version: 66.04
glider: 515
mission: 5
dive: 194
start: 7 1 110 16 36 47
data:
$ID,515
$MISSION,5
$DIVE,194
$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,-16991.432
$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,31
$R_STBD_OVSHOOT,31
$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
$GPS1,162901,2837.654,-8840.812,40,1.7,40,-0.2
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-63.0
$GPS2,163608,2837.710,-8840.866,18,1.4,18,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618A
$TGT_LATLONG,2837.900,-8826.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.251,0.084
$KALMAN_X,-30792.0,591.8,131.3,45063.5,-6392.4
$KALMAN_Y,-126411.6,1128.2,773.2,141774.0,-9846.7
$MHEAD_RNG_PITCHd_Wd,74.4,24168,-10.8,-7.500
$D_GRID,1300
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.63,-194.6,0.0,0.0,0,106,0.00,0.00,-91.55,0.000,2,0.000,0.000,198,2412,3023
$GC,108,-0.63,-194.6,3.5,-3.5,9,134,10.75,1.35,-12.55,0.000,4,0.262,0.056,2540,1493,3635
$GC,177,-0.63,-194.6,24.1,-29.1,15,180,0.00,1.35,0.00,0.000,6,0.000,0.042,2536,2400,3637
$GC,373,-0.63,-194.6,62.6,-15.6,34,376,0.00,1.50,0.00,0.000,4,0.000,0.048,2529,3288,3638
$GC,420,-0.63,-194.6,70.3,-15.3,38,429,0.00,1.50,0.00,0.000,6,0.000,0.028,2535,2368,3638
$GC,613,-0.63,-194.6,97.2,-13.2,57,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2367,3640
$GC,799,-0.63,-194.6,121.2,-12.6,75,802,0.00,1.55,0.00,0.000,4,0.000,0.046,2529,3288,3641
$GC,841,-0.63,-194.6,126.8,-12.2,79,844,0.00,1.45,0.00,0.000,6,0.000,0.028,2533,2376,3641
$GC,1164,-0.63,-194.6,164.7,-11.5,110,1166,0.00,1.23,0.00,0.000,4,0.000,0.038,2533,1513,3641
$GC,1238,-0.63,-194.6,173.5,-12.2,117,1241,0.00,1.30,0.00,0.000,6,0.000,0.038,2528,2406,3641
$GC,1560,-0.63,-194.6,211.1,-12.1,148,1563,0.00,1.27,0.00,0.000,4,0.000,0.038,2529,1523,3640
$GC,1602,-0.63,-194.6,216.6,-12.5,152,1605,0.00,1.27,0.00,0.000,6,0.000,0.040,2523,2397,3640
$GC,1924,-0.63,-194.6,254.4,-11.2,183,1925,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2398,3638
$GC,2234,-0.63,-194.6,290.1,-11.3,213,2237,0.00,1.27,0.00,0.000,4,0.000,0.038,2522,1517,3636
$GC,2276,-0.63,-194.6,294.9,-10.8,217,2279,0.00,1.30,0.00,0.000,6,0.000,0.041,2517,2402,3636
$GC,2598,-0.63,-194.6,332.5,-11.5,248,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2402,3635
$GC,2908,-0.63,-194.6,370.4,-12.1,278,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2403,3633
$GC,3218,-0.63,-194.6,406.6,-11.5,308,3221,0.00,1.27,0.00,0.000,4,0.000,0.040,2516,1531,3630
$GC,3292,-0.63,-194.6,415.3,-11.1,315,3296,0.08,1.27,0.00,0.000,6,0.146,0.043,2536,2394,3629
$GC,3613,-0.63,-194.6,446.6,-9.7,346,3616,0.00,1.27,0.00,0.000,4,0.000,0.041,2536,1520,3627
$GC,3645,-0.63,-194.6,449.8,-10.0,349,3648,0.00,1.30,0.00,0.000,6,0.000,0.044,2532,2398,3627
$GC,3967,-0.63,-194.6,483.1,-10.2,380,3968,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2398,3625
$GC,4277,-0.63,-194.6,515.2,-10.1,410,4280,0.00,1.27,0.00,0.000,4,0.000,0.043,2532,1531,3622
$GC,4340,-0.63,-194.6,521.8,-9.8,416,4344,0.00,1.30,0.00,0.000,6,0.000,0.045,2527,2402,3622
$GC,4663,-0.63,-194.6,555.7,-10.5,447,4663,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2402,3619
$GC,4972,-0.63,-194.6,587.8,-9.9,477,4973,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2402,3618
