version: 66.04
glider: 515
mission: 5
dive: 107
start: 6 11 110 19 48 48
data:
$ID,515
$MISSION,5
$DIVE,107
$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,495
$T_MISSION,520
$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,575
$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,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7043.7212
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2735
$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,2400
$C_ROLL_CLIMB,2282
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,300
$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,5
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,25
$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
$GPS1,194131,2840.330,-8831.405,40,2.0,40,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-70.5
$GPS2,194726,2840.261,-8831.400,10,1.7,10,-0.4
$SPEED_LIMITS,0.115,0.252
$TGT_NAME,NEW0607E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.071,0.242
$KALMAN_X,-239781.2,3458.9,4.1,273405.2,-17505.8
$KALMAN_Y,64184.6,-51.6,-210.2,-80706.6,-11313.7
$MHEAD_RNG_PITCHd_Wd,294.8,22443,-9.2,-6.667
$D_GRID,1466
$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,12,-0.58,-194.6,0.0,0.0,0,77,0.00,0.00,-63.88,0.000,2,0.000,0.000,197,2401,2362
$GC,79,-0.58,-194.6,3.3,-4.5,6,119,10.43,1.45,-26.30,0.000,4,0.258,0.065,2536,3272,3634
$GC,359,-0.58,-194.6,54.0,-14.4,31,368,0.00,1.45,0.00,0.000,6,0.000,0.028,2537,2378,3637
$GC,551,-0.58,-194.6,79.2,-12.6,50,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2378,3638
$GC,737,-0.58,-194.6,103.3,-13.3,68,741,0.00,1.50,0.00,0.000,4,0.000,0.047,2531,3273,3639
$GC,769,-0.58,-194.6,106.7,-9.9,71,772,0.00,1.40,0.00,0.000,6,0.000,0.030,2531,2391,3638
$GC,1090,-0.58,-194.6,148.4,-12.6,102,1091,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2388,3639
$GC,1401,-0.58,-194.6,186.5,-11.8,132,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2388,3638
$GC,1710,-0.58,-194.6,221.2,-11.0,162,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2388,3637
$GC,2021,-0.58,-194.6,255.4,-10.9,192,2022,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2387,3634
$GC,2332,-0.58,-194.6,288.7,-10.7,222,2332,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2388,3633
$GC,2642,-0.58,-194.6,321.1,-10.4,252,2645,0.00,1.23,0.00,0.000,4,0.000,0.041,2532,1522,3631
$GC,2684,-0.58,-194.6,325.5,-10.9,256,2688,0.00,1.23,0.00,0.000,6,0.000,0.041,2527,2374,3631
$GC,3006,-0.58,-194.6,359.8,-10.5,287,3007,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2374,3629
$GC,3316,-0.58,-194.6,392.3,-10.5,317,3316,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2374,3627
$GC,3626,-0.58,-194.6,424.6,-10.3,347,3627,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2374,3624
$GC,3937,-0.58,-194.6,456.4,-10.2,377,3938,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2375,3622
$GC,4247,-0.58,-194.6,488.4,-10.3,407,4247,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2375,3620
$GC,4557,-0.58,-194.6,522.0,-11.0,437,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2374,3619
$GC,4868,-0.58,-194.6,554.1,-8.9,467,4871,0.00,1.20,0.00,0.000,4,0.000,0.044,2528,1529,3616
$GC,5085,-0.58,-194.6,573.9,-9.3,487,5094,0.00,1.33,0.00,0.000,6,0.000,0.047,2521,2414,3615
$GC,5402,-0.58,-194.6,603.1,-10.0,518,5405,0.00,1.48,0.00,0.000,4,0.000,0.059,2515,3274,3612
$GC,5640,-0.58,-194.6,627.5,-9.5,540,5649,0.12,1.42,0.00,0.000,6,0.143,0.037,2546,2410,3611
$GC,5957,-0.58,-194.6,653.4,-8.0,571,5960,0.00,1.30,0.00,0.000,4,0.000,0.049,2547,1511,3609
