version: 66.04
glider: 515
mission: 5
dive: 265
start: 7 17 110 6 32 46
data:
$ID,515
$MISSION,5
$DIVE,265
$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,-23523.904
$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,28
$R_STBD_OVSHOOT,22
$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
$GPS1,052921,2841.432,-8842.126,392,10.1,412,-0.2
$_CALLS,8
$_XMS_NAKs,80
$_XMS_TOUTs,8
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-78.5
$GPS2,063205,2841.715,-8843.198,36,2.6,55,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.170,0.032
$KALMAN_X,-7498.4,297.3,626.7,17823.9,1515.0
$KALMAN_Y,-369330.8,-1197.8,-1107.4,396344.5,475.3
$MHEAD_RNG_PITCHd_Wd,274.8,3190,-24.3,-7.500
$D_GRID,1158
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.96,-49.5,0.0,0.0,0,39,0.00,0.00,-22.73,0.000,2,0.000,0.000,204,2327,1142
$GC,41,-0.99,-76.6,3.3,-4.7,2,100,10.05,1.48,-43.17,0.000,4,0.257,0.054,2412,3247,3154
$GC,340,-0.99,-76.6,50.8,-9.6,29,347,0.00,1.48,0.00,0.000,6,0.000,0.025,2418,2316,3153
$GC,532,-0.99,-76.6,65.8,-9.2,48,535,0.00,1.52,0.00,0.000,4,0.000,0.038,2412,3236,3153
$GC,778,-0.99,-76.6,88.0,-7.8,71,781,0.00,1.45,0.00,0.000,6,0.000,0.025,2418,2325,3153
$GC,975,-0.99,-76.6,105.7,-9.2,90,978,0.00,1.20,0.00,0.000,4,0.000,0.035,2424,1416,3153
$GC,1221,-0.99,-76.6,131.4,-11.1,113,1224,0.00,1.25,0.00,0.000,6,0.000,0.032,2420,2333,3152
$GC,1543,-0.99,-76.6,169.1,-10.5,144,1546,0.00,1.25,0.00,0.000,4,0.000,0.035,2423,1417,3149
$GC,1789,-0.99,-76.6,195.0,-9.6,167,1792,0.00,1.23,0.00,0.000,6,0.000,0.033,2419,2321,3147
$GC,2111,-0.99,-76.6,227.6,-10.2,198,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2321,3145
$GC,2421,-0.99,-76.6,259.0,-10.0,228,2424,0.00,1.50,0.00,0.000,4,0.000,0.042,2411,3224,3142
$GC,2489,-0.99,-76.6,266.7,-11.4,234,2496,0.00,1.45,0.00,0.000,6,0.000,0.028,2416,2320,3141
$GC,2807,-0.99,-76.6,298.6,-9.5,265,2810,0.00,1.23,0.00,0.000,4,0.000,0.038,2416,1411,3138
$GC,2918,-0.99,-76.6,310.0,-9.6,275,2926,0.00,1.30,0.00,0.000,6,0.000,0.034,2412,2335,3138
$GC,3237,-0.99,-76.6,342.5,-10.5,306,3239,0.00,1.27,0.00,0.000,4,0.000,0.038,2415,1418,3135
$GC,3268,-0.99,-76.6,346.2,-10.9,309,3271,0.00,1.25,0.00,0.000,6,0.000,0.035,2411,2325,3134
$GC,3591,-0.99,-76.6,379.7,-10.7,340,3594,0.00,1.25,0.00,0.000,4,0.000,0.038,2415,1418,3132
$GC,3763,-0.99,-76.6,397.9,-10.6,356,3766,0.00,1.25,0.00,0.000,6,0.000,0.035,2410,2324,3130
$GC,4086,-0.99,-76.6,432.1,-10.9,387,4087,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2324,3128
$GC,4395,-0.99,-76.6,464.8,-11.1,417,4398,0.00,1.25,0.00,0.000,4,0.000,0.040,2411,1422,3126
$GC,4544,-0.99,-76.6,480.7,-10.2,431,4547,0.00,1.25,0.00,0.000,6,0.000,0.038,2407,2320,3125
$GC,4867,-0.99,-76.6,514.8,-10.7,462,4868,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2321,3123
$GC,5176,-0.99,-76.6,547.4,-10.4,492,5177,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2321,3120
$GC,5487,-0.99,-76.6,579.6,-10.1,522,5488,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2321,3117
$GC,5797,-0.99,-76.6,611.7,-10.4,552,5797,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2321,3115
$GC,6107,-0.99,-76.6,642.8,-9.8,582,6108,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2321,3113
