version: 66.04
glider: 515
mission: 5
dive: 281
start: 7 20 110 18 58 53
data:
$ID,515
$MISSION,5
$DIVE,281
$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,-23834.834
$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,25
$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
$GPS1,184536,2842.704,-8835.326,33,1.0,33,-0.3
$_CALLS,3
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-69.7
$GPS2,185814,2843.031,-8835.282,13,1.5,13,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.246,0.098
$KALMAN_X,13639.9,301.5,-437.0,10597.6,5187.9
$KALMAN_Y,-411679.6,1524.6,261.0,437036.2,-9450.2
$MHEAD_RNG_PITCHd_Wd,288.8,15829,-10.8,-7.500
$D_GRID,1010
$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,-42.58,0.000,2,0.000,0.000,200,2334,1678
$GC,59,-0.64,-194.6,3.2,-4.2,4,122,10.48,1.25,-49.05,0.000,4,0.252,0.056,2537,1402,3631
$GC,364,-0.64,-194.6,57.1,-13.5,32,367,0.00,1.27,0.00,0.000,6,0.000,0.034,2533,2328,3632
$GC,561,-0.64,-194.6,83.5,-13.7,51,564,0.00,1.25,0.00,0.000,4,0.000,0.034,2537,1413,3633
$GC,608,-0.64,-194.6,89.4,-12.2,55,615,0.00,1.25,0.00,0.000,6,0.000,0.034,2532,2323,3633
$GC,800,-0.64,-194.6,113.8,-13.0,74,803,0.00,1.23,0.00,0.000,4,0.000,0.034,2532,1417,3634
$GC,832,-0.64,-194.6,118.0,-13.2,77,835,0.00,1.25,0.00,0.000,6,0.000,0.035,2527,2323,3633
$GC,1155,-0.64,-194.6,158.7,-11.4,108,1158,0.00,1.23,0.00,0.000,4,0.000,0.035,2527,1419,3633
$GC,1262,-0.64,-194.6,171.3,-11.7,118,1264,0.00,1.25,0.00,0.000,6,0.000,0.036,2521,2325,3633
$GC,1584,-0.64,-194.6,210.6,-12.2,149,1587,0.00,1.23,0.00,0.000,4,0.000,0.035,2521,1423,3631
$GC,1620,-0.64,-194.6,215.5,-11.8,152,1628,0.00,1.27,0.00,0.000,6,0.000,0.036,2516,2329,3631
$GC,1938,-0.64,-194.6,253.7,-12.3,183,1941,0.00,1.25,0.00,0.000,4,0.000,0.036,2516,1418,3629
$GC,2024,-0.64,-194.6,264.2,-11.9,191,2027,0.00,1.25,0.00,0.000,6,0.000,0.037,2510,2324,3629
$GC,2346,-0.64,-194.6,305.2,-12.5,222,2350,0.12,1.25,0.00,0.000,4,0.145,0.035,2544,1413,3627
$GC,2389,-0.64,-194.6,310.1,-10.2,226,2392,0.00,1.25,0.00,0.000,6,0.000,0.038,2540,2318,3626
$GC,2711,-0.64,-194.6,343.5,-10.5,257,2714,0.00,1.23,0.00,0.000,4,0.000,0.037,2540,1423,3623
$GC,2786,-0.64,-194.6,351.3,-10.4,264,2789,0.00,1.25,0.00,0.000,6,0.000,0.039,2534,2320,3623
$GC,3108,-0.64,-194.6,383.7,-9.6,295,3111,0.00,1.25,0.00,0.000,4,0.000,0.038,2534,1407,3621
$GC,3145,-0.64,-194.6,387.6,-10.7,298,3152,0.00,1.30,0.00,0.000,6,0.000,0.038,2529,2331,3620
$GC,3463,-0.64,-194.6,420.7,-10.7,329,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2331,3618
$GC,3772,-0.64,-194.6,453.0,-10.2,359,3775,0.00,1.27,0.00,0.000,4,0.000,0.038,2529,1413,3616
$GC,3814,-0.64,-194.6,457.4,-10.2,363,3817,0.00,1.27,0.00,0.000,6,0.000,0.041,2523,2324,3615
$GC,4137,-0.64,-194.6,492.4,-10.9,394,4140,0.00,1.25,0.00,0.000,4,0.000,0.039,2523,1423,3613
$GC,4201,-0.64,-194.6,499.6,-10.8,400,4204,0.00,1.27,0.00,0.000,6,0.000,0.041,2517,2326,3612
$GC,4523,-0.64,-194.6,535.0,-10.9,431,4526,0.00,1.25,0.00,0.000,4,0.000,0.039,2517,1426,3609
$GC,4555,-0.64,-194.6,538.8,-11.7,434,4558,0.00,1.25,0.00,0.000,6,0.000,0.042,2512,2315,3609
$GC,4878,-0.64,-194.6,575.1,-11.5,465,4881,0.00,1.25,0.00,0.000,4,0.000,0.041,2512,1412,3606
$GC,4920,-0.64,-194.6,580.2,-11.3,469,4924,0.08,1.30,0.00,0.000,6,0.146,0.042,2531,2325,3606
$GC,5241,-0.64,-194.6,611.3,-9.3,500,5242,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2326,3604
$GC,5553,-0.64,-194.6,641.1,-9.4,530,5554,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2326,3602
