version: 66.04
glider: 515
mission: 5
dive: 293
start: 7 23 110 9 53 11
data:
$ID,515
$MISSION,5
$DIVE,293
$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,-24909.297
$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,32
$R_STBD_OVSHOOT,29
$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
$GPS1,094207,2843.263,-8831.929,38,1.1,38,-0.4
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-72.5
$GPS2,095232,2843.477,-8831.906,13,1.4,13,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.257,0.062
$KALMAN_X,39168.8,-374.4,-349.0,-8804.4,7590.4
$KALMAN_Y,-449383.2,3441.6,-702.7,474587.1,-8924.1
$MHEAD_RNG_PITCHd_Wd,287.1,21363,-10.8,-7.500
$D_GRID,1219
$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,-194.6,0.0,0.0,0,67,0.00,0.00,-52.67,0.000,2,0.000,0.000,200,2343,1915
$GC,69,-0.64,-194.6,3.1,-2.8,5,129,10.60,1.33,-44.53,0.000,4,0.254,0.060,2537,1411,3636
$GC,343,-0.64,-194.6,53.0,-16.0,30,346,0.00,1.27,0.00,0.000,6,0.000,0.034,2532,2330,3638
$GC,540,-0.64,-194.6,79.8,-13.7,49,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2330,3639
$GC,727,-0.64,-194.6,103.5,-12.4,67,729,0.00,1.25,0.00,0.000,4,0.000,0.033,2533,1409,3639
$GC,838,-0.64,-194.6,117.4,-12.6,77,845,0.00,1.25,0.00,0.000,6,0.000,0.035,2529,2321,3639
$GC,1156,-0.64,-194.6,157.0,-12.0,108,1159,0.00,1.23,0.00,0.000,4,0.000,0.035,2529,1418,3639
$GC,1299,-0.64,-194.6,174.1,-12.0,121,1306,0.00,1.27,0.00,0.000,6,0.000,0.035,2523,2335,3639
$GC,1617,-0.64,-194.6,212.4,-12.2,152,1620,0.00,1.27,0.00,0.000,4,0.000,0.036,2523,1410,3637
$GC,1728,-0.64,-194.6,226.6,-12.8,162,1736,0.00,1.30,0.00,0.000,6,0.000,0.035,2517,2334,3636
$GC,2047,-0.64,-194.6,266.7,-12.5,193,2050,0.00,1.27,0.00,0.000,4,0.000,0.037,2517,1408,3634
$GC,2153,-0.64,-194.6,280.4,-12.5,203,2156,0.00,1.27,0.00,0.000,6,0.000,0.037,2511,2327,3633
$GC,2477,-0.64,-194.6,321.2,-12.5,234,2479,0.00,1.25,0.00,0.000,4,0.000,0.037,2511,1415,3631
$GC,2541,-0.64,-194.6,329.4,-11.9,240,2544,0.10,1.25,0.00,0.000,6,0.137,0.038,2538,2320,3631
$GC,2862,-0.64,-194.6,361.6,-9.5,271,2862,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2321,3629
$GC,3173,-0.64,-194.6,390.4,-9.4,301,3176,0.00,1.25,0.00,0.000,4,0.000,0.038,2539,1412,3627
$GC,3273,-0.64,-194.6,399.9,-9.8,310,3281,0.00,1.30,0.00,0.000,6,0.000,0.038,2535,2333,3626
$GC,3591,-0.64,-194.6,430.5,-10.3,341,3595,0.00,1.27,0.00,0.000,4,0.000,0.039,2535,1413,3623
$GC,3645,-0.64,-194.6,436.1,-9.8,346,3647,0.00,1.27,0.00,0.000,6,0.000,0.040,2529,2323,3623
$GC,3967,-0.64,-194.6,470.2,-10.8,377,3968,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2324,3621
$GC,4277,-0.64,-194.6,501.9,-10.4,407,4277,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2323,3618
$GC,4586,-0.64,-194.6,533.1,-10.0,437,4590,0.00,1.25,0.00,0.000,4,0.000,0.041,2529,1429,3616
$GC,4651,-0.64,-194.6,539.7,-10.3,443,4654,0.00,1.25,0.00,0.000,6,0.000,0.042,2524,2317,3616
$GC,4973,-0.64,-194.6,572.6,-10.4,474,4974,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2317,3614
$GC,5283,-0.64,-194.6,605.0,-10.5,504,5286,0.00,1.25,0.00,0.000,4,0.000,0.042,2524,1421,3611
$GC,5379,-0.64,-194.6,615.1,-10.2,513,5381,0.00,1.27,0.00,0.000,6,0.000,0.043,2518,2322,3610
$GC,5701,-0.64,-194.6,649.1,-10.2,544,5704,0.00,1.25,0.00,0.000,4,0.000,0.041,2518,1433,3608
$GC,5748,-0.64,-194.6,654.2,-10.5,548,5755,0.00,1.27,0.00,0.000,6,0.000,0.043,2513,2326,3608
$GC,6066,-0.64,-194.6,688.6,-10.7,579,6067,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2326,3605
