version: 66.04
glider: 515
mission: 5
dive: 264
start: 7 17 110 0 37 54
data:
$ID,515
$MISSION,5
$DIVE,264
$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,-23462.334
$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,32
$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
$GPS1,181911,2840.514,-8841.046,51,2.7,70,-0.2
$_CALLS,8
$_XMS_NAKs,21
$_XMS_TOUTs,2
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-78.7
$GPS2,003715,2839.732,-8842.347,553,2.5,572,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.139,0.225
$KALMAN_X,-6951.5,-1015.2,-696.2,21270.7,6268.3
$KALMAN_Y,-368902.7,-2279.0,1498.7,390746.2,-8949.4
$MHEAD_RNG_PITCHd_Wd,4.1,6556,-26.8,-7.500
$D_GRID,1215
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.04,-41.0,0.0,0.0,0,34,0.00,0.00,-18.27,0.000,2,0.000,0.000,206,2334,998
$GC,36,-1.09,-80.9,3.2,-2.6,2,98,9.75,1.30,-46.55,0.000,4,0.252,0.056,2397,1393,3172
$GC,129,-1.09,-80.9,20.8,-19.0,10,132,0.00,1.27,0.00,0.000,6,0.000,0.029,2392,2335,3172
$GC,327,-1.09,-80.9,49.7,-11.4,29,330,0.00,1.45,0.00,0.000,4,0.000,0.038,2385,3229,3172
$GC,572,-1.09,-80.9,74.8,-8.5,52,575,0.00,1.42,0.00,0.000,6,0.000,0.025,2391,2322,3172
$GC,769,-1.09,-80.9,94.1,-10.3,71,773,0.00,1.50,0.00,0.000,4,0.000,0.038,2385,3227,3172
$GC,1015,-1.09,-80.9,124.4,-12.3,94,1018,0.00,1.42,0.00,0.000,6,0.000,0.025,2390,2324,3171
$GC,1337,-1.09,-80.9,164.0,-12.0,125,1341,0.00,1.50,0.00,0.000,4,0.000,0.038,2385,3227,3170
$GC,1405,-1.09,-80.9,172.2,-11.5,131,1413,0.00,1.42,0.00,0.000,6,0.000,0.025,2390,2326,3170
$GC,1724,-1.09,-80.9,209.7,-11.6,162,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2325,3167
$GC,2032,-1.09,-80.9,245.3,-11.8,192,2036,0.00,1.20,0.00,0.000,4,0.000,0.035,2391,1426,3164
$GC,2278,-1.09,-80.9,274.7,-15.7,215,2281,0.00,1.23,0.00,0.000,6,0.000,0.034,2387,2324,3162
$GC,2600,-1.09,-80.9,312.2,-11.5,246,2603,0.00,1.23,0.00,0.000,4,0.000,0.036,2389,1426,3160
$GC,2835,-1.09,-80.9,338.8,-10.9,268,2838,0.00,1.23,0.00,0.000,6,0.000,0.035,2384,2322,3157
$GC,3157,-1.09,-80.9,376.1,-11.8,299,3160,0.00,1.23,0.00,0.000,4,0.000,0.038,2388,1429,3154
$GC,3370,-1.09,-80.9,401.1,-11.1,319,3373,0.00,1.25,0.00,0.000,6,0.000,0.037,2383,2330,3152
$GC,3694,-1.09,-80.9,438.5,-11.4,350,3697,0.00,1.25,0.00,0.000,4,0.000,0.038,2387,1431,3148
$GC,3939,-1.09,-80.9,468.8,-12.6,373,3942,0.00,1.23,0.00,0.000,6,0.000,0.037,2383,2319,3147
$GC,4262,-1.09,-80.9,506.9,-11.9,404,4263,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2319,3144
$GC,4571,-1.09,-80.9,543.9,-11.9,434,4574,0.00,1.23,0.00,0.000,4,0.000,0.041,2387,1433,3141
$GC,4799,-1.09,-80.9,570.6,-11.9,455,4806,0.00,1.27,0.00,0.000,6,0.000,0.038,2382,2328,3139
$GC,5117,-1.09,-80.9,606.3,-11.4,486,5120,0.00,1.25,0.00,0.000,4,0.000,0.041,2387,1436,3136
$GC,5290,-1.09,-80.9,626.6,-12.4,502,5293,0.00,1.25,0.00,0.000,6,0.000,0.041,2382,2326,3135
