version: 66.04
glider: 515
mission: 5
dive: 268
start: 7 17 110 23 19 18
data:
$ID,515
$MISSION,5
$DIVE,268
$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,-23588.084
$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,34
$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
$GPS1,230725,2842.702,-8836.804,50,2.0,50,-0.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-74.7
$GPS2,231838,2842.690,-8836.785,16,2.0,16,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.259,0.055
$KALMAN_X,-4632.7,-616.5,597.6,26322.4,2275.5
$KALMAN_Y,-372422.8,-2526.0,-608.2,402094.4,-540.0
$MHEAD_RNG_PITCHd_Wd,71.3,17596,-10.8,-7.500
$D_GRID,975
$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,13,-0.64,-194.6,0.0,0.0,0,57,0.00,0.00,-42.50,0.000,2,0.000,0.000,196,2346,1701
$GC,60,-0.64,-194.6,3.1,-4.1,4,131,10.25,1.35,-52.47,0.000,4,0.245,0.066,2541,1415,3636
$GC,218,-0.64,-194.6,35.7,-28.6,18,220,0.00,1.23,0.00,0.000,6,0.000,0.032,2538,2314,3636
$GC,415,-0.64,-194.6,67.1,-12.6,37,418,0.00,1.52,0.00,0.000,4,0.000,0.044,2530,3214,3637
$GC,607,-0.64,-194.6,91.5,-12.4,55,610,0.00,1.45,0.00,0.000,6,0.000,0.028,2535,2323,3638
$GC,804,-0.64,-194.6,115.8,-12.6,74,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2323,3638
$GC,1115,-0.64,-194.6,153.1,-11.3,104,1118,0.00,1.23,0.00,0.000,4,0.000,0.037,2536,1413,3638
$GC,1211,-0.64,-194.6,164.1,-11.1,113,1214,0.00,1.25,0.00,0.000,6,0.000,0.036,2532,2321,3638
$GC,1534,-0.64,-194.6,200.2,-11.1,144,1537,0.00,1.25,0.00,0.000,4,0.000,0.037,2532,1406,3637
$GC,1580,-0.64,-194.6,205.8,-11.1,148,1587,0.00,1.30,0.00,0.000,6,0.000,0.037,2527,2328,3636
$GC,1899,-0.64,-194.6,241.8,-11.8,179,1902,0.00,1.25,0.00,0.000,4,0.000,0.037,2526,1425,3634
$GC,1934,-0.64,-194.6,246.3,-11.4,182,1943,0.00,1.27,0.00,0.000,6,0.000,0.037,2521,2327,3634
$GC,2253,-0.64,-194.6,283.1,-11.4,213,2255,0.00,1.25,0.00,0.000,4,0.000,0.038,2521,1423,3632
$GC,2300,-0.64,-194.6,288.9,-12.1,217,2306,0.00,1.25,0.00,0.000,6,0.000,0.038,2515,2323,3632
$GC,2617,-0.64,-194.6,326.7,-12.0,248,2618,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2323,3629
$GC,2927,-0.64,-194.6,363.8,-12.3,278,2930,0.00,1.25,0.00,0.000,4,0.000,0.039,2515,1419,3627
$GC,3001,-0.64,-194.6,372.6,-11.2,285,3005,0.08,1.25,0.00,0.000,6,0.142,0.040,2534,2318,3627
$GC,3323,-0.64,-194.6,404.8,-9.8,316,3324,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2318,3624
$GC,3633,-0.64,-194.6,435.9,-9.7,346,3636,0.00,1.25,0.00,0.000,4,0.000,0.040,2534,1416,3622
$GC,3740,-0.64,-194.6,446.7,-9.4,356,3743,0.00,1.27,0.00,0.000,6,0.000,0.042,2530,2322,3621
$GC,4062,-0.64,-194.6,479.1,-10.3,387,4063,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2322,3619
$GC,4371,-0.64,-194.6,510.7,-10.3,417,4372,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2322,3616
$GC,4682,-0.64,-194.6,540.8,-9.7,447,4685,0.00,1.27,0.00,0.000,4,0.000,0.042,2531,1413,3614
$GC,4735,-0.64,-194.6,546.1,-9.7,452,4738,0.00,1.30,0.00,0.000,6,0.000,0.044,2526,2327,3613
$GC,5057,-0.64,-194.6,577.8,-10.2,483,5058,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2327,3611
$GC,5366,-0.64,-194.6,608.1,-10.0,513,5367,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2327,3609
$GC,5677,-0.64,-194.6,638.9,-9.9,543,5680,0.00,1.27,0.00,0.000,4,0.000,0.044,2525,1422,3606
$GC,5734,-0.64,-194.6,644.7,-9.5,548,5742,0.00,1.33,0.00,0.000,6,0.000,0.044,2519,2331,3606
