0.00,0.000,6,0.000,0.042,2535,2384,3620
$GC,4338,-0.63,-194.6,489.4,-10.1,413,4339,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2384,3618
$GC,4647,-0.63,-194.6,520.8,-10.2,443,4650,0.00,1.33,0.00,0.000,4,0.000,0.041,2535,1478,3616
$GC,4722,-0.63,-194.6,528.4,-10.4,450,4725,0.00,1.30,0.00,0.000,6,0.000,0.044,2529,2360,3615
$GC,5044,-0.63,-194.6,561.5,-10.2,481,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2360,3612
$GC,5353,-0.63,-194.6,592.5,-9.9,511,5354,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2360,3611
$GC,5664,-0.63,-194.6,622.5,-9.8,541,5665,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2360,3609
$GC,5974,-0.63,-194.6,652.2,-9.8,571,5975,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2360,3606
$GC,6284,-0.63,-194.6,683.2,-10.5,601,6285,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2360,3605
$GC,6595,-0.63,-194.6,713.6,-9.7,631,6596,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2360,3603
$GC,6905,-0.63,-194.6,742.8,-9.4,661,6906,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2360,3602
$GC,7216,-0.63,-194.6,771.5,-9.3,691,7219,0.00,1.30,0.00,0.000,4,0.000,0.044,2529,1480,3599
$GC,7284,-0.63,-194.6,778.2,-9.6,697,7291,0.00,1.38,0.00,0.000,6,0.000,0.047,2524,2385,3599
$GC,7602,-0.63,-194.6,807.5,-8.7,728,7603,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2385,3597
$GC,7911,-0.63,-194.6,837.7,-10.2,758,7912,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2385,3596
$GC,8223,-0.63,-194.6,864.2,-8.3,788,8226,0.00,1.35,0.00,0.000,4,0.000,0.045,2524,1481,3595
$GC,8259,-0.63,-194.6,867.7,-9.3,791,8267,0.00,1.35,0.00,0.000,6,0.000,0.048,2518,2364,3594
$GC,8577,-0.63,-194.6,898.8,-6.0,822,8577,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2366,3593
$GC,8887,-0.63,-194.6,922.6,-0.1,852,8889,0.00,1.33,0.00,0.000,4,0.000,0.049,2519,1487,3591
$STATE,8942,end dive,NO_VERTICAL_VELOCITY
$STATE,8942,begin apogee
$GC,8948,-0.25,0.0,922.5,0.0,857,9105,0.43,0.00,151.12,1.195,6,0.086,0.000,2668,2282,2839
$STATE,9106,end apogee,CONTROL_FINISHED_OK
$STATE,9106,begin climb
$GC,9108,0.63,194.6,922.5,0.0,873,9286,0.85,1.83,166.65,1.162,4,0.095,0.058,2942,3164,2044
$GC,9319,0.63,194.6,904.2,12.7,891,9322,0.00,1.62,0.00,0.000,6,0.000,0.037,2949,2282,2039
$GC,9641,0.63,194.6,868.8,12.1,922,9641,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2284,2035
$GC,9950,0.63,194.6,834.1,10.9,952,9951,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2283,2033
$GC,10260,0.63,194.6,800.7,10.5,982,10261,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2283,2032
$GC,10571,0.63,194.6,766.5,10.9,1012,10572,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2283,2030
$GC,10881,0.63,194.6,731.3,12.1,1042,10884,0.00,1.23,0.00,0.000,4,0.000,0.044,2955,1368,2030
$GC,10938,0.63,194.6,724.7,12.4,1047,10946,0.00,1.27,0.00,0.000,6,0.000,0.044,2955,2281,2030
$GC,11256,0.63,194.6,687.5,11.4,1078,11257,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2281,2028
$GC,11565,0.63,194.6,653.2,10.9,1108,11568,0.00,1.62,0.00,0.000,4,0.000,0.055,2955,3198,2029
$GC,11591,0.63,194.6,650.3,11.8,1110,11598,0.00,1.62,0.00,0.000,6,0.000,0.037,2963,2272,2027
$GC,11908,0.63,194.6,613.2,12.1,1141,11909,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2273,2028
$GC,12218,0.63,194.6,575.6,12.1,1171,12219,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2273,2028
