version: 66.04
glider: 515
mission: 5
dive: 252
start: 7 14 110 1 47 33
data:
$ID,515
$MISSION,5
$DIVE,252
$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,-4
$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,575
$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,-18120.338
$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,28
$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,2375
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,43
$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
$GPS1,013615,2843.035,-8836.384,145,5.6,164,-0.3
$_CALLS,1
$_XMS_NAKs,44
$_XMS_TOUTs,3
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-78.8
$GPS2,014652,2843.000,-8836.380,18,4.6,37,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.199,0.174
$KALMAN_X,-34479.9,-307.8,-88.9,57217.3,2285.5
$KALMAN_Y,-316481.5,1693.7,493.5,341376.7,-11557.3
$MHEAD_RNG_PITCHd_Wd,79.3,16894,-10.8,-7.500
$D_GRID,982
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-0.63,-194.6,0.0,0.0,0,38,0.00,0.00,-22.92,0.000,2,0.000,0.000,203,2398,1141
$GC,40,-0.63,-194.6,3.2,-4.6,2,127,10.35,1.35,-72.60,0.000,4,0.249,0.056,2537,1465,3634
$GC,145,-0.63,-194.6,7.1,-8.8,11,148,0.00,1.27,0.00,0.000,6,0.000,0.033,2532,2359,3634
$GC,342,-0.63,-194.6,46.1,-17.6,30,343,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2359,3634
$GC,528,-0.63,-194.6,73.4,-13.6,48,531,0.00,1.25,0.00,0.000,4,0.000,0.032,2536,1469,3636
$GC,553,-0.63,-194.6,77.0,-13.3,50,562,0.00,1.33,0.00,0.000,6,0.000,0.033,2532,2388,3636
$GC,746,-0.63,-194.6,103.0,-13.7,69,749,0.00,1.30,0.00,0.000,4,0.000,0.033,2532,1464,3636
$GC,803,-0.63,-194.6,110.7,-12.3,74,812,0.00,1.30,0.00,0.000,6,0.000,0.033,2526,2367,3637
$GC,1120,-0.63,-194.6,151.8,-12.8,105,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2368,3636
$GC,1431,-0.63,-194.6,189.6,-12.1,135,1434,0.00,1.27,0.00,0.000,4,0.000,0.034,2526,1460,3634
$GC,1494,-0.63,-194.6,197.4,-12.1,141,1497,0.00,1.30,0.00,0.000,6,0.000,0.035,2520,2371,3634
$GC,1817,-0.63,-194.6,236.5,-12.1,172,1820,0.00,1.27,0.00,0.000,4,0.000,0.034,2520,1465,3631
$GC,1870,-0.63,-194.6,243.4,-12.3,177,1873,0.08,1.30,0.00,0.000,6,0.139,0.036,2538,2373,3631
$GC,2191,-0.63,-194.6,277.8,-10.9,208,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2374,3629
$GC,2501,-0.63,-194.6,310.0,-10.0,238,2504,0.00,1.27,0.00,0.000,4,0.000,0.035,2538,1476,3626
$GC,2555,-0.63,-194.6,315.6,-10.4,243,2558,0.00,1.30,0.00,0.000,6,0.000,0.038,2534,2376,3626
$GC,2877,-0.63,-194.6,348.7,-10.3,274,2880,0.00,1.30,0.00,0.000,4,0.000,0.036,2534,1464,3623
$GC,2956,-0.63,-194.6,357.0,-10.0,281,2963,0.00,1.35,0.00,0.000,6,0.000,0.038,2528,2387,3623
$GC,3274,-0.63,-194.6,390.1,-10.3,312,3277,0.00,1.30,0.00,0.000,4,0.000,0.036,2528,1475,3620
$GC,3342,-0.63,-194.6,397.5,-10.1,318,3350,0.00,1.30,0.00,0.000,6,0.000,0.038,2523,2363,3619
$GC,3660,-0.63,-194.6,431.7,-11.0,349,3661,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2363,3617
$GC,3969,-0.63,-194.6,466.1,-11.1,379,3972,0.00,1.27,0.00,0.000,4,0.000,0.038,2523,1476,3613
$GC,4022,-0.63,-194.6,472.1,-11.1,384,4025,0.00,1.33,0.00,0.000,6,0.000,0.041,2517,2382,3613
$GC,4345,-0.63,-194.6,507.9,-10.5,415,4348,0.00,1.30,0.00,0.000,4,0.000,0.038,2517,1477,3610
$GC,4388,-0.63,-194.6,512.7,-11.1,419,4391,0.08,1.30,0.00,0.000,6,0.146,0.041,2536,2365,3610
$GC,4708,-0.63,-194.6,543.3,-9.4,450,4709,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2365,3608
$GC,5019,-0.63,-194.6,573.4,-9.4,480,5022,0.00,1.30,0.00,0.000,4,0.000,0.041,2536,1471,3606
$GC,5072,-0.63,-194.6,578.4,-9.9,485,5075,0.00,1.35,0.00,0.000,6,0.000,0.044,2532,2388,3605