$GC,6052,-0.64,-194.6,675.6,-9.5,579,6053,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2332,3604
$GC,6362,-0.64,-194.6,705.9,-10.1,609,6365,0.00,1.30,0.00,0.000,4,0.000,0.044,2520,1415,3603
$GC,6405,-0.64,-194.6,710.4,-11.0,613,6408,0.00,1.30,0.00,0.000,6,0.000,0.046,2514,2322,3602
$GC,6727,-0.64,-194.6,743.1,-10.8,644,6728,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2322,3600
$GC,7036,-0.64,-194.6,774.9,-10.5,674,7037,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2323,3598
$GC,7347,-0.64,-194.6,805.8,-9.9,704,7348,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2322,3597
$GC,7657,-0.64,-194.6,836.8,-10.1,734,7658,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2323,3595
$GC,7969,-0.64,-194.6,867.5,-9.4,764,7972,0.00,1.60,0.00,0.000,4,0.000,0.059,2507,3217,3593
$GC,8001,-0.64,-194.6,870.8,-9.5,767,8004,0.08,1.50,0.00,0.000,6,0.145,0.038,2532,2326,3593
$GC,8322,-0.64,-194.6,897.7,-8.3,798,8323,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2326,3592
$GC,8632,-0.64,-194.6,922.4,-8.2,828,8633,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2326,3591
$GC,8945,-0.64,-194.6,948.1,-8.0,858,8945,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2327,3590
$GC,9253,-0.64,-194.6,973.5,-8.1,888,9253,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2327,3589
$STATE,9271,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9271,begin apogee
$GC,9276,-0.26,0.0,975.2,8.3,890,9435,0.43,0.00,152.12,1.230,6,0.132,0.000,2661,2272,2839
$STATE,9436,end apogee,CONTROL_FINISHED_OK
$STATE,9436,begin climb
$GC,9438,0.64,194.6,979.0,0.0,906,9617,0.93,1.83,169.07,1.198,4,0.102,0.058,2954,3160,2044
$GC,9643,0.64,194.6,960.4,13.6,925,9650,0.00,1.65,0.00,0.000,6,0.000,0.036,2961,2282,2040
$GC,9961,0.64,194.6,920.1,12.6,956,9962,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2283,2035
$GC,10270,0.64,194.6,881.1,12.9,986,10273,0.00,1.62,0.00,0.000,4,0.000,0.055,2961,3188,2033
$GC,10306,0.64,194.6,875.9,15.0,989,10313,0.00,1.60,0.00,0.000,6,0.000,0.037,2969,2272,2033
$GC,10624,0.64,194.6,835.2,12.6,1020,10627,0.00,1.62,0.00,0.000,4,0.000,0.055,2969,3172,2032
$GC,10660,0.64,194.6,830.2,13.0,1023,10668,0.00,1.58,0.00,0.000,6,0.000,0.037,2976,2272,2031
$GC,10977,0.64,194.6,787.7,13.6,1054,10981,0.00,1.65,0.00,0.000,4,0.000,0.056,2976,3167,2030
$GC,11024,0.64,194.6,780.7,14.2,1058,11032,0.08,1.55,0.00,0.000,6,0.151,0.036,2960,2280,2030
$GC,11341,0.64,194.6,741.2,12.0,1089,11344,0.00,1.62,0.00,0.000,4,0.000,0.054,2959,3188,2030
$GC,11372,0.64,194.6,737.1,12.4,1092,11375,0.00,1.60,0.00,0.000,6,0.000,0.038,2965,2272,2029
$GC,11693,0.64,194.6,698.9,12.0,1123,11696,0.00,1.65,0.00,0.000,4,0.000,0.055,2965,3168,2028
$GC,11736,0.64,194.6,693.6,12.3,1127,11739,0.00,1.55,0.00,0.000,6,0.000,0.038,2973,2278,2028
$GC,12059,0.64,194.6,653.5,12.9,1158,12059,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2280,2028
$GC,12367,0.64,194.6,615.1,12.8,1188,12370,0.00,1.62,0.00,0.000,4,0.000,0.054,2973,3163,2028
$GC,12414,0.64,194.6,609.0,13.1,1192,12421,0.00,1.55,0.00,0.000,6,0.000,0.036,2981,2278,2028
$GC,12733,0.64,194.6,568.8,12.8,1223,12735,0.00,1.62,0.00,0.000,4,0.000,0.054,2981,3183,2027
$GC,12779,0.64,194.6,562.3,13.6,1227,12788,0.10,1.60,0.00,0.000,6,0.145,0.036,2957,2271,2027
$GC,13096,0.64,194.6,527.4,11.0,1258,13099,0.00,1.62,0.00,0.000,4,0.000,0.054,2957,3173,2027
$GC,13132,0.64,194.6,523.1,10.9,1261,13140,0.00,1.58,0.00,0.000,6,0.000,0.035,2963,2273,2027
