version: 66.04
glider: 515
mission: 5
dive: 280
start: 7 20 110 13 36 41
data:
$ID,515
$MISSION,5
$DIVE,280
$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,-14
$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,-23818.479
$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
$GPS1,132906,2842.877,-8833.214,36,0.9,36,-0.3
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-71.4
$GPS2,133602,2843.022,-8833.249,13,1.2,13,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.237,0.117
$KALMAN_X,10217.8,-357.7,590.5,16960.3,1888.1
$KALMAN_Y,-409133.4,436.4,1128.2,434701.7,-11448.2
$MHEAD_RNG_PITCHd_Wd,289.9,19122,-10.8,-7.500
$D_GRID,1174
$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,14,-0.64,-194.6,0.0,0.0,0,59,0.00,0.00,-42.90,0.000,2,0.000,0.000,196,2348,1676
$GC,61,-0.64,-194.6,3.2,-4.3,4,123,10.57,1.38,-45.88,0.000,4,0.254,0.061,2540,1407,3635
$GC,127,-0.64,-194.6,12.8,-19.5,9,134,0.00,1.27,0.00,0.000,6,0.000,0.033,2536,2324,3636
$GC,320,-0.64,-194.6,53.5,-17.3,28,323,0.00,1.25,0.00,0.000,4,0.000,0.035,2537,1412,3637
$GC,565,-0.64,-194.6,85.4,-12.5,51,568,0.00,1.25,0.00,0.000,6,0.000,0.036,2533,2319,3637
$GC,762,-0.64,-194.6,111.1,-12.8,70,766,0.00,1.23,0.00,0.000,4,0.000,0.035,2533,1421,3639
$GC,927,-0.64,-194.6,132.4,-12.4,85,934,0.00,1.27,0.00,0.000,6,0.000,0.036,2527,2325,3639
$GC,1245,-0.64,-194.6,172.3,-12.2,116,1247,0.00,1.25,0.00,0.000,4,0.000,0.036,2527,1403,3639
$GC,1394,-0.64,-194.6,190.1,-11.4,130,1397,0.00,1.27,0.00,0.000,6,0.000,0.037,2522,2322,3638
$GC,1717,-0.64,-194.6,229.3,-11.9,161,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2322,3637
$GC,2025,-0.64,-194.6,266.9,-12.3,191,2028,0.00,1.23,0.00,0.000,4,0.000,0.037,2522,1429,3636
$GC,2104,-0.64,-194.6,276.3,-11.7,198,2111,0.00,1.27,0.00,0.000,6,0.000,0.038,2516,2330,3635
$GC,2422,-0.64,-194.6,314.5,-12.2,229,2426,0.00,1.25,0.00,0.000,4,0.000,0.037,2516,1424,3634
$GC,2475,-0.64,-194.6,321.3,-12.1,234,2478,0.00,1.25,0.00,0.000,6,0.000,0.039,2510,2321,3633
$GC,2798,-0.64,-194.6,361.4,-12.4,265,2801,0.12,1.25,0.00,0.000,4,0.146,0.037,2544,1417,3631
$GC,2888,-0.64,-194.6,371.2,-10.6,273,2895,0.00,1.30,0.00,0.000,6,0.000,0.039,2541,2329,3631
$GC,3206,-0.64,-194.6,402.6,-9.8,304,3209,0.00,1.27,0.00,0.000,4,0.000,0.038,2541,1408,3629
$GC,3249,-0.64,-194.6,407.0,-9.7,308,3252,0.00,1.27,0.00,0.000,6,0.000,0.041,2535,2319,3628
$GC,3571,-0.64,-194.6,439.7,-10.2,339,3572,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2319,3626
$GC,3880,-0.64,-194.6,471.8,-10.3,369,3883,0.00,1.25,0.00,0.000,4,0.000,0.041,2535,1415,3624
$GC,3948,-0.64,-194.6,478.9,-9.8,375,3956,0.00,1.30,0.00,0.000,6,0.000,0.041,2529,2324,3624
$GC,4267,-0.64,-194.6,511.6,-10.5,406,4270,0.00,1.25,0.00,0.000,4,0.000,0.041,2529,1427,3621
$GC,4313,-0.64,-194.6,516.7,-9.8,410,4320,0.00,1.30,0.00,0.000,6,0.000,0.042,2524,2330,3621
$GC,4632,-0.64,-194.6,550.4,-10.9,441,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2330,3619
$GC,4941,-0.64,-194.6,582.8,-10.7,471,4943,0.00,1.27,0.00,0.000,4,0.000,0.041,2525,1422,3617
$GC,4983,-0.64,-194.6,587.2,-10.3,475,4986,0.00,1.27,0.00,0.000,6,0.000,0.044,2519,2320,3617
$GC,5306,-0.64,-194.6,621.0,-10.7,506,5307,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2320,3614
$GC,5615,-0.64,-194.6,654.0,-10.7,536,5615,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2321,3612
