version: 66.04
glider: 515
mission: 5
dive: 267
start: 7 17 110 18 10 12
data:
$ID,515
$MISSION,5
$DIVE,267
$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,-23569.232
$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,30
$R_STBD_OVSHOOT,23
$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
$GPS1,175706,2842.221,-8840.377,37,1.0,37,-0.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-71.9
$GPS2,180932,2842.289,-8840.416,11,1.7,11,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.240,0.112
$KALMAN_X,-4465.2,-583.4,941.3,19866.3,1647.4
$KALMAN_Y,-374441.8,968.8,-224.7,399484.0,-7757.4
$MHEAD_RNG_PITCHd_Wd,71.4,23538,-10.8,-7.500
$D_GRID,1017
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.64,-194.6,0.0,0.0,0,69,0.00,0.00,-54.72,0.000,2,0.000,0.000,205,2328,2073
$GC,71,-0.64,-194.6,3.4,-2.5,5,123,10.62,1.23,-37.78,0.000,4,0.258,0.058,2540,1417,3634
$GC,134,-0.64,-194.6,12.4,-21.3,10,141,0.00,1.27,0.00,0.000,6,0.000,0.032,2537,2332,3635
$GC,326,-0.64,-194.6,52.7,-15.0,29,329,0.00,1.50,0.00,0.000,4,0.000,0.042,2529,3223,3636
$GC,470,-0.64,-194.6,73.0,-12.4,42,477,0.00,1.45,0.00,0.000,6,0.000,0.027,2534,2327,3636
$GC,662,-0.64,-194.6,95.6,-11.9,61,665,0.00,1.23,0.00,0.000,4,0.000,0.035,2537,1413,3636
$GC,715,-0.64,-194.6,102.2,-12.6,66,718,0.00,1.25,0.00,0.000,6,0.000,0.035,2532,2323,3636
$GC,1038,-0.64,-194.6,143.8,-13.3,97,1041,0.00,1.25,0.00,0.000,4,0.000,0.036,2533,1404,3636
$GC,1095,-0.64,-194.6,151.6,-12.5,102,1102,0.00,1.30,0.00,0.000,6,0.000,0.035,2527,2330,3636
$GC,1413,-0.64,-194.6,191.1,-12.1,133,1416,0.00,1.27,0.00,0.000,4,0.000,0.036,2527,1400,3635
$GC,1573,-0.64,-194.6,209.9,-11.6,148,1576,0.00,1.27,0.00,0.000,6,0.000,0.036,2521,2325,3634
$GC,1896,-0.64,-194.6,248.5,-12.3,179,1897,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2325,3632
$GC,2205,-0.64,-194.6,285.1,-11.7,209,2205,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2325,3631
$GC,2516,-0.64,-194.6,321.8,-12.1,239,2519,0.00,1.25,0.00,0.000,4,0.000,0.038,2521,1416,3627
$GC,2590,-0.64,-194.6,330.6,-11.6,246,2593,0.00,1.25,0.00,0.000,6,0.000,0.038,2515,2317,3627
$GC,2913,-0.64,-194.6,368.2,-11.4,277,2914,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2318,3625
$GC,3222,-0.64,-194.6,404.8,-11.6,307,3225,0.00,1.25,0.00,0.000,4,0.000,0.040,2515,1414,3623
$GC,3318,-0.64,-194.6,416.0,-11.4,316,3321,0.08,1.27,0.00,0.000,6,0.143,0.040,2534,2324,3622
$GC,3639,-0.64,-194.6,447.5,-9.9,347,3639,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2324,3620
$GC,3949,-0.64,-194.6,478.0,-9.8,377,3950,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2324,3617
$GC,4260,-0.64,-194.6,507.8,-9.5,407,4263,0.00,1.27,0.00,0.000,4,0.000,0.042,2534,1414,3615
$GC,4313,-0.64,-194.6,513.2,-10.0,412,4316,0.00,1.27,0.00,0.000,6,0.000,0.043,2531,2318,3614
$GC,4636,-0.64,-194.6,544.9,-9.9,443,4637,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2319,3611
$GC,4944,-0.64,-194.6,575.8,-10.1,473,4945,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2319,3608
$GC,5255,-0.64,-194.6,606.7,-9.6,503,5256,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2319,3606
$GC,5565,-0.64,-194.6,636.1,-9.0,533,5566,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2319,3605
