version: 66.04
glider: 515
mission: 5
dive: 278
start: 7 20 110 2 59 59
data:
$ID,515
$MISSION,5
$DIVE,278
$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,-14
$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,-23783.721
$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,30
$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
$GPS1,025206,2843.955,-8828.982,24,1.2,24,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-71.3
$GPS2,025902,2844.010,-8828.945,16,1.2,16,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.110,0.240
$KALMAN_X,7764.8,259.9,45.4,26373.9,1623.5
$KALMAN_Y,-398006.9,431.8,-14.1,426591.7,-6494.7
$MHEAD_RNG_PITCHd_Wd,280.2,26249,-10.8,-7.500
$D_GRID,1353
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.64,-194.6,0.0,0.0,0,59,0.00,0.00,-42.90,0.000,2,0.000,0.000,198,2334,1690
$GC,61,-0.64,-194.6,3.3,-4.8,4,121,10.50,1.30,-45.67,0.000,4,0.254,0.051,2537,1394,3636
$GC,157,-0.64,-194.6,21.4,-22.9,12,165,0.00,1.33,0.00,0.000,6,0.000,0.034,2532,2331,3637
$GC,350,-0.64,-194.6,58.3,-14.7,31,353,0.00,1.25,0.00,0.000,4,0.000,0.033,2536,1420,3638
$GC,489,-0.64,-194.6,77.3,-14.0,44,492,0.00,1.25,0.00,0.000,6,0.000,0.034,2532,2325,3639
$GC,686,-0.64,-194.6,103.4,-13.3,63,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2325,3640
$GC,997,-0.64,-194.6,144.5,-13.7,93,1000,0.00,1.23,0.00,0.000,4,0.000,0.035,2532,1415,3640
$GC,1097,-0.64,-194.6,158.2,-13.1,102,1104,0.00,1.25,0.00,0.000,6,0.000,0.035,2527,2325,3640
$GC,1415,-0.64,-194.6,197.0,-11.9,133,1418,0.00,1.23,0.00,0.000,4,0.000,0.035,2527,1417,3639
$GC,1462,-0.64,-194.6,202.9,-11.9,137,1470,0.00,1.27,0.00,0.000,6,0.000,0.034,2521,2329,3639
$GC,1780,-0.64,-194.6,239.8,-11.7,168,1783,0.00,1.25,0.00,0.000,4,0.000,0.035,2521,1415,3637
$GC,1833,-0.64,-194.6,246.1,-11.0,173,1836,0.00,1.25,0.00,0.000,6,0.000,0.036,2516,2322,3637
$GC,2156,-0.64,-194.6,284.4,-12.6,204,2156,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2322,3636
$GC,2465,-0.64,-194.6,322.6,-12.1,234,2468,0.00,1.25,0.00,0.000,4,0.000,0.038,2516,1413,3634
$GC,2518,-0.64,-194.6,329.2,-12.0,239,2522,0.08,1.27,0.00,0.000,6,0.142,0.039,2534,2324,3633
$GC,2839,-0.64,-194.6,363.0,-10.6,270,2842,0.00,1.25,0.00,0.000,4,0.000,0.039,2535,1415,3631
$GC,2896,-0.64,-194.6,369.1,-9.9,275,2904,0.00,1.30,0.00,0.000,6,0.000,0.038,2530,2331,3631
$GC,3215,-0.64,-194.6,402.8,-10.6,306,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2331,3629
$GC,3523,-0.64,-194.6,434.6,-9.8,336,3524,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2331,3626
$GC,3834,-0.64,-194.6,465.0,-9.8,366,3837,0.00,1.27,0.00,0.000,4,0.000,0.041,2531,1414,3623
$GC,3910,-0.64,-194.6,472.3,-9.5,373,3912,0.00,1.27,0.00,0.000,6,0.000,0.041,2525,2323,3623
$GC,4232,-0.64,-194.6,505.0,-10.5,404,4232,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2322,3620
$GC,4542,-0.64,-194.6,536.7,-10.3,434,4542,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2323,3618
$GC,4851,-0.64,-194.6,567.6,-10.1,464,4854,0.00,1.25,0.00,0.000,4,0.000,0.043,2525,1430,3616
$GC,4920,-0.64,-194.6,574.8,-9.9,470,4927,0.00,1.27,0.00,0.000,6,0.000,0.043,2520,2325,3616
$GC,5237,-0.64,-194.6,607.2,-10.3,501,5238,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2324,3613
$GC,5547,-0.64,-194.6,638.9,-10.4,531,5550,0.00,1.27,0.00,0.000,4,0.000,0.044,2520,1412,3611
$GC,5621,-0.64,-194.6,646.4,-9.9,538,5624,0.00,1.30,0.00,0.000,6,0.000,0.045,2514,2321,3611
