version: 66.04
glider: 515
mission: 5
dive: 255
start: 7 14 110 18 23 0
data:
$ID,515
$MISSION,5
$DIVE,255
$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,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,-18160.232
$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,35
$R_STBD_OVSHOOT,41
$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
$GPS1,181345,2844.083,-8825.881,36,2.3,55,-0.4
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-73.7
$GPS2,182119,2844.074,-8825.818,12,1.4,12,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.260,0.050
$KALMAN_X,-27591.9,537.3,-26.1,66594.0,3632.1
$KALMAN_Y,-329090.0,306.7,192.6,357710.2,-9853.1
$MHEAD_RNG_PITCHd_Wd,272.6,31312,-10.8,-7.500
$D_GRID,1476
$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,-0.63,-194.6,0.0,0.0,0,46,0.00,0.00,-32.55,0.000,2,0.000,0.000,200,2393,1408
$GC,48,-0.63,-194.6,3.2,-6.1,3,126,10.57,1.48,-63.67,0.000,4,0.256,0.061,2532,3263,3635
$GC,152,-0.63,-194.6,10.5,-15.2,11,160,0.00,1.45,0.00,0.000,6,0.000,0.025,2537,2358,3635
$GC,344,-0.63,-194.6,46.9,-16.4,30,344,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2357,3636
$GC,531,-0.63,-194.6,73.0,-13.6,48,534,0.00,1.20,0.00,0.000,4,0.000,0.033,2537,1485,3637
$GC,684,-0.63,-194.6,93.5,-12.6,62,692,0.00,1.25,0.00,0.000,6,0.000,0.033,2533,2358,3637
$GC,877,-0.63,-194.6,117.6,-12.6,81,880,0.00,1.23,0.00,0.000,4,0.000,0.033,2533,1484,3637
$GC,909,-0.63,-194.6,121.6,-12.2,84,912,0.00,1.27,0.00,0.000,6,0.000,0.034,2527,2381,3637
$GC,1231,-0.63,-194.6,162.8,-12.0,115,1234,0.00,1.27,0.00,0.000,4,0.000,0.033,2527,1473,3636
$GC,1343,-0.63,-194.6,176.9,-11.9,125,1350,0.00,1.27,0.00,0.000,6,0.000,0.035,2521,2367,3636
$GC,1660,-0.63,-194.6,215.3,-12.0,156,1663,0.00,1.25,0.00,0.000,4,0.000,0.034,2521,1485,3634
$GC,1702,-0.63,-194.6,220.3,-11.0,160,1705,0.00,1.27,0.00,0.000,6,0.000,0.035,2516,2374,3634
$GC,2025,-0.63,-194.6,258.9,-11.8,191,2028,0.00,1.25,0.00,0.000,4,0.000,0.034,2515,1493,3632
$GC,2078,-0.63,-194.6,265.5,-12.1,196,2081,0.10,1.27,0.00,0.000,6,0.136,0.036,2541,2378,3631
$GC,2399,-0.63,-194.6,297.3,-9.9,227,2402,0.00,1.27,0.00,0.000,4,0.000,0.035,2543,1482,3628
$GC,2484,-0.63,-194.6,305.8,-9.4,235,2487,0.00,1.27,0.00,0.000,6,0.000,0.037,2539,2368,3628
$GC,2807,-0.63,-194.6,338.0,-9.8,266,2810,0.00,1.25,0.00,0.000,4,0.000,0.036,2539,1495,3625
$GC,2842,-0.63,-194.6,342.0,-10.3,269,2850,0.00,1.30,0.00,0.000,6,0.000,0.038,2534,2379,3625
$GC,3161,-0.63,-194.6,374.8,-10.3,300,3164,0.00,1.27,0.00,0.000,4,0.000,0.038,2533,1494,3623
$GC,3204,-0.63,-194.6,379.5,-10.9,304,3207,0.00,1.27,0.00,0.000,6,0.000,0.040,2528,2368,3622
$GC,3526,-0.63,-194.6,414.8,-11.0,335,3529,0.00,1.27,0.00,0.000,4,0.000,0.038,2528,1487,3620
