version: 66.04
glider: 515
mission: 5
dive: 273
start: 7 19 110 1 28 55
data:
$ID,515
$MISSION,5
$DIVE,273
$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,-23704.871
$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,37
$R_STBD_OVSHOOT,31
$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
$GPS1,012155,2842.332,-8843.323,40,1.3,40,-0.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-72.8
$GPS2,012814,2842.279,-8843.312,8,2.0,8,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.251,0.084
$KALMAN_X,4122.6,-533.3,-295.9,7752.6,5808.9
$KALMAN_Y,-384359.3,-778.9,-418.2,411358.2,-2159.7
$MHEAD_RNG_PITCHd_Wd,292.7,2750,-19.2,-7.500
$D_GRID,1146
$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,-0.80,-76.5,0.0,0.0,0,57,0.00,0.00,-43.42,0.000,2,0.000,0.000,201,2351,1691
$GC,60,-0.86,-124.5,3.2,-4.3,4,112,10.27,1.50,-38.55,0.000,4,0.256,0.060,2454,3234,3350
$GC,351,-0.86,-124.5,60.1,-14.7,30,359,0.00,1.45,0.00,0.000,6,0.000,0.026,2459,2330,3351
$GC,545,-0.86,-124.5,85.0,-12.9,49,547,0.00,1.50,0.00,0.000,4,0.000,0.042,2454,3215,3353
$GC,704,-0.86,-124.5,108.7,-15.0,64,708,0.00,1.42,0.00,0.000,6,0.000,0.027,2458,2329,3354
$GC,1027,-0.86,-124.5,156.9,-14.5,95,1030,0.00,1.23,0.00,0.000,4,0.000,0.034,2458,1416,3354
$GC,1262,-0.86,-124.5,190.6,-14.0,117,1265,0.00,1.25,0.00,0.000,6,0.000,0.034,2454,2325,3353
$GC,1585,-0.86,-124.5,234.4,-13.3,148,1588,0.00,1.23,0.00,0.000,4,0.000,0.035,2456,1418,3352
$GC,1809,-0.86,-124.5,264.6,-13.1,169,1812,0.00,1.25,0.00,0.000,6,0.000,0.035,2451,2326,3351
$GC,2132,-0.86,-124.5,307.5,-13.9,200,2134,0.00,1.25,0.00,0.000,4,0.000,0.035,2456,1414,3350
$GC,2200,-0.86,-124.5,316.7,-12.5,206,2207,0.00,1.25,0.00,0.000,6,0.000,0.035,2451,2320,3349
$GC,2518,-0.86,-124.5,358.4,-13.8,237,2521,0.00,1.52,0.00,0.000,4,0.000,0.048,2444,3211,3346
$GC,2593,-0.86,-124.5,368.9,-13.9,244,2595,0.00,1.45,0.00,0.000,6,0.000,0.030,2444,2322,3346
$GC,2915,-0.86,-124.5,413.2,-13.7,275,2918,0.00,1.23,0.00,0.000,4,0.000,0.039,2444,1423,3344
$GC,2990,-0.86,-124.5,423.6,-13.9,282,2993,0.00,1.25,0.00,0.000,6,0.000,0.039,2438,2319,3344
$GC,3313,-0.86,-124.5,468.6,-14.3,313,3314,0.12,0.00,0.00,0.000,6,0.179,0.000,2468,2320,3342
$GC,3623,-0.86,-124.5,506.2,-12.1,343,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2320,3339
$GC,3932,-0.86,-124.5,544.0,-12.0,373,3933,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2320,3337
$GC,4242,-0.86,-124.5,581.8,-11.7,403,4245,0.00,1.25,0.00,0.000,4,0.000,0.042,2469,1428,3333
$GC,4285,-0.86,-124.5,587.0,-12.7,407,4288,0.00,1.27,0.00,0.000,6,0.000,0.042,2465,2324,3333
$GC,4607,-0.86,-124.5,625.8,-11.8,438,4610,0.00,1.27,0.00,0.000,4,0.000,0.041,2466,1415,3331
$GC,4671,-0.86,-124.5,633.5,-11.3,444,4674,0.00,1.30,0.00,0.000,6,0.000,0.044,2461,2326,3331
$GC,4994,-0.86,-124.5,672.2,-12.1,475,4995,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2326,3329
$GC,5302,-0.86,-124.5,709.7,-12.1,505,5303,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2326,3327
