version: 66.04
glider: 515
mission: 5
dive: 284
start: 7 21 110 10 58 49
data:
$ID,515
$MISSION,5
$DIVE,284
$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,-23882.896
$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,33
$R_STBD_OVSHOOT,33
$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
$GPS1,104801,2842.966,-8842.400,38,1.4,38,-0.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-67.8
$GPS2,105808,2843.063,-8842.326,14,1.1,14,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.233,0.125
$KALMAN_X,21081.4,-819.1,-260.4,-7337.3,6614.5
$KALMAN_Y,-418084.8,60.0,672.8,444576.5,-7096.8
$MHEAD_RNG_PITCHd_Wd,268.5,4514,-13.9,-7.500
$D_GRID,1090
$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,-0.68,-132.7,0.0,0.0,0,79,0.00,0.00,-63.28,0.000,2,0.000,0.000,189,2342,2208
$GC,81,-0.75,-194.6,3.1,-3.5,6,130,10.38,1.33,-33.72,0.000,4,0.252,0.051,2499,1389,3636
$GC,369,-0.75,-194.6,64.1,-15.1,32,377,0.00,1.30,0.00,0.000,6,0.000,0.035,2495,2321,3638
$GC,562,-0.75,-194.6,93.5,-14.3,51,565,0.00,1.23,0.00,0.000,4,0.000,0.033,2497,1424,3639
$GC,745,-0.75,-194.6,120.2,-14.5,68,748,0.00,1.25,0.00,0.000,6,0.000,0.035,2493,2328,3639
$GC,1066,-0.75,-194.6,169.0,-14.8,99,1070,0.00,1.25,0.00,0.000,4,0.000,0.035,2496,1411,3639
$GC,1173,-0.75,-194.6,183.8,-13.5,109,1176,0.00,1.27,0.00,0.000,6,0.000,0.036,2492,2328,3639
$GC,1496,-0.75,-194.6,229.7,-14.2,140,1498,0.00,1.25,0.00,0.000,4,0.000,0.035,2493,1415,3637
$GC,1549,-0.75,-194.6,237.4,-13.7,145,1552,0.00,1.25,0.00,0.000,6,0.000,0.036,2488,2323,3636
$GC,1872,-0.75,-194.6,281.8,-13.6,176,1874,0.00,1.23,0.00,0.000,4,0.000,0.036,2488,1432,3634
$GC,1936,-0.75,-194.6,290.6,-13.0,182,1939,0.00,1.25,0.00,0.000,6,0.000,0.038,2484,2329,3634
$GC,2258,-0.75,-194.6,335.7,-14.6,213,2261,0.00,1.25,0.00,0.000,4,0.000,0.037,2484,1421,3632
$GC,2315,-0.75,-194.6,344.5,-14.7,218,2322,0.00,1.27,0.00,0.000,6,0.000,0.037,2480,2325,3632
$GC,2634,-0.75,-194.6,389.4,-14.4,249,2637,0.00,1.25,0.00,0.000,4,0.000,0.037,2481,1421,3629
$GC,2670,-0.75,-194.6,395.2,-14.4,252,2677,0.00,1.27,0.00,0.000,6,0.000,0.038,2476,2325,3629
$GC,2988,-0.75,-194.6,440.8,-14.7,283,2991,0.00,1.25,0.00,0.000,4,0.000,0.038,2479,1417,3627
$GC,3078,-0.75,-194.6,454.0,-13.9,291,3086,0.00,1.30,0.00,0.000,6,0.000,0.038,2474,2329,3626
$GC,3396,-0.75,-194.6,498.8,-13.9,322,3400,0.00,1.25,0.00,0.000,4,0.000,0.038,2474,1431,3624
$GC,3464,-0.75,-194.6,508.6,-13.3,328,3472,0.10,1.27,0.00,0.000,6,0.162,0.039,2499,2325,3623
$GC,3781,-0.75,-194.6,547.3,-12.9,359,3782,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2326,3620
$GC,4092,-0.75,-194.6,585.8,-12.2,389,4095,0.00,1.25,0.00,0.000,4,0.000,0.040,2499,1422,3618
$GC,4139,-0.75,-194.6,591.8,-12.0,393,4146,0.00,1.27,0.00,0.000,6,0.000,0.041,2495,2324,3618
$GC,4458,-0.75,-194.6,630.2,-12.1,424,4461,0.00,1.25,0.00,0.000,4,0.000,0.041,2495,1429,3615
$GC,4511,-0.75,-194.6,636.9,-11.5,429,4514,0.00,1.27,0.00,0.000,6,0.000,0.043,2489,2328,3615
