version: 66.04
glider: 515
mission: 5
dive: 203
start: 7 3 110 14 17 53
data:
$ID,515
$MISSION,5
$DIVE,203
$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,-17156.252
$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,31
$R_STBD_OVSHOOT,15
$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
$GPS1,140037,2837.087,-8832.702,29,1.8,29,-0.3
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-61.5
$GPS2,141714,2837.245,-8832.888,14,1.7,14,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0607F
$TGT_LATLONG,2837.000,-8845.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.215,0.155
$KALMAN_X,-36783.3,558.1,-84.6,64319.9,-1359.4
$KALMAN_Y,-160265.6,1995.8,715.4,173952.6,-13595.4
$MHEAD_RNG_PITCHd_Wd,283.7,19697,-10.8,-7.500
$D_GRID,1566
$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,-194.6,0.0,0.0,0,94,0.00,0.00,-78.78,0.000,2,0.000,0.000,193,2376,2659
$GC,96,-0.63,-194.6,3.2,-3.8,8,136,10.73,1.50,-25.70,0.000,4,0.258,0.062,2532,3280,3634
$GC,378,-0.63,-194.6,60.7,-17.4,34,381,0.00,1.48,0.00,0.000,6,0.000,0.027,2537,2358,3635
$GC,575,-0.63,-194.6,88.4,-13.9,53,578,0.00,1.55,0.00,0.000,4,0.000,0.044,2531,3281,3636
$GC,692,-0.63,-194.6,104.3,-14.0,64,695,0.00,1.45,0.00,0.000,6,0.000,0.026,2535,2364,3636
$GC,1014,-0.63,-194.6,144.9,-12.5,95,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2364,3636
$GC,1323,-0.63,-194.6,181.3,-11.1,125,1326,0.00,1.23,0.00,0.000,4,0.000,0.035,2535,1482,3635
$GC,1360,-0.63,-194.6,185.7,-11.6,128,1367,0.00,1.30,0.00,0.000,6,0.000,0.036,2531,2388,3635
$GC,1677,-0.63,-194.6,220.6,-10.8,159,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2389,3634
$GC,1987,-0.63,-194.6,254.0,-10.0,189,1990,0.00,1.27,0.00,0.000,4,0.000,0.036,2531,1499,3632
$GC,2061,-0.63,-194.6,261.8,-10.3,196,2064,0.00,1.25,0.00,0.000,6,0.000,0.038,2525,2365,3632
$GC,2383,-0.63,-194.6,297.7,-11.1,227,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2366,3629
$GC,2692,-0.63,-194.6,331.7,-10.7,257,2695,0.00,1.25,0.00,0.000,4,0.000,0.038,2525,1494,3626
$GC,2745,-0.63,-194.6,337.3,-10.8,262,2749,0.00,1.30,0.00,0.000,6,0.000,0.041,2519,2386,3626
$GC,3067,-0.63,-194.6,372.9,-11.6,293,3068,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2386,3624
$GC,3377,-0.63,-194.6,407.7,-10.8,323,3377,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2386,3621
$GC,3688,-0.63,-194.6,441.6,-10.8,353,3688,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2386,3618
$GC,3997,-0.63,-194.6,475.8,-10.8,383,4000,0.00,1.30,0.00,0.000,4,0.000,0.040,2519,1491,3616
$GC,4034,-0.63,-194.6,479.9,-11.4,386,4042,0.12,1.30,0.00,0.000,6,0.146,0.042,2550,2365,3615
$GC,4350,-0.63,-194.6,508.5,-9.4,417,4353,0.00,1.52,0.00,0.000,4,0.000,0.054,2545,3255,3612
$GC,4386,-0.63,-194.6,511.8,-9.0,420,4393,0.00,1.45,0.00,0.000,6,0.000,0.032,2545,2365,3612
$GC,4704,-0.63,-194.6,540.9,-9.4,451,4705,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2365,3610
$GC,5013,-0.63,-194.6,570.0,-9.0,481,5016,0.00,1.55,0.00,0.000,4,0.000,0.057,2539,3257,3607
$GC,5045,-0.63,-194.6,573.0,-9.9,484,5048,0.00,1.42,0.00,0.000,6,0.000,0.035,2539,2384,3607
$GC,5367,-0.63,-194.6,604.4,-10.3,515,5368,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2384,3605
$GC,5677,-0.63,-194.6,634.0,-9.8,545,5678,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2382,3603
