version: 66.04
glider: 515
mission: 5
dive: 137
start: 6 18 110 12 29 4
data:
$ID,515
$MISSION,5
$DIVE,137
$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,330
$T_MISSION,350
$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,-7659.6411
$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,23
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,0
$ROLL_MIN,159
$ROLL_MAX,3575
$ROLL_DEG,25
$C_ROLL_DIVE,2375
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,21
$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,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
$GPS1,122355,2842.638,-8845.368,41,1.3,42,-0.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-64.5
$GPS2,122825,2842.646,-8845.367,11,1.3,16,-0.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NEW0617A
$TGT_LATLONG,2840.600,-8826.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.285,0.076
$KALMAN_X,-235516.2,-490.3,-364.6,250858.7,2098.0
$KALMAN_Y,-70853.9,144.9,-98.7,58416.1,-11619.6
$MHEAD_RNG_PITCHd_Wd,88.1,31696,-14.9,-10.000
$D_GRID,1111
$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,-0.89,-194.6,0.0,0.0,0,64,0.00,0.00,-50.67,0.000,2,0.000,0.000,201,2359,1967
$GC,66,-0.89,-194.6,3.2,-2.4,5,118,10.30,1.25,-36.17,0.000,4,0.265,0.062,2462,1466,3636
$GC,359,-0.89,-194.6,60.1,-17.8,32,363,0.00,1.27,0.00,0.000,6,0.000,0.033,2457,2374,3638
$GC,556,-0.89,-194.6,96.9,-19.1,51,559,0.00,1.23,0.00,0.000,4,0.000,0.035,2462,1477,3639
$GC,801,-0.89,-194.6,144.4,-19.9,74,805,0.00,1.25,0.00,0.000,6,0.000,0.034,2457,2372,3640
$GC,1124,-0.89,-194.6,203.8,-18.0,105,1127,0.00,1.25,0.00,0.000,4,0.000,0.035,2457,1472,3640
$GC,1369,-0.89,-194.6,246.9,-17.8,128,1372,0.00,1.27,0.00,0.000,6,0.000,0.035,2452,2377,3639
$GC,1690,-0.89,-194.6,303.3,-17.8,159,1693,0.00,1.27,0.00,0.000,4,0.000,0.037,2455,1469,3637
$GC,1725,-0.89,-194.6,309.8,-17.5,162,1733,0.00,1.30,0.00,0.000,6,0.000,0.035,2451,2381,3637
$GC,2043,-0.89,-194.6,364.1,-17.6,193,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2380,3635
$GC,2352,-0.89,-194.6,418.2,-17.6,223,2353,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2380,3633
$GC,2663,-0.89,-194.6,471.5,-17.1,253,2664,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2380,3630
$GC,2973,-0.89,-194.6,523.5,-17.1,283,2976,0.00,1.27,0.00,0.000,4,0.000,0.041,2455,1474,3627
$GC,3020,-0.89,-194.6,531.3,-15.8,287,3027,0.00,1.30,0.00,0.000,6,0.000,0.039,2451,2376,3627
$GC,3337,-0.89,-194.6,583.3,-16.7,318,3340,0.00,1.27,0.00,0.000,4,0.000,0.043,2452,1482,3623
$GC,3383,-0.89,-194.6,591.1,-15.7,322,3391,0.00,1.30,0.00,0.000,6,0.000,0.041,2447,2376,3623
$GC,3701,-0.89,-194.6,642.7,-16.1,353,3701,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2376,3620
$GC,4010,-0.89,-194.6,692.5,-15.1,383,4011,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2376,3618
$GC,4321,-0.89,-194.6,739.9,-15.2,413,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2376,3615
$GC,4631,-0.89,-194.6,788.1,-15.1,443,4631,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2376,3613
$GC,4942,-0.89,-194.6,836.0,-15.9,473,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2376,3610
$GC,5251,-0.89,-194.6,883.1,-15.6,503,5252,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2376,3608
$GC,5562,-0.89,-194.6,929.5,-14.9,533,5563,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2376,3605
$GC,5872,-0.89,-194.6,975.1,-14.4,563,5873,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2377,3603
