version: 66.04
glider: 515
mission: 5
dive: 209
start: 7 4 110 20 15 34
data:
$ID,515
$MISSION,5
$DIVE,209
$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,-17294.557
$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,23
$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
$GPS1,200524,2842.127,-8842.609,23,1.1,41,-0.2
$_CALLS,1
$_XMS_NAKs,29
$_XMS_TOUTs,1
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-68.0
$GPS2,201455,2842.160,-8842.585,13,2.0,24,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.102,0.244
$KALMAN_X,-57116.8,1468.6,1546.7,66291.7,-14515.4
$KALMAN_Y,-173900.0,323.8,477.3,198633.2,-7634.8
$MHEAD_RNG_PITCHd_Wd,67.0,27066,-10.8,-7.500
$D_GRID,1116
$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,-72.97,0.000,2,0.000,0.000,187,2351,2479
$GC,89,-0.63,-194.6,3.0,-3.1,7,138,10.55,1.60,-34.03,0.000,4,0.255,0.062,2533,3261,3635
$GC,239,-0.63,-194.6,33.7,-30.5,20,246,0.00,1.45,0.00,0.000,6,0.000,0.029,2537,2369,3636
$GC,431,-0.63,-194.6,67.1,-14.5,39,432,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2367,3637
$GC,617,-0.63,-194.6,93.1,-13.4,57,620,0.00,1.50,0.00,0.000,4,0.000,0.044,2532,3262,3638
$GC,648,-0.63,-194.6,97.7,-14.0,60,652,0.00,1.45,0.00,0.000,6,0.000,0.028,2535,2359,3638
$GC,846,-0.63,-194.6,124.2,-12.8,79,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2359,3639
$GC,1156,-0.63,-194.6,160.4,-10.9,109,1156,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2358,3639
$GC,1466,-0.63,-194.6,195.6,-10.8,139,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2358,3639
$GC,1777,-0.63,-194.6,228.2,-10.6,169,1778,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2358,3636
$GC,2087,-0.63,-194.6,262.2,-10.7,199,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2358,3635
$GC,2397,-0.63,-194.6,295.6,-10.6,229,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2358,3633
$GC,2708,-0.63,-194.6,328.2,-10.6,259,2709,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2358,3631
$GC,3018,-0.63,-194.6,360.5,-10.2,289,3019,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2358,3628
$GC,3329,-0.63,-194.6,392.0,-10.2,319,3332,0.00,1.23,0.00,0.000,4,0.000,0.040,2534,1493,3626
$GC,3397,-0.63,-194.6,399.2,-10.1,325,3405,0.00,1.33,0.00,0.000,6,0.000,0.041,2531,2384,3626
$GC,3714,-0.63,-194.6,432.4,-10.2,356,3715,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2384,3623
$GC,4024,-0.63,-194.6,465.6,-10.8,386,4027,0.00,1.30,0.00,0.000,4,0.000,0.041,2531,1494,3621
$GC,4081,-0.63,-194.6,471.8,-10.3,391,4089,0.00,1.30,0.00,0.000,6,0.000,0.042,2525,2366,3620
$GC,4400,-0.63,-194.6,505.1,-10.4,422,4403,0.00,1.27,0.00,0.000,4,0.000,0.041,2525,1493,3619
$GC,4435,-0.63,-194.6,509.3,-10.4,425,4444,0.00,1.33,0.00,0.000,6,0.000,0.042,2519,2382,3618
$GC,4753,-0.63,-194.6,544.3,-11.0,456,4754,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2383,3616
$GC,5063,-0.63,-194.6,578.3,-11.0,486,5064,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2382,3614
$GC,5373,-0.63,-194.6,613.2,-10.7,516,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2383,3613
$GC,5684,-0.63,-194.6,646.1,-10.8,546,5686,0.00,1.30,0.00,0.000,4,0.000,0.043,2519,1498,3610
$GC,5740,-0.63,-194.6,652.3,-10.5,551,5748,0.12,1.33,0.00,0.000,6,0.148,0.045,2544,2374,3609
