version: 66.04
glider: 515
mission: 5
dive: 199
start: 7 2 110 18 32 18
data:
$ID,515
$MISSION,5
$DIVE,199
$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,-14
$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,-17087.564
$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,2375
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,30
$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
$GPS1,182500,2837.941,-8828.775,39,0.9,44,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-67.1
$GPS2,183120,2837.990,-8828.766,16,0.9,16,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618A
$TGT_LATLONG,2837.900,-8826.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.183,0.191
$KALMAN_X,-36840.5,1084.3,488.2,69943.8,-4056.7
$KALMAN_Y,-140354.4,-437.5,220.4,158432.2,-9189.5
$MHEAD_RNG_PITCHd_Wd,75.4,4498,-14.4,-7.500
$D_GRID,1542
$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,-0.67,-124.9,0.0,0.0,0,87,0.00,0.00,-72.90,0.000,2,0.000,0.000,196,2391,2484
$GC,89,-0.75,-194.6,3.0,-3.0,7,139,10.48,1.50,-35.00,0.000,4,0.260,0.063,2488,3259,3634
$GC,378,-0.75,-194.6,67.8,-17.3,33,386,0.00,1.48,0.00,0.000,6,0.000,0.027,2493,2355,3636
$GC,570,-0.75,-194.6,99.8,-16.5,52,573,0.00,1.52,0.00,0.000,4,0.000,0.043,2487,3253,3638
$GC,634,-0.75,-194.6,111.0,-17.1,58,637,0.00,1.42,0.00,0.000,6,0.000,0.028,2492,2362,3638
$GC,956,-0.75,-194.6,163.6,-15.4,89,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2363,3639
$GC,1266,-0.75,-194.6,208.9,-14.6,119,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2363,3639
$GC,1576,-0.75,-194.6,252.4,-14.2,149,1579,0.00,1.50,0.00,0.000,4,0.000,0.046,2487,3250,3639
$GC,1608,-0.75,-194.6,257.0,-14.8,152,1611,0.00,1.40,0.00,0.000,6,0.000,0.029,2487,2367,3638
$GC,1930,-0.75,-194.6,302.9,-14.3,183,1933,0.00,1.50,0.00,0.000,4,0.000,0.048,2480,3253,3636
$GC,1976,-0.75,-194.6,310.6,-15.4,187,1983,0.00,1.42,0.00,0.000,6,0.000,0.028,2484,2369,3636
$GC,2294,-0.75,-194.6,356.6,-14.4,218,2295,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2369,3634
$GC,2603,-0.75,-194.6,400.4,-14.1,248,2606,0.00,1.50,0.00,0.000,4,0.000,0.050,2479,3250,3632
$GC,2635,-0.75,-194.6,405.1,-14.9,251,2638,0.00,1.40,0.00,0.000,6,0.000,0.031,2484,2376,3632
$GC,2957,-0.75,-194.6,450.3,-14.9,282,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2375,3630
$GC,3266,-0.75,-194.6,495.7,-14.6,312,3267,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2373,3627
$GC,3577,-0.75,-194.6,538.8,-13.0,342,3580,0.00,1.50,0.00,0.000,4,0.000,0.052,2478,3248,3625
$GC,3619,-0.75,-194.6,544.5,-13.3,346,3622,0.00,1.42,0.00,0.000,6,0.000,0.033,2479,2368,3624
$GC,3941,-0.75,-194.6,587.3,-13.4,377,3942,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2368,3621
$GC,4250,-0.75,-194.6,627.3,-12.3,407,4251,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2368,3619
