version: 66.04
glider: 515
mission: 5
dive: 202
start: 7 3 110 8 51 58
data:
$ID,515
$MISSION,5
$DIVE,202
$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,-17139.502
$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,40
$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
$GPS1,084207,2837.034,-8829.055,39,1.0,39,-0.4
$_CALLS,1
$_XMS_NAKs,27
$_XMS_TOUTs,1
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-62.0
$GPS2,085037,2837.047,-8829.171,12,1.7,18,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0607F
$TGT_LATLONG,2837.000,-8845.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.214,0.156
$KALMAN_X,-35849.7,-36.5,39.0,69897.3,247.2
$KALMAN_Y,-158724.2,1653.3,1829.7,171293.0,-19034.1
$MHEAD_RNG_PITCHd_Wd,278.3,25734,-10.8,-7.500
$D_GRID,1623
$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,-83.10,0.000,2,0.000,0.000,196,2400,2767
$GC,99,-0.63,-194.6,3.1,-3.4,8,136,10.60,1.48,-21.70,0.000,4,0.258,0.069,2531,3254,3634
$GC,375,-0.63,-194.6,59.0,-15.6,33,384,0.00,1.48,0.00,0.000,6,0.000,0.026,2536,2348,3635
$GC,568,-0.63,-194.6,86.7,-14.3,52,571,0.00,1.52,0.00,0.000,4,0.000,0.044,2530,3250,3636
$GC,685,-0.63,-194.6,102.9,-13.7,63,688,0.00,1.40,0.00,0.000,6,0.000,0.027,2535,2361,3637
$GC,1008,-0.63,-194.6,144.3,-11.8,94,1011,0.00,1.20,0.00,0.000,4,0.000,0.034,2537,1493,3637
$GC,1050,-0.63,-194.6,149.4,-11.4,98,1053,0.00,1.23,0.00,0.000,6,0.000,0.036,2533,2354,3637
$GC,1372,-0.63,-194.6,186.4,-11.5,129,1375,0.00,1.20,0.00,0.000,4,0.000,0.035,2533,1495,3636
$GC,1425,-0.63,-194.6,192.9,-11.8,134,1428,0.00,1.27,0.00,0.000,6,0.000,0.037,2527,2376,3636
$GC,1747,-0.63,-194.6,229.8,-11.6,165,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2377,3635
$GC,2057,-0.63,-194.6,266.0,-11.1,195,2059,0.00,1.48,0.00,0.000,4,0.000,0.049,2520,3254,3633
$GC,2088,-0.63,-194.6,269.9,-11.8,198,2091,0.00,1.40,0.00,0.000,6,0.000,0.030,2521,2371,3633
$GC,2410,-0.63,-194.6,307.6,-11.7,229,2413,0.00,1.23,0.00,0.000,4,0.000,0.038,2520,1506,3631
$GC,2452,-0.63,-194.6,312.8,-11.5,233,2456,0.08,1.27,0.00,0.000,6,0.144,0.039,2538,2378,3631
$GC,2773,-0.63,-194.6,345.4,-10.1,264,2777,0.00,1.27,0.00,0.000,4,0.000,0.038,2538,1493,3629
$GC,2820,-0.63,-194.6,350.3,-10.2,268,2827,0.00,1.27,0.00,0.000,6,0.000,0.041,2534,2366,3629
$GC,3137,-0.63,-194.6,382.9,-10.0,299,3138,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2366,3626
$GC,3447,-0.63,-194.6,415.2,-10.4,329,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2366,3624
$GC,3757,-0.63,-194.6,447.4,-10.2,359,3758,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2366,3622
$GC,4068,-0.63,-194.6,478.6,-9.8,389,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2366,3619
$GC,4379,-0.63,-194.6,509.2,-9.9,419,4380,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2366,3617
$GC,4689,-0.63,-194.6,540.8,-10.6,449,4690,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2366,3615
$GC,4999,-0.63,-194.6,573.0,-10.4,479,5000,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2366,3613
$GC,5310,-0.63,-194.6,603.6,-9.3,509,5311,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2366,3611
$GC,5620,-0.63,-194.6,633.6,-9.9,539,5623,0.00,1.27,0.00,0.000,4,0.000,0.042,2534,1499,3608
$GC,5652,-0.63,-194.6,636.8,-10.2,542,5655,0.00,1.30,0.00,0.000,6,0.000,0.047,2529,2368,3608
