version: 66.04
glider: 515
mission: 5
dive: 253
start: 7 14 110 7 14 41
data:
$ID,515
$MISSION,5
$DIVE,253
$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,-18134.666
$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,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
$GPS1,070725,2843.226,-8832.424,55,1.2,55,-0.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-72.7
$GPS2,071402,2843.250,-8832.463,11,1.7,11,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.129,0.231
$KALMAN_X,-32978.0,-648.6,-207.1,62539.5,3931.7
$KALMAN_Y,-319261.4,585.1,950.0,345276.8,-11051.8
$MHEAD_RNG_PITCHd_Wd,74.8,10516,-10.8,-7.500
$D_GRID,1229
$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,-32.75,0.000,2,0.000,0.000,201,2397,1436
$GC,49,-0.63,-194.6,3.3,-4.4,3,126,10.57,1.48,-63.08,0.000,4,0.255,0.071,2533,3250,3635
$GC,174,-0.63,-194.6,12.8,-17.5,13,182,0.00,1.42,0.00,0.000,6,0.000,0.026,2537,2358,3636
$GC,366,-0.63,-194.6,49.4,-15.9,32,369,0.00,1.23,0.00,0.000,4,0.000,0.035,2537,1480,3636
$GC,430,-0.63,-194.6,59.0,-14.6,38,433,0.00,1.25,0.00,0.000,6,0.000,0.034,2533,2359,3636
$GC,627,-0.63,-194.6,86.1,-12.8,57,629,0.00,1.23,0.00,0.000,4,0.000,0.032,2533,1485,3638
$GC,705,-0.63,-194.6,96.4,-12.3,64,713,0.00,1.30,0.00,0.000,6,0.000,0.034,2528,2381,3638
$GC,897,-0.63,-194.6,122.6,-14.1,83,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2381,3638
$GC,1209,-0.63,-194.6,163.7,-11.2,113,1211,0.00,1.27,0.00,0.000,4,0.000,0.033,2527,1474,3637
$GC,1272,-0.63,-194.6,171.3,-11.6,119,1276,0.00,1.27,0.00,0.000,6,0.000,0.035,2522,2365,3637
$GC,1595,-0.63,-194.6,211.6,-12.5,150,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2365,3636
$GC,1904,-0.63,-194.6,248.9,-11.9,180,1907,0.00,1.25,0.00,0.000,4,0.000,0.034,2521,1483,3634
$GC,1993,-0.63,-194.6,260.1,-12.7,188,2001,0.00,1.33,0.00,0.000,6,0.000,0.035,2516,2390,3634
$GC,2311,-0.63,-194.6,298.5,-12.1,219,2314,0.00,1.30,0.00,0.000,4,0.000,0.035,2516,1481,3632
$GC,2375,-0.63,-194.6,306.6,-12.1,225,2378,0.10,1.27,0.00,0.000,6,0.140,0.037,2541,2364,3632
$GC,2696,-0.63,-194.6,339.2,-10.4,256,2699,0.00,1.25,0.00,0.000,4,0.000,0.035,2541,1488,3629
$GC,2742,-0.63,-194.6,344.3,-9.9,260,2750,0.00,1.33,0.00,0.000,6,0.000,0.038,2537,2390,3629
$GC,3061,-0.63,-194.6,377.3,-10.3,291,3064,0.00,1.30,0.00,0.000,4,0.000,0.036,2538,1486,3626
$GC,3118,-0.63,-194.6,383.5,-10.2,296,3126,0.00,1.30,0.00,0.000,6,0.000,0.038,2531,2369,3626
$GC,3436,-0.63,-194.6,416.6,-10.5,327,3439,0.00,1.27,0.00,0.000,4,0.000,0.037,2532,1484,3623
$GC,3484,-0.63,-194.6,421.7,-10.3,331,3490,0.00,1.30,0.00,0.000,6,0.000,0.039,2526,2374,3623
$GC,3801,-0.63,-194.6,456.2,-10.9,362,3804,0.00,1.27,0.00,0.000,4,0.000,0.038,2526,1488,3622
$GC,3865,-0.63,-194.6,463.1,-10.6,368,3868,0.00,1.30,0.00,0.000,6,0.000,0.041,2520,2377,3621
$GC,4187,-0.63,-194.6,498.1,-10.4,399,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2378,3619
$GC,4496,-0.63,-194.6,530.4,-10.4,429,4499,0.00,1.30,0.00,0.000,4,0.000,0.039,2520,1484,3616
$GC,4571,-0.63,-194.6,538.0,-10.3,436,4574,0.00,1.33,0.00,0.000,6,0.000,0.043,2515,2383,3615
$GC,4893,-0.63,-194.6,573.1,-11.0,467,4894,0.12,0.00,0.00,0.000,6,0.153,0.000,2545,2383,3612
$GC,5204,-0.63,-194.6,601.3,-8.9,497,5205,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2383,3610
$GC,5513,-0.63,-194.6,628.5,-8.5,527,5516,0.00,1.30,0.00,0.000,4,0.000,0.042,2546,1496,3608
$GC,5599,-0.63,-194.6,636.0,-8.2,535,5601,0.00,1.30,0.00,0.000,6,0.000,0.044,2542,2368,3608
