version: 66.04
glider: 515
mission: 5
dive: 220
start: 7 7 110 4 10 17
data:
$ID,515
$MISSION,5
$DIVE,220
$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,-17491.363
$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,22
$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
$GPS1,035724,2843.266,-8835.349,25,1.1,42,-0.3
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-60.8
$GPS2,040938,2843.350,-8835.395,11,1.5,11,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.207,0.164
$KALMAN_X,-59294.3,204.2,160.2,82840.3,-3596.9
$KALMAN_Y,-211179.7,1632.8,1325.5,235951.8,-14476.9
$MHEAD_RNG_PITCHd_Wd,77.7,15265,-10.8,-7.500
$D_GRID,1016
$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,13,-0.63,-194.6,0.0,0.0,0,103,0.00,0.00,-87.93,0.000,2,0.000,0.000,192,2378,2908
$GC,106,-0.63,-194.6,3.2,-3.2,9,137,10.62,0.00,-15.93,0.000,6,0.256,0.000,2538,2379,3637
$GC,322,-0.63,-194.6,51.7,-17.0,30,325,0.00,1.48,0.00,0.000,4,0.000,0.044,2534,3256,3638
$GC,347,-0.63,-194.6,55.8,-15.1,32,355,0.00,1.48,0.00,0.000,6,0.000,0.027,2537,2353,3638
$GC,540,-0.63,-194.6,82.7,-13.3,51,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2352,3639
$GC,726,-0.63,-194.6,107.7,-12.8,69,729,0.00,1.20,0.00,0.000,4,0.000,0.037,2537,1486,3640
$GC,794,-0.63,-194.6,116.7,-12.8,75,801,0.00,1.33,0.00,0.000,6,0.000,0.035,2533,2393,3640
$GC,1111,-0.63,-194.6,158.6,-12.1,106,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2393,3640
$GC,1421,-0.63,-194.6,195.4,-11.4,136,1424,0.00,1.30,0.00,0.000,4,0.000,0.038,2533,1483,3639
$GC,1468,-0.63,-194.6,201.1,-11.5,140,1475,0.00,1.25,0.00,0.000,6,0.000,0.035,2527,2359,3638
$GC,1785,-0.63,-194.6,237.2,-11.0,171,1786,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2359,3638
$GC,2095,-0.63,-194.6,271.5,-11.7,201,2096,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2359,3635
$GC,2405,-0.63,-194.6,307.7,-11.5,231,2406,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2359,3634
$GC,2715,-0.63,-194.6,342.0,-11.1,261,2716,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2359,3632
$GC,3027,-0.63,-194.6,376.5,-11.0,291,3027,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2359,3629
$GC,3336,-0.63,-194.6,410.9,-11.1,321,3337,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2359,3627
$GC,3647,-0.63,-194.6,445.0,-11.2,351,3650,0.00,1.27,0.00,0.000,4,0.000,0.041,2527,1480,3624
$GC,3711,-0.63,-194.6,451.6,-10.5,357,3714,0.00,1.33,0.00,0.000,6,0.000,0.041,2521,2389,3624
$GC,4033,-0.63,-194.6,486.7,-10.7,388,4036,0.00,1.33,0.00,0.000,4,0.000,0.042,2521,1480,3621
$GC,4086,-0.63,-194.6,492.8,-11.4,393,4089,0.00,1.27,0.00,0.000,6,0.000,0.041,2515,2358,3620
$GC,4408,-0.63,-194.6,529.1,-11.8,424,4409,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2358,3618
$GC,4717,-0.63,-194.6,564.7,-11.1,454,4718,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2358,3617
$GC,5027,-0.63,-194.6,600.4,-11.5,484,5028,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2358,3615
$GC,5338,-0.63,-194.6,635.5,-11.0,514,5342,0.00,1.27,0.00,0.000,4,0.000,0.044,2515,1487,3613
$GC,5391,-0.63,-194.6,641.5,-10.6,519,5395,0.10,1.33,0.00,0.000,6,0.142,0.044,2540,2379,3612
$GC,5712,-0.63,-194.6,670.5,-8.6,550,5713,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2379,3609
$GC,6022,-0.63,-194.6,697.5,-8.5,580,6025,0.00,1.30,0.00,0.000,4,0.000,0.045,2541,1497,3607
$GC,6059,-0.63,-194.6,700.8,-9.1,583,6066,0.00,1.30,0.00,0.000,6,0.000,0.046,2537,2365,3607
$GC,6376,-0.63,-194.6,728.7,-8.7,614,6377,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2365,3605
