version: 66.04
glider: 515
mission: 5
dive: 261
start: 7 16 110 5 45 37
data:
$ID,515
$MISSION,5
$DIVE,261
$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,-21889.578
$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,35
$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
$GPS1,232401,2839.906,-8836.025,9,1.4,14,-0.3
$_CALLS,8
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-78.7
$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,-0.242,0.107
$KALMAN_X,-10400.0,-497.7,623.1,34013.3,4871.0
$KALMAN_Y,-360144.3,-1903.0,-1710.0,376699.1,-1556.4
$MHEAD_RNG_PITCHd_Wd,242.9,15292,-26.8,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-1.04,-41.0,0.0,0.0,0,38,0.00,0.00,-22.77,0.000,2,0.000,0.000,203,2345,1156
$GC,40,-1.05,-44.1,3.7,-7.1,2,101,9.90,1.30,-41.62,0.000,4,0.252,0.065,2405,1413,3022
$GC,116,-1.05,-44.1,16.5,-22.7,8,123,0.00,1.23,0.00,0.000,6,0.000,0.028,2402,2329,3022
$GC,308,-1.05,-44.1,40.6,-13.8,27,311,0.00,1.45,0.00,0.000,4,0.000,0.037,2394,3220,3022
$GC,430,-1.07,-61.3,47.9,-5.4,38,439,0.00,1.42,-0.68,0.000,6,0.000,0.025,2400,2319,3091
$GC,622,-1.07,-61.3,62.4,-7.9,57,625,0.00,1.17,0.00,0.000,4,0.000,0.031,2404,1420,3091
$GC,868,-1.07,-61.3,80.7,-8.3,80,871,0.00,1.20,0.00,0.000,6,0.000,0.030,2400,2322,3091
$GC,1065,-1.07,-61.3,97.0,-7.6,99,1068,0.00,1.20,0.00,0.000,4,0.000,0.031,2403,1422,3091
$GC,1203,-1.07,-61.3,109.3,-9.2,112,1206,0.00,1.20,0.00,0.000,6,0.000,0.031,2398,2320,3091
$GC,1526,-1.07,-61.3,141.4,-10.3,143,1529,0.00,1.50,0.00,0.000,4,0.000,0.039,2391,3231,3089
$GC,1558,-1.07,-61.3,144.8,-10.7,146,1561,0.00,1.42,0.00,0.000,6,0.000,0.025,2395,2327,3089
$GC,1880,-1.07,-61.3,172.8,-8.1,177,1883,0.00,1.20,0.00,0.000,4,0.000,0.033,2401,1417,3086
$GC,2125,-1.07,-61.3,193.2,-9.2,200,2128,0.00,1.23,0.00,0.000,6,0.000,0.031,2396,2323,3085
$GC,2448,-1.07,-61.3,222.3,-9.2,231,2451,0.00,1.50,0.00,0.000,4,0.000,0.041,2389,3231,3083
$GC,2491,-1.07,-61.3,226.4,-9.2,235,2494,0.00,1.45,0.00,0.000,6,0.000,0.028,2391,2321,3083
$GC,2813,-1.07,-61.3,254.0,-8.2,266,2813,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2322,3080
$GC,3122,-1.07,-61.3,280.7,-9.0,296,3125,0.00,1.52,0.00,0.000,4,0.000,0.041,2385,3230,3078
$GC,3272,-1.07,-61.3,294.4,-9.3,310,3275,0.00,1.45,0.00,0.000,6,0.000,0.028,2391,2324,3076
$GC,3594,-1.07,-61.3,322.9,-9.0,341,3597,0.00,1.23,0.00,0.000,4,0.000,0.036,2391,1412,3074
$GC,3619,-1.07,-61.3,325.7,-9.9,343,3627,0.00,1.25,0.00,0.000,6,0.000,0.033,2387,2322,3074
