version: 66.04
glider: 515
mission: 5
dive: 270
start: 7 18 110 10 13 37
data:
$ID,515
$MISSION,5
$DIVE,270
$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,-23663.719
$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,31
$R_STBD_OVSHOOT,29
$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
$GPS1,100150,2842.815,-8836.271,262,3.4,281,-0.3
$_CALLS,1
$_XMS_NAKs,42
$_XMS_TOUTs,3
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-78.7
$GPS2,101258,2842.981,-8836.580,36,4.4,55,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.242,0.108
$KALMAN_X,-4951.3,295.0,345.6,26303.3,155.4
$KALMAN_Y,-378301.9,2519.5,316.6,402565.9,-7265.3
$MHEAD_RNG_PITCHd_Wd,280.0,13720,-10.8,-7.500
$D_GRID,971
$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,-0.64,-194.6,0.0,0.0,0,37,0.00,0.00,-23.00,0.000,2,0.000,0.000,199,2335,1144
$GC,40,-0.64,-194.6,3.2,-4.8,2,115,10.38,1.50,-60.30,0.000,4,0.249,0.059,2529,3218,3635
$GC,357,-0.64,-194.6,57.4,-15.1,31,361,0.00,1.45,0.00,0.000,6,0.000,0.026,2534,2322,3635
$GC,555,-0.64,-194.6,83.8,-13.3,50,557,0.00,1.52,0.00,0.000,4,0.000,0.041,2529,3219,3637
$GC,725,-0.64,-194.6,105.5,-12.6,66,728,0.00,1.45,0.00,0.000,6,0.000,0.027,2529,2321,3637
$GC,1047,-0.64,-194.6,146.8,-13.2,97,1050,0.00,1.20,0.00,0.000,4,0.000,0.035,2529,1420,3637
$GC,1153,-0.64,-194.6,160.8,-12.3,107,1156,0.00,1.25,0.00,0.000,6,0.000,0.035,2523,2325,3636
$GC,1476,-0.64,-194.6,201.4,-12.8,138,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2325,3635
$GC,1785,-0.64,-194.6,238.7,-11.8,168,1785,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2325,3632
$GC,2096,-0.64,-194.6,274.7,-11.8,198,2099,0.00,1.25,0.00,0.000,4,0.000,0.037,2523,1413,3630
$GC,2181,-0.64,-194.6,284.6,-11.2,206,2184,0.00,1.25,0.00,0.000,6,0.000,0.038,2517,2317,3629
$GC,2504,-0.64,-194.6,321.8,-11.4,237,2504,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2317,3626
$GC,2812,-0.64,-194.6,358.4,-11.7,267,2813,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2317,3624
$GC,3122,-0.64,-194.6,394.2,-11.5,297,3125,0.00,1.25,0.00,0.000,4,0.000,0.038,2518,1413,3622
$GC,3180,-0.64,-194.6,401.1,-11.5,302,3188,0.00,1.27,0.00,0.000,6,0.000,0.040,2512,2321,3621
$GC,3498,-0.64,-194.6,438.0,-11.3,333,3499,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2322,3619
$GC,3807,-0.64,-194.6,473.6,-11.6,363,3810,0.00,1.25,0.00,0.000,4,0.000,0.041,2512,1424,3616
$GC,3850,-0.64,-194.6,478.4,-11.0,367,3853,0.08,1.27,0.00,0.000,6,0.143,0.041,2531,2326,3616
$GC,4170,-0.64,-194.6,511.5,-10.0,398,4173,0.00,1.25,0.00,0.000,4,0.000,0.041,2532,1428,3612
$GC,4206,-0.64,-194.6,515.1,-9.5,401,4214,0.00,1.30,0.00,0.000,6,0.000,0.042,2528,2331,3612
$GC,4524,-0.64,-194.6,547.1,-10.2,432,4525,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2331,3610
$GC,4834,-0.64,-194.6,578.3,-10.1,462,4835,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2331,3606
$GC,5144,-0.64,-194.6,608.9,-9.7,492,5147,0.00,1.27,0.00,0.000,4,0.000,0.042,2528,1427,3605
$GC,5223,-0.64,-194.6,616.7,-9.9,499,5230,0.00,1.27,0.00,0.000,6,0.000,0.044,2523,2323,3604