$GC,12528,0.63,194.6,538.8,11.8,1201,12529,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2273,2027
$GC,12839,0.63,194.6,503.1,11.2,1231,12840,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2273,2028
$GC,13149,0.63,194.6,467.3,11.8,1261,13150,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2273,2027
$GC,13460,0.63,194.6,429.7,11.8,1291,13462,0.00,1.17,0.00,0.000,4,0.000,0.043,2968,1373,2027
$GC,13496,0.63,194.6,425.2,12.3,1294,13503,0.00,1.23,0.00,0.000,6,0.000,0.042,2968,2277,2027
$GC,13814,0.63,194.6,386.4,12.2,1325,13817,0.00,1.62,0.00,0.000,4,0.000,0.052,2968,3173,2027
$GC,13849,0.63,194.6,381.5,12.9,1328,13858,0.00,1.58,0.00,0.000,6,0.000,0.035,2975,2273,2026
$GC,14167,0.63,194.6,341.1,12.9,1359,14168,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2273,2026
$GC,14477,0.63,194.6,300.1,12.9,1389,14478,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2273,2026
$GC,14787,0.63,194.6,261.8,12.0,1419,14790,0.00,1.17,0.00,0.000,4,0.000,0.041,2981,1372,2026
$GC,14819,0.63,194.6,258.0,11.5,1422,14823,0.08,1.23,0.00,0.000,6,0.140,0.041,2956,2281,2026
$GC,15140,0.63,194.6,223.7,10.7,1453,15143,0.00,1.60,0.00,0.000,4,0.000,0.051,2956,3167,2026
$GC,15183,0.63,194.6,218.9,12.3,1457,15186,0.00,1.55,0.00,0.000,6,0.000,0.035,2962,2274,2026
$GC,15505,0.63,194.6,184.4,11.1,1488,15506,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2275,2027
$GC,15814,0.63,194.6,149.8,11.1,1518,15815,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2275,2027
$GC,16124,0.63,194.6,116.8,9.6,1548,16127,0.00,1.17,0.00,0.000,4,0.000,0.038,2968,1361,2028
$GC,16150,0.63,194.6,114.1,10.4,1550,16157,0.00,1.25,0.00,0.000,6,0.000,0.038,2968,2284,2029
$GC,16468,0.63,194.6,81.8,9.1,1581,16471,0.00,1.58,0.00,0.000,4,0.000,0.048,2968,3172,2030
$GC,16525,0.63,194.6,75.7,10.6,1586,16533,0.00,1.55,0.00,0.000,6,0.000,0.030,2975,2271,2030
$GC,16718,0.63,194.6,58.3,8.6,1605,16721,0.00,1.15,0.00,0.000,4,0.000,0.037,2981,1368,2030
$GC,16793,0.63,194.6,52.1,7.7,1612,16796,0.08,1.20,0.00,0.000,6,0.123,0.036,2954,2275,2031
$GC,16990,0.70,254.6,40.0,5.9,1631,17036,0.00,0.00,44.65,0.534,6,0.000,0.000,2954,2275,1802
$GC,17218,0.84,367.2,27.8,4.5,1653,17305,0.17,0.00,84.55,0.518,6,0.054,0.000,3044,2275,1342
$GC,17489,0.87,393.9,6.6,6.8,1679,17514,0.00,1.23,20.40,0.477,4,0.000,0.035,3050,1366,1233
$STATE,17704,end climb,SURFACE_DEPTH_REACHED
$STATE,17704,begin surface coast
$FINISH,3.3,1.015868
$STATE,17993,end surface coast,CONTROL_FINISHED_OK
$STATE,17993,begin surface
$SM_CCo,17996,146.77,0.480,0,0,403,597.54
$SM_GC,2.19,7.62,0.00,0.00,0.035,0.000,0.000,200,2395,401,-7.90,0.54,598.28
$IRIDIUM_FIX,2833.46,-8834.01,061099,121251
$TT8_MAMPS,0.050622
$HUMID,1331
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,22.9,42.926
$10V_AH,10.6,59.626
$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,19.900,64.900,467.375,146.775,0.000,28.259,25.686,205.646,2.750,0.000,0.000,15.435,0.000,12201.903,654.977,5171.917,576.402,33.340,2110.115,0.000,4628.051,0.000,23.674,0.000
$DEVICE_MAMPS,253.877,58.292,1194.986,480.142,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1179.026,1259.639,3880.142,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91430,1726
$CAP_FILE_SIZE,159174,0
$CFSIZE,260165632,233209856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.074,129.3,1
$GPS,120710,224957,2843.190,-8839.439,81,3.8,100,-0.3