$GC,4834,-0.75,-194.6,676.4,-12.2,460,4835,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2328,3612
$GC,5142,-0.75,-194.6,715.1,-12.0,490,5145,0.00,1.27,0.00,0.000,4,0.000,0.042,2489,1422,3609
$GC,5206,-0.75,-194.6,722.9,-11.7,496,5209,0.00,1.27,0.00,0.000,6,0.000,0.044,2485,2320,3609
$GC,5529,-0.75,-194.6,761.3,-11.9,527,5530,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2320,3607
$GC,5837,-0.75,-194.6,797.0,-11.5,557,5838,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2319,3604
$GC,6148,-0.75,-194.6,832.8,-11.8,587,6149,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2320,3602
$GC,6459,-0.75,-194.6,868.6,-11.6,617,6460,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2320,3601
$GC,6768,-0.75,-194.6,903.5,-11.0,647,6769,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2320,3599
$GC,7079,-0.75,-194.6,938.6,-11.6,677,7083,0.00,1.27,0.00,0.000,4,0.000,0.044,2485,1421,3596
$GC,7137,-0.75,-194.6,945.1,-11.1,682,7144,0.00,1.30,0.00,0.000,6,0.000,0.046,2479,2321,3596
$GC,7454,-0.75,-194.6,980.5,-11.2,713,7455,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2321,3595
$STATE,7535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7535,begin apogee
$GC,7540,-0.26,0.0,990.0,11.6,721,7698,0.62,0.00,154.23,1.234,6,0.145,0.000,2662,2285,2840
$STATE,7699,end apogee,CONTROL_FINISHED_OK
$STATE,7699,begin climb
$GC,7701,0.75,194.6,995.1,0.0,737,7877,1.02,1.77,170.02,1.206,4,0.100,0.058,2985,3157,2045
$GC,7915,0.75,194.6,973.4,15.0,758,7918,0.00,1.62,0.00,0.000,6,0.000,0.035,2992,2278,2040
$GC,8238,0.75,194.6,925.6,14.7,789,8239,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2279,2035
$GC,8547,0.75,194.6,878.6,15.4,819,8548,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2275,2033
$GC,8857,0.75,194.6,831.6,15.3,849,8860,0.00,1.23,0.00,0.000,4,0.000,0.044,2999,1371,2032
$GC,8900,0.75,194.6,825.4,14.8,853,8903,0.00,1.25,0.00,0.000,6,0.000,0.044,2997,2274,2032
$GC,9222,0.75,194.6,776.7,15.9,884,9225,0.00,1.60,0.00,0.000,4,0.000,0.054,2997,3193,2030
$GC,9254,0.75,194.6,771.4,16.8,887,9257,0.00,1.58,0.00,0.000,6,0.000,0.036,3003,2274,2029
$GC,9577,0.75,194.6,721.1,16.3,918,9577,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2275,2029
$GC,9885,0.75,194.6,672.9,15.5,948,9888,0.00,1.60,0.00,0.000,4,0.000,0.054,3003,3177,2029
$GC,9918,0.75,194.6,667.8,15.7,951,9920,0.00,1.55,0.00,0.000,6,0.000,0.036,3010,2274,2028
$GC,10240,0.75,194.6,617.6,15.7,982,10241,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2275,2028
$GC,10549,0.75,194.6,569.2,15.4,1012,10550,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2275,2027
$GC,10859,0.75,194.6,520.5,15.8,1042,10862,0.00,1.62,0.00,0.000,4,0.000,0.053,3011,3171,2027
$GC,10916,0.75,194.6,511.1,16.3,1047,10925,0.00,1.55,0.00,0.000,6,0.000,0.035,3017,2273,2025
$GC,11235,0.75,194.6,459.9,16.7,1078,11238,0.00,1.62,0.00,0.000,4,0.000,0.053,3017,3186,2026
