version: 66.04
glider: 515
mission: 5
dive: 271
start: 7 18 110 15 4 22
data:
$ID,515
$MISSION,5
$DIVE,271
$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,-23679.461
$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,27
$R_STBD_OVSHOOT,37
$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
$GPS1,145701,2842.742,-8838.683,41,1.0,41,-0.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-73.2
$GPS2,150343,2842.891,-8838.730,13,1.2,13,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.239,0.115
$KALMAN_X,-1741.2,201.5,182.9,19835.5,3024.8
$KALMAN_Y,-379230.4,1122.5,8.5,405007.7,-7229.0
$MHEAD_RNG_PITCHd_Wd,279.1,10225,-10.8,-7.500
$D_GRID,991
$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,-194.6,0.0,0.0,0,57,0.00,0.00,-43.00,0.000,2,0.000,0.000,196,2338,1710
$GC,60,-0.64,-194.6,3.3,-5.2,4,119,10.62,1.35,-40.20,0.000,4,0.258,0.064,2537,1401,3636
$GC,358,-0.64,-194.6,57.1,-14.7,31,365,0.00,1.27,0.00,0.000,6,0.000,0.033,2533,2318,3638
$GC,551,-0.64,-194.6,81.4,-12.4,50,554,0.00,1.23,0.00,0.000,4,0.000,0.034,2535,1415,3639
$GC,587,-0.64,-194.6,86.1,-13.1,53,596,0.00,1.27,0.00,0.000,6,0.000,0.034,2531,2326,3639
$GC,779,-0.64,-194.6,109.8,-12.6,72,782,0.00,1.25,0.00,0.000,4,0.000,0.033,2531,1401,3640
$GC,887,-0.64,-194.6,123.2,-12.1,82,890,0.00,1.27,0.00,0.000,6,0.000,0.035,2525,2326,3640
$GC,1209,-0.64,-194.6,166.2,-13.3,113,1212,0.00,1.25,0.00,0.000,4,0.000,0.034,2525,1406,3640
$GC,1309,-0.64,-194.6,179.3,-13.1,122,1316,0.00,1.27,0.00,0.000,6,0.000,0.035,2520,2325,3640
$GC,1627,-0.64,-194.6,218.3,-12.0,153,1630,0.00,1.50,0.00,0.000,4,0.000,0.046,2512,3216,3637
$GC,1669,-0.64,-194.6,223.8,-12.7,157,1672,0.00,1.45,0.00,0.000,6,0.000,0.029,2512,2322,3638
$GC,1992,-0.64,-194.6,264.0,-12.7,188,1995,0.00,1.23,0.00,0.000,4,0.000,0.037,2512,1413,3636
$GC,2156,-0.64,-194.6,284.3,-11.9,203,2163,0.10,1.27,0.00,0.000,6,0.136,0.038,2539,2325,3635
$GC,2473,-0.64,-194.6,315.4,-9.6,234,2474,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2325,3633
$GC,2784,-0.64,-194.6,345.9,-10.0,264,2786,0.00,1.25,0.00,0.000,4,0.000,0.038,2539,1419,3631
$GC,2826,-0.64,-194.6,350.2,-9.8,268,2829,0.00,1.27,0.00,0.000,6,0.000,0.039,2535,2328,3630
$GC,3148,-0.64,-194.6,382.9,-10.2,299,3151,0.00,1.27,0.00,0.000,4,0.000,0.038,2535,1409,3629
$GC,3191,-0.64,-194.6,387.4,-10.1,303,3194,0.00,1.27,0.00,0.000,6,0.000,0.041,2529,2320,3628
$GC,3513,-0.64,-194.6,421.4,-10.8,334,3516,0.00,1.25,0.00,0.000,4,0.000,0.039,2529,1420,3625
$GC,3570,-0.64,-194.6,427.8,-10.3,339,3578,0.00,1.30,0.00,0.000,6,0.000,0.041,2524,2328,3625
$GC,3889,-0.64,-194.6,462.3,-10.9,370,3889,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2328,3623
$GC,4197,-0.64,-194.6,495.5,-10.8,400,4200,0.00,1.27,0.00,0.000,4,0.000,0.040,2524,1417,3621
$GC,4287,-0.64,-194.6,505.1,-10.7,408,4294,0.00,1.27,0.00,0.000,6,0.000,0.041,2518,2321,3620
$GC,4605,-0.64,-194.6,539.1,-11.6,439,4606,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2321,3618
$GC,4915,-0.64,-194.6,571.6,-10.9,469,4917,0.00,1.25,0.00,0.000,4,0.000,0.041,2518,1430,3615
$GC,4950,-0.64,-194.6,575.6,-10.9,472,4958,0.00,1.30,0.00,0.000,6,0.000,0.044,2512,2328,3614
$GC,5269,-0.64,-194.6,609.4,-10.2,503,5272,0.00,1.27,0.00,0.000,4,0.000,0.041,2512,1422,3613
$GC,5305,-0.64,-194.6,613.7,-11.1,506,5312,0.08,1.27,0.00,0.000,6,0.146,0.043,2531,2317,3612
