version: 66.04
glider: 515
mission: 5
dive: 254
start: 7 14 110 12 47 1
data:
$ID,515
$MISSION,5
$DIVE,254
$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,-14
$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,-18145.354
$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,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
$GPS1,123607,2843.717,-8828.489,50,1.5,50,-0.4
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-74.0
$GPS2,124602,2843.779,-8828.436,8,1.9,8,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.022,0.264
$KALMAN_X,-30955.2,134.9,54.3,66025.7,3358.7
$KALMAN_Y,-322379.5,-33.2,128.9,350826.5,-7366.0
$MHEAD_RNG_PITCHd_Wd,74.4,3969,-26.8,-7.500
$D_GRID,1399
$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,-1.01,-41.0,0.0,0.0,0,47,0.00,0.00,-33.12,0.000,2,0.000,0.000,192,2389,1503
$GC,49,-1.02,-54.3,3.2,-5.9,3,108,9.95,1.35,-44.62,0.000,4,0.253,0.054,2416,1470,3062
$GC,133,-1.02,-54.3,9.8,-12.6,10,141,0.00,1.30,0.00,0.000,6,0.000,0.033,2411,2363,3062
$GC,326,-1.02,-54.3,43.2,-12.8,29,327,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2364,3063
$GC,512,-1.02,-54.3,60.4,-9.0,47,515,0.00,1.27,0.00,0.000,4,0.000,0.035,2416,1470,3063
$GC,758,-1.02,-54.3,80.0,-7.9,70,761,0.00,1.30,0.00,0.000,6,0.000,0.034,2411,2386,3064
$GC,954,-1.02,-54.3,95.9,-8.3,89,957,0.00,1.30,0.00,0.000,4,0.000,0.035,2416,1466,3064
$GC,1200,-1.02,-54.3,118.6,-10.0,112,1203,0.00,1.27,0.00,0.000,6,0.000,0.034,2411,2364,3064
$GC,1523,-1.02,-54.3,147.2,-8.1,143,1525,0.00,1.27,0.00,0.000,4,0.000,0.035,2416,1463,3064
$GC,1729,-1.02,-54.3,163.9,-8.3,162,1737,0.00,1.35,0.00,0.000,6,0.000,0.035,2411,2396,3064
$GC,2047,-1.02,-54.3,190.8,-8.8,193,2050,0.00,1.40,0.00,0.000,4,0.000,0.044,2404,3248,3063
$GC,2090,-1.02,-54.3,194.6,-8.4,197,2093,0.00,1.42,0.00,0.000,6,0.000,0.027,2409,2348,3063
$GC,2413,-1.02,-54.3,222.1,-7.8,228,2413,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2348,3062
$GC,2721,-1.02,-54.3,248.2,-8.4,258,2724,0.00,1.52,0.00,0.000,4,0.000,0.044,2404,3252,3059
$GC,2864,-1.02,-54.3,260.8,-8.8,271,2871,0.00,1.40,0.00,0.000,6,0.000,0.028,2408,2366,3059
$GC,3182,-1.03,-57.5,284.7,-7.1,302,3185,0.00,1.23,0.00,0.000,4,0.000,0.039,2415,1498,3057
$GC,3347,-1.03,-57.5,297.4,-8.1,317,3354,0.00,1.25,0.00,0.000,6,0.000,0.036,2411,2361,3056
$GC,3664,-1.03,-57.5,322.5,-8.0,348,3667,0.00,1.50,0.00,0.000,4,0.000,0.047,2403,3271,3055
$GC,3732,-1.03,-57.5,328.4,-8.7,354,3739,0.00,1.42,0.00,0.000,6,0.000,0.028,2405,2373,3055
