version: 66.04
glider: 515
mission: 5
dive: 208
start: 7 4 110 14 56 35
data:
$ID,515
$MISSION,5
$DIVE,208
$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,-17267.801
$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,36
$R_STBD_OVSHOOT,27
$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
$GPS1,144607,2842.998,-8845.245,37,1.5,37,-0.2
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-63.6
$GPS2,145556,2843.051,-8845.279,13,1.4,13,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617A
$TGT_LATLONG,2840.600,-8826.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.259,0.056
$KALMAN_X,-52691.4,902.4,-517.9,60128.0,-9003.3
$KALMAN_Y,-173215.0,1065.7,1173.1,198178.1,-13265.8
$MHEAD_RNG_PITCHd_Wd,94.4,31653,-10.8,-7.500
$D_GRID,1078
$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,-82.97,0.000,2,0.000,0.000,197,2379,2772
$GC,99,-0.63,-194.6,3.2,-3.7,8,134,10.60,1.27,-21.75,0.000,4,0.256,0.057,2541,1473,3635
$GC,184,-0.63,-194.6,19.8,-26.3,16,187,0.00,1.30,0.00,0.000,6,0.000,0.038,2537,2364,3636
$GC,381,-0.63,-194.6,58.6,-14.9,35,384,0.00,1.50,0.00,0.000,4,0.000,0.045,2530,3258,3637
$GC,412,-0.63,-194.6,63.6,-15.7,38,416,0.00,1.45,0.00,0.000,6,0.000,0.028,2535,2356,3637
$GC,610,-0.63,-194.6,93.4,-14.7,57,612,0.00,1.52,0.00,0.000,4,0.000,0.044,2530,3257,3639
$GC,641,-0.63,-194.6,98.0,-14.9,60,644,0.00,1.42,0.00,0.000,6,0.000,0.027,2534,2363,3638
$GC,838,-0.63,-194.6,124.0,-12.6,79,841,0.00,1.23,0.00,0.000,4,0.000,0.037,2536,1491,3638
$GC,863,-0.63,-194.6,127.5,-12.1,81,872,0.00,1.33,0.00,0.000,6,0.000,0.036,2533,2394,3639
$GC,1181,-0.63,-194.6,164.2,-11.2,112,1182,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2394,3638
$GC,1490,-0.63,-194.6,198.3,-10.7,142,1493,0.00,1.30,0.00,0.000,4,0.000,0.038,2532,1486,3638
$GC,1543,-0.63,-194.6,204.5,-11.4,147,1547,0.00,1.25,0.00,0.000,6,0.000,0.037,2527,2358,3637
$GC,1866,-0.63,-194.6,241.5,-11.7,178,1869,0.00,1.23,0.00,0.000,4,0.000,0.037,2526,1499,3635
$GC,1912,-0.63,-194.6,247.5,-11.8,182,1920,0.00,1.30,0.00,0.000,6,0.000,0.038,2520,2384,3635
$GC,2230,-0.63,-194.6,284.6,-11.8,213,2233,0.00,1.27,0.00,0.000,4,0.000,0.038,2520,1499,3633
$GC,2298,-0.63,-194.6,292.9,-11.3,219,2305,0.00,1.27,0.00,0.000,6,0.000,0.038,2515,2366,3632
$GC,2615,-0.63,-194.6,329.9,-11.7,250,2616,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2366,3630
$GC,2925,-0.63,-194.6,367.1,-11.9,280,2928,0.00,1.25,0.00,0.000,4,0.000,0.039,2515,1497,3628
$GC,2989,-0.63,-194.6,374.3,-11.2,286,2993,0.10,1.30,0.00,0.000,6,0.137,0.041,2541,2385,3627
$GC,3310,-0.63,-194.6,405.2,-9.7,317,3310,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2385,3625
$GC,3620,-0.63,-194.6,434.8,-9.5,347,3623,0.00,1.30,0.00,0.000,4,0.000,0.040,2541,1491,3622
$GC,3674,-0.63,-194.6,439.9,-9.4,352,3677,0.00,1.27,0.00,0.000,6,0.000,0.043,2537,2365,3622
$GC,3995,-0.63,-194.6,471.6,-9.8,383,3996,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2365,3619
$GC,4305,-0.63,-194.6,504.0,-10.7,413,4308,0.00,1.27,0.00,0.000,4,0.000,0.041,2537,1490,3617
$GC,4330,-0.63,-194.6,506.7,-10.2,415,4338,0.00,1.33,0.00,0.000,6,0.000,0.043,2531,2380,3617
$GC,4647,-0.63,-194.6,540.1,-11.1,446,4648,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2380,3614
$GC,4957,-0.63,-194.6,572.2,-10.0,476,4960,0.00,1.30,0.00,0.000,4,0.000,0.043,2531,1491,3613
$GC,5046,-0.63,-194.6,581.7,-10.4,484,5054,0.00,1.33,0.00,0.000,6,0.000,0.044,2525,2370,3612
$GC,5364,-0.63,-194.6,613.8,-10.6,515,5367,0.00,1.27,0.00,0.000,4,0.000,0.043,2525,1506,3609
