version: 66.04
glider: 515
mission: 5
dive: 294
start: 7 23 110 15 18 24
data:
$ID,515
$MISSION,5
$DIVE,294
$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,-24926.68
$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,30
$R_STBD_OVSHOOT,22
$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
$GPS1,150736,2843.226,-8833.979,31,1.2,31,-0.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-65.3
$GPS2,151743,2843.395,-8833.937,9,1.4,14,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.249,0.090
$KALMAN_X,42155.1,-162.7,-422.6,-15248.9,6938.8
$KALMAN_Y,-449492.2,-561.2,2251.7,475631.8,-10825.8
$MHEAD_RNG_PITCHd_Wd,282.6,18066,-10.8,-7.500
$D_GRID,1070
$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,-194.6,0.0,0.0,0,84,0.00,0.00,-69.90,0.000,2,0.000,0.000,199,2338,2353
$GC,87,-0.64,-194.6,3.2,-3.4,7,138,10.48,1.30,-36.10,0.000,4,0.249,0.057,2537,1412,3635
$GC,380,-0.64,-194.6,56.5,-14.4,34,383,0.00,1.27,0.00,0.000,6,0.000,0.033,2533,2335,3637
$GC,577,-0.64,-194.6,83.5,-12.5,53,580,0.00,1.25,0.00,0.000,4,0.000,0.035,2536,1421,3639
$GC,706,-0.64,-194.6,99.0,-12.1,65,709,0.00,1.25,0.00,0.000,6,0.000,0.035,2532,2330,3639
$GC,902,-0.64,-194.6,123.1,-12.1,84,905,0.00,1.25,0.00,0.000,4,0.000,0.035,2532,1414,3639
$GC,966,-0.64,-194.6,131.0,-11.5,90,969,0.00,1.25,0.00,0.000,6,0.000,0.035,2526,2325,3639
$GC,1289,-0.64,-194.6,169.7,-12.3,121,1292,0.00,1.23,0.00,0.000,4,0.000,0.037,2527,1419,3639
$GC,1353,-0.64,-194.6,177.5,-11.6,127,1356,0.00,1.25,0.00,0.000,6,0.000,0.035,2521,2325,3638
$GC,1676,-0.64,-194.6,216.4,-12.0,158,1679,0.00,1.25,0.00,0.000,4,0.000,0.038,2521,1405,3637
$GC,1761,-0.64,-194.6,226.9,-12.6,166,1764,0.00,1.25,0.00,0.000,6,0.000,0.036,2515,2316,3637
$GC,2084,-0.64,-194.6,267.1,-12.6,197,2087,0.00,1.23,0.00,0.000,4,0.000,0.038,2515,1421,3634
$GC,2141,-0.64,-194.6,274.4,-12.0,202,2149,0.08,1.25,0.00,0.000,6,0.142,0.036,2534,2323,3634
$GC,2458,-0.64,-194.6,307.6,-10.7,233,2461,0.00,1.25,0.00,0.000,4,0.000,0.038,2535,1412,3632
$GC,2543,-0.64,-194.6,316.7,-10.5,241,2546,0.00,1.27,0.00,0.000,6,0.000,0.037,2530,2330,3631
$GC,2866,-0.64,-194.6,350.9,-10.3,272,2868,0.00,1.25,0.00,0.000,4,0.000,0.038,2531,1422,3629
$GC,2940,-0.64,-194.6,358.8,-10.4,279,2943,0.00,1.25,0.00,0.000,6,0.000,0.039,2525,2320,3629
$GC,3263,-0.64,-194.6,394.3,-11.2,310,3266,0.00,1.25,0.00,0.000,4,0.000,0.040,2525,1414,3627
$GC,3305,-0.64,-194.6,399.4,-11.5,314,3308,0.00,1.27,0.00,0.000,6,0.000,0.039,2520,2325,3626
$GC,3629,-0.64,-194.6,434.8,-10.7,345,3629,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2325,3624
$GC,3937,-0.64,-194.6,468.3,-10.6,375,3940,0.00,1.25,0.00,0.000,4,0.000,0.041,2520,1421,3622
$GC,4069,-0.64,-194.6,482.6,-10.5,387,4076,0.00,1.27,0.00,0.000,6,0.000,0.040,2514,2325,3620
$GC,4387,-0.64,-194.6,517.0,-10.7,418,4390,0.00,1.25,0.00,0.000,4,0.000,0.040,2514,1425,3618
$GC,4434,-0.64,-194.6,522.4,-10.3,422,4442,0.08,1.27,0.00,0.000,6,0.144,0.041,2534,2326,3618
$GC,4750,-0.64,-194.6,551.1,-9.0,453,4751,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2325,3616
$GC,5061,-0.64,-194.6,579.9,-9.5,483,5064,0.00,1.27,0.00,0.000,4,0.000,0.041,2534,1411,3614
$GC,5130,-0.64,-194.6,586.5,-9.2,489,5137,0.00,1.30,0.00,0.000,6,0.000,0.041,2530,2327,3614
$GC,5448,-0.64,-194.6,616.1,-9.4,520,5451,0.00,1.27,0.00,0.000,4,0.000,0.041,2530,1417,3612
$GC,5523,-0.64,-194.6,623.4,-10.8,527,5526,0.00,1.27,0.00,0.000,6,0.000,0.044,2526,2316,3610