$GC,4050,-1.03,-57.5,354.7,-8.4,385,4051,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2373,3053
$GC,4360,-1.03,-57.5,380.7,-8.3,415,4363,0.00,1.50,0.00,0.000,4,0.000,0.047,2399,3260,3051
$GC,4471,-1.03,-57.5,391.0,-9.7,425,4478,0.00,1.45,0.00,0.000,6,0.000,0.029,2403,2356,3051
$GC,4789,-1.03,-57.5,419.0,-8.8,456,4790,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2357,3049
$GC,5098,-1.03,-57.5,446.6,-8.8,486,5098,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2357,3047
$GC,5409,-1.03,-57.5,474.6,-8.8,516,5412,0.00,1.52,0.00,0.000,4,0.000,0.048,2397,3257,3044
$GC,5505,-1.03,-57.5,483.9,-9.2,525,5508,0.00,1.42,0.00,0.000,6,0.000,0.031,2402,2369,3044
$GC,5827,-1.03,-57.5,512.6,-8.3,556,5831,0.00,1.25,0.00,0.000,4,0.000,0.043,2403,1500,3043
$GC,6041,-1.03,-57.5,531.3,-9.2,576,6044,0.00,1.30,0.00,0.000,6,0.000,0.041,2398,2383,3042
$GC,6363,-1.03,-57.5,559.6,-8.9,607,6364,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2384,3040
$GC,6672,-1.03,-57.5,586.7,-8.6,637,6675,0.00,1.30,0.00,0.000,4,0.000,0.042,2401,1501,3038
$GC,6758,-1.03,-57.5,594.3,-9.1,645,6761,0.00,1.27,0.00,0.000,6,0.000,0.041,2397,2365,3038
$GC,7080,-1.03,-57.5,624.3,-9.6,676,7081,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2365,3036
$GC,7390,-1.03,-57.5,651.8,-8.7,706,7393,0.00,1.27,0.00,0.000,4,0.000,0.044,2397,1500,3034
$GC,7550,-1.03,-57.5,665.1,-9.3,721,7553,0.00,1.30,0.00,0.000,6,0.000,0.042,2393,2379,3033
$GC,7873,-1.03,-57.5,692.0,-8.7,752,7875,0.00,1.30,0.00,0.000,4,0.000,0.043,2395,1496,3033
$GC,7972,-1.03,-57.5,700.2,-7.8,761,7980,0.00,1.33,0.00,0.000,6,0.000,0.042,2391,2377,3032
$GC,8290,-1.03,-57.5,725.5,-8.1,792,8294,0.00,1.50,0.00,0.000,4,0.000,0.053,2383,3254,3031
$GC,8444,-1.03,-57.5,739.3,-9.3,806,8451,0.00,1.42,0.00,0.000,6,0.000,0.035,2388,2381,3030
$GC,8762,-1.03,-57.5,764.6,-7.9,837,8765,0.00,1.30,0.00,0.000,4,0.000,0.045,2389,1493,3030
$GC,8939,-1.03,-57.5,778.7,-8.5,853,8944,0.08,1.30,0.00,0.000,6,0.212,0.044,2405,2365,3029
$GC,9254,-1.03,-57.5,802.5,-7.8,884,9258,0.00,1.30,0.00,0.000,4,0.000,0.044,2410,1487,3029
$GC,9307,-1.03,-57.5,806.6,-7.7,889,9310,0.00,1.33,0.00,0.000,6,0.000,0.044,2406,2378,3028
$GC,9630,-1.03,-57.5,831.7,-8.2,920,9633,0.00,1.33,0.00,0.000,4,0.000,0.044,2409,1483,3027
$GC,9769,-1.03,-60.6,842.3,-7.1,933,9772,0.00,1.33,0.00,0.000,6,0.000,0.045,2405,2369,3026
$GC,10090,-1.04,-63.4,864.7,-7.2,964,10093,0.00,1.30,0.00,0.000,4,0.000,0.045,2405,1494,3025
$GC,10335,-1.04,-66.7,883.0,-7.1,987,10338,0.00,1.33,0.00,0.000,6,0.000,0.046,2400,2378,3024
