version: 66.04
glider: 515
mission: 5
dive: 251
start: 7 13 110 20 30 29
data:
$ID,515
$MISSION,5
$DIVE,251
$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,-18077.793
$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,28
$R_STBD_OVSHOOT,39
$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
$GPS1,200907,2842.779,-8840.485,807,1.3,807,-0.3
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-73.9
$GPS2,202949,2842.689,-8840.220,9,1.7,14,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.209,0.163
$KALMAN_X,-34778.5,-4.9,-548.5,51425.5,4176.5
$KALMAN_Y,-314044.8,1535.2,1176.1,337847.9,-13034.4
$MHEAD_RNG_PITCHd_Wd,79.8,23155,-10.8,-7.500
$D_GRID,1016
$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,-194.6,0.0,0.0,0,37,0.00,0.00,-22.77,0.000,2,0.000,0.000,198,2400,1132
$GC,39,-0.63,-194.6,3.1,-4.3,2,136,9.88,1.35,-79.05,0.000,4,0.235,0.054,2539,1467,3636
$GC,374,-0.63,-194.6,46.4,-14.5,32,382,0.00,1.30,0.00,0.000,6,0.000,0.033,2535,2367,3636
$GC,568,-0.63,-194.6,72.5,-13.6,51,570,0.00,1.27,0.00,0.000,4,0.000,0.031,2536,1460,3636
$GC,657,-0.63,-194.6,85.0,-13.5,59,664,0.00,1.33,0.00,0.000,6,0.000,0.033,2532,2386,3636
$GC,849,-0.63,-194.6,109.8,-12.8,78,852,0.00,1.30,0.00,0.000,4,0.000,0.032,2532,1451,3636
$GC,928,-0.63,-194.6,119.8,-11.7,85,935,0.00,1.30,0.00,0.000,6,0.000,0.033,2526,2367,3636
$GC,1246,-0.63,-194.6,158.9,-12.3,116,1249,0.00,1.27,0.00,0.000,4,0.000,0.032,2526,1456,3634
$GC,1282,-0.63,-194.6,163.8,-12.1,119,1289,0.00,1.33,0.00,0.000,6,0.000,0.034,2520,2383,3633
$GC,1600,-0.63,-194.6,202.0,-11.9,150,1603,0.00,1.30,0.00,0.000,4,0.000,0.032,2520,1459,3631
$GC,1664,-0.63,-194.6,210.0,-12.0,156,1667,0.08,1.27,0.00,0.000,6,0.138,0.035,2538,2359,3630
$GC,1985,-0.63,-194.6,244.1,-10.7,187,1986,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2359,3628
$GC,2295,-0.63,-194.6,275.2,-9.7,217,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2359,3625
$GC,2606,-0.63,-194.6,305.7,-9.8,247,2609,0.00,1.25,0.00,0.000,4,0.000,0.035,2539,1471,3623
$GC,2637,-0.63,-194.6,309.0,-9.9,250,2640,0.00,1.33,0.00,0.000,6,0.000,0.038,2535,2389,3623
$GC,2960,-0.63,-194.6,342.1,-10.1,281,2963,0.00,1.33,0.00,0.000,4,0.000,0.036,2534,1464,3619
$GC,3013,-0.63,-194.6,347.7,-9.9,286,3016,0.00,1.30,0.00,0.000,6,0.000,0.038,2529,2364,3619
$GC,3336,-0.63,-194.6,381.1,-10.3,317,3336,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2364,3616
$GC,3645,-0.63,-194.6,413.0,-10.3,347,3648,0.00,1.27,0.00,0.000,4,0.000,0.036,2529,1475,3612
$GC,3691,-0.63,-194.6,418.1,-10.1,351,3699,0.00,1.35,0.00,0.000,6,0.000,0.038,2523,2391,3612
