version: 66.04
glider: 515
mission: 5
dive: 275
start: 7 19 110 11 24 41
data:
$ID,515
$MISSION,5
$DIVE,275
$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,-23736.248
$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,22
$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
$GPS1,111700,2842.985,-8841.227,34,1.9,34,-0.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-70.4
$GPS2,112402,2843.067,-8841.263,14,2.0,14,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.220,0.147
$KALMAN_X,7966.8,-676.3,-1209.5,8329.9,7685.7
$KALMAN_Y,-391151.6,1893.8,585.4,415894.5,-10456.4
$MHEAD_RNG_PITCHd_Wd,80.5,24807,-10.8,-7.500
$D_GRID,1040
$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,-194.6,0.0,0.0,0,67,0.00,0.00,-52.83,0.000,2,0.000,0.000,196,2331,1944
$GC,70,-0.64,-194.6,3.3,-4.0,5,123,10.62,1.58,-38.78,0.000,4,0.256,0.069,2525,3225,3636
$GC,176,-0.64,-194.6,22.8,-24.9,14,179,0.00,1.48,0.00,0.000,6,0.000,0.028,2530,2326,3638
$GC,372,-0.64,-194.6,58.1,-13.2,33,375,0.00,1.23,0.00,0.000,4,0.000,0.032,2536,1408,3639
$GC,409,-0.64,-194.6,62.8,-12.2,36,416,0.00,1.27,0.00,0.000,6,0.000,0.034,2532,2330,3639
$GC,601,-0.64,-194.6,87.8,-12.8,55,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2330,3639
$GC,787,-0.64,-194.6,112.1,-13.4,73,790,0.00,1.25,0.00,0.000,4,0.000,0.034,2533,1414,3639
$GC,873,-0.64,-194.6,122.6,-11.8,81,876,0.00,1.25,0.00,0.000,6,0.000,0.036,2529,2321,3639
$GC,1195,-0.64,-194.6,162.9,-11.7,112,1198,0.00,1.52,0.00,0.000,4,0.000,0.046,2521,3215,3639
$GC,1248,-0.64,-194.6,169.5,-11.5,117,1251,0.00,1.45,0.00,0.000,6,0.000,0.028,2521,2324,3639
$GC,1570,-0.64,-194.6,208.7,-12.5,148,1573,0.00,1.23,0.00,0.000,4,0.000,0.036,2521,1415,3639
$GC,1670,-0.64,-194.6,221.4,-11.8,157,1678,0.00,1.30,0.00,0.000,6,0.000,0.037,2515,2334,3638
$GC,1989,-0.64,-194.6,260.5,-12.3,188,1992,0.00,1.27,0.00,0.000,4,0.000,0.036,2515,1411,3636
$GC,2063,-0.64,-194.6,269.8,-12.3,195,2066,0.08,1.27,0.00,0.000,6,0.141,0.038,2534,2324,3636
$GC,2384,-0.64,-194.6,304.1,-10.6,226,2387,0.00,1.25,0.00,0.000,4,0.000,0.037,2534,1413,3634
$GC,2452,-0.64,-194.6,311.4,-10.1,232,2460,0.00,1.30,0.00,0.000,6,0.000,0.038,2531,2330,3633
$GC,2771,-0.64,-194.6,344.6,-10.8,263,2772,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2330,3631
$GC,3079,-0.64,-194.6,377.8,-11.3,293,3082,0.00,1.27,0.00,0.000,4,0.000,0.038,2531,1409,3629
$GC,3175,-0.64,-194.6,388.3,-11.2,302,3178,0.00,1.27,0.00,0.000,6,0.000,0.041,2525,2318,3629
$GC,3498,-0.64,-194.6,422.2,-10.3,333,3501,0.00,1.25,0.00,0.000,4,0.000,0.038,2525,1413,3626
$GC,3545,-0.64,-194.6,427.6,-10.3,337,3552,0.00,1.27,0.00,0.000,6,0.000,0.041,2519,2321,3626
$GC,3863,-0.64,-194.6,461.1,-10.5,368,3864,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2321,3624
$GC,4172,-0.64,-194.6,495.3,-10.8,398,4173,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2321,3621
$GC,4482,-0.64,-194.6,529.4,-10.8,428,4483,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2321,3618
$GC,4792,-0.64,-194.6,562.7,-10.7,458,4793,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2321,3616
$GC,5104,-0.64,-194.6,594.9,-10.4,488,5104,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2321,3615
$GC,5413,-0.64,-194.6,626.8,-10.7,518,5414,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2321,3612
