version: 66.04
glider: 515
mission: 5
dive: 123
start: 6 15 110 12 13 4
data:
$ID,515
$MISSION,5
$DIVE,123
$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,-7320.7397
$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,2400
$C_ROLL_CLIMB,2230
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,47
$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
$GPS1,120554,2844.985,-8830.801,41,1.7,41,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-74.1
$GPS2,121225,2845.016,-8830.704,14,1.1,25,-0.4
$SPEED_LIMITS,0.115,0.252
$TGT_NAME,NEW0602B
$TGT_LATLONG,2845.000,-8829.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.023,0.251
$KALMAN_X,-249835.5,-130.5,-487.0,288769.5,3980.8
$KALMAN_Y,-11860.1,583.3,652.9,2586.4,-13949.1
$MHEAD_RNG_PITCHd_Wd,96.1,2767,-26.6,-6.667
$D_GRID,1238
$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,-1.03,-34.4,0.0,0.0,0,62,0.00,0.00,-48.67,0.000,2,0.000,0.000,197,2402,1881
$GC,64,-1.05,-52.0,3.4,-4.4,5,112,9.77,1.27,-31.73,0.000,4,0.258,0.055,2392,1510,3054
$GC,137,-1.05,-52.0,13.0,-20.1,11,144,0.00,1.25,0.00,0.000,6,0.000,0.030,2387,2384,3055
$GC,329,-1.05,-54.1,34.0,-6.4,30,332,0.00,1.20,0.00,0.000,4,0.000,0.033,2391,1511,3056
$GC,574,-1.05,-54.1,51.0,-7.1,53,578,0.00,1.25,0.00,0.000,6,0.000,0.032,2387,2395,3057
$GC,771,-1.05,-54.1,66.0,-6.9,72,774,0.00,1.23,0.00,0.000,4,0.000,0.033,2392,1504,3057
$GC,1017,-1.05,-54.1,82.4,-6.9,95,1020,0.00,1.25,0.00,0.000,6,0.000,0.031,2387,2396,3057
$GC,1213,-1.05,-54.1,96.2,-7.4,114,1214,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2396,3057
$GC,1400,-1.05,-54.1,110.4,-8.2,132,1400,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2396,3057
$GC,1710,-1.05,-54.1,135.1,-8.1,162,1713,0.00,1.48,0.00,0.000,4,0.000,0.042,2380,3302,3057
$GC,1955,-1.05,-54.1,154.8,-7.5,185,1959,0.00,1.42,0.00,0.000,6,0.000,0.028,2386,2390,3056
$GC,2278,-1.05,-54.1,178.8,-7.6,216,2280,0.00,1.48,0.00,0.000,4,0.000,0.042,2380,3284,3055
$GC,2298,-1.05,-54.1,180.6,-7.9,218,2301,0.00,1.40,0.00,0.000,6,0.000,0.028,2386,2396,3055
$GC,2620,-1.05,-54.1,202.5,-6.7,249,2623,0.00,1.23,0.00,0.000,4,0.000,0.035,2392,1512,3053
$GC,2865,-1.05,-54.1,219.7,-6.7,272,2868,0.00,1.25,0.00,0.000,6,0.000,0.035,2387,2396,3053
$GC,3187,-1.05,-54.1,242.3,-7.2,303,3190,0.00,1.25,0.00,0.000,4,0.000,0.037,2391,1512,3051
$GC,3389,-1.05,-54.1,255.8,-7.0,322,3392,0.00,1.27,0.00,0.000,6,0.000,0.035,2387,2410,3050
$GC,3711,-1.05,-54.1,278.1,-7.1,353,3714,0.00,1.45,0.00,0.000,4,0.000,0.045,2380,3288,3048
