version: 66.04
glider: 515
mission: 5
dive: 206
start: 7 4 110 5 55 26
data:
$ID,515
$MISSION,5
$DIVE,206
$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,-17232.158
$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,35
$R_STBD_OVSHOOT,25
$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
$GPS1,054807,2839.853,-8841.814,27,2.0,27,-0.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-57.6
$GPS2,055446,2839.852,-8841.883,14,2.1,33,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.043,0.261
$KALMAN_X,-42850.6,-890.3,-743.6,57886.8,-2659.7
$KALMAN_Y,-167264.5,702.4,1235.4,186577.9,-10010.3
$MHEAD_RNG_PITCHd_Wd,331.8,6921,-15.3,-7.500
$D_GRID,1210
$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,-0.69,-112.9,0.0,0.0,0,97,0.00,0.00,-83.28,0.000,2,0.000,0.000,192,2385,2766
$GC,99,-0.79,-194.6,3.0,-3.5,8,135,10.50,1.45,-21.05,0.000,4,0.262,0.061,2481,3268,3634
$GC,374,-0.79,-194.6,70.2,-19.1,33,384,0.00,1.50,0.00,0.000,6,0.000,0.028,2486,2355,3637
$GC,567,-0.79,-194.6,104.4,-18.0,52,570,0.00,1.52,0.00,0.000,4,0.000,0.044,2480,3254,3638
$GC,614,-0.79,-194.6,113.0,-17.2,56,621,0.00,1.42,0.00,0.000,6,0.000,0.028,2485,2364,3637
$GC,930,-0.79,-194.6,164.4,-14.9,87,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2363,3639
$GC,1241,-0.79,-194.6,211.6,-14.9,117,1241,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2362,3639
$GC,1551,-0.79,-194.6,257.1,-14.8,147,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2362,3638
$GC,1862,-0.79,-194.6,301.7,-14.2,177,1862,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2362,3637
$GC,2172,-0.79,-194.6,346.5,-13.3,207,2175,0.00,1.52,0.00,0.000,4,0.000,0.047,2481,3262,3634
$GC,2304,-0.79,-194.6,364.7,-14.3,219,2312,0.00,1.45,0.00,0.000,6,0.000,0.031,2485,2371,3634
$GC,2622,-0.79,-194.6,409.8,-14.4,250,2625,0.00,1.50,0.00,0.000,4,0.000,0.051,2479,3251,3632
$GC,2658,-0.79,-194.6,415.5,-14.6,253,2667,0.00,1.40,0.00,0.000,6,0.000,0.031,2484,2381,3631
$GC,2976,-0.79,-194.6,460.0,-13.7,284,2977,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2381,3629
$GC,3285,-0.79,-194.6,503.1,-13.6,314,3288,0.00,1.50,0.00,0.000,4,0.000,0.051,2478,3252,3627
$GC,3328,-0.79,-194.6,508.9,-14.2,318,3331,0.00,1.42,0.00,0.000,6,0.000,0.033,2484,2371,3626
$GC,3650,-0.79,-194.6,553.1,-13.5,349,3651,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2370,3624
$GC,3959,-0.79,-194.6,594.6,-13.3,379,3960,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2369,3621
$GC,4270,-0.79,-194.6,637.4,-13.1,409,4270,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2369,3619
$GC,4579,-0.79,-194.6,678.1,-12.9,439,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2369,3617
$GC,4891,-0.79,-194.6,718.2,-12.9,469,4894,0.00,1.52,0.00,0.000,4,0.000,0.055,2478,3247,3615
$GC,4933,-0.79,-194.6,723.8,-13.1,473,4936,0.00,1.42,0.00,0.000,6,0.000,0.035,2482,2381,3615
$GC,5255,-0.79,-194.6,763.9,-12.3,504,5256,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2380,3613
$GC,5564,-0.79,-194.6,803.4,-12.3,534,5565,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2380,3610
$GC,5875,-0.79,-194.6,842.3,-12.5,564,5876,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2380,3608
$GC,6185,-0.79,-194.6,880.6,-12.0,594,6186,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2380,3606
$GC,6496,-0.79,-194.6,918.4,-12.7,624,6497,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2380,3605
$GC,6806,-0.79,-194.6,957.0,-12.4,654,6806,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2380,3603
$STATE,7083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7083,begin apogee
$GC,7088,-0.25,0.0,990.9,12.2,681,7247,0.62,0.00,153.82,1.245,6,0.146,0.000,2666,2289,2839
$STATE,7248,end apogee,CONTROL_FINISHED_OK
$STATE,7248,begin climb
$GC,7249,0.79,194.6,995.9,0.0,697,7425,1.02,1.33,168.35,1.212,4,0.097,0.042,2996,1370,2046