$GC,5987,-0.63,-194.6,663.2,-9.0,575,5987,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2381,3601
$GC,6298,-0.63,-194.6,691.3,-8.9,605,6298,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2381,3599
$GC,6608,-0.63,-194.6,719.7,-9.3,635,6611,0.00,1.52,0.00,0.000,4,0.000,0.058,2532,3254,3597
$GC,6639,-0.63,-194.6,722.5,-9.6,638,6643,0.00,1.45,0.00,0.000,6,0.000,0.036,2532,2374,3597
$GC,6962,-0.63,-194.6,752.8,-9.2,669,6965,0.00,1.30,0.00,0.000,4,0.000,0.045,2532,1486,3595
$GC,7004,-0.63,-194.6,756.9,-9.6,673,7007,0.00,1.35,0.00,0.000,6,0.000,0.048,2527,2382,3595
$GC,7326,-0.63,-194.6,787.5,-9.4,704,7327,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2383,3593
$GC,7636,-0.63,-194.6,816.1,-9.4,734,7636,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2383,3592
$GC,7946,-0.63,-194.6,844.7,-9.5,764,7949,0.00,1.33,0.00,0.000,4,0.000,0.045,2527,1494,3590
$GC,7978,-0.63,-194.6,847.6,-9.2,767,7981,0.00,1.30,0.00,0.000,6,0.000,0.049,2521,2362,3590
$GC,8300,-0.63,-194.6,879.2,-10.2,798,8301,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2362,3589
$GC,8610,-0.63,-194.6,909.0,-9.4,828,8611,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2362,3588
$GC,8920,-0.63,-194.6,938.4,-9.5,858,8923,0.00,1.58,0.00,0.000,4,0.000,0.061,2514,3258,3587
$GC,8966,-0.63,-194.6,943.1,-9.7,862,8975,0.12,1.50,0.00,0.000,6,0.145,0.037,2545,2363,3586
$GC,9283,-0.63,-194.6,968.7,-8.1,893,9286,0.00,1.27,0.00,0.000,4,0.000,0.047,2545,1496,3586
$GC,9315,-0.63,-194.6,971.3,-7.6,896,9318,0.00,1.35,0.00,0.000,6,0.000,0.050,2542,2384,3586
$STATE,9551,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9551,begin apogee
$GC,9556,-0.25,0.0,990.2,7.9,919,9715,0.40,0.00,150.68,1.251,6,0.135,0.000,2661,2289,2839
$STATE,9715,end apogee,CONTROL_FINISHED_OK
$STATE,9715,begin climb
$GC,9717,0.63,194.6,994.3,0.0,935,9889,0.90,0.00,168.57,1.220,6,0.104,0.000,2943,2288,2045
$GC,10198,0.63,194.6,945.3,10.4,982,10201,0.00,1.27,0.00,0.000,4,0.000,0.053,2949,1367,2035
$GC,10304,0.63,194.6,932.7,11.5,992,10308,0.00,1.23,0.00,0.000,6,0.000,0.045,2949,2266,2034
$GC,10625,0.63,194.6,895.0,11.9,1023,10628,0.00,1.20,0.00,0.000,4,0.000,0.044,2954,1367,2032
$GC,10657,0.63,194.6,891.1,12.4,1026,10660,0.00,1.25,0.00,0.000,6,0.000,0.046,2954,2279,2033
$GC,10979,0.63,194.6,851.5,12.0,1057,10982,0.00,1.23,0.00,0.000,4,0.000,0.044,2960,1366,2031
$GC,11036,0.63,194.6,844.0,13.1,1062,11045,0.00,1.25,0.00,0.000,6,0.000,0.045,2959,2278,2031
$GC,11355,0.63,194.6,804.1,12.8,1093,11358,0.00,1.23,0.00,0.000,4,0.000,0.044,2964,1361,2030
$GC,11397,0.63,194.6,798.3,12.9,1097,11400,0.00,1.23,0.00,0.000,6,0.000,0.045,2964,2274,2030
$GC,11718,0.63,194.6,757.0,12.2,1128,11719,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2274,2029
$GC,12029,0.63,194.6,718.8,11.8,1158,12032,0.00,1.20,0.00,0.000,4,0.000,0.044,2970,1371,2029
$GC,12076,0.63,194.6,712.9,10.9,1162,12084,0.00,1.25,0.00,0.000,6,0.000,0.044,2970,2286,2028
$GC,12394,0.63,194.6,673.2,12.0,1193,12397,0.00,1.23,0.00,0.000,4,0.000,0.044,2975,1371,2029
$GC,12436,0.63,194.6,667.7,13.0,1197,12439,0.00,1.23,0.00,0.000,6,0.000,0.045,2974,2278,2029
$GC,12756,0.63,194.6,627.8,10.8,1228,12760,0.00,1.23,0.00,0.000,4,0.000,0.044,2980,1361,2028
$GC,12799,0.63,194.6,623.4,10.6,1232,12803,0.08,1.23,0.00,0.000,6,0.146,0.044,2956,2274,2028
$GC,13120,0.63,194.6,589.9,10.5,1263,13121,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2274,2028
