version: 66.04
glider: 515
mission: 5
dive: 248
start: 7 13 110 4 39 17
data:
$ID,515
$MISSION,5
$DIVE,248
$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,-18002.82
$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,36
$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
$GPS1,042701,2842.784,-8841.533,196,1.2,196,-0.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-77.0
$GPS2,043838,2842.759,-8841.397,16,1.7,16,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.152,0.217
$KALMAN_X,-37879.2,-220.6,-458.6,52731.6,5058.7
$KALMAN_Y,-297407.7,41.8,-342.9,324403.9,-5604.4
$MHEAD_RNG_PITCHd_Wd,277.1,5890,-10.8,-7.500
$D_GRID,1055
$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,-194.6,0.0,0.0,0,47,0.00,0.00,-32.85,0.000,2,0.000,0.000,203,2390,1446
$GC,49,-0.63,-194.6,3.5,-4.1,3,136,10.32,1.48,-67.00,0.000,4,0.249,0.061,2531,3252,3635
$GC,212,-0.63,-194.6,17.8,-21.3,17,215,0.00,1.42,0.00,0.000,6,0.000,0.027,2535,2355,3635
$GC,408,-0.63,-194.6,51.4,-13.4,36,411,0.00,1.20,0.00,0.000,4,0.000,0.033,2537,1487,3635
$GC,498,-0.63,-194.6,64.4,-15.0,44,505,0.00,1.25,0.00,0.000,6,0.000,0.034,2533,2361,3636
$GC,691,-0.63,-194.6,90.8,-14.1,63,693,0.00,1.23,0.00,0.000,4,0.000,0.032,2533,1487,3636
$GC,733,-0.63,-194.6,96.7,-14.5,67,736,0.00,1.27,0.00,0.000,6,0.000,0.034,2528,2382,3635
$GC,930,-0.63,-194.6,124.3,-13.9,86,933,0.00,1.27,0.00,0.000,4,0.000,0.032,2527,1477,3636
$GC,998,-0.63,-194.6,133.9,-13.5,92,1005,0.00,1.30,0.00,0.000,6,0.000,0.034,2522,2375,3636
$GC,1316,-0.63,-194.6,176.0,-12.8,123,1319,0.00,1.25,0.00,0.000,4,0.000,0.032,2522,1486,3635
$GC,1391,-0.63,-194.6,185.7,-12.0,130,1393,0.00,1.27,0.00,0.000,6,0.000,0.035,2516,2376,3634
$GC,1713,-0.63,-194.6,226.3,-12.1,161,1716,0.00,1.25,0.00,0.000,4,0.000,0.033,2516,1489,3632
$GC,1766,-0.63,-194.6,233.0,-12.7,166,1769,0.08,1.25,0.00,0.000,6,0.138,0.036,2536,2363,3632
$GC,2087,-0.63,-194.6,265.7,-9.7,197,2090,0.00,1.25,0.00,0.000,4,0.000,0.034,2536,1484,3630
$GC,2123,-0.63,-194.6,269.5,-10.3,200,2130,0.00,1.30,0.00,0.000,6,0.000,0.037,2532,2387,3630
$GC,2440,-0.63,-194.6,302.2,-10.4,231,2443,0.00,1.27,0.00,0.000,4,0.000,0.035,2532,1495,3627
$GC,2504,-0.63,-194.6,308.9,-9.9,237,2507,0.00,1.25,0.00,0.000,6,0.000,0.038,2527,2360,3626
$GC,2827,-0.63,-194.6,343.7,-10.9,268,2828,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2360,3623
$GC,3135,-0.63,-194.6,379.1,-11.1,298,3136,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2360,3621
$GC,3446,-0.63,-194.6,413.7,-11.0,328,3449,0.00,1.25,0.00,0.000,4,0.000,0.038,2526,1495,3619
$GC,3499,-0.63,-194.6,419.4,-10.9,333,3502,0.00,1.30,0.00,0.000,6,0.000,0.041,2520,2379,3618
$GC,3822,-0.63,-194.6,455.6,-11.2,364,3823,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2379,3615
$GC,4130,-0.63,-194.6,489.9,-10.5,394,4133,0.00,1.27,0.00,0.000,4,0.000,0.040,2521,1502,3612
$GC,4167,-0.63,-194.6,494.0,-10.7,397,4174,0.00,1.27,0.00,0.000,6,0.000,0.042,2515,2362,3612
$GC,4484,-0.63,-194.6,528.6,-11.0,428,4487,0.00,1.27,0.00,0.000,4,0.000,0.040,2515,1489,3609
$GC,4526,-0.63,-194.6,533.5,-10.7,432,4530,0.10,1.35,0.00,0.000,6,0.135,0.043,2541,2397,3609
$GC,4848,-0.63,-194.6,562.9,-9.1,463,4850,0.00,1.33,0.00,0.000,4,0.000,0.041,2541,1494,3606
$GC,4890,-0.63,-194.6,566.9,-9.5,467,4893,0.00,1.27,0.00,0.000,6,0.000,0.045,2538,2358,3606
$GC,5213,-0.63,-194.6,596.7,-9.5,498,5213,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2358,3604
$GC,5522,-0.63,-194.6,625.3,-9.2,528,5525,0.00,1.25,0.00,0.000,4,0.000,0.042,2538,1505,3601