$GC,7473,0.79,194.6,971.4,15.5,716,7480,0.00,1.33,0.00,0.000,6,0.000,0.044,2996,2271,2041
$GC,7790,0.79,194.6,922.2,15.4,747,7791,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2271,2035
$GC,8100,0.79,194.6,873.2,15.8,777,8101,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2271,2033
$GC,8410,0.79,194.6,824.3,15.6,807,8411,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2271,2032
$GC,8721,0.79,194.6,775.4,15.8,837,8724,0.00,1.20,0.00,0.000,4,0.000,0.044,3002,1372,2031
$GC,8767,0.79,194.6,768.2,15.3,841,8776,0.00,1.25,0.00,0.000,6,0.000,0.045,3002,2281,2031
$GC,9085,0.79,194.6,718.1,16.0,872,9085,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2281,2030
$GC,9395,0.79,194.6,670.3,15.1,902,9398,0.00,1.23,0.00,0.000,4,0.000,0.043,3006,1369,2029
$GC,9441,0.79,194.6,662.9,15.9,906,9448,0.00,1.25,0.00,0.000,6,0.000,0.045,3008,2279,2029
$GC,9759,0.79,194.6,613.3,15.8,937,9759,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2279,2028
$GC,10068,0.79,194.6,565.1,15.5,967,10071,0.00,1.23,0.00,0.000,4,0.000,0.043,3012,1369,2028
$GC,10121,0.79,194.6,556.9,15.5,972,10124,0.00,1.23,0.00,0.000,6,0.000,0.044,3012,2277,2028
$GC,10443,0.79,194.6,506.9,15.8,1003,10444,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2277,2027
$GC,10753,0.79,194.6,458.7,15.6,1033,10753,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2277,2027
$GC,11063,0.79,194.6,410.5,15.8,1063,11066,0.00,1.23,0.00,0.000,4,0.000,0.043,3018,1360,2027
$GC,11099,0.79,194.6,405.0,14.8,1066,11106,0.00,1.25,0.00,0.000,6,0.000,0.043,3018,2276,2027
$GC,11416,0.79,194.6,354.4,16.0,1097,11417,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2276,2027
$GC,11726,0.79,194.6,305.1,15.8,1127,11727,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2276,2026
$GC,12036,0.79,194.6,254.7,16.4,1157,12037,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2275,2027
$GC,12346,0.79,194.6,204.4,15.9,1187,12347,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2276,2027
$GC,12657,0.79,194.6,156.1,14.6,1217,12658,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2276,2027
$GC,12967,0.79,194.6,111.2,13.5,1247,12970,0.00,1.20,0.00,0.000,4,0.000,0.039,3023,1368,2027
$GC,13004,0.79,194.6,106.4,12.8,1250,13011,0.00,1.20,0.00,0.000,6,0.000,0.040,3023,2278,2027
$GC,13321,0.79,194.6,65.7,12.3,1281,13324,0.00,1.60,0.00,0.000,4,0.000,0.049,3023,3168,2027
$GC,13374,0.79,194.6,59.1,13.3,1286,13377,0.08,1.55,0.00,0.000,6,0.155,0.032,3006,2273,2027
$GC,13571,0.79,194.6,38.4,8.7,1305,13574,0.00,1.15,0.00,0.000,4,0.000,0.038,3010,1370,2028
$GC,13720,0.84,233.9,28.0,5.7,1319,13756,0.00,1.17,28.70,0.533,6,0.000,0.037,3010,2269,1886
$GC,13941,0.91,296.0,19.0,4.7,1340,13991,0.00,1.62,47.28,0.521,4,0.000,0.044,3010,3175,1632
$GC,14024,0.91,296.9,13.6,7.5,1347,14032,0.00,1.58,0.00,0.000,6,0.000,0.028,3016,2274,1627
$STATE,14194,end climb,SURFACE_DEPTH_REACHED
$STATE,14194,begin surface coast
$FINISH,0.6,1.022732
$STATE,14248,end surface coast,CONTROL_FINISHED_OK
$STATE,14248,begin surface
$SM_CCo,14262,128.48,0.492,0,0,494,575.22
$SM_GC,1.46,0.00,0.00,128.48,0.000,0.000,0.492,196,2391,494,-7.97,0.45,575.22
$IRIDIUM_FIX,2828.55,-8841.44,280999,000053
$TT8_MAMPS,0.051389
$HUMID,1334
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,22.9,36.555
$10V_AH,10.6,50.867
$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,19.900,41.700,398.150,128.475,0.000,25.170,27.324,206.089,0.000,0.000,0.000,36.580,0.000,9652.457,590.099,4028.282,490.329,33.340,1713.133,0.000,3597.150,0.000,0.846,0.000
$DEVICE_MAMPS,261.547,65.195,1244.841,491.647,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,935.816,1000.115,3075.563,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72516,1369
$CAP_FILE_SIZE,122413,0
$CFSIZE,260165632,236695552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.099,260.3,1
$GPS,040710,095607,2841.801,-8843.846,30,1.8,30,-0.2