$STATE,5976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5976,begin apogee
$GC,5980,-0.30,0.0,990.1,14.3,573,6141,0.68,0.00,150.62,1.246,6,0.160,0.000,2640,2246,2839
$STATE,6141,end apogee,CONTROL_FINISHED_OK
$STATE,6142,begin climb
$GC,6143,0.89,194.6,996.3,0.0,589,6310,1.23,0.00,163.48,1.215,6,0.112,0.000,3021,2246,2046
$GC,6619,0.89,194.6,920.1,19.2,636,6622,0.00,1.75,0.00,0.000,4,0.000,0.061,3021,3137,2035
$GC,6654,0.89,194.6,912.8,20.3,639,6662,0.00,1.65,0.00,0.000,6,0.000,0.037,3029,2255,2034
$GC,6972,0.89,194.6,851.7,19.2,670,6975,0.00,1.65,0.00,0.000,4,0.000,0.055,3029,3142,2032
$GC,7014,0.89,194.6,843.0,21.2,674,7017,0.00,1.62,0.00,0.000,6,0.000,0.038,3037,2254,2031
$GC,7336,0.89,194.6,780.7,19.6,705,7337,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2254,2030
$GC,7645,0.89,194.6,720.8,19.3,735,7646,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2254,2029
$GC,7956,0.89,194.6,660.3,19.3,765,7959,0.00,1.70,0.00,0.000,4,0.000,0.054,3037,3147,2028
$GC,7987,0.89,194.6,654.0,19.6,768,7990,0.00,1.62,0.00,0.000,6,0.000,0.038,3045,2250,2027
$GC,8309,0.89,194.6,591.3,19.1,799,8312,0.00,1.67,0.00,0.000,4,0.000,0.054,3045,3140,2026
$GC,8344,0.89,194.6,583.7,20.8,802,8352,0.00,1.62,0.00,0.000,6,0.000,0.037,3051,2248,2026
$GC,8662,0.89,194.6,521.6,19.7,833,8662,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2247,2026
$GC,8971,0.89,194.6,459.5,20.2,863,8972,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2247,2025
$GC,9281,0.89,194.6,397.3,20.4,893,9282,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2247,2025
$GC,9592,0.89,194.6,335.0,20.1,923,9593,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2245,2025
$GC,9902,0.89,194.6,272.7,20.0,953,9903,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2245,2025
$GC,10213,0.89,194.6,211.3,19.7,983,10213,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2246,2024
$GC,10524,0.89,194.6,151.1,18.7,1013,10525,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2246,2025
$GC,10833,0.89,194.6,93.7,18.0,1043,10834,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2246,2025
$GC,11020,0.89,194.6,60.2,17.7,1061,11021,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2246,2025
$GC,11206,0.89,194.6,30.8,13.1,1079,11207,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2246,2025
$GC,11393,0.95,244.3,13.8,8.3,1097,11431,0.00,1.67,34.90,0.542,4,0.000,0.048,3051,3156,1844
$STATE,11616,end climb,NO_VERTICAL_VELOCITY
$STATE,11616,begin surface
$SM_CCo,11618,303.88,0.462,25,0,404,597.54
$SM_GC,2.48,8.12,0.00,0.00,0.064,0.000,0.000,203,2370,400,-7.91,-0.14,598.52
$IRIDIUM_FIX,2831.00,-8843.84,120999,090920
$TT8_MAMPS,0.049855
$HUMID,1324
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,22.70
$XPDR_PINGS,4
$24V_AH,23.5,25.518
$10V_AH,10.7,34.588
$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,20.325,31.900,349.000,303.875,0.000,23.993,27.047,132.043,4.750,0.000,0.000,18.934,0.000,7912.874,825.911,3324.198,345.224,33.342,1755.928,0.000,2967.862,0.000,28.338,0.000
$DEVICE_MAMPS,264.615,62.127,1246.375,461.734,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,763.729,818.640,2510.692,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59997,1117
$CAP_FILE_SIZE,100859,0
$CFSIZE,260165632,243060736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,25,0
$CURRENT,0.079,186.3,1
$GPS,180610,155246,2842.419,-8843.482,30,2.2,49,-0.2