$GC,4010,-0.63,-194.6,452.3,-11.0,382,4011,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2391,3609
$GC,4318,-0.63,-194.6,486.5,-10.7,412,4321,0.00,1.33,0.00,0.000,4,0.000,0.038,2523,1478,3606
$GC,4382,-0.63,-194.6,493.3,-10.5,418,4385,0.00,1.30,0.00,0.000,6,0.000,0.041,2517,2365,3606
$GC,4705,-0.63,-194.6,528.4,-10.7,449,4708,0.00,1.30,0.00,0.000,4,0.000,0.039,2517,1470,3603
$GC,4752,-0.63,-194.6,534.0,-11.4,453,4759,0.08,1.35,0.00,0.000,6,0.145,0.042,2535,2387,3603
$GC,5068,-0.63,-194.6,564.0,-9.2,484,5071,0.00,1.33,0.00,0.000,4,0.000,0.040,2536,1479,3600
$GC,5110,-0.63,-194.6,567.8,-9.2,488,5114,0.00,1.30,0.00,0.000,6,0.000,0.043,2532,2362,3599
$GC,5433,-0.63,-194.6,596.4,-9.2,519,5436,0.00,1.30,0.00,0.000,4,0.000,0.041,2531,1473,3597
$GC,5479,-0.63,-194.6,601.0,-9.8,523,5487,0.00,1.38,0.00,0.000,6,0.000,0.044,2527,2389,3596
$GC,5798,-0.63,-194.6,631.5,-10.2,554,5798,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2390,3594
$GC,6107,-0.63,-194.6,661.8,-9.8,584,6110,0.00,1.35,0.00,0.000,4,0.000,0.042,2526,1471,3592
$GC,6203,-0.63,-194.6,671.2,-10.0,593,6206,0.00,1.33,0.00,0.000,6,0.000,0.046,2521,2363,3591
$GC,6526,-0.63,-194.6,702.3,-9.1,624,6526,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2363,3590
$GC,6834,-0.63,-194.6,733.6,-10.9,654,6837,0.00,1.30,0.00,0.000,4,0.000,0.043,2521,1483,3587
$GC,6876,-0.63,-194.6,738.2,-10.1,658,6879,0.00,1.35,0.00,0.000,6,0.000,0.046,2515,2387,3587
$GC,7199,-0.63,-194.6,771.6,-10.2,689,7202,0.00,1.35,0.00,0.000,4,0.000,0.043,2515,1471,3586
$GC,7267,-0.63,-194.6,779.2,-11.2,695,7275,0.12,1.35,0.00,0.000,6,0.147,0.046,2541,2366,3585
$GC,7584,-0.63,-194.6,806.1,-8.0,726,7587,0.00,1.30,0.00,0.000,4,0.000,0.043,2541,1483,3583
$GC,7620,-0.63,-194.6,809.2,-8.4,729,7627,0.00,1.38,0.00,0.000,6,0.000,0.046,2538,2389,3583
$GC,7938,-0.63,-194.6,835.2,-9.5,760,7941,0.00,1.50,0.00,0.000,4,0.000,0.060,2531,3247,3581
$GC,7981,-0.63,-194.6,840.0,-11.0,764,7983,0.00,1.48,0.00,0.000,6,0.000,0.037,2531,2354,3581
$GC,8302,-0.63,-194.6,868.0,-7.8,795,8305,0.00,1.25,0.00,0.000,4,0.000,0.044,2531,1497,3580
$GC,8376,-0.63,-194.6,874.2,-8.3,802,8379,0.00,1.30,0.00,0.000,6,0.000,0.049,2526,2361,3579
$GC,8697,-0.63,-194.6,902.7,-9.1,833,8700,0.00,1.27,0.00,0.000,4,0.000,0.044,2526,1499,3578
$GC,8793,-0.63,-194.6,911.4,-9.7,842,8796,0.00,1.33,0.00,0.000,6,0.000,0.049,2520,2378,3577
$STATE,9061,end dive,NO_VERTICAL_VELOCITY
$STATE,9061,begin apogee
$GC,9066,-0.25,0.0,920.6,0.0,868,9216,0.47,0.00,147.30,1.190,6,0.117,0.000,2668,2289,2840
