version: 66.04
glider: 515
mission: 5
dive: 190
start: 6 30 110 20 0 53
data:
$ID,515
$MISSION,5
$DIVE,190
$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,440
$T_MISSION,500
$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,8
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-16914.891
$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,28
$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,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,250
$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,4
$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,0
$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
$GPS1,195337,2835.475,-8839.727,41,1.9,41,-0.2
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-64.1
$GPS2,200014,2835.518,-8839.733,15,1.9,15,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0607F
$TGT_LATLONG,2837.000,-8845.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.148,0.219
$KALMAN_X,-18667.7,-302.8,-909.0,36732.1,2031.7
$KALMAN_Y,-113894.0,-29.3,768.0,126388.4,-12884.0
$MHEAD_RNG_PITCHd_Wd,310.1,8991,-10.8,-7.500
$D_GRID,1349
$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,-0.63,-194.6,0.0,0.0,0,97,0.00,0.00,-83.30,0.000,2,0.000,0.000,199,2412,2775
$GC,99,-0.63,-194.6,3.2,-4.0,8,135,10.70,1.45,-20.52,0.000,4,0.261,0.072,2534,3275,3634
$GC,374,-0.63,-194.6,60.5,-14.0,33,383,0.00,1.48,0.00,0.000,6,0.000,0.028,2534,2372,3636
$GC,566,-0.63,-194.6,87.0,-13.2,52,570,0.00,1.52,0.00,0.000,4,0.000,0.045,2527,3278,3637
$GC,727,-0.63,-194.6,107.5,-13.0,67,730,0.00,1.42,0.00,0.000,6,0.000,0.028,2527,2391,3637
$GC,1047,-0.63,-194.6,150.4,-13.6,98,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2390,3638
$GC,1358,-0.63,-194.6,188.4,-12.1,128,1361,0.00,1.25,0.00,0.000,4,0.000,0.038,2527,1512,3638
$GC,1394,-0.63,-194.6,192.7,-11.1,131,1402,0.00,1.30,0.00,0.000,6,0.000,0.036,2521,2397,3638
$GC,1712,-0.63,-194.6,231.7,-12.4,162,1715,0.00,1.48,0.00,0.000,4,0.000,0.047,2515,3280,3637
$GC,1754,-0.63,-194.6,237.1,-12.8,166,1757,0.00,1.42,0.00,0.000,6,0.000,0.029,2514,2389,3637
$GC,2076,-0.63,-194.6,277.4,-12.1,197,2079,0.12,1.25,0.00,0.000,4,0.145,0.038,2546,1513,3635
$GC,2144,-0.63,-194.6,285.3,-10.9,203,2151,0.00,1.33,0.00,0.000,6,0.000,0.038,2542,2412,3635
$GC,2462,-0.63,-194.6,318.1,-10.1,234,2465,0.00,1.30,0.00,0.000,4,0.000,0.041,2542,1519,3633
$GC,2536,-0.63,-194.6,325.9,-10.0,241,2539,0.00,1.25,0.00,0.000,6,0.000,0.039,2537,2376,3633
$GC,2858,-0.63,-194.6,358.7,-10.0,272,2858,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2376,3631
$GC,3168,-0.63,-194.6,389.3,-9.7,302,3169,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2376,3629
$GC,3477,-0.63,-194.6,419.9,-9.7,332,3478,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2376,3626
$GC,3788,-0.63,-194.6,450.4,-9.8,362,3789,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2377,3624
$GC,4099,-0.63,-194.6,481.4,-10.0,392,4102,0.00,1.25,0.00,0.000,4,0.000,0.044,2537,1527,3622
$GC,4162,-0.63,-194.6,487.6,-9.6,398,4166,0.00,1.33,0.00,0.000,6,0.000,0.043,2531,2416,3621
$GC,4484,-0.63,-194.6,520.7,-10.3,429,4488,0.00,1.33,0.00,0.000,4,0.000,0.044,2531,1518,3619
$GC,4520,-0.63,-194.6,524.8,-10.5,432,4527,0.00,1.33,0.00,0.000,6,0.000,0.043,2525,2399,3619
$GC,4838,-0.63,-194.6,558.9,-10.7,463,4839,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2400,3617
$GC,5147,-0.63,-194.6,591.5,-10.1,493,5148,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2400,3615
$GC,5458,-0.63,-194.6,623.3,-10.1,523,5461,0.00,1.30,0.00,0.000,4,0.000,0.045,2525,1522,3614