$GC,5845,-0.64,-194.6,654.5,-9.7,558,5846,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2316,3608
$GC,6155,-0.64,-194.6,683.9,-9.8,588,6156,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2316,3606
$GC,6465,-0.64,-194.6,714.9,-10.3,618,6465,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2316,3604
$GC,6775,-0.64,-194.6,745.3,-9.9,648,6779,0.00,1.25,0.00,0.000,4,0.000,0.044,2526,1431,3602
$GC,6822,-0.64,-194.6,749.9,-9.7,652,6829,0.00,1.30,0.00,0.000,6,0.000,0.044,2520,2331,3603
$GC,7141,-0.64,-194.6,780.6,-9.8,683,7141,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2331,3601
$GC,7449,-0.64,-194.6,810.2,-9.2,713,7452,0.00,1.27,0.00,0.000,4,0.000,0.044,2520,1436,3599
$GC,7513,-0.64,-194.6,816.6,-10.1,719,7517,0.00,1.27,0.00,0.000,6,0.000,0.046,2515,2326,3598
$GC,7836,-0.64,-194.6,849.0,-10.3,750,7837,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2326,3597
$GC,8144,-0.64,-194.6,879.3,-9.5,780,8147,0.00,1.27,0.00,0.000,4,0.000,0.045,2515,1427,3595
$GC,8198,-0.64,-194.6,884.6,-9.3,785,8202,0.08,1.27,0.00,0.000,6,0.143,0.047,2534,2316,3595
$GC,8519,-0.64,-194.6,912.8,-9.0,816,8520,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2316,3594
$GC,8833,-0.64,-194.6,940.2,-8.3,846,8833,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2316,3593
$GC,9142,-0.64,-194.6,965.8,-8.3,876,9144,0.00,1.25,0.00,0.000,4,0.000,0.046,2534,1434,3591
$GC,9210,-0.64,-194.6,971.7,-8.8,882,9218,0.00,1.30,0.00,0.000,6,0.000,0.048,2530,2330,3591
$STATE,9442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9442,begin apogee
$GC,9447,-0.26,0.0,990.9,8.1,905,9606,0.43,0.00,154.62,1.238,6,0.130,0.000,2658,2271,2840
$STATE,9606,end apogee,CONTROL_FINISHED_OK
$STATE,9606,begin climb
$GC,9609,0.64,194.6,994.7,0.0,921,9784,0.90,0.00,171.98,1.209,6,0.100,0.000,2943,2270,2046
$GC,10092,0.64,194.6,945.6,11.5,968,10095,0.00,1.62,0.00,0.000,4,0.000,0.059,2943,3161,2035
$GC,10124,0.64,194.6,941.6,11.6,971,10127,0.00,1.55,0.00,0.000,6,0.000,0.038,2951,2273,2033
$GC,10446,0.64,194.6,904.4,11.6,1002,10447,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2274,2032
$GC,10756,0.64,194.6,869.0,11.7,1032,10759,0.00,1.23,0.00,0.000,4,0.000,0.044,2956,1364,2031
$GC,10799,0.64,194.6,863.8,11.7,1036,10802,0.00,1.25,0.00,0.000,6,0.000,0.044,2956,2269,2031
$GC,11120,0.64,194.6,825.4,12.3,1067,11123,0.00,1.62,0.00,0.000,4,0.000,0.055,2956,3170,2030
$GC,11166,0.64,194.6,819.3,12.5,1071,11174,0.00,1.55,0.00,0.000,6,0.000,0.036,2964,2273,2028
$GC,11485,0.64,194.6,779.6,13.0,1102,11486,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2274,2029
$GC,11794,0.64,194.6,740.6,12.4,1132,11797,0.00,1.62,0.00,0.000,4,0.000,0.054,2964,3192,2029
$GC,11837,0.64,194.6,735.0,12.9,1136,11839,0.00,1.58,0.00,0.000,6,0.000,0.037,2972,2273,2027
$GC,12159,0.64,194.6,694.7,12.4,1167,12160,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2275,2027
$GC,12468,0.64,194.6,656.2,12.1,1197,12471,0.00,1.60,0.00,0.000,4,0.000,0.054,2971,3176,2027
$GC,12532,0.64,194.6,648.0,13.5,1203,12536,0.00,1.55,0.00,0.000,6,0.000,0.036,2979,2275,2026
$GC,12855,0.64,194.6,607.0,12.8,1234,12855,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2275,2027
$GC,13164,0.64,194.6,567.5,12.5,1264,13165,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2276,2026
$GC,13474,0.64,194.6,528.9,12.1,1294,13477,0.00,1.62,0.00,0.000,4,0.000,0.054,2979,3190,2026
