version: 66.04
glider: 515
mission: 5
dive: 201
start: 7 3 110 3 30 41
data:
$ID,515
$MISSION,5
$DIVE,201
$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,-17118.629
$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,33
$R_STBD_OVSHOOT,28
$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
$GPS1,032201,2837.593,-8825.578,36,1.4,36,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-65.8
$GPS2,032902,2837.557,-8825.606,13,1.2,13,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0607F
$TGT_LATLONG,2837.000,-8845.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.232,0.127
$KALMAN_X,-36217.6,-413.9,297.2,76184.1,-1270.7
$KALMAN_Y,-153977.8,1464.3,273.3,169272.8,-17600.3
$MHEAD_RNG_PITCHd_Wd,266.4,31546,-10.8,-7.500
$D_GRID,1516
$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,-194.6,0.0,0.0,0,100,0.00,0.00,-84.95,0.000,2,0.000,0.000,195,2390,2847
$GC,102,-0.63,-194.6,3.5,-4.3,8,137,10.65,1.48,-17.50,0.000,4,0.260,0.063,2530,3256,3636
$GC,376,-0.63,-194.6,58.2,-15.5,33,384,0.00,1.48,0.00,0.000,6,0.000,0.026,2534,2350,3637
$GC,568,-0.63,-194.6,85.0,-13.8,52,571,0.00,1.55,0.00,0.000,4,0.000,0.044,2529,3260,3638
$GC,594,-0.63,-194.6,88.9,-14.9,54,601,0.00,1.42,0.00,0.000,6,0.000,0.027,2529,2363,3638
$GC,786,-0.63,-194.6,115.4,-13.6,73,789,0.00,1.23,0.00,0.000,4,0.000,0.033,2529,1480,3639
$GC,828,-0.63,-194.6,121.1,-13.6,77,831,0.00,1.27,0.00,0.000,6,0.000,0.035,2525,2368,3639
$GC,1151,-0.63,-194.6,163.0,-12.8,108,1154,0.00,1.50,0.00,0.000,4,0.000,0.046,2518,3267,3638
$GC,1193,-0.63,-194.6,168.1,-11.6,112,1196,0.00,1.42,0.00,0.000,6,0.000,0.028,2518,2366,3639
$GC,1515,-0.63,-194.6,208.2,-12.9,143,1518,0.00,1.23,0.00,0.000,4,0.000,0.036,2518,1488,3638
$GC,1568,-0.63,-194.6,214.9,-12.8,148,1571,0.08,1.27,0.00,0.000,6,0.146,0.037,2537,2371,3638
$GC,1889,-0.63,-194.6,247.5,-9.9,179,1892,0.00,1.25,0.00,0.000,4,0.000,0.036,2538,1499,3636
$GC,1921,-0.63,-194.6,250.8,-10.3,182,1924,0.00,1.27,0.00,0.000,6,0.000,0.039,2534,2373,3636
$GC,2243,-0.63,-194.6,285.4,-10.8,213,2245,0.00,1.27,0.00,0.000,4,0.000,0.038,2534,1493,3634
$GC,2267,-0.63,-194.6,288.5,-11.2,215,2276,0.00,1.30,0.00,0.000,6,0.000,0.039,2528,2376,3634
$GC,2585,-0.63,-194.6,322.9,-10.4,246,2589,0.00,1.27,0.00,0.000,4,0.000,0.038,2528,1496,3632
$GC,2627,-0.63,-194.6,327.7,-10.6,250,2631,0.00,1.27,0.00,0.000,6,0.000,0.041,2522,2371,3632
$GC,2950,-0.63,-194.6,364.0,-11.2,281,2951,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2371,3629
$GC,3259,-0.63,-194.6,398.4,-11.3,311,3260,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2371,3628
$GC,3570,-0.63,-194.6,432.0,-10.7,341,3573,0.00,1.27,0.00,0.000,4,0.000,0.040,2522,1496,3625
$GC,3601,-0.63,-194.6,435.5,-10.7,344,3604,0.00,1.30,0.00,0.000,6,0.000,0.042,2516,2381,3624
$GC,3923,-0.63,-194.6,470.7,-11.0,375,3924,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2381,3622
$GC,4233,-0.63,-194.6,506.2,-12.0,405,4234,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2381,3620
$GC,4543,-0.63,-194.6,541.5,-11.2,435,4544,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2381,3618
$GC,4854,-0.63,-194.6,575.7,-11.0,465,4855,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2381,3616
$GC,5164,-0.63,-194.6,611.0,-11.7,495,5167,0.00,1.30,0.00,0.000,4,0.000,0.042,2517,1498,3614
$GC,5254,-0.63,-194.6,620.8,-10.0,503,5262,0.08,1.30,0.00,0.000,6,0.146,0.045,2536,2369,3614
$GC,5570,-0.63,-194.6,651.2,-9.6,534,5570,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2369,3611