$GC,3938,-1.07,-61.3,354.0,-9.1,374,3938,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2322,3072
$GC,4246,-1.07,-61.3,380.8,-8.9,404,4249,0.00,1.23,0.00,0.000,4,0.000,0.037,2390,1426,3070
$GC,4492,-1.07,-61.3,402.9,-8.4,427,4494,0.00,1.25,0.00,0.000,6,0.000,0.035,2385,2329,3067
$GC,4814,-1.07,-61.3,432.3,-9.0,458,4817,0.00,1.25,0.00,0.000,4,0.000,0.037,2388,1422,3065
$GC,4914,-1.07,-61.3,441.9,-9.0,467,4921,0.00,1.25,0.00,0.000,6,0.000,0.035,2383,2326,3064
$GC,5232,-1.07,-61.3,471.5,-9.2,498,5235,0.00,1.25,0.00,0.000,4,0.000,0.038,2387,1418,3062
$GC,5428,-1.07,-61.3,490.2,-9.4,516,5435,0.00,1.25,0.00,0.000,6,0.000,0.036,2382,2323,3062
$GC,5746,-1.07,-61.3,520.2,-9.8,547,5746,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2323,3060
$GC,6055,-1.07,-61.3,550.3,-10.5,577,6058,0.00,1.52,0.00,0.000,4,0.000,0.048,2374,3219,3058
$GC,6119,-1.07,-61.3,556.6,-10.6,583,6123,0.00,1.45,0.00,0.000,6,0.000,0.032,2374,2331,3058
$GC,6442,-1.07,-61.3,587.9,-9.6,614,6445,0.00,1.27,0.00,0.000,4,0.000,0.041,2374,1410,3056
$GC,6548,-1.07,-61.3,598.5,-9.5,624,6551,0.00,1.27,0.00,0.000,6,0.000,0.041,2369,2321,3055
$GC,6871,-1.07,-61.3,628.7,-9.4,655,6872,0.12,0.00,0.00,0.000,6,0.212,0.000,2396,2321,3053
$GC,7181,-1.07,-61.3,656.4,-8.9,685,7184,0.00,1.27,0.00,0.000,4,0.000,0.043,2402,1412,3052
$GC,7394,-1.07,-61.3,675.2,-8.6,705,7398,0.00,1.30,0.00,0.000,6,0.000,0.041,2397,2329,3050
$GC,7717,-1.07,-61.3,702.8,-8.4,736,7719,0.00,1.27,0.00,0.000,4,0.000,0.042,2399,1424,3049
$GC,7877,-1.07,-61.3,716.2,-8.3,751,7880,0.00,1.27,0.00,0.000,6,0.000,0.042,2395,2323,3048
$GC,8199,-1.07,-61.3,743.7,-8.4,782,8200,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2324,3047
$GC,8509,-1.07,-61.3,769.8,-8.9,812,8512,0.00,1.27,0.00,0.000,4,0.000,0.044,2398,1422,3045
$GC,8620,-1.07,-61.3,779.4,-9.1,822,8629,0.00,1.30,0.00,0.000,6,0.000,0.042,2393,2325,3045
$GC,8938,-1.07,-61.3,806.0,-8.7,853,8939,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2325,3043
$GC,9247,-1.07,-61.3,832.2,-8.4,883,9250,0.00,1.27,0.00,0.000,4,0.000,0.044,2396,1426,3042
$GC,9294,-1.07,-61.3,836.1,-7.9,887,9301,0.00,1.30,0.00,0.000,6,0.000,0.043,2391,2324,3042
$GC,9610,-1.07,-61.3,861.7,-7.7,918,9611,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2325,3041
$GC,9922,-1.07,-61.3,886.2,-7.6,948,9925,0.00,1.55,0.00,0.000,4,0.000,0.054,2385,3215,3040
$GC,9986,-1.07,-64.4,891.5,-7.1,954,9989,0.00,1.48,0.00,0.000,6,0.000,0.037,2387,2333,3039
$GC,10307,-1.08,-67.2,915.8,-7.2,985,10311,0.00,1.55,0.00,0.000,4,0.000,0.054,2381,3220,3038
