version: 66.04
glider: 515
mission: 5
dive: 283
start: 7 21 110 5 29 35
data:
$ID,515
$MISSION,5
$DIVE,283
$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,-23865.926
$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,31
$R_STBD_OVSHOOT,34
$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
$GPS1,052237,2843.066,-8839.891,34,1.3,34,-0.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-66.9
$GPS2,052856,2843.161,-8839.912,11,1.7,11,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.244,0.102
$KALMAN_X,18916.2,-702.9,-389.3,-1246.8,6513.0
$KALMAN_Y,-415445.4,287.0,260.0,442283.3,-7579.9
$MHEAD_RNG_PITCHd_Wd,278.7,8384,-10.8,-7.500
$D_GRID,1018
$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,-194.6,0.0,0.0,0,77,0.00,0.00,-62.78,0.000,2,0.000,0.000,191,2342,2188
$GC,80,-0.64,-194.6,3.2,-3.8,6,128,10.55,1.35,-34.35,0.000,4,0.253,0.066,2538,1402,3635
$GC,363,-0.64,-194.6,56.0,-13.2,32,366,0.00,1.27,0.00,0.000,6,0.000,0.036,2535,2320,3637
$GC,561,-0.64,-194.6,82.2,-12.5,51,564,0.00,1.52,0.00,0.000,4,0.000,0.044,2527,3223,3639
$GC,593,-0.64,-194.6,86.3,-12.4,54,596,0.00,1.45,0.00,0.000,6,0.000,0.027,2528,2327,3639
$GC,790,-0.64,-194.6,111.6,-12.8,73,792,0.00,1.23,0.00,0.000,4,0.000,0.035,2528,1416,3639
$GC,879,-0.64,-194.6,122.8,-12.4,81,886,0.00,1.25,0.00,0.000,6,0.000,0.035,2522,2324,3639
$GC,1197,-0.64,-194.6,162.2,-12.5,112,1200,0.00,1.23,0.00,0.000,4,0.000,0.035,2522,1423,3639
$GC,1283,-0.64,-194.6,172.8,-11.9,120,1286,0.00,1.25,0.00,0.000,6,0.000,0.036,2516,2329,3639
$GC,1605,-0.64,-194.6,212.5,-12.3,151,1608,0.00,1.25,0.00,0.000,4,0.000,0.035,2516,1416,3637
$GC,1701,-0.64,-194.6,224.6,-12.5,160,1704,0.00,1.25,0.00,0.000,6,0.000,0.037,2510,2322,3637
$GC,2024,-0.64,-194.6,265.3,-12.6,191,2027,0.12,1.25,0.00,0.000,4,0.147,0.035,2544,1410,3635
$GC,2109,-0.64,-194.6,274.4,-10.0,199,2112,0.00,1.27,0.00,0.000,6,0.000,0.038,2540,2326,3634
$GC,2432,-0.64,-194.6,307.0,-10.2,230,2435,0.00,1.25,0.00,0.000,4,0.000,0.036,2540,1416,3632
$GC,2528,-0.64,-194.6,316.9,-10.0,239,2531,0.00,1.25,0.00,0.000,6,0.000,0.038,2535,2320,3632
$GC,2851,-0.64,-194.6,349.5,-9.9,270,2852,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2321,3630
$GC,3160,-0.64,-194.6,381.9,-10.5,300,3163,0.00,1.25,0.00,0.000,4,0.000,0.038,2534,1410,3628
$GC,3235,-0.64,-194.6,389.8,-10.6,307,3237,0.00,1.27,0.00,0.000,6,0.000,0.039,2529,2325,3627
$GC,3557,-0.64,-194.6,425.2,-10.5,338,3558,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2325,3625
$GC,3866,-0.64,-194.6,458.4,-10.8,368,3869,0.00,1.25,0.00,0.000,4,0.000,0.039,2529,1415,3623
$GC,3898,-0.64,-194.6,462.0,-10.7,371,3901,0.00,1.27,0.00,0.000,6,0.000,0.040,2523,2325,3624
$GC,4220,-0.64,-194.6,496.2,-10.6,402,4223,0.00,1.25,0.00,0.000,4,0.000,0.039,2523,1421,3621
$GC,4278,-0.64,-194.6,502.6,-10.2,407,4286,0.00,1.27,0.00,0.000,6,0.000,0.041,2518,2325,3620
$GC,4596,-0.64,-194.6,537.0,-11.1,438,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2325,3618
$GC,4905,-0.64,-194.6,571.0,-11.1,468,4908,0.00,1.25,0.00,0.000,4,0.000,0.041,2518,1427,3616
$GC,4952,-0.64,-194.6,576.4,-11.1,472,4959,0.00,1.30,0.00,0.000,6,0.000,0.041,2512,2330,3616
$GC,5270,-0.64,-194.6,612.0,-11.4,503,5273,0.00,1.27,0.00,0.000,4,0.000,0.041,2512,1423,3614
$GC,5324,-0.64,-194.6,617.9,-10.8,508,5327,0.08,1.27,0.00,0.000,6,0.144,0.043,2531,2323,3614
$GC,5644,-0.64,-194.6,648.9,-10.0,539,5645,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2323,3612