$GC,5613,-1.09,-80.9,663.1,-11.4,533,5616,0.00,1.25,0.00,0.000,4,0.000,0.042,2387,1429,3133
$GC,5680,-1.09,-80.9,671.1,-10.8,539,5688,0.00,1.27,0.00,0.000,6,0.000,0.039,2382,2325,3132
$GC,5998,-1.09,-80.9,705.7,-11.0,570,5999,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2325,3130
$GC,6308,-1.09,-80.9,739.0,-10.4,600,6311,0.00,1.25,0.00,0.000,4,0.000,0.043,2386,1434,3128
$GC,6522,-1.09,-80.9,761.5,-10.8,620,6525,0.00,1.25,0.00,0.000,6,0.000,0.042,2382,2321,3127
$GC,6844,-1.09,-80.9,796.2,-10.5,651,6847,0.00,1.25,0.00,0.000,4,0.000,0.044,2387,1431,3125
$GC,6944,-1.09,-80.9,807.1,-10.6,660,6952,0.00,1.30,0.00,0.000,6,0.000,0.042,2382,2331,3124
$GC,7262,-1.09,-80.9,840.9,-10.1,691,7265,0.00,1.27,0.00,0.000,4,0.000,0.043,2386,1430,3123
$GC,7379,-1.09,-80.9,853.6,-10.7,702,7382,0.00,1.27,0.00,0.000,6,0.000,0.043,2382,2323,3122
$GC,7700,-1.09,-80.9,886.6,-10.2,733,7703,0.00,1.25,0.00,0.000,4,0.000,0.044,2386,1439,3120
$GC,7811,-1.09,-80.9,898.1,-10.5,743,7818,0.00,1.30,0.00,0.000,6,0.000,0.043,2382,2332,3120
$GC,8127,-1.09,-80.9,929.8,-9.9,774,8134,0.00,1.27,0.00,0.000,4,0.000,0.043,2386,1433,3118
$GC,8257,-1.09,-80.9,943.4,-10.8,786,8260,0.00,1.27,0.00,0.000,6,0.000,0.044,2382,2326,3118
$GC,8578,-1.09,-80.9,975.5,-10.2,817,8581,0.00,1.25,0.00,0.000,4,0.000,0.044,2386,1446,3117
$GC,8653,-1.09,-80.9,982.9,-9.7,824,8656,0.00,1.27,0.00,0.000,6,0.000,0.044,2382,2331,3117
$STATE,8725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8725,begin apogee
$GC,8730,-0.26,0.0,990.1,9.9,831,8790,1.00,0.00,56.75,1.225,6,0.185,0.000,2650,2289,2840
$STATE,8790,end apogee,CONTROL_FINISHED_OK
$STATE,8790,begin climb
$GC,8792,1.09,80.9,992.4,0.0,837,8869,1.35,0.00,70.00,1.209,6,0.107,0.000,3086,2289,2511
$GC,9178,1.09,80.9,937.2,16.0,875,9181,0.00,1.60,0.00,0.000,4,0.000,0.054,3086,3163,2501
$GC,9263,1.09,80.9,922.6,17.5,883,9266,0.00,1.55,0.00,0.000,6,0.000,0.035,3093,2274,2500
$GC,9586,1.09,80.9,870.6,15.8,914,9589,0.00,1.62,0.00,0.000,4,0.000,0.053,3092,3162,2499
$GC,9682,1.09,80.9,854.7,15.5,923,9685,0.00,1.55,0.00,0.000,6,0.000,0.036,3099,2272,2498
$GC,10005,1.09,80.9,803.5,15.5,954,10008,0.00,1.65,0.00,0.000,4,0.000,0.052,3099,3174,2497
$GC,10062,1.09,80.9,793.2,18.5,959,10069,0.00,1.55,0.00,0.000,6,0.000,0.035,3106,2276,2497
$GC,10380,1.09,80.9,741.4,16.2,990,10383,0.00,1.62,0.00,0.000,4,0.000,0.053,3106,3186,2496
$GC,10508,1.09,80.9,719.8,16.4,1002,10511,0.00,1.58,0.00,0.000,6,0.000,0.035,3113,2274,2495
$GC,10831,1.09,80.9,669.7,15.5,1033,10834,0.00,1.62,0.00,0.000,4,0.000,0.053,3113,3185,2494
$GC,11016,1.09,80.9,638.8,17.0,1050,11025,0.00,1.58,0.00,0.000,6,0.000,0.035,3121,2274,2494
$GC,11334,1.09,80.9,589.8,15.5,1081,11335,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2275,2494
$GC,11644,1.09,80.9,542.2,14.8,1111,11647,0.00,1.62,0.00,0.000,4,0.000,0.052,3120,3164,2493
$GC,11744,1.09,80.9,525.7,16.1,1120,11751,0.00,1.55,0.00,0.000,6,0.000,0.035,3127,2275,2493
