version: 66.04
glider: 515
mission: 5
dive: 119
start: 6 14 110 14 23 17
data:
$ID,515
$MISSION,5
$DIVE,119
$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,-7229.8623
$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,2367
$C_ROLL_CLIMB,2280
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,27
$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
$GPS1,141206,2840.450,-8836.423,33,1.2,33,-0.3
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,2
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-72.0
$GPS2,142238,2840.440,-8836.275,11,1.9,11,-0.3
$SPEED_LIMITS,0.115,0.252
$TGT_NAME,NEW0602B
$TGT_LATLONG,2845.000,-8829.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.128,0.217
$KALMAN_X,-257036.5,908.2,564.1,284708.9,-497.4
$KALMAN_Y,3843.5,964.3,461.1,-21783.3,-12540.9
$MHEAD_RNG_PITCHd_Wd,43.1,14521,-9.2,-6.667
$D_GRID,1178
$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,-194.6,0.0,0.0,0,97,0.00,0.00,-83.70,0.000,2,0.000,0.000,195,2366,2912
$GC,99,-0.58,-194.6,4.0,-3.6,8,127,10.60,1.27,-13.45,0.000,4,0.263,0.062,2545,1466,3637
$GC,369,-0.58,-194.6,53.7,-11.9,33,373,0.00,1.25,0.00,0.000,6,0.000,0.035,2541,2359,3639
$GC,566,-0.58,-194.6,77.3,-12.3,52,569,0.00,1.52,0.00,0.000,4,0.000,0.044,2534,3266,3639
$GC,640,-0.58,-194.6,86.3,-12.1,59,644,0.00,1.48,0.00,0.000,6,0.000,0.029,2537,2360,3639
$GC,837,-0.58,-194.6,109.4,-11.3,78,840,0.00,1.52,0.00,0.000,4,0.000,0.044,2532,3256,3640
$GC,986,-0.58,-194.6,128.3,-11.9,92,990,0.00,1.45,0.00,0.000,6,0.000,0.029,2533,2361,3640
$GC,1308,-0.58,-194.6,166.8,-10.8,123,1311,0.00,1.52,0.00,0.000,4,0.000,0.046,2527,3265,3639
$GC,1536,-0.58,-194.6,192.6,-10.7,144,1543,0.00,1.48,0.00,0.000,6,0.000,0.029,2528,2360,3638
$GC,1853,-0.58,-194.6,227.7,-11.2,175,1856,0.00,1.52,0.00,0.000,4,0.000,0.046,2520,3264,3637
$GC,2087,-0.58,-194.6,255.0,-11.2,197,2091,0.00,1.45,0.00,0.000,6,0.000,0.030,2520,2366,3636
$GC,2409,-0.58,-194.6,290.9,-11.0,228,2412,0.00,1.50,0.00,0.000,4,0.000,0.048,2514,3254,3634
$GC,2643,-0.58,-194.6,317.9,-11.7,250,2647,0.08,1.45,0.00,0.000,6,0.143,0.031,2538,2360,3632
$GC,2964,-0.58,-194.6,349.5,-9.8,281,2967,0.00,1.52,0.00,0.000,4,0.000,0.048,2532,3256,3631
$GC,3156,-0.58,-194.6,369.1,-10.1,299,3159,0.00,1.45,0.00,0.000,6,0.000,0.033,2532,2364,3629
$GC,3478,-0.58,-194.6,400.3,-9.5,330,3481,0.00,1.52,0.00,0.000,4,0.000,0.051,2526,3253,3627
$GC,3724,-0.58,-194.6,425.9,-10.0,353,3727,0.00,1.45,0.00,0.000,6,0.000,0.034,2527,2367,3625
$GC,4045,-0.58,-194.6,458.6,-10.0,384,4048,0.00,1.52,0.00,0.000,4,0.000,0.051,2519,3252,3623
$GC,4290,-0.58,-194.6,485.4,-11.2,407,4293,0.00,1.48,0.00,0.000,6,0.000,0.035,2520,2365,3622
$GC,4612,-0.58,-194.6,519.7,-10.6,438,4615,0.00,1.55,0.00,0.000,4,0.000,0.053,2512,3261,3619
$GC,4857,-0.58,-194.6,547.7,-11.3,461,4860,0.08,1.50,0.00,0.000,6,0.151,0.037,2537,2359,3617
$GC,5177,-0.58,-194.6,578.6,-9.4,492,5181,0.00,1.55,0.00,0.000,4,0.000,0.054,2531,3253,3615
$GC,5423,-0.58,-194.6,602.5,-9.9,515,5427,0.00,1.48,0.00,0.000,6,0.000,0.037,2531,2365,3614
$GC,5745,-0.58,-194.6,632.0,-9.3,546,5748,0.00,1.55,0.00,0.000,4,0.000,0.057,2525,3255,3611
