version: 66.04
glider: 515
mission: 5
dive: 205
start: 7 4 110 0 45 59
data:
$ID,515
$MISSION,5
$DIVE,205
$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,-17194.951
$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,25
$R_STBD_OVSHOOT,29
$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
$GPS1,003807,2837.252,-8840.052,38,1.3,38,-0.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-58.1
$GPS2,004520,2837.264,-8840.075,18,1.3,18,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.135,0.227
$KALMAN_X,-36911.1,-359.1,-182.5,53755.7,104.7
$KALMAN_Y,-165636.8,374.5,365.8,181356.7,-10389.0
$MHEAD_RNG_PITCHd_Wd,343.0,12428,-10.8,-7.500
$D_GRID,1303
$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,-194.6,0.0,0.0,0,87,0.00,0.00,-73.45,0.000,2,0.000,0.000,192,2390,2488
$GC,89,-0.63,-194.6,3.0,-3.4,7,137,10.45,1.45,-32.00,0.000,4,0.252,0.064,2531,3258,3634
$GC,223,-0.63,-194.6,29.7,-27.1,19,226,0.00,1.48,0.00,0.000,6,0.000,0.028,2536,2355,3635
$GC,419,-0.63,-194.6,65.6,-14.8,38,422,0.00,1.52,0.00,0.000,4,0.000,0.045,2531,3254,3636
$GC,472,-0.63,-194.6,72.6,-13.6,43,475,0.00,1.42,0.00,0.000,6,0.000,0.028,2537,2361,3636
$GC,669,-0.63,-194.6,97.5,-12.4,62,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2361,3637
$GC,855,-0.63,-194.6,120.4,-12.0,80,858,0.00,1.50,0.00,0.000,4,0.000,0.044,2531,3254,3638
$GC,919,-0.63,-194.6,128.7,-12.8,86,922,0.00,1.40,0.00,0.000,6,0.000,0.028,2534,2368,3639
$GC,1242,-0.63,-194.6,168.6,-11.2,117,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2367,3638
$GC,1550,-0.63,-194.6,203.3,-11.2,147,1553,0.00,1.23,0.00,0.000,4,0.000,0.038,2534,1502,3638
$GC,1604,-0.63,-194.6,209.4,-11.1,152,1607,0.00,1.25,0.00,0.000,6,0.000,0.038,2530,2366,3638
$GC,1925,-0.63,-194.6,246.2,-11.7,183,1928,0.00,1.25,0.00,0.000,4,0.000,0.038,2530,1498,3636
$GC,1971,-0.63,-194.6,251.8,-11.2,187,1979,0.00,1.30,0.00,0.000,6,0.000,0.038,2524,2381,3636
$GC,2290,-0.63,-194.6,288.8,-11.8,218,2290,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2381,3635
$GC,2598,-0.63,-194.6,325.0,-11.4,248,2601,0.00,1.48,0.00,0.000,4,0.000,0.049,2517,3259,3633
$GC,2645,-0.63,-194.6,330.7,-11.3,252,2654,0.00,1.40,0.00,0.000,6,0.000,0.030,2517,2387,3632
$GC,2963,-0.63,-194.6,368.4,-12.0,283,2966,0.00,1.27,0.00,0.000,4,0.000,0.040,2517,1493,3630
$GC,3010,-0.63,-194.6,374.1,-11.5,287,3017,0.08,1.27,0.00,0.000,6,0.143,0.041,2536,2365,3630
$GC,3326,-0.63,-194.6,404.7,-10.0,318,3327,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2365,3628
$GC,3637,-0.63,-194.6,435.9,-9.9,348,3640,0.00,1.52,0.00,0.000,4,0.000,0.052,2531,3259,3625
$GC,3679,-0.63,-194.6,440.4,-10.5,352,3682,0.00,1.45,0.00,0.000,6,0.000,0.033,2531,2364,3625
$GC,4001,-0.63,-194.6,473.8,-10.3,383,4004,0.00,1.55,0.00,0.000,4,0.000,0.053,2524,3261,3623
$GC,4043,-0.63,-194.6,478.4,-10.8,387,4046,0.00,1.45,0.00,0.000,6,0.000,0.034,2524,2368,3623
$GC,4366,-0.63,-194.6,512.5,-10.7,418,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2368,3620
$GC,4675,-0.63,-194.6,546.4,-11.2,448,4675,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2366,3618
$GC,4985,-0.63,-194.6,579.0,-9.9,478,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2366,3617
$GC,5295,-0.63,-194.6,610.6,-10.2,508,5296,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2366,3615
$GC,5605,-0.63,-194.6,644.3,-11.1,538,5609,0.00,1.55,0.00,0.000,4,0.000,0.056,2517,3260,3613
