version: 66.04
glider: 515
mission: 5
dive: 109
start: 6 12 110 6 54 10
data:
$ID,515
$MISSION,5
$DIVE,109
$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,-7075.2983
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2733
$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,2375
$C_ROLL_CLIMB,2280
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,36
$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
$GPS1,064537,2841.190,-8837.439,27,1.7,27,-0.3
$_CALLS,1
$_XMS_NAKs,24
$_XMS_TOUTs,2
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-69.1
$GPS2,065331,2841.309,-8837.504,9,1.9,14,-0.3
$SPEED_LIMITS,0.115,0.252
$TGT_NAME,NEW0607E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.122,0.221
$KALMAN_X,-236842.6,-371.0,-910.2,265317.9,-1554.2
$KALMAN_Y,50548.4,1715.6,1096.6,-68265.0,-17130.3
$MHEAD_RNG_PITCHd_Wd,297.3,12343,-9.2,-6.667
$D_GRID,1038
$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,11,-0.58,-194.6,0.0,0.0,0,62,0.00,0.00,-49.05,0.000,2,0.000,0.000,196,2415,1932
$GC,64,-0.58,-194.6,3.1,-3.6,5,124,10.48,1.38,-42.97,0.000,4,0.258,0.058,2543,1466,3635
$GC,362,-0.58,-194.6,50.1,-14.5,32,370,0.00,1.27,0.00,0.000,6,0.000,0.037,2540,2361,3637
$GC,555,-0.58,-194.6,74.1,-12.6,51,558,0.00,1.23,0.00,0.000,4,0.000,0.038,2539,1465,3638
$GC,623,-0.58,-194.6,82.7,-12.2,57,630,0.00,1.33,0.00,0.000,6,0.000,0.038,2535,2379,3638
$GC,815,-0.58,-194.6,106.1,-12.8,76,818,0.00,1.27,0.00,0.000,4,0.000,0.038,2535,1464,3639
$GC,847,-0.58,-194.6,110.0,-12.7,79,850,0.00,1.30,0.00,0.000,6,0.000,0.039,2529,2374,3638
$GC,1168,-0.58,-194.6,151.5,-12.8,110,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2374,3638
$GC,1478,-0.58,-194.6,189.8,-12.4,140,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2374,3638
$GC,1788,-0.58,-194.6,226.4,-11.5,170,1789,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2374,3636
$GC,2099,-0.58,-194.6,260.4,-11.1,200,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2374,3635
$GC,2409,-0.58,-194.6,294.4,-11.0,230,2410,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2374,3633
$GC,2719,-0.58,-194.6,328.0,-10.6,260,2720,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2374,3631
$GC,3029,-0.58,-194.6,360.9,-10.5,290,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2374,3629
$GC,3340,-0.58,-194.6,393.3,-10.1,320,3341,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2374,3627
$GC,3651,-0.58,-194.6,426.2,-10.8,350,3652,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2374,3624
$GC,3961,-0.58,-194.6,459.0,-10.2,380,3962,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2374,3622
$GC,4272,-0.58,-194.6,490.4,-10.3,410,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2374,3621
$GC,4582,-0.58,-194.6,521.8,-10.2,440,4582,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2374,3619
$GC,4892,-0.58,-194.6,552.9,-10.0,470,4893,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2374,3616
$GC,5203,-0.58,-194.6,584.3,-10.2,500,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2374,3614
$GC,5513,-0.58,-194.6,616.2,-10.5,530,5514,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2374,3612
$GC,5823,-0.58,-194.6,647.1,-10.4,560,5827,0.00,1.27,0.00,0.000,4,0.000,0.048,2529,1478,3610
$GC,5866,-0.58,-194.6,651.3,-10.2,564,5869,0.00,1.30,0.00,0.000,6,0.000,0.050,2524,2370,3609
$GC,6187,-0.58,-194.6,684.6,-10.3,595,6188,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2370,3607
$GC,6497,-0.58,-194.6,716.3,-10.5,625,6498,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2370,3606