$GC,5862,-0.64,-194.6,670.3,-9.6,560,5865,0.00,1.27,0.00,0.000,4,0.000,0.042,2531,1412,3600
$GC,5916,-0.64,-194.6,675.2,-9.5,565,5919,0.00,1.30,0.00,0.000,6,0.000,0.044,2528,2323,3599
$GC,6238,-0.64,-194.6,706.2,-11.3,596,6241,0.00,1.55,0.00,0.000,4,0.000,0.051,2516,3213,3597
$GC,6274,-0.64,-194.6,710.0,-10.0,599,6281,0.00,1.48,0.00,0.000,6,0.000,0.035,2516,2328,3597
$GC,6592,-0.64,-194.6,740.4,-9.8,630,6595,0.00,1.27,0.00,0.000,4,0.000,0.041,2516,1410,3595
$GC,6645,-0.64,-194.6,746.0,-10.1,635,6649,0.08,1.30,0.00,0.000,6,0.143,0.043,2535,2323,3594
$GC,6966,-0.64,-194.6,774.0,-9.0,666,6967,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2323,3592
$GC,7277,-0.64,-194.6,800.8,-8.8,696,7278,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2323,3591
$GC,7587,-0.64,-194.6,827.3,-8.3,726,7588,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2323,3590
$GC,7899,-0.64,-194.6,852.7,-8.4,756,7900,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2323,3588
$GC,8210,-0.64,-194.6,879.5,-8.5,786,8214,0.00,1.27,0.00,0.000,4,0.000,0.043,2535,1423,3587
$GC,8278,-0.64,-194.6,885.9,-9.2,792,8286,0.00,1.33,0.00,0.000,6,0.000,0.045,2531,2334,3587
$GC,8594,-0.64,-194.6,913.6,-8.9,823,8595,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2334,3585
$GC,8905,-0.64,-194.6,940.4,-8.8,853,8908,0.00,1.30,0.00,0.000,4,0.000,0.044,2531,1427,3584
$GC,8984,-0.64,-194.6,947.3,-8.2,860,8991,0.00,1.30,0.00,0.000,6,0.000,0.047,2528,2325,3583
$STATE,9267,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9267,begin apogee
$GC,9274,-0.26,0.0,972.1,8.3,888,9431,0.45,0.00,151.82,1.227,6,0.133,0.000,2663,2267,2839
$STATE,9432,end apogee,CONTROL_FINISHED_OK
$STATE,9432,begin climb
$GC,9434,0.64,194.6,976.9,0.0,904,9607,0.90,0.00,169.75,1.199,6,0.102,0.000,2946,2267,2047
$GC,9916,0.64,194.6,931.5,10.7,951,9917,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2267,2035
$GC,10226,0.64,194.6,897.9,10.9,981,10226,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2267,2034
$GC,10537,0.64,194.6,863.9,11.0,1011,10537,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2267,2032
$GC,10847,0.64,194.6,830.7,10.6,1041,10848,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2267,2031
$GC,11157,0.64,194.6,797.8,10.5,1071,11158,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2267,2030
$GC,11467,0.64,194.6,764.4,11.3,1101,11471,0.00,1.65,0.00,0.000,4,0.000,0.058,2946,3162,2030
$GC,11525,0.64,194.6,757.4,11.5,1106,11532,0.00,1.55,0.00,0.000,6,0.000,0.037,2954,2273,2029
$GC,11844,0.64,194.6,722.0,11.0,1137,11846,0.00,1.20,0.00,0.000,4,0.000,0.042,2960,1370,2029
$GC,11897,0.64,194.6,715.7,11.3,1142,11900,0.00,1.25,0.00,0.000,6,0.000,0.044,2959,2271,2029
$GC,12218,0.64,194.6,679.6,10.9,1173,12220,0.00,1.62,0.00,0.000,4,0.000,0.055,2960,3170,2028
$GC,12260,0.64,194.6,674.7,11.9,1177,12263,0.00,1.55,0.00,0.000,6,0.000,0.036,2967,2274,2027
$GC,12583,0.64,194.6,638.3,11.1,1208,12586,0.00,1.20,0.00,0.000,4,0.000,0.043,2972,1378,2027
$GC,12630,0.64,194.6,632.6,10.7,1212,12637,0.00,1.25,0.00,0.000,6,0.000,0.043,2972,2276,2027
$GC,12948,0.64,194.6,596.8,11.3,1243,12951,0.00,1.60,0.00,0.000,4,0.000,0.054,2972,3168,2027
$GC,12980,0.64,194.6,592.9,11.6,1246,12983,0.00,1.55,0.00,0.000,6,0.000,0.036,2980,2273,2027
$GC,13302,0.64,194.6,554.4,12.0,1277,13305,0.00,1.62,0.00,0.000,4,0.000,0.054,2980,3184,2027
$GC,13328,0.64,194.6,550.9,13.1,1279,13335,0.10,1.58,0.00,0.000,6,0.139,0.035,2956,2275,2027
$GC,13645,0.64,194.6,517.5,10.4,1310,13645,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2276,2027