$GC,3583,-0.63,-194.6,421.4,-10.6,340,3590,0.00,1.30,0.00,0.000,6,0.000,0.041,2522,2371,3619
$GC,3901,-0.63,-194.6,455.3,-10.3,371,3902,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2371,3617
$GC,4210,-0.63,-194.6,487.7,-10.7,401,4213,0.00,1.27,0.00,0.000,4,0.000,0.040,2522,1497,3614
$GC,4278,-0.63,-194.6,495.2,-11.2,407,4287,0.00,1.33,0.00,0.000,6,0.000,0.041,2516,2385,3613
$GC,4596,-0.63,-194.6,529.6,-10.4,438,4599,0.00,1.30,0.00,0.000,4,0.000,0.041,2516,1494,3611
$GC,4665,-0.63,-194.6,537.5,-12.0,444,4672,0.08,1.27,0.00,0.000,6,0.146,0.043,2535,2360,3611
$GC,4981,-0.63,-194.6,566.5,-9.1,475,4981,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2360,3608
$GC,5292,-0.63,-194.6,595.5,-9.5,505,5295,0.00,1.25,0.00,0.000,4,0.000,0.041,2535,1504,3605
$GC,5355,-0.63,-194.6,601.9,-10.2,511,5359,0.00,1.33,0.00,0.000,6,0.000,0.044,2531,2393,3605
$GC,5678,-0.63,-194.6,633.9,-10.0,542,5679,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2393,3603
$GC,5987,-0.63,-194.6,664.7,-9.8,572,5990,0.00,1.33,0.00,0.000,4,0.000,0.044,2531,1497,3600
$GC,6040,-0.63,-194.6,669.9,-9.9,577,6043,0.00,1.27,0.00,0.000,6,0.000,0.044,2526,2358,3601
$GC,6363,-0.63,-194.6,701.5,-9.6,608,6364,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2358,3598
$GC,6671,-0.63,-194.6,731.6,-9.4,638,6674,0.00,1.25,0.00,0.000,4,0.000,0.044,2526,1506,3596
$GC,6718,-0.63,-194.6,736.4,-9.6,642,6725,0.00,1.33,0.00,0.000,6,0.000,0.045,2520,2390,3596
$GC,7036,-0.63,-194.6,766.5,-9.4,673,7037,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2390,3593
$GC,7345,-0.63,-194.6,795.9,-9.7,703,7348,0.00,1.33,0.00,0.000,4,0.000,0.045,2520,1497,3592
$GC,7420,-0.63,-194.6,803.1,-9.0,710,7423,0.00,1.30,0.00,0.000,6,0.000,0.046,2515,2363,3592
$GC,7742,-0.63,-194.6,834.3,-9.4,741,7745,0.00,1.58,0.00,0.000,4,0.000,0.060,2507,3266,3590
$GC,7763,-0.63,-194.6,836.4,-9.7,743,7766,0.10,1.45,0.00,0.000,6,0.139,0.036,2539,2386,3590
$GC,8084,-0.63,-194.6,862.8,-8.0,774,8087,0.00,1.33,0.00,0.000,4,0.000,0.045,2539,1484,3589
$GC,8153,-0.63,-194.6,868.4,-7.9,780,8160,0.00,1.35,0.00,0.000,6,0.000,0.048,2535,2380,3589
$GC,8469,-0.63,-194.6,894.5,-8.4,811,8472,0.00,1.33,0.00,0.000,4,0.000,0.044,2535,1489,3587
$GC,8512,-0.63,-194.6,898.0,-8.3,815,8515,0.00,1.33,0.00,0.000,6,0.000,0.048,2530,2365,3587
$GC,8832,-0.63,-194.6,926.0,-8.6,846,8833,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2367,3586
$GC,9143,-0.63,-194.6,953.6,-9.0,876,9144,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2367,3585
$GC,9453,-0.63,-194.6,981.3,-8.5,906,9456,0.00,1.30,0.00,0.000,4,0.000,0.046,2529,1498,3583