$GC,5525,-0.63,-194.6,630.5,-10.1,529,5534,0.00,1.33,0.00,0.000,6,0.000,0.044,2519,2400,3613
$GC,5843,-0.63,-194.6,664.4,-10.7,560,5846,0.00,1.30,0.00,0.000,4,0.000,0.046,2519,1528,3611
$GC,5900,-0.63,-194.6,671.0,-11.5,565,5909,0.08,1.30,0.00,0.000,6,0.153,0.045,2537,2397,3610
$GC,6217,-0.63,-194.6,700.3,-8.9,596,6220,0.00,1.30,0.00,0.000,4,0.000,0.045,2537,1519,3609
$GC,6264,-0.63,-194.6,704.7,-8.7,600,6271,0.00,1.33,0.00,0.000,6,0.000,0.045,2533,2402,3609
$GC,6581,-0.63,-194.6,732.5,-8.9,631,6581,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2402,3607
$GC,6891,-0.63,-194.6,760.7,-9.1,661,6892,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2402,3605
$GC,7200,-0.63,-194.6,788.8,-9.0,691,7204,0.00,1.30,0.00,0.000,4,0.000,0.047,2533,1533,3604
$GC,7269,-0.63,-194.6,795.4,-9.5,697,7277,0.00,1.35,0.00,0.000,6,0.000,0.048,2528,2411,3603
$GC,7587,-0.63,-194.6,825.1,-9.9,728,7588,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2412,3602
$GC,7895,-0.63,-194.6,853.8,-9.2,758,7899,0.00,1.33,0.00,0.000,4,0.000,0.046,2528,1525,3601
$GC,7975,-0.63,-194.6,861.6,-9.3,765,7983,0.00,1.33,0.00,0.000,6,0.000,0.048,2522,2401,3600
$GC,8292,-0.63,-194.6,893.2,-10.1,796,8295,0.00,1.30,0.00,0.000,4,0.000,0.047,2522,1534,3599
$GC,8338,-0.63,-194.6,898.1,-9.8,800,8346,0.00,1.35,0.00,0.000,6,0.000,0.048,2517,2411,3598
$GC,8656,-0.63,-194.6,928.4,-9.2,831,8657,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2411,3598
$GC,8966,-0.63,-194.6,957.9,-9.4,861,8969,0.00,1.33,0.00,0.000,4,0.000,0.046,2517,1528,3596
$GC,9008,-0.63,-194.6,962.1,-10.1,865,9011,0.08,1.33,0.00,0.000,6,0.156,0.049,2535,2399,3596
$GC,9328,-0.63,-194.6,988.4,-7.9,896,9329,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2400,3595
$STATE,9348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9348,begin apogee
$GC,9352,-0.25,0.0,990.4,7.9,898,9513,0.43,0.00,152.02,1.247,6,0.134,0.000,2663,2269,2839
$STATE,9513,end apogee,CONTROL_FINISHED_OK
$STATE,9513,begin climb
$GC,9515,0.63,194.6,994.9,0.0,914,9692,0.90,0.00,168.88,1.213,6,0.104,0.000,2944,2269,2044
$GC,10001,0.63,194.6,943.4,12.3,962,10002,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2269,2035
$GC,10311,0.63,194.6,904.4,12.8,992,10312,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2269,2034
$GC,10622,0.63,194.6,865.8,12.6,1022,10625,0.00,1.67,0.00,0.000,4,0.000,0.060,2944,3140,2032
$GC,10647,0.63,194.6,862.3,13.9,1024,10655,0.00,1.60,0.00,0.000,6,0.000,0.038,2952,2259,2031
$GC,10965,0.63,194.6,822.0,12.5,1055,10966,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2260,2031
$GC,11274,0.63,194.6,783.9,12.3,1085,11275,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2260,2030
$GC,11585,0.63,194.6,747.2,12.1,1115,11586,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2260,2030
$GC,11895,0.63,194.6,711.7,11.7,1145,11896,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2260,2030
$GC,12206,0.63,194.6,675.6,11.6,1175,12207,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2260,2029
$GC,12516,0.63,194.6,639.3,12.0,1205,12517,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2260,2029
$GC,12827,0.63,194.6,602.4,11.6,1235,12830,0.00,1.65,0.00,0.000,4,0.000,0.054,2952,3130,2029
$GC,12858,0.63,194.6,598.4,11.9,1238,12861,0.00,1.60,0.00,0.000,6,0.000,0.038,2960,2252,2028
$GC,13180,0.63,194.6,560.8,11.8,1269,13181,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2253,2027
$GC,13490,0.63,194.6,524.0,11.6,1299,13490,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2253,2027