$GC,5943,-0.64,-194.6,679.2,-10.1,569,5944,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2322,3608
$GC,6253,-0.64,-194.6,711.1,-10.6,599,6254,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2321,3606
$GC,6563,-0.64,-194.6,743.5,-10.7,629,6566,0.00,1.27,0.00,0.000,4,0.000,0.045,2514,1416,3605
$GC,6600,-0.64,-194.6,747.3,-10.6,632,6607,0.08,1.30,0.00,0.000,6,0.147,0.046,2533,2322,3604
$GC,6916,-0.64,-194.6,775.4,-9.1,663,6917,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2322,3604
$GC,7227,-0.64,-194.6,802.3,-8.6,693,7230,0.00,1.27,0.00,0.000,4,0.000,0.045,2534,1421,3601
$GC,7262,-0.64,-194.6,805.7,-9.1,696,7270,0.00,1.33,0.00,0.000,6,0.000,0.046,2529,2329,3600
$GC,7582,-0.64,-194.6,833.7,-8.9,727,7584,0.00,1.58,0.00,0.000,4,0.000,0.058,2523,3213,3599
$GC,7625,-0.64,-194.6,837.6,-9.2,731,7628,0.00,1.48,0.00,0.000,6,0.000,0.036,2523,2332,3598
$GC,7946,-0.64,-194.6,866.9,-9.3,762,7946,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2333,3598
$GC,8256,-0.64,-194.6,895.6,-9.1,792,8259,0.00,1.30,0.00,0.000,4,0.000,0.046,2523,1419,3597
$GC,8298,-0.64,-194.6,899.6,-8.9,796,8303,0.00,1.33,0.00,0.000,6,0.000,0.048,2516,2327,3596
$GC,8619,-0.64,-194.6,929.3,-9.0,827,8620,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2327,3595
$GC,8930,-0.64,-194.6,957.8,-9.4,857,8930,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2326,3593
$GC,9240,-0.64,-194.6,986.4,-9.2,887,9241,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2327,3592
$STATE,9280,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9280,begin apogee
$GC,9285,-0.26,0.0,990.1,9.1,891,9444,0.47,0.00,153.98,1.241,6,0.134,0.000,2658,2272,2840
$STATE,9444,end apogee,CONTROL_FINISHED_OK
$STATE,9444,begin climb
$GC,9447,0.64,194.6,994.7,0.0,907,9628,0.90,1.85,170.50,1.210,4,0.102,0.057,2942,3164,2045
$GC,9661,0.64,194.6,976.5,12.5,926,9664,0.00,1.65,0.00,0.000,6,0.000,0.036,2949,2280,2039
$GC,9984,0.64,194.6,938.3,11.7,957,9985,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2281,2035
$GC,10292,0.64,194.6,902.0,11.7,987,10293,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2281,2033
$GC,10603,0.64,194.6,866.4,11.8,1017,10604,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2281,2032
$GC,10914,0.64,194.6,830.1,11.8,1047,10916,0.00,1.60,0.00,0.000,4,0.000,0.054,2949,3177,2031
$GC,10946,0.64,194.6,826.1,13.3,1050,10949,0.00,1.58,0.00,0.000,6,0.000,0.038,2956,2271,2029
$GC,11267,0.64,194.6,788.8,11.5,1081,11270,0.00,1.62,0.00,0.000,4,0.000,0.055,2956,3176,2030
$GC,11298,0.64,194.6,784.9,12.7,1084,11301,0.00,1.58,0.00,0.000,6,0.000,0.037,2963,2274,2029
$GC,11621,0.64,194.6,746.4,12.0,1115,11622,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2275,2029
$GC,11930,0.64,194.6,709.9,11.5,1145,11930,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2275,2029
$GC,12241,0.64,194.6,672.6,12.2,1175,12244,0.00,1.62,0.00,0.000,4,0.000,0.055,2963,3160,2028
$GC,12287,0.64,194.6,666.6,12.9,1179,12294,0.00,1.55,0.00,0.000,6,0.000,0.037,2970,2276,2028
$GC,12605,0.64,194.6,626.9,12.3,1210,12606,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2277,2028
$GC,12915,0.64,194.6,589.0,12.3,1240,12917,0.00,1.62,0.00,0.000,4,0.000,0.054,2970,3180,2028
$GC,12958,0.64,194.6,583.4,12.2,1244,12961,0.00,1.58,0.00,0.000,6,0.000,0.038,2977,2275,2027
$GC,13280,0.64,194.6,543.2,12.6,1275,13281,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2276,2027
$GC,13590,0.64,194.6,504.0,12.8,1305,13593,0.00,1.60,0.00,0.000,4,0.000,0.054,2977,3167,2027