$GC,3896,-1.05,-54.1,292.3,-7.9,370,3905,0.00,1.42,0.00,0.000,6,0.000,0.029,2385,2397,3047
$GC,4213,-1.05,-54.1,315.8,-7.7,401,4216,0.00,1.48,0.00,0.000,4,0.000,0.045,2379,3283,3045
$GC,4458,-1.05,-54.1,335.2,-7.7,424,4462,0.00,1.40,0.00,0.000,6,0.000,0.030,2385,2404,3044
$GC,4780,-1.05,-54.1,359.3,-7.6,455,4783,0.00,1.48,0.00,0.000,4,0.000,0.046,2380,3288,3042
$GC,5025,-1.05,-54.1,379.2,-7.6,478,5029,0.00,1.42,0.00,0.000,6,0.000,0.031,2385,2399,3042
$GC,5347,-1.05,-54.1,403.7,-7.8,509,5350,0.00,1.25,0.00,0.000,4,0.000,0.040,2389,1511,3039
$GC,5592,-1.05,-54.1,422.2,-7.4,532,5595,0.00,1.25,0.00,0.000,6,0.000,0.038,2384,2389,3038
$GC,5913,-1.05,-54.1,447.0,-7.7,563,5916,0.00,1.25,0.00,0.000,4,0.000,0.040,2389,1509,3037
$GC,6158,-1.05,-54.1,465.9,-8.0,586,6162,0.00,1.27,0.00,0.000,6,0.000,0.038,2384,2399,3035
$GC,6480,-1.05,-54.1,490.4,-7.4,617,6481,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2399,3034
$GC,6790,-1.05,-54.1,514.2,-8.0,647,6793,0.00,1.50,0.00,0.000,4,0.000,0.050,2377,3301,3032
$GC,7035,-1.05,-54.1,534.6,-7.8,670,7039,0.00,1.45,0.00,0.000,6,0.000,0.033,2378,2398,3032
$GC,7357,-1.05,-54.1,560.3,-8.0,701,7360,0.00,1.50,0.00,0.000,4,0.000,0.051,2372,3287,3031
$GC,7602,-1.05,-54.1,580.0,-7.5,724,7605,0.00,1.42,0.00,0.000,6,0.000,0.035,2374,2405,3029
$GC,7924,-1.05,-54.1,605.4,-8.0,755,7927,0.00,1.50,0.00,0.000,4,0.000,0.052,2368,3289,3029
$GC,8169,-1.05,-54.1,626.1,-8.8,778,8172,0.00,1.45,0.00,0.000,6,0.000,0.035,2374,2395,3028
$GC,8490,-1.05,-54.1,651.8,-7.8,809,8494,0.00,1.27,0.00,0.000,4,0.000,0.046,2374,1509,3026
$GC,8736,-1.05,-54.1,671.2,-8.2,832,8739,0.00,1.30,0.00,0.000,6,0.000,0.043,2369,2398,3025
$GC,9057,-1.05,-54.1,695.4,-7.0,863,9060,0.00,1.30,0.00,0.000,4,0.000,0.046,2374,1511,3023
$GC,9302,-1.05,-54.1,714.3,-7.5,886,9305,0.00,1.30,0.00,0.000,6,0.000,0.044,2369,2397,3022
$GC,9623,-1.05,-54.1,738.2,-7.1,917,9627,0.00,1.30,0.00,0.000,4,0.000,0.046,2374,1512,3022
$GC,9847,-1.05,-54.1,754.6,-7.1,938,9850,0.00,1.30,0.00,0.000,6,0.000,0.044,2368,2396,3020
$GC,10169,-1.05,-54.1,778.2,-7.5,969,10172,0.00,1.52,0.00,0.000,4,0.000,0.054,2361,3300,3020
$GC,10414,-1.05,-54.1,796.9,-7.2,992,10417,0.10,1.48,0.00,0.000,6,0.216,0.037,2387,2396,3019
$GC,10735,-1.05,-54.2,817.9,-6.7,1023,10738,0.00,1.55,0.00,0.000,4,0.000,0.054,2381,3307,3018
$GC,10981,-1.06,-58.5,834.6,-6.1,1046,10984,0.00,1.48,0.00,0.000,6,0.000,0.038,2386,2400,3017
