version: 66.04
glider: 515
mission: 5
dive: 257
start: 7 15 110 6 21 13
data:
$ID,515
$MISSION,5
$DIVE,257
$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,-20007.379
$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,40
$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
$GPS1,235446,2842.888,-8828.155,14,2.2,33,-0.4
$_CALLS,8
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-76.6
$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,-0.231,0.130
$KALMAN_X,-18518.4,-569.7,4.9,53117.4,6369.2
$KALMAN_Y,-342491.1,249.5,-412.7,360620.2,-10021.6
$MHEAD_RNG_PITCHd_Wd,223.5,27377,-26.8,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,13,-1.04,-41.0,0.0,0.0,0,27,0.00,0.00,-12.27,0.000,2,0.000,0.000,200,2403,809
$GC,29,-1.12,-102.1,3.0,-0.0,1,107,9.85,1.42,-64.90,0.000,4,0.253,0.051,2384,1397,3259
$GC,347,-1.12,-102.1,49.1,-16.1,29,355,0.00,1.20,0.00,0.000,6,0.000,0.029,2380,2311,3259
$GC,539,-1.12,-102.1,74.4,-14.2,48,542,0.00,1.17,0.00,0.000,4,0.000,0.031,2384,1413,3259
$GC,785,-1.12,-102.1,107.9,-14.3,71,788,0.00,1.20,0.00,0.000,6,0.000,0.031,2380,2320,3259
$GC,1107,-1.12,-102.1,156.6,-14.4,102,1110,0.00,1.20,0.00,0.000,4,0.000,0.031,2384,1414,3258
$GC,1353,-1.12,-102.1,193.0,-14.0,125,1356,0.00,1.23,0.00,0.000,6,0.000,0.031,2379,2325,3255
$GC,1675,-1.12,-102.1,238.2,-14.1,156,1678,0.00,1.23,0.00,0.000,4,0.000,0.032,2384,1402,3253
$GC,1711,-1.12,-102.1,243.9,-14.9,159,1719,0.00,1.25,0.00,0.000,6,0.000,0.031,2379,2327,3252
$GC,2029,-1.12,-102.1,289.4,-14.2,190,2032,0.00,1.23,0.00,0.000,4,0.000,0.033,2384,1414,3249
$GC,2118,-1.12,-102.1,302.6,-14.0,198,2125,0.00,1.25,0.00,0.000,6,0.000,0.032,2379,2326,3249
$GC,2436,-1.12,-102.1,347.6,-14.4,229,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2326,3246
$GC,2745,-1.12,-102.1,392.9,-14.5,259,2746,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2326,3242
$GC,3056,-1.12,-102.1,438.3,-14.9,289,3059,0.00,1.23,0.00,0.000,4,0.000,0.037,2384,1419,3238
$GC,3120,-1.12,-102.1,447.5,-13.6,295,3123,0.00,1.23,0.00,0.000,6,0.000,0.037,2380,2319,3237
$GC,3442,-1.12,-102.1,493.7,-14.2,326,3443,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2319,3234
$GC,3751,-1.12,-102.1,538.2,-14.8,356,3752,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2318,3231
$GC,4062,-1.12,-102.1,582.6,-14.3,386,4065,0.00,1.23,0.00,0.000,4,0.000,0.039,2384,1423,3228
$GC,4190,-1.12,-102.1,600.5,-13.9,398,4193,0.00,1.25,0.00,0.000,6,0.000,0.039,2379,2325,3227
$GC,4513,-1.12,-102.1,646.1,-14.6,429,4513,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2325,3224
$GC,4821,-1.12,-102.1,690.1,-14.4,459,4824,0.00,1.25,0.00,0.000,4,0.000,0.041,2384,1419,3221
$GC,4853,-1.12,-102.1,694.6,-14.2,462,4856,0.00,1.25,0.00,0.000,6,0.000,0.041,2379,2320,3220
$GC,5175,-1.12,-102.1,739.2,-13.8,493,5178,0.00,1.55,0.00,0.000,4,0.000,0.051,2372,3221,3218