$STATE,9217,end apogee,CONTROL_FINISHED_OK
$STATE,9217,begin climb
$GC,9219,0.63,194.6,920.4,0.0,883,9390,0.85,1.35,164.90,1.160,4,0.105,0.049,2944,1377,2046
$GC,9422,0.63,194.6,905.8,10.9,900,9425,0.00,1.30,0.00,0.000,6,0.000,0.043,2944,2272,2042
$GC,9744,0.63,194.6,869.4,12.2,931,9747,0.00,1.23,0.00,0.000,4,0.000,0.044,2950,1368,2033
$GC,9791,0.63,194.6,863.7,12.2,935,9798,0.00,1.25,0.00,0.000,6,0.000,0.044,2949,2274,2033
$GC,10109,0.63,194.6,824.8,12.2,966,10112,0.00,1.23,0.00,0.000,4,0.000,0.043,2954,1366,2032
$GC,10141,0.63,194.6,820.8,12.6,969,10144,0.00,1.27,0.00,0.000,6,0.000,0.045,2954,2287,2032
$GC,10463,0.63,194.6,781.7,11.9,1000,10464,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2287,2031
$GC,10772,0.63,194.6,744.8,12.2,1030,10775,0.00,1.25,0.00,0.000,4,0.000,0.043,2959,1370,2030
$GC,10830,0.63,194.6,737.9,11.8,1035,10837,0.00,1.23,0.00,0.000,6,0.000,0.044,2959,2272,2030
$GC,11147,0.63,194.6,701.0,11.9,1066,11150,0.00,1.65,0.00,0.000,4,0.000,0.054,2960,3179,2030
$GC,11189,0.63,194.6,695.5,13.0,1070,11193,0.00,1.58,0.00,0.000,6,0.000,0.037,2967,2275,2028
$GC,11510,0.63,194.6,656.4,11.1,1101,11513,0.00,1.20,0.00,0.000,4,0.000,0.044,2973,1367,2028
$GC,11553,0.63,194.6,651.5,11.7,1105,11556,0.00,1.25,0.00,0.000,6,0.000,0.044,2973,2279,2027
$GC,11873,0.63,194.6,612.3,12.4,1136,11877,0.00,1.60,0.00,0.000,4,0.000,0.054,2973,3165,2027
$GC,11909,0.63,194.6,607.4,13.2,1139,11917,0.08,1.58,0.00,0.000,6,0.152,0.036,2956,2270,2027
$GC,12227,0.63,194.6,573.2,10.4,1170,12229,0.00,1.17,0.00,0.000,4,0.000,0.044,2960,1373,2027
$GC,12280,0.63,194.6,567.5,12.1,1175,12283,0.00,1.23,0.00,0.000,6,0.000,0.043,2960,2276,2027
$GC,12602,0.63,194.6,531.8,11.6,1206,12605,0.00,1.62,0.00,0.000,4,0.000,0.054,2960,3196,2027
$GC,12634,0.63,194.6,527.7,12.0,1209,12637,0.00,1.60,0.00,0.000,6,0.000,0.037,2968,2259,2026
$GC,12955,0.63,194.6,489.7,11.5,1240,12955,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2260,2026
$GC,13265,0.63,194.6,452.9,11.8,1270,13266,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2260,2026
$GC,13575,0.63,194.6,416.6,11.7,1300,13576,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2260,2026
$GC,13886,0.63,194.6,379.8,12.1,1330,13887,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2261,2026
$GC,14196,0.63,194.6,342.9,11.8,1360,14199,0.00,1.67,0.00,0.000,4,0.000,0.051,2968,3170,2026
$GC,14221,0.63,194.6,339.6,13.3,1362,14230,0.00,1.55,0.00,0.000,6,0.000,0.035,2976,2276,2026
$GC,14540,0.63,194.6,299.1,12.5,1393,14541,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2277,2026
