version: 66.04
glider: 515
mission: 5
dive: 215
start: 7 6 110 3 36 11
data:
$ID,515
$MISSION,5
$DIVE,215
$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,-17392.867
$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,32
$R_STBD_OVSHOOT,36
$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
$GPS1,032825,2842.890,-8838.210,39,1.4,39,-0.3
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-60.5
$GPS2,033532,2842.892,-8838.253,15,1.6,15,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.145,0.221
$KALMAN_X,-54374.3,1174.8,130.3,72314.5,-2723.9
$KALMAN_Y,-189723.3,-116.6,105.5,216668.1,-6342.0
$MHEAD_RNG_PITCHd_Wd,281.9,10997,-10.8,-7.500
$D_GRID,984
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-0.63,-194.6,0.0,0.0,0,107,0.00,0.00,-91.78,0.000,2,0.000,0.000,194,2391,3003
$GC,109,-0.63,-194.6,3.3,-3.7,9,136,10.68,1.45,-13.30,0.000,4,0.259,0.064,2531,3260,3634
$GC,376,-0.63,-194.6,61.5,-15.2,33,384,0.00,1.48,0.00,0.000,6,0.000,0.028,2536,2356,3635
$GC,569,-0.63,-194.6,88.8,-13.2,52,572,0.00,1.50,0.00,0.000,4,0.000,0.045,2531,3246,3637
$GC,687,-0.63,-194.6,105.1,-12.2,63,689,0.00,1.40,0.00,0.000,6,0.000,0.028,2535,2363,3637
$GC,1008,-0.63,-194.6,147.3,-13.2,94,1011,0.00,1.23,0.00,0.000,4,0.000,0.036,2537,1493,3638
$GC,1077,-0.63,-194.6,156.1,-12.6,100,1084,0.00,1.25,0.00,0.000,6,0.000,0.037,2533,2359,3638
$GC,1394,-0.63,-194.6,195.2,-12.3,131,1397,0.00,1.25,0.00,0.000,4,0.000,0.037,2532,1482,3638
$GC,1440,-0.63,-194.6,200.8,-10.8,135,1449,0.00,1.33,0.00,0.000,6,0.000,0.036,2527,2390,3637
$GC,1758,-0.63,-194.6,236.0,-11.3,166,1761,0.00,1.27,0.00,0.000,4,0.000,0.038,2527,1504,3636
$GC,1804,-0.63,-194.6,241.4,-10.6,170,1812,0.00,1.27,0.00,0.000,6,0.000,0.038,2521,2369,3636
$GC,2123,-0.63,-194.6,278.8,-12.0,201,2123,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2369,3634
$GC,2432,-0.63,-194.6,315.9,-11.6,231,2435,0.00,1.27,0.00,0.000,4,0.000,0.038,2520,1487,3633
$GC,2507,-0.63,-194.6,324.7,-11.1,238,2509,0.00,1.30,0.00,0.000,6,0.000,0.040,2515,2380,3632
$GC,2828,-0.63,-194.6,363.3,-12.1,269,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2381,3630
$GC,3138,-0.63,-194.6,401.2,-12.7,299,3141,0.00,1.27,0.00,0.000,4,0.000,0.039,2515,1501,3628
$GC,3201,-0.63,-194.6,409.0,-11.7,305,3205,0.10,1.27,0.00,0.000,6,0.141,0.041,2541,2365,3628
$GC,3523,-0.63,-194.6,441.7,-9.8,336,3523,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2365,3626
$GC,3833,-0.63,-194.6,473.0,-9.8,366,3834,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2365,3624
$GC,4143,-0.63,-194.6,503.7,-10.0,396,4146,0.00,1.27,0.00,0.000,4,0.000,0.041,2541,1490,3621
$GC,4179,-0.63,-194.6,507.3,-10.0,399,4188,0.00,1.33,0.00,0.000,6,0.000,0.043,2537,2388,3621
$GC,4497,-0.63,-194.6,539.3,-10.2,430,4500,0.00,1.30,0.00,0.000,4,0.000,0.043,2537,1500,3619
$GC,4549,-0.63,-194.6,544.8,-10.3,435,4553,0.00,1.27,0.00,0.000,6,0.000,0.044,2532,2361,3618
$GC,4872,-0.63,-194.6,578.7,-10.5,466,4873,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2361,3616
$GC,5181,-0.63,-194.6,610.4,-10.6,496,5184,0.00,1.55,0.00,0.000,4,0.000,0.057,2524,3254,3614
$GC,5213,-0.63,-194.6,613.7,-10.9,499,5216,0.00,1.45,0.00,0.000,6,0.000,0.035,2525,2370,3614
$GC,5535,-0.63,-194.6,646.6,-10.3,530,5538,0.00,1.27,0.00,0.000,4,0.000,0.044,2524,1494,3612
