version: 66.04
glider: 515
mission: 5
dive: 279
start: 7 20 110 8 18 28
data:
$ID,515
$MISSION,5
$DIVE,279
$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,-23803.043
$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,36
$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
$GPS1,081125,2843.307,-8831.064,38,1.6,38,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-71.5
$GPS2,081749,2843.373,-8831.075,11,1.4,16,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.250,0.088
$KALMAN_X,7854.8,-59.4,-479.3,23653.7,1828.5
$KALMAN_Y,-405440.6,347.2,-104.0,433030.2,-10434.1
$MHEAD_RNG_PITCHd_Wd,285.1,22691,-10.8,-7.500
$D_GRID,1226
$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,-194.6,0.0,0.0,0,59,0.00,0.00,-44.85,0.000,2,0.000,0.000,197,2350,1719
$GC,62,-0.64,-194.6,3.1,-4.0,4,122,10.57,1.38,-45.95,0.000,4,0.255,0.058,2539,1407,3636
$GC,362,-0.64,-194.6,59.0,-14.3,31,370,0.00,1.27,0.00,0.000,6,0.000,0.035,2535,2315,3638
$GC,555,-0.64,-194.6,84.8,-13.0,50,558,0.00,1.23,0.00,0.000,4,0.000,0.036,2536,1417,3639
$GC,768,-0.64,-194.6,111.6,-12.3,70,772,0.00,1.27,0.00,0.000,6,0.000,0.036,2532,2330,3639
$GC,1091,-0.64,-194.6,153.5,-13.7,101,1094,0.00,1.25,0.00,0.000,4,0.000,0.036,2533,1417,3639
$GC,1202,-0.64,-194.6,167.8,-13.1,111,1210,0.00,1.25,0.00,0.000,6,0.000,0.036,2527,2321,3639
$GC,1520,-0.64,-194.6,205.7,-11.6,142,1523,0.00,1.25,0.00,0.000,4,0.000,0.037,2527,1404,3638
$GC,1599,-0.64,-194.6,215.2,-11.7,149,1606,0.00,1.33,0.00,0.000,6,0.000,0.037,2522,2338,3638
$GC,1917,-0.64,-194.6,252.3,-11.7,180,1920,0.00,1.27,0.00,0.000,4,0.000,0.037,2521,1422,3637
$GC,1975,-0.64,-194.6,259.7,-11.9,185,1982,0.00,1.27,0.00,0.000,6,0.000,0.037,2515,2325,3636
$GC,2293,-0.64,-194.6,297.9,-12.3,216,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2326,3635
$GC,2602,-0.64,-194.6,335.5,-11.8,246,2605,0.00,1.25,0.00,0.000,4,0.000,0.038,2515,1421,3632
$GC,2724,-0.64,-194.6,350.2,-11.3,257,2731,0.08,1.30,0.00,0.000,6,0.140,0.038,2534,2333,3632
$GC,3040,-0.64,-194.6,383.4,-10.2,288,3043,0.00,1.27,0.00,0.000,4,0.000,0.038,2534,1414,3630
$GC,3076,-0.64,-194.6,387.6,-11.3,291,3085,0.00,1.30,0.00,0.000,6,0.000,0.039,2531,2329,3629
$GC,3395,-0.64,-194.6,420.9,-10.4,322,3398,0.00,1.27,0.00,0.000,4,0.000,0.039,2530,1409,3627
$GC,3426,-0.64,-194.6,424.4,-10.0,325,3429,0.00,1.30,0.00,0.000,6,0.000,0.041,2525,2329,3627
$GC,3749,-0.64,-194.6,459.1,-11.1,356,3752,0.00,1.27,0.00,0.000,4,0.000,0.039,2525,1414,3624
$GC,3792,-0.64,-194.6,464.0,-11.0,360,3795,0.00,1.27,0.00,0.000,6,0.000,0.041,2519,2324,3624
$GC,4114,-0.64,-194.6,499.8,-11.0,391,4115,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2324,3622
$GC,4424,-0.64,-194.6,533.6,-10.6,421,4427,0.00,1.25,0.00,0.000,4,0.000,0.041,2519,1430,3620
$GC,4492,-0.64,-194.6,541.3,-10.6,427,4500,0.00,1.30,0.00,0.000,6,0.000,0.042,2514,2330,3620
$GC,4810,-0.64,-194.6,575.9,-10.7,458,4814,0.00,1.27,0.00,0.000,4,0.000,0.041,2514,1422,3618
$GC,4853,-0.64,-194.6,580.8,-11.3,462,4856,0.08,1.27,0.00,0.000,6,0.147,0.043,2534,2319,3617
$GC,5174,-0.64,-194.6,611.2,-9.4,493,5174,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2319,3615
$GC,5485,-0.64,-194.6,640.3,-9.1,523,5486,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2319,3612
$GC,5794,-0.64,-194.6,668.1,-8.7,553,5797,0.00,1.25,0.00,0.000,4,0.000,0.043,2533,1433,3611
