version: 66.04
glider: 515
mission: 5
dive: 256
start: 7 14 110 23 56 25
data:
$ID,515
$MISSION,5
$DIVE,256
$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,-18196.812
$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,29
$R_STBD_OVSHOOT,38
$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
$GPS1,233956,2843.019,-8828.157,169,2.2,188,-0.4
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-72.8
$GPS2,235446,2842.888,-8828.155,14,2.2,33,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.252,0.079
$KALMAN_X,-23805.3,-225.9,-37.2,59783.2,4985.2
$KALMAN_Y,-333375.5,1086.1,643.0,358533.7,-11007.8
$MHEAD_RNG_PITCHd_Wd,289.1,27377,-10.8,-7.500
$D_GRID,1370
$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,12,begin dive
$GC,14,-0.63,-194.6,0.0,0.0,0,45,0.00,0.00,-29.65,0.000,2,0.000,0.000,200,2400,1352
$GC,47,-0.63,-194.6,3.2,-2.7,3,130,10.35,1.45,-68.05,0.000,4,0.249,0.060,2531,3253,3636
$GC,333,-0.63,-194.6,43.7,-17.1,29,336,0.00,1.42,0.00,0.000,6,0.000,0.027,2536,2356,3636
$GC,530,-0.63,-194.6,71.5,-13.3,48,533,0.00,1.23,0.00,0.000,4,0.000,0.034,2537,1470,3637
$GC,673,-0.63,-194.6,89.9,-13.3,61,680,0.00,1.27,0.00,0.000,6,0.000,0.034,2533,2364,3637
$GC,865,-0.63,-194.6,114.6,-13.3,80,868,0.00,1.25,0.00,0.000,4,0.000,0.033,2532,1474,3637
$GC,977,-0.63,-194.6,129.3,-13.1,90,985,0.00,1.30,0.00,0.000,6,0.000,0.034,2527,2388,3637
$GC,1294,-0.63,-194.6,168.1,-12.7,121,1297,0.00,1.27,0.00,0.000,4,0.000,0.033,2527,1483,3635
$GC,1411,-0.63,-194.6,182.4,-11.4,132,1415,0.00,1.25,0.00,0.000,6,0.000,0.034,2521,2362,3635
$GC,1733,-0.63,-194.6,222.6,-12.8,163,1736,0.00,1.25,0.00,0.000,4,0.000,0.034,2521,1479,3633
$GC,1786,-0.63,-194.6,229.6,-13.0,168,1790,0.00,1.30,0.00,0.000,6,0.000,0.035,2515,2388,3633
$GC,2109,-0.63,-194.6,268.9,-12.0,199,2112,0.00,1.27,0.00,0.000,4,0.000,0.034,2515,1491,3630
$GC,2216,-0.63,-194.6,281.5,-11.4,209,2219,0.10,1.25,0.00,0.000,6,0.134,0.036,2541,2362,3629
$GC,2536,-0.63,-194.6,312.2,-9.8,240,2539,0.00,1.25,0.00,0.000,4,0.000,0.035,2542,1485,3626
$GC,2611,-0.63,-194.6,319.5,-8.9,247,2614,0.00,1.30,0.00,0.000,6,0.000,0.037,2538,2388,3625
$GC,2934,-0.63,-194.6,352.0,-10.0,278,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2388,3623
$GC,3242,-0.63,-194.6,382.8,-9.9,308,3245,0.00,1.30,0.00,0.000,4,0.000,0.037,2538,1481,3621
$GC,3338,-0.63,-194.6,392.3,-9.6,317,3341,0.00,1.27,0.00,0.000,6,0.000,0.038,2532,2362,3620
$GC,3661,-0.63,-194.6,424.8,-10.4,348,3663,0.00,1.25,0.00,0.000,4,0.000,0.038,2532,1495,3617
$GC,3718,-0.63,-194.6,431.1,-10.4,353,3725,0.00,1.33,0.00,0.000,6,0.000,0.039,2526,2389,3617
$GC,4036,-0.63,-194.6,464.2,-10.4,384,4039,0.00,1.30,0.00,0.000,4,0.000,0.040,2526,1495,3613