$GC,13450,0.64,194.6,486.5,11.8,1292,13453,0.00,1.62,0.00,0.000,4,0.000,0.054,2962,3176,2027
$GC,13486,0.64,194.6,481.8,12.1,1295,13495,0.00,1.58,0.00,0.000,6,0.000,0.035,2970,2273,2027
$GC,13804,0.64,194.6,444.2,11.7,1326,13805,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2274,2027
$GC,14114,0.64,194.6,406.1,12.1,1356,14117,0.00,1.62,0.00,0.000,4,0.000,0.053,2970,3178,2027
$GC,14171,0.64,194.6,398.4,12.9,1361,14178,0.00,1.58,0.00,0.000,6,0.000,0.035,2976,2271,2027
$GC,14490,0.64,194.6,359.3,12.1,1392,14493,0.00,1.62,0.00,0.000,4,0.000,0.051,2976,3179,2027
$GC,14532,0.64,194.6,353.6,13.5,1396,14536,0.12,1.58,0.00,0.000,6,0.151,0.035,2952,2270,2027
$GC,14854,0.64,194.6,319.2,10.7,1427,14854,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2270,2027
$GC,15164,0.64,194.6,287.1,10.4,1457,15167,0.00,1.62,0.00,0.000,4,0.000,0.050,2951,3181,2027
$GC,15211,0.64,194.6,281.9,10.9,1461,15218,0.00,1.55,0.00,0.000,6,0.000,0.033,2958,2279,2027
$GC,15528,0.64,194.6,247.2,10.9,1492,15529,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2279,2027
$GC,15838,0.64,194.6,213.6,10.6,1522,15840,0.00,1.60,0.00,0.000,4,0.000,0.049,2958,3182,2027
$GC,15891,0.64,194.6,207.4,11.4,1527,15894,0.00,1.55,0.00,0.000,6,0.000,0.032,2965,2276,2027
$GC,16212,0.64,194.6,172.6,10.6,1558,16215,0.00,1.60,0.00,0.000,4,0.000,0.049,2965,3179,2027
$GC,16265,0.64,194.6,166.4,11.9,1563,16268,0.00,1.55,0.00,0.000,6,0.000,0.031,2973,2274,2027
$GC,16588,0.64,194.6,130.4,11.0,1594,16591,0.00,1.60,0.00,0.000,4,0.000,0.048,2973,3180,2028
$GC,16624,0.64,194.6,125.9,9.6,1597,16631,0.00,1.55,0.00,0.000,6,0.000,0.031,2981,2273,2028
$GC,16942,0.64,194.6,89.7,11.4,1628,16945,0.00,1.60,0.00,0.000,4,0.000,0.048,2981,3179,2029
$GC,17053,0.64,194.6,76.4,10.3,1638,17060,0.10,1.55,0.00,0.000,6,0.133,0.030,2956,2272,2029
$GC,17246,0.67,220.4,60.8,6.8,1657,17267,0.00,0.00,19.40,0.537,6,0.000,0.000,2955,2273,1940
$GC,17452,0.71,253.6,46.6,6.6,1677,17484,0.00,0.00,26.20,0.532,6,0.000,0.000,2956,2273,1806
$GC,17669,0.87,384.2,35.6,4.1,1698,17776,0.17,1.67,98.28,0.528,4,0.052,0.051,3051,3173,1271
$GC,17818,0.87,384.2,23.4,9.2,1711,17822,0.08,1.55,0.00,0.000,6,0.123,0.028,3032,2278,1267
$GC,18016,1.05,527.9,11.7,3.7,1730,18125,0.15,1.65,104.72,0.499,4,0.061,0.043,3098,3173,687
$GC,18368,1.33,757.8,4.3,1.5,1762,18410,0.20,1.55,37.72,0.474,2,0.132,0.031,3173,2272,482
$STATE,18410,end climb,SURFACE_DEPTH_REACHED
$STATE,18410,begin surface coast
$FINISH,0.8,1.014808
$STATE,18490,end surface coast,CONTROL_FINISHED_OK
$STATE,18491,begin surface
$SM_CCo,18506,13.07,0.440,0,0,403,597.54
$SM_GC,4.30,0.00,0.00,13.07,0.000,0.000,0.440,202,2348,403,-7.96,0.65,597.54
$IRIDIUM_FIX,2831.00,-8838.92,111099,232324
$TT8_MAMPS,0.050622
$HUMID,1384
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,24.80
$XPDR_PINGS,4
$24V_AH,22.8,47.237
$10V_AH,10.6,65.108
$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,20.725,92.700,607.525,13.075,0.000,59.601,57.140,356.386,4.250,0.000,0.000,18.224,0.000,12305.958,656.918,5335.130,865.611,33.339,2213.339,0.000,4780.998,0.000,24.422,0.000
$DEVICE_MAMPS,245.440,78.234,1229.501,440.258,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1209.984,1295.449,3985.680,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94739,1773
$CAP_FILE_SIZE,171834,0
$CFSIZE,260165632,231145472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086,133.8,1
$GPS,180710,043054,2843.183,-8833.353,154,1.2,154,-0.3