$GC,6010,-0.58,-194.6,658.1,-8.9,576,6014,0.00,1.30,0.00,0.000,6,0.000,0.048,2543,2386,3609
$GC,6332,-0.58,-194.6,685.5,-8.4,607,6332,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2386,3607
$GC,6642,-0.58,-194.6,711.0,-8.0,637,6642,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2392,3604
$GC,6952,-0.58,-194.6,737.7,-9.1,667,6952,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2392,3603
$GC,7262,-0.58,-194.6,764.5,-8.4,697,7265,0.00,1.27,0.00,0.000,4,0.000,0.050,2542,1522,3602
$GC,7304,-0.58,-194.6,768.3,-9.6,701,7308,0.00,1.33,0.00,0.000,6,0.000,0.049,2537,2412,3602
$GC,7626,-0.58,-194.6,796.4,-8.9,732,7627,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2412,3600
$GC,7936,-0.58,-194.6,823.5,-8.4,762,7939,0.00,1.33,0.00,0.000,4,0.000,0.051,2537,1521,3599
$GC,8021,-0.58,-194.6,830.7,-8.6,770,8024,0.00,1.30,0.00,0.000,6,0.000,0.051,2531,2391,3598
$GC,8342,-0.58,-194.6,858.9,-9.2,801,8346,0.00,1.27,0.00,0.000,4,0.000,0.052,2531,1519,3597
$GC,8395,-0.58,-194.6,863.5,-9.1,806,8398,0.00,1.33,0.00,0.000,6,0.000,0.051,2525,2407,3597
$GC,8717,-0.58,-194.6,892.5,-9.1,837,8718,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2407,3596
$GC,9026,-0.58,-194.6,920.6,-9.0,867,9030,0.00,1.33,0.00,0.000,4,0.000,0.051,2525,1510,3594
$GC,9080,-0.58,-194.6,925.4,-9.2,872,9083,0.00,1.33,0.00,0.000,6,0.000,0.051,2520,2395,3594
$GC,9401,-0.58,-194.6,955.1,-9.5,903,9401,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2395,3593
$GC,9711,-0.58,-194.6,984.3,-9.6,933,9714,0.00,1.30,0.00,0.000,4,0.000,0.052,2520,1519,3592
$STATE,9767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9767,begin apogee
$GC,9771,-0.26,0.0,990.0,9.6,938,9928,0.40,0.00,149.27,1.266,6,0.139,0.000,2641,2286,2839
$STATE,9928,end apogee,CONTROL_FINISHED_OK
$STATE,9928,begin climb
$GC,9930,0.58,194.6,995.3,0.0,954,10099,0.90,0.00,164.65,1.234,6,0.108,0.000,2918,2286,2046
$GC,10407,0.58,194.6,948.8,11.3,1001,10410,0.00,1.23,0.00,0.000,4,0.000,0.056,2923,1406,2036
$GC,10464,0.58,194.6,942.5,11.2,1006,10472,0.00,1.20,0.00,0.000,6,0.000,0.047,2923,2280,2035
$GC,10781,0.58,194.6,906.3,11.5,1037,10782,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2280,2034
$GC,11091,0.58,194.6,871.1,11.8,1067,11094,0.00,1.17,0.00,0.000,4,0.000,0.047,2929,1393,2032
$GC,11123,0.58,194.6,867.7,11.7,1070,11126,0.00,1.17,0.00,0.000,6,0.000,0.047,2929,2277,2032
$GC,11444,0.58,194.6,831.1,11.4,1101,11447,0.00,1.15,0.00,0.000,4,0.000,0.048,2933,1403,2032
$GC,11490,0.58,194.6,825.6,11.5,1105,11497,0.00,1.20,0.00,0.000,6,0.000,0.047,2934,2285,2031
$GC,11807,0.58,194.6,787.8,11.7,1136,11808,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2286,2031
$GC,12117,0.58,194.6,750.3,12.6,1166,12120,0.00,1.17,0.00,0.000,4,0.000,0.047,2939,1396,2030
$GC,12169,0.58,194.6,743.9,11.8,1171,12173,0.00,1.17,0.00,0.000,6,0.000,0.045,2938,2282,2030
$GC,12491,0.58,194.6,706.0,10.3,1202,12494,0.00,1.15,0.00,0.000,4,0.000,0.047,2945,1401,2030
$GC,12569,0.58,194.6,697.0,11.8,1209,12576,0.00,1.20,0.00,0.000,6,0.000,0.046,2944,2286,2029
$GC,12886,0.58,194.6,657.9,12.8,1240,12887,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2287,2029
$GC,13195,0.58,194.6,618.9,12.3,1270,13199,0.00,1.17,0.00,0.000,4,0.000,0.046,2950,1389,2029
$GC,13227,0.58,194.6,614.9,13.2,1273,13231,0.00,1.17,0.00,0.000,6,0.000,0.046,2950,2280,2028
$GC,13548,0.58,194.6,576.3,12.3,1304,13552,0.00,1.15,0.00,0.000,4,0.000,0.046,2955,1398,2028
$GC,13623,0.58,194.6,567.6,11.5,1311,13626,0.10,1.15,0.00,0.000,6,0.145,0.046,2924,2275,2028
