version: 66.04
glider: 515
mission: 5
dive: 291
start: 7 22 110 22 59 38
data:
$ID,515
$MISSION,5
$DIVE,291
$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,-24877.91
$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,29
$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
$GPS1,223324,2842.927,-8827.727,35,1.7,35,-0.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-69.2
$GPS2,223324,2842.927,-8827.727,35,1.7,35,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.235,0.122
$KALMAN_X,33554.5,-502.7,269.2,3251.4,4075.8
$KALMAN_Y,-451599.8,163.1,-618.6,471204.3,-9866.0
$MHEAD_RNG_PITCHd_Wd,309.1,28075,-10.8,-7.500
$D_GRID,1373
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.64,-194.6,0.0,0.0,0,71,0.00,0.00,-54.53,0.000,2,0.000,0.000,192,2339,1998
$GC,74,-0.64,-194.6,3.1,-3.3,5,133,10.30,1.45,-43.12,0.000,4,0.244,0.060,2530,3234,3634
$GC,165,-0.64,-194.6,16.2,-30.0,13,168,0.00,1.48,0.00,0.000,6,0.000,0.028,2535,2331,3635
$GC,362,-0.64,-194.6,56.6,-16.0,32,365,0.00,1.25,0.00,0.000,4,0.000,0.034,2537,1397,3635
$GC,608,-0.64,-194.6,87.9,-12.8,55,611,0.00,1.25,0.00,0.000,6,0.000,0.033,2533,2320,3635
$GC,805,-0.64,-194.6,111.4,-11.8,74,808,0.00,1.23,0.00,0.000,4,0.000,0.035,2533,1409,3636
$GC,955,-0.64,-194.6,129.7,-11.6,88,957,0.00,1.25,0.00,0.000,6,0.000,0.035,2528,2324,3636
$GC,1277,-0.64,-194.6,169.2,-11.7,119,1280,0.00,1.25,0.00,0.000,4,0.000,0.035,2527,1405,3634
$GC,1320,-0.64,-194.6,174.4,-11.8,123,1323,0.00,1.27,0.00,0.000,6,0.000,0.035,2522,2328,3634
$GC,1642,-0.64,-194.6,212.1,-11.9,154,1645,0.00,1.25,0.00,0.000,4,0.000,0.036,2522,1413,3631
$GC,1711,-0.64,-194.6,220.6,-11.7,160,1718,0.00,1.25,0.00,0.000,6,0.000,0.035,2517,2321,3631
$GC,2028,-0.64,-194.6,259.0,-11.7,191,2031,0.00,1.25,0.00,0.000,4,0.000,0.037,2516,1401,3628
$GC,2125,-0.64,-194.6,271.2,-12.6,200,2128,0.00,1.27,0.00,0.000,6,0.000,0.037,2510,2326,3627
$GC,2447,-0.64,-194.6,311.9,-12.3,231,2450,0.12,1.25,0.00,0.000,4,0.143,0.035,2543,1414,3624
$GC,2483,-0.64,-194.6,316.1,-10.3,234,2490,0.00,1.30,0.00,0.000,6,0.000,0.037,2539,2334,3624
$GC,2802,-0.64,-194.6,347.7,-9.7,265,2805,0.00,1.27,0.00,0.000,4,0.000,0.038,2539,1408,3621
$GC,2849,-0.64,-194.6,352.7,-10.2,269,2856,0.00,1.27,0.00,0.000,6,0.000,0.038,2533,2326,3620
$GC,3167,-0.64,-194.6,385.0,-10.2,300,3170,0.00,1.25,0.00,0.000,4,0.000,0.038,2534,1413,3617
$GC,3246,-0.64,-194.6,393.4,-10.3,307,3253,0.00,1.30,0.00,0.000,6,0.000,0.038,2529,2336,3617
$GC,3564,-0.64,-194.6,425.8,-10.0,338,3567,0.00,1.30,0.00,0.000,4,0.000,0.038,2529,1399,3615
$GC,3681,-0.64,-194.6,437.3,-9.4,349,3685,0.00,1.30,0.00,0.000,6,0.000,0.041,2523,2329,3614
$GC,4004,-0.64,-194.6,469.1,-9.7,380,4007,0.00,1.27,0.00,0.000,4,0.000,0.040,2523,1404,3610
$GC,4047,-0.64,-194.6,473.4,-9.9,384,4050,0.00,1.27,0.00,0.000,6,0.000,0.041,2518,2315,3610
$GC,4369,-0.64,-194.6,506.0,-10.2,415,4370,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2315,3607
$GC,4678,-0.64,-194.6,537.8,-10.4,445,4679,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2315,3605
$GC,4989,-0.64,-194.6,569.7,-10.1,475,4992,0.00,1.25,0.00,0.000,4,0.000,0.041,2518,1419,3602
$GC,5047,-0.64,-194.6,576.0,-9.8,480,5054,0.00,1.27,0.00,0.000,6,0.000,0.042,2512,2322,3601
$GC,5365,-0.64,-194.6,609.8,-10.7,511,5365,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2322,3599
$GC,5674,-0.64,-194.6,644.0,-11.1,541,5675,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2322,3596