$GC,6376,-0.64,-194.6,722.2,-11.0,609,6378,0.00,1.27,0.00,0.000,4,0.000,0.043,2512,1418,3603
$GC,6429,-0.64,-194.6,728.0,-10.9,614,6432,0.08,1.30,0.00,0.000,6,0.144,0.044,2532,2327,3603
$GC,6750,-0.64,-194.6,757.2,-8.2,645,6750,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2327,3601
$GC,7060,-0.64,-194.6,782.9,-8.3,675,7061,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2327,3600
$GC,7371,-0.64,-194.6,808.3,-7.9,705,7372,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2327,3598
$GC,7681,-0.64,-194.6,833.8,-8.4,735,7682,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2327,3596
$GC,7993,-0.64,-194.6,859.6,-8.1,765,7998,0.00,1.27,0.00,0.000,4,0.000,0.044,2532,1430,3594
$GC,8035,-0.64,-194.6,863.2,-7.9,769,8038,0.00,1.30,0.00,0.000,6,0.000,0.047,2529,2326,3594
$GC,8357,-0.64,-194.6,890.3,-8.7,800,8360,0.00,1.27,0.00,0.000,4,0.000,0.044,2529,1430,3593
$GC,8393,-0.64,-194.6,893.8,-9.0,803,8400,0.00,1.33,0.00,0.000,6,0.000,0.047,2524,2330,3593
$GC,8710,-0.64,-194.6,922.2,-9.4,834,8711,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2331,3592
$GC,9022,-0.64,-194.6,950.0,-8.4,864,9026,0.00,1.27,0.00,0.000,4,0.000,0.044,2524,1438,3591
$GC,9086,-0.64,-194.6,956.1,-9.8,870,9089,0.00,1.27,0.00,0.000,6,0.000,0.048,2518,2322,3590
$GC,9407,-0.64,-194.6,985.6,-9.1,901,9410,0.00,1.27,0.00,0.000,4,0.000,0.045,2518,1424,3588
$STATE,9453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9453,begin apogee
$GC,9458,-0.26,0.0,990.3,10.4,905,9616,0.47,0.00,154.18,1.239,6,0.137,0.000,2658,2278,2840
$STATE,9616,end apogee,CONTROL_FINISHED_OK
$STATE,9616,begin climb
$GC,9619,0.64,194.6,996.1,0.0,921,9797,0.90,0.00,171.50,1.213,6,0.102,0.000,2941,2278,2047
$GC,10106,0.64,194.6,950.1,10.9,969,10109,0.00,1.27,0.00,0.000,4,0.000,0.051,2946,1382,2036
$GC,10159,0.64,194.6,944.2,11.2,974,10162,0.00,1.25,0.00,0.000,6,0.000,0.045,2946,2272,2035
$GC,10480,0.64,194.6,908.0,11.0,1005,10483,0.00,1.62,0.00,0.000,4,0.000,0.056,2946,3167,2034
$GC,10527,0.64,194.6,902.2,12.7,1009,10534,0.00,1.52,0.00,0.000,6,0.000,0.037,2954,2280,2032
$GC,10845,0.64,194.6,864.7,12.2,1040,10846,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2281,2032
$GC,11154,0.64,194.6,826.6,12.3,1070,11157,0.00,1.62,0.00,0.000,4,0.000,0.055,2954,3201,2032
$GC,11186,0.64,194.6,822.5,12.6,1073,11189,0.00,1.60,0.00,0.000,6,0.000,0.037,2962,2256,2030
$GC,11509,0.64,194.6,783.3,11.9,1104,11512,0.00,1.67,0.00,0.000,4,0.000,0.055,2962,3171,2030
$GC,11562,0.64,194.6,776.5,12.1,1109,11565,0.00,1.55,0.00,0.000,6,0.000,0.037,2969,2274,2029
$GC,11885,0.64,194.6,737.2,12.4,1140,11885,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2275,2029
$GC,12194,0.64,194.6,699.8,11.6,1170,12197,0.00,1.62,0.00,0.000,4,0.000,0.054,2969,3192,2029
$GC,12226,0.64,194.6,695.7,12.6,1173,12229,0.00,1.58,0.00,0.000,6,0.000,0.037,2977,2275,2029
$GC,12548,0.64,194.6,656.3,12.1,1204,12549,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2276,2029
$GC,12857,0.64,194.6,617.7,12.7,1234,12860,0.00,1.60,0.00,0.000,4,0.000,0.053,2977,3174,2029
$GC,12889,0.64,194.6,613.6,13.4,1237,12892,0.08,1.55,0.00,0.000,6,0.145,0.036,2960,2278,2028
$GC,13210,0.64,194.6,578.1,11.0,1268,13213,0.00,1.23,0.00,0.000,4,0.000,0.043,2964,1370,2028
$GC,13252,0.64,194.6,573.3,11.5,1272,13255,0.00,1.27,0.00,0.000,6,0.000,0.044,2964,2283,2028
$GC,13573,0.64,194.6,536.5,10.9,1303,13574,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2284,2028