$GC,5228,-1.12,-102.1,746.8,-13.4,498,5231,0.00,1.48,0.00,0.000,6,0.000,0.035,2376,2331,3217
$GC,5551,-1.12,-102.1,790.3,-13.5,529,5554,0.00,1.27,0.00,0.000,4,0.000,0.043,2377,1414,3215
$GC,5615,-1.12,-102.1,798.9,-13.0,535,5618,0.00,1.27,0.00,0.000,6,0.000,0.044,2372,2318,3214
$GC,5938,-1.12,-102.1,840.6,-12.8,566,5940,0.00,1.25,0.00,0.000,4,0.000,0.043,2374,1420,3212
$GC,6023,-1.12,-102.1,851.9,-13.4,574,6026,0.00,1.30,0.00,0.000,6,0.000,0.044,2369,2330,3211
$GC,6344,-1.12,-102.1,894.3,-13.0,605,6347,0.00,1.55,0.00,0.000,4,0.000,0.054,2362,3226,3209
$GC,6401,-1.12,-102.1,902.6,-14.6,610,6409,0.00,1.50,0.00,0.000,6,0.000,0.035,2362,2324,3208
$GC,6718,-1.12,-102.1,944.8,-12.7,641,6721,0.00,1.55,0.00,0.000,4,0.000,0.054,2355,3216,3206
$GC,6776,-1.12,-102.1,952.7,-13.3,646,6783,0.00,1.50,0.00,0.000,6,0.000,0.035,2360,2322,3206
$STATE,7081,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7081,begin apogee
$GC,7086,-0.26,0.0,991.0,12.4,676,7164,1.10,0.00,73.95,1.229,6,0.190,0.000,2653,2276,2840
$STATE,7164,end apogee,CONTROL_FINISHED_OK
$STATE,7164,begin climb
$GC,7166,1.12,102.1,993.9,0.0,684,7262,1.38,1.73,87.32,1.213,4,0.106,0.054,3096,3162,2423
$GC,7310,1.12,102.1,975.2,19.3,696,7316,0.00,1.60,0.00,0.000,6,0.000,0.035,3104,2273,2417
$GC,7627,1.12,102.1,915.6,18.4,727,7630,0.00,1.62,0.00,0.000,4,0.000,0.051,3100,3162,2411
$GC,7695,1.12,102.1,902.4,19.6,733,7703,0.00,1.55,0.00,0.000,6,0.000,0.034,3106,2275,2409
$GC,8013,1.12,102.1,844.9,18.1,764,8016,0.00,1.62,0.00,0.000,4,0.000,0.052,3106,3164,2408
$GC,8070,1.12,102.1,833.4,19.0,769,8079,0.00,1.55,0.00,0.000,6,0.000,0.034,3112,2275,2408
$GC,8389,1.12,102.1,775.1,18.6,800,8392,0.00,1.60,0.00,0.000,4,0.000,0.051,3112,3173,2407
$GC,8410,1.12,102.1,770.8,18.8,802,8413,0.00,1.55,0.00,0.000,6,0.000,0.035,3120,2275,2406
$GC,8732,1.12,102.1,711.1,18.5,833,8735,0.00,1.62,0.00,0.000,4,0.000,0.051,3119,3166,2405
$GC,8764,1.12,102.1,704.8,19.3,836,8766,0.00,1.55,0.00,0.000,6,0.000,0.035,3126,2273,2404
$GC,9086,1.12,102.1,646.0,18.4,867,9089,0.00,1.60,0.00,0.000,4,0.000,0.051,3126,3169,2404
$GC,9171,1.12,102.1,629.1,19.9,875,9174,0.00,1.55,0.00,0.000,6,0.000,0.035,3134,2275,2403
$GC,9493,1.12,102.1,569.9,19.0,906,9496,0.00,1.62,0.00,0.000,4,0.000,0.051,3134,3189,2402
$GC,9582,1.12,102.1,552.2,19.3,914,9590,0.10,1.58,0.00,0.000,6,0.205,0.034,3114,2278,2401
$GC,9899,1.12,102.1,496.5,18.0,945,9902,0.00,1.62,0.00,0.000,4,0.000,0.052,3114,3171,2401
$GC,9946,1.12,102.1,487.9,19.4,949,9955,0.00,1.55,0.00,0.000,6,0.000,0.034,3120,2275,2400
$GC,10264,1.12,102.1,433.5,17.1,980,10267,0.00,1.62,0.00,0.000,4,0.000,0.051,3117,3166,2400
$GC,10349,1.12,102.1,418.5,17.8,988,10352,0.00,1.55,0.00,0.000,6,0.000,0.034,3124,2274,2400