$GC,5984,-0.64,-194.6,676.9,-10.7,571,5987,0.00,1.27,0.00,0.000,4,0.000,0.043,2513,1414,3594
$GC,6020,-0.64,-194.6,680.9,-10.9,574,6027,0.08,1.33,0.00,0.000,6,0.144,0.042,2532,2337,3594
$GC,6336,-0.64,-194.6,709.1,-8.8,605,6339,0.00,1.30,0.00,0.000,4,0.000,0.042,2532,1419,3592
$GC,6401,-0.64,-194.6,714.9,-8.9,611,6403,0.00,1.30,0.00,0.000,6,0.000,0.044,2529,2326,3591
$GC,6723,-0.64,-194.6,744.3,-8.9,642,6724,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2326,3589
$GC,7032,-0.64,-194.6,772.9,-9.1,672,7033,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2326,3587
$GC,7343,-0.64,-194.6,800.6,-9.1,702,7344,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2326,3586
$GC,7653,-0.64,-194.6,828.7,-8.8,732,7656,0.00,1.27,0.00,0.000,4,0.000,0.044,2529,1424,3584
$GC,7717,-0.64,-194.6,834.3,-7.8,738,7719,0.00,1.30,0.00,0.000,6,0.000,0.047,2524,2326,3584
$GC,8038,-0.64,-194.6,863.1,-8.9,769,8039,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2326,3582
$GC,8348,-0.64,-194.6,891.8,-9.2,799,8349,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2327,3581
$GC,8660,-0.64,-194.6,919.4,-8.8,829,8661,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2326,3580
$GC,8969,-0.64,-194.6,946.1,-8.1,859,8969,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2327,3578
$GC,9279,-0.64,-194.6,971.6,-8.1,889,9280,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2326,3576
$STATE,9516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9516,begin apogee
$GC,9522,-0.26,0.0,990.8,8.1,912,9678,0.43,0.00,150.85,1.242,6,0.134,0.000,2656,2270,2840
$STATE,9679,end apogee,CONTROL_FINISHED_OK
$STATE,9679,begin climb
$GC,9681,0.64,194.6,994.8,0.0,928,9863,0.90,1.83,170.07,1.213,4,0.101,0.058,2941,3155,2044
$GC,9888,0.64,194.6,977.6,12.0,945,9896,0.00,1.65,0.00,0.000,6,0.000,0.035,2948,2273,2040
$GC,10206,0.64,194.6,941.4,11.5,976,10207,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2274,2034
$GC,10516,0.64,194.6,905.8,11.5,1006,10517,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2274,2033
$GC,10826,0.64,194.6,870.2,11.3,1036,10827,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2275,2031
$GC,11137,0.64,194.6,835.0,11.4,1066,11140,0.00,1.62,0.00,0.000,4,0.000,0.055,2948,3166,2030
$GC,11179,0.64,194.6,830.0,12.1,1070,11182,0.00,1.55,0.00,0.000,6,0.000,0.037,2955,2272,2029
$GC,11500,0.64,194.6,793.0,11.5,1101,11503,0.00,1.20,0.00,0.000,4,0.000,0.043,2961,1377,2029
$GC,11543,0.64,194.6,788.0,12.0,1105,11546,0.00,1.23,0.00,0.000,6,0.000,0.044,2961,2265,2029
$GC,11864,0.64,194.6,750.0,11.4,1136,11867,0.00,1.62,0.00,0.000,4,0.000,0.054,2961,3164,2028
$GC,11900,0.64,194.6,745.4,11.9,1139,11907,0.00,1.55,0.00,0.000,6,0.000,0.036,2968,2270,2027
$GC,12218,0.64,194.6,707.5,12.0,1170,12219,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2271,2027
$GC,12528,0.64,194.6,670.5,11.8,1200,12528,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2271,2027
$GC,12837,0.64,194.6,633.6,12.0,1230,12840,0.00,1.62,0.00,0.000,4,0.000,0.054,2968,3181,2027
$GC,12880,0.64,194.6,628.3,11.3,1234,12883,0.00,1.58,0.00,0.000,6,0.000,0.037,2976,2272,2026
$GC,13203,0.64,194.6,588.3,12.8,1265,13203,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2274,2026
$GC,13512,0.64,194.6,548.7,12.8,1295,13515,0.00,1.60,0.00,0.000,4,0.000,0.054,2976,3170,2026
$GC,13548,0.64,194.6,543.7,12.8,1298,13555,0.08,1.55,0.00,0.000,6,0.143,0.035,2959,2274,2025