$GC,5831,-0.64,-194.6,671.5,-9.2,556,5838,0.00,1.27,0.00,0.000,6,0.000,0.045,2530,2324,3611
$GC,6149,-0.64,-194.6,699.9,-9.1,587,6149,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2325,3608
$GC,6458,-0.64,-194.6,728.9,-9.2,617,6461,0.00,1.27,0.00,0.000,4,0.000,0.044,2530,1422,3606
$GC,6505,-0.64,-194.6,733.9,-10.1,621,6512,0.00,1.30,0.00,0.000,6,0.000,0.045,2525,2328,3606
$GC,6823,-0.64,-194.6,764.3,-9.3,652,6824,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2328,3605
$GC,7133,-0.64,-194.6,794.2,-9.7,682,7136,0.00,1.58,0.00,0.000,4,0.000,0.057,2517,3218,3603
$GC,7169,-0.64,-194.6,797.8,-10.0,685,7176,0.00,1.48,0.00,0.000,6,0.000,0.035,2518,2333,3603
$GC,7487,-0.64,-194.6,827.5,-9.2,716,7488,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2334,3601
$GC,7797,-0.64,-194.6,857.5,-9.4,746,7798,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2334,3600
$GC,8106,-0.64,-194.6,886.1,-8.9,776,8107,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2334,3599
$GC,8416,-0.64,-194.6,914.8,-9.4,806,8417,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2334,3597
$GC,8727,-0.64,-194.6,944.4,-9.5,836,8730,0.00,1.30,0.00,0.000,4,0.000,0.045,2517,1418,3596
$GC,8774,-0.64,-194.6,949.1,-9.9,840,8781,0.00,1.33,0.00,0.000,6,0.000,0.049,2512,2327,3596
$GC,9091,-0.64,-194.6,979.5,-9.3,871,9092,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2327,3594
$STATE,9203,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9204,begin apogee
$GC,9208,-0.26,0.0,990.6,9.3,882,9367,0.50,0.00,154.40,1.239,6,0.136,0.000,2660,2270,2840
$STATE,9367,end apogee,CONTROL_FINISHED_OK
$STATE,9367,begin climb
$GC,9370,0.64,194.6,995.7,0.0,898,9548,0.90,0.00,171.48,1.209,6,0.100,0.000,2943,2270,2045
$GC,9856,0.64,194.6,949.8,10.8,946,9859,0.00,1.65,0.00,0.000,4,0.000,0.059,2943,3170,2035
$GC,9878,0.64,194.6,947.4,11.1,948,9881,0.00,1.58,0.00,0.000,6,0.000,0.037,2951,2275,2034
$GC,10200,0.64,194.6,909.2,12.1,979,10201,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2276,2033
$GC,10510,0.64,194.6,872.1,11.6,1009,10511,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2276,2031
$GC,10819,0.64,194.6,836.5,11.3,1039,10820,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2276,2031
$GC,11130,0.64,194.6,800.3,12.1,1069,11134,0.00,1.62,0.00,0.000,4,0.000,0.054,2951,3161,2030
$GC,11173,0.64,194.6,795.0,12.8,1073,11176,0.00,1.55,0.00,0.000,6,0.000,0.037,2959,2273,2029
$GC,11494,0.64,194.6,756.7,12.0,1104,11497,0.00,1.62,0.00,0.000,4,0.000,0.054,2958,3159,2029
$GC,11547,0.64,194.6,749.9,13.4,1109,11550,0.00,1.55,0.00,0.000,6,0.000,0.037,2965,2270,2028
$GC,11870,0.64,194.6,711.5,11.8,1140,11871,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2271,2028
$GC,12179,0.64,194.6,674.5,12.2,1170,12180,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2271,2028
$GC,12489,0.64,194.6,636.4,12.1,1200,12492,0.00,1.65,0.00,0.000,4,0.000,0.054,2965,3170,2028
$GC,12515,0.64,194.6,633.1,14.1,1202,12521,0.00,1.58,0.00,0.000,6,0.000,0.037,2973,2270,2027
$GC,12832,0.64,194.6,593.8,12.6,1233,12833,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2271,2027
$GC,13142,0.64,194.6,555.1,12.8,1263,13145,0.00,1.62,0.00,0.000,4,0.000,0.054,2973,3176,2027
$GC,13167,0.64,194.6,551.7,13.4,1265,13175,0.00,1.58,0.00,0.000,6,0.000,0.036,2980,2273,2026
$GC,13486,0.64,194.6,511.1,12.6,1296,13489,0.00,1.62,0.00,0.000,4,0.000,0.053,2980,3160,2026