$GC,5875,-0.64,-194.6,665.3,-9.9,563,5876,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2319,3603
$GC,6186,-0.64,-194.6,695.2,-9.4,593,6190,0.00,1.27,0.00,0.000,4,0.000,0.045,2530,1414,3600
$GC,6261,-0.64,-194.6,702.6,-9.6,600,6264,0.00,1.33,0.00,0.000,6,0.000,0.046,2525,2332,3600
$GC,6584,-0.64,-194.6,734.5,-10.2,631,6584,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2332,3598
$GC,6893,-0.64,-194.6,765.1,-9.6,661,6893,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2332,3596
$GC,7203,-0.64,-194.6,793.8,-9.2,691,7204,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2332,3594
$GC,7513,-0.64,-194.6,822.5,-8.9,721,7516,0.00,1.30,0.00,0.000,4,0.000,0.046,2525,1424,3593
$GC,7566,-0.64,-194.6,827.8,-9.9,726,7569,0.00,1.30,0.00,0.000,6,0.000,0.048,2520,2324,3592
$GC,7887,-0.64,-194.6,858.9,-10.1,757,7888,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2324,3591
$GC,8197,-0.64,-194.6,888.2,-9.2,787,8201,0.00,1.60,0.00,0.000,4,0.000,0.059,2512,3225,3590
$GC,8241,-0.64,-194.6,892.2,-9.1,791,8244,0.00,1.50,0.00,0.000,6,0.000,0.038,2512,2331,3590
$GC,8562,-0.64,-194.6,923.4,-9.3,822,8565,0.00,1.30,0.00,0.000,4,0.000,0.047,2512,1419,3588
$GC,8630,-0.64,-194.6,930.6,-10.1,828,8639,0.10,1.35,0.00,0.000,6,0.140,0.048,2538,2330,3588
$STATE,8810,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8810,begin apogee
$GC,8815,-0.26,0.0,945.6,8.2,846,8973,0.40,0.00,150.62,1.207,6,0.134,0.000,2658,2267,2839
$STATE,8974,end apogee,CONTROL_FINISHED_OK
$STATE,8974,begin climb
$GC,8976,0.64,194.6,950.4,0.0,862,9152,0.90,0.00,167.12,1.177,6,0.104,0.000,2944,2267,2045
$GC,9462,0.64,194.6,902.7,11.6,908,9463,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2267,2036
$GC,9771,0.64,194.6,868.0,11.0,938,9774,0.00,1.67,0.00,0.000,4,0.000,0.059,2944,3187,2033
$GC,9818,0.64,194.6,862.4,11.8,942,9825,0.00,1.58,0.00,0.000,6,0.000,0.036,2952,2282,2032
$GC,10137,0.64,194.6,825.6,11.8,973,10138,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2283,2031
$GC,10445,0.64,194.6,790.6,11.3,1003,10446,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2283,2031
$GC,10756,0.64,194.6,755.2,11.7,1033,10757,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2283,2030
$GC,11066,0.64,194.6,720.0,11.2,1063,11067,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2283,2029
$GC,11377,0.64,194.6,685.4,11.0,1093,11378,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2283,2028
$GC,11687,0.64,194.6,651.8,10.9,1123,11688,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2283,2028
$GC,11998,0.64,194.6,617.0,11.0,1153,12001,0.00,1.62,0.00,0.000,4,0.000,0.054,2952,3196,2028
$GC,12041,0.64,194.6,611.7,12.8,1157,12044,0.00,1.60,0.00,0.000,6,0.000,0.038,2959,2263,2026
$GC,12363,0.64,194.6,574.0,11.5,1188,12366,0.00,1.67,0.00,0.000,4,0.000,0.054,2960,3173,2026
$GC,12388,0.64,194.6,570.7,12.5,1190,12395,0.00,1.55,0.00,0.000,6,0.000,0.036,2967,2281,2026
$GC,12706,0.64,194.6,533.2,11.8,1221,12707,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2281,2026
$GC,13016,0.64,194.6,496.4,11.4,1251,13017,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2281,2026