$GC,5613,-0.86,-124.5,746.7,-12.0,535,5616,0.00,1.27,0.00,0.000,4,0.000,0.043,2464,1427,3324
$GC,5714,-0.86,-124.5,758.6,-11.1,544,5721,0.00,1.27,0.00,0.000,6,0.000,0.044,2460,2320,3323
$GC,6032,-0.86,-124.5,795.0,-11.2,575,6033,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2320,3322
$GC,6341,-0.86,-124.5,830.0,-11.4,605,6343,0.00,1.27,0.00,0.000,4,0.000,0.044,2460,1420,3320
$GC,6398,-0.86,-124.5,836.8,-11.6,610,6405,0.00,1.33,0.00,0.000,6,0.000,0.045,2454,2326,3320
$GC,6714,-0.86,-124.5,873.6,-11.6,641,6717,0.00,1.27,0.00,0.000,4,0.000,0.044,2454,1429,3318
$GC,6778,-0.86,-124.5,881.0,-11.6,647,6781,0.00,1.30,0.00,0.000,6,0.000,0.046,2448,2327,3317
$GC,7100,-0.86,-124.5,918.3,-11.4,678,7102,0.00,1.30,0.00,0.000,4,0.000,0.044,2450,1415,3316
$GC,7146,-0.86,-124.5,923.9,-11.6,682,7153,0.00,1.35,0.00,0.000,6,0.000,0.045,2445,2338,3315
$GC,7464,-0.86,-124.5,960.1,-11.7,713,7465,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2338,3314
$STATE,7720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7722,begin apogee
$GC,7727,-0.26,0.0,990.2,11.6,738,7827,0.75,0.00,96.93,1.231,6,0.172,0.000,2653,2270,2839
$STATE,7827,end apogee,CONTROL_FINISHED_OK
$STATE,7827,begin climb
$GC,7829,0.86,124.5,994.0,0.0,748,7949,1.15,1.80,108.18,1.208,4,0.106,0.058,3018,3165,2329
$GC,7995,0.86,124.5,977.1,15.6,762,8003,0.00,1.60,0.00,0.000,6,0.000,0.035,3025,2283,2324
$GC,8314,0.86,124.5,929.3,15.4,793,8317,0.00,1.62,0.00,0.000,4,0.000,0.055,3025,3169,2319
$GC,8367,0.86,124.5,920.6,16.5,798,8370,0.00,1.58,0.00,0.000,6,0.000,0.036,3032,2270,2318
$GC,8690,0.86,124.5,871.2,15.1,829,8693,0.00,1.62,0.00,0.000,4,0.000,0.054,3032,3172,2317
$GC,8721,0.86,124.5,865.8,16.8,832,8724,0.00,1.55,0.00,0.000,6,0.000,0.036,3039,2278,2315
$GC,9044,0.86,124.5,815.7,15.6,863,9045,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2279,2315
$GC,9353,0.86,124.5,767.1,15.1,893,9356,0.00,1.62,0.00,0.000,4,0.000,0.054,3038,3167,2314
$GC,9406,0.86,124.5,758.5,16.3,898,9409,0.00,1.55,0.00,0.000,6,0.000,0.036,3044,2274,2314
$GC,9729,0.86,124.5,707.4,15.8,929,9730,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2275,2313
$GC,10037,0.86,124.5,659.4,15.4,959,10040,0.00,1.65,0.00,0.000,4,0.000,0.054,3044,3175,2313
$GC,10084,0.86,124.5,651.8,16.8,963,10091,0.00,1.55,0.00,0.000,6,0.000,0.036,3051,2278,2311
$GC,10402,0.86,124.5,602.8,14.9,994,10405,0.00,1.60,0.00,0.000,4,0.000,0.053,3050,3176,2311
$GC,10445,0.86,124.5,595.7,16.8,998,10448,0.08,1.55,0.00,0.000,6,0.165,0.036,3026,2278,2311
$GC,10766,0.86,124.5,551.4,13.2,1029,10767,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2279,2310
$GC,11076,0.86,124.5,509.1,13.6,1059,11079,0.00,1.60,0.00,0.000,4,0.000,0.052,3025,3177,2310
$GC,11129,0.86,124.5,501.5,14.2,1064,11133,0.00,1.58,0.00,0.000,6,0.000,0.035,3030,2270,2310
$GC,11450,0.86,124.5,457.2,13.6,1095,11454,0.00,1.65,0.00,0.000,4,0.000,0.053,3030,3172,2310
$GC,11519,0.86,124.5,446.9,14.8,1101,11527,0.00,1.55,0.00,0.000,6,0.000,0.035,3038,2275,2309