$GC,5621,-0.64,-194.6,643.0,-9.2,537,5625,0.00,1.25,0.00,0.000,4,0.000,0.043,2532,1430,3610
$GC,5653,-0.64,-194.6,646.1,-9.9,540,5656,0.00,1.27,0.00,0.000,6,0.000,0.046,2529,2323,3611
$GC,5976,-0.64,-194.6,676.0,-9.3,571,5979,0.00,1.27,0.00,0.000,4,0.000,0.042,2529,1417,3608
$GC,6018,-0.64,-194.6,680.0,-9.2,575,6021,0.00,1.30,0.00,0.000,6,0.000,0.046,2523,2324,3608
$GC,6341,-0.64,-194.6,710.6,-10.0,606,6342,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2324,3606
$GC,6650,-0.64,-194.6,740.7,-9.5,636,6653,0.00,1.27,0.00,0.000,4,0.000,0.044,2523,1421,3605
$GC,6703,-0.64,-194.6,745.9,-10.1,641,6706,0.00,1.30,0.00,0.000,6,0.000,0.045,2518,2327,3605
$GC,7025,-0.64,-194.6,777.4,-10.0,672,7026,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2327,3602
$GC,7335,-0.64,-194.6,809.1,-10.0,702,7336,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2327,3601
$GC,7645,-0.64,-194.6,840.2,-10.4,732,7646,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2327,3599
$GC,7958,-0.64,-194.6,870.7,-9.8,762,7959,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2326,3598
$GC,8266,-0.64,-194.6,899.6,-9.4,792,8269,0.00,1.30,0.00,0.000,4,0.000,0.044,2517,1415,3596
$GC,8323,-0.64,-194.6,905.1,-9.9,797,8331,0.00,1.33,0.00,0.000,6,0.000,0.048,2512,2327,3596
$GC,8641,-0.64,-194.6,934.9,-9.5,828,8642,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2327,3595
$STATE,8741,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8741,begin apogee
$GC,8747,-0.26,0.0,944.6,9.5,838,8906,0.50,0.00,152.45,1.206,6,0.137,0.000,2661,2282,2839
$STATE,8906,end apogee,CONTROL_FINISHED_OK
$STATE,8906,begin climb
$GC,8908,0.64,194.6,949.4,0.0,854,9081,0.90,0.00,167.85,1.176,6,0.103,0.000,2944,2282,2046
$GC,9391,0.64,194.6,901.6,11.8,901,9394,0.00,1.62,0.00,0.000,4,0.000,0.058,2944,3175,2035
$GC,9427,0.64,194.6,897.3,11.7,904,9435,0.00,1.58,0.00,0.000,6,0.000,0.036,2952,2277,2034
$GC,9745,0.64,194.6,861.5,11.4,935,9746,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2277,2033
$GC,10054,0.64,194.6,826.2,12.1,965,10058,0.00,1.62,0.00,0.000,4,0.000,0.055,2952,3168,2032
$GC,10086,0.64,194.6,822.3,12.5,968,10089,0.00,1.55,0.00,0.000,6,0.000,0.037,2959,2274,2031
$GC,10407,0.64,194.6,783.6,12.1,999,10410,0.00,1.62,0.00,0.000,4,0.000,0.055,2959,3161,2030
$GC,10439,0.64,194.6,779.5,14.1,1002,10442,0.00,1.55,0.00,0.000,6,0.000,0.037,2966,2273,2030
$GC,10759,0.64,194.6,739.1,12.6,1033,10763,0.00,1.62,0.00,0.000,4,0.000,0.055,2966,3159,2030
$GC,10785,0.64,194.6,735.6,14.1,1035,10792,0.00,1.55,0.00,0.000,6,0.000,0.036,2974,2272,2029
$GC,11103,0.64,194.6,695.0,12.7,1066,11106,0.00,1.62,0.00,0.000,4,0.000,0.055,2973,3160,2029
$GC,11139,0.64,194.6,690.0,13.1,1069,11147,0.00,1.55,0.00,0.000,6,0.000,0.036,2981,2272,2028
$GC,11457,0.64,194.6,648.9,13.2,1100,11458,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2273,2028
$GC,11766,0.64,194.6,608.9,12.8,1130,11769,0.00,1.60,0.00,0.000,4,0.000,0.054,2981,3163,2028
$GC,11813,0.64,194.6,602.5,13.6,1134,11820,0.10,1.55,0.00,0.000,6,0.147,0.036,2958,2275,2026
$GC,12130,0.64,194.6,567.3,11.5,1165,12131,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2276,2027
$GC,12440,0.64,194.6,533.1,11.0,1195,12440,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2276,2027
$GC,12751,0.64,194.6,499.0,11.1,1225,12754,0.00,1.62,0.00,0.000,4,0.000,0.054,2957,3164,2027