$GC,5955,-0.64,-194.6,678.5,-9.1,569,5956,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2323,3609
$GC,6265,-0.64,-194.6,707.3,-9.3,599,6268,0.00,1.27,0.00,0.000,4,0.000,0.043,2532,1414,3607
$GC,6297,-0.64,-194.6,710.4,-9.8,602,6300,0.00,1.30,0.00,0.000,6,0.000,0.044,2529,2325,3607
$GC,6620,-0.64,-194.6,740.5,-9.0,633,6621,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2325,3605
$GC,6930,-0.64,-194.6,767.9,-8.8,663,6930,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2326,3603
$GC,7239,-0.64,-194.6,795.3,-8.6,693,7240,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2325,3602
$GC,7550,-0.64,-194.6,821.9,-8.4,723,7553,0.00,1.27,0.00,0.000,4,0.000,0.043,2528,1420,3600
$GC,7583,-0.64,-194.6,824.7,-8.7,726,7586,0.00,1.30,0.00,0.000,6,0.000,0.046,2523,2326,3600
$GC,7903,-0.64,-194.6,852.8,-8.8,757,7904,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2326,3599
$GC,8217,-0.64,-194.6,880.9,-9.7,787,8218,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2326,3597
$GC,8526,-0.64,-194.6,909.1,-9.0,817,8527,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2326,3596
$GC,8835,-0.64,-194.6,936.6,-8.3,847,8835,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2326,3595
$GC,9146,-0.64,-194.6,964.9,-9.5,877,9146,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2327,3593
$STATE,9425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9425,begin apogee
$GC,9430,-0.26,0.0,990.2,8.6,904,9588,0.43,0.00,154.48,1.238,6,0.135,0.000,2653,2280,2840
$STATE,9588,end apogee,CONTROL_FINISHED_OK
$STATE,9588,begin climb
$GC,9591,0.64,194.6,994.5,0.0,920,9768,0.93,0.00,170.50,1.210,6,0.105,0.000,2943,2280,2047
$GC,10077,0.64,194.6,945.9,11.9,967,10078,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2280,2037
$GC,10388,0.64,194.6,911.0,11.1,997,10389,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2280,2035
$GC,10698,0.64,194.6,875.6,11.8,1027,10701,0.00,1.62,0.00,0.000,4,0.000,0.059,2943,3162,2034
$GC,10745,0.64,194.6,870.2,12.6,1031,10753,0.00,1.55,0.00,0.000,6,0.000,0.038,2951,2272,2033
$GC,11063,0.64,194.6,835.0,11.1,1062,11064,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2273,2032
$GC,11373,0.64,194.6,801.4,11.0,1092,11374,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2274,2032
$GC,11682,0.64,194.6,767.6,10.8,1122,11683,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2274,2031
$GC,11993,0.64,194.6,734.0,10.8,1152,11994,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2274,2030
$GC,12303,0.64,194.6,701.0,10.3,1182,12304,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2274,2030
$GC,12614,0.64,194.6,667.9,10.8,1212,12615,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2273,2030
$GC,12924,0.64,194.6,635.7,10.7,1242,12927,0.00,1.20,0.00,0.000,4,0.000,0.042,2957,1376,2030
$GC,12967,0.64,194.6,631.3,10.7,1246,12970,0.00,1.23,0.00,0.000,6,0.000,0.044,2957,2267,2030
$GC,13287,0.64,194.6,596.6,10.7,1277,13291,0.00,1.62,0.00,0.000,4,0.000,0.054,2956,3167,2030
$GC,13309,0.64,194.6,594.2,11.6,1279,13312,0.00,1.55,0.00,0.000,6,0.000,0.037,2963,2270,2028
$GC,13629,0.64,194.6,556.7,11.4,1310,13630,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2271,2028
$GC,13940,0.64,194.6,521.7,10.7,1340,13943,0.00,1.62,0.00,0.000,4,0.000,0.054,2962,3183,2029
$GC,13994,0.64,194.6,515.5,11.4,1345,13997,0.00,1.58,0.00,0.000,6,0.000,0.036,2970,2270,2028