$GC,13326,0.64,194.6,460.1,12.0,1281,13326,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2282,2026
$GC,13636,0.64,194.6,423.3,11.9,1311,13637,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2282,2026
$GC,13947,0.64,194.6,386.0,11.8,1341,13950,0.00,1.60,0.00,0.000,4,0.000,0.052,2967,3177,2026
$GC,13979,0.64,194.6,381.9,12.7,1344,13982,0.00,1.58,0.00,0.000,6,0.000,0.036,2974,2273,2026
$GC,14300,0.64,194.6,341.9,12.5,1375,14300,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2274,2026
$GC,14610,0.64,194.6,303.8,12.4,1405,14611,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2274,2026
$GC,14920,0.64,194.6,265.8,12.3,1435,14923,0.00,1.62,0.00,0.000,4,0.000,0.051,2974,3164,2025
$GC,14985,0.64,194.6,257.6,12.8,1441,14987,0.00,1.55,0.00,0.000,6,0.000,0.035,2982,2272,2026
$GC,15307,0.64,194.6,217.6,12.5,1472,15309,0.00,1.62,0.00,0.000,4,0.000,0.049,2982,3188,2026
$GC,15385,0.64,194.6,206.9,12.8,1479,15393,0.10,1.58,0.00,0.000,6,0.142,0.033,2958,2275,2026
$GC,15702,0.64,194.6,174.1,10.4,1510,15705,0.00,1.17,0.00,0.000,4,0.000,0.040,2962,1372,2026
$GC,15734,0.64,194.6,170.9,9.8,1513,15736,0.00,1.23,0.00,0.000,6,0.000,0.039,2961,2275,2027
$GC,16056,0.64,194.6,137.9,9.9,1544,16059,0.00,1.20,0.00,0.000,4,0.000,0.038,2967,1373,2027
$GC,16099,0.64,194.6,133.4,10.3,1548,16102,0.00,1.23,0.00,0.000,6,0.000,0.038,2967,2283,2028
$GC,16420,0.64,194.6,99.5,10.5,1579,16423,0.00,1.58,0.00,0.000,4,0.000,0.048,2967,3175,2028
$GC,16498,0.64,194.6,90.6,10.8,1586,16506,0.00,1.55,0.00,0.000,6,0.000,0.030,2974,2268,2028
$GC,16691,0.64,194.6,70.6,11.0,1605,16694,0.00,1.17,0.00,0.000,4,0.000,0.036,2980,1356,2029
$GC,16745,0.64,194.6,65.8,8.5,1610,16747,0.00,1.23,0.00,0.000,6,0.000,0.038,2980,2276,2030
$GC,16942,0.71,255.1,49.4,5.9,1629,16990,0.00,1.62,45.15,0.544,4,0.000,0.046,2980,3169,1799
$GC,17022,0.76,291.4,43.8,6.5,1636,17058,0.00,1.55,28.62,0.526,6,0.000,0.029,2987,2273,1652
$GC,17245,0.89,401.0,31.1,4.6,1657,17334,0.15,0.00,82.05,0.521,6,0.061,0.000,3066,2272,1204
$GC,17521,1.07,545.3,10.0,3.7,1684,17631,0.00,0.00,105.57,0.496,6,0.000,0.000,3066,2272,615
$STATE,17669,end climb,SURFACE_DEPTH_REACHED
$STATE,17669,begin surface coast
$FINISH,1.3,1.016638
$STATE,17710,end surface coast,CONTROL_FINISHED_OK
$STATE,17710,begin surface
$SM_CCo,17725,35.10,0.476,0,0,403,597.54
$SM_GC,1.69,0.00,0.00,35.10,0.000,0.000,0.476,196,2344,403,-7.97,0.54,597.54
$IRIDIUM_FIX,2831.00,-8846.35,111099,121226
$TT8_MAMPS,0.050622
$HUMID,1380
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.90
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,910.3,55.3
$24V_AH,22.9,47.058
$10V_AH,10.6,64.876
$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,20.100,64.625,579.150,35.100,0.000,33.059,29.083,551.008,2.750,0.000,0.000,12.923,0.000,11895.387,628.888,5003.938,945.730,33.344,2052.705,0.000,4487.824,0.000,19.307,0.000
$DEVICE_MAMPS,258.479,67.496,1207.258,475.540,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1162.789,1246.359,3827.999,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88373,1703
$CAP_FILE_SIZE,159291,0
$CFSIZE,260165632,231256064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.097,124.2,1
$GPS,170710,230725,2842.702,-8836.804,50,2.0,50,-0.3