$GC,5588,-0.63,-194.6,652.1,-9.5,535,5591,0.00,1.33,0.00,0.000,6,0.000,0.046,2518,2385,3612
$GC,5910,-0.63,-194.6,685.3,-10.2,566,5913,0.00,1.33,0.00,0.000,4,0.000,0.044,2518,1486,3610
$GC,5952,-0.63,-194.6,689.9,-11.1,570,5955,0.08,1.30,0.00,0.000,6,0.150,0.047,2537,2359,3609
$GC,6274,-0.63,-194.6,719.4,-9.2,601,6274,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2359,3608
$GC,6583,-0.63,-194.6,749.1,-9.5,631,6584,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2359,3606
$GC,6894,-0.63,-194.6,778.0,-9.0,661,6895,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2360,3604
$GC,7204,-0.63,-194.6,806.2,-9.3,691,7205,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2359,3603
$GC,7515,-0.63,-194.6,834.2,-9.6,721,7516,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2359,3602
$GC,7826,-0.63,-194.6,862.0,-9.2,751,7829,0.00,1.27,0.00,0.000,4,0.000,0.047,2537,1500,3600
$GC,7868,-0.63,-194.6,865.9,-9.3,755,7871,0.00,1.33,0.00,0.000,6,0.000,0.049,2534,2378,3600
$GC,8189,-0.63,-194.6,895.2,-9.4,786,8190,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2378,3598
$GC,8499,-0.63,-194.6,923.6,-8.8,816,8502,0.00,1.33,0.00,0.000,4,0.000,0.047,2533,1489,3597
$GC,8557,-0.63,-194.6,929.0,-9.2,821,8564,0.00,1.35,0.00,0.000,6,0.000,0.048,2529,2380,3597
$STATE,8613,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8613,begin apogee
$GC,8618,-0.25,0.0,934.2,9.5,827,8776,0.45,0.00,151.98,1.206,6,0.138,0.000,2661,2292,2839
$STATE,8777,end apogee,CONTROL_FINISHED_OK
$STATE,8777,begin climb
$GC,8779,0.63,194.6,939.2,0.0,843,8950,0.93,0.00,167.45,1.177,6,0.106,0.000,2945,2293,2046
$GC,9257,0.63,194.6,890.6,11.9,890,9259,0.00,1.27,0.00,0.000,4,0.000,0.050,2951,1373,2036
$GC,9331,0.63,194.6,881.9,11.6,897,9334,0.00,1.23,0.00,0.000,6,0.000,0.044,2950,2267,2035
$GC,9654,0.63,194.6,843.1,11.7,928,9654,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2268,2033
$GC,9962,0.63,194.6,806.8,11.5,958,9965,0.00,1.20,0.00,0.000,4,0.000,0.044,2956,1369,2032
$GC,9987,0.63,194.6,803.8,11.9,960,9995,0.00,1.27,0.00,0.000,6,0.000,0.044,2955,2285,2032
$GC,10305,0.63,194.6,765.3,11.8,991,10306,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2285,2031
$GC,10614,0.63,194.6,728.2,12.0,1021,10615,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2285,2031
$GC,10925,0.63,194.6,691.6,11.9,1051,10928,0.00,1.25,0.00,0.000,4,0.000,0.044,2961,1364,2030
$GC,10978,0.63,194.6,685.5,11.7,1056,10981,0.00,1.23,0.00,0.000,6,0.000,0.045,2961,2273,2029
$GC,11301,0.63,194.6,647.1,11.9,1087,11302,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2273,2029
$GC,11610,0.63,194.6,610.1,11.7,1117,11613,0.00,1.20,0.00,0.000,4,0.000,0.044,2966,1375,2028
$GC,11652,0.63,194.6,605.3,12.0,1121,11655,0.00,1.23,0.00,0.000,6,0.000,0.044,2967,2278,2028
$GC,11975,0.63,194.6,567.5,11.6,1152,11978,0.00,1.60,0.00,0.000,4,0.000,0.054,2966,3173,2028
$GC,12006,0.63,194.6,563.5,12.3,1155,12009,0.00,1.60,0.00,0.000,6,0.000,0.038,2973,2271,2027
$GC,12329,0.63,194.6,523.7,12.8,1186,12332,0.00,1.17,0.00,0.000,4,0.000,0.044,2979,1372,2027
$GC,12386,0.63,194.6,516.2,12.9,1191,12395,0.12,1.25,0.00,0.000,6,0.151,0.043,2949,2279,2027
$GC,12702,0.63,194.6,481.9,10.8,1222,12703,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2279,2027
$GC,13013,0.63,194.6,448.6,10.8,1252,13016,0.00,1.23,0.00,0.000,4,0.000,0.042,2952,1368,2027