$GC,6057,-0.63,-194.6,680.2,-8.5,582,6058,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2374,3607
$GC,6368,-0.63,-194.6,707.5,-8.6,612,6371,0.00,1.30,0.00,0.000,4,0.000,0.044,2544,1495,3606
$GC,6410,-0.63,-194.6,711.4,-9.3,616,6413,0.00,1.33,0.00,0.000,6,0.000,0.047,2541,2378,3605
$GC,6732,-0.63,-194.6,740.5,-9.1,647,6733,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2378,3604
$GC,7042,-0.63,-194.6,769.2,-9.3,677,7044,0.00,1.30,0.00,0.000,4,0.000,0.045,2541,1500,3603
$GC,7099,-0.63,-194.6,774.7,-9.3,682,7106,0.00,1.33,0.00,0.000,6,0.000,0.048,2536,2374,3602
$GC,7417,-0.63,-194.6,804.9,-9.6,713,7417,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2373,3601
$GC,7726,-0.63,-194.6,833.7,-8.8,743,7729,0.00,1.30,0.00,0.000,4,0.000,0.046,2536,1498,3599
$GC,7804,-0.63,-194.6,840.8,-8.8,750,7812,0.00,1.35,0.00,0.000,6,0.000,0.048,2530,2381,3599
$GC,8123,-0.63,-194.6,870.4,-9.3,781,8123,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2381,3597
$GC,8432,-0.63,-194.6,899.3,-8.7,811,8433,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2381,3596
$GC,8742,-0.63,-194.6,928.1,-9.2,841,8745,0.00,1.33,0.00,0.000,4,0.000,0.045,2530,1491,3594
$GC,8817,-0.63,-194.6,935.0,-9.2,848,8820,0.00,1.33,0.00,0.000,6,0.000,0.050,2525,2366,3594
$GC,9138,-0.63,-194.6,964.4,-8.9,879,9139,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2367,3593
$STATE,9425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9426,begin apogee
$GC,9430,-0.25,0.0,990.2,9.0,907,9589,0.47,0.00,152.60,1.247,6,0.135,0.000,2666,2297,2839
$STATE,9590,end apogee,CONTROL_FINISHED_OK
$STATE,9590,begin climb
$GC,9591,0.63,194.6,994.1,0.0,923,9771,0.90,0.00,170.73,1.206,6,0.101,0.000,2945,2296,2046
$GC,10079,0.63,194.6,940.8,12.7,971,10082,0.00,1.27,0.00,0.000,4,0.000,0.045,2950,1370,2035
$GC,10126,0.63,194.6,934.7,12.2,975,10133,0.00,1.27,0.00,0.000,6,0.000,0.044,2950,2284,2035
$GC,10443,0.63,194.6,893.2,13.7,1006,10447,0.00,1.23,0.00,0.000,4,0.000,0.044,2955,1378,2033
$GC,10485,0.63,194.6,887.6,12.6,1010,10489,0.00,1.23,0.00,0.000,6,0.000,0.046,2955,2277,2033
$GC,10806,0.63,194.6,845.4,12.6,1041,10807,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2277,2032
$GC,11117,0.63,194.6,805.1,13.2,1071,11117,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2277,2031
$GC,11428,0.63,194.6,765.2,13.2,1101,11429,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2278,2030
$GC,11737,0.63,194.6,725.3,12.8,1131,11738,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2277,2029
$GC,12048,0.63,194.6,684.6,12.9,1161,12051,0.00,1.20,0.00,0.000,4,0.000,0.044,2961,1382,2029
$GC,12095,0.63,194.6,678.8,11.9,1165,12103,0.00,1.23,0.00,0.000,6,0.000,0.044,2961,2277,2029
$GC,12412,0.63,194.6,639.1,12.7,1196,12413,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2277,2028
$GC,12722,0.63,194.6,599.5,12.7,1226,12723,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2277,2028
$GC,13032,0.63,194.6,560.2,12.7,1256,13033,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2277,2028
$GC,13343,0.63,194.6,522.5,11.8,1286,13343,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2277,2028
$GC,13653,0.63,194.6,484.7,12.4,1316,13654,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2277,2028
