version: 66.04
glider: 515
mission: 5
dive: 269
start: 7 18 110 4 38 22
data:
$ID,515
$MISSION,5
$DIVE,269
$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,-23604.383
$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,35
$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
$GPS1,043054,2843.183,-8833.353,154,1.2,154,-0.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-72.7
$GPS2,043743,2843.146,-8833.484,8,1.2,13,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.262,-0.036
$KALMAN_X,-6039.9,39.9,-210.4,33265.2,1336.2
$KALMAN_Y,-374928.2,-686.8,-490.1,403512.5,527.0
$MHEAD_RNG_PITCHd_Wd,280.1,18756,-10.8,-7.500
$D_GRID,1171
$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,-194.6,0.0,0.0,0,49,0.00,0.00,-34.22,0.000,2,0.000,0.000,201,2348,1483
$GC,51,-0.64,-194.6,3.4,-4.5,3,113,10.70,1.48,-47.40,0.000,4,0.258,0.062,2530,3215,3635
$GC,356,-0.64,-194.6,59.4,-15.2,31,359,0.00,1.45,0.00,0.000,6,0.000,0.028,2535,2323,3636
$GC,552,-0.64,-194.6,84.9,-12.6,50,555,0.00,1.50,0.00,0.000,4,0.000,0.042,2529,3206,3637
$GC,736,-0.64,-194.6,108.3,-12.8,67,738,0.00,1.42,0.00,0.000,6,0.000,0.028,2534,2326,3638
$GC,1057,-0.64,-194.6,149.3,-12.5,98,1060,0.00,1.23,0.00,0.000,4,0.000,0.035,2535,1404,3638
$GC,1114,-0.64,-194.6,156.8,-12.6,103,1121,0.00,1.27,0.00,0.000,6,0.000,0.035,2531,2323,3638
$GC,1433,-0.64,-194.6,193.8,-11.6,134,1435,0.00,1.25,0.00,0.000,4,0.000,0.035,2532,1399,3637
$GC,1500,-0.64,-194.6,201.9,-10.8,140,1508,0.00,1.30,0.00,0.000,6,0.000,0.035,2526,2330,3636
$GC,1819,-0.64,-194.6,238.0,-11.1,171,1820,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2330,3635
$GC,2127,-0.64,-194.6,272.4,-10.7,201,2131,0.00,1.25,0.00,0.000,4,0.000,0.035,2526,1416,3633
$GC,2170,-0.64,-194.6,277.0,-10.1,205,2173,0.00,1.25,0.00,0.000,6,0.000,0.036,2520,2322,3632
$GC,2493,-0.64,-194.6,313.4,-11.6,236,2495,0.00,1.25,0.00,0.000,4,0.000,0.037,2520,1406,3630
$GC,2535,-0.64,-194.6,318.6,-11.9,240,2538,0.00,1.27,0.00,0.000,6,0.000,0.038,2514,2323,3630
$GC,2858,-0.64,-194.6,356.3,-11.7,271,2859,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2323,3627
$GC,3166,-0.64,-194.6,391.9,-11.7,301,3169,0.00,1.25,0.00,0.000,4,0.000,0.039,2514,1415,3625
$GC,3252,-0.64,-194.6,401.9,-11.3,309,3255,0.08,1.27,0.00,0.000,6,0.144,0.041,2534,2323,3625
$GC,3573,-0.64,-194.6,434.6,-10.1,340,3575,0.00,1.25,0.00,0.000,4,0.000,0.040,2534,1425,3622
$GC,3619,-0.64,-194.6,439.5,-10.2,344,3626,0.00,1.27,0.00,0.000,6,0.000,0.041,2530,2327,3622
$GC,3937,-0.64,-194.6,472.2,-10.2,375,3938,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2327,3620
$GC,4246,-0.64,-194.6,503.6,-9.9,405,4249,0.00,1.27,0.00,0.000,4,0.000,0.041,2530,1414,3617