$GC,5724,-0.64,-194.6,659.2,-10.3,548,5725,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2321,3611
$GC,6034,-0.64,-194.6,690.5,-10.2,578,6035,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2321,3608
$GC,6345,-0.64,-194.6,720.9,-9.2,608,6346,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2321,3607
$GC,6655,-0.64,-194.6,750.8,-9.8,638,6658,0.00,1.58,0.00,0.000,4,0.000,0.058,2512,3204,3604
$GC,6680,-0.64,-194.6,753.4,-10.1,640,6687,0.00,1.48,0.00,0.000,6,0.000,0.035,2512,2329,3604
$GC,6999,-0.64,-194.6,785.0,-10.2,671,6999,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2330,3602
$GC,7307,-0.64,-194.6,816.2,-10.1,701,7310,0.00,1.27,0.00,0.000,4,0.000,0.044,2512,1424,3600
$GC,7350,-0.64,-194.6,820.6,-10.7,705,7354,0.08,1.30,0.00,0.000,6,0.146,0.048,2531,2323,3600
$GC,7671,-0.64,-194.6,847.4,-8.2,736,7672,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2324,3599
$GC,7982,-0.64,-194.6,872.0,-8.1,766,7983,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2324,3597
$GC,8294,-0.64,-194.6,898.8,-8.7,796,8294,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2324,3596
$GC,8602,-0.64,-194.6,927.9,-10.1,826,8605,0.00,1.30,0.00,0.000,4,0.000,0.045,2532,1411,3595
$GC,8656,-0.64,-194.6,933.1,-9.6,831,8659,0.00,1.33,0.00,0.000,6,0.000,0.049,2528,2324,3594
$STATE,8840,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8840,begin apogee
$GC,8846,-0.26,0.0,951.1,8.9,849,9004,0.45,0.00,153.73,1.210,6,0.128,0.000,2665,2269,2839
$STATE,9004,end apogee,CONTROL_FINISHED_OK
$STATE,9004,begin climb
$GC,9006,0.64,194.6,957.6,0.0,865,9186,0.88,1.83,168.85,1.183,4,0.100,0.058,2943,3154,2044
$GC,9230,0.64,194.6,938.1,13.0,884,9233,0.00,1.62,0.00,0.000,6,0.000,0.035,2951,2281,2039
$GC,9552,0.64,194.6,899.7,12.3,915,9555,0.00,1.25,0.00,0.000,4,0.000,0.044,2957,1361,2034
$GC,9578,0.64,194.6,896.4,12.5,917,9585,0.00,1.30,0.00,0.000,6,0.000,0.044,2957,2277,2034
$GC,9896,0.64,194.6,857.6,11.4,948,9897,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2277,2033
$GC,10205,0.64,194.6,820.8,11.8,978,10205,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2278,2032
$GC,10516,0.64,194.6,784.5,11.7,1008,10519,0.00,1.62,0.00,0.000,4,0.000,0.055,2957,3197,2031
$GC,10547,0.64,194.6,780.6,12.8,1011,10550,0.00,1.60,0.00,0.000,6,0.000,0.037,2964,2273,2029
$GC,10868,0.64,194.6,742.5,11.4,1042,10871,0.00,1.20,0.00,0.000,4,0.000,0.043,2969,1372,2029
$GC,10915,0.64,194.6,737.1,12.0,1046,10923,0.00,1.27,0.00,0.000,6,0.000,0.044,2969,2280,2030
$GC,11234,0.64,194.6,698.8,11.9,1077,11237,0.00,1.60,0.00,0.000,4,0.000,0.055,2969,3167,2029
$GC,11280,0.64,194.6,692.4,13.2,1081,11288,0.00,1.55,0.00,0.000,6,0.000,0.036,2977,2276,2028
$GC,11598,0.64,194.6,652.3,13.0,1112,11601,0.00,1.62,0.00,0.000,4,0.000,0.054,2977,3165,2028
$GC,11630,0.64,194.6,647.6,14.3,1115,11634,0.08,1.55,0.00,0.000,6,0.152,0.037,2950,2277,2028
$GC,11951,0.64,194.6,612.5,10.9,1146,11954,0.00,1.20,0.00,0.000,4,0.000,0.042,2954,1376,2027
$GC,11983,0.64,194.6,609.2,10.5,1149,11986,0.00,1.23,0.00,0.000,6,0.000,0.044,2954,2269,2027
$GC,12306,0.64,194.6,573.7,11.3,1180,12308,0.00,1.60,0.00,0.000,4,0.000,0.054,2955,3169,2027
$GC,12348,0.64,194.6,568.6,11.9,1184,12351,0.00,1.55,0.00,0.000,6,0.000,0.036,2962,2277,2027
$GC,12671,0.64,194.6,532.1,11.7,1215,12672,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2278,2026