$GC,13963,0.63,194.6,447.6,11.7,1346,13964,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2277,2027
$GC,14273,0.63,194.6,409.6,12.4,1376,14277,0.00,1.20,0.00,0.000,4,0.000,0.043,2966,1377,2028
$GC,14310,0.63,194.6,405.1,12.1,1379,14317,0.00,1.23,0.00,0.000,6,0.000,0.043,2966,2278,2028
$GC,14627,0.63,194.6,363.7,13.1,1410,14630,0.00,1.20,0.00,0.000,4,0.000,0.041,2971,1377,2028
$GC,14670,0.63,194.6,358.3,12.3,1414,14673,0.00,1.20,0.00,0.000,6,0.000,0.043,2971,2277,2028
$GC,14991,0.63,194.6,316.2,13.1,1445,14994,0.00,1.60,0.00,0.000,4,0.000,0.052,2971,3170,2028
$GC,15023,0.63,194.6,311.9,13.7,1448,15026,0.00,1.58,0.00,0.000,6,0.000,0.036,2978,2274,2027
$GC,15345,0.63,194.6,268.0,14.1,1479,15348,0.00,1.17,0.00,0.000,4,0.000,0.041,2984,1365,2027
$GC,15370,0.63,194.6,264.2,15.4,1481,15379,0.12,1.25,0.00,0.000,6,0.150,0.041,2947,2283,2027
$GC,15686,0.63,194.6,229.4,10.7,1512,15687,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2283,2027
$GC,15997,0.63,194.6,197.0,10.2,1542,15998,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2283,2028
$GC,16307,0.63,194.6,166.0,9.4,1572,16308,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2284,2028
$GC,16617,0.63,194.6,136.0,10.7,1602,16618,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2283,2029
$GC,16928,0.63,194.6,107.0,8.3,1632,16929,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2283,2030
$GC,17238,0.63,194.6,80.2,8.7,1662,17241,0.00,1.20,0.00,0.000,4,0.000,0.037,2952,1370,2031
$GC,17328,0.63,194.6,72.5,8.0,1670,17335,0.00,1.23,0.00,0.000,6,0.000,0.037,2952,2281,2031
$GC,17520,0.63,196.2,57.2,7.5,1689,17523,0.00,1.60,0.00,0.000,4,0.000,0.046,2952,3176,2032
$GC,17578,0.66,218.3,53.0,6.9,1694,17600,0.00,1.55,17.77,0.534,6,0.000,0.030,2959,2272,1948
$GC,17795,0.71,265.4,40.1,6.3,1715,17834,0.00,1.62,36.28,0.538,4,0.000,0.044,2959,3176,1758
$GC,17890,0.79,324.1,34.3,6.0,1723,17940,0.10,1.58,45.10,0.528,6,0.074,0.030,3015,2270,1518
$GC,18133,0.87,391.2,17.6,5.7,1746,18191,0.00,1.20,50.12,0.512,4,0.000,0.035,3019,1369,1244
$GC,18298,0.92,435.3,7.6,6.3,1761,18335,0.00,1.20,33.45,0.493,6,0.000,0.034,3018,2277,1065
$STATE,18372,end climb,SURFACE_DEPTH_REACHED
$STATE,18372,begin surface coast
$FINISH,0.8,1.004649
$STATE,18414,end surface coast,CONTROL_FINISHED_OK
$STATE,18414,begin surface
$SM_CCo,18428,67.40,0.488,0,0,493,575.22
$SM_GC,1.55,0.00,0.00,67.40,0.000,0.000,0.488,203,2379,493,-7.95,0.11,575.22
$IRIDIUM_FIX,2831.00,-8843.84,280999,151507
$TT8_MAMPS,0.051389
$HUMID,1333
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,23.90
$XPDR_PINGS,3
$24V_AH,22.9,36.988
$10V_AH,10.6,51.526
$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,19.975,56.350,506.050,67.400,0.000,30.331,35.980,375.401,0.750,0.000,0.000,26.127,0.000,12517.396,638.005,5154.560,727.593,33.338,2071.762,0.000,4621.787,0.000,0.849,0.000
$DEVICE_MAMPS,254.644,62.894,1247.142,487.812,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1211.690,1296.704,3982.691,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91539,1772
$CAP_FILE_SIZE,158832,0
$CFSIZE,260165632,236396544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.079,187.2,1
$GPS,050710,012454,2842.437,-8839.839,42,1.0,42,-0.3