$GC,11302,-1.07,-68.4,853.7,-5.4,1077,11305,0.00,1.52,0.00,0.000,4,0.000,0.055,2380,3290,3016
$GC,11547,-1.08,-73.6,868.9,-6.0,1100,11550,0.00,1.45,0.00,0.000,6,0.000,0.038,2386,2403,3016
$GC,11868,-1.09,-84.5,887.4,-5.3,1131,11872,0.00,1.52,0.00,0.000,4,0.000,0.056,2381,3291,3015
$GC,12114,-1.10,-90.5,901.9,-5.9,1154,12117,0.00,1.48,0.00,0.000,6,0.000,0.038,2386,2397,3014
$GC,12434,-1.11,-100.3,919.8,-5.4,1185,12438,0.00,1.30,0.00,0.000,4,0.000,0.048,2389,1506,3013
$GC,12680,-1.12,-107.0,934.0,-5.8,1208,12683,0.00,1.33,0.00,0.000,6,0.000,0.047,2384,2402,3013
$GC,13001,-1.13,-113.5,952.9,-5.8,1239,13004,0.00,1.30,0.00,0.000,4,0.000,0.047,2388,1511,3012
$GC,13247,-1.13,-118.9,967.5,-6.0,1262,13250,0.00,1.30,0.00,0.000,6,0.000,0.047,2384,2388,3012
$GC,13568,-1.14,-129.3,986.1,-5.3,1293,13571,0.00,1.27,0.00,0.000,4,0.000,0.048,2388,1504,3011
$STATE,13641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13641,begin apogee
$GC,13646,-0.26,0.0,990.1,4.8,1300,13684,0.98,0.00,34.92,1.243,6,0.196,0.000,2642,2267,2840
$STATE,13685,end apogee,CONTROL_FINISHED_OK
$STATE,13685,begin climb
$GC,13686,1.14,129.3,991.0,0.0,1304,13804,1.40,1.70,110.55,1.252,4,0.114,0.059,3092,3098,2311
$GC,13839,1.14,129.3,969.7,21.5,1317,13847,0.00,1.70,0.00,0.000,6,0.000,0.038,3100,2224,2306
$GC,14157,1.14,129.3,904.7,20.0,1348,14160,0.00,1.12,0.00,0.000,4,0.000,0.045,3105,1337,2300
$GC,14199,1.14,129.3,896.0,18.2,1352,14202,0.00,1.17,0.00,0.000,6,0.000,0.046,3105,2234,2300
$GC,14520,1.14,129.3,830.1,21.0,1383,14523,0.00,1.67,0.00,0.000,4,0.000,0.055,3100,3107,2297
$GC,14583,1.14,129.3,816.2,22.0,1389,14587,0.00,1.62,0.00,0.000,6,0.000,0.038,3107,2226,2296
$GC,14904,1.14,129.3,750.2,20.3,1420,14908,0.00,1.10,0.00,0.000,4,0.000,0.044,3112,1342,2296
$GC,14936,1.14,129.3,743.9,20.3,1423,14939,0.00,1.15,0.00,0.000,6,0.000,0.045,3112,2230,2295
$GC,15258,1.14,129.3,680.1,19.7,1454,15261,0.00,1.67,0.00,0.000,4,0.000,0.056,3113,3110,2295
$GC,15321,1.14,129.3,667.0,19.4,1460,15324,0.00,1.60,0.00,0.000,6,0.000,0.038,3120,2236,2294
$GC,15642,1.14,129.3,602.7,19.5,1491,15645,0.00,1.12,0.00,0.000,4,0.000,0.043,3126,1331,2294
$GC,15742,1.14,129.3,582.5,18.4,1500,15750,0.00,1.20,0.00,0.000,6,0.000,0.044,3125,2254,2294
$GC,16059,1.14,129.3,526.3,16.3,1531,16062,0.00,1.15,0.00,0.000,4,0.000,0.042,3130,1338,2292
$GC,16176,1.14,129.3,506.4,16.5,1542,16179,0.00,1.15,0.00,0.000,6,0.000,0.044,3130,2244,2293
$GC,16497,1.14,129.3,450.8,18.5,1573,16500,0.00,1.15,0.00,0.000,4,0.000,0.041,3135,1331,2292
