version: 66.04
glider: 515
mission: 5
dive: 260
start: 7 15 110 23 24 42
data:
$ID,515
$MISSION,5
$DIVE,260
$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,-20078.51
$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,32
$R_STBD_OVSHOOT,26
$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
$GPS1,224855,2840.604,-8835.510,115,1.8,115,-0.3
$_CALLS,8
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-78.2
$GPS2,232401,2839.906,-8836.025,9,1.4,14,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.202,0.171
$KALMAN_X,-13758.1,-1673.8,-962.9,39343.8,6120.2
$KALMAN_Y,-351815.2,-378.9,1409.7,372185.6,-12972.9
$MHEAD_RNG_PITCHd_Wd,300.5,15292,-10.8,-7.500
$D_GRID,1259
$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,-194.6,0.0,0.0,0,37,0.00,0.00,-22.77,0.000,2,0.000,0.000,199,2332,1139
$GC,39,-0.64,-194.6,3.2,-4.1,2,112,10.43,1.48,-56.30,0.000,4,0.251,0.061,2527,3229,3636
$GC,298,-0.64,-194.6,45.8,-17.7,25,305,0.00,1.45,0.00,0.000,6,0.000,0.025,2532,2333,3636
$GC,490,-0.64,-194.6,74.1,-14.3,44,491,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2333,3636
$GC,676,-0.64,-194.6,98.2,-13.8,62,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2333,3636
$GC,863,-0.64,-194.6,122.3,-12.1,80,866,0.00,1.25,0.00,0.000,4,0.000,0.033,2536,1393,3636
$GC,959,-0.64,-194.6,134.0,-12.0,89,962,0.00,1.27,0.00,0.000,6,0.000,0.034,2532,2329,3635
$GC,1281,-0.64,-194.6,171.6,-11.5,120,1284,0.00,1.25,0.00,0.000,4,0.000,0.033,2532,1401,3634
$GC,1317,-0.64,-194.6,176.3,-12.0,123,1324,0.00,1.27,0.00,0.000,6,0.000,0.034,2526,2324,3633
$GC,1635,-0.64,-194.6,213.2,-12.2,154,1636,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2325,3631
$GC,1945,-0.64,-194.6,249.0,-11.9,184,1947,0.00,1.25,0.00,0.000,4,0.000,0.035,2526,1391,3628
$GC,2040,-0.64,-194.6,260.2,-10.7,193,2043,0.00,1.27,0.00,0.000,6,0.000,0.038,2521,2319,3627
$GC,2363,-0.64,-194.6,296.9,-11.5,224,2364,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2319,3624
$GC,2672,-0.64,-194.6,333.1,-11.3,254,2672,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2318,3623
$GC,2983,-0.64,-194.6,369.3,-11.5,284,2986,0.00,1.25,0.00,0.000,4,0.000,0.038,2520,1406,3619
$GC,3035,-0.64,-194.6,375.5,-11.0,289,3039,0.00,1.27,0.00,0.000,6,0.000,0.040,2515,2324,3619
$GC,3359,-0.64,-194.6,412.2,-11.0,320,3359,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2324,3616
$GC,3667,-0.64,-194.6,447.1,-11.5,350,3668,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2324,3612
$GC,3978,-0.64,-194.6,481.6,-11.4,380,3979,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2324,3610
$GC,4288,-0.64,-194.6,515.6,-10.6,410,4291,0.00,1.25,0.00,0.000,4,0.000,0.041,2515,1425,3606
$GC,4331,-0.64,-194.6,520.3,-11.2,414,4334,0.08,1.27,0.00,0.000,6,0.146,0.042,2533,2326,3606
$GC,4652,-0.64,-194.6,551.0,-9.9,445,4652,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2326,3604
$GC,4962,-0.64,-194.6,579.0,-9.6,475,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2326,3601
$GC,5273,-0.64,-194.6,606.8,-9.0,505,5273,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2326,3598
$GC,5583,-0.64,-194.6,633.6,-8.4,535,5584,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2326,3596