$GC,10672,1.12,102.1,363.1,17.4,1019,10675,0.00,1.60,0.00,0.000,4,0.000,0.050,3121,3174,2400
$GC,10697,1.12,102.1,358.2,17.8,1021,10706,0.00,1.55,0.00,0.000,6,0.000,0.033,3127,2274,2399
$GC,11015,1.12,102.1,301.9,18.8,1052,11018,0.00,1.62,0.00,0.000,4,0.000,0.050,3127,3171,2399
$GC,11073,1.12,102.1,290.7,18.7,1057,11081,0.00,1.55,0.00,0.000,6,0.000,0.033,3134,2274,2399
$GC,11390,1.12,102.1,233.5,18.1,1088,11393,0.00,1.60,0.00,0.000,4,0.000,0.048,3134,3174,2399
$GC,11487,1.12,102.1,215.1,18.4,1097,11490,0.08,1.55,0.00,0.000,6,0.183,0.032,3111,2274,2399
$GC,11807,1.12,102.1,162.6,15.3,1128,11810,0.00,1.62,0.00,0.000,4,0.000,0.048,3103,3174,2400
$GC,11951,1.12,102.1,138.9,14.5,1141,11959,0.00,1.55,0.00,0.000,6,0.000,0.031,3110,2272,2400
$GC,12268,1.12,102.1,90.8,15.0,1172,12271,0.00,1.60,0.00,0.000,4,0.000,0.047,3104,3180,2401
$GC,12365,1.12,102.1,76.0,15.6,1181,12368,0.00,1.55,0.00,0.000,6,0.000,0.031,3110,2270,2401
$GC,12561,1.12,102.1,51.8,10.1,1200,12564,0.00,1.62,0.00,0.000,4,0.000,0.047,3110,3173,2402
$GC,12593,1.12,102.1,48.1,12.3,1203,12596,0.00,1.52,0.00,0.000,6,0.000,0.030,3117,2273,2402
$GC,12790,1.15,131.7,37.5,3.9,1222,12814,0.00,1.65,20.67,0.532,4,0.000,0.044,3117,3176,2302
$GC,13010,1.22,181.7,26.6,1.4,1242,13054,0.00,1.52,38.50,0.528,6,0.000,0.028,3124,2273,2098
$GC,13239,1.22,187.9,15.1,6.7,1264,13250,0.00,1.62,5.35,0.396,4,0.000,0.043,3125,3175,2074
$GC,13432,1.30,252.7,6.0,-0.4,1282,13485,0.00,1.52,49.38,0.499,6,0.000,0.027,3133,2269,1808
$GC,13679,1.36,300.7,4.8,1.6,1305,13719,0.15,1.17,35.95,0.482,4,0.064,0.033,3202,1359,1612
$GC,13962,1.42,349.7,4.6,1.5,1331,14001,0.00,1.20,36.30,0.473,6,0.000,0.033,3201,2277,1414
$GC,14184,1.50,412.5,4.9,-0.2,1352,14234,0.00,1.23,46.53,0.470,4,0.000,0.031,3207,1360,1157
$GC,14474,1.58,477.4,4.7,-0.5,1378,14530,0.10,1.23,47.70,0.464,6,0.067,0.031,3277,2284,892
$STATE,14712,end climb,NO_VERTICAL_VELOCITY
$STATE,14712,begin surface
$SM_CCo,14715,87.60,0.462,0,0,404,597.54
$SM_GC,2.72,8.45,0.00,0.00,0.054,0.000,0.000,205,2334,400,-7.90,0.25,598.52
$IRIDIUM_FIX,2831.00,-8831.62,091099,060638
$TT8_MAMPS,0.049855
$HUMID,1323
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,27.40
$XPDR_PINGS,1
$24V_AH,23.8,44.800
$10V_AH,10.7,62.231
$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,21.200,93.000,441.650,87.600,0.000,246.870,444.286,442.183,4.000,0.000,0.000,904.957,0.000,10035.286,572.845,5403.697,1595.840,33.340,1925.890,0.000,4010.439,0.000,29.579,0.000
$DEVICE_MAMPS,253.110,81.302,1228.734,461.734,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,954.224,1024.901,3150.552,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75700,1401
$CAP_FILE_SIZE,163875,0
$CFSIZE,260165632,232181760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.218,265.3,1
$GPS,150710,104222,2841.531,-8831.008,719,2.7,738,-0.4