$GC,13539,0.64,194.6,520.6,12.2,1300,13542,0.10,1.58,0.00,0.000,6,0.145,0.036,2956,2276,2026
$GC,13860,0.64,194.6,486.7,10.6,1331,13861,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2277,2025
$GC,14171,0.64,194.6,453.3,10.7,1361,14171,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2277,2026
$GC,14480,0.64,194.6,420.5,10.3,1391,14481,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2277,2026
$GC,14792,0.64,194.6,388.6,9.8,1421,14795,0.00,1.62,0.00,0.000,4,0.000,0.052,2955,3196,2026
$GC,14817,0.64,194.6,385.6,11.4,1423,14824,0.00,1.58,0.00,0.000,6,0.000,0.035,2961,2276,2025
$GC,15135,0.64,194.6,350.5,11.8,1454,15138,0.00,1.62,0.00,0.000,4,0.000,0.051,2961,3173,2026
$GC,15178,0.64,194.6,345.1,12.9,1458,15181,0.00,1.55,0.00,0.000,6,0.000,0.035,2969,2272,2026
$GC,15500,0.64,194.6,306.3,12.0,1489,15503,0.00,1.60,0.00,0.000,4,0.000,0.051,2969,3174,2026
$GC,15537,0.64,194.6,301.6,12.8,1492,15543,0.00,1.55,0.00,0.000,6,0.000,0.034,2976,2272,2026
$GC,15854,0.64,194.6,261.5,12.0,1523,15857,0.00,1.62,0.00,0.000,4,0.000,0.051,2976,3171,2026
$GC,15890,0.64,194.6,256.6,13.5,1526,15898,0.00,1.52,0.00,0.000,6,0.000,0.032,2983,2278,2026
$GC,16209,0.64,194.6,214.8,13.3,1557,16212,0.00,1.60,0.00,0.000,4,0.000,0.049,2983,3190,2026
$GC,16252,0.64,194.6,208.7,14.3,1561,16255,0.08,1.55,0.00,0.000,6,0.127,0.033,2956,2277,2026
$GC,16573,0.64,194.6,174.0,10.4,1592,16573,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2278,2026
$GC,16883,0.64,194.6,142.1,10.3,1622,16886,0.00,1.60,0.00,0.000,4,0.000,0.048,2956,3170,2027
$GC,16915,0.64,194.6,138.8,11.4,1625,16918,0.00,1.52,0.00,0.000,6,0.000,0.031,2962,2272,2027
$GC,17236,0.64,194.6,106.0,10.0,1656,17239,0.00,1.62,0.00,0.000,4,0.000,0.048,2962,3178,2028
$GC,17289,0.64,194.6,100.4,10.9,1661,17292,0.00,1.52,0.00,0.000,6,0.000,0.031,2969,2276,2028
$GC,17612,0.64,194.6,67.3,8.9,1692,17615,0.00,1.17,0.00,0.000,4,0.000,0.037,2975,1372,2030
$GC,17659,0.64,194.6,62.7,8.9,1696,17666,0.00,1.23,0.00,0.000,6,0.000,0.036,2974,2279,2030
$GC,17852,0.64,194.6,46.4,7.6,1715,17855,0.00,1.55,0.00,0.000,4,0.000,0.047,2975,3166,2030
$GC,17920,0.74,277.0,41.6,5.3,1721,17989,0.00,1.50,62.15,0.534,6,0.000,0.028,2982,2274,1709
$GC,18172,0.90,407.3,28.3,4.1,1745,18274,0.15,1.25,97.50,0.518,4,0.059,0.035,3066,1364,1178
$GC,18338,0.90,407.3,14.1,9.3,1759,18341,0.00,1.25,0.00,0.000,6,0.000,0.034,3066,2278,1173
$STATE,18512,end climb,SURFACE_DEPTH_REACHED
$STATE,18512,begin surface coast
$FINISH,0.8,1.021169
$STATE,18566,end surface coast,CONTROL_FINISHED_OK
$STATE,18566,begin surface
$SM_CCo,18581,98.78,0.486,0,0,403,597.54
$SM_GC,1.60,0.00,0.00,98.78,0.000,0.000,0.486,203,2342,403,-7.95,0.48,597.54
$IRIDIUM_FIX,2835.91,-8814.29,171099,151544
$TT8_MAMPS,0.051389
$HUMID,1399
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,23.50
$XPDR_PINGS,2
$24V_AH,22.6,51.546
$10V_AH,10.5,70.986
$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,20.150,91.600,486.250,98.775,0.000,56.458,69.022,276.833,4.250,0.000,0.000,16.754,0.000,12439.823,637.670,5366.013,813.188,33.341,2170.357,0.000,4802.108,0.000,28.024,0.000
$DEVICE_MAMPS,249.275,72.865,1237.938,485.511,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1218.631,1302.009,4002.969,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94661,1781
$CAP_FILE_SIZE,170499,0
$CFSIZE,260165632,228839424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.126,131.8,1
$GPS,230710,203037,2842.805,-8835.952,30,0.9,30,-0.3