$GC,6418,-0.99,-76.6,674.3,-9.9,612,6421,0.00,1.27,0.00,0.000,4,0.000,0.044,2407,1414,3111
$GC,6518,-0.99,-76.6,684.8,-11.3,621,6525,0.00,1.30,0.00,0.000,6,0.000,0.041,2401,2329,3110
$GC,6836,-0.99,-76.6,716.2,-9.8,652,6839,0.00,1.27,0.00,0.000,4,0.000,0.043,2401,1426,3108
$GC,7019,-0.99,-76.6,734.2,-9.1,669,7022,0.08,1.25,0.00,0.000,6,0.191,0.041,2417,2314,3107
$GC,7340,-0.99,-76.6,763.4,-8.8,700,7340,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2315,3106
$GC,7650,-0.99,-76.6,791.3,-9.0,730,7654,0.00,1.25,0.00,0.000,4,0.000,0.044,2418,1425,3105
$GC,7697,-0.99,-76.6,795.8,-10.1,734,7704,0.00,1.30,0.00,0.000,6,0.000,0.042,2413,2326,3104
$GC,8016,-0.99,-76.6,825.4,-8.9,765,8016,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2326,3102
$GC,8325,-0.99,-76.6,853.5,-9.3,795,8326,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2326,3101
$GC,8634,-0.99,-76.6,881.1,-9.0,825,8635,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2326,3100
$GC,8946,-0.99,-76.6,908.4,-8.7,855,8949,0.00,1.55,0.00,0.000,4,0.000,0.054,2406,3216,3099
$GC,8978,-0.99,-76.6,911.4,-9.4,858,8981,0.00,1.48,0.00,0.000,6,0.000,0.037,2406,2335,3098
$GC,9299,-0.99,-76.6,939.1,-8.6,889,9300,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2335,3097
$GC,9609,-0.99,-76.6,966.4,-8.7,919,9612,0.00,1.33,0.00,0.000,4,0.000,0.047,2406,1405,3096
$GC,9663,-0.99,-76.6,971.0,-8.7,924,9665,0.00,1.33,0.00,0.000,6,0.000,0.045,2400,2326,3095
$STATE,9879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9879,begin apogee
$GC,9885,-0.26,0.0,990.3,8.7,945,9942,0.93,0.00,53.08,1.221,6,0.179,0.000,2651,2262,2840
$STATE,9942,end apogee,CONTROL_FINISHED_OK
$STATE,9942,begin climb
$GC,9944,0.99,76.6,992.5,0.0,951,10016,1.25,1.73,66.50,1.212,4,0.106,0.055,3053,3175,2528
$GC,10049,0.99,76.6,983.1,13.5,961,10052,0.00,1.60,0.00,0.000,6,0.000,0.035,3060,2281,2523
$GC,10369,0.99,76.6,936.3,14.5,992,10372,0.00,1.62,0.00,0.000,4,0.000,0.053,3060,3169,2518
$GC,10448,0.99,76.6,923.8,15.9,999,10456,0.00,1.58,0.00,0.000,6,0.000,0.035,3067,2269,2517
$GC,10767,0.99,76.6,876.6,14.9,1030,10770,0.00,1.62,0.00,0.000,4,0.000,0.053,3067,3171,2516
$GC,10932,0.99,76.6,851.3,15.5,1045,10939,0.00,1.55,0.00,0.000,6,0.000,0.036,3074,2277,2515
$GC,11250,0.99,76.6,805.8,14.0,1076,11253,0.00,1.62,0.00,0.000,4,0.000,0.054,3074,3167,2514
$GC,11339,0.99,76.6,791.8,16.1,1084,11348,0.00,1.55,0.00,0.000,6,0.000,0.035,3082,2277,2514
$GC,11657,0.99,76.6,746.4,14.4,1115,11660,0.00,1.60,0.00,0.000,4,0.000,0.054,3079,3172,2513
$GC,11764,0.99,76.6,730.6,14.7,1125,11767,0.00,1.55,0.00,0.000,6,0.000,0.036,3086,2276,2513
$GC,12087,0.99,76.6,685.6,14.4,1156,12090,0.00,1.62,0.00,0.000,4,0.000,0.053,3085,3164,2512
$GC,12113,0.99,76.6,681.6,14.4,1158,12120,0.00,1.55,0.00,0.000,6,0.000,0.035,3092,2275,2512
$GC,12431,0.99,76.6,638.7,13.2,1189,12434,0.00,1.62,0.00,0.000,4,0.000,0.054,3087,3163,2511
$GC,12559,0.99,76.6,620.6,13.5,1201,12562,0.00,1.55,0.00,0.000,6,0.000,0.036,3094,2274,2511
$GC,12880,0.99,76.6,577.8,13.0,1232,12883,0.00,1.60,0.00,0.000,4,0.000,0.053,3093,3166,2510
$GC,12998,0.99,76.6,561.2,13.7,1243,13001,0.08,1.55,0.00,0.000,6,0.179,0.035,3070,2276,2509
$GC,13319,0.99,76.6,520.5,12.5,1274,13322,0.00,1.60,0.00,0.000,4,0.000,0.052,3067,3167,2509
