version: 66.04
glider: 515
mission: 5
dive: 258
start: 7 15 110 11 22 26
data:
$ID,515
$MISSION,5
$DIVE,258
$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,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,-20047.924
$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,37
$R_STBD_OVSHOOT,33
$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
$GPS1,104222,2841.531,-8831.008,719,2.7,738,-0.4
$_CALLS,8
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.78
$_SM_ANGLEo,-74.2
$GPS2,112105,2841.570,-8830.892,18,2.4,37,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.237,0.118
$KALMAN_X,-15287.6,60.9,-686.7,47188.8,9177.3
$KALMAN_Y,-342796.3,836.0,2994.3,363370.1,-14469.3
$MHEAD_RNG_PITCHd_Wd,281.3,22969,-10.8,-7.500
$D_GRID,1404
$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,-194.6,0.0,0.0,0,39,0.00,0.00,-24.50,0.000,2,0.000,0.000,204,2337,1192
$GC,41,-0.64,-194.6,3.2,-3.1,2,123,10.77,1.50,-62.17,0.000,4,0.262,0.057,2525,3226,3635
$GC,363,-0.64,-194.6,55.0,-16.8,31,370,0.00,1.42,0.00,0.000,6,0.000,0.025,2530,2330,3635
$GC,555,-0.64,-194.6,80.4,-12.7,50,558,0.00,1.50,0.00,0.000,4,0.000,0.040,2524,3225,3636
$GC,672,-0.64,-194.6,94.9,-12.1,61,675,0.00,1.42,0.00,0.000,6,0.000,0.025,2525,2326,3636
$GC,869,-0.64,-194.6,120.2,-13.0,80,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2325,3636
$GC,1180,-0.64,-194.6,158.9,-11.9,110,1180,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2325,3634
$GC,1490,-0.64,-194.6,196.3,-12.5,140,1493,0.00,1.20,0.00,0.000,4,0.000,0.034,2524,1412,3631
$GC,1537,-0.64,-194.6,202.1,-12.2,144,1544,0.00,1.25,0.00,0.000,6,0.000,0.032,2520,2325,3630
$GC,1856,-0.64,-194.6,239.9,-11.7,175,1856,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2325,3627
$GC,2164,-0.64,-194.6,274.9,-10.9,205,2167,0.00,1.23,0.00,0.000,4,0.000,0.035,2519,1417,3624
$GC,2217,-0.64,-194.6,281.2,-11.4,210,2220,0.00,1.23,0.00,0.000,6,0.000,0.035,2514,2322,3624
$GC,2540,-0.64,-194.6,317.7,-11.6,241,2542,0.00,1.23,0.00,0.000,4,0.000,0.035,2514,1415,3620
$GC,2582,-0.64,-194.6,322.9,-11.9,245,2585,0.08,1.23,0.00,0.000,6,0.142,0.036,2533,2317,3620
$GC,2903,-0.64,-194.6,355.3,-10.1,276,2906,0.00,1.55,0.00,0.000,4,0.000,0.046,2527,3231,3617
$GC,2934,-0.64,-194.6,358.6,-10.3,279,2938,0.00,1.45,0.00,0.000,6,0.000,0.030,2527,2329,3616
$GC,3257,-0.64,-194.6,392.4,-10.4,310,3258,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2329,3613
$GC,3566,-0.64,-194.6,424.4,-10.3,340,3570,0.00,1.25,0.00,0.000,4,0.000,0.039,2527,1411,3610
$GC,3619,-0.64,-194.6,430.2,-10.6,345,3622,0.00,1.27,0.00,0.000,6,0.000,0.040,2522,2325,3610
$GC,3943,-0.64,-194.6,463.4,-10.5,376,3943,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2326,3606
$GC,4251,-0.64,-194.6,496.0,-10.6,406,4251,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2326,3604
$GC,4562,-0.64,-194.6,529.5,-11.0,436,4565,0.00,1.25,0.00,0.000,4,0.000,0.041,2521,1429,3600
$GC,4597,-0.64,-194.6,533.6,-10.7,439,4605,0.00,1.27,0.00,0.000,6,0.000,0.041,2516,2324,3600
$GC,4916,-0.64,-194.6,567.9,-10.6,470,4917,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2324,3597
$GC,5225,-0.64,-194.6,601.0,-11.2,500,5226,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2324,3594
$GC,5535,-0.64,-194.6,634.0,-10.8,530,5536,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2324,3592
$GC,5846,-0.64,-194.6,666.3,-10.3,560,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2324,3590