$GC,9539,-0.63,-194.6,988.9,-8.4,914,9542,0.00,1.35,0.00,0.000,6,0.000,0.051,2525,2381,3583
$STATE,9559,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9559,begin apogee
$GC,9564,-0.25,0.0,990.8,9.4,916,9722,0.47,0.00,151.18,1.243,6,0.137,0.000,2666,2283,2839
$STATE,9723,end apogee,CONTROL_FINISHED_OK
$STATE,9723,begin climb
$GC,9725,0.63,194.6,995.5,0.0,932,9899,0.88,0.00,169.70,1.213,6,0.101,0.000,2943,2283,2046
$GC,10207,0.63,194.6,948.9,11.4,979,10210,0.00,1.25,0.00,0.000,4,0.000,0.048,2948,1371,2034
$GC,10232,0.63,194.6,945.9,12.6,981,10240,0.00,1.27,0.00,0.000,6,0.000,0.044,2948,2277,2035
$GC,10551,0.63,194.6,909.2,12.1,1012,10554,0.00,1.62,0.00,0.000,4,0.000,0.055,2948,3181,2032
$GC,10576,0.63,194.6,905.9,12.5,1014,10584,0.00,1.60,0.00,0.000,6,0.000,0.037,2956,2276,2031
$GC,10894,0.63,194.6,867.6,12.1,1045,10895,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2276,2031
$GC,11203,0.63,194.6,830.0,12.4,1075,11204,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2276,2030
$GC,11514,0.63,194.6,792.3,11.8,1105,11517,0.00,1.62,0.00,0.000,4,0.000,0.054,2956,3174,2029
$GC,11539,0.63,194.6,788.9,13.1,1107,11548,0.00,1.60,0.00,0.000,6,0.000,0.037,2963,2269,2028
$GC,11858,0.63,194.6,750.2,11.9,1138,11858,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2270,2028
$GC,12167,0.63,194.6,713.5,12.3,1168,12169,0.00,1.65,0.00,0.000,4,0.000,0.055,2963,3178,2028
$GC,12202,0.63,194.6,708.7,12.7,1171,12211,0.00,1.60,0.00,0.000,6,0.000,0.038,2971,2272,2027
$GC,12521,0.63,194.6,668.5,13.1,1202,12522,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2272,2027
$GC,12829,0.63,194.6,630.0,12.3,1232,12830,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2273,2027
$GC,13141,0.63,194.6,591.0,12.9,1262,13141,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2273,2026
$GC,13450,0.63,194.6,551.4,12.7,1292,13453,0.00,1.65,0.00,0.000,4,0.000,0.054,2971,3183,2027
$GC,13476,0.63,194.6,548.1,12.7,1294,13483,0.00,1.60,0.00,0.000,6,0.000,0.036,2978,2274,2026
$GC,13793,0.63,194.6,507.7,12.8,1325,13794,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2275,2026
$GC,14103,0.63,194.6,467.7,12.8,1355,14104,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2275,2025
$GC,14413,0.63,194.6,426.4,13.7,1385,14416,0.00,1.62,0.00,0.000,4,0.000,0.053,2979,3173,2026
$GC,14460,0.63,194.6,419.7,14.1,1389,14467,0.10,1.58,0.00,0.000,6,0.150,0.035,2955,2277,2026
$GC,14777,0.63,194.6,382.9,11.4,1420,14780,0.00,1.20,0.00,0.000,4,0.000,0.042,2959,1366,2026
$GC,14808,0.63,194.6,379.4,11.4,1423,14811,0.00,1.25,0.00,0.000,6,0.000,0.044,2959,2284,2026
$GC,15129,0.63,194.6,343.2,10.8,1454,15130,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2284,2026
