version: 66.04
glider: 515
mission: 5
dive: 272
start: 7 18 110 20 9 29
data:
$ID,515
$MISSION,5
$DIVE,272
$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,-23693.658
$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,30
$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
$GPS1,200237,2842.417,-8840.893,40,1.0,40,-0.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-72.6
$GPS2,200850,2842.516,-8840.830,11,1.5,11,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.227,0.136
$KALMAN_X,1350.6,98.4,77.4,13550.4,4153.1
$KALMAN_Y,-380359.4,-1544.8,401.1,407724.2,-3656.1
$MHEAD_RNG_PITCHd_Wd,284.2,6777,-10.8,-7.500
$D_GRID,1030
$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,-194.6,0.0,0.0,0,62,0.00,0.00,-47.90,0.000,2,0.000,0.000,202,2336,1812
$GC,65,-0.64,-194.6,3.2,-3.5,5,124,10.57,1.25,-43.30,0.000,4,0.255,0.055,2537,1418,3635
$GC,211,-0.64,-194.6,29.2,-22.8,18,214,0.00,1.25,0.00,0.000,6,0.000,0.035,2534,2321,3636
$GC,408,-0.64,-194.6,62.4,-12.7,37,411,0.00,1.23,0.00,0.000,4,0.000,0.033,2536,1424,3637
$GC,493,-0.64,-194.6,73.2,-12.2,45,496,0.00,1.25,0.00,0.000,6,0.000,0.035,2532,2329,3638
$GC,690,-0.64,-194.6,97.1,-12.6,64,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2329,3638
$GC,876,-0.64,-194.6,120.5,-12.9,82,880,0.00,1.25,0.00,0.000,4,0.000,0.033,2532,1402,3639
$GC,934,-0.64,-194.6,128.2,-12.4,87,941,0.00,1.30,0.00,0.000,6,0.000,0.034,2526,2331,3638
$GC,1252,-0.64,-194.6,169.0,-11.7,118,1255,0.00,1.25,0.00,0.000,4,0.000,0.033,2526,1413,3638
$GC,1310,-0.64,-194.6,176.4,-11.9,123,1317,0.00,1.25,0.00,0.000,6,0.000,0.035,2521,2322,3638
$GC,1628,-0.64,-194.6,216.0,-12.5,154,1630,0.00,1.23,0.00,0.000,4,0.000,0.035,2520,1422,3637
$GC,1724,-0.64,-194.6,227.6,-11.3,163,1727,0.00,1.25,0.00,0.000,6,0.000,0.037,2515,2324,3636
$GC,2046,-0.64,-194.6,267.3,-12.6,194,2047,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2324,3635
$GC,2356,-0.64,-194.6,304.4,-12.2,224,2359,0.00,1.25,0.00,0.000,4,0.000,0.037,2515,1416,3632
$GC,2403,-0.64,-194.6,310.5,-12.2,228,2410,0.08,1.25,0.00,0.000,6,0.141,0.038,2534,2319,3632
$GC,2719,-0.64,-194.6,343.4,-10.4,259,2720,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2319,3631
$GC,3031,-0.64,-194.6,375.8,-10.9,289,3032,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2319,3628
$GC,3340,-0.64,-194.6,408.3,-10.5,319,3343,0.00,1.25,0.00,0.000,4,0.000,0.039,2534,1418,3626
$GC,3426,-0.64,-194.6,417.2,-10.3,327,3429,0.00,1.27,0.00,0.000,6,0.000,0.041,2531,2325,3625
$GC,3748,-0.64,-194.6,450.8,-10.1,358,3752,0.00,1.25,0.00,0.000,4,0.000,0.040,2530,1425,3623
$GC,3780,-0.64,-194.6,454.2,-10.7,361,3783,0.00,1.27,0.00,0.000,6,0.000,0.041,2525,2325,3623
$GC,4103,-0.64,-194.6,488.4,-11.1,392,4104,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2325,3621
$GC,4411,-0.64,-194.6,523.2,-11.2,422,4412,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2325,3619
$GC,4722,-0.64,-194.6,557.5,-10.9,452,4725,0.00,1.25,0.00,0.000,4,0.000,0.041,2525,1430,3616
$GC,4775,-0.64,-194.6,563.2,-10.6,457,4778,0.00,1.27,0.00,0.000,6,0.000,0.044,2519,2323,3616
$GC,5098,-0.64,-194.6,597.5,-10.4,488,5099,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2323,3613
$GC,5406,-0.64,-194.6,629.2,-9.5,518,5407,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2323,3612
$GC,5717,-0.64,-194.6,659.4,-9.9,548,5718,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2323,3609