$GC,5990,-0.58,-194.6,655.7,-9.9,569,5993,0.00,1.48,0.00,0.000,6,0.000,0.038,2525,2364,3609
$GC,6311,-0.58,-194.6,686.1,-9.5,600,6315,0.00,1.52,0.00,0.000,4,0.000,0.057,2517,3248,3607
$GC,6556,-0.58,-194.6,710.5,-10.0,623,6560,0.00,1.48,0.00,0.000,6,0.000,0.038,2517,2361,3606
$GC,6878,-0.58,-194.6,742.8,-10.5,654,6881,0.00,1.55,0.00,0.000,4,0.000,0.057,2511,3250,3604
$GC,7112,-0.58,-194.6,768.1,-11.3,676,7116,0.10,1.48,0.00,0.000,6,0.146,0.038,2541,2361,3603
$GC,7433,-0.58,-194.6,795.1,-8.4,707,7437,0.00,1.55,0.00,0.000,4,0.000,0.058,2537,3249,3602
$GC,7679,-0.58,-194.6,816.3,-8.5,730,7682,0.00,1.48,0.00,0.000,6,0.000,0.039,2537,2365,3601
$GC,8000,-0.58,-194.6,843.1,-8.4,761,8003,0.00,1.55,0.00,0.000,4,0.000,0.058,2529,3251,3599
$GC,8182,-0.58,-194.6,858.7,-8.5,778,8185,0.00,1.48,0.00,0.000,6,0.000,0.040,2530,2365,3598
$GC,8503,-0.58,-194.6,886.2,-8.9,809,8506,0.00,1.55,0.00,0.000,4,0.000,0.059,2522,3249,3596
$GC,8675,-0.58,-194.6,901.9,-9.3,825,8677,0.00,1.48,0.00,0.000,6,0.000,0.040,2523,2364,3596
$GC,8995,-0.58,-194.6,930.8,-9.1,856,8998,0.00,1.55,0.00,0.000,4,0.000,0.060,2516,3248,3595
$GC,9241,-0.58,-194.6,954.5,-10.3,879,9244,0.00,1.48,0.00,0.000,6,0.000,0.040,2516,2363,3594
$GC,9562,-0.58,-194.6,983.1,-8.5,910,9566,0.12,1.55,0.00,0.000,4,0.150,0.059,2542,3247,3593
$STATE,9656,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9656,begin apogee
$GC,9661,-0.26,0.0,990.2,6.8,919,9813,0.35,0.00,149.57,1.268,6,0.138,0.000,2647,2291,2840
$STATE,9814,end apogee,CONTROL_FINISHED_OK
$STATE,9814,begin climb
$GC,9815,0.58,194.6,993.7,0.0,934,9986,0.85,1.33,164.45,1.232,4,0.110,0.052,2916,1374,2045
$GC,10167,0.58,194.6,960.4,10.8,965,10170,0.00,1.25,0.00,0.000,6,0.000,0.047,2916,2273,2037
$GC,10489,0.58,194.6,925.0,10.7,996,10492,0.00,1.20,0.00,0.000,4,0.000,0.046,2921,1374,2034
$GC,10669,0.58,194.6,904.8,12.1,1013,10673,0.00,1.23,0.00,0.000,6,0.000,0.047,2921,2280,2033
$GC,10990,0.58,194.6,868.9,11.0,1044,10994,0.00,1.20,0.00,0.000,4,0.000,0.046,2927,1378,2032
$GC,11193,0.58,194.6,845.9,11.6,1063,11197,0.00,1.23,0.00,0.000,6,0.000,0.047,2926,2286,2032
$GC,11515,0.58,194.6,808.6,11.1,1094,11518,0.00,1.23,0.00,0.000,4,0.000,0.045,2932,1365,2030
$GC,11743,0.58,194.6,783.8,11.0,1115,11750,0.00,1.25,0.00,0.000,6,0.000,0.045,2932,2285,2030
$GC,12060,0.58,194.6,748.6,11.0,1146,12063,0.00,1.20,0.00,0.000,4,0.000,0.045,2937,1377,2028
$GC,12305,0.58,194.6,720.6,11.5,1169,12308,0.00,1.20,0.00,0.000,6,0.000,0.046,2938,2281,2029
$GC,12627,0.58,194.6,683.4,11.3,1200,12630,0.00,1.20,0.00,0.000,4,0.000,0.045,2943,1365,2028
$GC,12861,0.58,194.6,655.6,12.3,1222,12864,0.00,1.20,0.00,0.000,6,0.000,0.045,2943,2277,2028
$GC,13182,0.58,194.6,618.0,11.8,1253,13185,0.00,1.20,0.00,0.000,4,0.000,0.044,2948,1364,2027
$GC,13357,0.58,194.6,597.4,12.0,1269,13366,0.00,1.23,0.00,0.000,6,0.000,0.044,2948,2281,2027
$GC,13674,0.58,194.6,560.6,11.4,1300,13678,0.00,1.20,0.00,0.000,4,0.000,0.045,2954,1362,2027
$GC,13866,0.58,194.6,538.0,11.1,1318,13870,0.10,1.20,0.00,0.000,6,0.145,0.045,2923,2276,2027
$GC,14187,0.58,194.6,506.0,9.8,1349,14190,0.00,1.17,0.00,0.000,4,0.000,0.043,2926,1371,2027
$GC,14330,0.58,194.6,491.8,10.4,1362,14337,0.00,1.23,0.00,0.000,6,0.000,0.044,2926,2285,2027