$GC,13865,0.64,194.6,507.4,11.5,1329,13865,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2274,2025
$GC,14175,0.64,194.6,472.6,11.3,1359,14178,0.00,1.60,0.00,0.000,4,0.000,0.053,2959,3174,2025
$GC,14217,0.64,194.6,467.7,11.9,1363,14220,0.00,1.55,0.00,0.000,6,0.000,0.035,2965,2275,2025
$GC,14540,0.64,194.6,431.1,11.2,1394,14543,0.00,1.20,0.00,0.000,4,0.000,0.042,2970,1374,2025
$GC,14576,0.64,194.6,426.6,11.8,1397,14584,0.00,1.27,0.00,0.000,6,0.000,0.042,2970,2283,2025
$GC,14895,0.64,194.6,387.9,12.2,1428,14898,0.00,1.25,0.00,0.000,4,0.000,0.041,2975,1374,2025
$GC,14931,0.64,194.6,383.3,11.8,1431,14938,0.00,1.23,0.00,0.000,6,0.000,0.042,2975,2272,2025
$GC,15249,0.64,194.6,344.3,12.2,1462,15252,0.00,1.60,0.00,0.000,4,0.000,0.052,2975,3163,2025
$GC,15292,0.64,194.6,338.5,13.0,1466,15295,0.00,1.55,0.00,0.000,6,0.000,0.035,2983,2271,2025
$GC,15612,0.64,194.6,298.5,12.0,1497,15613,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2273,2025
$GC,15923,0.64,194.6,259.1,12.6,1527,15927,0.00,1.62,0.00,0.000,4,0.000,0.051,2983,3162,2025
$GC,15959,0.64,194.6,254.2,13.0,1530,15967,0.08,1.52,0.00,0.000,6,0.146,0.032,2965,2278,2025
$GC,16276,0.64,194.6,217.2,11.8,1561,16277,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2279,2025
$GC,16586,0.64,194.6,182.3,11.0,1591,16587,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2279,2025
$GC,16897,0.64,194.6,147.3,10.9,1621,16901,0.00,1.60,0.00,0.000,4,0.000,0.049,2964,3165,2026
$GC,16965,0.64,194.6,139.2,10.1,1627,16973,0.00,1.52,0.00,0.000,6,0.000,0.031,2969,2274,2026
$GC,17284,0.64,194.6,106.2,10.6,1658,17287,0.00,1.60,0.00,0.000,4,0.000,0.048,2970,3164,2028
$GC,17316,0.64,194.6,102.6,11.7,1661,17319,0.00,1.52,0.00,0.000,6,0.000,0.031,2976,2269,2028
$GC,17637,0.64,194.6,69.5,10.1,1692,17640,0.00,1.62,0.00,0.000,4,0.000,0.046,2977,3195,2028
$GC,17717,0.64,194.6,61.7,9.4,1699,17724,0.08,1.55,0.00,0.000,6,0.130,0.029,2958,2276,2028
$GC,17909,0.72,255.8,48.0,5.9,1718,17957,0.00,0.00,45.92,0.540,6,0.000,0.000,2958,2277,1796
$GC,18143,0.86,370.4,37.3,4.5,1740,18233,0.17,1.25,86.60,0.528,4,0.054,0.035,3058,1358,1328
$GC,18280,0.87,381.4,27.3,7.2,1751,18292,0.08,1.25,9.57,0.453,6,0.115,0.034,3031,2275,1283
$GC,18481,0.96,454.2,14.3,5.6,1770,18540,0.00,1.60,53.97,0.497,4,0.000,0.050,3029,3181,989
$GC,18577,0.96,454.2,7.5,7.7,1778,18584,0.00,1.55,0.00,0.000,6,0.000,0.027,3029,2273,985
$STATE,18694,end climb,SURFACE_DEPTH_REACHED
$STATE,18695,begin surface coast
$FINISH,0.7,1.008085
$STATE,18811,end surface coast,CONTROL_FINISHED_OK
$STATE,18811,begin surface
$SM_CCo,18826,81.05,0.478,0,0,402,597.54
$SM_GC,1.72,0.00,0.00,81.05,0.000,0.000,0.478,199,2355,402,-7.96,0.85,597.54
$IRIDIUM_FIX,2833.46,-8829.10,161099,222227
$TT8_MAMPS,0.052156
$HUMID,1391
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,24.10
$XPDR_PINGS,138
$24V_AH,22.7,51.026
$10V_AH,10.5,70.288
$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,19.850,86.900,517.000,81.050,0.000,52.443,66.668,327.392,38.250,0.000,0.000,903.477,0.000,12649.919,639.408,6289.393,830.696,33.340,2190.309,0.000,4816.090,0.000,31.914,0.000
$DEVICE_MAMPS,243.906,72.098,1241.773,477.841,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1231.801,1312.680,4047.176,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94384,1801
$CAP_FILE_SIZE,174908,0
$CFSIZE,260165632,229105664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.062,136.5,1
$GPS,230710,041536,2843.954,-8829.896,28,0.9,28,-0.4