$GC,5659,-0.63,-194.6,650.3,-11.1,543,5662,0.00,1.45,0.00,0.000,6,0.000,0.035,2517,2372,3613
$GC,5981,-0.63,-194.6,685.9,-10.9,574,5982,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2370,3610
$GC,6290,-0.63,-194.6,718.7,-10.7,604,6291,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2370,3608
$GC,6601,-0.63,-194.6,751.9,-10.9,634,6604,0.00,1.52,0.00,0.000,4,0.000,0.057,2511,3249,3607
$GC,6653,-0.63,-194.6,757.7,-11.0,639,6657,0.08,1.45,0.00,0.000,6,0.145,0.037,2535,2366,3606
$GC,6974,-0.63,-194.6,787.5,-9.2,670,6977,0.00,1.27,0.00,0.000,4,0.000,0.047,2535,1497,3604
$GC,7021,-0.63,-194.6,791.9,-9.2,674,7028,0.00,1.35,0.00,0.000,6,0.000,0.046,2531,2385,3604
$GC,7339,-0.63,-194.6,820.9,-9.5,705,7342,0.00,1.33,0.00,0.000,4,0.000,0.046,2531,1495,3603
$GC,7375,-0.63,-194.6,824.4,-9.1,708,7384,0.00,1.30,0.00,0.000,6,0.000,0.047,2527,2364,3603
$GC,7692,-0.63,-194.6,854.0,-9.2,739,7693,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2364,3602
$GC,8002,-0.63,-194.6,882.9,-9.6,769,8003,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2364,3600
$GC,8312,-0.63,-194.6,911.8,-9.1,799,8313,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2364,3599
$GC,8623,-0.63,-194.6,939.6,-8.7,829,8624,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2364,3598
$GC,8933,-0.63,-194.6,967.1,-9.0,859,8933,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2364,3596
$STATE,9180,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9180,begin apogee
$GC,9184,-0.25,0.0,990.2,9.3,883,9343,0.45,0.00,153.43,1.246,6,0.134,0.000,2661,2293,2840
$STATE,9343,end apogee,CONTROL_FINISHED_OK
$STATE,9344,begin climb
$GC,9345,0.63,194.6,994.9,0.0,899,9525,0.93,0.00,169.77,1.216,6,0.100,0.000,2947,2293,2044
$GC,9832,0.63,194.6,942.5,11.6,947,9835,0.00,1.27,0.00,0.000,4,0.000,0.052,2952,1380,2035
$GC,9911,0.63,194.6,932.8,12.2,954,9918,0.00,1.25,0.00,0.000,6,0.000,0.044,2951,2276,2035
$GC,10229,0.63,194.6,893.2,11.8,985,10232,0.00,1.20,0.00,0.000,4,0.000,0.044,2957,1382,2033
$GC,10271,0.63,194.6,887.4,11.8,989,10274,0.00,1.23,0.00,0.000,6,0.000,0.044,2957,2277,2033
$GC,10593,0.63,194.6,846.2,13.0,1020,10597,0.00,1.20,0.00,0.000,4,0.000,0.044,2962,1380,2032
$GC,10625,0.63,194.6,842.1,12.2,1023,10628,0.00,1.23,0.00,0.000,6,0.000,0.045,2963,2277,2032
$GC,10947,0.63,194.6,801.4,13.2,1054,10950,0.00,1.23,0.00,0.000,4,0.000,0.044,2968,1367,2030
$GC,10990,0.63,194.6,795.9,12.6,1058,10993,0.00,1.23,0.00,0.000,6,0.000,0.045,2968,2274,2031
$GC,11311,0.63,194.6,753.9,13.2,1089,11314,0.00,1.20,0.00,0.000,4,0.000,0.044,2973,1374,2030
$GC,11364,0.63,194.6,747.0,11.9,1094,11367,0.00,1.23,0.00,0.000,6,0.000,0.045,2973,2278,2030
$GC,11687,0.63,194.6,703.4,14.2,1125,11690,0.00,1.20,0.00,0.000,4,0.000,0.044,2978,1380,2029
$GC,11722,0.63,194.6,698.0,14.7,1128,11731,0.00,1.25,0.00,0.000,6,0.000,0.044,2978,2285,2029
$GC,12040,0.63,194.6,654.3,14.4,1159,12043,0.00,1.23,0.00,0.000,4,0.000,0.044,2984,1374,2029
$GC,12076,0.63,194.6,648.9,13.8,1162,12084,0.10,1.25,0.00,0.000,6,0.159,0.044,2955,2283,2029
$GC,12393,0.63,194.6,609.5,12.4,1193,12396,0.00,1.23,0.00,0.000,4,0.000,0.044,2959,1372,2028
$GC,12435,0.63,194.6,604.3,12.3,1197,12438,0.00,1.23,0.00,0.000,6,0.000,0.045,2959,2274,2028
$GC,12756,0.63,194.6,565.6,11.4,1228,12757,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2274,2028
$GC,13067,0.63,194.6,528.3,11.7,1258,13070,0.00,1.20,0.00,0.000,4,0.000,0.043,2964,1372,2028
