version: 66.04
glider: 515
mission: 5
dive: 285
start: 7 21 110 15 17 12
data:
$ID,515
$MISSION,5
$DIVE,285
$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,-23900.164
$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,20
$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
$GPS1,151037,2842.404,-8844.236,37,0.9,37,-0.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-66.9
$GPS2,151631,2842.439,-8844.214,9,1.2,14,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.239,0.114
$KALMAN_X,23292.7,-133.7,-381.4,-13189.4,7415.4
$KALMAN_Y,-422036.2,613.2,-147.3,447651.6,-8451.6
$MHEAD_RNG_PITCHd_Wd,79.5,29659,-10.8,-7.500
$D_GRID,1124
$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,12,-0.64,-194.6,0.0,0.0,0,76,0.00,0.00,-62.33,0.000,2,0.000,0.000,197,2318,2183
$GC,78,-0.64,-194.6,3.2,-3.6,6,131,10.57,1.62,-33.62,0.000,4,0.254,0.067,2527,3237,3636
$GC,153,-0.64,-194.6,19.3,-28.6,13,156,0.00,1.50,0.00,0.000,6,0.000,0.028,2532,2325,3637
$GC,349,-0.64,-194.6,57.4,-15.1,32,352,0.00,1.23,0.00,0.000,4,0.000,0.035,2537,1415,3638
$GC,381,-0.64,-194.6,62.0,-14.1,35,384,0.00,1.27,0.00,0.000,6,0.000,0.036,2533,2330,3638
$GC,578,-0.64,-194.6,88.6,-13.6,54,579,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2331,3639
$GC,764,-0.64,-194.6,113.3,-13.4,72,767,0.00,1.25,0.00,0.000,4,0.000,0.035,2532,1411,3640
$GC,843,-0.64,-194.6,123.1,-12.2,79,851,0.00,1.30,0.00,0.000,6,0.000,0.035,2527,2334,3641
$GC,1160,-0.64,-194.6,161.8,-12.3,110,1163,0.00,1.27,0.00,0.000,4,0.000,0.035,2527,1402,3640
$GC,1256,-0.64,-194.6,173.2,-11.9,119,1259,0.00,1.27,0.00,0.000,6,0.000,0.036,2521,2326,3640
$GC,1579,-0.64,-194.6,211.8,-11.8,150,1582,0.00,1.25,0.00,0.000,4,0.000,0.036,2521,1410,3639
$GC,1658,-0.64,-194.6,221.4,-11.3,157,1665,0.00,1.30,0.00,0.000,6,0.000,0.036,2515,2331,3639
$GC,1976,-0.64,-194.6,259.3,-11.7,188,1979,0.00,1.27,0.00,0.000,4,0.000,0.036,2515,1401,3638
$GC,2033,-0.64,-194.6,266.7,-11.8,193,2041,0.08,1.30,0.00,0.000,6,0.136,0.037,2534,2325,3637
$GC,2351,-0.64,-194.6,300.5,-10.3,224,2354,0.00,1.25,0.00,0.000,4,0.000,0.037,2535,1403,3636
$GC,2451,-0.64,-194.6,308.1,-8.2,233,2459,0.00,1.30,0.00,0.000,6,0.000,0.036,2530,2330,3634
$GC,2769,-0.64,-194.6,341.9,-11.1,264,2772,0.00,1.25,0.00,0.000,4,0.000,0.036,2530,1414,3633
$GC,2805,-0.64,-194.6,346.3,-11.5,267,2813,0.00,1.27,0.00,0.000,6,0.000,0.038,2524,2325,3632
$GC,3123,-0.64,-194.6,381.9,-11.0,298,3126,0.00,1.25,0.00,0.000,4,0.000,0.038,2525,1412,3630
$GC,3220,-0.64,-194.6,392.7,-11.6,307,3223,0.00,1.27,0.00,0.000,6,0.000,0.040,2519,2324,3630
$GC,3542,-0.64,-194.6,428.2,-10.9,338,3545,0.00,1.25,0.00,0.000,4,0.000,0.038,2519,1415,3627
$GC,3599,-0.64,-194.6,434.8,-10.6,343,3608,0.00,1.30,0.00,0.000,6,0.000,0.039,2513,2329,3627
$GC,3918,-0.64,-194.6,470.0,-11.2,374,3919,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2330,3625
$GC,4226,-0.64,-194.6,504.8,-11.2,404,4229,0.00,1.27,0.00,0.000,4,0.000,0.039,2513,1410,3623
$GC,4334,-0.64,-194.6,516.7,-10.4,414,4337,0.08,1.27,0.00,0.000,6,0.146,0.042,2531,2316,3622
$GC,4655,-0.64,-194.6,548.3,-9.8,445,4658,0.00,1.25,0.00,0.000,4,0.000,0.041,2532,1411,3620
$GC,4702,-0.64,-194.6,553.2,-9.7,449,4709,0.00,1.30,0.00,0.000,6,0.000,0.042,2528,2327,3620
$GC,5019,-0.64,-194.6,585.1,-9.9,480,5020,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2327,3618
$GC,5329,-0.64,-194.6,616.1,-10.0,510,5332,0.00,1.27,0.00,0.000,4,0.000,0.041,2528,1408,3616