$GC,5921,-0.63,-194.6,663.6,-8.9,566,5921,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2369,3606
$GC,6230,-0.63,-194.6,690.7,-8.3,596,6233,0.00,1.30,0.00,0.000,4,0.000,0.043,2542,1487,3604
$GC,6330,-0.63,-194.6,699.6,-9.4,605,6339,0.00,1.38,0.00,0.000,6,0.000,0.048,2537,2388,3603
$GC,6649,-0.63,-194.6,727.4,-8.6,636,6650,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2388,3601
$GC,6958,-0.63,-194.6,753.1,-8.4,666,6961,0.00,1.33,0.00,0.000,4,0.000,0.044,2537,1489,3599
$GC,7026,-0.63,-194.6,758.9,-8.3,672,7033,0.00,1.33,0.00,0.000,6,0.000,0.045,2531,2365,3599
$GC,7344,-0.63,-194.6,787.3,-9.5,703,7345,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2365,3597
$GC,7653,-0.63,-194.6,816.2,-9.0,733,7656,0.00,1.27,0.00,0.000,4,0.000,0.044,2531,1504,3596
$GC,7721,-0.63,-194.6,822.3,-8.3,739,7728,0.00,1.33,0.00,0.000,6,0.000,0.048,2527,2383,3596
$GC,8040,-0.63,-194.6,850.6,-9.3,770,8043,0.00,1.33,0.00,0.000,4,0.000,0.044,2526,1488,3594
$GC,8104,-0.63,-194.6,856.9,-9.3,776,8107,0.00,1.33,0.00,0.000,6,0.000,0.048,2521,2369,3593
$GC,8425,-0.63,-194.6,887.4,-9.7,807,8428,0.00,1.30,0.00,0.000,4,0.000,0.044,2521,1490,3592
$GC,8504,-0.63,-194.6,894.9,-9.9,814,8511,0.00,1.35,0.00,0.000,6,0.000,0.047,2516,2382,3592
$GC,8820,-0.63,-194.6,926.4,-10.7,845,8821,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2382,3591
$GC,9130,-0.63,-194.6,958.5,-10.1,875,9133,0.00,1.30,0.00,0.000,4,0.000,0.044,2516,1503,3590
$GC,9301,-0.63,-194.6,975.3,-9.8,891,9305,0.10,1.30,0.00,0.000,6,0.146,0.048,2541,2364,3590
$STATE,9476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9476,begin apogee
$GC,9482,-0.25,0.0,990.1,7.9,908,9639,0.40,0.00,151.65,1.245,6,0.135,0.000,2662,2290,2839
$STATE,9640,end apogee,CONTROL_FINISHED_OK
$STATE,9640,begin climb
$GC,9642,0.63,194.6,994.6,0.0,924,9821,0.93,0.00,169.45,1.213,6,0.105,0.000,2946,2290,2045
$GC,10128,0.63,194.6,943.9,11.8,972,10131,0.00,1.27,0.00,0.000,4,0.000,0.051,2952,1370,2034
$GC,10207,0.63,194.6,935.0,11.4,979,10215,0.00,1.27,0.00,0.000,6,0.000,0.044,2952,2276,2034
$GC,10525,0.63,194.6,896.3,12.5,1010,10526,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2277,2033
$GC,10834,0.63,194.6,858.6,11.7,1040,10835,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2276,2032
$GC,11145,0.63,194.6,822.2,11.9,1070,11146,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2276,2031
$GC,11455,0.63,194.6,787.1,11.3,1100,11456,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2277,2030
$GC,11766,0.63,194.6,752.1,11.0,1130,11767,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2277,2030
$GC,12076,0.63,194.6,716.8,11.2,1160,12079,0.00,1.65,0.00,0.000,4,0.000,0.055,2952,3176,2029
$GC,12129,0.63,194.6,710.4,11.8,1165,12132,0.00,1.58,0.00,0.000,6,0.000,0.038,2959,2277,2028
$GC,12450,0.63,194.6,673.8,11.0,1196,12453,0.00,1.20,0.00,0.000,4,0.000,0.044,2965,1374,2028
$GC,12486,0.63,194.6,669.6,11.2,1199,12493,0.00,1.25,0.00,0.000,6,0.000,0.044,2965,2284,2028
$GC,12804,0.63,194.6,631.4,11.8,1230,12805,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2284,2028
$GC,13113,0.63,194.6,594.8,11.5,1260,13116,0.00,1.60,0.00,0.000,4,0.000,0.055,2965,3189,2027
$GC,13145,0.63,194.6,590.8,13.2,1263,13148,0.00,1.60,0.00,0.000,6,0.000,0.038,2973,2260,2027
$GC,13467,0.63,194.6,551.7,12.2,1294,13470,0.00,1.67,0.00,0.000,4,0.000,0.053,2973,3165,2027
$GC,13503,0.63,194.6,546.7,13.4,1297,13512,0.08,1.55,0.00,0.000,6,0.154,0.036,2956,2280,2027
$GC,13820,0.63,194.6,512.0,10.8,1328,13820,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2281,2027