$GC,13130,0.63,194.6,520.7,11.8,1264,13134,0.00,1.23,0.00,0.000,6,0.000,0.044,2964,2281,2028
$GC,13451,0.63,194.6,483.0,11.3,1295,13454,0.00,1.23,0.00,0.000,4,0.000,0.043,2969,1362,2028
$GC,13498,0.63,194.6,477.4,12.3,1299,13505,0.00,1.25,0.00,0.000,6,0.000,0.043,2969,2280,2028
$GC,13816,0.63,194.6,438.8,12.8,1330,13817,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2281,2028
$GC,14125,0.63,194.6,399.8,12.5,1360,14128,0.00,1.23,0.00,0.000,4,0.000,0.043,2974,1364,2028
$GC,14157,0.63,194.6,395.6,12.5,1363,14160,0.00,1.23,0.00,0.000,6,0.000,0.043,2974,2277,2028
$GC,14479,0.63,194.6,352.8,13.5,1394,14482,0.00,1.20,0.00,0.000,4,0.000,0.041,2980,1371,2028
$GC,14525,0.63,194.6,346.4,13.3,1398,14533,0.12,1.23,0.00,0.000,6,0.147,0.042,2948,2277,2028
$GC,14842,0.63,194.6,310.9,11.2,1429,14843,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2277,2028
$GC,15152,0.63,194.6,275.7,11.1,1459,15153,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2277,2028
$GC,15463,0.63,194.6,240.3,11.2,1489,15466,0.00,1.20,0.00,0.000,4,0.000,0.041,2952,1369,2028
$GC,15526,0.63,194.6,232.9,11.4,1495,15530,0.00,1.20,0.00,0.000,6,0.000,0.041,2952,2272,2028
$GC,15847,0.63,194.6,195.7,11.2,1526,15848,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2273,2028
$GC,16158,0.63,194.6,162.6,10.9,1556,16158,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2273,2028
$GC,16469,0.63,194.6,131.4,9.5,1586,16471,0.00,1.17,0.00,0.000,4,0.000,0.038,2957,1375,2029
$GC,16543,0.63,194.6,124.5,8.9,1593,16546,0.00,1.20,0.00,0.000,6,0.000,0.038,2957,2281,2029
$GC,16864,0.63,194.6,92.0,10.0,1624,16865,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2282,2030
$GC,17050,0.63,194.6,75.0,8.1,1642,17053,0.00,1.60,0.00,0.000,4,0.000,0.048,2957,3173,2031
$GC,17071,0.63,194.6,73.3,8.4,1644,17074,0.00,1.55,0.00,0.000,6,0.000,0.031,2965,2274,2031
$GC,17268,0.63,194.6,56.2,8.5,1663,17269,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2274,2031
$GC,17454,0.66,221.7,42.6,6.8,1681,17478,0.00,1.17,19.92,0.528,4,0.000,0.037,2970,1373,1936
$GC,17509,0.79,326.2,39.5,4.8,1686,17593,0.00,1.20,79.20,0.544,6,0.000,0.035,2970,2278,1509
$GC,17775,0.95,458.3,26.0,4.0,1711,17883,0.20,1.23,97.57,0.518,4,0.058,0.035,3080,1383,970
$GC,17919,0.95,458.3,10.2,12.4,1724,17928,0.00,1.23,0.00,0.000,6,0.000,0.033,3080,2282,968
$STATE,17986,end climb,SURFACE_DEPTH_REACHED
$STATE,17986,begin surface coast
$FINISH,0.7,1.022969
$STATE,18006,end surface coast,CONTROL_FINISHED_OK
$STATE,18006,begin surface
$SM_CCo,18021,57.28,0.491,0,0,494,575.22
$SM_GC,1.61,0.00,0.00,57.28,0.000,0.000,0.491,195,2379,494,-7.97,0.11,575.22
$IRIDIUM_FIX,2826.10,-8834.14,270999,191919
$TT8_MAMPS,0.050622
$HUMID,1361
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,23.10
$XPDR_PINGS,9
$24V_AH,22.9,36.400
$10V_AH,10.6,50.690
$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,20.250,78.975,519.900,57.275,0.000,27.243,29.295,251.118,2.250,0.000,0.000,20.455,0.000,12105.053,653.267,5107.740,616.094,33.338,2104.931,0.000,4570.594,0.000,0.848,0.000
$DEVICE_MAMPS,252.343,64.428,1245.608,490.880,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1185.163,1266.913,3894.960,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91397,1733
$CAP_FILE_SIZE,162625,0
$CFSIZE,260165632,236716032
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.092,266.1,1
$GPS,040710,054807,2839.853,-8841.814,27,2.0,27,-0.2