$GC,5404,-0.64,-194.6,623.5,-9.2,517,5407,0.00,1.30,0.00,0.000,6,0.000,0.044,2523,2324,3616
$GC,5726,-0.64,-194.6,657.5,-10.4,548,5727,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2325,3613
$GC,6036,-0.64,-194.6,688.9,-9.9,578,6038,0.00,1.27,0.00,0.000,4,0.000,0.042,2523,1416,3611
$GC,6078,-0.64,-194.6,693.2,-10.3,582,6081,0.00,1.30,0.00,0.000,6,0.000,0.044,2518,2325,3611
$GC,6401,-0.64,-194.6,725.9,-10.0,613,6402,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2325,3609
$GC,6709,-0.64,-194.6,756.4,-9.8,643,6712,0.00,1.27,0.00,0.000,4,0.000,0.044,2518,1418,3607
$GC,6762,-0.64,-194.6,761.4,-9.6,648,6766,0.00,1.30,0.00,0.000,6,0.000,0.046,2512,2327,3607
$GC,7085,-0.64,-194.6,793.0,-10.0,679,7088,0.00,1.27,0.00,0.000,4,0.000,0.042,2512,1418,3605
$GC,7132,-0.64,-194.6,798.0,-10.2,683,7140,0.08,1.33,0.00,0.000,6,0.143,0.044,2531,2330,3605
$GC,7450,-0.64,-194.6,824.2,-8.6,714,7454,0.00,1.55,0.00,0.000,4,0.000,0.057,2526,3206,3603
$GC,7476,-0.64,-194.6,826.6,-8.7,716,7483,0.00,1.48,0.00,0.000,6,0.000,0.035,2526,2329,3603
$GC,7794,-0.64,-194.6,853.8,-9.1,747,7797,0.00,1.27,0.00,0.000,4,0.000,0.044,2526,1422,3602
$GC,7837,-0.64,-194.6,857.9,-9.2,751,7840,0.00,1.30,0.00,0.000,6,0.000,0.048,2520,2324,3602
$GC,8158,-0.64,-194.6,887.2,-9.0,782,8159,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2324,3600
$GC,8469,-0.64,-194.6,915.2,-8.8,812,8469,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2324,3599
$GC,8779,-0.64,-194.6,942.9,-8.8,842,8782,0.00,1.27,0.00,0.000,4,0.000,0.044,2521,1424,3597
$GC,8843,-0.64,-194.6,948.7,-9.1,848,8846,0.00,1.30,0.00,0.000,6,0.000,0.048,2515,2322,3597
$GC,9164,-0.64,-194.6,978.6,-8.9,879,9165,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2322,3596
$STATE,9298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9298,begin apogee
$GC,9303,-0.26,0.0,990.7,9.0,892,9462,0.45,0.00,155.18,1.239,6,0.133,0.000,2654,2265,2840
$STATE,9463,end apogee,CONTROL_FINISHED_OK
$STATE,9463,begin climb
$GC,9465,0.64,194.6,995.9,0.0,908,9642,0.93,0.00,171.18,1.210,6,0.104,0.000,2944,2265,2047
$GC,9951,0.64,194.6,947.5,11.8,956,9954,0.00,1.65,0.00,0.000,4,0.000,0.060,2944,3165,2036
$GC,10004,0.64,194.6,941.1,11.6,961,10007,0.00,1.55,0.00,0.000,6,0.000,0.037,2951,2277,2035
$GC,10327,0.64,194.6,903.3,11.8,992,10328,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2277,2034
$GC,10636,0.64,194.6,866.9,12.2,1022,10636,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2278,2033
$GC,10946,0.64,194.6,830.6,11.8,1052,10947,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2277,2032
$GC,11256,0.64,194.6,794.5,11.8,1082,11259,0.00,1.62,0.00,0.000,4,0.000,0.055,2951,3166,2031
$GC,11310,0.64,194.6,788.2,12.2,1087,11313,0.00,1.55,0.00,0.000,6,0.000,0.037,2959,2272,2030
$GC,11631,0.64,194.6,749.6,11.6,1118,11632,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2273,2029
$GC,11941,0.64,194.6,713.6,11.7,1148,11942,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2274,2029
$GC,12251,0.64,194.6,677.7,11.4,1178,12255,0.00,1.62,0.00,0.000,4,0.000,0.055,2959,3162,2029
$GC,12294,0.64,194.6,672.6,12.2,1182,12298,0.00,1.55,0.00,0.000,6,0.000,0.038,2966,2271,2028
$GC,12615,0.64,194.6,635.3,11.8,1213,12616,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2272,2028
$GC,12926,0.64,194.6,600.0,11.4,1243,12927,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2272,2028
$GC,13236,0.64,194.6,563.9,12.2,1273,13239,0.00,1.62,0.00,0.000,4,0.000,0.054,2966,3157,2029
