version: 66.04
glider: 515
mission: 5
dive: 266
start: 7 17 110 12 41 18
data:
$ID,515
$MISSION,5
$DIVE,266
$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,-23555.682
$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,29
$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
$GPS1,115607,2841.772,-8843.918,401,1.4,401,-0.2
$_CALLS,8
$_XMS_NAKs,16
$_XMS_TOUTs,2
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-78.1
$GPS2,124039,2842.729,-8844.441,9,2.1,28,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.247,0.095
$KALMAN_X,-5617.3,472.9,1032.3,13302.9,1593.7
$KALMAN_Y,-373075.8,3474.7,-925.5,397155.6,-9379.7
$MHEAD_RNG_PITCHd_Wd,92.4,29994,-10.8,-7.500
$D_GRID,1115
$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,-22.88,0.000,2,0.000,0.000,198,2326,1147
$GC,39,-0.64,-194.6,3.3,-4.0,2,112,10.15,0.00,-60.42,0.000,6,0.243,0.000,2532,2326,3635
$GC,295,-0.64,-194.6,47.5,-18.5,26,296,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2326,3636
$GC,479,-0.64,-194.6,72.2,-12.6,44,482,0.00,1.50,0.00,0.000,4,0.000,0.041,2526,3229,3636
$GC,521,-0.64,-194.6,77.7,-12.8,48,524,0.00,1.45,0.00,0.000,6,0.000,0.026,2526,2325,3636
$GC,719,-0.64,-194.6,102.0,-12.5,67,722,0.00,1.23,0.00,0.000,4,0.000,0.035,2526,1407,3636
$GC,750,-0.64,-194.6,106.2,-12.9,70,753,0.00,1.25,0.00,0.000,6,0.000,0.034,2521,2324,3636
$GC,1073,-0.64,-194.6,149.1,-13.2,101,1076,0.00,1.23,0.00,0.000,4,0.000,0.035,2521,1420,3635
$GC,1148,-0.64,-194.6,159.4,-13.3,108,1151,0.00,1.23,0.00,0.000,6,0.000,0.035,2515,2321,3635
$GC,1470,-0.64,-194.6,200.6,-12.5,139,1473,0.00,1.23,0.00,0.000,4,0.000,0.035,2515,1421,3632
$GC,1624,-0.64,-194.6,219.6,-11.8,153,1631,0.08,1.23,0.00,0.000,6,0.137,0.035,2534,2318,3630
$GC,1941,-0.64,-194.6,252.9,-11.1,184,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2319,3627
$GC,2251,-0.64,-194.6,286.4,-10.9,214,2254,0.00,1.23,0.00,0.000,4,0.000,0.038,2535,1422,3624
$GC,2326,-0.64,-194.6,294.4,-10.3,221,2329,0.00,1.25,0.00,0.000,6,0.000,0.037,2531,2323,3624
$GC,2648,-0.64,-194.6,327.4,-10.3,252,2651,0.00,1.25,0.00,0.000,4,0.000,0.038,2531,1411,3621
$GC,2716,-0.64,-194.6,334.9,-9.9,258,2724,0.00,1.30,0.00,0.000,6,0.000,0.038,2525,2331,3620
$GC,3034,-0.64,-194.6,369.4,-11.2,289,3035,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2331,3617
$GC,3344,-0.64,-194.6,402.3,-10.6,319,3347,0.00,1.27,0.00,0.000,4,0.000,0.039,2525,1415,3613
$GC,3397,-0.64,-194.6,408.0,-10.6,324,3400,0.00,1.27,0.00,0.000,6,0.000,0.041,2519,2324,3613
$GC,3719,-0.64,-194.6,443.0,-10.8,355,3722,0.00,1.25,0.00,0.000,4,0.000,0.040,2519,1426,3610
$GC,3772,-0.64,-194.6,449.1,-10.7,360,3776,0.08,1.25,0.00,0.000,6,0.142,0.041,2538,2320,3610
$GC,4093,-0.64,-194.6,479.3,-9.1,391,4094,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2320,3607
$GC,4403,-0.64,-194.6,507.9,-9.4,421,4404,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2320,3605
$GC,4714,-0.64,-194.6,536.9,-9.5,451,4715,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2320,3601
$GC,5024,-0.64,-194.6,566.3,-9.5,481,5025,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2320,3599
$GC,5335,-0.64,-194.6,595.3,-9.1,511,5336,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2320,3596
$GC,5645,-0.64,-194.6,624.1,-9.4,541,5648,0.00,1.58,0.00,0.000,4,0.000,0.055,2532,3220,3594
$GC,5671,-0.64,-194.6,626.6,-9.5,543,5678,0.00,1.48,0.00,0.000,6,0.000,0.035,2533,2332,3593
