version: 66.04
glider: 515
mission: 5
dive: 263
start: 7 16 110 18 19 52
data:
$ID,515
$MISSION,5
$DIVE,263
$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,597.54108
$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,-21981.387
$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,25
$R_STBD_OVSHOOT,25
$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
$GPS1,175027,3026.666,-8311.083,468,3.4,487,-4.4
$_CALLS,8
$_XMS_NAKs,29
$_XMS_TOUTs,2
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-72.7
$GPS2,181911,2840.514,-8841.046,51,2.7,70,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.115,0.238
$KALMAN_X,-9105.8,-809.2,363.4,24297.9,1039.2
$KALMAN_Y,-365564.8,3276.5,137.1,384615.7,-11996.3
$MHEAD_RNG_PITCHd_Wd,253.7,7311,-26.8,-7.500
$D_GRID,1168
$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,-1.04,-41.0,0.0,0.0,0,37,0.00,0.00,-22.98,0.000,2,0.000,0.000,204,2337,1143
$GC,39,-1.08,-69.7,3.2,-4.0,2,102,9.93,1.50,-48.60,0.000,4,0.255,0.057,2387,3232,3126
$GC,344,-1.08,-69.7,52.9,-11.0,30,347,0.00,1.48,0.00,0.000,6,0.000,0.026,2393,2313,3127
$GC,541,-1.08,-69.7,68.5,-7.6,49,544,0.00,1.52,0.00,0.000,4,0.000,0.038,2387,3228,3127
$GC,786,-1.08,-69.7,90.1,-9.3,72,789,0.00,1.45,0.00,0.000,6,0.000,0.026,2392,2321,3126
$GC,983,-1.08,-69.7,109.7,-10.6,91,986,0.00,1.52,0.00,0.000,4,0.000,0.039,2386,3234,3126
$GC,1229,-1.08,-69.7,138.7,-13.7,114,1232,0.00,1.45,0.00,0.000,6,0.000,0.027,2392,2327,3125
$GC,1551,-1.08,-69.7,174.5,-10.0,145,1554,0.00,1.50,0.00,0.000,4,0.000,0.040,2386,3224,3124
$GC,1680,-1.08,-69.7,188.3,-10.7,157,1683,0.00,1.45,0.00,0.000,6,0.000,0.028,2391,2321,3123
$GC,2002,-1.08,-69.7,219.3,-9.2,188,2005,0.00,1.20,0.00,0.000,4,0.000,0.035,2397,1415,3121
$GC,2247,-1.08,-69.7,242.1,-9.1,211,2250,0.00,1.25,0.00,0.000,6,0.000,0.034,2393,2327,3120
$GC,2570,-1.08,-69.7,273.7,-9.9,242,2573,0.00,1.25,0.00,0.000,4,0.000,0.035,2397,1408,3116
$GC,2816,-1.08,-69.7,297.8,-9.4,265,2819,0.00,1.25,0.00,0.000,6,0.000,0.034,2392,2324,3114
$GC,3138,-1.08,-69.7,329.1,-9.0,296,3142,0.00,1.25,0.00,0.000,4,0.000,0.036,2397,1406,3111
$GC,3384,-1.08,-69.7,353.9,-9.9,319,3387,0.00,1.27,0.00,0.000,6,0.000,0.035,2392,2329,3110
$GC,3707,-1.08,-69.7,386.5,-10.7,350,3710,0.00,1.25,0.00,0.000,4,0.000,0.036,2397,1419,3107
$GC,3792,-1.08,-69.7,395.2,-9.9,358,3795,0.00,1.25,0.00,0.000,6,0.000,0.036,2392,2325,3106
$GC,4115,-1.08,-69.7,427.0,-10.4,389,4116,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2325,3104
$GC,4423,-1.08,-69.7,457.1,-9.5,419,4426,0.00,1.25,0.00,0.000,4,0.000,0.038,2396,1418,3101
$GC,4668,-1.08,-69.7,481.8,-10.5,442,4671,0.00,1.25,0.00,0.000,6,0.000,0.038,2392,2319,3100
$GC,4992,-1.08,-69.7,514.9,-10.7,473,4995,0.00,1.25,0.00,0.000,4,0.000,0.039,2397,1414,3097
$GC,5199,-1.08,-69.7,536.9,-9.7,492,5206,0.00,1.30,0.00,0.000,6,0.000,0.039,2392,2327,3096
$GC,5518,-1.08,-69.7,569.2,-9.9,523,5521,0.00,1.27,0.00,0.000,4,0.000,0.041,2396,1416,3093
$GC,5625,-1.08,-69.7,580.3,-10.5,533,5627,0.00,1.27,0.00,0.000,6,0.000,0.041,2392,2321,3093
$GC,5948,-1.08,-69.7,611.3,-9.7,564,5950,0.00,1.25,0.00,0.000,4,0.000,0.042,2396,1428,3090