$GC,5395,-0.63,-194.6,609.6,-9.5,516,5398,0.00,1.33,0.00,0.000,4,0.000,0.041,2532,1478,3602
$GC,5437,-0.63,-194.6,613.8,-9.6,520,5440,0.00,1.30,0.00,0.000,6,0.000,0.044,2527,2362,3603
$GC,5760,-0.63,-194.6,645.0,-9.9,551,5761,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2362,3600
$GC,6069,-0.63,-194.6,676.2,-9.7,581,6072,0.00,1.30,0.00,0.000,4,0.000,0.042,2527,1470,3598
$GC,6122,-0.63,-194.6,681.5,-10.0,586,6125,0.00,1.38,0.00,0.000,6,0.000,0.045,2521,2393,3597
$GC,6444,-0.63,-194.6,714.2,-10.2,617,6445,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2394,3595
$GC,6754,-0.63,-194.6,745.1,-10.1,647,6757,0.00,1.35,0.00,0.000,4,0.000,0.044,2520,1477,3593
$GC,6822,-0.63,-194.6,752.2,-10.4,653,6829,0.00,1.35,0.00,0.000,6,0.000,0.045,2515,2371,3593
$GC,7140,-0.63,-194.6,783.7,-10.0,684,7141,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2371,3591
$GC,7449,-0.63,-194.6,815.2,-10.6,714,7452,0.00,1.33,0.00,0.000,4,0.000,0.044,2515,1473,3590
$GC,7502,-0.63,-194.6,820.7,-10.5,719,7506,0.10,1.35,0.00,0.000,6,0.142,0.047,2540,2375,3589
$GC,7823,-0.63,-194.6,849.4,-8.8,750,7824,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2375,3589
$GC,8134,-0.63,-194.6,875.9,-8.0,780,8134,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2376,3587
$GC,8447,-0.63,-194.6,900.5,-8.1,810,8450,0.00,1.33,0.00,0.000,4,0.000,0.045,2540,1484,3585
$GC,8532,-0.63,-194.6,908.0,-9.1,818,8535,0.00,1.33,0.00,0.000,6,0.000,0.048,2538,2366,3585
$GC,8853,-0.63,-194.6,935.9,-9.1,849,8854,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2368,3584
$GC,9163,-0.63,-194.6,963.0,-9.0,879,9166,0.00,1.33,0.00,0.000,4,0.000,0.046,2537,1472,3582
$GC,9260,-0.63,-194.6,971.9,-9.2,888,9263,0.00,1.38,0.00,0.000,6,0.000,0.048,2532,2385,3582
$STATE,9371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9372,begin apogee
$GC,9376,-0.25,0.0,982.5,9.1,899,9529,0.45,0.00,150.15,1.239,6,0.135,0.000,2666,2274,2839
$STATE,9529,end apogee,CONTROL_FINISHED_OK
$STATE,9529,begin climb
$GC,9532,0.63,194.6,987.5,0.0,914,9709,0.88,0.00,168.82,1.208,6,0.104,0.000,2941,2275,2045
$GC,10017,0.63,194.6,942.1,10.9,961,10020,0.00,1.65,0.00,0.000,4,0.000,0.059,2941,3167,2035
$GC,10049,0.63,194.6,938.6,11.6,964,10052,0.00,1.58,0.00,0.000,6,0.000,0.038,2949,2277,2034
$GC,10371,0.63,194.6,901.4,11.9,995,10372,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2278,2033
$GC,10681,0.63,194.6,866.0,11.4,1025,10681,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2278,2032
$GC,10991,0.63,194.6,830.4,11.4,1055,10991,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2278,2031
$GC,11302,0.63,194.6,795.3,11.2,1085,11303,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2278,2030
$GC,11611,0.63,194.6,760.2,11.5,1115,11612,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2278,2030
$GC,11922,0.63,194.6,725.5,11.0,1145,11923,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2277,2029
$GC,12233,0.63,194.6,691.5,11.0,1175,12235,0.00,1.60,0.00,0.000,4,0.000,0.055,2949,3162,2029
$GC,12264,0.63,194.6,687.8,11.7,1178,12267,0.00,1.55,0.00,0.000,6,0.000,0.038,2956,2278,2028
$GC,12587,0.63,194.6,652.1,10.9,1209,12588,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2279,2027
$GC,12895,0.63,194.6,618.5,10.8,1239,12896,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2280,2028
$GC,13207,0.63,194.6,584.7,11.2,1269,13210,0.00,1.62,0.00,0.000,4,0.000,0.055,2956,3155,2028
$GC,13238,0.63,194.6,581.1,11.4,1272,13241,0.00,1.55,0.00,0.000,6,0.000,0.038,2963,2276,2026