$GC,5989,-0.64,-194.6,656.9,-9.5,574,5990,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2332,3591
$GC,6298,-0.64,-194.6,686.3,-9.7,604,6298,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2331,3590
$GC,6608,-0.64,-194.6,715.0,-9.3,634,6611,0.00,1.55,0.00,0.000,4,0.000,0.056,2526,3211,3588
$GC,6661,-0.64,-194.6,720.0,-9.3,639,6665,0.00,1.48,0.00,0.000,6,0.000,0.036,2526,2329,3587
$GC,6984,-0.64,-194.6,750.8,-9.8,670,6985,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2328,3586
$GC,7293,-0.64,-194.6,780.5,-8.7,700,7296,0.00,1.58,0.00,0.000,4,0.000,0.058,2519,3219,3583
$GC,7329,-0.64,-194.6,784.3,-10.1,703,7336,0.00,1.52,0.00,0.000,6,0.000,0.037,2519,2314,3583
$GC,7647,-0.64,-194.6,814.8,-9.5,734,7648,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2314,3581
$GC,7956,-0.64,-194.6,844.1,-9.4,764,7956,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2314,3580
$GC,8266,-0.64,-194.6,873.7,-9.5,794,8267,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2313,3579
$GC,8577,-0.64,-194.6,903.3,-9.5,824,8578,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2314,3577
$GC,8887,-0.64,-194.6,932.3,-9.3,854,8888,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2314,3576
$GC,9200,-0.64,-194.6,960.6,-9.5,884,9201,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2314,3575
$GC,9509,-0.64,-194.6,989.8,-9.0,914,9513,0.00,1.60,0.00,0.000,4,0.000,0.058,2511,3228,3573
$STATE,9518,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9518,begin apogee
$GC,9524,-0.26,0.0,990.8,8.8,915,9675,0.50,0.00,148.12,1.243,6,0.137,0.000,2660,2281,2840
$STATE,9675,end apogee,CONTROL_FINISHED_OK
$STATE,9675,begin climb
$GC,9678,0.64,194.6,995.7,0.0,930,9851,0.90,1.33,166.95,1.212,4,0.104,0.049,2949,1369,2045
$GC,9877,0.64,194.6,980.4,11.2,946,9885,0.00,1.33,0.00,0.000,6,0.000,0.043,2949,2269,2040
$GC,10195,0.64,194.6,944.2,12.0,977,10199,0.00,1.65,0.00,0.000,4,0.000,0.054,2949,3167,2034
$GC,10231,0.64,194.6,939.3,12.1,980,10238,0.00,1.58,0.00,0.000,6,0.000,0.036,2956,2276,2033
$GC,10550,0.64,194.6,900.8,12.0,1011,10553,0.00,1.20,0.00,0.000,4,0.000,0.044,2962,1369,2031
$GC,10597,0.64,194.6,894.7,12.6,1015,10604,0.00,1.25,0.00,0.000,6,0.000,0.043,2962,2277,2032
$GC,10915,0.64,194.6,855.7,12.3,1046,10916,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2277,2030
$GC,11224,0.64,194.6,817.5,12.6,1076,11225,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2277,2029
$GC,11534,0.64,194.6,779.5,12.3,1106,11535,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2277,2029
$GC,11844,0.64,194.6,743.5,11.4,1136,11845,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2277,2028
$GC,12156,0.64,194.6,707.9,11.2,1166,12159,0.00,1.62,0.00,0.000,4,0.000,0.054,2962,3195,2028
$GC,12202,0.64,194.6,701.9,12.8,1170,12211,0.00,1.60,0.00,0.000,6,0.000,0.037,2969,2275,2026
$GC,12520,0.64,194.6,664.1,12.0,1201,12521,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2276,2026
$GC,12830,0.64,194.6,626.3,12.5,1231,12833,0.00,1.62,0.00,0.000,4,0.000,0.054,2970,3178,2027
$GC,12873,0.64,194.6,620.7,13.9,1235,12876,0.00,1.58,0.00,0.000,6,0.000,0.037,2977,2276,2026
$GC,13195,0.64,194.6,581.0,12.0,1266,13196,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2277,2026
$GC,13504,0.64,194.6,542.6,12.6,1296,13507,0.00,1.62,0.00,0.000,4,0.000,0.053,2977,3182,2026
$GC,13562,0.64,194.6,534.8,13.1,1301,13569,0.08,1.58,0.00,0.000,6,0.150,0.035,2961,2279,2025