$GC,4560,-0.75,-194.6,666.9,-12.7,437,4561,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2367,3617
$GC,4872,-0.75,-194.6,707.4,-12.9,467,4874,0.00,1.52,0.00,0.000,4,0.000,0.056,2474,3247,3615
$GC,4929,-0.75,-194.6,715.3,-13.2,472,4937,0.00,1.45,0.00,0.000,6,0.000,0.035,2474,2369,3614
$GC,5247,-0.75,-194.6,757.1,-12.6,503,5248,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2367,3614
$GC,5556,-0.75,-194.6,797.4,-12.6,533,5556,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2368,3611
$GC,5866,-0.75,-194.6,835.6,-11.7,563,5867,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2367,3609
$GC,6177,-0.75,-194.6,874.1,-12.9,593,6180,0.00,1.27,0.00,0.000,4,0.000,0.046,2474,1498,3607
$GC,6273,-0.75,-194.6,886.3,-12.6,602,6276,0.10,1.30,0.00,0.000,6,0.173,0.047,2497,2363,3606
$GC,6593,-0.75,-194.6,922.9,-10.7,633,6597,0.00,1.30,0.00,0.000,4,0.000,0.045,2498,1490,3603
$GC,6690,-0.75,-194.6,933.6,-10.8,642,6693,0.00,1.35,0.00,0.000,6,0.000,0.048,2492,2385,3603
$GC,7012,-0.75,-194.6,968.9,-10.6,673,7015,0.00,1.33,0.00,0.000,4,0.000,0.046,2493,1496,3601
$GC,7086,-0.75,-194.6,977.1,-10.3,680,7089,0.00,1.33,0.00,0.000,6,0.000,0.048,2487,2373,3602
$STATE,7208,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7209,begin apogee
$GC,7213,-0.25,0.0,990.9,10.8,692,7372,0.60,0.00,152.77,1.246,6,0.151,0.000,2660,2292,2840
$STATE,7373,end apogee,CONTROL_FINISHED_OK
$STATE,7373,begin climb
$GC,7374,0.75,194.6,996.0,0.0,708,7547,1.05,1.77,167.43,1.214,4,0.104,0.059,2982,3169,2045
$GC,7579,0.75,194.6,975.7,15.3,727,7582,0.00,1.70,0.00,0.000,6,0.000,0.036,2990,2278,2041
$GC,7901,0.75,194.6,928.0,14.8,758,7902,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2279,2035
$GC,8210,0.75,194.6,881.4,15.0,788,8211,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2279,2033
$GC,8520,0.75,194.6,834.2,15.8,818,8524,0.00,1.67,0.00,0.000,4,0.000,0.055,2990,3177,2032
$GC,8567,0.75,194.6,826.3,16.8,822,8575,0.00,1.62,0.00,0.000,6,0.000,0.038,2998,2269,2031
$GC,8885,0.75,194.6,776.0,15.8,853,8888,0.00,1.67,0.00,0.000,4,0.000,0.055,2998,3186,2031
$GC,8916,0.75,194.6,770.7,16.2,856,8919,0.00,1.62,0.00,0.000,6,0.000,0.038,3005,2272,2029
$GC,9238,0.75,194.6,719.1,15.9,887,9242,0.00,1.67,0.00,0.000,4,0.000,0.055,3005,3168,2029
$GC,9280,0.75,194.6,712.0,17.0,891,9284,0.00,1.58,0.00,0.000,6,0.000,0.038,3013,2281,2028
$GC,9603,0.75,194.6,659.8,16.2,922,9606,0.00,1.65,0.00,0.000,4,0.000,0.054,3013,3170,2028
$GC,9655,0.75,194.6,650.5,17.5,927,9659,0.08,1.60,0.00,0.000,6,0.171,0.037,2998,2274,2027
$GC,9976,0.75,194.6,602.4,14.8,958,9977,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2274,2027
$GC,10287,0.75,194.6,556.6,15.1,988,10290,0.00,1.67,0.00,0.000,4,0.000,0.054,2996,3169,2027
$GC,10319,0.75,194.6,551.7,15.5,991,10322,0.00,1.60,0.00,0.000,6,0.000,0.038,3002,2272,2027
$GC,10639,0.75,194.6,503.5,14.8,1022,10643,0.00,1.67,0.00,0.000,4,0.000,0.054,3003,3169,2027