$GC,13561,0.63,194.6,544.1,12.0,1303,13562,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2277,2027
$GC,13869,0.63,194.6,508.9,11.4,1333,13872,0.00,1.62,0.00,0.000,4,0.000,0.053,2963,3155,2026
$GC,13912,0.63,194.6,503.6,12.9,1337,13915,0.00,1.55,0.00,0.000,6,0.000,0.037,2970,2273,2026
$GC,14233,0.63,194.6,465.3,11.4,1368,14234,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2274,2026
$GC,14544,0.63,194.6,427.9,12.0,1398,14547,0.00,1.62,0.00,0.000,4,0.000,0.053,2970,3174,2026
$GC,14580,0.63,194.6,423.1,12.5,1401,14587,0.00,1.58,0.00,0.000,6,0.000,0.035,2977,2273,2027
$GC,14897,0.63,194.6,384.0,11.8,1432,14898,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2274,2027
$GC,15207,0.63,194.6,345.6,12.6,1462,15210,0.00,1.62,0.00,0.000,4,0.000,0.052,2977,3173,2026
$GC,15260,0.63,194.6,338.4,12.9,1467,15264,0.10,1.55,0.00,0.000,6,0.145,0.035,2954,2281,2027
$GC,15582,0.63,194.6,302.8,11.0,1498,15585,0.00,1.20,0.00,0.000,4,0.000,0.041,2958,1369,2027
$GC,15624,0.63,194.6,298.3,10.4,1502,15627,0.00,1.23,0.00,0.000,6,0.000,0.042,2958,2274,2027
$GC,15945,0.63,194.6,263.4,11.2,1533,15948,0.00,1.62,0.00,0.000,4,0.000,0.051,2957,3172,2028
$GC,16009,0.63,194.6,255.8,11.8,1539,16012,0.00,1.55,0.00,0.000,6,0.000,0.034,2965,2275,2027
$GC,16330,0.63,194.6,219.6,11.0,1570,16330,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2276,2028
$GC,16641,0.63,194.6,184.0,11.4,1600,16644,0.00,1.60,0.00,0.000,4,0.000,0.049,2965,3174,2028
$GC,16698,0.63,194.6,176.7,10.4,1605,16705,0.00,1.55,0.00,0.000,6,0.000,0.032,2973,2276,2028
$GC,17017,0.63,194.6,138.7,11.8,1636,17018,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2277,2029
$GC,17325,0.63,194.6,104.7,10.6,1666,17328,0.00,1.62,0.00,0.000,4,0.000,0.048,2973,3174,2030
$GC,17422,0.63,194.6,94.0,11.6,1675,17425,0.08,1.55,0.00,0.000,6,0.117,0.031,2945,2272,2030
$GC,17618,0.63,194.6,77.4,8.8,1694,17621,0.00,1.15,0.00,0.000,4,0.000,0.038,2949,1371,2031
$GC,17650,0.63,194.6,74.8,8.9,1697,17653,0.00,1.20,0.00,0.000,6,0.000,0.037,2949,2277,2031
$GC,17848,0.65,217.7,59.8,6.9,1716,17869,0.00,0.00,17.40,0.532,6,0.000,0.000,2949,2277,1951
$GC,18054,0.73,275.7,46.7,6.0,1736,18105,0.00,0.00,44.78,0.541,6,0.000,0.000,2949,2277,1715
$GC,18291,0.86,386.9,34.2,4.6,1759,18385,0.17,1.67,83.47,0.526,4,0.054,0.044,3041,3184,1259
$GC,18406,0.86,386.9,24.2,8.6,1769,18410,0.00,1.58,0.00,0.000,6,0.000,0.028,3049,2276,1257
$GC,18604,0.86,386.9,6.8,9.1,1788,18604,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2277,1253
$GC,18789,1.21,672.7,4.3,-0.0,1806,18945,0.25,0.00,152.23,0.493,6,0.104,0.000,3133,2275,404
$STATE,18948,end climb,SURFACE_DEPTH_REACHED
$STATE,18950,begin surface coast
$FINISH,1.9,1.014218
$STATE,19042,end surface coast,CONTROL_FINISHED_OK
$STATE,19042,begin surface
$SM_CCo,19117,0.00,0.000,0,0,400,598.77
$SM_GC,2.65,8.23,0.00,0.00,0.061,0.000,0.000,200,2397,400,-7.91,0.62,598.77
$IRIDIUM_FIX,2831.00,-8838.92,071099,202059
$TT8_MAMPS,0.051389
$HUMID,1380
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,22.8,44.000
$10V_AH,10.6,61.028
$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,20.750,81.775,616.850,0.000,0.000,25.299,32.276,424.076,3.500,0.000,0.000,41.911,0.000,12817.691,620.960,5438.585,844.428,33.338,2170.461,0.000,4851.907,0.000,30.652,0.000
$DEVICE_MAMPS,248.508,59.059,1238.705,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1250.158,1333.330,4111.364,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94805,1829
$CAP_FILE_SIZE,173556,0
$CFSIZE,260165632,232652800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.092,122.8,1
$GPS,140710,070725,2843.226,-8832.424,55,1.2,55,-0.3