$GC,4304,-0.64,-194.6,509.7,-10.4,410,4312,0.00,1.30,0.00,0.000,6,0.000,0.043,2524,2328,3617
$GC,4622,-0.64,-194.6,542.5,-11.0,441,4625,0.00,1.27,0.00,0.000,4,0.000,0.041,2525,1416,3614
$GC,4686,-0.64,-194.6,549.1,-10.2,447,4689,0.00,1.27,0.00,0.000,6,0.000,0.044,2519,2319,3614
$GC,5008,-0.64,-194.6,583.3,-10.3,478,5011,0.00,1.25,0.00,0.000,4,0.000,0.042,2519,1425,3611
$GC,5050,-0.64,-194.6,587.8,-10.0,482,5053,0.00,1.30,0.00,0.000,6,0.000,0.044,2514,2332,3611
$GC,5373,-0.64,-194.6,621.8,-10.5,513,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2333,3609
$GC,5682,-0.64,-194.6,655.2,-10.4,543,5685,0.00,1.27,0.00,0.000,4,0.000,0.044,2513,1427,3606
$GC,5746,-0.64,-194.6,662.1,-10.6,549,5749,0.08,1.27,0.00,0.000,6,0.147,0.044,2532,2321,3606
$GC,6067,-0.64,-194.6,692.6,-9.6,580,6068,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2320,3605
$GC,6378,-0.64,-194.6,721.3,-8.8,610,6381,0.00,1.27,0.00,0.000,4,0.000,0.044,2533,1417,3603
$GC,6424,-0.64,-194.6,725.6,-8.6,614,6432,0.00,1.33,0.00,0.000,6,0.000,0.045,2529,2327,3602
$GC,6743,-0.64,-194.6,754.0,-9.0,645,6745,0.00,1.27,0.00,0.000,4,0.000,0.043,2529,1425,3600
$GC,6811,-0.64,-194.6,760.6,-8.6,651,6818,0.00,1.30,0.00,0.000,6,0.000,0.046,2524,2328,3600
$GC,7128,-0.64,-194.6,790.1,-9.6,682,7129,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2327,3598
$GC,7438,-0.64,-194.6,820.0,-9.6,712,7441,0.00,1.27,0.00,0.000,4,0.000,0.045,2524,1430,3596
$GC,7506,-0.64,-194.6,826.7,-9.2,718,7514,0.00,1.33,0.00,0.000,6,0.000,0.045,2518,2333,3596
$GC,7825,-0.64,-194.6,856.7,-9.6,749,7826,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2333,3595
$GC,8133,-0.64,-194.6,885.7,-9.7,779,8136,0.00,1.30,0.00,0.000,4,0.000,0.044,2518,1421,3593
$GC,8197,-0.64,-194.6,891.7,-9.9,785,8200,0.00,1.30,0.00,0.000,6,0.000,0.048,2512,2320,3592
$GC,8518,-0.64,-194.6,922.0,-9.6,816,8519,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2320,3591
$GC,8828,-0.64,-194.6,952.1,-9.5,846,8831,0.00,1.27,0.00,0.000,4,0.000,0.046,2512,1421,3591
$GC,8871,-0.64,-194.6,956.3,-9.2,850,8874,0.08,1.33,0.00,0.000,6,0.151,0.049,2532,2330,3591
$GC,9193,-0.64,-194.6,983.8,-8.8,881,9193,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2330,3590
$STATE,9276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9276,begin apogee
$GC,9280,-0.26,0.0,990.6,8.1,889,9437,0.40,0.00,152.35,1.239,6,0.133,0.000,2657,2276,2840
$STATE,9438,end apogee,CONTROL_FINISHED_OK
$STATE,9438,begin climb
$GC,9440,0.64,194.6,996.1,0.0,905,9615,0.95,1.85,169.70,1.207,4,0.102,0.058,2950,3163,2046
$GC,9649,0.64,194.6,978.9,11.9,925,9652,0.00,1.62,0.00,0.000,6,0.000,0.036,2958,2279,2041
