version: 66.04
glider: 515
mission: 5
dive: 214
start: 7 5 110 22 24 23
data:
$ID,515
$MISSION,5
$DIVE,214
$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,-17375.156
$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,29
$R_STBD_OVSHOOT,35
$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,850
$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
$GPS1,221200,2843.235,-8834.996,37,1.4,37,-0.3
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-66.0
$GPS2,222344,2843.262,-8834.995,11,1.3,11,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.219,0.149
$KALMAN_X,-55722.2,1189.7,594.3,78501.3,-4088.8
$KALMAN_Y,-185268.0,-51.4,139.4,212766.1,-4874.9
$MHEAD_RNG_PITCHd_Wd,275.2,16330,-10.8,-7.500
$D_GRID,1029
$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,-82.88,0.000,2,0.000,0.000,196,2393,2747
$GC,99,-0.63,-194.6,3.0,-3.2,8,137,10.57,1.50,-22.88,0.000,4,0.255,0.063,2532,3261,3635
$GC,376,-0.63,-194.6,58.9,-16.5,33,384,0.00,1.48,0.00,0.000,6,0.000,0.027,2537,2358,3637
$GC,569,-0.63,-194.6,86.4,-14.5,52,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2357,3638
$GC,755,-0.63,-194.6,111.3,-12.7,70,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2358,3639
$GC,1065,-0.63,-194.6,150.7,-12.4,100,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2358,3639
$GC,1376,-0.63,-194.6,187.6,-11.7,130,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2358,3638
$GC,1686,-0.63,-194.6,222.0,-11.0,160,1689,0.00,1.23,0.00,0.000,4,0.000,0.037,2537,1483,3637
$GC,1740,-0.63,-194.6,228.0,-11.7,165,1742,0.00,1.25,0.00,0.000,6,0.000,0.037,2533,2359,3637
$GC,2061,-0.63,-194.6,264.3,-10.9,196,2064,0.00,1.25,0.00,0.000,4,0.000,0.037,2533,1482,3635
$GC,2114,-0.63,-194.6,270.2,-11.3,201,2117,0.00,1.30,0.00,0.000,6,0.000,0.038,2527,2382,3635
$GC,2436,-0.63,-194.6,306.4,-10.9,232,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2383,3633
$GC,2746,-0.63,-194.6,341.4,-11.1,262,2749,0.00,1.30,0.00,0.000,4,0.000,0.038,2527,1481,3630
$GC,2809,-0.63,-194.6,348.8,-11.4,268,2812,0.00,1.27,0.00,0.000,6,0.000,0.040,2520,2364,3630
$GC,3131,-0.63,-194.6,386.0,-11.4,299,3134,0.00,1.52,0.00,0.000,4,0.000,0.051,2514,3263,3628
$GC,3185,-0.63,-194.6,392.2,-11.3,304,3188,0.08,1.45,0.00,0.000,6,0.139,0.032,2537,2360,3627
$GC,3505,-0.63,-194.6,424.5,-10.4,335,3506,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2360,3625
$GC,3816,-0.63,-194.6,456.9,-10.8,365,3817,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2361,3623
$GC,4126,-0.63,-194.6,488.7,-10.0,395,4127,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2361,3620
$GC,4437,-0.63,-194.6,519.6,-9.7,425,4440,0.00,1.25,0.00,0.000,4,0.000,0.042,2537,1493,3618
$GC,4468,-0.63,-194.6,522.8,-9.6,428,4472,0.00,1.30,0.00,0.000,6,0.000,0.044,2533,2373,3618
$GC,4791,-0.63,-194.6,555.2,-9.9,459,4792,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2374,3616
$GC,5100,-0.63,-194.6,585.8,-10.2,489,5103,0.00,1.30,0.00,0.000,4,0.000,0.044,2534,1492,3613
$GC,5136,-0.63,-194.6,589.6,-10.2,492,5143,0.00,1.30,0.00,0.000,6,0.000,0.044,2528,2366,3613
$GC,5454,-0.63,-194.6,622.3,-10.3,523,5455,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2366,3611
$GC,5763,-0.63,-194.6,654.0,-10.3,553,5764,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2366,3609