$GC,5925,-0.64,-194.6,687.2,-10.6,566,5928,0.00,1.25,0.00,0.000,4,0.000,0.044,2519,1430,3610
$GC,5967,-0.64,-194.6,691.6,-10.0,570,5970,0.00,1.30,0.00,0.000,6,0.000,0.046,2514,2330,3609
$GC,6291,-0.64,-194.6,726.9,-10.2,601,6291,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2329,3607
$GC,6599,-0.64,-194.6,760.3,-10.6,631,6602,0.00,1.27,0.00,0.000,4,0.000,0.044,2513,1429,3605
$GC,6641,-0.64,-194.6,764.9,-10.5,635,6644,0.08,1.30,0.00,0.000,6,0.149,0.047,2532,2328,3605
$GC,6962,-0.64,-194.6,794.4,-9.2,666,6963,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2328,3604
$GC,7273,-0.64,-194.6,821.7,-8.3,696,7273,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2328,3602
$GC,7583,-0.64,-194.6,849.2,-8.8,726,7584,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2328,3601
$GC,7894,-0.64,-194.6,876.1,-7.6,756,7896,0.00,1.27,0.00,0.000,4,0.000,0.044,2533,1428,3599
$GC,7947,-0.64,-194.6,880.7,-8.2,761,7950,0.00,1.30,0.00,0.000,6,0.000,0.048,2529,2327,3599
$GC,8268,-0.64,-194.6,908.0,-7.6,792,8269,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2327,3598
$GC,8578,-0.64,-194.6,935.8,-9.7,822,8581,0.00,1.27,0.00,0.000,4,0.000,0.044,2529,1430,3596
$GC,8615,-0.64,-194.6,939.5,-9.6,825,8621,0.00,1.30,0.00,0.000,6,0.000,0.048,2524,2325,3596
$GC,8931,-0.64,-194.6,969.5,-9.2,856,8934,0.00,1.27,0.00,0.000,4,0.000,0.044,2524,1430,3595
$GC,8978,-0.64,-194.6,973.6,-8.5,860,8986,0.00,1.33,0.00,0.000,6,0.000,0.048,2519,2328,3595
$STATE,9148,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9148,begin apogee
$GC,9154,-0.26,0.0,990.5,9.6,877,9313,0.47,0.00,154.35,1.239,6,0.130,0.000,2662,2281,2840
$STATE,9313,end apogee,CONTROL_FINISHED_OK
$STATE,9313,begin climb
$GC,9315,0.64,194.6,992.5,0.0,893,9490,0.90,0.00,171.00,1.208,6,0.098,0.000,2946,2281,2046
$GC,9800,0.64,194.6,943.1,11.1,940,9802,0.00,1.25,0.00,0.000,4,0.000,0.044,2952,1375,2035
$GC,9835,0.64,194.6,938.9,11.3,943,9843,0.00,1.27,0.00,0.000,6,0.000,0.044,2952,2273,2035
$GC,10153,0.64,194.6,900.7,11.7,974,10156,0.00,1.60,0.00,0.000,4,0.000,0.055,2953,3172,2033
$GC,10179,0.64,194.6,897.3,13.1,976,10188,0.00,1.58,0.00,0.000,6,0.000,0.036,2960,2272,2032
$GC,10497,0.64,194.6,857.9,12.7,1007,10497,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2273,2031
$GC,10806,0.64,194.6,819.6,12.0,1037,10810,0.00,1.65,0.00,0.000,4,0.000,0.055,2960,3172,2030
$GC,10838,0.64,194.6,815.5,13.3,1040,10841,0.00,1.55,0.00,0.000,6,0.000,0.037,2967,2278,2029
$GC,11161,0.64,194.6,775.9,12.5,1071,11162,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2279,2029
$GC,11469,0.64,194.6,737.7,12.5,1101,11472,0.00,1.62,0.00,0.000,4,0.000,0.054,2967,3192,2029
$GC,11501,0.64,194.6,733.6,13.8,1104,11504,0.00,1.58,0.00,0.000,6,0.000,0.037,2975,2277,2028
$GC,11824,0.64,194.6,691.6,13.6,1135,11825,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2278,2028
$GC,12133,0.64,194.6,651.6,12.6,1165,12134,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2278,2028
$GC,12443,0.64,194.6,612.1,12.7,1195,12446,0.00,1.62,0.00,0.000,4,0.000,0.054,2974,3189,2028
$GC,12522,0.64,194.6,601.0,14.0,1202,12529,0.00,1.58,0.00,0.000,6,0.000,0.036,2983,2276,2026
$GC,12841,0.64,194.6,559.3,13.1,1233,12841,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2277,2026
$GC,13149,0.64,194.6,520.0,13.3,1263,13152,0.00,1.62,0.00,0.000,4,0.000,0.053,2982,3186,2027