$GC,10403,-1.08,-67.2,923.7,-7.8,994,10406,0.00,1.50,0.00,0.000,6,0.000,0.037,2387,2326,3038
$GC,10724,-1.08,-67.2,948.9,-7.7,1025,10725,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2326,3037
$GC,11035,-1.08,-67.2,972.4,-7.9,1055,11038,0.00,1.30,0.00,0.000,4,0.000,0.046,2389,1408,3036
$GC,11124,-1.08,-67.2,979.5,-7.7,1063,11131,0.00,1.30,0.00,0.000,6,0.000,0.044,2385,2315,3036
$STATE,11264,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11264,begin apogee
$GC,11269,-0.26,0.0,990.2,8.0,1077,11316,1.05,0.00,41.35,1.216,6,0.192,0.000,2656,2265,2839
$STATE,11317,end apogee,CONTROL_FINISHED_OK
$STATE,11317,begin climb
$GC,11319,1.08,67.2,991.7,0.0,1082,11385,1.33,0.00,58.72,1.216,6,0.107,0.000,3085,2265,2564
$GC,11693,1.08,67.2,942.1,15.1,1118,11696,0.00,1.67,0.00,0.000,4,0.000,0.054,3084,3193,2557
$GC,11772,1.08,67.2,929.1,14.8,1125,11780,0.00,1.60,0.00,0.000,6,0.000,0.035,3092,2277,2555
$GC,12090,1.08,67.2,882.5,14.0,1156,12093,0.00,1.65,0.00,0.000,4,0.000,0.055,3092,3175,2554
$GC,12266,1.08,67.2,856.8,13.5,1172,12272,0.00,1.58,0.00,0.000,6,0.000,0.035,3100,2273,2554
$GC,12583,1.08,67.2,812.6,14.0,1203,12586,0.00,1.65,0.00,0.000,4,0.000,0.054,3099,3172,2553
$GC,12811,1.08,67.2,777.7,14.1,1224,12819,0.00,1.58,0.00,0.000,6,0.000,0.035,3107,2269,2553
$GC,13129,1.08,67.2,731.4,14.3,1255,13132,0.00,1.65,0.00,0.000,4,0.000,0.053,3100,3168,2552
$GC,13187,1.08,67.2,722.8,15.0,1260,13194,0.00,1.55,0.00,0.000,6,0.000,0.035,3107,2276,2552
$GC,13505,1.08,67.2,678.3,13.7,1291,13505,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2277,2551
$GC,13814,1.08,67.2,636.7,13.3,1321,13815,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2277,2551
$GC,14124,1.08,67.2,595.0,13.9,1351,14127,0.00,1.65,0.00,0.000,4,0.000,0.054,3101,3173,2551
$GC,14188,1.08,67.2,586.2,14.8,1357,14191,0.00,1.55,0.00,0.000,6,0.000,0.036,3108,2280,2550
$GC,14508,1.08,67.2,544.4,12.9,1388,14511,0.00,1.62,0.00,0.000,4,0.000,0.054,3101,3166,2550
$GC,14615,1.08,67.2,529.5,13.9,1398,14618,0.00,1.55,0.00,0.000,6,0.000,0.036,3109,2275,2549
$GC,14938,1.08,67.2,488.5,12.5,1429,14941,0.00,1.65,0.00,0.000,4,0.000,0.053,3102,3176,2549
$GC,15045,1.08,67.2,473.7,13.8,1439,15048,0.00,1.58,0.00,0.000,6,0.000,0.035,3109,2271,2549
$GC,15366,1.08,67.2,432.1,12.6,1470,15369,0.00,1.65,0.00,0.000,4,0.000,0.051,3102,3167,2549
$GC,15408,1.08,67.2,426.2,13.6,1474,15411,0.00,1.55,0.00,0.000,6,0.000,0.035,3109,2277,2549
$GC,15729,1.08,67.2,385.9,12.2,1505,15732,0.00,1.65,0.00,0.000,4,0.000,0.052,3102,3176,2549