$GC,6807,-0.58,-194.6,747.5,-10.0,655,6811,0.00,1.55,0.00,0.000,4,0.000,0.063,2516,3257,3604
$GC,6850,-0.58,-194.6,751.8,-10.5,659,6853,0.00,1.48,0.00,0.000,6,0.000,0.041,2516,2370,3604
$GC,7172,-0.58,-194.6,784.9,-9.9,690,7173,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2369,3602
$GC,7481,-0.58,-194.6,815.8,-9.8,720,7484,0.00,1.55,0.00,0.000,4,0.000,0.064,2509,3256,3601
$GC,7513,-0.58,-194.6,819.1,-10.5,723,7517,0.10,1.48,0.00,0.000,6,0.140,0.041,2541,2368,3600
$GC,7833,-0.58,-194.6,846.6,-8.4,754,7837,0.00,1.25,0.00,0.000,4,0.000,0.051,2542,1489,3598
$GC,7887,-0.58,-194.6,851.4,-8.8,759,7890,0.00,1.30,0.00,0.000,6,0.000,0.053,2539,2367,3598
$GC,8209,-0.58,-194.6,878.9,-8.7,790,8209,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2368,3597
$GC,8518,-0.58,-194.6,903.4,-7.8,820,8519,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2368,3596
$GC,8829,-0.58,-194.6,926.7,-7.6,850,8830,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2368,3595
$GC,9139,-0.58,-194.6,953.1,-8.0,880,9140,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2368,3594
$GC,9450,-0.58,-194.6,978.6,-8.3,910,9453,0.00,1.27,0.00,0.000,4,0.000,0.051,2539,1478,3592
$GC,9534,-0.58,-194.6,986.1,-9.9,918,9538,0.00,1.33,0.00,0.000,6,0.000,0.054,2534,2369,3592
$STATE,9585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9585,begin apogee
$GC,9589,-0.26,0.0,990.6,8.9,923,9740,0.38,0.00,149.12,1.267,6,0.137,0.000,2646,2283,2840
$STATE,9741,end apogee,CONTROL_FINISHED_OK
$STATE,9741,begin climb
$GC,9742,0.58,194.6,995.7,0.0,938,9910,0.85,0.00,165.10,1.235,6,0.110,0.000,2910,2283,2046
$GC,10218,0.58,194.6,955.1,9.9,985,10221,0.00,1.23,0.00,0.000,4,0.000,0.054,2915,1382,2035
$GC,10292,0.58,194.6,947.4,10.4,992,10296,0.00,1.23,0.00,0.000,6,0.000,0.048,2915,2281,2035
$GC,10613,0.58,194.6,912.3,11.0,1023,10614,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2281,2033
$GC,10924,0.58,194.6,878.3,11.1,1053,10927,0.00,1.20,0.00,0.000,4,0.000,0.048,2920,1381,2032
$GC,10970,0.58,194.6,873.4,11.0,1057,10978,0.00,1.23,0.00,0.000,6,0.000,0.048,2920,2280,2032
$GC,11287,0.58,194.6,839.1,10.9,1088,11290,0.00,1.20,0.00,0.000,4,0.000,0.048,2925,1370,2030
$GC,11340,0.58,194.6,833.3,11.3,1093,11343,0.00,1.23,0.00,0.000,6,0.000,0.047,2925,2282,2030
$GC,11661,0.58,194.6,796.9,11.5,1124,11664,0.00,1.20,0.00,0.000,4,0.000,0.048,2931,1373,2030
$GC,11703,0.58,194.6,792.1,12.0,1128,11707,0.00,1.23,0.00,0.000,6,0.000,0.048,2931,2285,2030
$GC,12025,0.58,194.6,755.0,11.4,1159,12025,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2284,2030
$GC,12335,0.58,194.6,720.7,11.0,1189,12335,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2285,2029
$GC,12645,0.58,194.6,687.2,10.9,1219,12648,0.00,1.20,0.00,0.000,4,0.000,0.047,2936,1372,2028
$GC,12691,0.58,194.6,681.8,10.9,1223,12700,0.00,1.23,0.00,0.000,6,0.000,0.046,2936,2283,2029
$GC,13009,0.58,194.6,645.0,11.4,1254,13011,0.00,1.20,0.00,0.000,4,0.000,0.047,2941,1366,2028
$GC,13082,0.58,194.6,636.2,12.0,1261,13086,0.00,1.20,0.00,0.000,6,0.000,0.045,2941,2277,2028
$GC,13404,0.58,194.6,598.3,11.8,1292,13405,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2277,2028
$GC,13714,0.58,194.6,562.7,11.1,1322,13717,0.00,1.17,0.00,0.000,4,0.000,0.046,2946,1373,2028
$GC,13750,0.58,194.6,558.7,9.8,1325,13757,0.00,1.23,0.00,0.000,6,0.000,0.045,2946,2284,2027
$GC,14067,0.58,194.6,523.4,11.0,1356,14068,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2284,2028