$GC,5400,-0.63,-194.6,617.5,-10.3,518,5407,0.00,1.33,0.00,0.000,6,0.000,0.044,2519,2384,3609
$GC,5717,-0.63,-194.6,651.3,-10.9,549,5718,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2384,3608
$GC,6027,-0.63,-194.6,685.6,-10.7,579,6030,0.00,1.30,0.00,0.000,4,0.000,0.044,2519,1504,3605
$GC,6059,-0.63,-194.6,689.1,-11.0,582,6062,0.08,1.27,0.00,0.000,6,0.146,0.046,2537,2362,3605
$GC,6380,-0.63,-194.6,719.6,-9.1,613,6380,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2362,3603
$GC,6690,-0.63,-194.6,747.7,-9.2,643,6693,0.00,1.27,0.00,0.000,4,0.000,0.044,2537,1493,3602
$GC,6722,-0.63,-194.6,750.6,-8.6,646,6725,0.00,1.35,0.00,0.000,6,0.000,0.048,2534,2393,3602
$GC,7044,-0.63,-194.6,780.3,-9.0,677,7047,0.00,1.33,0.00,0.000,4,0.000,0.045,2534,1499,3600
$GC,7080,-0.63,-194.6,784.0,-8.8,680,7087,0.00,1.33,0.00,0.000,6,0.000,0.046,2529,2370,3599
$GC,7398,-0.63,-194.6,814.2,-9.4,711,7401,0.00,1.30,0.00,0.000,4,0.000,0.045,2529,1492,3598
$GC,7440,-0.63,-194.6,818.4,-9.7,715,7443,0.00,1.33,0.00,0.000,6,0.000,0.048,2523,2375,3597
$GC,7762,-0.63,-194.6,849.5,-9.2,746,7763,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2375,3596
$GC,8072,-0.63,-194.6,879.3,-9.6,776,8075,0.00,1.30,0.00,0.000,4,0.000,0.046,2523,1500,3594
$GC,8161,-0.63,-194.6,887.9,-9.7,784,8168,0.00,1.35,0.00,0.000,6,0.000,0.048,2517,2384,3594
$GC,8479,-0.63,-194.6,917.2,-9.0,815,8480,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2385,3593
$GC,8788,-0.63,-194.6,946.9,-9.9,845,8791,0.00,1.33,0.00,0.000,4,0.000,0.046,2517,1493,3592
$GC,8831,-0.63,-194.6,950.8,-9.2,849,8834,0.08,1.30,0.00,0.000,6,0.150,0.048,2536,2363,3592
$GC,9151,-0.63,-194.6,977.4,-8.2,880,9152,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2363,3590
$STATE,9305,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9305,begin apogee
$GC,9310,-0.25,0.0,990.4,8.2,895,9469,0.43,0.00,151.93,1.246,6,0.133,0.000,2665,2301,2839
$STATE,9469,end apogee,CONTROL_FINISHED_OK
$STATE,9469,begin climb
$GC,9471,0.63,194.6,994.7,0.0,911,9643,0.88,0.00,169.00,1.216,6,0.100,0.000,2941,2301,2046
$GC,9950,0.63,194.6,945.5,11.9,957,9951,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2301,2035
$GC,10260,0.63,194.6,909.4,11.8,987,10261,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2301,2033
$GC,10571,0.63,194.6,872.9,12.1,1017,10572,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2301,2032
$GC,10881,0.63,194.6,836.5,11.7,1047,10884,0.00,1.27,0.00,0.000,4,0.000,0.044,2947,1367,2030
$GC,10945,0.63,194.6,829.2,11.3,1053,10948,0.00,1.25,0.00,0.000,6,0.000,0.045,2947,2280,2030
$GC,11266,0.63,194.6,791.6,12.0,1084,11267,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2280,2030
$GC,11577,0.63,194.6,754.8,11.7,1114,11577,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2280,2029
$GC,11886,0.63,194.6,719.1,11.3,1144,11890,0.00,1.65,0.00,0.000,4,0.000,0.055,2947,3174,2029
$GC,11929,0.63,194.6,713.9,12.0,1148,11932,0.00,1.58,0.00,0.000,6,0.000,0.038,2954,2281,2027
$GC,12250,0.63,194.6,675.8,11.9,1179,12253,0.00,1.20,0.00,0.000,4,0.000,0.044,2960,1373,2028
$GC,12275,0.63,194.6,672.6,12.3,1181,12284,0.00,1.25,0.00,0.000,6,0.000,0.044,2960,2281,2027
$GC,12593,0.63,194.6,633.1,12.4,1212,12594,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2281,2027
$GC,12902,0.63,194.6,594.6,12.4,1242,12903,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2281,2027
$GC,13213,0.63,194.6,556.5,12.1,1272,13214,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2281,2027