$GC,14647,0.58,194.6,460.1,9.9,1393,14650,0.00,1.20,0.00,0.000,4,0.000,0.043,2932,1374,2027
$GC,14832,0.58,194.6,440.8,9.9,1410,14840,0.00,1.23,0.00,0.000,6,0.000,0.044,2932,2288,2027
$GC,15149,0.58,194.6,407.7,10.5,1441,15152,0.00,1.20,0.00,0.000,4,0.000,0.043,2937,1374,2027
$GC,15291,0.58,194.6,392.4,10.1,1454,15299,0.00,1.23,0.00,0.000,6,0.000,0.044,2937,2289,2027
$GC,15609,0.58,194.6,358.6,11.0,1485,15612,0.00,1.20,0.00,0.000,4,0.000,0.042,2942,1373,2027
$GC,15815,0.58,194.6,336.2,10.8,1504,15822,0.00,1.23,0.00,0.000,6,0.000,0.043,2942,2290,2027
$GC,16132,0.58,194.6,301.5,11.1,1535,16135,0.00,1.20,0.00,0.000,4,0.000,0.041,2948,1370,2027
$GC,16377,0.58,194.6,273.6,10.6,1558,16381,0.00,1.20,0.00,0.000,6,0.000,0.042,2947,2287,2028
$GC,16699,0.58,194.6,236.5,11.8,1589,16702,0.00,1.17,0.00,0.000,4,0.000,0.040,2953,1375,2028
$GC,16944,0.58,194.6,207.9,11.3,1612,16948,0.10,1.17,0.00,0.000,6,0.138,0.041,2921,2280,2029
$GC,17265,0.58,194.6,178.9,8.9,1643,17268,0.00,1.17,0.00,0.000,4,0.000,0.039,2925,1362,2029
$GC,17510,0.58,194.6,157.1,9.2,1666,17514,0.00,1.20,0.00,0.000,6,0.000,0.039,2925,2288,2030
$GC,17831,0.58,194.6,129.9,8.6,1697,17835,0.00,1.20,0.00,0.000,4,0.000,0.038,2930,1361,2030
$GC,17985,0.58,194.6,117.1,8.9,1711,17993,0.00,1.20,0.00,0.000,6,0.000,0.038,2931,2284,2031
$GC,18302,0.58,194.6,89.8,8.6,1742,18305,0.00,1.17,0.00,0.000,4,0.000,0.037,2936,1357,2032
$GC,18434,0.58,194.6,78.5,8.2,1754,18441,0.00,1.20,0.00,0.000,6,0.000,0.037,2936,2284,2032
$GC,18626,0.58,194.6,62.6,8.0,1773,18627,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2284,2032
$GC,18812,0.58,194.6,47.0,7.6,1791,18815,0.00,1.17,0.00,0.000,4,0.000,0.035,2941,1357,2033
$GC,19004,0.58,194.6,34.3,7.0,1809,19008,0.00,1.17,0.00,0.000,6,0.000,0.035,2941,2277,2034
$GC,19201,0.66,255.2,24.4,5.2,1828,19250,0.00,1.20,43.92,0.538,4,0.000,0.036,2945,1360,1799
$GC,19296,0.73,317.3,19.3,5.2,1836,19350,0.00,1.23,46.62,0.529,6,0.000,0.035,2945,2284,1545
$GC,19536,0.88,434.1,6.6,3.9,1859,19629,0.17,1.20,85.22,0.514,4,0.077,0.035,3015,1369,1068
$STATE,19631,end climb,SURFACE_DEPTH_REACHED
$STATE,19632,begin surface coast
$FINISH,1.5,1.018393
$STATE,19685,end surface coast,CONTROL_FINISHED_OK
$STATE,19685,begin surface
$SM_CCo,19699,85.45,0.502,0,0,494,575.22
$SM_GC,1.82,0.00,0.00,85.45,0.000,0.000,0.502,200,2369,494,-7.91,0.06,575.22
$IRIDIUM_FIX,2828.55,-8838.98,080999,141448
$TT8_MAMPS,0.049855
$HUMID,1279
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,23.60
$XPDR_PINGS,2
$24V_AH,23.3,22.718
$10V_AH,10.6,30.605
$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,20.400,105.375,489.800,85.450,0.000,59.794,63.424,331.859,0.500,0.000,0.000,13.617,0.000,12599.413,632.337,6389.881,762.344,33.355,2545.346,0.000,5768.903,0.000,1.153,0.000
$DEVICE_MAMPS,263.081,62.127,1267.851,501.618,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1281.955,1386.237,4207.720,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97741,1872
$CAP_FILE_SIZE,196901,0
$CFSIZE,260165632,244584448
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.088,166.5,1
$GPS,140610,195401,2840.719,-8833.119,39,1.2,39,-0.3