$GC,5881,-0.63,-194.6,680.3,-9.1,564,5882,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2369,3608
$GC,6191,-0.63,-194.6,708.8,-9.3,594,6191,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2368,3607
$GC,6501,-0.63,-194.6,736.2,-9.0,624,6502,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2369,3605
$GC,6812,-0.63,-194.6,763.7,-8.9,654,6813,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2369,3603
$GC,7122,-0.63,-194.6,790.9,-8.6,684,7123,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2369,3602
$GC,7432,-0.63,-194.6,817.9,-9.2,714,7436,0.00,1.27,0.00,0.000,4,0.000,0.045,2536,1511,3600
$GC,7458,-0.63,-194.6,820.2,-9.4,716,7465,0.00,1.33,0.00,0.000,6,0.000,0.048,2532,2377,3600
$GC,7776,-0.63,-194.6,847.9,-8.8,747,7779,0.00,1.30,0.00,0.000,4,0.000,0.045,2532,1506,3598
$GC,7807,-0.63,-194.6,850.8,-8.7,750,7810,0.00,1.30,0.00,0.000,6,0.000,0.049,2528,2368,3598
$GC,8130,-0.63,-194.6,880.0,-9.0,781,8133,0.00,1.58,0.00,0.000,4,0.000,0.061,2520,3258,3596
$GC,8161,-0.63,-194.6,883.1,-10.2,784,8164,0.00,1.45,0.00,0.000,6,0.000,0.038,2520,2388,3597
$GC,8484,-0.63,-194.6,912.8,-9.1,815,8485,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2386,3596
$GC,8792,-0.63,-194.6,941.4,-9.5,845,8793,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2386,3594
$GC,9103,-0.63,-194.6,969.3,-9.0,875,9106,0.00,1.33,0.00,0.000,4,0.000,0.046,2520,1489,3593
$GC,9135,-0.63,-194.6,972.1,-9.3,878,9138,0.00,1.35,0.00,0.000,6,0.000,0.051,2515,2379,3593
$STATE,9330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9330,begin apogee
$GC,9334,-0.25,0.0,990.6,9.4,897,9493,0.50,0.00,151.82,1.253,6,0.140,0.000,2662,2287,2839
$STATE,9494,end apogee,CONTROL_FINISHED_OK
$STATE,9494,begin climb
$GC,9496,0.63,194.6,995.0,0.0,913,9669,0.88,0.00,168.43,1.221,6,0.104,0.000,2938,2287,2046
$GC,9978,0.63,194.6,948.2,11.4,959,9981,0.00,1.25,0.00,0.000,4,0.000,0.045,2943,1372,2035
$GC,10021,0.63,194.6,943.3,11.4,963,10024,0.00,1.23,0.00,0.000,6,0.000,0.045,2943,2268,2035
$GC,10341,0.63,194.6,906.1,11.7,994,10342,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2269,2033
$GC,10653,0.63,194.6,870.9,11.1,1024,10653,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2268,2032
$GC,10962,0.63,194.6,835.0,11.7,1054,10965,0.00,1.20,0.00,0.000,4,0.000,0.044,2949,1361,2030
$GC,10999,0.63,194.6,830.5,11.8,1057,11006,0.00,1.25,0.00,0.000,6,0.000,0.045,2949,2277,2030
$GC,11316,0.63,194.6,793.0,11.9,1088,11319,0.00,1.20,0.00,0.000,4,0.000,0.044,2954,1376,2030
$GC,11347,0.63,194.6,789.1,11.3,1091,11350,0.00,1.23,0.00,0.000,6,0.000,0.046,2954,2277,2030
$GC,11670,0.63,194.6,750.0,11.9,1122,11671,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2277,2029
$GC,11978,0.63,194.6,713.6,11.6,1152,11981,0.00,1.23,0.00,0.000,4,0.000,0.044,2959,1363,2029
$GC,12004,0.63,194.6,710.7,11.5,1154,12011,0.00,1.25,0.00,0.000,6,0.000,0.044,2959,2275,2029
$GC,12321,0.63,194.6,673.3,11.8,1185,12322,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2275,2028
$GC,12631,0.63,194.6,636.0,12.3,1215,12634,0.00,1.20,0.00,0.000,4,0.000,0.043,2964,1372,2028
$GC,12662,0.63,194.6,632.0,12.6,1218,12666,0.00,1.23,0.00,0.000,6,0.000,0.044,2964,2274,2028
$GC,12985,0.63,194.6,591.7,12.8,1249,12988,0.00,1.20,0.00,0.000,4,0.000,0.044,2970,1368,2028
$GC,13038,0.63,194.6,585.0,12.4,1254,13041,0.00,1.23,0.00,0.000,6,0.000,0.045,2970,2277,2028
$GC,13359,0.63,194.6,543.5,12.9,1285,13362,0.00,1.65,0.00,0.000,4,0.000,0.054,2970,3172,2028
$GC,13380,0.63,194.6,540.7,13.7,1287,13383,0.00,1.60,0.00,0.000,6,0.000,0.038,2977,2258,2027