$GC,13462,0.99,76.6,501.5,12.5,1287,13470,0.00,1.55,0.00,0.000,6,0.000,0.035,3074,2278,2510
$GC,13781,0.99,76.6,461.1,12.6,1318,13784,0.00,1.62,0.00,0.000,4,0.000,0.052,3074,3167,2509
$GC,13844,0.99,76.6,452.0,13.9,1324,13847,0.00,1.55,0.00,0.000,6,0.000,0.035,3082,2274,2509
$GC,14166,0.99,76.6,409.7,13.0,1355,14169,0.00,1.60,0.00,0.000,4,0.000,0.052,3081,3166,2509
$GC,14327,0.99,76.6,387.5,14.1,1370,14330,0.00,1.55,0.00,0.000,6,0.000,0.035,3089,2272,2509
$GC,14648,0.99,76.6,345.3,13.1,1401,14651,0.00,1.65,0.00,0.000,4,0.000,0.051,3087,3173,2509
$GC,14712,0.99,76.6,336.8,13.7,1407,14715,0.00,1.55,0.00,0.000,6,0.000,0.034,3094,2275,2509
$GC,15034,0.99,76.6,292.9,13.7,1438,15037,0.00,1.60,0.00,0.000,4,0.000,0.051,3093,3172,2509
$GC,15215,0.99,76.6,267.0,12.7,1455,15219,0.08,1.55,0.00,0.000,6,0.173,0.034,3069,2274,2509
$GC,15536,0.99,76.6,228.1,12.3,1486,15539,0.00,1.60,0.00,0.000,4,0.000,0.050,3068,3174,2510
$GC,15615,0.99,76.6,218.0,12.4,1493,15622,0.00,1.55,0.00,0.000,6,0.000,0.031,3074,2274,2510
$GC,15934,0.99,76.6,181.7,11.0,1524,15937,0.00,1.60,0.00,0.000,4,0.000,0.049,3074,3174,2510
$GC,16179,0.99,76.6,151.9,11.2,1547,16182,0.00,1.55,0.00,0.000,6,0.000,0.031,3082,2270,2511
$GC,16500,0.99,76.6,116.7,11.1,1578,16503,0.00,1.62,0.00,0.000,4,0.000,0.047,3081,3168,2512
$GC,16746,0.99,76.6,86.3,11.8,1601,16749,0.00,1.52,0.00,0.000,6,0.000,0.030,3089,2273,2513
$GC,16944,0.99,76.6,65.3,9.2,1620,16946,0.00,1.62,0.00,0.000,4,0.000,0.046,3089,3197,2514
$GC,16991,1.00,79.6,61.6,7.2,1624,16999,0.08,1.55,0.00,0.000,6,0.183,0.030,3074,2276,2514
$GC,17183,1.08,149.4,55.9,0.4,1643,17244,0.00,1.20,54.62,0.558,4,0.000,0.035,3079,1366,2229
$GC,17281,1.11,168.5,52.6,5.6,1651,17301,0.00,1.23,15.55,0.518,6,0.000,0.035,3078,2274,2152
$GC,17485,1.11,172.6,34.5,7.1,1671,17497,0.00,1.60,3.85,0.347,4,0.000,0.045,3078,3164,2136
$GC,17518,1.13,190.0,32.7,5.7,1674,17541,0.00,1.52,15.12,0.502,6,0.000,0.029,3085,2271,2064
$GC,17727,1.17,220.5,23.8,4.4,1694,17761,0.12,1.65,23.90,0.504,4,0.072,0.043,3141,3171,1940
$GC,17787,1.17,220.5,19.4,8.6,1699,17794,0.00,1.52,0.00,0.000,6,0.000,0.028,3148,2276,1938
$GC,17979,1.27,304.4,13.2,-1.0,1718,18050,0.00,1.23,62.45,0.500,4,0.000,0.034,3154,1366,1597
$GC,18289,1.38,388.7,7.2,-1.1,1746,18357,0.08,1.23,61.72,0.480,6,0.058,0.031,3202,2286,1253
$STATE,18480,end climb,NO_VERTICAL_VELOCITY
$STATE,18480,begin surface
$SM_CCo,18482,152.25,0.475,0,0,404,597.54
$SM_GC,3.03,8.23,0.00,0.00,0.055,0.000,0.000,199,2324,400,-7.92,-0.06,598.52
$IRIDIUM_FIX,2831.00,-8841.44,111099,060645
$TT8_MAMPS,0.049855
$HUMID,1367
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,25.50
$XPDR_PINGS,5
$24V_AH,23.8,46.608
$10V_AH,10.6,64.390
$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,20.950,102.525,356.800,152.250,0.000,227.299,287.708,2584.434,5.000,0.000,0.000,60.938,0.000,12860.898,584.909,5680.660,3584.225,33.346,2213.506,0.000,5052.619,0.000,32.100,0.000
$DEVICE_MAMPS,256.945,103.545,1221.064,474.773,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1206.301,1301.875,3965.451,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94484,1764
$CAP_FILE_SIZE,241110,0
$CFSIZE,260165632,231337984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.063, 63.9,1
$GPS,170710,115607,2841.772,-8843.918,401,1.4,401,-0.2