$GC,13615,0.64,194.6,500.5,13.9,1307,13623,0.08,1.55,0.00,0.000,6,0.145,0.035,2960,2277,2027
$GC,13932,0.64,194.6,464.9,10.9,1338,13935,0.00,1.62,0.00,0.000,4,0.000,0.053,2960,3164,2027
$GC,13964,0.64,194.6,461.1,11.5,1341,13967,0.00,1.55,0.00,0.000,6,0.000,0.036,2966,2272,2027
$GC,14286,0.64,194.6,424.0,11.5,1372,14287,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2273,2027
$GC,14596,0.64,194.6,387.4,11.8,1402,14599,0.00,1.62,0.00,0.000,4,0.000,0.053,2965,3179,2027
$GC,14670,0.64,194.6,378.2,12.8,1409,14673,0.00,1.58,0.00,0.000,6,0.000,0.035,2973,2273,2026
$GC,14993,0.64,194.6,339.4,12.1,1440,14996,0.00,1.60,0.00,0.000,4,0.000,0.052,2973,3167,2027
$GC,15018,0.64,194.6,335.7,13.8,1442,15026,0.00,1.55,0.00,0.000,6,0.000,0.035,2981,2276,2027
$GC,15336,0.64,194.6,294.9,12.8,1473,15339,0.00,1.60,0.00,0.000,4,0.000,0.051,2981,3172,2027
$GC,15373,0.64,194.6,289.6,14.3,1476,15380,0.10,1.55,0.00,0.000,6,0.141,0.034,2957,2277,2027
$GC,15689,0.64,194.6,253.7,11.2,1507,15692,0.00,1.62,0.00,0.000,4,0.000,0.051,2956,3167,2027
$GC,15747,0.64,194.6,247.2,12.1,1512,15753,0.00,1.55,0.00,0.000,6,0.000,0.034,2962,2271,2027
$GC,16064,0.64,194.6,211.6,11.2,1543,16065,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2271,2027
$GC,16374,0.64,194.6,177.3,11.4,1573,16374,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2272,2028
$GC,16684,0.64,194.6,145.6,9.5,1603,16684,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2272,2028
$GC,16995,0.64,194.6,114.3,9.6,1633,16998,0.00,1.60,0.00,0.000,4,0.000,0.048,2962,3177,2030
$GC,17026,0.64,194.6,110.8,11.0,1636,17029,0.00,1.55,0.00,0.000,6,0.000,0.031,2970,2268,2030
$GC,17347,0.64,194.6,78.6,9.3,1667,17350,0.00,1.62,0.00,0.000,4,0.000,0.047,2970,3171,2031
$GC,17380,0.64,194.6,75.5,9.7,1670,17383,0.05,1.52,0.00,0.000,6,0.146,0.030,2959,2273,2031
$GC,17576,0.68,228.9,60.9,6.6,1689,17605,0.00,1.23,26.10,0.542,4,0.000,0.036,2963,1360,1906
$GC,17685,0.74,271.9,53.3,6.4,1698,17728,0.00,1.23,34.03,0.541,6,0.000,0.036,2963,2269,1729
$GC,17913,0.81,332.1,38.6,5.9,1720,17966,0.12,1.23,45.92,0.526,4,0.065,0.036,3032,1362,1485
$GC,18003,0.83,352.6,31.1,7.0,1728,18024,0.00,1.25,16.92,0.495,6,0.000,0.034,3032,2276,1400
$GC,18207,0.87,380.4,17.0,6.8,1748,18230,0.00,0.00,21.60,0.490,6,0.000,0.000,3032,2276,1288
$GC,18413,1.11,576.5,8.1,2.3,1768,18550,0.17,0.00,133.77,0.495,2,0.080,0.000,3100,2276,545
$STATE,18550,end climb,SURFACE_DEPTH_REACHED
$STATE,18551,begin surface coast
$FINISH,0.8,1.007365
$STATE,18587,end surface coast,CONTROL_FINISHED_OK
$STATE,18587,begin surface
$SM_CCo,18602,21.88,0.459,0,0,403,597.54
$SM_GC,1.31,0.00,0.00,21.88,0.000,0.000,0.459,199,2350,403,-7.96,0.71,597.54
$IRIDIUM_FIX,2835.91,-8831.49,131099,212129
$TT8_MAMPS,0.051389
$HUMID,1374
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,22.6,48.891
$10V_AH,10.5,67.341
$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,20.350,82.900,602.825,21.875,0.000,30.513,26.245,227.460,4.000,0.000,0.000,18.346,0.000,12420.286,627.958,5302.566,676.575,33.343,2158.721,0.000,4741.864,0.000,28.044,0.000
$DEVICE_MAMPS,253.877,71.331,1241.006,458.666,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1218.335,1301.530,4007.481,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94590,1783
$CAP_FILE_SIZE,167877,0
$CFSIZE,260165632,230264832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.123,130.4,1
$GPS,200710,081125,2843.307,-8831.064,38,1.6,38,-0.4