$GC,4121,-0.63,-194.6,473.7,-10.7,392,4125,0.00,1.27,0.00,0.000,6,0.000,0.041,2520,2361,3612
$GC,4444,-0.63,-194.6,507.5,-10.3,423,4447,0.00,1.27,0.00,0.000,4,0.000,0.040,2520,1485,3610
$GC,4497,-0.63,-194.6,513.2,-11.0,428,4501,0.00,1.33,0.00,0.000,6,0.000,0.041,2515,2386,3609
$GC,4820,-0.63,-194.6,547.6,-10.8,459,4823,0.12,1.30,0.00,0.000,4,0.148,0.040,2547,1499,3606
$GC,4877,-0.63,-194.6,553.3,-9.1,464,4884,0.00,1.33,0.00,0.000,6,0.000,0.041,2543,2384,3606
$GC,5195,-0.63,-194.6,580.4,-8.7,495,5199,0.00,1.30,0.00,0.000,4,0.000,0.041,2543,1494,3605
$GC,5296,-0.63,-194.6,589.5,-9.0,504,5303,0.00,1.30,0.00,0.000,6,0.000,0.043,2538,2368,3603
$GC,5613,-0.63,-194.6,617.6,-9.2,535,5614,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2368,3601
$GC,5923,-0.63,-194.6,645.1,-8.7,565,5926,0.00,1.30,0.00,0.000,4,0.000,0.043,2538,1485,3598
$GC,6041,-0.63,-194.6,655.8,-8.5,576,6044,0.00,1.33,0.00,0.000,6,0.000,0.044,2532,2378,3597
$GC,6363,-0.63,-194.6,685.9,-9.7,607,6366,0.00,1.30,0.00,0.000,4,0.000,0.042,2532,1495,3595
$GC,6410,-0.63,-194.6,690.7,-10.2,611,6417,0.00,1.33,0.00,0.000,6,0.000,0.044,2527,2373,3595
$GC,6728,-0.63,-194.6,720.7,-9.5,642,6729,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2373,3593
$GC,7037,-0.63,-194.6,750.3,-9.4,672,7040,0.00,1.30,0.00,0.000,4,0.000,0.044,2526,1492,3591
$GC,7101,-0.63,-194.6,756.4,-9.2,678,7104,0.00,1.33,0.00,0.000,6,0.000,0.045,2521,2374,3591
$GC,7423,-0.63,-194.6,787.1,-9.2,709,7424,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2375,3590
$GC,7732,-0.63,-194.6,816.7,-9.8,739,7735,0.00,1.30,0.00,0.000,4,0.000,0.044,2520,1499,3588
$GC,7790,-0.63,-194.6,822.4,-9.9,744,7797,0.00,1.33,0.00,0.000,6,0.000,0.046,2515,2379,3587
$GC,8106,-0.63,-194.6,853.4,-9.9,775,8107,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2379,3587
$GC,8417,-0.63,-194.6,884.2,-9.5,805,8419,0.00,1.30,0.00,0.000,4,0.000,0.044,2515,1502,3585
$GC,8517,-0.63,-194.6,894.4,-9.6,814,8526,0.12,1.33,0.00,0.000,6,0.149,0.047,2546,2371,3585
$GC,8833,-0.63,-194.6,918.7,-7.5,845,8837,0.00,1.30,0.00,0.000,4,0.000,0.044,2546,1496,3583
$GC,8869,-0.63,-194.6,921.6,-7.8,848,8877,0.00,1.35,0.00,0.000,6,0.000,0.048,2542,2377,3583
$GC,9186,-0.63,-194.6,946.3,-8.4,879,9189,0.00,1.30,0.00,0.000,4,0.000,0.044,2542,1501,3581
$GC,9222,-0.63,-194.6,949.4,-7.8,882,9231,0.00,1.35,0.00,0.000,6,0.000,0.048,2537,2380,3581
$GC,9539,-0.63,-194.6,975.2,-8.1,913,9540,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2380,3580
$STATE,9724,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9724,begin apogee