$GC,12979,0.64,194.6,497.4,11.0,1245,12980,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2278,2026
$GC,13290,0.64,194.6,463.1,10.8,1275,13291,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2279,2026
$GC,13600,0.64,194.6,427.9,11.4,1305,13603,0.00,1.62,0.00,0.000,4,0.000,0.053,2962,3190,2026
$GC,13632,0.64,194.6,424.1,12.4,1308,13635,0.00,1.58,0.00,0.000,6,0.000,0.036,2970,2274,2026
$GC,13953,0.64,194.6,385.6,12.2,1339,13954,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2276,2027
$GC,14264,0.64,194.6,348.4,12.1,1369,14265,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2276,2026
$GC,14574,0.64,194.6,311.8,11.7,1399,14577,0.00,1.62,0.00,0.000,4,0.000,0.051,2970,3165,2026
$GC,14610,0.64,194.6,307.1,12.8,1402,14618,0.00,1.55,0.00,0.000,6,0.000,0.034,2977,2273,2026
$GC,14929,0.64,194.6,267.4,12.6,1433,14930,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2273,2026
$GC,15237,0.64,194.6,228.3,12.1,1463,15238,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2274,2026
$GC,15548,0.64,194.6,189.7,12.5,1493,15551,0.00,1.62,0.00,0.000,4,0.000,0.050,2977,3166,2026
$GC,15580,0.64,194.6,185.5,13.9,1496,15583,0.08,1.52,0.00,0.000,6,0.144,0.033,2958,2277,2026
$GC,15901,0.64,194.6,151.1,9.4,1527,15904,0.00,1.62,0.00,0.000,4,0.000,0.049,2959,3176,2027
$GC,15975,0.64,194.6,143.6,9.9,1534,15978,0.00,1.55,0.00,0.000,6,0.000,0.031,2964,2269,2027
$GC,16296,0.64,194.6,110.8,10.3,1565,16299,0.00,1.62,0.00,0.000,4,0.000,0.048,2964,3167,2028
$GC,16332,0.64,194.6,106.8,10.9,1568,16339,0.00,1.52,0.00,0.000,6,0.000,0.030,2971,2273,2028
$GC,16650,0.64,194.6,73.7,9.7,1599,16651,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2274,2029
$GC,16835,0.64,194.6,56.3,9.7,1617,16836,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2274,2030
$GC,17022,0.72,262.4,43.6,5.7,1635,17081,0.00,1.65,50.78,0.540,4,0.000,0.046,2972,3173,1769
$GC,17162,0.85,367.3,35.2,4.7,1647,17245,0.08,1.55,79.00,0.529,6,0.056,0.029,3032,2268,1341
$GC,17432,0.85,367.3,16.9,7.5,1672,17434,0.00,1.60,0.00,0.000,4,0.000,0.044,3032,3171,1333
$GC,17464,0.85,367.3,14.5,8.1,1675,17467,0.00,1.52,0.00,0.000,6,0.000,0.028,3039,2276,1333
$GC,17661,1.13,595.4,8.4,1.5,1694,17791,0.17,0.00,127.35,0.496,2,0.071,0.000,3112,2276,627
$STATE,17791,end climb,SURFACE_DEPTH_REACHED
$STATE,17791,begin surface coast
$FINISH,0.7,1.018697
$STATE,17829,end surface coast,CONTROL_FINISHED_OK
$STATE,17829,begin surface
$SM_CCo,17845,32.85,0.469,0,0,403,597.54
$SM_GC,2.16,0.00,0.00,32.85,0.000,0.000,0.469,199,2349,403,-7.96,0.68,597.54
$IRIDIUM_FIX,2833.46,-8843.84,131099,060637
$TT8_MAMPS,0.052156
$HUMID,1372
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,24.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,940.6,30.2
$24V_AH,22.7,48.379
$10V_AH,10.6,66.661
$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,20.450,78.025,579.700,32.850,0.000,29.813,32.187,224.333,3.250,0.000,0.000,16.451,0.000,11948.497,611.625,5070.103,638.806,33.344,2073.473,0.000,4532.765,0.000,24.577,0.000
$DEVICE_MAMPS,256.178,71.331,1210.326,468.637,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1167.150,1247.571,3841.260,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91501,1709
$CAP_FILE_SIZE,157414,0
$CFSIZE,260165632,230543360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.106,119.8,1
$GPS,190710,162337,2843.273,-8837.294,35,1.0,35,-0.3