$GC,6144,-1.08,-69.7,630.6,-10.9,582,6152,0.00,1.27,0.00,0.000,6,0.000,0.040,2392,2327,3089
$GC,6462,-1.08,-69.7,661.1,-9.7,613,6463,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2327,3088
$GC,6771,-1.08,-69.7,691.4,-9.7,643,6772,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2327,3087
$GC,7082,-1.08,-69.7,721.1,-9.5,673,7085,0.00,1.55,0.00,0.000,4,0.000,0.051,2384,3221,3085
$GC,7114,-1.08,-69.7,724.4,-10.2,676,7117,0.00,1.48,0.00,0.000,6,0.000,0.035,2389,2332,3084
$GC,7436,-1.08,-69.7,755.5,-9.8,707,7439,0.00,1.30,0.00,0.000,4,0.000,0.044,2390,1404,3083
$GC,7504,-1.08,-69.7,762.4,-9.8,713,7511,0.00,1.33,0.00,0.000,6,0.000,0.042,2385,2329,3083
$GC,7822,-1.08,-69.7,792.9,-9.6,744,7822,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2329,3082
$GC,8132,-1.08,-69.7,821.8,-9.3,774,8132,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2330,3080
$GC,8443,-1.08,-69.7,850.5,-9.1,804,8446,0.00,1.30,0.00,0.000,4,0.000,0.044,2386,1419,3079
$GC,8550,-1.08,-69.7,860.6,-9.4,814,8553,0.00,1.30,0.00,0.000,6,0.000,0.044,2381,2326,3078
$GC,8872,-1.08,-69.7,890.6,-9.3,845,8875,0.00,1.30,0.00,0.000,4,0.000,0.044,2384,1414,3077
$GC,9047,-1.08,-69.7,907.6,-10.3,861,9054,0.00,1.35,0.00,0.000,6,0.000,0.053,2379,2324,3076
$GC,9364,-1.08,-69.7,937.4,-9.5,892,9366,0.00,1.30,0.00,0.000,4,0.000,0.044,2379,1408,3076
$GC,9411,-1.08,-69.7,942.1,-9.8,896,9417,0.00,1.33,0.00,0.000,6,0.000,0.044,2373,2327,3076
$GC,9727,-1.08,-69.7,971.1,-9.3,927,9728,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2327,3074
$STATE,9943,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9943,begin apogee
$GC,9949,-0.26,0.0,990.4,8.7,948,10005,1.05,0.00,48.62,1.218,6,0.191,0.000,2649,2263,2840
$STATE,10006,end apogee,CONTROL_FINISHED_OK
$STATE,10006,begin climb
$GC,10008,1.08,69.7,992.0,0.0,954,10071,1.35,0.00,60.83,1.210,6,0.107,0.000,3086,2263,2555
$GC,10378,1.08,69.7,941.7,15.5,990,10381,0.00,1.67,0.00,0.000,4,0.000,0.053,3085,3192,2547
$GC,10489,1.08,69.7,923.5,16.1,1000,10496,0.00,1.60,0.00,0.000,6,0.000,0.035,3093,2277,2546
$GC,10808,1.08,69.7,875.4,15.3,1031,10808,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2275,2544
$GC,11117,1.08,69.7,830.9,14.7,1061,11117,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2275,2543
$GC,11427,1.08,69.7,787.0,14.0,1091,11430,0.00,1.60,0.00,0.000,4,0.000,0.054,3093,3169,2542
$GC,11544,1.08,69.7,769.9,14.4,1102,11547,0.00,1.58,0.00,0.000,6,0.000,0.036,3100,2268,2541
$GC,11865,1.08,69.7,725.9,13.9,1133,11868,0.00,1.65,0.00,0.000,4,0.000,0.054,3099,3161,2540
$GC,12019,1.08,69.7,703.3,16.0,1147,12026,0.00,1.55,0.00,0.000,6,0.000,0.035,3106,2273,2540
$GC,12337,1.08,69.7,659.4,13.8,1178,12341,0.00,1.65,0.00,0.000,4,0.000,0.054,3104,3170,2539
$GC,12523,1.08,69.7,631.9,15.5,1195,12531,0.00,1.55,0.00,0.000,6,0.000,0.035,3111,2278,2539
$GC,12842,1.08,69.7,588.4,13.3,1226,12845,0.00,1.62,0.00,0.000,4,0.000,0.054,3110,3183,2539
$GC,12906,1.08,69.7,578.9,14.1,1232,12909,0.00,1.58,0.00,0.000,6,0.000,0.036,3117,2274,2539
$GC,13226,1.08,69.7,534.9,13.6,1263,13230,0.00,1.65,0.00,0.000,4,0.000,0.054,3118,3172,2539
$GC,13312,1.08,69.7,522.3,14.7,1271,13315,0.10,1.55,0.00,0.000,6,0.202,0.035,3098,2282,2538