$GC,6028,-0.64,-194.6,690.1,-10.1,578,6028,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2323,3607
$GC,6338,-0.64,-194.6,720.7,-10.2,608,6339,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2323,3605
$GC,6648,-0.64,-194.6,750.8,-9.6,638,6649,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2323,3604
$GC,6959,-0.64,-194.6,781.1,-9.5,668,6960,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2324,3602
$GC,7269,-0.64,-194.6,811.6,-9.6,698,7272,0.00,1.58,0.00,0.000,4,0.000,0.058,2512,3209,3600
$GC,7301,-0.64,-194.6,814.8,-10.5,701,7304,0.00,1.48,0.00,0.000,6,0.000,0.038,2512,2329,3600
$GC,7624,-0.64,-194.6,846.7,-9.9,732,7624,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2330,3598
$GC,7932,-0.64,-194.6,876.7,-9.9,762,7935,0.00,1.30,0.00,0.000,4,0.000,0.045,2512,1414,3597
$GC,7990,-0.64,-194.6,882.3,-9.9,767,7998,0.08,1.33,0.00,0.000,6,0.146,0.049,2531,2324,3597
$GC,8307,-0.64,-194.6,907.7,-7.9,798,8307,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2325,3595
$GC,8617,-0.64,-194.6,933.0,-8.2,828,8617,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2325,3593
$GC,8929,-0.64,-194.6,957.8,-7.7,858,8930,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2325,3592
$GC,9237,-0.64,-194.6,982.0,-8.3,888,9240,0.00,1.30,0.00,0.000,4,0.000,0.046,2531,1416,3592
$GC,9269,-0.64,-194.6,984.7,-7.8,891,9273,0.00,1.33,0.00,0.000,6,0.000,0.051,2528,2321,3591
$STATE,9341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9341,begin apogee
$GC,9347,-0.26,0.0,990.8,8.7,898,9504,0.43,0.00,153.73,1.238,6,0.133,0.000,2661,2266,2840
$STATE,9505,end apogee,CONTROL_FINISHED_OK
$STATE,9505,begin climb
$GC,9507,0.64,194.6,995.5,0.0,914,9682,0.90,0.00,170.35,1.207,6,0.102,0.000,2944,2266,2046
$GC,9990,0.64,194.6,946.8,11.2,960,9993,0.00,1.67,0.00,0.000,4,0.000,0.060,2944,3175,2035
$GC,10016,0.64,194.6,943.5,12.5,962,10025,0.00,1.58,0.00,0.000,6,0.000,0.036,2951,2278,2034
$GC,10334,0.64,194.6,905.3,12.0,993,10335,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2279,2033
$GC,10643,0.64,194.6,867.9,12.0,1023,10646,0.00,1.23,0.00,0.000,4,0.000,0.044,2957,1373,2032
$GC,10674,0.64,194.6,864.1,12.6,1026,10677,0.00,1.25,0.00,0.000,6,0.000,0.045,2957,2271,2032
$GC,10995,0.64,194.6,824.4,11.9,1057,10996,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2271,2032
$GC,11306,0.64,194.6,787.3,12.3,1087,11307,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2271,2031
$GC,11616,0.64,194.6,750.9,11.8,1117,11617,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2271,2030
$GC,11927,0.64,194.6,714.6,11.7,1147,11928,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2271,2030
$GC,12237,0.64,194.6,679.2,11.3,1177,12240,0.00,1.62,0.00,0.000,4,0.000,0.055,2957,3164,2029
$GC,12301,0.64,194.6,671.2,11.9,1183,12304,0.00,1.55,0.00,0.000,6,0.000,0.038,2964,2273,2028
$GC,12622,0.64,194.6,632.6,12.0,1214,12623,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2274,2028
$GC,12932,0.64,194.6,595.1,11.8,1244,12933,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2275,2028
$GC,13243,0.64,194.6,558.4,11.9,1274,13244,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2274,2028
$GC,13553,0.64,194.6,521.8,11.4,1304,13556,0.00,1.65,0.00,0.000,4,0.000,0.054,2964,3170,2027
$GC,13590,0.64,194.6,517.2,12.7,1307,13596,0.00,1.55,0.00,0.000,6,0.000,0.036,2972,2276,2027