$GC,11260,0.75,194.6,455.1,18.2,1080,11268,0.10,1.58,0.00,0.000,6,0.163,0.035,2995,2274,2025
$GC,11577,0.75,194.6,408.7,14.5,1111,11578,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2275,2026
$GC,11887,0.75,194.6,364.0,14.3,1141,11890,0.00,1.62,0.00,0.000,4,0.000,0.052,2994,3170,2026
$GC,11930,0.75,194.6,357.8,14.2,1145,11933,0.00,1.55,0.00,0.000,6,0.000,0.034,2999,2273,2025
$GC,12253,0.75,194.6,310.8,14.2,1176,12256,0.00,1.62,0.00,0.000,4,0.000,0.051,3000,3193,2025
$GC,12274,0.75,194.6,307.5,14.3,1178,12277,0.00,1.58,0.00,0.000,6,0.000,0.034,3007,2272,2025
$GC,12597,0.75,194.6,258.4,15.6,1209,12600,0.00,1.62,0.00,0.000,4,0.000,0.051,3007,3167,2025
$GC,12671,0.75,194.6,246.1,15.8,1216,12674,0.00,1.52,0.00,0.000,6,0.000,0.033,3015,2275,2026
$GC,12994,0.75,194.6,195.0,15.9,1247,12997,0.00,1.62,0.00,0.000,4,0.000,0.050,3015,3175,2026
$GC,13047,0.75,194.6,186.3,16.3,1252,13050,0.08,1.55,0.00,0.000,6,0.159,0.032,2998,2271,2025
$GC,13368,0.75,194.6,141.6,13.4,1283,13371,0.00,1.62,0.00,0.000,4,0.000,0.048,2995,3171,2026
$GC,13411,0.75,194.6,135.6,13.8,1287,13414,0.00,1.52,0.00,0.000,6,0.000,0.031,3001,2274,2026
$GC,13732,0.75,194.6,94.1,12.5,1318,13735,0.00,1.60,0.00,0.000,4,0.000,0.048,3001,3191,2026
$GC,13811,0.75,194.6,83.5,13.3,1325,13818,0.00,1.55,0.00,0.000,6,0.000,0.030,3009,2274,2027
$GC,14004,0.75,194.6,60.4,11.7,1344,14004,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2275,2027
$GC,14190,0.75,194.6,42.7,7.8,1362,14193,0.00,1.60,0.00,0.000,4,0.000,0.047,3009,3191,2028
$GC,14254,0.75,194.6,37.7,7.9,1368,14257,0.00,1.55,0.00,0.000,6,0.000,0.030,3016,2270,2028
$GC,14451,0.89,305.9,26.9,3.2,1387,14538,0.00,1.23,82.65,0.526,4,0.000,0.035,3022,1359,1592
$GC,14611,0.93,339.4,19.4,6.2,1401,14646,0.00,1.25,25.98,0.496,6,0.000,0.035,3022,2277,1455
$GC,14832,1.11,487.7,8.5,1.8,1422,14952,0.20,1.65,109.25,0.495,4,0.059,0.042,3114,3184,849
$STATE,14955,end climb,SURFACE_DEPTH_REACHED
$STATE,14957,begin surface coast
$FINISH,1.0,1.020534
$STATE,14972,end surface coast,CONTROL_FINISHED_OK
$STATE,14972,begin surface
$SM_CCo,14988,60.28,0.476,0,0,402,597.54
$SM_GC,1.54,0.00,0.00,60.28,0.000,0.000,0.476,200,2318,402,-7.96,-0.20,597.54
$IRIDIUM_FIX,2833.46,-8846.29,151099,111100
$TT8_MAMPS,0.049088
$HUMID,1384
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,22.7,49.913
$10V_AH,10.5,68.676
$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,20.475,79.300,542.125,60.275,0.000,52.336,71.617,283.921,4.000,0.000,0.000,16.342,0.000,9893.741,628.646,4362.070,741.358,33.347,1919.031,0.000,3886.139,0.000,28.030,0.000
$DEVICE_MAMPS,251.576,82.836,1234.103,475.540,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,978.371,1047.337,3223.110,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75752,1434
$CAP_FILE_SIZE,143245,0
$CFSIZE,260165632,229773312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.077,108.5,1
$GPS,210710,151037,2842.404,-8844.236,37,0.9,37,-0.2