$GC,10656,-1.04,-69.9,906.0,-7.1,1018,10660,0.00,1.30,0.00,0.000,4,0.000,0.044,2401,1498,3023
$GC,10903,-1.05,-79.1,922.8,-6.4,1041,10905,0.00,1.33,0.00,0.000,6,0.000,0.046,2397,2379,3022
$GC,11224,-1.06,-83.8,945.9,-6.9,1072,11226,0.00,1.33,0.00,0.000,4,0.000,0.044,2397,1487,3021
$GC,11469,-1.07,-93.2,962.8,-6.3,1095,11472,0.00,1.33,0.00,0.000,6,0.000,0.046,2391,2365,3020
$GC,11790,-1.08,-96.8,983.1,-7.1,1126,11793,0.00,1.30,0.00,0.000,4,0.000,0.045,2390,1492,3019
$STATE,11889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11889,begin apogee
$GC,11895,-0.25,0.0,990.4,6.8,1135,11941,1.02,0.00,38.17,1.213,6,0.195,0.000,2653,2277,2839
$STATE,11941,end apogee,CONTROL_FINISHED_OK
$STATE,11941,begin climb
$GC,11943,1.08,96.8,991.8,0.0,1140,12033,1.35,1.77,84.15,1.228,4,0.110,0.058,3087,3171,2445
$GC,12086,1.08,96.8,974.9,18.2,1152,12089,0.00,1.58,0.00,0.000,6,0.000,0.037,3095,2299,2439
$GC,12407,1.08,96.8,917.3,18.1,1183,12408,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2300,2434
$GC,12717,1.08,96.8,861.7,17.5,1213,12720,0.00,1.27,0.00,0.000,4,0.000,0.044,3101,1364,2433
$GC,12749,1.08,96.8,856.1,17.1,1216,12752,0.00,1.25,0.00,0.000,6,0.000,0.046,3100,2276,2433
$GC,13072,1.08,96.8,799.2,17.0,1247,13073,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2276,2432
$GC,13381,1.08,96.8,746.4,16.4,1277,13384,0.00,1.62,0.00,0.000,4,0.000,0.054,3100,3184,2431
$GC,13424,1.08,96.8,738.8,17.3,1281,13427,0.00,1.60,0.00,0.000,6,0.000,0.037,3107,2258,2431
$GC,13744,1.08,96.8,684.2,16.5,1312,13748,0.00,1.70,0.00,0.000,4,0.000,0.054,3106,3174,2430
$GC,13852,1.08,96.8,664.9,18.9,1322,13854,0.00,1.58,0.00,0.000,6,0.000,0.037,3113,2275,2429
$GC,14174,1.08,96.8,611.6,16.0,1353,14175,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2275,2428
$GC,14483,1.08,96.8,561.6,15.5,1383,14486,0.00,1.62,0.00,0.000,4,0.000,0.054,3113,3176,2427
$GC,14551,1.08,96.8,549.7,17.4,1389,14558,0.00,1.58,0.00,0.000,6,0.000,0.036,3120,2275,2427
$GC,14869,1.08,96.8,497.7,16.9,1420,14872,0.00,1.62,0.00,0.000,4,0.000,0.053,3120,3178,2427
$GC,14944,1.08,96.8,484.1,17.3,1427,14947,0.10,1.58,0.00,0.000,6,0.203,0.036,3100,2277,2427
$GC,15265,1.08,96.8,434.6,15.0,1458,15268,0.00,1.62,0.00,0.000,4,0.000,0.052,3093,3182,2427
$GC,15340,1.08,96.8,422.6,17.1,1465,15343,0.00,1.58,0.00,0.000,6,0.000,0.036,3099,2275,2427
$GC,15660,1.08,96.8,372.9,15.0,1496,15663,0.00,1.62,0.00,0.000,4,0.000,0.052,3093,3179,2427
$GC,15757,1.08,96.8,357.8,15.3,1505,15760,0.00,1.58,0.00,0.000,6,0.000,0.035,3100,2274,2427