$GC,13430,0.63,194.6,558.2,10.5,1293,13431,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2274,2028
$GC,13741,0.63,194.6,524.5,11.1,1323,13742,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2274,2028
$GC,14051,0.63,194.6,489.9,11.2,1353,14052,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2274,2027
$GC,14362,0.63,194.6,456.2,11.0,1383,14363,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2274,2027
$GC,14672,0.63,194.6,421.6,11.3,1413,14675,0.00,1.20,0.00,0.000,4,0.000,0.043,2959,1371,2027
$GC,14725,0.63,194.6,415.8,11.0,1418,14728,0.00,1.23,0.00,0.000,6,0.000,0.044,2959,2280,2027
$GC,15047,0.63,194.6,379.0,11.5,1449,15048,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2280,2027
$GC,15357,0.63,194.6,344.0,11.4,1479,15357,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2280,2027
$GC,15667,0.63,194.6,307.8,12.0,1509,15668,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2280,2027
$GC,15977,0.63,194.6,271.0,12.0,1539,15980,0.00,1.20,0.00,0.000,4,0.000,0.041,2965,1375,2028
$GC,16031,0.63,194.6,264.7,11.9,1544,16034,0.00,1.20,0.00,0.000,6,0.000,0.041,2965,2278,2028
$GC,16351,0.63,194.6,225.8,12.7,1575,16355,0.00,1.20,0.00,0.000,4,0.000,0.041,2970,1364,2028
$GC,16416,0.63,194.6,217.8,11.1,1581,16418,0.00,1.20,0.00,0.000,6,0.000,0.041,2970,2274,2028
$GC,16736,0.63,194.6,176.5,12.9,1612,16737,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2274,2028
$GC,17047,0.63,194.6,141.5,10.8,1642,17048,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2274,2028
$GC,17357,0.63,194.6,106.8,11.2,1672,17360,0.00,1.17,0.00,0.000,4,0.000,0.038,2974,1371,2029
$GC,17410,0.63,194.6,101.3,11.1,1677,17413,0.00,1.20,0.00,0.000,6,0.000,0.039,2974,2282,2030
$GC,17731,0.63,194.6,69.5,10.2,1708,17732,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2282,2031
$GC,17918,0.63,194.6,52.9,8.7,1726,17921,0.00,1.20,0.00,0.000,4,0.000,0.037,2979,1361,2031
$GC,18046,0.73,281.1,44.1,5.2,1738,18118,0.00,1.20,63.92,0.550,6,0.000,0.038,2979,2282,1692
$GC,18303,0.84,371.2,27.9,5.1,1762,18375,0.12,1.67,67.35,0.528,4,0.066,0.050,3043,3174,1325
$GC,18418,0.84,371.2,17.5,10.4,1772,18422,0.12,1.60,0.00,0.000,6,0.123,0.030,3016,2261,1321
$GC,18615,0.95,454.5,4.9,5.3,1791,18642,0.10,0.00,25.15,0.492,2,0.070,0.000,3069,2260,1188
$STATE,18642,end climb,SURFACE_DEPTH_REACHED
$STATE,18642,begin surface coast
$FINISH,0.6,1.012017
$STATE,18668,end surface coast,CONTROL_FINISHED_OK
$STATE,18668,begin surface
$SM_CCo,18682,81.55,0.491,0,0,494,575.22
$SM_GC,1.57,0.00,0.00,81.55,0.000,0.000,0.491,201,2381,494,-7.96,0.14,575.22
$IRIDIUM_FIX,2828.55,-8834.07,270999,141405
$TT8_MAMPS,0.050622
$HUMID,1365
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.20
$XPDR_PINGS,3
$24V_AH,22.9,36.071
$10V_AH,10.6,50.249
$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,20.500,69.100,475.675,81.550,0.000,113.170,206.818,372.315,0.750,0.000,0.000,16.121,0.000,12807.829,608.227,5295.819,1020.235,33.334,2088.159,0.000,4766.612,0.000,1.154,0.000
$DEVICE_MAMPS,257.712,62.127,1250.977,490.880,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1230.051,1307.549,4036.541,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94554,1796
$CAP_FILE_SIZE,170790,0
$CFSIZE,260165632,236883968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.084,219.4,1
$GPS,030710,193137,2837.358,-8836.395,38,1.1,38,-0.3