$GC,14316,0.64,194.6,478.7,11.7,1376,14317,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2271,2027
$GC,14625,0.64,194.6,441.6,11.8,1406,14626,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2272,2027
$GC,14935,0.64,194.6,404.2,11.8,1436,14936,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2272,2028
$GC,15247,0.64,194.6,366.5,12.4,1466,15249,0.00,1.60,0.00,0.000,4,0.000,0.052,2970,3170,2028
$GC,15300,0.64,194.6,359.8,12.5,1471,15303,0.00,1.55,0.00,0.000,6,0.000,0.035,2978,2270,2028
$GC,15623,0.64,194.6,321.0,12.1,1502,15626,0.00,1.60,0.00,0.000,4,0.000,0.051,2978,3172,2028
$GC,15659,0.64,194.6,316.0,14.1,1505,15666,0.10,1.55,0.00,0.000,6,0.136,0.033,2954,2272,2027
$GC,15975,0.64,194.6,282.7,11.0,1536,15978,0.00,1.20,0.00,0.000,4,0.000,0.040,2957,1367,2028
$GC,16012,0.64,194.6,278.8,10.8,1539,16020,0.00,1.25,0.00,0.000,6,0.000,0.040,2957,2280,2028
$GC,16330,0.64,194.6,244.4,11.2,1570,16330,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2280,2028
$GC,16639,0.64,194.6,211.1,10.8,1600,16640,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2280,2029
$GC,16949,0.64,194.6,177.9,10.4,1630,16952,0.00,1.58,0.00,0.000,4,0.000,0.049,2957,3172,2030
$GC,16985,0.64,194.6,173.8,11.9,1633,16992,0.00,1.52,0.00,0.000,6,0.000,0.031,2965,2273,2030
$GC,17303,0.64,194.6,140.5,10.6,1664,17306,0.00,1.60,0.00,0.000,4,0.000,0.048,2965,3188,2031
$GC,17360,0.64,194.6,134.0,10.4,1669,17368,0.00,1.55,0.00,0.000,6,0.000,0.030,2973,2275,2030
$GC,17679,0.64,194.6,100.7,11.5,1700,17680,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2276,2032
$GC,17987,0.64,194.6,69.5,9.2,1730,17991,0.00,1.20,0.00,0.000,4,0.000,0.037,2978,1353,2032
$GC,18020,0.64,194.6,66.6,8.7,1733,18023,0.00,1.23,0.00,0.000,6,0.000,0.037,2978,2270,2033
$GC,18217,0.65,204.4,49.9,7.2,1752,18229,0.00,1.20,7.30,0.458,4,0.000,0.034,2984,1347,2007
$GC,18233,0.72,263.0,48.7,6.0,1753,18288,0.00,1.25,46.62,0.538,6,0.000,0.035,2984,2274,1766
$GC,18475,0.78,307.1,32.0,6.3,1776,18513,0.00,1.27,33.70,0.517,4,0.000,0.035,2989,1351,1587
$GC,18525,0.89,401.3,29.2,5.0,1780,18603,0.10,1.27,71.32,0.518,6,0.051,0.035,3054,2278,1203
$GC,18788,0.96,456.3,7.8,6.1,1805,18834,0.00,1.58,40.97,0.492,4,0.000,0.044,3053,3182,978
$GC,18877,1.06,538.5,4.3,5.3,1813,18913,0.00,1.55,32.80,0.481,2,0.000,0.028,3058,2268,804
$STATE,18914,end climb,SURFACE_DEPTH_REACHED
$STATE,18914,begin surface coast
$FINISH,0.8,1.010500
$STATE,18976,end surface coast,CONTROL_FINISHED_OK
$STATE,18976,begin surface
$SM_CCo,18991,53.62,0.477,0,0,404,597.54
$SM_GC,1.73,0.00,0.00,53.62,0.000,0.000,0.477,193,2341,404,-7.97,0.42,597.54
$IRIDIUM_FIX,2833.46,-8836.47,151099,000019
$TT8_MAMPS,0.050622
$HUMID,1396
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,23.90
$XPDR_PINGS,2
$24V_AH,22.6,49.740
$10V_AH,10.5,68.486
$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,19.925,73.675,557.700,53.625,0.000,29.125,35.601,182.430,4.250,0.000,0.000,13.156,0.000,12751.328,622.717,5393.197,626.879,33.342,2155.299,0.000,4834.264,0.000,28.022,0.000
$DEVICE_MAMPS,253.110,75.166,1237.938,477.074,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1246.168,1331.697,4095.185,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94547,1822
$CAP_FILE_SIZE,166723,0
$CFSIZE,260165632,229814272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.072,123.1,1
$GPS,210710,104801,2842.966,-8842.400,38,1.4,38,-0.2