$GC,13045,0.63,194.6,445.2,9.5,1255,13048,0.00,1.23,0.00,0.000,6,0.000,0.044,2952,2278,2027
$GC,13365,0.63,194.6,409.9,10.7,1286,13366,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2279,2027
$GC,13677,0.63,194.6,374.5,11.5,1316,13680,0.00,1.23,0.00,0.000,4,0.000,0.041,2957,1360,2027
$GC,13723,0.63,194.6,369.0,11.3,1320,13731,0.00,1.25,0.00,0.000,6,0.000,0.041,2957,2279,2027
$GC,14041,0.63,194.6,332.9,11.3,1351,14044,0.00,1.23,0.00,0.000,4,0.000,0.041,2963,1358,2027
$GC,14077,0.63,194.6,329.0,10.7,1354,14084,0.00,1.23,0.00,0.000,6,0.000,0.041,2963,2277,2027
$GC,14394,0.63,194.6,293.2,11.7,1385,14395,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2277,2027
$GC,14704,0.63,194.6,256.9,11.2,1415,14707,0.00,1.20,0.00,0.000,4,0.000,0.040,2968,1370,2027
$GC,14767,0.63,194.6,249.3,11.2,1421,14771,0.00,1.20,0.00,0.000,6,0.000,0.041,2968,2275,2027
$GC,15090,0.63,194.6,210.7,12.5,1452,15091,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2275,2027
$GC,15399,0.63,194.6,174.7,11.4,1482,15402,0.00,1.20,0.00,0.000,4,0.000,0.040,2973,1363,2028
$GC,15431,0.63,194.6,171.3,10.4,1485,15434,0.00,1.20,0.00,0.000,6,0.000,0.041,2973,2273,2028
$GC,15751,0.63,194.6,134.3,10.7,1516,15755,0.00,1.20,0.00,0.000,4,0.000,0.038,2979,1357,2028
$GC,15783,0.63,194.6,130.9,9.9,1519,15786,0.00,1.20,0.00,0.000,6,0.000,0.038,2979,2270,2029
$GC,16104,0.63,194.6,94.6,11.2,1550,16107,0.00,1.62,0.00,0.000,4,0.000,0.048,2979,3172,2029
$GC,16136,0.63,194.6,90.7,12.8,1553,16139,0.10,1.55,0.00,0.000,6,0.132,0.031,2954,2274,2029
$GC,16332,0.63,194.6,74.3,8.3,1572,16335,0.00,1.17,0.00,0.000,4,0.000,0.037,2958,1357,2030
$GC,16391,0.64,204.1,69.9,7.3,1577,16401,0.00,1.23,6.40,0.469,6,0.000,0.038,2958,2282,2008
$GC,16594,0.65,212.7,54.0,7.3,1597,16606,0.00,0.00,8.75,0.493,6,0.000,0.000,2957,2282,1972
$GC,16791,0.71,266.6,41.2,6.1,1616,16839,0.00,1.62,41.72,0.542,4,0.000,0.045,2958,3170,1751
$GC,16864,0.74,287.5,36.6,7.0,1622,16885,0.00,1.58,17.25,0.510,6,0.000,0.029,2964,2270,1666
$GC,17068,0.90,418.0,26.1,4.1,1642,17169,0.17,1.15,96.80,0.522,4,0.063,0.034,3057,1360,1136
$GC,17223,0.90,418.0,15.5,8.6,1655,17226,0.00,1.23,0.00,0.000,6,0.000,0.035,3057,2274,1132
$STATE,17345,end climb,SURFACE_DEPTH_REACHED
$STATE,17345,begin surface coast
$FINISH,0.7,1.023471
$STATE,17377,end surface coast,CONTROL_FINISHED_OK
$STATE,17377,begin surface
$SM_CCo,17392,75.22,0.489,0,0,494,575.22
$SM_GC,1.43,0.00,0.00,75.22,0.000,0.000,0.489,194,2393,494,-7.97,0.51,575.22
$IRIDIUM_FIX,2833.46,-8836.47,290999,222227
$TT8_MAMPS,0.050622
$HUMID,1368
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.20
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,910.6,42.8
$24V_AH,23.0,37.967
$10V_AH,10.6,52.856
$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,20.325,78.900,490.350,75.225,0.000,31.456,31.529,241.818,3.000,0.000,0.000,17.082,0.000,11630.739,630.738,4978.837,623.395,33.340,2049.518,0.000,4452.749,0.000,19.525,0.000
$DEVICE_MAMPS,259.246,64.428,1206.491,488.579,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1140.990,1223.223,3753.455,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88393,1670
$CAP_FILE_SIZE,161423,0
$CFSIZE,260165632,235864064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.075,212.9,1
$GPS,060710,082824,2842.847,-8841.455,27,1.4,44,-0.2