$GC,13529,0.64,194.6,505.0,13.7,1300,13532,0.10,1.55,0.00,0.000,6,0.143,0.036,2957,2272,2027
$GC,13849,0.64,194.6,469.7,10.8,1331,13850,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2273,2027
$GC,14161,0.64,194.6,436.2,11.1,1361,14161,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2273,2026
$GC,14470,0.64,194.6,402.3,11.1,1391,14471,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2273,2026
$GC,14781,0.64,194.6,369.3,10.5,1421,14784,0.00,1.62,0.00,0.000,4,0.000,0.052,2957,3158,2027
$GC,14817,0.64,194.6,365.2,10.1,1424,14824,0.00,1.52,0.00,0.000,6,0.000,0.035,2962,2277,2026
$GC,15136,0.64,194.6,331.4,10.8,1455,15137,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2277,2027
$GC,15444,0.64,194.6,297.4,10.8,1485,15445,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2278,2027
$GC,15755,0.64,194.6,263.1,11.1,1515,15758,0.00,1.60,0.00,0.000,4,0.000,0.051,2962,3158,2027
$GC,15830,0.64,194.6,254.3,11.1,1522,15833,0.00,1.52,0.00,0.000,6,0.000,0.035,2969,2273,2027
$GC,16150,0.64,194.6,218.0,11.1,1553,16154,0.00,1.62,0.00,0.000,4,0.000,0.050,2970,3172,2028
$GC,16204,0.64,194.6,211.8,11.7,1558,16207,0.00,1.52,0.00,0.000,6,0.000,0.033,2977,2277,2028
$GC,16526,0.64,194.6,172.5,12.1,1589,16527,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2278,2028
$GC,16836,0.64,194.6,136.1,11.2,1619,16839,0.00,1.20,0.00,0.000,4,0.000,0.038,2983,1362,2029
$GC,16889,0.64,194.6,130.3,9.5,1624,16892,0.08,1.23,0.00,0.000,6,0.135,0.038,2958,2272,2030
$GC,17210,0.64,194.6,99.4,9.6,1655,17213,0.00,1.60,0.00,0.000,4,0.000,0.048,2956,3175,2030
$GC,17242,0.64,194.6,96.4,8.1,1658,17245,0.00,1.52,0.00,0.000,6,0.000,0.031,2962,2273,2030
$GC,17439,0.64,194.6,77.6,9.0,1677,17441,0.00,1.17,0.00,0.000,4,0.000,0.037,2967,1368,2031
$GC,17492,0.64,194.6,73.0,8.5,1682,17495,0.00,1.23,0.00,0.000,6,0.000,0.037,2967,2279,2032
$GC,17689,0.64,195.1,56.3,7.5,1701,17692,0.00,1.58,0.00,0.000,4,0.000,0.046,2967,3175,2032
$GC,17742,0.71,248.6,52.4,6.1,1706,17790,0.00,1.52,40.70,0.544,6,0.000,0.030,2975,2273,1826
$GC,17977,0.78,308.1,38.0,5.9,1728,18027,0.00,1.23,45.62,0.528,4,0.000,0.035,2980,1368,1584
$GC,18113,0.93,432.4,31.7,4.2,1740,18210,0.15,1.23,92.78,0.520,6,0.042,0.035,3067,2276,1077
$GC,18392,1.12,580.7,8.2,3.6,1766,18498,0.12,0.00,104.25,0.493,2,0.078,0.000,3115,2276,497
$STATE,18499,end climb,SURFACE_DEPTH_REACHED
$STATE,18499,begin surface coast
$FINISH,0.8,1.018426
$STATE,18545,end surface coast,CONTROL_FINISHED_OK
$STATE,18547,begin surface
$SM_CCo,18562,16.10,0.450,0,0,403,597.54
$SM_GC,2.25,0.00,0.00,16.10,0.000,0.000,0.450,199,2347,403,-7.96,0.62,597.54
$IRIDIUM_FIX,2833.46,-8831.56,141099,030307
$TT8_MAMPS,0.051389
$HUMID,1393
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,22.6,49.061
$10V_AH,10.5,67.569
$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,20.450,81.250,609.225,16.100,0.000,23.866,31.449,192.826,3.750,0.000,0.000,18.694,0.000,12337.292,646.439,5315.242,630.939,33.345,2178.726,0.000,4756.578,0.000,28.023,0.000
$DEVICE_MAMPS,254.644,69.797,1238.705,450.229,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1216.089,1303.283,4000.709,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94600,1780
$CAP_FILE_SIZE,165898,0
$CFSIZE,260165632,230174720
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.128,140.3,1
$GPS,200710,132906,2842.877,-8833.214,36,0.9,36,-0.3