$GC,16079,1.08,96.8,308.1,15.8,1536,16082,0.00,1.65,0.00,0.000,4,0.000,0.051,3094,3174,2427
$GC,16126,1.08,96.8,300.7,15.5,1540,16134,0.00,1.55,0.00,0.000,6,0.000,0.035,3101,2280,2426
$GC,16443,1.08,96.8,251.4,15.9,1571,16447,0.00,1.62,0.00,0.000,4,0.000,0.051,3096,3167,2427
$GC,16587,1.08,96.8,228.2,15.1,1584,16595,0.00,1.55,0.00,0.000,6,0.000,0.034,3102,2275,2427
$GC,16904,1.08,96.8,180.3,15.7,1615,16907,0.00,1.62,0.00,0.000,4,0.000,0.050,3099,3164,2428
$GC,16983,1.08,96.8,167.7,17.3,1622,16990,0.00,1.55,0.00,0.000,6,0.000,0.032,3106,2273,2428
$GC,17301,1.08,96.8,119.6,15.0,1653,17304,0.00,1.62,0.00,0.000,4,0.000,0.048,3106,3165,2429
$GC,17498,1.08,96.8,90.4,14.8,1671,17505,0.00,1.52,0.00,0.000,6,0.000,0.031,3113,2277,2430
$GC,17690,1.08,96.8,64.4,12.4,1690,17690,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2277,2430
$GC,17876,1.08,96.8,46.6,8.2,1708,17879,0.00,1.17,0.00,0.000,4,0.000,0.036,3119,1359,2431
$GC,17887,1.09,103.7,45.9,6.7,1709,17898,0.00,1.23,4.93,0.417,6,0.000,0.038,3119,2282,2416
$GC,18083,1.12,133.0,35.7,3.9,1728,18112,0.00,1.23,23.98,0.532,4,0.000,0.035,3124,1362,2296
$GC,18198,1.15,154.0,31.3,4.9,1738,18218,0.00,1.23,17.23,0.510,6,0.000,0.036,3124,2275,2212
$GC,18402,1.17,175.2,22.5,4.9,1758,18425,0.00,1.58,17.25,0.498,4,0.000,0.044,3124,3174,2125
$GC,18665,1.22,210.7,4.3,3.1,1782,18699,0.00,1.52,27.33,0.489,6,0.000,0.028,3131,2273,1979
$GC,18882,1.30,276.3,4.3,-0.5,1803,18936,0.00,1.62,47.80,0.488,4,0.000,0.043,3131,3166,1713
$GC,19175,1.38,340.0,4.2,-0.3,1830,19225,0.10,1.50,46.65,0.476,6,0.051,0.026,3195,2274,1454
$STATE,19254,end climb,NO_VERTICAL_VELOCITY
$STATE,19254,begin surface
$SM_CCo,19256,165.40,0.476,0,0,403,597.54
$SM_GC,1.88,8.12,0.00,0.00,0.041,0.000,0.000,201,2390,400,-7.90,0.45,598.52
$IRIDIUM_FIX,2833.46,-8826.65,081099,121204
$TT8_MAMPS,0.051389
$HUMID,1319
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,25.90
$XPDR_PINGS,1
$24V_AH,23.6,44.280
$10V_AH,10.6,61.509
$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,20.725,108.100,307.475,165.400,0.000,54.350,60.045,289.998,4.000,0.000,0.000,10.061,0.000,12796.656,570.513,5919.049,822.068,33.337,2271.618,0.000,5308.843,0.000,28.645,0.000
$DEVICE_MAMPS,253.110,57.525,1227.967,475.540,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1257.546,1355.618,4128.207,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94671,1837
$CAP_FILE_SIZE,190528,0
$CFSIZE,260165632,232452096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.088,109.0,1
$GPS,140710,181345,2844.083,-8825.881,36,2.3,55,-0.4