$GC,14377,0.58,194.6,488.0,11.3,1386,14380,0.00,1.20,0.00,0.000,4,0.000,0.045,2951,1368,2027
$GC,14408,0.58,194.6,484.3,12.2,1389,14412,0.08,1.20,0.00,0.000,6,0.149,0.044,2927,2280,2027
$GC,14729,0.58,194.6,450.7,10.4,1420,14732,0.00,1.17,0.00,0.000,4,0.000,0.045,2931,1378,2027
$GC,14761,0.58,194.6,447.4,10.1,1423,14764,0.00,1.20,0.00,0.000,6,0.000,0.045,2931,2284,2027
$GC,15083,0.58,194.6,413.0,10.4,1454,15084,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2284,2027
$GC,15392,0.58,194.6,379.7,11.2,1484,15395,0.00,1.20,0.00,0.000,4,0.000,0.044,2936,1364,2027
$GC,15428,0.58,194.6,375.8,10.8,1487,15437,0.00,1.23,0.00,0.000,6,0.000,0.043,2936,2286,2027
$GC,15745,0.58,194.6,341.2,10.8,1518,15746,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2286,2027
$GC,16056,0.58,194.6,306.6,11.3,1548,16059,0.00,1.17,0.00,0.000,4,0.000,0.044,2941,1376,2027
$GC,16102,0.58,194.6,301.6,9.5,1552,16109,0.00,1.20,0.00,0.000,6,0.000,0.043,2941,2283,2027
$GC,16419,0.58,194.6,265.9,11.3,1583,16420,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2283,2027
$GC,16729,0.58,194.6,229.9,11.8,1613,16732,0.00,1.17,0.00,0.000,4,0.000,0.042,2946,1373,2028
$GC,16771,0.58,194.6,224.8,10.9,1617,16775,0.00,1.17,0.00,0.000,6,0.000,0.041,2946,2278,2028
$GC,17093,0.58,194.6,188.0,11.5,1648,17096,0.00,1.17,0.00,0.000,4,0.000,0.041,2952,1361,2028
$GC,17145,0.58,194.6,181.9,10.9,1653,17149,0.08,1.20,0.00,0.000,6,0.140,0.040,2926,2284,2028
$GC,17466,0.58,194.6,151.5,9.1,1684,17467,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2284,2029
$GC,17776,0.58,194.6,123.9,9.4,1714,17777,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2284,2030
$GC,18087,0.58,194.6,95.6,9.3,1744,18088,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2284,2030
$GC,18273,0.58,194.6,78.7,9.4,1762,18274,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2284,2031
$GC,18459,0.58,194.6,62.6,8.4,1780,18460,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2284,2032
$GC,18646,0.58,194.6,48.0,7.2,1798,18649,0.00,1.60,0.00,0.000,4,0.000,0.048,2926,3176,2033
$GC,18681,0.58,194.6,44.9,7.4,1801,18689,0.00,1.58,0.00,0.000,6,0.000,0.031,2932,2273,2033
$GC,18874,0.69,286.6,33.8,4.5,1820,18945,0.00,1.10,66.50,0.551,4,0.000,0.036,2936,1368,1672
$GC,19031,0.81,377.6,25.4,4.5,1834,19104,0.12,1.20,67.50,0.535,6,0.044,0.035,3009,2284,1299
$GC,19286,0.88,435.3,6.0,5.3,1858,19333,0.00,1.17,42.65,0.511,4,0.000,0.035,3012,1362,1064
$STATE,19363,end climb,SURFACE_DEPTH_REACHED
$STATE,19363,begin surface coast
$FINISH,0.7,1.019759
$STATE,19428,end surface coast,CONTROL_FINISHED_OK
$STATE,19428,begin surface
$SM_CCo,19442,73.57,0.503,0,0,494,575.22
$SM_GC,1.61,0.00,0.00,73.57,0.000,0.000,0.503,197,2371,494,-7.93,-0.14,575.22
$IRIDIUM_FIX,2826.10,-9017.18,060999,010117
$TT8_MAMPS,0.052156
$HUMID,1278
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,23.00
$XPDR_PINGS,4
$24V_AH,23.4,21.320
$10V_AH,10.6,28.207
$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,19.725,61.100,490.875,73.575,0.000,23.774,32.252,310.586,1.000,0.000,0.000,16.403,0.000,13255.934,620.382,5463.129,619.706,33.341,2122.947,0.000,4921.462,0.000,0.847,0.000
$DEVICE_MAMPS,258.479,65.962,1267.084,503.152,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1281.678,1369.767,4205.510,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97832,1871
$CAP_FILE_SIZE,168715,0
$CFSIZE,260165632,245547008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$CURRENT,0.086,205.4,1
$GPS,120610,122025,2841.881,-8840.781,39,1.1,39,-0.2