$GC,13799,0.63,194.6,487.1,12.2,1329,13800,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2253,2028
$GC,14111,0.63,194.6,450.1,12.0,1359,14114,0.00,1.15,0.00,0.000,4,0.000,0.044,2965,1350,2028
$GC,14142,0.63,194.6,446.4,11.4,1362,14145,0.00,1.17,0.00,0.000,6,0.000,0.044,2965,2249,2027
$GC,14463,0.63,194.6,407.1,12.5,1393,14466,0.00,1.65,0.00,0.000,4,0.000,0.053,2965,3127,2027
$GC,14505,0.63,194.6,401.4,13.2,1397,14508,0.00,1.60,0.00,0.000,6,0.000,0.038,2973,2249,2027
$GC,14827,0.63,194.6,360.3,12.6,1428,14828,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2249,2027
$GC,15137,0.63,194.6,320.4,12.9,1458,15140,0.00,1.65,0.00,0.000,4,0.000,0.052,2973,3137,2027
$GC,15162,0.63,194.6,316.9,14.1,1460,15170,0.12,1.62,0.00,0.000,6,0.160,0.035,2946,2247,2027
$GC,15479,0.63,194.6,283.5,10.0,1491,15482,0.00,1.12,0.00,0.000,4,0.000,0.044,2950,1352,2027
$GC,15511,0.63,194.6,280.1,10.3,1494,15514,0.00,1.17,0.00,0.000,6,0.000,0.042,2950,2254,2027
$GC,15833,0.63,194.6,244.6,11.1,1525,15834,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2254,2027
$GC,16142,0.63,194.6,209.7,11.2,1555,16143,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2254,2027
$GC,16453,0.63,194.6,175.2,11.0,1585,16456,0.00,1.62,0.00,0.000,4,0.000,0.051,2949,3131,2027
$GC,16505,0.63,194.6,168.9,11.4,1590,16509,0.00,1.58,0.00,0.000,6,0.000,0.034,2957,2250,2027
$GC,16827,0.63,194.6,133.5,10.1,1621,16830,0.00,1.12,0.00,0.000,4,0.000,0.040,2963,1345,2028
$GC,16862,0.63,194.6,129.7,10.5,1624,16870,0.00,1.20,0.00,0.000,6,0.000,0.038,2962,2260,2028
$GC,17180,0.63,194.6,97.0,10.7,1655,17183,0.00,1.60,0.00,0.000,4,0.000,0.048,2962,3152,2029
$GC,17222,0.63,194.6,92.1,11.4,1659,17225,0.00,1.60,0.00,0.000,6,0.000,0.032,2970,2249,2029
$GC,17419,0.63,194.6,71.0,10.1,1678,17422,0.00,1.65,0.00,0.000,4,0.000,0.048,2970,3156,2029
$GC,17450,0.63,194.6,67.6,10.6,1681,17454,0.00,1.60,0.00,0.000,6,0.000,0.032,2978,2252,2029
$GC,17648,0.63,194.6,49.3,8.2,1700,17651,0.00,1.62,0.00,0.000,4,0.000,0.047,2978,3145,2029
$GC,17775,0.63,194.6,38.3,8.3,1712,17779,0.10,1.58,0.00,0.000,6,0.123,0.031,2952,2253,2030
$GC,17973,0.78,317.9,29.9,4.3,1731,18067,0.12,1.15,91.05,0.534,4,0.067,0.035,3014,1324,1542
$GC,18121,0.82,356.1,19.6,6.5,1744,18153,0.00,1.25,29.23,0.505,6,0.000,0.033,3014,2265,1387
$GC,18338,0.84,366.3,4.8,7.2,1765,18352,0.00,1.23,8.32,0.437,4,0.000,0.036,3019,1334,1345
$STATE,18365,end climb,SURFACE_DEPTH_REACHED
$STATE,18365,begin surface coast
$FINISH,1.5,1.023061
$STATE,18386,end surface coast,CONTROL_FINISHED_OK
$STATE,18386,begin surface
$SM_CCo,18401,100.65,0.492,0,0,494,575.22
$SM_GC,1.53,0.00,0.00,100.65,0.000,0.000,0.492,199,2418,494,-7.96,0.51,575.22
$IRIDIUM_FIX,2823.64,-8834.14,240999,141421
$TT8_MAMPS,0.051389
$HUMID,1329
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,24.00
$XPDR_PINGS,2
$24V_AH,20.7,34.060
$10V_AH,10.6,47.419
$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,20.425,78.475,449.500,100.650,0.000,28.295,28.387,220.759,0.500,0.000,0.000,17.587,0.000,12422.501,648.662,5222.501,574.811,33.334,2110.544,0.000,4686.611,0.000,0.846,0.000
$DEVICE_MAMPS,260.780,72.098,1247.142,492.414,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1210.857,1297.047,3974.933,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91343,1769
$CAP_FILE_SIZE,164101,0
$CFSIZE,260165632,238010368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.132,235.7,1
$GPS,010710,011007,2836.410,-8843.309,30,1.7,30,-0.2