$GC,14130,0.63,194.6,478.7,10.6,1358,14131,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2281,2026
$GC,14440,0.63,194.6,445.8,10.6,1388,14444,0.00,1.62,0.00,0.000,4,0.000,0.054,2956,3164,2027
$GC,14498,0.63,194.6,439.1,12.0,1393,14506,0.00,1.55,0.00,0.000,6,0.000,0.036,2962,2277,2027
$GC,14816,0.63,194.6,403.2,11.7,1424,14817,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2278,2026
$GC,15125,0.63,194.6,367.3,11.6,1454,15128,0.00,1.60,0.00,0.000,4,0.000,0.053,2962,3168,2026
$GC,15168,0.63,194.6,362.2,10.8,1458,15171,0.00,1.58,0.00,0.000,6,0.000,0.036,2968,2269,2027
$GC,15489,0.63,194.6,323.7,11.8,1489,15489,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2270,2027
$GC,15799,0.63,194.6,286.3,11.9,1519,15802,0.00,1.62,0.00,0.000,4,0.000,0.051,2969,3174,2027
$GC,15852,0.63,194.6,279.6,12.1,1524,15855,0.00,1.55,0.00,0.000,6,0.000,0.035,2977,2279,2028
$GC,16175,0.63,194.6,239.5,12.4,1555,16176,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2279,2028
$GC,16483,0.63,194.6,200.2,12.3,1585,16486,0.00,1.62,0.00,0.000,4,0.000,0.051,2977,3168,2028
$GC,16515,0.63,194.6,196.1,11.4,1588,16518,0.08,1.55,0.00,0.000,6,0.123,0.034,2949,2274,2028
$GC,16836,0.63,194.6,165.4,9.0,1619,16837,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2275,2028
$GC,17147,0.63,194.6,134.8,10.1,1649,17150,0.00,1.60,0.00,0.000,4,0.000,0.048,2949,3178,2029
$GC,17172,0.63,194.6,132.3,10.5,1651,17180,0.00,1.55,0.00,0.000,6,0.000,0.031,2955,2275,2030
$GC,17490,0.63,194.6,101.5,9.4,1682,17493,0.00,1.60,0.00,0.000,4,0.000,0.047,2955,3183,2031
$GC,17522,0.63,194.6,98.3,9.5,1685,17525,0.00,1.55,0.00,0.000,6,0.000,0.031,2962,2273,2031
$GC,17719,0.63,194.6,79.7,9.5,1704,17719,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2274,2031
$GC,17905,0.63,194.6,64.0,7.9,1722,17906,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2274,2032
$GC,18092,0.64,202.0,49.1,7.3,1740,18103,0.00,1.17,5.28,0.415,4,0.000,0.035,2967,1367,2016
$GC,18146,0.64,204.7,45.2,7.4,1745,18158,0.00,1.23,3.85,0.351,6,0.000,0.036,2967,2281,2006
$GC,18343,0.75,296.0,33.8,5.1,1764,18419,0.00,0.00,69.78,0.529,6,0.000,0.000,2967,2281,1634
$GC,18606,0.86,381.5,20.2,5.3,1789,18673,0.15,1.27,64.45,0.508,4,0.077,0.035,3025,1359,1283
$GC,18716,0.88,403.0,12.1,6.9,1799,18739,0.00,1.23,17.00,0.472,6,0.000,0.035,3025,2275,1195
$GC,18925,1.25,700.9,3.8,-0.3,1819,18998,0.35,0.00,70.30,0.488,2,0.114,0.000,3143,2274,807
$STATE,18998,end climb,SURFACE_DEPTH_REACHED
$STATE,18998,begin surface coast
$FINISH,0.9,1.016713
$STATE,19148,end surface coast,CONTROL_FINISHED_OK
$STATE,19148,begin surface
$SM_CCo,19164,49.28,0.477,0,0,494,575.22
$SM_GC,3.20,0.00,0.00,49.28,0.000,0.000,0.477,192,2388,494,-7.98,0.37,575.22
$IRIDIUM_FIX,2831.00,-8838.92,081099,010111
$TT8_MAMPS,0.050622
$HUMID,1369
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,23.80
$XPDR_PINGS,4
$24V_AH,22.8,44.166
$10V_AH,10.6,61.265
$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,20.825,85.925,551.750,49.275,0.000,23.362,26.041,217.987,4.750,0.000,0.000,13.700,0.000,12795.378,665.550,5480.810,637.377,33.341,2235.863,0.000,4910.757,0.000,31.419,0.000
$DEVICE_MAMPS,255.411,71.331,1244.841,477.074,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1257.234,1345.942,4135.756,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97703,1840
$CAP_FILE_SIZE,173983,0
$CFSIZE,260165632,232558592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.085,127.4,1
$GPS,140710,123607,2843.717,-8828.489,50,1.5,50,-0.4