$GC,5974,-0.63,-194.6,668.7,-9.9,573,5975,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2368,3606
$GC,6283,-0.63,-194.6,699.1,-9.5,603,6284,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2368,3604
$GC,6594,-0.63,-194.6,729.4,-9.7,633,6594,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2368,3603
$GC,6904,-0.63,-194.6,759.4,-9.6,663,6904,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2368,3602
$GC,7215,-0.63,-194.6,788.4,-9.2,693,7218,0.00,1.27,0.00,0.000,4,0.000,0.044,2529,1513,3600
$GC,7267,-0.63,-194.6,793.2,-9.1,698,7271,0.00,1.30,0.00,0.000,6,0.000,0.048,2524,2372,3599
$GC,7590,-0.63,-194.6,823.9,-9.8,729,7591,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2374,3598
$GC,7899,-0.63,-194.6,854.8,-10.0,759,7899,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2374,3597
$GC,8210,-0.63,-194.6,884.8,-9.4,789,8213,0.00,1.30,0.00,0.000,4,0.000,0.046,2524,1500,3595
$GC,8241,-0.63,-194.6,888.0,-9.7,792,8244,0.00,1.33,0.00,0.000,6,0.000,0.050,2518,2374,3595
$GC,8563,-0.63,-194.6,919.7,-10.0,823,8564,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2374,3593
$GC,8873,-0.63,-194.6,950.3,-9.9,853,8873,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2374,3593
$GC,9182,-0.63,-194.6,980.3,-9.6,883,9183,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2375,3592
$STATE,9284,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9284,begin apogee
$GC,9289,-0.25,0.0,990.2,9.5,893,9448,0.50,0.00,151.80,1.254,6,0.137,0.000,2666,2303,2839
$STATE,9449,end apogee,CONTROL_FINISHED_OK
$STATE,9449,begin climb
$GC,9450,0.63,194.6,994.9,0.0,909,9623,0.90,0.00,168.80,1.220,6,0.100,0.000,2946,2303,2046
$GC,9929,0.63,194.6,945.4,11.5,956,9932,0.00,1.30,0.00,0.000,4,0.000,0.043,2951,1366,2035
$GC,9986,0.63,194.6,938.6,11.1,961,9995,0.00,1.27,0.00,0.000,6,0.000,0.045,2951,2275,2035
$GC,10304,0.63,194.6,900.5,12.4,992,10305,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2276,2033
$GC,10613,0.63,194.6,862.3,11.7,1022,10616,0.00,1.23,0.00,0.000,4,0.000,0.044,2957,1363,2032
$GC,10688,0.63,194.6,853.1,12.0,1029,10691,0.00,1.25,0.00,0.000,6,0.000,0.046,2957,2279,2032
$GC,11008,0.63,194.6,812.6,12.9,1060,11009,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2279,2031
$GC,11319,0.63,194.6,774.8,11.7,1090,11322,0.00,1.23,0.00,0.000,4,0.000,0.044,2962,1361,2030
$GC,11394,0.63,194.6,765.9,12.1,1097,11397,0.00,1.23,0.00,0.000,6,0.000,0.045,2962,2271,2030
$GC,11715,0.63,194.6,725.9,12.6,1128,11716,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2272,2029
$GC,12025,0.63,194.6,686.8,12.6,1158,12026,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2271,2029
$GC,12335,0.63,194.6,646.9,12.9,1188,12338,0.00,1.20,0.00,0.000,4,0.000,0.043,2967,1366,2029
$GC,12399,0.63,194.6,638.9,12.8,1194,12402,0.00,1.23,0.00,0.000,6,0.000,0.046,2967,2274,2028
$GC,12721,0.63,194.6,599.2,11.9,1225,12724,0.00,1.20,0.00,0.000,4,0.000,0.044,2972,1368,2028
$GC,12753,0.63,194.6,595.5,11.4,1228,12756,0.00,1.23,0.00,0.000,6,0.000,0.045,2972,2275,2028
$GC,13075,0.63,194.6,556.0,12.3,1259,13075,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2275,2028
$GC,13384,0.63,194.6,517.5,12.6,1289,13385,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2275,2028
