version: 66.04
glider: 515
mission: 5
dive: 259
start: 7 15 110 17 29 41
data:
$ID,515
$MISSION,5
$DIVE,259
$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,-20061.426
$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,27
$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,2325
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,33
$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
$GPS1,164200,2841.167,-8833.098,302,1.6,302,-0.3
$_CALLS,8
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-78.4
$GPS2,172902,2840.045,-8833.191,11,1.6,11,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.103,0.244
$KALMAN_X,-12920.1,-513.9,-491.7,41479.1,6827.3
$KALMAN_Y,-345401.1,1969.1,-762.8,365804.7,-7370.3
$MHEAD_RNG_PITCHd_Wd,299.1,19671,-10.8,-7.500
$D_GRID,1426
$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,-0.64,-194.6,0.0,0.0,0,37,0.00,0.00,-22.45,0.000,2,0.000,0.000,193,2342,1124
$GC,39,-0.64,-194.6,3.0,-2.0,2,122,10.02,1.50,-63.85,0.000,4,0.239,0.059,2531,3220,3635
$GC,282,-0.64,-194.6,38.8,-19.0,24,285,0.00,1.42,0.00,0.000,6,0.000,0.026,2536,2333,3635
$GC,480,-0.64,-194.6,67.6,-13.0,43,480,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2331,3635
$GC,665,-0.64,-194.6,91.3,-13.3,61,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2331,3635
$GC,851,-0.64,-194.6,115.3,-12.8,79,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2331,3635
$GC,1163,-0.64,-194.6,152.7,-11.7,109,1163,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2331,3634
$GC,1472,-0.64,-194.6,188.1,-11.4,139,1475,0.00,1.23,0.00,0.000,4,0.000,0.036,2536,1421,3632
$GC,1547,-0.64,-194.6,196.5,-11.0,146,1550,0.00,1.23,0.00,0.000,6,0.000,0.035,2532,2320,3630
$GC,1869,-0.64,-194.6,233.8,-11.4,177,1870,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2321,3628
$GC,2179,-0.64,-194.6,268.2,-10.8,207,2182,0.00,1.23,0.00,0.000,4,0.000,0.037,2532,1423,3625
$GC,2257,-0.64,-194.6,276.7,-10.0,214,2266,0.00,1.27,0.00,0.000,6,0.000,0.036,2527,2333,3625
$GC,2576,-0.64,-194.6,311.6,-10.8,245,2577,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2333,3623
$GC,2885,-0.64,-194.6,345.4,-10.7,275,2888,0.00,1.27,0.00,0.000,4,0.000,0.038,2527,1406,3619
$GC,2959,-0.64,-194.6,353.2,-9.8,282,2962,0.00,1.25,0.00,0.000,6,0.000,0.038,2521,2319,3619
$GC,3282,-0.64,-194.6,389.2,-11.6,313,3283,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2319,3616
$GC,3591,-0.64,-194.6,423.3,-11.1,343,3591,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2319,3612
$GC,3901,-0.64,-194.6,457.0,-11.0,373,3905,0.00,1.25,0.00,0.000,4,0.000,0.041,2521,1410,3609
$GC,3944,-0.64,-194.6,461.7,-10.6,377,3947,0.00,1.27,0.00,0.000,6,0.000,0.041,2515,2321,3609
$GC,4266,-0.64,-194.6,498.1,-11.2,408,4267,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2321,3606
$GC,4575,-0.64,-194.6,532.7,-11.2,438,4576,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2321,3604
$GC,4886,-0.64,-194.6,567.8,-11.2,468,4889,0.00,1.25,0.00,0.000,4,0.000,0.041,2515,1423,3601
$GC,4922,-0.64,-194.6,572.1,-10.4,471,4930,0.08,1.30,0.00,0.000,6,0.144,0.042,2534,2331,3600
$GC,5239,-0.64,-194.6,603.2,-10.3,502,5239,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2330,3598
$GC,5550,-0.64,-194.6,633.9,-10.2,532,5551,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2331,3595