$GC,5540,-0.64,-194.6,647.7,-9.7,530,5541,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2323,3602
$GC,5850,-0.64,-194.6,677.9,-9.4,560,5853,0.00,1.27,0.00,0.000,4,0.000,0.044,2523,1416,3600
$GC,5886,-0.64,-194.6,681.6,-10.1,563,5894,0.00,1.33,0.00,0.000,6,0.000,0.044,2517,2331,3599
$GC,6204,-0.64,-194.6,712.9,-10.6,594,6205,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2331,3597
$GC,6514,-0.64,-194.6,743.1,-9.7,624,6517,0.00,1.27,0.00,0.000,4,0.000,0.044,2517,1433,3595
$GC,6588,-0.64,-194.6,750.5,-9.6,631,6591,0.00,1.27,0.00,0.000,6,0.000,0.047,2511,2321,3595
$GC,6911,-0.64,-194.6,783.1,-10.3,662,6914,0.00,1.58,0.00,0.000,4,0.000,0.057,2504,3211,3593
$GC,6953,-0.64,-194.6,787.8,-10.7,666,6957,0.10,1.48,0.00,0.000,6,0.135,0.037,2536,2331,3592
$GC,7275,-0.64,-194.6,815.8,-8.4,697,7277,0.00,1.27,0.00,0.000,4,0.000,0.044,2537,1424,3591
$GC,7317,-0.64,-194.6,819.5,-9.1,701,7320,0.00,1.30,0.00,0.000,6,0.000,0.048,2533,2326,3591
$GC,7639,-0.64,-194.6,847.1,-8.7,732,7640,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2326,3590
$GC,7948,-0.64,-194.6,873.2,-8.4,762,7949,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2326,3588
$GC,8259,-0.64,-194.6,899.8,-8.4,792,8259,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2326,3587
$STATE,8298,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8298,begin apogee
$GC,8303,-0.26,0.0,903.4,8.7,796,8455,0.43,0.00,149.70,1.177,6,0.132,0.000,2661,2270,2840
$STATE,8456,end apogee,CONTROL_FINISHED_OK
$STATE,8456,begin climb
$GC,8458,0.64,194.6,908.1,0.0,811,8629,0.90,0.00,165.93,1.147,6,0.104,0.000,2947,2270,2046
$GC,8937,0.64,194.6,861.9,11.0,857,8939,0.00,1.65,0.00,0.000,4,0.000,0.058,2947,3154,2036
$GC,8969,0.64,194.6,858.1,11.8,860,8971,0.00,1.55,0.00,0.000,6,0.000,0.037,2954,2275,2034
$GC,9291,0.64,194.6,821.4,11.2,891,9292,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2277,2033
$GC,9600,0.64,194.6,786.5,11.3,921,9601,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2277,2031
$GC,9911,0.64,194.6,751.7,11.1,951,9913,0.00,1.62,0.00,0.000,4,0.000,0.054,2954,3183,2031
$GC,9942,0.64,194.6,747.9,12.1,954,9945,0.00,1.58,0.00,0.000,6,0.000,0.037,2962,2273,2029
$GC,10265,0.64,194.6,711.3,11.4,985,10266,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2275,2029
$GC,10574,0.64,194.6,674.6,12.0,1015,10575,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2275,2029
$GC,10884,0.64,194.6,637.8,11.8,1045,10887,0.00,1.60,0.00,0.000,4,0.000,0.054,2962,3168,2028
$GC,10927,0.64,194.6,632.7,12.4,1049,10930,0.00,1.55,0.00,0.000,6,0.000,0.037,2970,2275,2027
$GC,11249,0.64,194.6,594.2,12.0,1080,11250,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2273,2027
$GC,11558,0.64,194.6,556.0,12.1,1110,11559,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2273,2026
$GC,11868,0.64,194.6,517.9,12.1,1140,11872,0.00,1.62,0.00,0.000,4,0.000,0.054,2970,3165,2027
$GC,11894,0.64,194.6,514.4,13.2,1142,11902,0.00,1.55,0.00,0.000,6,0.000,0.035,2977,2272,2026