$GC,13694,0.63,194.6,478.5,12.1,1319,13697,0.00,1.20,0.00,0.000,4,0.000,0.043,2978,1364,2028
$GC,13741,0.63,194.6,472.4,13.0,1323,13749,0.00,1.25,0.00,0.000,6,0.000,0.043,2978,2281,2028
$GC,14059,0.63,194.6,431.5,13.2,1354,14062,0.00,1.23,0.00,0.000,4,0.000,0.042,2983,1363,2028
$GC,14111,0.63,194.6,424.5,12.5,1359,14115,0.10,1.23,0.00,0.000,6,0.143,0.044,2952,2276,2028
$GC,14432,0.63,194.6,389.2,11.0,1390,14433,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2276,2028
$GC,14743,0.63,194.6,354.2,11.5,1420,14744,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2276,2028
$GC,15054,0.63,194.6,319.4,10.9,1450,15057,0.00,1.20,0.00,0.000,4,0.000,0.041,2956,1368,2028
$GC,15143,0.63,194.6,309.5,10.8,1458,15150,0.00,1.23,0.00,0.000,6,0.000,0.041,2956,2274,2028
$GC,15461,0.63,194.6,274.6,10.8,1489,15462,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2274,2028
$GC,15770,0.63,194.6,240.6,11.2,1519,15773,0.00,1.20,0.00,0.000,4,0.000,0.040,2961,1359,2028
$GC,15795,0.63,194.6,237.7,11.7,1521,15804,0.00,1.25,0.00,0.000,6,0.000,0.041,2961,2284,2028
$GC,16113,0.63,194.6,201.7,11.9,1552,16116,0.00,1.23,0.00,0.000,4,0.000,0.039,2966,1359,2029
$GC,16166,0.63,194.6,195.3,12.2,1557,16169,0.00,1.20,0.00,0.000,6,0.000,0.040,2965,2272,2029
$GC,16488,0.63,194.6,157.7,11.7,1588,16489,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2272,2029
$GC,16797,0.63,194.6,123.9,10.8,1618,16800,0.00,1.17,0.00,0.000,4,0.000,0.038,2972,1364,2030
$GC,16883,0.63,194.6,114.9,10.9,1626,16886,0.00,1.20,0.00,0.000,6,0.000,0.039,2971,2277,2030
$GC,17204,0.63,194.6,82.5,9.9,1657,17207,0.00,1.17,0.00,0.000,4,0.000,0.037,2977,1366,2031
$GC,17262,0.63,194.6,76.6,8.7,1662,17269,0.00,1.23,0.00,0.000,6,0.000,0.037,2977,2284,2031
$GC,17454,0.63,194.6,58.8,8.7,1681,17455,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2284,2032
$GC,17640,0.64,203.8,44.9,7.3,1699,17652,0.00,0.00,6.40,0.452,6,0.000,0.000,2977,2284,2009
$GC,17837,0.71,265.9,31.5,5.9,1718,17889,0.00,1.58,48.33,0.537,4,0.000,0.044,2977,3169,1754
$GC,17916,0.80,339.8,27.9,5.6,1724,17975,0.00,1.58,55.85,0.525,6,0.000,0.029,2984,2270,1454
$GC,18162,0.82,350.5,12.2,7.2,1747,18175,0.00,1.20,8.30,0.441,4,0.000,0.035,2985,1353,1411
$STATE,18294,end climb,SURFACE_DEPTH_REACHED
$STATE,18295,begin surface coast
$FINISH,0.8,1.023067
$STATE,18348,end surface coast,CONTROL_FINISHED_OK
$STATE,18348,begin surface
$SM_CCo,18364,104.55,0.490,0,0,495,575.22
$SM_GC,1.53,0.00,0.00,104.55,0.000,0.000,0.490,197,2371,495,-7.96,-0.11,575.22
$IRIDIUM_FIX,2826.10,-8826.71,270999,030339
$TT8_MAMPS,0.051389
$HUMID,1333
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,24.00
$XPDR_PINGS,3
$24V_AH,22.9,35.890
$10V_AH,10.6,50.015
$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,19.700,61.850,439.475,104.550,0.000,30.366,30.174,325.107,0.750,0.000,0.000,20.245,0.000,12461.103,612.330,5196.559,719.249,33.337,2049.586,0.000,4659.237,0.000,0.850,0.000
$DEVICE_MAMPS,257.712,69.030,1254.045,490.113,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1207.613,1288.907,3964.637,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91536,1764
$CAP_FILE_SIZE,161581,0
$CFSIZE,260165632,236982272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081,212.9,1
$GPS,030710,140037,2837.087,-8832.702,29,1.8,29,-0.3