$GC,6156,-0.64,-194.6,698.8,-10.5,590,6157,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2324,3588
$GC,6467,-0.64,-194.6,730.7,-10.3,620,6467,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2324,3586
$GC,6777,-0.64,-194.6,761.6,-10.1,650,6778,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2325,3583
$GC,7088,-0.64,-194.6,792.5,-10.0,680,7088,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2324,3581
$GC,7397,-0.64,-194.6,823.4,-10.0,710,7398,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2324,3580
$GC,7710,-0.64,-194.6,854.1,-9.6,740,7710,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2324,3578
$GC,8018,-0.64,-194.6,884.9,-10.0,770,8019,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2324,3576
$GC,8329,-0.64,-194.6,914.7,-9.1,800,8330,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2325,3574
$GC,8639,-0.64,-194.6,944.1,-9.9,830,8642,0.00,1.58,0.00,0.000,4,0.000,0.059,2509,3215,3573
$GC,8707,-0.64,-194.6,951.1,-10.7,836,8715,0.08,1.48,0.00,0.000,6,0.146,0.038,2533,2334,3573
$GC,9024,-0.64,-194.6,976.5,-7.6,867,9027,0.00,1.30,0.00,0.000,4,0.000,0.047,2533,1422,3572
$GC,9067,-0.64,-194.6,980.0,-7.9,871,9072,0.00,1.27,0.00,0.000,6,0.000,0.050,2529,2312,3571
$STATE,9201,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9201,begin apogee
$GC,9206,-0.26,0.0,990.6,8.2,884,9356,0.43,0.00,147.30,1.243,6,0.134,0.000,2657,2274,2840
$STATE,9356,end apogee,CONTROL_FINISHED_OK
$STATE,9356,begin climb
$GC,9359,0.64,194.6,994.8,0.0,899,9530,0.90,0.00,165.75,1.216,6,0.104,0.000,2944,2274,2046
$GC,9839,0.64,194.6,945.6,11.7,945,9842,0.00,1.65,0.00,0.000,4,0.000,0.060,2944,3173,2035
$GC,9871,0.64,194.6,941.7,13.1,948,9874,0.00,1.58,0.00,0.000,6,0.000,0.037,2952,2275,2034
$GC,10193,0.64,194.6,901.8,12.9,979,10196,0.00,1.62,0.00,0.000,4,0.000,0.055,2952,3176,2033
$GC,10218,0.64,194.6,898.2,13.4,981,10227,0.00,1.58,0.00,0.000,6,0.000,0.036,2959,2276,2032
$GC,10537,0.64,194.6,858.7,12.5,1012,10540,0.00,1.20,0.00,0.000,4,0.000,0.043,2965,1369,2032
$GC,10573,0.64,194.6,854.0,12.9,1015,10580,0.00,1.25,0.00,0.000,6,0.000,0.044,2965,2273,2031
$GC,10891,0.64,194.6,812.8,13.0,1046,10894,0.00,1.62,0.00,0.000,4,0.000,0.054,2964,3190,2030
$GC,10944,0.64,194.6,805.2,14.1,1051,10947,0.00,1.60,0.00,0.000,6,0.000,0.038,2972,2271,2029
$GC,11267,0.64,194.6,762.8,13.4,1082,11270,0.00,1.20,0.00,0.000,4,0.000,0.044,2978,1364,2029
$GC,11299,0.64,194.6,758.2,13.8,1085,11302,0.00,1.25,0.00,0.000,6,0.000,0.044,2978,2277,2029
$GC,11621,0.64,194.6,713.7,13.5,1116,11624,0.00,1.62,0.00,0.000,4,0.000,0.054,2978,3200,2028
$GC,11653,0.64,194.6,709.0,14.1,1119,11657,0.12,1.60,0.00,0.000,6,0.160,0.036,2955,2263,2027
$GC,11975,0.64,194.6,671.1,11.0,1150,11978,0.00,1.17,0.00,0.000,4,0.000,0.043,2959,1360,2027
$GC,12029,0.64,194.6,664.9,11.4,1155,12031,0.00,1.25,0.00,0.000,6,0.000,0.044,2959,2275,2027
$GC,12351,0.64,194.6,626.6,11.7,1186,12354,0.00,1.60,0.00,0.000,4,0.000,0.054,2959,3179,2027
$GC,12376,0.64,194.6,623.3,12.4,1188,12383,0.00,1.58,0.00,0.000,6,0.000,0.036,2967,2274,2026
$GC,12695,0.64,194.6,583.8,12.4,1219,12695,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2276,2026
$GC,13003,0.64,194.6,546.5,11.8,1249,13006,0.00,1.62,0.00,0.000,4,0.000,0.053,2967,3183,2026
$GC,13035,0.64,194.6,542.5,13.3,1252,13038,0.00,1.58,0.00,0.000,6,0.000,0.036,2974,2278,2025
$GC,13356,0.64,194.6,501.3,13.0,1283,13359,0.00,1.20,0.00,0.000,4,0.000,0.042,2980,1371,2025