$GC,13186,0.64,194.6,515.1,13.7,1266,13193,0.10,1.58,0.00,0.000,6,0.145,0.036,2959,2276,2026
$GC,13502,0.64,194.6,482.4,10.6,1297,13503,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2277,2026
$GC,13813,0.64,194.6,449.2,10.4,1327,13814,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2277,2027
$GC,14123,0.64,194.6,415.8,10.8,1357,14124,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2278,2026
$GC,14434,0.64,194.6,382.1,10.9,1387,14437,0.00,1.62,0.00,0.000,4,0.000,0.052,2958,3192,2026
$GC,14497,0.64,194.6,374.5,11.6,1393,14501,0.00,1.58,0.00,0.000,6,0.000,0.035,2965,2276,2026
$GC,14819,0.64,194.6,338.7,11.0,1424,14822,0.00,1.20,0.00,0.000,4,0.000,0.041,2970,1373,2026
$GC,14862,0.64,194.6,334.0,10.3,1428,14865,0.00,1.25,0.00,0.000,6,0.000,0.042,2970,2280,2026
$GC,15182,0.64,194.6,296.6,11.4,1459,15186,0.00,1.60,0.00,0.000,4,0.000,0.051,2970,3173,2026
$GC,15230,0.64,194.6,290.7,12.2,1463,15237,0.00,1.55,0.00,0.000,6,0.000,0.034,2977,2274,2026
$GC,15547,0.64,194.6,252.9,11.7,1494,15551,0.00,1.62,0.00,0.000,4,0.000,0.051,2977,3170,2026
$GC,15605,0.64,194.6,245.4,11.9,1499,15612,0.08,1.55,0.00,0.000,6,0.144,0.033,2960,2272,2027
$GC,15921,0.64,194.6,211.9,10.7,1530,15922,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2273,2027
$GC,16232,0.64,194.6,178.8,10.3,1560,16235,0.00,1.62,0.00,0.000,4,0.000,0.050,2959,3170,2027
$GC,16289,0.64,194.6,172.4,10.8,1565,16297,0.00,1.52,0.00,0.000,6,0.000,0.031,2965,2275,2028
$GC,16608,0.64,194.6,137.9,10.3,1596,16609,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2276,2028
$GC,16917,0.64,194.6,106.3,10.1,1626,16920,0.00,1.60,0.00,0.000,4,0.000,0.048,2965,3186,2030
$GC,16949,0.64,194.6,102.9,10.2,1629,16952,0.00,1.55,0.00,0.000,6,0.000,0.031,2973,2273,2030
$GC,17271,0.64,194.6,70.1,9.8,1660,17274,0.00,1.62,0.00,0.000,4,0.000,0.048,2973,3179,2031
$GC,17303,0.64,194.6,66.8,10.6,1663,17306,0.00,1.52,0.00,0.000,6,0.000,0.030,2980,2275,2031
$GC,17500,0.64,194.6,49.4,8.1,1682,17501,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2276,2031
$GC,17687,0.81,329.0,38.7,4.0,1700,17790,0.00,0.00,100.47,0.535,6,0.000,0.000,2980,2276,1497
$GC,17976,0.93,431.8,26.2,4.8,1728,18061,0.17,1.25,76.55,0.511,4,0.056,0.035,3083,1361,1077
$GC,18301,1.23,673.3,5.1,1.2,1757,18368,0.15,1.25,63.65,0.486,2,0.064,0.033,3152,2286,726
$STATE,18369,end climb,SURFACE_DEPTH_REACHED
$STATE,18369,begin surface coast
$FINISH,0.8,1.007856
$STATE,18411,end surface coast,CONTROL_FINISHED_OK
$STATE,18411,begin surface
$SM_CCo,18427,51.38,0.475,0,0,404,597.54
$SM_GC,1.93,0.00,0.00,51.38,0.000,0.000,0.475,202,2333,404,-7.96,0.23,597.54
$IRIDIUM_FIX,2833.46,-8829.10,141099,080821
$TT8_MAMPS,0.051389
$HUMID,1372
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,24.50
$XPDR_PINGS,4
$24V_AH,22.6,49.231
$10V_AH,10.6,67.797
$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,20.600,83.400,566.025,51.375,0.000,26.408,32.447,225.452,4.750,0.000,0.000,14.806,0.000,12250.574,652.701,5300.884,658.718,33.343,2180.638,0.000,4745.582,0.000,28.026,0.000
$DEVICE_MAMPS,253.877,83.603,1238.705,474.773,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1206.871,1291.969,3971.524,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91573,1767
$CAP_FILE_SIZE,166673,0
$CFSIZE,260165632,230088704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.122,142.5,1
$GPS,200710,184536,2842.704,-8835.326,33,1.0,33,-0.3