$GC,13878,0.64,194.6,498.9,11.4,1332,13879,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2280,2025
$GC,14189,0.64,194.6,463.7,11.0,1362,14190,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2280,2025
$GC,14499,0.64,194.6,429.5,11.1,1392,14500,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2280,2024
$GC,14810,0.64,194.6,395.4,10.6,1422,14813,0.00,1.62,0.00,0.000,4,0.000,0.053,2960,3187,2025
$GC,14853,0.64,194.6,390.4,11.4,1426,14856,0.00,1.60,0.00,0.000,6,0.000,0.036,2966,2272,2025
$GC,15175,0.64,194.6,354.4,11.3,1457,15176,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2273,2025
$GC,15485,0.64,194.6,318.6,11.6,1487,15488,0.00,1.62,0.00,0.000,4,0.000,0.051,2966,3182,2025
$GC,15527,0.64,194.6,313.3,11.9,1491,15530,0.00,1.58,0.00,0.000,6,0.000,0.035,2974,2274,2025
$GC,15850,0.64,194.6,274.6,12.3,1522,15851,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2275,2025
$GC,16159,0.64,194.6,236.9,11.6,1552,16162,0.00,1.62,0.00,0.000,4,0.000,0.049,2974,3187,2025
$GC,16206,0.64,194.6,230.8,12.4,1556,16213,0.00,1.58,0.00,0.000,6,0.000,0.033,2982,2276,2025
$GC,16524,0.64,194.6,190.9,12.3,1587,16527,0.00,1.62,0.00,0.000,4,0.000,0.049,2981,3172,2025
$GC,16571,0.64,194.6,184.7,10.5,1591,16578,0.10,1.55,0.00,0.000,6,0.142,0.032,2957,2276,2025
$GC,16887,0.64,194.6,152.3,9.9,1622,16888,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2277,2026
$GC,17198,0.64,194.6,122.1,9.7,1652,17201,0.00,1.17,0.00,0.000,4,0.000,0.038,2961,1371,2027
$GC,17223,0.64,194.6,119.5,10.6,1654,17232,0.00,1.23,0.00,0.000,6,0.000,0.038,2961,2283,2028
$GC,17541,0.64,194.6,87.7,9.6,1685,17544,0.00,1.58,0.00,0.000,4,0.000,0.048,2961,3175,2028
$GC,17587,0.64,194.6,82.7,10.2,1689,17595,0.00,1.55,0.00,0.000,6,0.000,0.030,2969,2270,2028
$GC,17781,0.64,194.6,64.4,9.0,1708,17784,0.00,1.15,0.00,0.000,4,0.000,0.036,2974,1373,2029
$GC,17812,0.64,194.6,61.7,8.7,1711,17815,0.00,1.20,0.00,0.000,6,0.000,0.036,2974,2274,2029
$GC,18010,0.67,218.2,46.9,6.9,1730,18034,0.00,1.60,17.52,0.521,4,0.000,0.046,2974,3169,1949
$GC,18120,0.71,248.1,39.7,6.7,1740,18147,0.00,1.52,24.15,0.524,6,0.000,0.029,2982,2275,1828
$GC,18336,0.86,375.6,29.0,4.2,1760,18435,0.12,1.17,95.47,0.522,4,0.062,0.033,3058,1367,1307
$GC,18600,1.03,513.6,10.5,3.9,1783,18705,0.00,1.25,100.72,0.498,6,0.000,0.032,3057,2284,745
$STATE,18761,end climb,SURFACE_DEPTH_REACHED
$STATE,18762,begin surface coast
$FINISH,2.3,1.015198
$STATE,18814,end surface coast,CONTROL_FINISHED_OK
$STATE,18814,begin surface
$SM_CCo,18829,59.35,0.480,0,0,403,597.54
$SM_GC,2.34,0.00,0.00,59.35,0.000,0.000,0.480,206,2327,403,-7.94,0.06,597.54
$IRIDIUM_FIX,2833.46,-8846.29,111099,121218
$TT8_MAMPS,0.052156
$HUMID,1373
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,24.00
$XPDR_PINGS,2
$24V_AH,23.1,46.872
$10V_AH,10.6,64.654
$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,19.925,77.100,552.950,59.350,0.000,231.906,286.163,1506.803,4.250,0.000,0.000,31.146,0.000,13083.840,619.765,5354.260,2463.360,33.345,2136.856,0.000,4780.231,0.000,29.689,0.000
$DEVICE_MAMPS,243.139,84.370,1243.307,480.142,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1233.061,1317.942,4052.822,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94651,1803
$CAP_FILE_SIZE,196086,0
$CFSIZE,260165632,231260160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.091,125.3,1
$GPS,170710,175706,2842.221,-8840.377,37,1.0,37,-0.3