$GC,13955,0.64,194.6,485.3,10.3,1340,13958,0.00,1.20,0.00,0.000,4,0.000,0.042,2960,1374,2027
$GC,14009,0.64,194.6,479.9,9.8,1345,14012,0.00,1.25,0.00,0.000,6,0.000,0.042,2960,2280,2027
$GC,14329,0.64,194.6,445.5,10.4,1376,14330,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2280,2027
$GC,14641,0.64,194.6,413.9,10.0,1406,14641,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2280,2027
$GC,14950,0.64,194.6,380.9,10.6,1436,14953,0.00,1.60,0.00,0.000,4,0.000,0.052,2960,3174,2027
$GC,15008,0.64,194.6,374.5,11.8,1441,15016,0.00,1.55,0.00,0.000,6,0.000,0.035,2967,2274,2027
$GC,15326,0.64,194.6,339.5,11.1,1472,15329,0.00,1.20,0.00,0.000,4,0.000,0.040,2972,1366,2027
$GC,15357,0.64,194.6,336.0,10.7,1475,15360,0.00,1.25,0.00,0.000,6,0.000,0.041,2973,2280,2027
$GC,15678,0.64,194.6,300.1,10.9,1506,15681,0.00,1.58,0.00,0.000,4,0.000,0.050,2973,3163,2027
$GC,15710,0.64,194.6,296.4,11.5,1509,15713,0.00,1.52,0.00,0.000,6,0.000,0.034,2980,2274,2027
$GC,16033,0.64,194.6,260.2,11.3,1540,16036,0.00,1.60,0.00,0.000,4,0.000,0.050,2980,3178,2027
$GC,16075,0.64,194.6,254.7,13.2,1544,16078,0.10,1.55,0.00,0.000,6,0.133,0.033,2955,2273,2027
$GC,16396,0.64,194.6,222.6,10.3,1575,16399,0.00,1.20,0.00,0.000,4,0.000,0.039,2959,1365,2027
$GC,16432,0.64,194.6,218.9,11.2,1578,16439,0.00,1.23,0.00,0.000,6,0.000,0.038,2958,2272,2028
$GC,16751,0.64,194.6,186.7,9.9,1609,16754,0.00,1.60,0.00,0.000,4,0.000,0.049,2960,3172,2028
$GC,16797,0.64,194.6,181.6,9.1,1613,16806,0.00,1.52,0.00,0.000,6,0.000,0.031,2966,2275,2028
$GC,17115,0.64,194.6,148.2,10.8,1644,17116,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2276,2029
$GC,17425,0.64,194.6,115.9,10.0,1674,17426,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2276,2030
$GC,17735,0.64,194.6,84.9,9.6,1704,17738,0.00,1.60,0.00,0.000,4,0.000,0.047,2966,3167,2031
$GC,17803,0.64,194.6,78.3,8.4,1710,17810,0.00,1.50,0.00,0.000,6,0.000,0.029,2973,2277,2031
$GC,17996,0.64,194.6,61.7,8.4,1729,17996,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2278,2031
$GC,18182,0.66,209.6,47.2,7.1,1747,18196,0.00,1.62,11.32,0.494,4,0.000,0.047,2973,3179,1984
$GC,18236,0.66,209.7,43.0,7.5,1752,18239,0.00,1.52,0.00,0.000,6,0.000,0.029,2981,2274,1984
$GC,18434,0.78,304.5,32.6,5.0,1771,18508,0.00,0.00,72.82,0.525,6,0.000,0.000,2981,2274,1598
$GC,18692,0.91,415.4,21.2,4.6,1795,18781,0.17,0.00,82.70,0.505,6,0.057,0.000,3069,2273,1144
$STATE,18966,end climb,SURFACE_DEPTH_REACHED
$STATE,18966,begin surface coast
$FINISH,0.8,1.012992
$STATE,19026,end surface coast,CONTROL_FINISHED_OK
$STATE,19026,begin surface
$SM_CCo,19042,101.38,0.480,0,0,402,597.54
$SM_GC,1.74,0.00,0.00,101.38,0.000,0.000,0.480,194,2345,402,-7.98,0.57,597.54
$IRIDIUM_FIX,2816.29,-8829.30,141099,191923
$TT8_MAMPS,0.050622
$HUMID,1362
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,24.30
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,930.5,61.0
$24V_AH,22.7,49.404
$10V_AH,10.6,68.035
$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,20.175,90.000,488.425,101.375,0.000,81.051,177.824,243.511,5.250,0.000,0.000,15.728,0.000,12858.357,648.768,5436.586,926.480,33.344,2187.901,0.000,4888.317,0.000,20.019,0.000
$DEVICE_MAMPS,251.576,69.797,1227.200,480.142,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1250.044,1338.092,4108.650,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94713,1828
$CAP_FILE_SIZE,173872,0
$CFSIZE,260165632,229986304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.114,148.1,1
$GPS,210710,001901,2842.816,-8837.624,41,0.8,41,-0.3