$GC,13701,0.63,194.6,498.2,13.1,1318,13704,0.00,1.15,0.00,0.000,4,0.000,0.043,2983,1362,2027
$GC,13726,0.63,194.6,494.8,12.1,1320,13734,0.10,1.25,0.00,0.000,6,0.143,0.043,2952,2277,2027
$GC,14043,0.63,194.6,459.3,11.4,1351,14046,0.00,1.20,0.00,0.000,4,0.000,0.042,2956,1375,2027
$GC,14079,0.63,194.6,455.2,10.8,1354,14086,0.00,1.23,0.00,0.000,6,0.000,0.042,2956,2277,2027
$GC,14396,0.63,194.6,418.7,11.1,1385,14397,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2277,2027
$GC,14705,0.63,194.6,382.7,11.7,1415,14706,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2277,2027
$GC,15017,0.63,194.6,346.2,11.4,1445,15020,0.00,1.20,0.00,0.000,4,0.000,0.041,2961,1368,2027
$GC,15080,0.63,194.6,339.1,11.0,1451,15084,0.00,1.20,0.00,0.000,6,0.000,0.042,2961,2274,2027
$GC,15401,0.63,194.6,301.4,11.6,1482,15404,0.00,1.20,0.00,0.000,4,0.000,0.040,2966,1363,2027
$GC,15437,0.63,194.6,297.2,11.8,1485,15445,0.00,1.25,0.00,0.000,6,0.000,0.041,2966,2288,2028
$GC,15755,0.63,194.6,258.2,12.7,1516,15758,0.00,1.23,0.00,0.000,4,0.000,0.041,2971,1372,2027
$GC,15791,0.63,194.6,253.7,11.7,1519,15799,0.00,1.20,0.00,0.000,6,0.000,0.041,2972,2277,2028
$GC,16108,0.63,194.6,213.7,12.8,1550,16111,0.00,1.20,0.00,0.000,4,0.000,0.040,2977,1363,2028
$GC,16140,0.63,194.6,209.6,12.9,1553,16143,0.00,1.20,0.00,0.000,6,0.000,0.040,2977,2271,2028
$GC,16460,0.63,194.6,167.8,12.9,1584,16464,0.00,1.17,0.00,0.000,4,0.000,0.038,2982,1366,2028
$GC,16525,0.63,194.6,159.8,12.5,1590,16528,0.10,1.23,0.00,0.000,6,0.136,0.040,2950,2286,2029
$GC,16846,0.63,194.6,127.6,9.9,1621,16848,0.00,1.23,0.00,0.000,4,0.000,0.038,2954,1361,2029
$GC,16920,0.63,194.6,120.7,9.0,1628,16923,0.00,1.20,0.00,0.000,6,0.000,0.038,2954,2272,2030
$GC,17241,0.63,194.6,91.0,8.8,1659,17241,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2273,2030
$GC,17427,0.63,194.6,74.3,8.1,1677,17428,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2273,2031
$GC,17614,0.63,194.6,58.4,8.2,1695,17617,0.00,1.62,0.00,0.000,4,0.000,0.047,2954,3170,2032
$GC,17639,0.63,194.6,56.3,9.3,1697,17646,0.00,1.55,0.00,0.000,6,0.000,0.030,2962,2272,2032
$GC,17831,0.66,221.2,42.9,6.8,1716,17853,0.00,0.00,19.77,0.538,6,0.000,0.000,2962,2272,1938
$GC,18038,0.78,323.5,32.5,4.8,1736,18124,0.10,1.17,77.00,0.534,4,0.076,0.035,3017,1375,1521
$GC,18145,0.78,323.5,24.1,8.6,1746,18149,0.00,1.20,0.00,0.000,6,0.000,0.034,3017,2274,1518
$GC,18343,0.82,354.9,11.2,6.7,1765,18375,0.00,0.00,24.17,0.494,6,0.000,0.000,3017,2274,1390
$STATE,18463,end climb,SURFACE_DEPTH_REACHED
$STATE,18464,begin surface coast
$FINISH,0.7,1.021320
$STATE,18505,end surface coast,CONTROL_FINISHED_OK
$STATE,18505,begin surface
$SM_CCo,18519,106.12,0.492,0,0,494,575.22
$SM_GC,1.55,0.00,0.00,106.12,0.000,0.000,0.492,196,2398,494,-7.97,0.65,575.22
$IRIDIUM_FIX,2828.55,-8826.71,260999,222240
$TT8_MAMPS,0.051389
$HUMID,1334
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.60
$XPDR_PINGS,1
$24V_AH,22.9,35.724
$10V_AH,10.6,49.789
$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,20.150,80.850,441.200,106.125,0.000,23.531,30.095,250.968,0.250,0.000,0.000,15.244,0.000,12491.524,648.610,5241.131,697.586,33.337,2119.044,0.000,4709.937,0.000,0.849,0.000
$DEVICE_MAMPS,260.013,62.894,1252.511,491.647,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1218.973,1296.827,4002.893,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94529,1781
$CAP_FILE_SIZE,167708,0
$CFSIZE,260165632,237064192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.050,221.9,1
$GPS,030710,084207,2837.034,-8829.055,39,1.0,39,-0.4