$GC,15850,1.08,67.2,369.3,13.8,1516,15858,0.00,1.58,0.00,0.000,6,0.000,0.034,3110,2269,2549
$GC,16169,1.08,67.2,328.3,13.1,1547,16172,0.00,1.62,0.00,0.000,4,0.000,0.051,3103,3174,2549
$GC,16330,1.08,67.2,307.1,13.8,1562,16334,0.00,1.55,0.00,0.000,6,0.000,0.034,3110,2276,2549
$GC,16653,1.08,67.2,265.6,12.9,1593,16656,0.00,1.62,0.00,0.000,4,0.000,0.051,3103,3186,2549
$GC,16825,1.08,67.2,242.6,15.4,1609,16828,0.00,1.58,0.00,0.000,6,0.000,0.033,3110,2272,2549
$GC,17148,1.08,67.2,202.2,12.5,1640,17150,0.00,1.62,0.00,0.000,4,0.000,0.048,3110,3186,2550
$GC,17309,1.08,67.2,180.5,11.8,1655,17312,0.00,1.55,0.00,0.000,6,0.000,0.032,3117,2277,2551
$GC,17631,1.08,67.2,140.6,11.6,1686,17634,0.00,1.62,0.00,0.000,4,0.000,0.048,3117,3193,2551
$GC,17876,1.08,67.2,110.8,11.2,1709,17880,0.10,1.58,0.00,0.000,6,0.194,0.031,3096,2273,2552
$GC,18197,1.08,67.2,78.5,9.6,1740,18200,0.00,1.62,0.00,0.000,4,0.000,0.047,3089,3172,2552
$GC,18443,1.09,75.6,59.6,6.5,1763,18455,0.00,1.52,6.55,0.468,6,0.000,0.030,3095,2274,2530
$GC,18642,1.13,110.0,50.7,3.3,1782,18677,0.00,1.23,27.38,0.548,4,0.000,0.035,3102,1349,2390
$GC,18917,1.19,161.0,40.6,1.2,1807,18961,0.00,1.27,39.53,0.535,6,0.000,0.035,3099,2285,2183
$GC,19145,1.22,188.3,29.8,4.2,1829,19171,0.12,1.27,21.33,0.506,4,0.077,0.033,3155,1360,2071
$GC,19411,1.30,251.5,16.1,-0.2,1853,19464,0.00,1.23,47.33,0.503,6,0.000,0.034,3154,2281,1815
$GC,19651,1.37,306.9,12.1,0.7,1876,19699,0.00,1.58,41.20,0.489,4,0.000,0.041,3155,3163,1588
$STATE,19922,end climb,NO_VERTICAL_VELOCITY
$STATE,19922,begin surface
$SM_CCo,19924,211.07,0.479,0,0,404,597.54
$SM_GC,3.01,8.18,0.00,0.00,0.055,0.000,0.000,200,2326,400,-7.91,0.03,598.52
$IRIDIUM_FIX,2828.55,-8838.98,101099,050510
$TT8_MAMPS,0.050622
$HUMID,1350
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,25.40
$XPDR_PINGS,1
$24V_AH,23.8,45.684
$10V_AH,10.6,63.319
$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,20.800,108.850,283.375,211.075,0.000,246.306,432.369,377.033,4.000,0.000,0.000,905.531,0.000,13667.365,595.820,7040.859,1643.781,33.341,2353.135,0.000,5486.788,0.000,31.615,0.000
$DEVICE_MAMPS,252.343,70.564,1216.462,479.375,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1301.246,1399.926,4272.766,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100983,1901
$CAP_FILE_SIZE,206916,0
$CFSIZE,260165632,231739392
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.153,281.8,1
$GPS,160710,112825,2839.394,-8838.938,255,1.4,255,-0.3