$GC,9972,0.64,194.6,939.2,12.3,956,9972,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2281,2034
$GC,10280,0.64,194.6,901.0,12.5,986,10283,0.00,1.62,0.00,0.000,4,0.000,0.055,2958,3162,2033
$GC,10322,0.64,194.6,895.4,12.5,990,10325,0.00,1.58,0.00,0.000,6,0.000,0.037,2965,2269,2032
$GC,10643,0.64,194.6,855.3,12.9,1021,10644,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2271,2031
$GC,10954,0.64,194.6,816.8,12.0,1051,10956,0.00,1.65,0.00,0.000,4,0.000,0.054,2966,3187,2031
$GC,11012,0.64,194.6,809.0,13.4,1056,11018,0.00,1.58,0.00,0.000,6,0.000,0.037,2973,2279,2030
$GC,11329,0.64,194.6,769.9,12.7,1087,11332,0.00,1.62,0.00,0.000,4,0.000,0.054,2973,3162,2029
$GC,11361,0.64,194.6,765.7,13.9,1090,11364,0.00,1.55,0.00,0.000,6,0.000,0.037,2980,2277,2029
$GC,11684,0.64,194.6,724.1,12.9,1121,11685,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2277,2029
$GC,11992,0.64,194.6,684.2,13.0,1151,11995,0.00,1.60,0.00,0.000,4,0.000,0.054,2980,3168,2029
$GC,12035,0.64,194.6,678.3,13.6,1155,12038,0.10,1.58,0.00,0.000,6,0.149,0.037,2946,2272,2028
$GC,12356,0.64,194.6,645.2,10.1,1186,12357,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2272,2028
$GC,12667,0.64,194.6,612.6,10.2,1216,12667,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2273,2027
$GC,12976,0.64,194.6,579.7,10.6,1246,12980,0.00,1.65,0.00,0.000,4,0.000,0.054,2945,3169,2027
$GC,13020,0.64,194.6,575.0,12.0,1250,13023,0.00,1.55,0.00,0.000,6,0.000,0.037,2951,2277,2026
$GC,13342,0.64,194.6,541.0,10.5,1281,13345,0.00,1.62,0.00,0.000,4,0.000,0.054,2951,3163,2026
$GC,13373,0.64,194.6,537.3,11.4,1284,13376,0.00,1.55,0.00,0.000,6,0.000,0.036,2959,2276,2026
$GC,13696,0.64,194.6,502.1,11.2,1315,13699,0.00,1.60,0.00,0.000,4,0.000,0.054,2958,3166,2026
$GC,13749,0.64,194.6,495.7,11.9,1320,13752,0.00,1.55,0.00,0.000,6,0.000,0.036,2966,2277,2026
$GC,14070,0.64,194.6,458.2,12.2,1351,14071,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2278,2026
$GC,14380,0.64,194.6,421.8,11.3,1381,14383,0.00,1.62,0.00,0.000,4,0.000,0.053,2966,3164,2026
$GC,14477,0.64,194.6,410.3,11.4,1390,14480,0.00,1.55,0.00,0.000,6,0.000,0.035,2973,2274,2026
$GC,14799,0.64,194.6,372.3,12.0,1421,14802,0.00,1.60,0.00,0.000,4,0.000,0.053,2973,3166,2026
$GC,14836,0.64,194.6,367.7,12.7,1424,14843,0.00,1.55,0.00,0.000,6,0.000,0.035,2981,2276,2026
$GC,15153,0.64,194.6,328.6,12.5,1455,15156,0.00,1.60,0.00,0.000,4,0.000,0.051,2981,3171,2026
$GC,15217,0.64,194.6,320.1,13.7,1461,15220,0.10,1.55,0.00,0.000,6,0.144,0.035,2957,2278,2026
$GC,15538,0.64,194.6,285.7,10.8,1492,15538,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2279,2026