$GC,14848,0.63,194.6,260.4,12.9,1423,14852,0.00,1.62,0.00,0.000,4,0.000,0.051,2976,3167,2027
$GC,14906,0.63,194.6,252.5,14.4,1428,14913,0.10,1.55,0.00,0.000,6,0.146,0.034,2952,2276,2027
$GC,15223,0.63,194.6,220.3,9.3,1459,15223,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2277,2027
$GC,15533,0.63,194.6,189.4,10.4,1489,15536,0.00,1.62,0.00,0.000,4,0.000,0.049,2952,3195,2027
$GC,15575,0.63,194.6,184.8,10.1,1493,15578,0.00,1.58,0.00,0.000,6,0.000,0.033,2958,2275,2027
$GC,15898,0.63,194.6,149.4,10.8,1524,15899,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2275,2028
$GC,16207,0.63,194.6,117.0,9.6,1554,16210,0.00,1.62,0.00,0.000,4,0.000,0.048,2958,3174,2029
$GC,16260,0.63,194.6,111.5,11.5,1559,16263,0.00,1.52,0.00,0.000,6,0.000,0.031,2965,2279,2029
$GC,16582,0.63,194.6,78.8,9.4,1590,16583,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2279,2030
$GC,16767,0.63,194.6,63.0,8.1,1608,16770,0.00,1.60,0.00,0.000,4,0.000,0.047,2965,3170,2031
$GC,16799,0.63,194.6,60.3,8.5,1611,16802,0.00,1.52,0.00,0.000,6,0.000,0.031,2973,2274,2031
$GC,16996,0.63,194.6,44.3,7.8,1630,16999,0.00,1.62,0.00,0.000,4,0.000,0.045,2973,3182,2031
$GC,17032,0.63,194.6,41.3,8.7,1633,17039,0.08,1.52,0.00,0.000,6,0.130,0.029,2954,2279,2031
$GC,17225,0.75,297.2,31.3,4.8,1652,17309,0.10,1.65,75.55,0.526,4,0.073,0.044,3003,3179,1628
$GC,17358,0.85,373.5,23.4,5.5,1663,17423,0.00,1.55,57.72,0.511,6,0.000,0.028,3010,2278,1315
$GC,17610,0.93,444.2,9.4,5.6,1687,17669,0.10,1.20,52.33,0.494,4,0.075,0.034,3076,1369,1027
$GC,17756,1.29,733.6,3.6,-0.1,1700,17873,0.22,1.23,111.88,0.490,6,0.087,0.033,3158,2287,404
$STATE,17993,end climb,NO_VERTICAL_VELOCITY
$STATE,17993,begin surface
$SM_CCo,18161,0.00,0.000,0,0,399,598.77
$SM_GC,2.95,8.23,0.00,0.00,0.061,0.000,0.000,203,2395,399,-7.91,0.59,598.77
$IRIDIUM_FIX,2831.00,-8836.47,071099,202002
$TT8_MAMPS,0.049855
$HUMID,1371
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,23.1,43.819
$10V_AH,10.6,60.788
$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,20.375,99.875,609.675,0.000,0.000,111.218,135.488,668.168,2.750,0.000,0.000,16.414,0.000,12220.070,629.760,5246.735,1272.852,33.342,2194.284,0.000,4670.892,0.000,24.603,0.000
$DEVICE_MAMPS,234.702,59.826,1190.384,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1175.199,1252.263,3871.397,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91522,1722
$CAP_FILE_SIZE,183921,0
$CFSIZE,260165632,232738816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.098,106.2,1
$GPS,140710,013615,2843.035,-8836.384,145,5.6,164,-0.3