$GC,10692,0.75,194.6,495.4,15.8,1027,10696,0.00,1.58,0.00,0.000,6,0.000,0.037,3010,2279,2026
$GC,11015,0.75,194.6,447.1,14.9,1058,11016,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2280,2026
$GC,11324,0.75,194.6,399.0,15.7,1088,11327,0.00,1.65,0.00,0.000,4,0.000,0.053,3010,3167,2026
$GC,11398,0.75,194.6,387.0,17.3,1095,11402,0.00,1.58,0.00,0.000,6,0.000,0.036,3018,2276,2026
$GC,11719,0.75,194.6,335.8,16.3,1126,11720,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2276,2026
$GC,12030,0.75,194.6,286.2,16.2,1156,12033,0.00,1.67,0.00,0.000,4,0.000,0.052,3018,3178,2026
$GC,12094,0.75,194.6,275.4,17.6,1162,12097,0.08,1.60,0.00,0.000,6,0.170,0.035,2993,2272,2026
$GC,12414,0.75,194.6,229.8,14.0,1193,12417,0.00,1.67,0.00,0.000,4,0.000,0.051,2993,3174,2026
$GC,12457,0.75,194.6,223.4,16.0,1197,12460,0.00,1.58,0.00,0.000,6,0.000,0.035,3000,2276,2026
$GC,12779,0.75,194.6,176.6,14.6,1228,12782,0.00,1.65,0.00,0.000,4,0.000,0.051,2999,3172,2026
$GC,12842,0.75,194.6,167.1,14.8,1234,12846,0.00,1.58,0.00,0.000,6,0.000,0.033,3006,2273,2026
$GC,13163,0.75,194.6,123.5,13.7,1265,13164,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2274,2026
$GC,13474,0.75,194.6,82.6,12.2,1295,13477,0.00,1.65,0.00,0.000,4,0.000,0.048,3006,3172,2027
$GC,13584,0.75,194.6,67.7,13.6,1305,13592,0.00,1.58,0.00,0.000,6,0.000,0.031,3014,2275,2028
$GC,13777,0.75,194.6,47.3,10.2,1324,13778,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2275,2028
$GC,13964,0.75,194.6,30.7,8.7,1342,13967,0.00,1.15,0.00,0.000,4,0.000,0.037,3019,1369,2028
$GC,13995,0.75,194.6,28.0,8.6,1345,13998,0.00,1.20,0.00,0.000,6,0.000,0.038,3019,2286,2029
$GC,14192,0.87,286.5,21.0,3.8,1364,14264,0.00,1.20,66.85,0.529,4,0.000,0.034,3025,1353,1672
$GC,14306,0.90,312.1,14.4,6.5,1374,14330,0.00,1.23,20.50,0.496,6,0.000,0.035,3025,2274,1566
$STATE,14460,end climb,SURFACE_DEPTH_REACHED
$STATE,14460,begin surface coast
$FINISH,0.5,1.014103
$STATE,14503,end surface coast,CONTROL_FINISHED_OK
$STATE,14503,begin surface
$SM_CCo,14517,123.57,0.495,0,0,494,575.22
$SM_GC,1.56,0.00,0.00,123.57,0.000,0.000,0.495,204,2400,494,-7.95,0.71,575.22
$IRIDIUM_FIX,2826.10,-8831.68,260999,131352
$TT8_MAMPS,0.050622
$HUMID,1336
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.0,35.465
$10V_AH,10.6,49.357
$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,20.025,72.950,407.550,123.575,0.000,24.612,33.865,201.059,0.000,0.000,0.000,18.376,0.000,9726.802,588.060,4180.667,516.863,33.336,1781.155,0.000,3727.605,0.000,0.847,0.000
$DEVICE_MAMPS,260.013,62.894,1246.375,494.715,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,952.712,1014.628,3130.238,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72613,1393
$CAP_FILE_SIZE,132528,0
$CFSIZE,260165632,237281280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.037,195.0,1
$GPS,020710,223707,2838.347,-8826.410,27,1.4,27,-0.4