$GC,12063,1.09,80.9,476.2,15.4,1151,12066,0.00,1.62,0.00,0.000,4,0.000,0.052,3127,3163,2493
$GC,12180,1.09,80.9,456.5,17.8,1162,12183,0.10,1.55,0.00,0.000,6,0.198,0.035,3106,2274,2492
$GC,12501,1.09,80.9,407.9,15.1,1193,12502,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2274,2492
$GC,12811,1.09,80.9,363.2,14.9,1223,12814,0.00,1.60,0.00,0.000,4,0.000,0.051,3100,3168,2492
$GC,12908,1.09,80.9,348.9,15.5,1232,12910,0.00,1.55,0.00,0.000,6,0.000,0.035,3107,2272,2492
$GC,13229,1.09,80.9,302.8,14.8,1263,13231,0.00,1.62,0.00,0.000,4,0.000,0.051,3106,3185,2492
$GC,13304,1.09,80.9,291.8,15.2,1270,13306,0.00,1.55,0.00,0.000,6,0.000,0.034,3113,2280,2492
$GC,13624,1.09,80.9,245.5,14.9,1301,13627,0.00,1.60,0.00,0.000,4,0.000,0.051,3113,3162,2492
$GC,13689,1.09,80.9,235.5,15.8,1307,13692,0.00,1.52,0.00,0.000,6,0.000,0.033,3120,2273,2492
$GC,14011,1.09,80.9,188.0,14.4,1338,14012,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2274,2492
$GC,14320,1.09,80.9,145.2,14.1,1368,14324,0.00,1.62,0.00,0.000,4,0.000,0.048,3120,3173,2494
$GC,14442,1.09,80.9,127.4,15.4,1379,14449,0.00,1.52,0.00,0.000,6,0.000,0.031,3127,2276,2493
$GC,14760,1.09,80.9,86.8,12.1,1410,14764,0.00,1.62,0.00,0.000,4,0.000,0.048,3127,3177,2494
$GC,15006,1.09,80.9,59.8,9.6,1433,15009,0.08,1.55,0.00,0.000,6,0.170,0.030,3103,2269,2496
$GC,15203,1.12,100.0,48.7,5.2,1452,15226,0.00,1.65,14.10,0.525,4,0.000,0.045,3095,3171,2431
$GC,15466,1.17,146.9,37.6,1.7,1476,15509,0.00,1.52,36.85,0.536,6,0.000,0.028,3103,2268,2240
$GC,15696,1.23,194.2,32.3,1.7,1498,15736,0.12,1.62,36.25,0.522,4,0.074,0.042,3154,3182,2047
$GC,15978,1.28,237.2,13.3,2.2,1524,16016,0.00,1.52,32.42,0.495,6,0.000,0.028,3161,2276,1872
$GC,16199,1.35,290.8,12.9,0.9,1545,16241,0.00,0.00,40.42,0.489,6,0.000,0.000,3161,2276,1653
$GC,16425,1.42,350.2,8.4,0.2,1567,16475,0.12,1.65,44.22,0.479,4,0.067,0.041,3218,3182,1410
$STATE,16505,end climb,NO_VERTICAL_VELOCITY
$STATE,16505,begin surface
$SM_CCo,16507,180.02,0.478,0,0,403,597.54
$SM_GC,2.71,8.23,0.00,0.00,0.054,0.000,0.000,206,2328,400,-7.90,0.08,598.52
$IRIDIUM_FIX,2828.55,-8841.44,111099,000011
$TT8_MAMPS,0.050622
$HUMID,1383
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,25.20
$XPDR_PINGS,3
$24V_AH,23.8,46.332
$10V_AH,10.6,64.110
$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,20.750,91.425,331.025,180.025,0.000,209.641,310.150,1295.187,4.500,0.000,0.000,575.317,0.000,11471.869,576.654,5706.677,2276.524,33.338,2075.260,0.000,4614.914,0.000,32.715,0.000
$DEVICE_MAMPS,251.576,72.098,1224.899,477.841,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1076.195,1164.393,3538.251,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85049,1574
$CAP_FILE_SIZE,199322,0
$CFSIZE,260165632,231460864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049, 41.0,1
$GPS,170710,052921,2841.432,-8842.126,392,10.1,412,-0.2