$GC,16682,1.14,129.3,417.1,16.6,1590,16691,0.12,1.17,0.00,0.000,6,0.197,0.043,3104,2240,2291
$GC,16998,1.14,129.3,363.0,17.7,1621,17002,0.00,1.15,0.00,0.000,4,0.000,0.041,3109,1323,2291
$GC,17244,1.14,129.3,319.6,18.5,1644,17247,0.00,1.15,0.00,0.000,6,0.000,0.043,3104,2226,2291
$GC,17565,1.14,129.3,262.9,17.8,1675,17568,0.00,1.65,0.00,0.000,4,0.000,0.052,3100,3104,2291
$GC,17639,1.14,129.3,249.7,19.7,1682,17643,0.00,1.60,0.00,0.000,6,0.000,0.035,3107,2216,2291
$GC,17960,1.14,129.3,194.2,16.4,1713,17963,0.00,1.67,0.00,0.000,4,0.000,0.051,3104,3102,2291
$GC,18178,1.14,129.3,157.0,14.4,1733,18185,0.00,1.58,0.00,0.000,6,0.000,0.034,3112,2236,2291
$GC,18495,1.14,129.3,104.0,16.9,1764,18498,0.00,1.62,0.00,0.000,4,0.000,0.051,3112,3115,2292
$GC,18719,1.14,129.3,65.9,14.9,1785,18722,0.00,1.60,0.00,0.000,6,0.000,0.033,3120,2217,2293
$GC,18916,1.14,129.3,38.5,12.4,1804,18919,0.00,1.05,0.00,0.000,4,0.000,0.038,3125,1343,2293
$GC,19162,1.17,149.8,20.1,4.0,1827,19178,0.00,1.12,13.90,0.528,6,0.000,0.037,3125,2245,2229
$GC,19365,1.21,178.5,14.9,2.9,1846,19390,0.00,1.15,22.70,0.533,4,0.000,0.036,3129,1338,2111
$GC,19629,1.26,222.7,11.1,0.9,1870,19667,0.00,1.15,33.58,0.523,6,0.000,0.035,3129,2249,1932
$GC,19861,1.30,256.0,5.2,2.3,1892,19896,0.00,1.17,25.48,0.501,4,0.000,0.035,3135,1328,1795
$GC,19917,1.33,283.0,4.0,3.2,1897,19942,0.00,1.12,20.55,0.489,6,0.000,0.033,3134,2228,1685
$STATE,19957,end climb,SURFACE_DEPTH_REACHED
$STATE,19958,begin surface coast
$FINISH,2.7,1.020075
$STATE,20083,end surface coast,CONTROL_FINISHED_OK
$STATE,20083,begin surface
$SM_CCo,20097,161.82,0.498,0,0,494,575.22
$SM_GC,1.54,0.00,0.00,161.82,0.000,0.000,0.498,206,2376,494,-7.90,-0.68,575.22
$IRIDIUM_FIX,2833.46,-8831.56,090999,060605
$TT8_MAMPS,0.050622
$HUMID,1255
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,23.8,23.231
$10V_AH,10.7,31.561
$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,20.700,108.550,261.675,161.825,0.000,31.538,24.807,207.297,0.250,0.000,0.000,26.904,0.000,13037.969,532.990,6475.084,568.142,33.356,2401.497,0.000,5813.781,0.000,0.852,0.000
$DEVICE_MAMPS,257.712,59.059,1251.744,497.783,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1312.450,1416.352,4300.145,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97665,1913
$CAP_FILE_SIZE,198869,0
$CFSIZE,260165632,244195328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.020,280.7,1
$GPS,150610,175137,2845.019,-8830.900,34,1.2,34,-0.4