$GC,9729,-0.25,0.0,990.3,8.3,931,9888,0.43,0.00,150.38,1.243,6,0.135,0.000,2664,2292,2839
$STATE,9889,end apogee,CONTROL_FINISHED_OK
$STATE,9889,begin climb
$GC,9891,0.63,194.6,994.8,0.0,947,10070,0.88,1.75,169.15,1.214,4,0.101,0.058,2942,3163,2045
$GC,10091,0.63,194.6,978.9,12.1,964,10094,0.00,1.70,0.00,0.000,6,0.000,0.036,2950,2274,2039
$GC,10413,0.63,194.6,940.8,11.5,995,10417,0.00,1.65,0.00,0.000,4,0.000,0.054,2950,3159,2034
$GC,10445,0.63,194.6,936.6,11.6,998,10448,0.00,1.58,0.00,0.000,6,0.000,0.037,2957,2276,2033
$GC,10768,0.63,194.6,897.7,12.4,1029,10769,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2276,2031
$GC,11076,0.63,194.6,859.3,11.9,1059,11079,0.00,1.65,0.00,0.000,4,0.000,0.055,2957,3166,2031
$GC,11123,0.63,194.6,853.0,13.0,1063,11130,0.00,1.58,0.00,0.000,6,0.000,0.037,2965,2274,2029
$GC,11442,0.63,194.6,813.1,12.1,1094,11442,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2275,2030
$GC,11750,0.63,194.6,773.4,13.2,1124,11753,0.00,1.65,0.00,0.000,4,0.000,0.054,2965,3169,2029
$GC,11787,0.63,194.6,768.7,13.8,1127,11793,0.00,1.58,0.00,0.000,6,0.000,0.037,2972,2274,2028
$GC,12104,0.63,194.6,727.5,13.0,1158,12107,0.00,1.65,0.00,0.000,4,0.000,0.054,2972,3170,2028
$GC,12125,0.63,194.6,724.5,13.2,1160,12128,0.12,1.58,0.00,0.000,6,0.159,0.038,2949,2274,2027
$GC,12446,0.63,194.6,688.5,10.9,1191,12447,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2274,2027
$GC,12756,0.63,194.6,654.7,10.8,1221,12757,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2274,2027
$GC,13067,0.63,194.6,622.0,10.0,1251,13070,0.00,1.20,0.00,0.000,4,0.000,0.044,2953,1367,2027
$GC,13109,0.63,194.6,617.4,10.6,1255,13112,0.00,1.23,0.00,0.000,6,0.000,0.044,2953,2268,2027
$GC,13430,0.63,194.6,583.0,10.8,1286,13433,0.00,1.65,0.00,0.000,4,0.000,0.054,2953,3172,2027
$GC,13472,0.63,194.6,578.1,12.1,1290,13475,0.00,1.58,0.00,0.000,6,0.000,0.037,2961,2275,2026
$GC,13795,0.63,194.6,541.7,11.0,1321,13796,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2276,2026
$GC,14104,0.63,194.6,506.4,11.6,1351,14104,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2276,2026
$GC,14414,0.63,194.6,470.4,11.8,1381,14418,0.00,1.65,0.00,0.000,4,0.000,0.053,2960,3173,2026
$GC,14440,0.63,194.6,467.3,13.2,1383,14447,0.00,1.58,0.00,0.000,6,0.000,0.035,2968,2274,2026
$GC,14758,0.63,194.6,429.5,11.7,1414,14759,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2274,2026
$GC,15067,0.63,194.6,392.3,11.9,1444,15070,0.00,1.62,0.00,0.000,4,0.000,0.052,2969,3175,2026
$GC,15124,0.63,194.6,384.9,12.1,1449,15131,0.00,1.58,0.00,0.000,6,0.000,0.035,2976,2272,2026
$GC,15443,0.63,194.6,345.9,12.8,1480,15445,0.00,1.62,0.00,0.000,4,0.000,0.051,2976,3175,2026