$GC,13523,0.63,194.6,518.3,12.2,1302,13524,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2281,2027
$GC,13834,0.63,194.6,480.6,11.8,1332,13834,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2281,2027
$GC,14144,0.63,194.6,443.5,11.9,1362,14144,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2281,2027
$GC,14455,0.63,194.6,406.7,11.9,1392,14455,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2280,2027
$GC,14764,0.63,194.6,369.4,11.4,1422,14767,0.00,1.23,0.00,0.000,4,0.000,0.042,2965,1366,2027
$GC,14811,0.63,194.6,363.9,11.3,1426,14819,0.00,1.23,0.00,0.000,6,0.000,0.043,2965,2278,2027
$GC,15129,0.63,194.6,325.8,12.3,1457,15130,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2278,2027
$GC,15438,0.63,194.6,287.0,12.3,1487,15439,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2278,2027
$GC,15748,0.63,194.6,248.7,12.3,1517,15749,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2278,2027
$GC,16060,0.63,194.6,211.5,11.9,1547,16062,0.00,1.20,0.00,0.000,4,0.000,0.041,2971,1372,2027
$GC,16091,0.63,194.6,207.7,12.2,1550,16094,0.00,1.20,0.00,0.000,6,0.000,0.041,2970,2274,2028
$GC,16412,0.63,194.6,168.0,12.5,1581,16415,0.00,1.62,0.00,0.000,4,0.000,0.051,2970,3165,2028
$GC,16448,0.63,194.6,163.5,12.3,1584,16456,0.00,1.55,0.00,0.000,6,0.000,0.033,2976,2274,2028
$GC,16766,0.63,194.6,125.8,11.3,1615,16768,0.00,1.17,0.00,0.000,4,0.000,0.039,2982,1357,2028
$GC,16808,0.63,194.6,121.0,11.8,1619,16811,0.10,1.23,0.00,0.000,6,0.132,0.039,2950,2280,2028
$GC,17128,0.63,194.6,89.6,8.0,1650,17129,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2281,2029
$GC,17315,0.63,194.6,73.4,8.3,1668,17319,0.00,1.60,0.00,0.000,4,0.000,0.048,2950,3174,2030
$GC,17341,0.63,194.6,71.3,7.9,1670,17348,0.00,1.55,0.00,0.000,6,0.000,0.031,2956,2275,2030
$GC,17533,0.63,195.8,56.6,7.5,1689,17534,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2275,2031
$GC,17719,0.68,237.2,44.3,6.4,1707,17756,0.00,1.67,31.60,0.540,4,0.000,0.046,2955,3183,1872
$GC,17777,0.71,263.8,40.7,6.8,1712,17802,0.00,1.58,21.42,0.522,6,0.000,0.030,2963,2273,1763
$GC,17985,0.89,405.4,29.8,3.8,1732,18100,0.20,1.67,105.53,0.527,4,0.051,0.043,3058,3166,1185
$GC,18115,0.89,405.4,20.5,9.9,1743,18122,0.08,1.58,0.00,0.000,6,0.119,0.028,3037,2278,1183
$GC,18307,0.89,405.4,5.5,7.6,1762,18310,0.00,1.62,0.00,0.000,4,0.000,0.043,3038,3167,1178
$STATE,18337,end climb,SURFACE_DEPTH_REACHED
$STATE,18337,begin surface coast
$FINISH,0.6,1.022895
$STATE,18369,end surface coast,CONTROL_FINISHED_OK
$STATE,18369,begin surface
$SM_CCo,18385,81.30,0.489,0,0,494,575.22
$SM_GC,1.53,0.00,0.00,81.30,0.000,0.000,0.489,190,2351,494,-7.99,-0.68,575.22
$IRIDIUM_FIX,2833.46,-8905.94,280999,141448
$TT8_MAMPS,0.051389
$HUMID,1352
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.50
$XPDR_PINGS,1
$24V_AH,22.9,36.815
$10V_AH,10.6,51.299
$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,20.050,78.750,479.475,81.300,0.000,59.684,70.238,280.668,0.250,0.000,0.000,15.011,0.000,12501.440,640.618,5171.815,714.414,33.334,2093.958,0.000,4634.488,0.000,1.155,0.000
$DEVICE_MAMPS,256.178,69.030,1246.375,489.346,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1209.668,1289.387,3973.675,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91503,1768
$CAP_FILE_SIZE,166072,0
$CFSIZE,260165632,236474368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.089,200.7,1
$GPS,040710,200524,2842.127,-8842.609,23,1.1,41,-0.2