$GC,5860,-0.64,-194.6,662.8,-9.0,562,5861,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2331,3593
$GC,6171,-0.64,-194.6,690.9,-8.8,592,6173,0.00,1.27,0.00,0.000,4,0.000,0.044,2534,1431,3591
$GC,6213,-0.64,-194.6,694.9,-9.0,596,6216,0.00,1.27,0.00,0.000,6,0.000,0.046,2530,2324,3591
$GC,6536,-0.64,-194.6,724.8,-9.7,627,6537,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2324,3589
$GC,6844,-0.64,-194.6,754.6,-9.8,657,6845,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2324,3587
$GC,7155,-0.64,-194.6,783.7,-9.3,687,7156,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2324,3586
$GC,7465,-0.64,-194.6,811.3,-8.7,717,7466,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2324,3583
$GC,7776,-0.64,-194.6,838.2,-8.5,747,7777,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2324,3582
$GC,8087,-0.64,-194.6,865.5,-9.0,777,8088,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2324,3580
$GC,8396,-0.64,-194.6,892.9,-9.2,807,8397,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2325,3579
$GC,8707,-0.64,-194.6,921.3,-9.0,837,8708,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2324,3578
$GC,9019,-0.64,-194.6,949.2,-8.8,867,9020,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2324,3576
$GC,9328,-0.64,-194.6,976.8,-8.7,897,9328,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2324,3575
$STATE,9482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9482,begin apogee
$GC,9487,-0.26,0.0,990.4,8.3,912,9638,0.43,0.00,147.77,1.244,6,0.135,0.000,2657,2273,2840
$STATE,9638,end apogee,CONTROL_FINISHED_OK
$STATE,9638,begin climb
$GC,9640,0.64,194.6,996.0,0.0,927,9811,0.93,0.00,167.35,1.216,6,0.106,0.000,2948,2273,2046
$GC,10116,0.64,194.6,949.0,11.8,974,10119,0.00,1.67,0.00,0.000,4,0.000,0.059,2948,3183,2035
$GC,10152,0.64,194.6,944.3,12.7,977,10159,0.00,1.60,0.00,0.000,6,0.000,0.037,2955,2277,2033
$GC,10470,0.64,194.6,905.0,12.4,1008,10471,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2278,2032
$GC,10779,0.64,194.6,865.4,13.0,1038,10780,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2277,2031
$GC,11090,0.64,194.6,826.7,12.3,1068,11091,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2278,2030
$GC,11400,0.64,194.6,788.9,11.4,1098,11403,0.00,1.62,0.00,0.000,4,0.000,0.055,2955,3163,2029
$GC,11436,0.64,194.6,784.1,12.7,1101,11443,0.00,1.55,0.00,0.000,6,0.000,0.038,2963,2277,2028
$GC,11754,0.64,194.6,745.3,12.1,1132,11755,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2278,2028
$GC,12063,0.64,194.6,707.6,12.5,1162,12064,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2278,2027
$GC,12373,0.64,194.6,669.8,12.5,1192,12374,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2278,2027
$GC,12684,0.64,194.6,631.9,11.9,1222,12687,0.00,1.23,0.00,0.000,4,0.000,0.044,2968,1360,2027
$GC,12706,0.64,194.6,629.2,11.9,1224,12708,0.00,1.25,0.00,0.000,6,0.000,0.045,2968,2273,2027
$GC,13026,0.64,194.6,590.0,12.0,1255,13030,0.00,1.62,0.00,0.000,4,0.000,0.054,2968,3168,2026
$GC,13058,0.64,194.6,585.7,12.8,1258,13061,0.00,1.58,0.00,0.000,6,0.000,0.038,2976,2269,2026
$GC,13379,0.64,194.6,543.8,13.2,1289,13380,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2270,2026