$GC,12211,0.64,194.6,473.1,12.8,1173,12212,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2273,2026
$GC,12521,0.64,194.6,433.9,12.3,1203,12524,0.00,1.60,0.00,0.000,4,0.000,0.053,2977,3166,2026
$GC,12557,0.64,194.6,429.1,12.9,1206,12566,0.08,1.55,0.00,0.000,6,0.150,0.035,2961,2274,2025
$GC,12874,0.64,194.6,394.5,11.0,1237,12875,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2275,2025
$GC,13184,0.64,194.6,359.6,11.6,1267,13185,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2275,2025
$GC,13496,0.64,194.6,324.4,11.3,1297,13499,0.00,1.60,0.00,0.000,4,0.000,0.052,2960,3173,2025
$GC,13559,0.64,194.6,316.6,11.0,1303,13563,0.00,1.55,0.00,0.000,6,0.000,0.034,2966,2273,2025
$GC,13881,0.64,194.6,279.3,11.1,1334,13881,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2274,2025
$GC,14191,0.64,194.6,244.3,11.5,1364,14191,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2274,2025
$GC,14502,0.64,194.6,207.9,11.7,1394,14505,0.00,1.60,0.00,0.000,4,0.000,0.050,2966,3178,2025
$GC,14581,0.64,194.6,198.2,12.2,1401,14588,0.00,1.55,0.00,0.000,6,0.000,0.032,2974,2276,2025
$GC,14899,0.64,194.6,161.6,10.8,1432,14900,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2276,2026
$GC,15208,0.64,194.6,127.0,11.1,1462,15209,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2277,2026
$GC,15518,0.64,194.6,92.6,11.1,1492,15519,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2277,2027
$GC,15705,0.64,194.6,71.8,11.4,1510,15706,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2277,2028
$GC,15891,0.64,194.6,54.1,8.3,1528,15893,0.00,1.20,0.00,0.000,4,0.000,0.037,2979,1358,2029
$GC,15923,0.71,251.0,52.1,6.0,1531,15971,0.00,1.23,42.08,0.548,6,0.000,0.037,2980,2273,1815
$GC,16155,0.77,300.7,36.4,6.2,1553,16198,0.00,0.00,38.05,0.528,6,0.000,0.000,2980,2273,1614
$GC,16383,0.91,418.0,25.8,4.4,1575,16478,0.17,1.20,87.50,0.516,4,0.058,0.034,3081,1356,1134
$GC,16691,1.24,678.5,8.1,0.7,1603,16831,0.15,1.23,130.25,0.492,6,0.074,0.035,3145,2274,404
$STATE,16838,end climb,SURFACE_DEPTH_REACHED
$STATE,16839,begin surface coast
$FINISH,0.7,1.017623
$STATE,16868,end surface coast,CONTROL_FINISHED_OK
$STATE,16868,begin surface
$SM_CCo,16943,0.00,0.000,0,0,401,598.28
$SM_GC,1.74,7.93,0.00,0.00,0.038,0.000,0.000,197,2337,401,-7.91,0.34,598.28
$IRIDIUM_FIX,2831.00,-8834.01,121099,040452
$TT8_MAMPS,0.051389
$HUMID,1377
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,890.0,33.1
$24V_AH,23.0,47.582
$10V_AH,10.6,65.564
$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,20.200,59.050,613.500,0.000,0.000,30.772,35.247,423.219,2.000,0.000,0.000,58.704,0.000,11308.507,589.947,4864.300,813.083,33.342,1982.431,0.000,4323.079,0.000,18.477,0.000
$DEVICE_MAMPS,249.275,69.797,1177.345,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1104.075,1184.254,3638.720,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85240,1619
$CAP_FILE_SIZE,150663,0
$CFSIZE,260165632,231002112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.089,130.0,1
$GPS,180710,145701,2842.742,-8838.683,41,1.0,41,-0.3