$GC,11836,0.86,124.5,402.5,13.8,1132,11837,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2276,2310
$GC,12146,0.86,124.5,358.7,13.7,1162,12149,0.00,1.60,0.00,0.000,4,0.000,0.051,3038,3173,2310
$GC,12274,0.86,124.5,339.4,14.7,1174,12277,0.00,1.55,0.00,0.000,6,0.000,0.035,3044,2274,2310
$GC,12597,0.86,124.5,292.1,15.6,1205,12600,0.00,1.60,0.00,0.000,4,0.000,0.051,3044,3173,2310
$GC,12676,0.86,124.5,279.1,15.2,1212,12683,0.00,1.55,0.00,0.000,6,0.000,0.033,3051,2271,2310
$GC,12995,0.86,124.5,230.8,15.2,1243,12997,0.00,1.60,0.00,0.000,4,0.000,0.051,3051,3171,2310
$GC,13048,0.86,124.5,221.9,14.7,1248,13051,0.10,1.55,0.00,0.000,6,0.176,0.033,3029,2273,2310
$GC,13369,0.86,124.5,179.1,13.4,1279,13372,0.00,1.17,0.00,0.000,4,0.000,0.038,3033,1371,2311
$GC,13426,0.86,124.5,171.6,12.6,1284,13434,0.00,1.25,0.00,0.000,6,0.000,0.039,3034,2280,2311
$GC,13745,0.86,124.5,132.1,12.4,1315,13746,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2281,2311
$GC,14054,0.86,124.5,93.4,13.1,1345,14055,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2281,2312
$GC,14240,0.86,124.5,71.2,11.0,1363,14243,0.00,1.58,0.00,0.000,4,0.000,0.048,3033,3173,2313
$GC,14265,0.86,124.5,68.0,11.7,1365,14274,0.00,1.52,0.00,0.000,6,0.000,0.029,3041,2271,2313
$GC,14458,0.86,124.5,48.7,8.6,1384,14461,0.00,1.60,0.00,0.000,4,0.000,0.047,3040,3164,2313
$GC,14515,0.88,137.1,44.6,6.7,1389,14528,0.00,1.50,8.43,0.478,6,0.000,0.029,3047,2275,2281
$GC,14722,0.89,148.3,30.5,6.8,1409,14736,0.00,1.62,10.52,0.486,4,0.000,0.045,3047,3170,2234
$GC,14896,1.00,235.3,24.5,1.8,1425,14971,0.00,1.50,66.07,0.524,6,0.000,0.028,3055,2273,1879
$GC,15156,1.00,239.0,9.7,7.3,1449,15156,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2273,1873
$GC,15342,1.14,348.8,7.1,0.2,1467,15431,0.17,1.62,83.70,0.494,4,0.056,0.042,3147,3164,1416
$GC,15496,1.30,480.7,4.2,-1.2,1480,15589,0.00,1.52,89.00,0.482,2,0.000,0.026,3155,2270,920
$STATE,15589,end climb,SURFACE_DEPTH_REACHED
$STATE,15589,begin surface coast
$FINISH,2.0,1.018048
$STATE,15615,end surface coast,CONTROL_FINISHED_OK
$STATE,15617,begin surface
$SM_CCo,15632,78.55,0.473,0,0,404,597.54
$SM_GC,1.94,0.00,0.00,78.55,0.000,0.000,0.473,207,2347,404,-7.94,0.62,597.54
$IRIDIUM_FIX,2831.00,-8838.98,121099,202033
$TT8_MAMPS,0.051389
$HUMID,1350
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,23.2,48.044
$10V_AH,10.6,66.209
$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,20.850,84.575,462.825,78.550,0.000,25.115,37.471,189.197,3.750,0.000,0.000,10.584,0.000,10255.424,571.184,4629.096,605.677,33.343,1933.680,0.000,4146.205,0.000,28.031,0.000
$DEVICE_MAMPS,256.178,64.428,1231.035,473.239,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1017.907,1095.249,3351.574,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78806,1491
$CAP_FILE_SIZE,148769,0
$CFSIZE,260165632,230735872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.054,125.0,1
$GPS,190710,055136,2842.604,-8844.992,27,1.0,27,-0.2