$GC,13884,0.64,194.6,500.5,11.4,1333,13887,0.00,1.58,0.00,0.000,4,0.000,0.053,2964,3165,2028
$GC,13937,0.64,194.6,494.0,12.2,1338,13940,0.00,1.55,0.00,0.000,6,0.000,0.035,2971,2269,2027
$GC,14260,0.64,194.6,455.4,11.5,1369,14260,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2270,2027
$GC,14570,0.64,194.6,418.4,11.9,1399,14572,0.00,1.62,0.00,0.000,4,0.000,0.052,2972,3181,2027
$GC,14627,0.64,194.6,411.0,13.3,1404,14634,0.00,1.58,0.00,0.000,6,0.000,0.035,2979,2270,2027
$GC,14946,0.64,194.6,370.9,12.7,1435,14949,0.00,1.60,0.00,0.000,4,0.000,0.051,2979,3169,2027
$GC,14977,0.64,194.6,366.4,12.5,1438,14981,0.10,1.55,0.00,0.000,6,0.139,0.035,2955,2272,2027
$GC,15298,0.64,194.6,332.4,10.3,1469,15299,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2274,2027
$GC,15609,0.64,194.6,299.4,10.5,1499,15613,0.00,1.62,0.00,0.000,4,0.000,0.051,2955,3170,2028
$GC,15652,0.64,194.6,294.4,11.9,1503,15655,0.00,1.55,0.00,0.000,6,0.000,0.034,2961,2270,2027
$GC,15973,0.64,194.6,258.0,11.6,1534,15974,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2271,2027
$GC,16283,0.64,194.6,223.0,11.4,1564,16286,0.00,1.62,0.00,0.000,4,0.000,0.049,2961,3167,2028
$GC,16341,0.64,194.6,216.2,11.3,1569,16348,0.00,1.55,0.00,0.000,6,0.000,0.032,2968,2266,2028
$GC,16659,0.64,194.6,179.3,11.7,1600,16662,0.00,1.62,0.00,0.000,4,0.000,0.048,2968,3184,2029
$GC,16716,0.64,194.6,172.0,13.6,1605,16723,0.00,1.55,0.00,0.000,6,0.000,0.031,2976,2275,2028
$GC,17035,0.64,194.6,135.8,11.1,1636,17036,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2276,2030
$GC,17344,0.64,194.6,99.9,11.9,1666,17347,0.00,1.60,0.00,0.000,4,0.000,0.047,2976,3171,2031
$GC,17408,0.64,194.6,92.3,10.9,1672,17411,0.08,1.52,0.00,0.000,6,0.140,0.031,2958,2270,2030
$GC,17605,0.64,194.6,73.8,9.0,1691,17608,0.00,1.17,0.00,0.000,4,0.000,0.036,2962,1371,2031
$GC,17630,0.64,194.6,71.6,8.5,1693,17637,0.00,1.23,0.00,0.000,6,0.000,0.037,2962,2279,2032
$GC,17822,0.64,196.9,55.8,7.4,1712,17823,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2279,2032
$GC,18009,0.71,251.9,42.7,6.1,1730,18056,0.00,0.00,43.67,0.534,6,0.000,0.000,2962,2279,1811
$GC,18242,0.88,390.7,32.1,3.9,1752,18350,0.17,1.30,103.97,0.522,4,0.058,0.043,3064,1354,1246
$GC,18387,0.88,390.7,20.5,8.5,1764,18393,0.08,1.25,0.00,0.000,6,0.119,0.034,3036,2274,1242
$GC,18579,0.97,464.6,7.3,5.6,1783,18640,0.00,1.20,54.97,0.491,4,0.000,0.033,3038,1359,943
$STATE,18663,end climb,SURFACE_DEPTH_REACHED
$STATE,18663,begin surface coast
$FINISH,0.7,1.021554
$STATE,18727,end surface coast,CONTROL_FINISHED_OK
$STATE,18727,begin surface
$SM_CCo,18744,67.07,0.480,0,0,403,597.54
$SM_GC,1.60,0.00,0.00,67.07,0.000,0.000,0.480,200,2336,403,-7.96,0.31,597.54
$IRIDIUM_FIX,2831.00,-8826.65,171099,090919
$TT8_MAMPS,0.050622
$HUMID,1382
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,24.30
$XPDR_PINGS,2
$24V_AH,22.6,51.374
$10V_AH,10.5,70.755
$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,20.325,91.350,528.300,67.075,0.000,51.185,72.079,297.225,4.250,0.000,0.000,15.167,0.000,12541.745,639.482,5407.642,814.351,33.354,2188.726,0.000,4828.039,0.000,28.065,0.000
$DEVICE_MAMPS,253.877,59.826,1238.705,480.142,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1228.333,1314.938,4035.791,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94637,1796
$CAP_FILE_SIZE,173571,0
$CFSIZE,260165632,228925440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.116,129.6,1
$GPS,230710,150736,2843.226,-8833.979,31,1.2,31,-0.3