$GC,6073,-0.63,-194.6,685.5,-10.3,583,6074,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2366,3607
$GC,6383,-0.63,-194.6,716.9,-10.1,613,6384,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2366,3605
$GC,6695,-0.63,-194.6,748.1,-10.3,643,6697,0.00,1.30,0.00,0.000,4,0.000,0.045,2528,1493,3603
$GC,6769,-0.63,-194.6,755.8,-10.0,650,6772,0.00,1.33,0.00,0.000,6,0.000,0.048,2523,2377,3603
$GC,7091,-0.63,-194.6,788.1,-10.3,681,7092,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2377,3602
$GC,7400,-0.63,-194.6,818.0,-9.3,711,7403,0.00,1.30,0.00,0.000,4,0.000,0.045,2523,1505,3600
$GC,7436,-0.63,-194.6,821.8,-10.2,714,7445,0.00,1.30,0.00,0.000,6,0.000,0.048,2517,2364,3600
$GC,7753,-0.63,-194.6,853.2,-9.9,745,7756,0.00,1.27,0.00,0.000,4,0.000,0.044,2517,1505,3598
$GC,7800,-0.63,-194.6,857.9,-9.6,749,7807,0.08,1.35,0.00,0.000,6,0.148,0.048,2536,2396,3598
$GC,8116,-0.63,-194.6,883.4,-8.1,780,8117,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2396,3596
$GC,8427,-0.63,-194.6,908.5,-7.9,810,8431,0.00,1.35,0.00,0.000,4,0.000,0.046,2536,1495,3595
$GC,8470,-0.63,-194.6,912.2,-8.3,814,8473,0.00,1.30,0.00,0.000,6,0.000,0.049,2532,2360,3595
$GC,8791,-0.63,-194.6,940.5,-8.9,845,8792,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2360,3593
$GC,9102,-0.63,-194.6,964.7,-0.8,875,9105,0.00,1.60,0.00,0.000,4,0.000,0.064,2533,3284,3593
$GC,9348,-0.63,-194.6,964.8,-0.2,898,9351,0.00,1.50,0.00,0.000,6,0.000,0.041,2532,2385,3592
$STATE,9460,end dive,NO_VERTICAL_VELOCITY
$STATE,9460,begin apogee
$GC,9465,-0.25,0.0,964.6,0.0,909,9624,0.40,0.00,151.45,1.231,6,0.077,0.000,2673,2290,2839
$STATE,9624,end apogee,CONTROL_FINISHED_OK
$STATE,9624,begin climb
$GC,9626,0.63,194.6,964.7,0.0,925,9801,0.85,1.42,167.95,1.199,4,0.100,0.051,2948,1370,2045
$GC,9896,0.63,194.6,942.1,11.5,948,9900,0.00,1.30,0.00,0.000,6,0.000,0.045,2948,2276,2038
$GC,10219,0.63,194.6,904.3,12.0,979,10220,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2277,2035
$GC,10528,0.63,194.6,868.6,12.0,1009,10531,0.00,1.23,0.00,0.000,4,0.000,0.044,2953,1370,2033
$GC,10570,0.63,194.6,863.6,11.4,1013,10573,0.00,1.25,0.00,0.000,6,0.000,0.045,2953,2279,2033
$GC,10891,0.63,194.6,824.5,11.9,1044,10894,0.00,1.23,0.00,0.000,4,0.000,0.044,2959,1373,2032
$GC,10948,0.63,194.6,817.2,12.7,1049,10956,0.00,1.27,0.00,0.000,6,0.000,0.044,2958,2286,2032
$GC,11266,0.63,194.6,778.2,12.7,1080,11270,0.00,1.25,0.00,0.000,4,0.000,0.044,2964,1371,2031
$GC,11302,0.63,194.6,773.5,11.9,1083,11309,0.00,1.25,0.00,0.000,6,0.000,0.044,2964,2277,2032
$GC,11620,0.63,194.6,734.8,11.6,1114,11621,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2276,2031
$GC,11929,0.63,194.6,696.4,12.4,1144,11932,0.00,1.23,0.00,0.000,4,0.000,0.044,2970,1367,2030
$GC,11961,0.63,194.6,692.5,13.0,1147,11964,0.00,1.23,0.00,0.000,6,0.000,0.046,2970,2274,2030
$GC,12281,0.63,194.6,649.6,13.5,1178,12282,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2274,2029
$GC,12593,0.63,194.6,607.7,13.3,1208,12593,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2274,2029
$GC,12902,0.63,194.6,567.6,12.9,1238,12905,0.00,1.23,0.00,0.000,4,0.000,0.044,2974,1359,2029
$GC,12934,0.63,194.6,563.5,12.6,1241,12937,0.00,1.23,0.00,0.000,6,0.000,0.044,2975,2268,2029
$GC,13255,0.63,194.6,520.4,13.3,1272,13256,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2268,2029