$GC,5283,-0.63,-194.6,619.3,-10.1,507,5285,0.00,1.30,0.00,0.000,4,0.000,0.044,2527,1526,3616
$GC,5346,-0.63,-194.6,625.8,-9.9,513,5349,0.00,1.30,0.00,0.000,6,0.000,0.046,2521,2392,3615
$GC,5668,-0.63,-194.6,657.4,-9.6,544,5669,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2392,3614
$GC,5978,-0.63,-194.6,687.9,-9.8,574,5979,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2392,3612
$GC,6288,-0.63,-194.6,719.9,-10.3,604,6288,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2392,3610
$GC,6599,-0.63,-194.6,751.8,-10.4,634,6602,0.00,1.27,0.00,0.000,4,0.000,0.044,2522,1531,3608
$GC,6641,-0.63,-194.6,756.3,-9.7,638,6644,0.00,1.33,0.00,0.000,6,0.000,0.048,2516,2405,3608
$GC,6963,-0.63,-194.6,789.3,-10.5,669,6967,0.00,1.30,0.00,0.000,4,0.000,0.044,2516,1536,3607
$GC,7005,-0.63,-194.6,793.9,-11.0,673,7009,0.08,1.33,0.00,0.000,6,0.150,0.049,2534,2405,3606
$GC,7326,-0.63,-194.6,824.2,-9.0,704,7327,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2405,3604
$GC,7638,-0.63,-194.6,852.3,-9.3,734,7640,0.00,1.30,0.00,0.000,4,0.000,0.045,2535,1538,3604
$GC,7673,-0.63,-194.6,855.9,-8.8,737,7681,0.00,1.33,0.00,0.000,6,0.000,0.050,2532,2398,3604
$GC,7991,-0.63,-194.6,884.8,-9.3,768,7992,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2399,3602
$GC,8300,-0.63,-194.6,912.6,-9.1,798,8301,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2398,3601
$GC,8611,-0.63,-194.6,940.7,-9.0,828,8614,0.00,1.30,0.00,0.000,4,0.000,0.047,2532,1534,3599
$GC,8658,-0.63,-194.6,945.3,-9.4,832,8665,0.00,1.33,0.00,0.000,6,0.000,0.051,2527,2400,3599
$GC,8975,-0.63,-194.6,975.1,-9.1,863,8976,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2400,3598
$STATE,9138,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9138,begin apogee
$GC,9143,-0.25,0.0,990.6,9.6,879,9302,0.47,0.00,152.62,1.250,6,0.139,0.000,2667,2280,2839
$STATE,9303,end apogee,CONTROL_FINISHED_OK
$STATE,9303,begin climb
$GC,9305,0.63,194.6,995.3,0.0,895,9476,0.90,0.00,168.62,1.216,6,0.102,0.000,2945,2280,2046
$GC,9781,0.63,194.6,944.7,12.0,942,9782,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2280,2036
$GC,10092,0.63,194.6,907.2,12.7,972,10095,0.00,1.23,0.00,0.000,4,0.000,0.045,2950,1360,2034
$GC,10124,0.63,194.6,903.2,12.2,975,10127,0.00,1.17,0.00,0.000,6,0.000,0.046,2950,2250,2034
$GC,10445,0.63,194.6,863.0,12.2,1006,10446,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2250,2032
$GC,10756,0.63,194.6,825.4,11.9,1036,10759,0.00,1.65,0.00,0.000,4,0.000,0.055,2950,3144,2032
$GC,10787,0.63,194.6,821.4,12.4,1039,10790,0.00,1.62,0.00,0.000,6,0.000,0.038,2958,2252,2030
$GC,11108,0.63,194.6,780.0,13.2,1070,11109,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2253,2031
$GC,11418,0.63,194.6,738.5,13.0,1100,11419,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2253,2030
$GC,11729,0.63,194.6,698.4,12.1,1130,11732,0.00,1.15,0.00,0.000,4,0.000,0.045,2963,1351,2030
$GC,11782,0.63,194.6,691.7,12.7,1135,11785,0.00,1.20,0.00,0.000,6,0.000,0.045,2963,2256,2030
$GC,12103,0.63,194.6,650.6,12.6,1166,12106,0.00,1.65,0.00,0.000,4,0.000,0.054,2963,3131,2029
$GC,12135,0.63,194.6,646.4,13.7,1169,12138,0.00,1.60,0.00,0.000,6,0.000,0.039,2971,2252,2028
$GC,12456,0.63,194.6,604.3,12.8,1200,12456,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2251,2028
$GC,12766,0.63,194.6,562.3,13.9,1230,12767,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2252,2028