$GC,5557,-0.63,-194.6,628.8,-10.2,531,5566,0.00,1.35,0.00,0.000,6,0.000,0.044,2533,2393,3601
$GC,5876,-0.63,-194.6,659.0,-9.7,562,5879,0.00,1.33,0.00,0.000,4,0.000,0.043,2532,1500,3598
$GC,5939,-0.63,-194.6,665.5,-10.1,568,5943,0.00,1.27,0.00,0.000,6,0.000,0.046,2527,2357,3598
$GC,6262,-0.63,-194.6,696.7,-9.4,599,6263,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2357,3596
$GC,6571,-0.63,-194.6,727.3,-9.7,629,6574,0.00,1.25,0.00,0.000,4,0.000,0.044,2527,1506,3593
$GC,6608,-0.63,-194.6,731.0,-10.1,632,6614,0.00,1.33,0.00,0.000,6,0.000,0.047,2522,2387,3594
$GC,6925,-0.63,-194.6,762.1,-9.9,663,6925,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2388,3591
$GC,7235,-0.63,-194.6,792.1,-9.5,693,7238,0.00,1.33,0.00,0.000,4,0.000,0.044,2522,1497,3590
$GC,7298,-0.63,-194.6,798.4,-9.6,699,7302,0.00,1.30,0.00,0.000,6,0.000,0.048,2516,2361,3590
$GC,7620,-0.63,-194.6,829.5,-9.7,730,7621,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2361,3589
$GC,7931,-0.63,-194.6,859.9,-9.6,760,7932,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2361,3587
$GC,8241,-0.63,-194.6,891.0,-10.2,790,8242,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2362,3586
$GC,8550,-0.63,-194.6,921.5,-10.0,820,8553,0.00,1.27,0.00,0.000,4,0.000,0.045,2516,1504,3584
$GC,8614,-0.63,-194.6,927.9,-9.3,826,8617,0.08,1.33,0.00,0.000,6,0.144,0.049,2535,2380,3584
$GC,8935,-0.63,-194.6,955.1,-8.7,857,8936,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2380,3583
$GC,9245,-0.63,-194.6,981.2,-8.5,887,9246,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2380,3582
$STATE,9348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9348,begin apogee
$GC,9353,-0.25,0.0,990.1,8.8,897,9511,0.43,0.00,150.43,1.244,6,0.130,0.000,2666,2298,2839
$STATE,9511,end apogee,CONTROL_FINISHED_OK
$STATE,9511,begin climb
$GC,9513,0.63,194.6,995.0,0.0,913,9686,0.90,0.00,169.05,1.213,6,0.097,0.000,2948,2298,2045
$GC,9991,0.63,194.6,945.9,11.9,959,9994,0.00,1.27,0.00,0.000,4,0.000,0.045,2954,1384,2035
$GC,10038,0.63,194.6,940.2,11.1,963,10046,0.00,1.20,0.00,0.000,6,0.000,0.044,2954,2263,2035
$GC,10356,0.63,194.6,901.1,12.3,994,10356,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2263,2032
$GC,10665,0.63,194.6,862.8,12.7,1024,10668,0.00,1.17,0.00,0.000,4,0.000,0.044,2959,1378,2031
$GC,10701,0.63,194.6,858.3,12.6,1027,10709,0.00,1.23,0.00,0.000,6,0.000,0.044,2959,2274,2031
$GC,11019,0.63,194.6,818.8,12.2,1058,11022,0.00,1.65,0.00,0.000,4,0.000,0.055,2959,3176,2030
$GC,11051,0.63,194.6,814.6,13.1,1061,11054,0.00,1.58,0.00,0.000,6,0.000,0.038,2966,2277,2029
$GC,11372,0.63,194.6,773.5,13.1,1092,11375,0.00,1.20,0.00,0.000,4,0.000,0.044,2972,1374,2029
$GC,11425,0.63,194.6,766.6,13.1,1097,11428,0.00,1.23,0.00,0.000,6,0.000,0.044,2972,2272,2029
$GC,11745,0.63,194.6,724.9,12.8,1128,11746,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2272,2028
$GC,12056,0.63,194.6,684.5,13.6,1158,12059,0.00,1.23,0.00,0.000,4,0.000,0.044,2977,1362,2028
$GC,12109,0.63,194.6,677.1,13.9,1163,12113,0.00,1.25,0.00,0.000,6,0.000,0.045,2977,2276,2028
$GC,12431,0.63,194.6,633.8,13.1,1194,12432,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2276,2027
$GC,12742,0.63,194.6,592.2,13.6,1224,12742,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2276,2027
$GC,13051,0.63,194.6,552.0,13.2,1254,13052,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2276,2027
$GC,13362,0.63,194.6,511.0,12.8,1284,13365,0.00,1.23,0.00,0.000,4,0.000,0.043,2983,1369,2027
$GC,13408,0.63,194.6,504.6,12.9,1288,13416,0.12,1.27,0.00,0.000,6,0.150,0.043,2951,2286,2027