$GC,5893,-0.64,-194.6,661.2,-8.7,565,5894,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2326,3593
$GC,6203,-0.64,-194.6,689.2,-9.0,595,6204,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2326,3591
$GC,6515,-0.64,-194.6,717.6,-9.0,625,6515,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2326,3590
$GC,6824,-0.64,-194.6,745.6,-8.9,655,6825,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2326,3588
$GC,7135,-0.64,-194.6,772.4,-8.4,685,7136,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2326,3587
$GC,7445,-0.64,-194.6,799.0,-8.5,715,7448,0.00,1.30,0.00,0.000,4,0.000,0.045,2534,1410,3584
$GC,7488,-0.64,-194.6,802.8,-9.0,719,7491,0.00,1.33,0.00,0.000,6,0.000,0.050,2530,2326,3584
$GC,7811,-0.64,-194.6,831.3,-8.9,750,7811,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2326,3582
$GC,8120,-0.64,-194.6,858.7,-8.9,780,8121,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2326,3580
$GC,8429,-0.64,-194.6,886.0,-8.8,810,8430,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2326,3580
$GC,8740,-0.64,-194.6,913.3,-9.3,840,8741,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2326,3579
$GC,9050,-0.64,-194.6,941.3,-8.9,870,9053,0.00,1.30,0.00,0.000,4,0.000,0.047,2530,1416,3577
$GC,9114,-0.64,-194.6,947.1,-9.2,876,9117,0.00,1.33,0.00,0.000,6,0.000,0.052,2525,2324,3577
$GC,9435,-0.64,-194.6,975.7,-8.9,907,9436,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2323,3575
$STATE,9601,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9601,begin apogee
$GC,9606,-0.26,0.0,990.6,8.9,923,9763,0.43,0.00,148.85,1.243,6,0.139,0.000,2654,2272,2840
$STATE,9763,end apogee,CONTROL_FINISHED_OK
$STATE,9763,begin climb
$GC,9765,0.64,194.6,995.9,0.0,939,9943,0.93,0.00,167.70,1.216,6,0.105,0.000,2945,2272,2045
$GC,10250,0.64,194.6,948.2,11.4,985,10251,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2271,2035
$GC,10561,0.64,194.6,912.5,11.7,1015,10562,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2271,2033
$GC,10872,0.64,194.6,875.8,11.7,1045,10873,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2271,2031
$GC,11182,0.64,194.6,839.9,11.5,1075,11185,0.00,1.20,0.00,0.000,4,0.000,0.046,2951,1374,2030
$GC,11219,0.64,194.6,835.5,11.7,1078,11226,0.00,1.23,0.00,0.000,6,0.000,0.044,2951,2272,2030
$GC,11536,0.64,194.6,798.5,11.5,1109,11539,0.00,1.65,0.00,0.000,4,0.000,0.055,2951,3175,2029
$GC,11561,0.64,194.6,794.8,13.5,1111,11568,0.00,1.55,0.00,0.000,6,0.000,0.037,2959,2282,2029
$GC,11879,0.64,194.6,755.5,12.5,1142,11880,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2283,2028
$GC,12189,0.64,194.6,717.7,12.0,1172,12192,0.00,1.23,0.00,0.000,4,0.000,0.044,2964,1369,2028
$GC,12246,0.64,194.6,710.5,12.2,1177,12254,0.00,1.27,0.00,0.000,6,0.000,0.044,2964,2282,2028
$GC,12564,0.64,194.6,670.8,12.6,1208,12567,0.00,1.60,0.00,0.000,4,0.000,0.055,2964,3189,2027
$GC,12596,0.64,194.6,666.3,14.4,1211,12599,0.00,1.60,0.00,0.000,6,0.000,0.038,2971,2258,2026
$GC,12917,0.64,194.6,624.2,13.0,1242,12918,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2258,2027
$GC,13228,0.64,194.6,584.1,13.2,1272,13231,0.00,1.65,0.00,0.000,4,0.000,0.054,2972,3170,2027
$GC,13253,0.64,194.6,580.4,15.3,1274,13262,0.00,1.58,0.00,0.000,6,0.000,0.036,2979,2273,2026