$GC,13907,0.64,194.6,479.0,12.1,1338,13910,0.00,1.62,0.00,0.000,4,0.000,0.053,2972,3168,2027
$GC,13933,0.64,194.6,475.5,13.2,1340,13939,0.00,1.55,0.00,0.000,6,0.000,0.035,2979,2275,2027
$GC,14250,0.64,194.6,435.2,12.5,1371,14253,0.00,1.62,0.00,0.000,4,0.000,0.053,2979,3165,2027
$GC,14286,0.64,194.6,430.2,13.5,1374,14295,0.10,1.55,0.00,0.000,6,0.146,0.035,2955,2275,2027
$GC,14603,0.64,194.6,396.1,10.6,1405,14603,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2275,2026
$GC,14913,0.64,194.6,362.5,10.9,1435,14916,0.00,1.20,0.00,0.000,4,0.000,0.041,2959,1373,2027
$GC,14945,0.64,194.6,359.1,10.8,1438,14948,0.00,1.25,0.00,0.000,6,0.000,0.042,2959,2280,2027
$GC,15266,0.64,194.6,322.8,11.1,1469,15269,0.00,1.58,0.00,0.000,4,0.000,0.051,2959,3163,2027
$GC,15352,0.64,194.6,312.9,10.1,1477,15355,0.00,1.52,0.00,0.000,6,0.000,0.035,2966,2276,2027
$GC,15674,0.64,194.6,275.8,11.7,1508,15677,0.00,1.62,0.00,0.000,4,0.000,0.051,2966,3198,2027
$GC,15706,0.64,194.6,271.6,12.4,1511,15709,0.00,1.58,0.00,0.000,6,0.000,0.033,2974,2275,2027
$GC,16029,0.64,194.6,232.5,12.2,1542,16030,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2276,2027
$GC,16337,0.64,194.6,194.1,11.9,1572,16338,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2276,2027
$GC,16648,0.64,194.6,155.7,12.6,1602,16651,0.00,1.60,0.00,0.000,4,0.000,0.048,2974,3165,2028
$GC,16684,0.64,194.6,150.8,14.2,1605,16691,0.00,1.52,0.00,0.000,6,0.000,0.031,2981,2272,2028
$GC,17002,0.64,194.6,112.8,11.6,1636,17003,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2272,2029
$GC,17311,0.64,194.6,76.7,11.3,1666,17314,0.00,1.60,0.00,0.000,4,0.000,0.048,2981,3163,2030
$GC,17390,0.64,194.6,67.9,11.1,1673,17397,0.10,1.52,0.00,0.000,6,0.134,0.030,2956,2270,2030
$GC,17582,0.73,264.9,55.1,5.7,1692,17639,0.00,1.67,52.90,0.552,4,0.000,0.046,2956,3175,1759
$GC,17675,0.76,292.1,49.0,6.8,1700,17707,0.00,1.55,21.83,0.525,6,0.000,0.029,2962,2274,1648
$GC,17891,0.84,359.0,35.4,5.7,1721,17950,0.15,1.25,50.97,0.527,4,0.059,0.035,3042,1360,1375
$GC,18008,0.84,359.0,25.7,9.1,1731,18015,0.00,1.25,0.00,0.000,6,0.000,0.034,3043,2274,1371
$GC,18201,0.84,359.0,9.8,8.2,1750,18204,0.00,1.60,0.00,0.000,4,0.000,0.044,3042,3183,1367
$GC,18447,1.08,551.8,5.6,2.4,1773,18565,0.10,1.52,113.53,0.494,2,0.072,0.028,3101,2267,741
$STATE,18565,end climb,SURFACE_DEPTH_REACHED
$STATE,18565,begin surface coast
$FINISH,0.8,1.016655
$STATE,18617,end surface coast,CONTROL_FINISHED_OK
$STATE,18617,begin surface
$SM_CCo,18632,51.00,0.475,0,0,403,597.54
$SM_GC,1.65,0.00,0.00,51.00,0.000,0.000,0.475,201,2350,403,-7.96,0.71,597.54
$IRIDIUM_FIX,2833.46,-8838.92,121099,151501
$TT8_MAMPS,0.049855
$HUMID,1371
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,22.7,47.912
$10V_AH,10.6,66.013
$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,20.400,73.475,563.300,51.000,0.000,22.943,27.838,189.853,4.000,0.000,0.000,13.571,0.000,12490.439,630.191,5297.629,607.807,33.346,2141.784,0.000,4747.724,0.000,28.024,0.000
$DEVICE_MAMPS,254.644,70.564,1237.938,474.773,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1221.619,1305.583,4019.068,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94849,1788
$CAP_FILE_SIZE,164457,0
$CFSIZE,260165632,230789120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.083,135.1,1
$GPS,190710,012155,2842.332,-8843.323,40,1.3,40,-0.2