$GC,13943,0.58,194.6,535.5,9.9,1342,13944,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2275,2028
$GC,14254,0.58,194.6,504.9,9.5,1372,14255,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2275,2027
$GC,14564,0.58,194.6,474.4,10.2,1402,14568,0.00,1.15,0.00,0.000,4,0.000,0.044,2927,1387,2027
$GC,14611,0.58,194.6,469.7,10.0,1406,14618,0.00,1.20,0.00,0.000,6,0.000,0.044,2927,2285,2028
$GC,14928,0.58,194.6,437.2,10.1,1437,14929,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2285,2028
$GC,15237,0.58,194.6,404.5,10.8,1467,15241,0.00,1.15,0.00,0.000,4,0.000,0.044,2932,1397,2027
$GC,15291,0.58,194.6,399.0,11.0,1472,15294,0.00,1.17,0.00,0.000,6,0.000,0.044,2932,2289,2027
$GC,15612,0.58,194.6,364.7,10.7,1503,15615,0.00,1.17,0.00,0.000,4,0.000,0.043,2937,1386,2027
$GC,15647,0.58,194.6,360.9,10.4,1506,15655,0.00,1.20,0.00,0.000,6,0.000,0.043,2937,2290,2028
$GC,15964,0.58,194.6,325.7,11.0,1537,15965,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2290,2028
$GC,16274,0.58,194.6,290.9,11.2,1567,16277,0.00,1.17,0.00,0.000,4,0.000,0.042,2942,1387,2028
$GC,16327,0.58,194.6,284.7,11.4,1572,16331,0.00,1.17,0.00,0.000,6,0.000,0.042,2942,2288,2028
$GC,16648,0.58,194.6,247.2,11.6,1603,16649,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2288,2028
$GC,16959,0.58,194.6,211.1,11.7,1633,16959,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2288,2028
$GC,17269,0.58,194.6,175.2,11.5,1663,17272,0.00,1.15,0.00,0.000,4,0.000,0.041,2947,1392,2029
$GC,17311,0.58,194.6,170.6,10.9,1667,17315,0.00,1.15,0.00,0.000,6,0.000,0.041,2947,2282,2029
$GC,17633,0.58,194.6,134.4,10.9,1698,17634,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2282,2030
$GC,17943,0.58,194.6,99.9,11.0,1728,17944,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2282,2030
$GC,18129,0.58,194.6,79.6,10.9,1746,18132,0.00,1.12,0.00,0.000,4,0.000,0.039,2952,1394,2031
$GC,18186,0.58,194.6,73.6,10.3,1751,18195,0.12,1.17,0.00,0.000,6,0.138,0.038,2919,2289,2031
$GC,18378,0.58,194.6,58.4,7.4,1770,18379,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2289,2032
$GC,18565,0.58,194.6,45.6,7.0,1788,18568,0.00,1.15,0.00,0.000,4,0.000,0.038,2923,1381,2033
$GC,18633,0.67,269.2,41.3,4.9,1794,18691,0.00,1.17,54.15,0.559,6,0.000,0.038,2923,2285,1741
$GC,18883,0.77,346.8,27.8,4.8,1818,18947,0.17,0.00,57.90,0.539,6,0.058,0.000,3008,2285,1424
$GC,19131,0.96,500.8,7.9,3.1,1842,19251,0.10,1.65,112.00,0.520,4,0.080,0.045,3055,3166,796
$STATE,19254,end climb,SURFACE_DEPTH_REACHED
$STATE,19254,begin surface coast
$FINISH,0.6,1.018789
$STATE,19296,end surface coast,CONTROL_FINISHED_OK
$STATE,19296,begin surface
$SM_CCo,19311,46.25,0.501,0,0,493,575.22
$SM_GC,2.12,0.00,0.00,46.25,0.000,0.000,0.501,194,2376,493,-7.94,-0.68,575.22
$IRIDIUM_FIX,2831.00,-8831.62,050999,141408
$TT8_MAMPS,0.051389
$HUMID,1292
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,23.60
$XPDR_PINGS,1
$24V_AH,23.4,20.984
$10V_AH,10.6,27.732
$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,20.175,64.875,537.975,46.250,0.000,25.466,33.258,194.442,0.250,0.000,0.000,12.598,0.000,13068.964,643.819,5485.006,526.571,33.335,2178.818,0.000,4924.302,0.000,0.847,0.000
$DEVICE_MAMPS,258.479,65.195,1265.550,500.851,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1271.732,1357.796,4173.855,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97655,1857
$CAP_FILE_SIZE,168057,0
$CFSIZE,260165632,245727232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.071,185.2,1
$GPS,120610,011224,2840.758,-8834.269,39,1.5,39,-0.3