$GC,13571,0.64,194.6,538.1,13.0,1305,13572,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2273,2026
$GC,13881,0.64,194.6,498.7,12.7,1335,13882,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2274,2026
$GC,14191,0.64,194.6,458.9,12.5,1365,14194,0.00,1.62,0.00,0.000,4,0.000,0.053,2979,3177,2026
$GC,14223,0.64,194.6,454.4,14.6,1368,14226,0.12,1.58,0.00,0.000,6,0.158,0.036,2956,2274,2025
$GC,14544,0.64,194.6,418.3,10.7,1399,14547,0.00,1.20,0.00,0.000,4,0.000,0.043,2960,1365,2025
$GC,14608,0.64,194.6,411.1,10.1,1405,14611,0.00,1.25,0.00,0.000,6,0.000,0.043,2960,2281,2025
$GC,14930,0.64,194.6,374.7,11.4,1436,14933,0.00,1.60,0.00,0.000,4,0.000,0.053,2960,3194,2025
$GC,14966,0.64,194.6,370.3,11.9,1439,14973,0.00,1.58,0.00,0.000,6,0.000,0.035,2967,2280,2025
$GC,15284,0.64,194.6,332.7,11.6,1470,15285,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2280,2025
$GC,15593,0.64,194.6,295.5,12.1,1500,15594,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2281,2025
$GC,15904,0.64,194.6,257.6,12.5,1530,15905,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2281,2026
$GC,16214,0.64,194.6,219.6,11.9,1560,16215,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2281,2026
$GC,16525,0.64,194.6,183.8,11.3,1590,16528,0.00,1.20,0.00,0.000,4,0.000,0.040,2972,1366,2026
$GC,16561,0.64,194.6,179.5,12.8,1593,16568,0.00,1.25,0.00,0.000,6,0.000,0.039,2972,2280,2026
$GC,16879,0.64,194.6,141.6,11.7,1624,16880,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2280,2026
$GC,17188,0.64,194.6,104.8,11.2,1654,17191,0.00,1.58,0.00,0.000,4,0.000,0.048,2972,3163,2028
$GC,17224,0.64,194.6,100.4,13.3,1657,17231,0.00,1.52,0.00,0.000,6,0.000,0.031,2980,2273,2028
$GC,17542,0.64,194.6,68.5,9.5,1688,17545,0.00,1.15,0.00,0.000,4,0.000,0.036,2985,1377,2029
$GC,17574,0.64,194.6,65.4,9.6,1691,17577,0.08,1.20,0.00,0.000,6,0.132,0.037,2959,2278,2029
$GC,17771,0.66,210.1,50.4,7.1,1710,17784,0.00,0.00,11.12,0.505,6,0.000,0.000,2960,2279,1983
$GC,17968,0.80,323.5,38.4,4.5,1729,18063,0.12,1.65,85.72,0.540,4,0.067,0.044,3019,3174,1520
$GC,18127,0.80,327.2,26.1,7.4,1743,18138,0.00,1.55,3.72,0.328,6,0.000,0.029,3028,2277,1504
$GC,18324,0.95,448.5,15.1,4.3,1762,18419,0.00,1.60,89.57,0.509,4,0.000,0.043,3027,3173,1011
$GC,18659,1.28,718.1,7.5,0.4,1792,18774,0.38,1.52,108.78,0.489,6,0.137,0.030,3147,2278,404
$STATE,18947,end climb,NO_VERTICAL_VELOCITY
$STATE,18947,begin surface
$SM_CCo,19208,0.00,0.000,0,0,401,598.28
$SM_GC,3.26,8.12,0.00,0.00,0.059,0.000,0.000,203,2343,401,-7.91,0.51,598.28
$IRIDIUM_FIX,2831.00,-8836.53,091099,232330
$TT8_MAMPS,0.050622
$HUMID,1376
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,23.0,45.544
$10V_AH,10.6,63.013
$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,20.675,58.650,615.475,0.000,0.000,207.707,364.500,936.930,3.750,0.000,0.000,16.453,0.000,13407.573,602.024,5350.753,1920.056,33.342,2119.636,0.000,4811.764,0.000,35.177,0.000
$DEVICE_MAMPS,250.809,74.399,1242.540,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1243.353,1333.291,4089.058,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94638,1819
$CAP_FILE_SIZE,187682,0
$CFSIZE,260165632,231899136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,96.094,298.7,1
$GPS,150710,232401,2839.906,-8836.025,9,1.4,14,-0.3