$GC,13388,0.64,194.6,497.3,13.6,1286,13391,0.00,1.23,0.00,0.000,6,0.000,0.043,2979,2274,2025
$GC,13711,0.64,194.6,455.3,12.8,1317,13713,0.00,1.60,0.00,0.000,4,0.000,0.053,2980,3176,2025
$GC,13747,0.64,194.6,450.0,14.5,1320,13754,0.10,1.58,0.00,0.000,6,0.151,0.035,2957,2271,2025
$GC,14063,0.64,194.6,414.1,11.3,1351,14064,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2272,2025
$GC,14373,0.64,194.6,378.4,11.4,1381,14376,0.00,1.17,0.00,0.000,4,0.000,0.041,2961,1375,2025
$GC,14410,0.64,194.6,374.2,11.3,1384,14417,0.00,1.23,0.00,0.000,6,0.000,0.042,2961,2279,2025
$GC,14727,0.64,194.6,337.6,11.3,1415,14728,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2279,2025
$GC,15037,0.64,194.6,300.7,11.5,1445,15038,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2279,2025
$GC,15347,0.64,194.6,265.0,11.0,1475,15350,0.00,1.60,0.00,0.000,4,0.000,0.051,2961,3170,2025
$GC,15368,0.64,194.6,262.4,12.3,1477,15371,0.00,1.55,0.00,0.000,6,0.000,0.034,2968,2275,2025
$GC,15689,0.64,194.6,225.1,10.5,1508,15690,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2276,2025
$GC,16000,0.64,194.6,189.8,11.2,1538,16003,0.00,1.62,0.00,0.000,4,0.000,0.049,2968,3194,2026
$GC,16053,0.64,194.6,183.2,12.2,1543,16056,0.00,1.60,0.00,0.000,6,0.000,0.033,2976,2267,2026
$GC,16374,0.64,194.6,143.6,12.0,1574,16375,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2267,2026
$GC,16685,0.64,194.6,107.8,11.9,1604,16688,0.00,1.65,0.00,0.000,4,0.000,0.048,2976,3177,2027
$GC,16749,0.64,194.6,100.2,12.4,1610,16752,0.08,1.55,0.00,0.000,6,0.143,0.031,2959,2272,2027
$GC,17069,0.64,194.6,69.4,9.2,1641,17072,0.00,1.62,0.00,0.000,4,0.000,0.047,2959,3174,2028
$GC,17133,0.64,194.6,63.7,9.9,1647,17136,0.00,1.52,0.00,0.000,6,0.000,0.030,2965,2275,2028
$GC,17331,0.64,194.6,48.3,7.9,1666,17333,0.00,1.60,0.00,0.000,4,0.000,0.046,2965,3188,2029
$GC,17373,0.64,194.6,45.0,8.3,1670,17376,0.00,1.55,0.00,0.000,6,0.000,0.029,2972,2274,2029
$GC,17570,0.75,280.8,33.1,5.2,1689,17642,0.00,1.23,63.75,0.532,4,0.000,0.035,2978,1358,1694
$GC,17708,0.85,368.8,26.6,5.2,1701,17781,0.10,1.23,66.20,0.518,6,0.051,0.035,3041,2279,1336
$GC,17965,0.85,368.8,6.8,7.5,1725,17968,0.00,1.58,0.00,0.000,4,0.000,0.043,3041,3166,1328
$GC,18172,1.23,670.1,5.9,-0.4,1744,18348,0.25,1.52,165.48,0.492,6,0.072,0.027,3140,2267,403
$STATE,18518,end climb,SURFACE_DEPTH_REACHED
$STATE,18518,begin surface coast
$FINISH,0.7,1.014123
$STATE,18777,end surface coast,NO_VERTICAL_VELOCITY
$STATE,18777,begin surface
$SM_CCo,18852,0.00,0.000,0,0,400,598.52
$SM_GC,1.88,7.68,0.00,0.00,0.033,0.000,0.000,195,2339,400,-7.91,0.40,598.52
$IRIDIUM_FIX,2831.00,-8829.10,091099,111129
$TT8_MAMPS,0.049855
$HUMID,1392
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,25.30
$XPDR_PINGS,2
$24V_AH,23.2,45.036
$10V_AH,10.6,62.500
$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,20.575,83.125,608.475,0.000,0.000,233.574,305.949,1058.700,4.250,0.000,0.000,39.910,0.000,13017.213,601.980,5397.410,2171.805,33.339,2147.789,0.000,4819.423,0.000,30.530,0.000
$DEVICE_MAMPS,262.314,76.700,1243.307,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1230.359,1313.270,4049.137,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94710,1801
$CAP_FILE_SIZE,200288,0
$CFSIZE,260165632,232026112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.111,143.9,1
$GPS,150710,164200,2841.167,-8833.098,302,1.6,302,-0.3