$GC,13690,0.64,194.6,503.2,13.4,1319,13691,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2270,2025
$GC,14000,0.64,194.6,466.0,11.2,1349,14003,0.00,1.17,0.00,0.000,4,0.000,0.042,2981,1376,2025
$GC,14043,0.64,194.6,460.9,10.9,1353,14046,0.00,1.23,0.00,0.000,6,0.000,0.043,2981,2277,2025
$GC,14363,0.64,194.6,420.4,12.6,1384,14364,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2277,2025
$GC,14675,0.64,194.6,380.6,12.3,1414,14678,0.00,1.23,0.00,0.000,4,0.000,0.042,2987,1370,2026
$GC,14743,0.64,194.6,372.0,11.9,1420,14750,0.10,1.23,0.00,0.000,6,0.140,0.041,2955,2275,2025
$GC,15060,0.64,194.6,338.2,10.9,1451,15060,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2275,2025
$GC,15370,0.64,194.6,305.9,10.0,1481,15373,0.00,1.23,0.00,0.000,4,0.000,0.041,2959,1358,2025
$GC,15434,0.64,194.6,299.4,9.4,1487,15437,0.00,1.23,0.00,0.000,6,0.000,0.041,2959,2267,2026
$GC,15754,0.64,194.6,265.0,10.4,1518,15755,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2267,2026
$GC,16066,0.64,194.6,232.8,10.5,1548,16068,0.00,1.17,0.00,0.000,4,0.000,0.039,2964,1374,2026
$GC,16112,0.64,194.6,227.8,10.5,1552,16119,0.00,1.25,0.00,0.000,6,0.000,0.039,2964,2284,2026
$GC,16430,0.64,194.6,193.5,11.0,1583,16431,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2284,2026
$GC,16740,0.64,194.6,159.4,11.5,1613,16743,0.00,1.58,0.00,0.000,4,0.000,0.049,2964,3165,2027
$GC,16772,0.64,194.6,155.7,9.9,1616,16775,0.00,1.52,0.00,0.000,6,0.000,0.032,2971,2275,2027
$GC,17092,0.64,194.6,119.1,11.4,1647,17095,0.00,1.17,0.00,0.000,4,0.000,0.038,2977,1368,2028
$GC,17135,0.64,194.6,114.6,10.5,1651,17138,0.00,1.20,0.00,0.000,6,0.000,0.038,2977,2275,2028
$GC,17456,0.64,194.6,80.8,10.3,1682,17457,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2275,2029
$GC,17642,0.64,194.6,62.6,9.2,1700,17645,0.00,1.58,0.00,0.000,4,0.000,0.047,2977,3164,2029
$GC,17689,0.64,194.6,58.2,8.5,1704,17696,0.10,1.52,0.00,0.000,6,0.125,0.030,2952,2273,2029
$GC,17882,0.72,261.0,46.4,5.8,1723,17935,0.00,1.60,49.42,0.543,4,0.000,0.044,2951,3168,1774
$GC,17979,0.82,337.2,41.0,5.5,1731,18042,0.10,1.55,57.92,0.533,6,0.032,0.030,3034,2269,1464
$GC,18235,0.82,337.2,20.1,8.8,1755,18236,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2270,1457
$GC,18421,1.04,523.5,7.8,2.6,1773,18562,0.15,1.15,134.85,0.501,4,0.065,0.034,3101,1364,705
$STATE,18787,end climb,NO_VERTICAL_VELOCITY
$STATE,18787,begin surface
$SM_CCo,18789,55.42,0.479,0,0,403,597.54
$SM_GC,2.97,8.07,0.00,0.00,0.061,0.000,0.000,200,2329,400,-7.92,0.11,598.52
$IRIDIUM_FIX,2831.00,-8836.53,091099,171732
$TT8_MAMPS,0.050622
$HUMID,1383
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,24.60
$XPDR_PINGS,5
$24V_AH,23.1,45.311
$10V_AH,10.6,62.762
$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,19.975,54.250,557.325,55.425,0.000,233.544,474.044,1537.325,5.000,0.000,0.000,12.871,0.000,13289.627,604.214,5286.859,2623.751,33.345,2080.594,0.000,4738.389,0.000,31.223,0.000
$DEVICE_MAMPS,238.537,77.467,1244.074,479.375,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1235.104,1320.601,4059.423,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94700,1806
$CAP_FILE_SIZE,201768,0
$CFSIZE,260165632,231985152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.079,154.8,1
$GPS,150710,224855,2840.604,-8835.510,115,1.8,115,-0.3