$GC,13566,0.63,194.6,479.4,13.3,1302,13566,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2268,2028
$GC,13876,0.63,194.6,438.4,13.3,1332,13879,0.00,1.20,0.00,0.000,4,0.000,0.042,2980,1359,2028
$GC,13912,0.63,194.6,433.6,13.5,1335,13920,0.08,1.27,0.00,0.000,6,0.153,0.042,2956,2285,2028
$GC,14229,0.63,194.6,397.6,11.2,1366,14231,0.00,1.60,0.00,0.000,4,0.000,0.054,2956,3163,2028
$GC,14254,0.63,194.6,394.7,12.4,1368,14261,0.00,1.60,0.00,0.000,6,0.000,0.036,2962,2268,2027
$GC,14571,0.63,194.6,358.5,11.3,1399,14572,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2268,2027
$GC,14881,0.63,194.6,322.5,11.6,1429,14884,0.00,1.17,0.00,0.000,4,0.000,0.042,2968,1359,2027
$GC,14924,0.63,194.6,317.7,12.2,1433,14927,0.00,1.23,0.00,0.000,6,0.000,0.043,2968,2273,2028
$GC,15244,0.63,194.6,279.1,11.3,1464,15245,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2273,2027
$GC,15555,0.63,194.6,240.0,13.0,1494,15558,0.00,1.20,0.00,0.000,4,0.000,0.041,2973,1365,2027
$GC,15591,0.63,194.6,235.4,12.8,1497,15599,0.00,1.23,0.00,0.000,6,0.000,0.041,2973,2280,2027
$GC,15908,0.63,194.6,195.0,12.0,1528,15911,0.00,1.20,0.00,0.000,4,0.000,0.039,2978,1374,2028
$GC,15961,0.63,194.6,188.4,12.1,1533,15965,0.00,1.20,0.00,0.000,6,0.000,0.040,2978,2277,2028
$GC,16282,0.63,194.6,148.9,12.1,1564,16283,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2277,2028
$GC,16592,0.63,194.6,114.4,10.7,1594,16595,0.00,1.20,0.00,0.000,4,0.000,0.038,2984,1365,2029
$GC,16646,0.63,194.6,108.8,9.7,1599,16649,0.10,1.20,0.00,0.000,6,0.131,0.039,2951,2277,2029
$GC,16967,0.63,194.6,81.1,8.0,1630,16970,0.00,1.60,0.00,0.000,4,0.000,0.048,2952,3164,2030
$GC,17010,0.63,194.6,77.4,8.6,1634,17013,0.00,1.55,0.00,0.000,6,0.000,0.031,2957,2268,2030
$GC,17207,0.63,196.8,61.9,7.4,1653,17207,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2269,2030
$GC,17393,0.67,228.8,48.8,6.7,1671,17424,0.00,0.00,25.17,0.542,6,0.000,0.000,2957,2269,1908
$GC,17610,0.75,297.3,35.1,5.7,1692,17669,0.00,1.17,52.55,0.535,4,0.000,0.035,2961,1363,1626
$GC,17712,0.84,372.6,29.9,5.5,1701,17772,0.12,1.20,57.10,0.523,6,0.047,0.035,3032,2273,1320
$GC,17956,0.84,372.6,10.6,9.7,1724,17959,0.00,1.62,0.00,0.000,4,0.000,0.044,3032,3174,1313
$GC,18009,0.84,372.6,5.3,10.7,1729,18012,0.00,1.55,0.00,0.000,6,0.000,0.028,3039,2274,1312
$STATE,18039,end climb,SURFACE_DEPTH_REACHED
$STATE,18039,begin surface coast
$FINISH,0.7,1.023222
$STATE,18070,end surface coast,CONTROL_FINISHED_OK
$STATE,18070,begin surface
$SM_CCo,18085,96.43,0.494,0,0,494,575.22
$SM_GC,1.60,0.00,0.00,96.43,0.000,0.000,0.494,195,2389,494,-7.97,0.42,575.22
$IRIDIUM_FIX,2833.46,-8834.01,290999,222243
$TT8_MAMPS,0.051389
$HUMID,1346
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,20.7,37.807
$10V_AH,10.6,52.641
$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,19.900,71.850,454.225,96.425,0.000,53.932,60.306,404.156,3.750,0.000,0.000,13.256,0.000,12246.219,609.126,5169.223,830.843,33.339,2064.837,0.000,4617.537,0.000,28.936,0.000
$DEVICE_MAMPS,255.411,63.661,1231.035,493.948,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1187.443,1265.294,3900.053,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91429,1735
$CAP_FILE_SIZE,170056,0
$CFSIZE,260165632,235941888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.078,193.5,1
$GPS,060710,032825,2842.890,-8838.210,39,1.4,39,-0.3