$GC,13725,0.63,194.6,468.6,11.4,1319,13726,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2286,2027
$GC,14036,0.63,194.6,434.1,11.0,1349,14038,0.00,1.25,0.00,0.000,4,0.000,0.043,2955,1373,2027
$GC,14061,0.63,194.6,431.3,11.3,1351,14070,0.00,1.23,0.00,0.000,6,0.000,0.042,2955,2278,2027
$GC,14379,0.63,194.6,396.0,11.4,1382,14379,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2277,2027
$GC,14688,0.63,194.6,361.3,11.4,1412,14689,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2277,2027
$GC,14999,0.63,194.6,325.8,11.9,1442,15002,0.00,1.23,0.00,0.000,4,0.000,0.041,2961,1366,2027
$GC,15041,0.63,194.6,320.8,11.7,1446,15044,0.00,1.23,0.00,0.000,6,0.000,0.042,2960,2275,2027
$GC,15364,0.63,194.6,282.3,11.9,1477,15365,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2275,2027
$GC,15673,0.63,194.6,245.9,11.6,1507,15675,0.00,1.23,0.00,0.000,4,0.000,0.041,2965,1357,2027
$GC,15698,0.63,194.6,242.8,12.5,1509,15705,0.00,1.23,0.00,0.000,6,0.000,0.041,2966,2272,2027
$GC,16016,0.63,194.6,205.5,11.7,1540,16019,0.00,1.62,0.00,0.000,4,0.000,0.050,2966,3176,2027
$GC,16047,0.63,194.6,201.5,12.4,1543,16050,0.00,1.55,0.00,0.000,6,0.000,0.034,2973,2277,2027
$GC,16368,0.63,194.6,163.2,11.8,1574,16369,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2277,2027
$GC,16679,0.63,194.6,126.6,11.6,1604,16680,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2278,2028
$GC,16989,0.63,194.6,91.9,11.7,1634,16992,0.00,1.62,0.00,0.000,4,0.000,0.048,2973,3173,2029
$GC,17031,0.63,194.6,86.9,12.7,1638,17035,0.10,1.52,0.00,0.000,6,0.134,0.031,2949,2282,2029
$GC,17228,0.63,194.6,70.9,7.8,1657,17232,0.00,1.60,0.00,0.000,4,0.000,0.048,2949,3171,2030
$GC,17264,0.63,194.6,67.8,8.0,1660,17272,0.00,1.52,0.00,0.000,6,0.000,0.030,2954,2276,2030
$GC,17457,0.63,194.6,52.9,7.7,1679,17460,0.00,1.17,0.00,0.000,4,0.000,0.036,2960,1362,2030
$GC,17525,0.68,235.0,48.3,6.4,1685,17560,0.00,1.23,30.08,0.535,6,0.000,0.036,2959,2283,1882
$GC,17754,0.75,292.6,33.6,6.0,1707,17803,0.00,1.62,44.38,0.525,4,0.000,0.045,2960,3171,1646
$GC,17878,0.86,381.4,26.6,5.2,1718,17952,0.10,1.55,67.00,0.516,6,0.031,0.029,3050,2274,1284
$GC,18135,0.86,381.4,5.0,9.1,1742,18138,0.00,1.17,0.00,0.000,4,0.000,0.035,3055,1360,1277
$GC,18146,0.86,381.4,3.8,10.5,1743,18149,0.08,1.23,0.00,0.000,6,0.099,0.034,3025,2282,1277
$GC,18342,1.22,673.6,3.5,-0.2,1762,18504,0.30,1.60,157.35,0.489,4,0.087,0.047,3126,3179,403
$STATE,18509,end climb,SURFACE_DEPTH_REACHED
$STATE,18511,begin surface coast
$FINISH,0.6,1.014337
$STATE,18723,end surface coast,CONTROL_FINISHED_OK
$STATE,18724,begin surface
$SM_CCo,18799,0.00,0.000,0,0,400,598.52
$SM_GC,2.04,7.80,0.00,0.00,0.042,0.000,0.000,201,2346,400,-7.90,-0.85,598.52
$IRIDIUM_FIX,2833.46,-8838.92,071099,040457
$TT8_MAMPS,0.050622
$HUMID,1383
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,24.90
$XPDR_PINGS,2
$24V_AH,22.9,43.278
$10V_AH,10.6,60.103
$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,20.400,87.300,618.275,0.000,0.000,52.686,65.221,374.508,4.250,0.000,0.000,25.429,0.000,12545.492,643.146,5379.539,892.752,33.345,2202.787,0.000,4825.186,0.000,32.825,0.000
$DEVICE_MAMPS,248.508,62.127,1244.074,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1227.743,1317.629,4041.865,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94625,1798
$CAP_FILE_SIZE,179476,0
$CFSIZE,260165632,233005056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.085,118.6,1
$GPS,130710,095607,2842.500,-8843.619,191,0.9,191,-0.2