$GC,12782,0.64,194.6,495.3,11.9,1228,12785,0.00,1.55,0.00,0.000,6,0.000,0.035,2962,2273,2025
$GC,13103,0.64,194.6,458.8,11.2,1259,13106,0.00,1.60,0.00,0.000,4,0.000,0.053,2963,3168,2026
$GC,13135,0.64,194.6,454.9,12.0,1262,13138,0.00,1.55,0.00,0.000,6,0.000,0.035,2970,2273,2026
$GC,13458,0.64,194.6,416.8,12.2,1293,13461,0.00,1.20,0.00,0.000,4,0.000,0.042,2975,1369,2026
$GC,13494,0.64,194.6,412.2,12.0,1296,13501,0.00,1.25,0.00,0.000,6,0.000,0.041,2975,2271,2026
$GC,13812,0.64,194.6,372.7,12.6,1327,13815,0.00,1.62,0.00,0.000,4,0.000,0.053,2976,3199,2026
$GC,13876,0.64,194.6,364.0,13.5,1333,13879,0.00,1.58,0.00,0.000,6,0.000,0.035,2983,2277,2026
$GC,14199,0.64,194.6,323.2,12.8,1364,14199,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2278,2026
$GC,14507,0.64,194.6,283.8,12.4,1394,14510,0.00,1.62,0.00,0.000,4,0.000,0.051,2983,3175,2026
$GC,14571,0.64,194.6,275.4,13.8,1400,14574,0.08,1.55,0.00,0.000,6,0.122,0.034,2954,2273,2026
$GC,14892,0.64,194.6,243.3,9.8,1431,14893,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2274,2026
$GC,15203,0.64,194.6,210.9,10.5,1461,15204,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2275,2026
$GC,15513,0.64,194.6,180.4,9.8,1491,15516,0.00,1.62,0.00,0.000,4,0.000,0.050,2954,3175,2027
$GC,15549,0.64,194.6,176.6,9.7,1494,15556,0.00,1.55,0.00,0.000,6,0.000,0.031,2960,2271,2027
$GC,15867,0.64,194.6,143.1,10.1,1525,15868,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2272,2028
$GC,16176,0.64,194.6,111.7,9.9,1555,16179,0.00,1.60,0.00,0.000,4,0.000,0.048,2960,3185,2029
$GC,16229,0.64,194.6,105.8,10.6,1560,16233,0.00,1.55,0.00,0.000,6,0.000,0.031,2968,2270,2029
$GC,16550,0.64,194.6,73.1,10.4,1591,16553,0.00,1.62,0.00,0.000,4,0.000,0.047,2968,3174,2030
$GC,16640,0.64,194.6,64.1,7.7,1599,16647,0.00,1.52,0.00,0.000,6,0.000,0.030,2975,2275,2030
$GC,16832,0.69,232.7,48.6,6.5,1618,16866,0.00,1.20,28.33,0.535,4,0.000,0.035,2981,1361,1892
$GC,16931,0.71,250.9,42.4,7.0,1627,16954,0.00,1.23,15.57,0.509,6,0.000,0.036,2981,2273,1815
$GC,17139,0.86,373.3,30.8,4.3,1647,17233,0.12,0.00,91.93,0.525,6,0.068,0.000,3049,2273,1317
$GC,17417,0.86,373.3,8.3,8.2,1674,17420,0.00,1.20,0.00,0.000,4,0.000,0.034,3053,1379,1309
$GC,17603,1.15,606.7,5.7,1.4,1691,17696,0.15,1.23,89.15,0.489,2,0.080,0.034,3116,2278,819
$STATE,17696,end climb,SURFACE_DEPTH_REACHED
$STATE,17697,begin surface coast
$FINISH,0.7,1.010068
$STATE,17758,end surface coast,CONTROL_FINISHED_OK
$STATE,17758,begin surface
$SM_CCo,17773,58.70,0.475,0,0,403,597.54
$SM_GC,1.82,0.00,0.00,58.70,0.000,0.000,0.475,202,2335,403,-7.96,0.28,597.54
$IRIDIUM_FIX,2831.00,-8843.84,121099,101000
$TT8_MAMPS,0.050622
$HUMID,1365
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,890.0,74.1
$24V_AH,22.8,47.745
$10V_AH,10.6,65.784
$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,20.600,89.925,545.275,58.700,0.000,29.365,32.006,208.442,2.000,0.000,0.000,15.116,0.000,11785.354,653.890,5141.469,625.359,33.342,2145.786,0.000,4591.667,0.000,12.828,0.000
$DEVICE_MAMPS,257.712,74.399,1205.724,474.773,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1162.965,1240.208,3832.438,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88259,1705
$CAP_FILE_SIZE,163057,0
$CFSIZE,260165632,230895616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.111,128.5,1
$GPS,180710,200237,2842.417,-8840.893,40,1.0,40,-0.2