$GC,13332,0.64,194.6,551.7,13.8,1282,13335,0.00,1.52,0.00,0.000,6,0.000,0.037,2973,2277,2027
$GC,13655,0.64,194.6,512.1,12.2,1313,13656,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2277,2027
$GC,13963,0.64,194.6,476.1,11.5,1343,13964,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2278,2028
$GC,14274,0.64,194.6,440.1,11.7,1373,14275,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2278,2027
$GC,14584,0.64,194.6,403.7,12.0,1403,14587,0.00,1.62,0.00,0.000,4,0.000,0.053,2973,3192,2027
$GC,14653,0.64,194.6,395.0,12.0,1409,14660,0.00,1.58,0.00,0.000,6,0.000,0.035,2981,2274,2027
$GC,14970,0.64,194.6,355.6,12.5,1440,14971,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2275,2027
$GC,15280,0.64,194.6,316.8,12.6,1470,15283,0.00,1.62,0.00,0.000,4,0.000,0.052,2981,3190,2028
$GC,15333,0.64,194.6,309.4,13.1,1475,15336,0.10,1.58,0.00,0.000,6,0.140,0.035,2947,2274,2027
$GC,15654,0.64,194.6,276.4,10.2,1506,15655,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2275,2028
$GC,15965,0.64,194.6,244.8,9.9,1536,15965,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2275,2028
$GC,16275,0.64,194.6,213.6,10.3,1566,16276,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2275,2028
$GC,16586,0.64,194.6,183.7,9.1,1596,16586,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2275,2029
$GC,16896,0.64,194.6,154.1,9.3,1626,16897,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2275,2030
$GC,17206,0.64,194.6,125.0,8.9,1656,17207,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2275,2030
$GC,17517,0.64,194.6,98.1,8.6,1686,17520,0.00,1.60,0.00,0.000,4,0.000,0.048,2945,3191,2032
$GC,17549,0.64,194.6,95.0,9.1,1689,17552,0.00,1.55,0.00,0.000,6,0.000,0.031,2951,2270,2031
$GC,17746,0.64,194.6,78.7,8.3,1708,17747,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2271,2032
$GC,17933,0.64,194.6,64.4,7.8,1726,17933,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2271,2032
$GC,18118,0.72,258.5,52.0,5.8,1744,18170,0.00,1.60,48.62,0.542,4,0.000,0.044,2951,3170,1785
$GC,18253,0.81,331.4,44.4,5.6,1755,18312,0.10,1.52,55.80,0.531,6,0.048,0.029,3021,2272,1488
$GC,18501,0.87,385.3,26.4,6.1,1778,18548,0.00,1.62,40.92,0.509,4,0.000,0.044,3020,3166,1267
$GC,18574,0.91,416.3,21.5,6.7,1784,18603,0.00,1.52,24.45,0.491,6,0.000,0.028,3026,2274,1141
$GC,18789,1.10,566.3,9.2,3.6,1805,18901,0.17,0.00,109.35,0.492,2,0.061,0.000,3107,2273,534
$STATE,18901,end climb,SURFACE_DEPTH_REACHED
$STATE,18901,begin surface coast
$FINISH,0.8,1.009034
$STATE,18949,end surface coast,CONTROL_FINISHED_OK
$STATE,18949,begin surface
$SM_CCo,18965,18.33,0.452,0,0,403,597.54
$SM_GC,1.37,0.00,0.00,18.33,0.000,0.000,0.452,193,2342,403,-7.98,0.48,597.54
$IRIDIUM_FIX,2831.00,-8841.38,151099,111124
$TT8_MAMPS,0.051389
$HUMID,1394
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,24.20
$XPDR_PINGS,2
$24V_AH,22.6,50.081
$10V_AH,10.5,68.909
$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,20.425,78.375,605.500,18.325,0.000,26.185,27.218,176.650,4.250,0.000,0.000,16.638,0.000,12671.576,636.064,5390.900,615.178,33.340,2181.245,0.000,4837.011,0.000,28.020,0.000
$DEVICE_MAMPS,253.877,70.564,1238.705,451.763,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1242.959,1331.230,4088.470,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94809,1819
$CAP_FILE_SIZE,165957,0
$CFSIZE,260165632,229650432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090,103.6,1
$GPS,210710,203437,2842.965,-8840.107,39,0.8,39,-0.3