$GC,13076,0.63,194.6,519.6,13.7,1260,13079,0.00,1.70,0.00,0.000,4,0.000,0.054,2971,3144,2028
$GC,13112,0.63,194.6,514.4,14.1,1263,13120,0.00,1.65,0.00,0.000,6,0.000,0.037,2979,2243,2026
$GC,13430,0.63,194.6,470.4,13.9,1294,13431,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2244,2027
$GC,13739,0.63,194.6,429.0,12.8,1324,13742,0.00,1.12,0.00,0.000,4,0.000,0.044,2984,1352,2027
$GC,13793,0.63,194.6,422.0,12.8,1329,13796,0.10,1.17,0.00,0.000,6,0.150,0.044,2954,2253,2027
$GC,14113,0.63,194.6,385.6,11.2,1360,14116,0.00,1.65,0.00,0.000,4,0.000,0.053,2954,3129,2027
$GC,14167,0.63,194.6,379.2,12.1,1365,14170,0.00,1.60,0.00,0.000,6,0.000,0.037,2960,2247,2027
$GC,14489,0.63,194.6,340.6,12.0,1396,14492,0.00,1.65,0.00,0.000,4,0.000,0.052,2960,3134,2027
$GC,14520,0.63,194.6,336.5,13.1,1399,14523,0.00,1.60,0.00,0.000,6,0.000,0.036,2967,2250,2027
$GC,14843,0.63,194.6,294.2,13.4,1430,14843,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2250,2027
$GC,15151,0.63,194.6,252.6,13.5,1460,15152,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2251,2027
$GC,15462,0.63,194.6,211.8,13.5,1490,15465,0.00,1.67,0.00,0.000,4,0.000,0.051,2967,3137,2028
$GC,15508,0.63,194.6,205.4,14.2,1494,15517,0.00,1.62,0.00,0.000,6,0.000,0.034,2975,2244,2028
$GC,15826,0.63,194.6,163.3,13.3,1525,15830,0.00,1.67,0.00,0.000,4,0.000,0.049,2975,3134,2029
$GC,15858,0.63,194.6,158.7,13.1,1528,15861,0.10,1.58,0.00,0.000,6,0.146,0.034,2952,2257,2028
$GC,16179,0.63,194.6,124.9,9.8,1559,16179,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2257,2029
$GC,16489,0.63,194.6,94.9,8.7,1589,16490,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2258,2029
$GC,16676,0.63,194.6,77.3,9.1,1607,16676,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2258,2030
$GC,16862,0.63,194.6,61.8,8.1,1625,16863,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2257,2030
$GC,17048,0.72,267.5,49.2,5.6,1643,17104,0.00,0.00,53.88,0.557,6,0.000,0.000,2951,2258,1748
$GC,17289,0.81,348.3,34.3,5.4,1666,17354,0.17,0.00,61.05,0.535,6,0.058,0.000,3038,2256,1420
$GC,17540,0.81,348.3,13.9,7.7,1690,17543,0.00,1.62,0.00,0.000,4,0.000,0.045,3038,3141,1412
$GC,17586,0.81,348.3,9.2,9.2,1694,17596,0.10,1.60,0.00,0.000,6,0.123,0.029,3011,2246,1411
$STATE,17673,end climb,SURFACE_DEPTH_REACHED
$STATE,17674,begin surface coast
$FINISH,0.7,1.022987
$STATE,17715,end surface coast,CONTROL_FINISHED_OK
$STATE,17715,begin surface
$SM_CCo,17730,106.57,0.495,0,0,494,575.22
$SM_GC,1.51,0.00,0.00,106.57,0.000,0.000,0.495,194,2415,494,-7.97,0.42,575.22
$IRIDIUM_FIX,2826.10,-8843.95,250999,111119
$TT8_MAMPS,0.051389
$HUMID,1332
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,23.20
$XPDR_PINGS,1
$24V_AH,22.9,34.654
$10V_AH,10.6,48.291
$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,20.250,70.975,436.175,106.575,0.000,28.740,31.258,241.777,0.250,0.000,0.000,20.362,0.000,12046.710,612.540,4970.314,604.589,33.340,1984.290,0.000,4463.579,0.000,0.847,0.000
$DEVICE_MAMPS,262.314,55.991,1250.210,494.715,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1169.093,1247.703,3836.539,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88316,1707
$CAP_FILE_SIZE,155409,0
$CFSIZE,260165632,237678592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.093,211.1,1
$GPS,010710,213506,2837.739,-8838.478,41,0.9,41,-0.3