$GC,13633,1.08,69.7,480.8,12.5,1302,13636,0.00,1.62,0.00,0.000,4,0.000,0.053,3090,3165,2538
$GC,13690,1.08,69.7,473.2,13.7,1307,13697,0.00,1.55,0.00,0.000,6,0.000,0.035,3098,2276,2538
$GC,14009,1.08,69.7,432.3,12.4,1338,14012,0.00,1.62,0.00,0.000,4,0.000,0.052,3091,3162,2538
$GC,14077,1.08,69.7,423.1,13.3,1344,14084,0.00,1.55,0.00,0.000,6,0.000,0.035,3098,2276,2538
$GC,14395,1.08,69.7,382.0,12.5,1375,14398,0.00,1.62,0.00,0.000,4,0.000,0.052,3091,3162,2538
$GC,14556,1.08,69.7,360.5,13.8,1390,14559,0.00,1.55,0.00,0.000,6,0.000,0.035,3098,2272,2538
$GC,14878,1.08,69.7,318.5,13.1,1421,14881,0.00,1.62,0.00,0.000,4,0.000,0.050,3091,3180,2538
$GC,15074,1.08,69.7,292.0,13.6,1439,15081,0.00,1.55,0.00,0.000,6,0.000,0.033,3098,2281,2538
$GC,15393,1.08,69.7,251.0,12.9,1470,15396,0.00,1.60,0.00,0.000,4,0.000,0.050,3091,3179,2539
$GC,15418,1.08,69.7,247.0,15.5,1472,15425,0.00,1.55,0.00,0.000,6,0.000,0.032,3099,2278,2538
$GC,15737,1.08,69.7,206.5,12.0,1503,15738,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2278,2539
$GC,16045,1.08,69.7,168.0,12.0,1533,16046,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2278,2540
$GC,16356,1.08,69.7,134.1,10.4,1563,16359,0.00,1.62,0.00,0.000,4,0.000,0.048,3092,3174,2541
$GC,16392,1.08,69.7,130.1,11.5,1566,16401,0.00,1.55,0.00,0.000,6,0.000,0.031,3099,2273,2541
$GC,16710,1.08,69.7,97.5,10.9,1597,16713,0.00,1.60,0.00,0.000,4,0.000,0.047,3093,3177,2542
$GC,16883,1.08,69.7,78.7,8.0,1613,16886,0.00,1.55,0.00,0.000,6,0.000,0.030,3099,2268,2543
$GC,17080,1.08,70.0,64.3,7.5,1632,17081,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2268,2544
$GC,17267,1.12,105.7,55.5,3.1,1650,17302,0.00,1.67,27.12,0.546,4,0.000,0.045,3096,3178,2407
$GC,17317,1.15,123.8,53.5,5.3,1654,17338,0.00,1.55,15.07,0.520,6,0.000,0.028,3103,2274,2335
$GC,17524,1.16,136.0,37.7,6.0,1674,17536,0.00,0.00,10.65,0.489,6,0.000,0.000,3103,2275,2284
$GC,17719,1.24,200.9,34.0,-0.5,1693,17774,0.12,1.67,49.65,0.528,4,0.076,0.044,3153,3177,2021
$GC,17784,1.27,229.2,32.7,4.0,1699,17811,0.00,1.55,22.52,0.502,6,0.000,0.028,3161,2275,1903
$GC,18005,1.27,229.2,12.4,8.4,1720,18008,0.00,1.17,0.00,0.000,4,0.000,0.034,3167,1362,1897
$STATE,18221,end climb,NO_VERTICAL_VELOCITY
$STATE,18221,begin surface
$SM_CCo,18223,267.55,0.489,0,0,404,597.54
$SM_GC,3.73,8.15,0.00,0.00,0.055,0.000,0.000,207,2331,400,-7.90,0.17,598.52
$IRIDIUM_FIX,2831.00,-8836.47,101099,181821
$TT8_MAMPS,0.050622
$HUMID,1372
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,24.30
$XPDR_PINGS,2
$24V_AH,23.8,46.135
$10V_AH,10.6,63.843
$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,20.700,96.075,234.475,267.550,0.000,230.705,440.144,415.367,4.250,0.000,0.000,72.949,0.000,12604.343,617.869,5643.426,1535.057,33.341,2197.749,0.000,5025.985,0.000,28.950,0.000
$DEVICE_MAMPS,255.411,66.729,1217.996,489.346,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1191.719,1286.226,3911.163,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91508,1740
$CAP_FILE_SIZE,188475,0
$CFSIZE,260165632,231579648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,47.526,242.4,1
$GPS,160710,181911,2840.514,-8841.046,51,2.7,70,-0.2