$GC,15489,0.63,194.6,339.3,12.4,1484,15497,0.10,1.58,0.00,0.000,6,0.143,0.035,2953,2274,2026
$GC,15806,0.63,194.6,304.0,11.3,1515,15809,0.00,1.62,0.00,0.000,4,0.000,0.051,2953,3178,2026
$GC,15842,0.63,194.6,299.6,12.3,1518,15851,0.00,1.58,0.00,0.000,6,0.000,0.034,2958,2274,2026
$GC,16160,0.63,194.6,264.0,10.9,1549,16161,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2275,2026
$GC,16469,0.63,194.6,229.6,10.9,1579,16472,0.00,1.65,0.00,0.000,4,0.000,0.050,2958,3177,2027
$GC,16516,0.63,194.6,224.3,10.8,1583,16523,0.00,1.55,0.00,0.000,6,0.000,0.032,2965,2278,2026
$GC,16834,0.63,194.6,187.8,11.1,1614,16835,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2279,2027
$GC,17143,0.63,194.6,152.2,12.0,1644,17146,0.00,1.62,0.00,0.000,4,0.000,0.049,2965,3194,2028
$GC,17186,0.63,194.6,146.9,12.0,1648,17189,0.00,1.58,0.00,0.000,6,0.000,0.032,2973,2274,2027
$GC,17506,0.63,194.6,110.1,10.7,1679,17507,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2275,2028
$GC,17818,0.63,194.6,76.4,9.7,1709,17820,0.00,1.60,0.00,0.000,4,0.000,0.046,2973,3178,2029
$GC,17860,0.63,194.6,71.7,12.0,1713,17863,0.08,1.55,0.00,0.000,6,0.115,0.030,2945,2273,2030
$GC,18057,0.68,240.5,57.0,6.3,1732,18094,0.00,1.23,34.20,0.548,4,0.000,0.037,2949,1350,1859
$GC,18120,0.73,283.0,53.1,6.4,1737,18157,0.08,1.25,33.62,0.541,6,0.059,0.035,2994,2279,1685
$GC,18343,0.74,286.2,34.1,7.4,1758,18346,0.00,1.60,0.00,0.000,4,0.000,0.046,2994,3197,1680
$GC,18386,0.74,286.2,30.6,8.0,1762,18389,0.00,1.58,0.00,0.000,6,0.000,0.030,3002,2274,1679
$GC,18582,0.85,377.6,19.6,5.1,1781,18654,0.00,0.00,70.43,0.515,6,0.000,0.000,3002,2275,1299
$GC,18839,0.97,471.4,6.6,5.0,1806,18911,0.15,0.00,69.10,0.496,6,0.062,0.000,3077,2273,917
$STATE,19073,end climb,NO_VERTICAL_VELOCITY
$STATE,19073,begin surface
$SM_CCo,19075,92.97,0.486,0,0,404,597.54
$SM_GC,3.41,8.05,0.00,0.00,0.062,0.000,0.000,200,2399,400,-7.91,0.68,598.52
$IRIDIUM_FIX,2831.00,-8831.56,081099,232308
$TT8_MAMPS,0.051389
$HUMID,1372
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,22.8,44.639
$10V_AH,10.6,61.987
$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,20.575,102.550,526.875,92.975,0.000,95.356,111.212,401.153,3.750,0.000,0.000,35.947,0.000,13001.573,682.841,5578.333,1050.952,33.345,2291.104,0.000,4956.651,0.000,31.084,0.000
$DEVICE_MAMPS,249.275,59.826,1243.307,486.278,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1250.568,1332.922,4111.173,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97741,1829
$CAP_FILE_SIZE,189126,0
$CFSIZE,260165632,232263680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,45.876,282.5,1
$GPS,140710,235446,2842.888,-8828.155,14,2.2,33,-0.4