$GC,15849,0.64,194.6,253.6,9.9,1522,15852,0.00,1.62,0.00,0.000,4,0.000,0.051,2957,3173,2026
$GC,15891,0.64,194.6,248.9,10.0,1526,15894,0.00,1.55,0.00,0.000,6,0.000,0.034,2962,2273,2026
$GC,16212,0.64,194.6,213.9,11.1,1557,16215,0.00,1.62,0.00,0.000,4,0.000,0.049,2963,3165,2027
$GC,16302,0.64,194.6,203.5,11.5,1565,16309,0.00,1.52,0.00,0.000,6,0.000,0.032,2970,2279,2027
$GC,16619,0.64,194.6,168.2,10.7,1596,16622,0.00,1.60,0.00,0.000,4,0.000,0.048,2970,3165,2027
$GC,16656,0.64,194.6,163.7,11.9,1599,16663,0.00,1.52,0.00,0.000,6,0.000,0.032,2977,2276,2027
$GC,16973,0.64,194.6,128.9,11.1,1630,16976,0.00,1.60,0.00,0.000,4,0.000,0.048,2977,3164,2028
$GC,17030,0.64,194.6,122.0,13.0,1635,17038,0.08,1.52,0.00,0.000,6,0.138,0.031,2959,2274,2028
$GC,17347,0.64,194.6,91.3,9.5,1666,17350,0.00,1.17,0.00,0.000,4,0.000,0.038,2963,1373,2029
$GC,17390,0.64,194.6,87.3,9.2,1670,17392,0.00,1.20,0.00,0.000,6,0.000,0.038,2963,2271,2030
$GC,17587,0.64,194.6,68.9,9.4,1689,17588,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2272,2030
$GC,17773,0.68,226.9,55.2,6.7,1707,17804,0.00,0.00,24.33,0.538,6,0.000,0.000,2963,2272,1914
$GC,17989,0.80,321.9,42.5,5.0,1728,18065,0.12,1.65,72.68,0.536,4,0.067,0.045,3023,3173,1526
$GC,18095,0.80,321.9,33.6,8.7,1738,18098,0.00,1.55,0.00,0.000,6,0.000,0.029,3030,2275,1522
$GC,18291,0.87,378.1,19.7,6.0,1757,18338,0.00,1.17,42.12,0.505,4,0.000,0.035,3035,1352,1297
$GC,18353,0.87,378.1,15.6,7.6,1762,18362,0.00,1.25,0.00,0.000,6,0.000,0.033,3036,2275,1295
$GC,18546,1.09,564.1,7.1,2.6,1781,18687,0.17,1.27,135.90,0.492,4,0.074,0.034,3108,1358,539
$GC,18873,1.44,847.2,4.2,0.1,1810,18907,0.32,1.25,25.58,0.459,6,0.156,0.033,3199,2276,403
$STATE,18913,end climb,NO_VERTICAL_VELOCITY
$STATE,18913,begin surface
$SM_CCo,19105,0.00,0.000,0,0,400,598.52
$SM_GC,2.68,8.25,0.00,0.00,0.055,0.000,0.000,200,2334,400,-7.92,0.25,598.52
$IRIDIUM_FIX,2833.46,-8838.92,111099,232359
$TT8_MAMPS,0.051389
$HUMID,1382
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,990.6,84.4
$24V_AH,22.7,47.407
$10V_AH,10.6,65.346
$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,21.425,102.750,622.650,0.000,0.000,28.599,28.203,222.231,4.750,0.000,0.000,15.668,0.000,12677.546,640.032,5508.056,654.570,33.356,2247.221,0.000,4907.624,0.000,33.800,0.000
$DEVICE_MAMPS,258.479,73.632,1239.472,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1238.757,1321.791,4077.018,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94558,1814
$CAP_FILE_SIZE,177147,0
$CFSIZE,260165632,231047168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.067,161.3,1
$GPS,180710,100150,2842.815,-8836.271,262,3.4,281,-0.3