$GC,15440,0.63,194.6,307.8,11.4,1484,15443,0.00,1.60,0.00,0.000,4,0.000,0.052,2959,3169,2026
$GC,15497,0.63,194.6,301.0,11.2,1489,15504,0.00,1.58,0.00,0.000,6,0.000,0.035,2966,2270,2026
$GC,15815,0.63,194.6,265.3,10.7,1520,15816,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2271,2026
$GC,16125,0.63,194.6,229.7,11.9,1550,16126,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2271,2026
$GC,16434,0.63,194.6,193.5,11.3,1580,16437,0.00,1.65,0.00,0.000,4,0.000,0.050,2966,3170,2027
$GC,16471,0.63,194.6,189.0,13.0,1583,16479,0.00,1.55,0.00,0.000,6,0.000,0.033,2974,2276,2027
$GC,16788,0.63,194.6,150.2,12.3,1614,16792,0.00,1.17,0.00,0.000,4,0.000,0.038,2979,1369,2027
$GC,16831,0.63,194.6,145.1,11.8,1618,16834,0.08,1.23,0.00,0.000,6,0.134,0.039,2955,2282,2028
$GC,17152,0.63,194.6,114.4,9.6,1649,17155,0.00,1.58,0.00,0.000,4,0.000,0.048,2954,3164,2028
$GC,17183,0.63,194.6,111.2,9.2,1652,17186,0.00,1.55,0.00,0.000,6,0.000,0.031,2961,2269,2029
$GC,17504,0.63,194.6,81.4,8.7,1683,17507,0.00,1.15,0.00,0.000,4,0.000,0.037,2966,1367,2030
$GC,17579,0.63,194.6,74.4,9.3,1690,17582,0.00,1.20,0.00,0.000,6,0.000,0.037,2966,2274,2031
$GC,17776,0.63,194.6,56.6,8.9,1709,17776,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2274,2030
$GC,17962,0.74,286.9,42.6,5.1,1727,18035,0.00,1.67,68.72,0.541,4,0.000,0.045,2966,3181,1670
$GC,18057,0.78,320.8,37.2,6.6,1736,18091,0.00,1.58,26.60,0.517,6,0.000,0.030,2973,2275,1531
$GC,18278,0.98,481.6,23.3,3.3,1757,18402,0.22,1.70,118.47,0.512,4,0.055,0.043,3086,3178,875
$GC,18417,0.98,481.6,8.8,14.8,1769,18425,0.10,1.60,0.00,0.000,6,0.121,0.028,3060,2272,872
$GC,18610,1.31,747.0,3.2,0.5,1788,18625,0.30,0.00,12.98,0.453,2,0.120,0.000,3158,2272,806
$STATE,18626,end climb,NO_VERTICAL_VELOCITY
$STATE,18626,begin surface
$SM_CCo,18628,73.35,0.485,0,0,405,597.54
$SM_GC,2.71,8.30,0.00,0.00,0.059,0.000,0.000,201,2394,401,-7.91,0.54,598.28
$IRIDIUM_FIX,2833.46,-8831.56,081099,121200
$TT8_MAMPS,0.051389
$HUMID,1367
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,24.10
$XPDR_PINGS,11
$24V_AH,22.8,44.453
$10V_AH,10.6,61.741
$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,21.300,94.675,547.650,73.350,0.000,27.863,32.005,262.705,6.500,0.000,0.000,14.247,0.000,12516.896,693.615,5341.984,734.816,33.345,2228.003,0.000,4759.953,0.000,29.911,0.000
$DEVICE_MAMPS,256.178,60.593,1242.540,484.744,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1222.856,1301.466,4021.103,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94605,1789
$CAP_FILE_SIZE,175799,0
$CFSIZE,260165632,232370176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.112,143.9,1
$GPS,140710,233956,2843.019,-8828.157,169,2.2,188,-0.4