$GC,6686,-0.63,-194.6,756.8,-9.0,644,6689,0.00,1.30,0.00,0.000,4,0.000,0.046,2537,1490,3604
$GC,6743,-0.63,-194.6,762.3,-9.5,649,6751,0.00,1.35,0.00,0.000,6,0.000,0.046,2531,2385,3603
$GC,7061,-0.63,-194.6,791.6,-9.6,680,7062,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2386,3602
$GC,7371,-0.63,-194.6,819.4,-8.7,710,7374,0.00,1.33,0.00,0.000,4,0.000,0.047,2531,1491,3600
$GC,7434,-0.63,-194.6,825.4,-9.2,716,7437,0.00,1.30,0.00,0.000,6,0.000,0.048,2526,2361,3600
$GC,7755,-0.63,-194.6,855.1,-9.3,747,7756,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2361,3598
$GC,8065,-0.63,-194.6,883.3,-9.0,777,8066,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2361,3596
$GC,8376,-0.63,-194.6,911.5,-9.2,807,8377,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2361,3595
$GC,8689,-0.63,-194.6,940.1,-9.1,837,8689,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2361,3594
$GC,8998,-0.63,-194.6,969.8,-9.5,867,8999,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2361,3593
$STATE,9213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9214,begin apogee
$GC,9219,-0.25,0.0,990.8,9.8,888,9376,0.45,0.00,152.10,1.250,6,0.137,0.000,2660,2288,2839
$STATE,9376,end apogee,CONTROL_FINISHED_OK
$STATE,9376,begin climb
$GC,9378,0.63,194.6,995.9,0.0,904,9556,0.93,0.00,169.30,1.216,6,0.104,0.000,2944,2288,2045
$GC,9865,0.63,194.6,947.1,11.9,952,9866,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2288,2035
$GC,10176,0.63,194.6,911.7,11.9,982,10177,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2288,2034
$GC,10486,0.63,194.6,875.5,11.6,1012,10487,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2288,2032
$GC,10796,0.63,194.6,839.9,11.5,1042,10797,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2288,2031
$GC,11107,0.63,194.6,804.9,11.4,1072,11108,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2288,2031
$GC,11417,0.63,194.6,769.7,11.5,1102,11417,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2288,2030
$GC,11728,0.63,194.6,735.0,11.0,1132,11731,0.00,1.23,0.00,0.000,4,0.000,0.044,2949,1377,2030
$GC,11775,0.63,194.6,729.6,10.2,1136,11782,0.00,1.20,0.00,0.000,6,0.000,0.043,2949,2270,2030
$GC,12092,0.63,194.6,693.0,11.6,1167,12095,0.00,1.65,0.00,0.000,4,0.000,0.054,2949,3166,2029
$GC,12124,0.63,194.6,689.1,12.9,1170,12127,0.00,1.55,0.00,0.000,6,0.000,0.038,2956,2283,2028
$GC,12445,0.63,194.6,650.2,11.7,1201,12448,0.00,1.23,0.00,0.000,4,0.000,0.044,2962,1363,2028
$GC,12492,0.63,194.6,644.4,11.7,1205,12499,0.00,1.23,0.00,0.000,6,0.000,0.044,2962,2271,2028
$GC,12809,0.63,194.6,606.7,11.8,1236,12810,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2271,2028
$GC,13119,0.63,194.6,570.0,11.6,1266,13122,0.00,1.20,0.00,0.000,4,0.000,0.044,2967,1377,2028
$GC,13150,0.63,194.6,566.1,12.1,1269,13153,0.00,1.23,0.00,0.000,6,0.000,0.044,2967,2280,2027
$GC,13471,0.63,194.6,526.4,12.5,1300,13472,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2280,2028
$GC,13782,0.63,194.6,487.7,12.3,1330,13783,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2280,2027
$GC,14092,0.63,194.6,449.8,12.0,1360,14093,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2280,2027
$GC,14403,0.63,194.6,410.9,12.2,1390,14406,0.00,1.23,0.00,0.000,4,0.000,0.043,2973,1370,2028
$GC,14456,0.63,194.6,404.3,12.3,1395,14459,0.00,1.23,0.00,0.000,6,0.000,0.043,2973,2278,2028
$GC,14779,0.63,194.6,363.5,12.9,1426,14780,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2278,2027
$GC,15087,0.63,194.6,323.0,13.3,1456,15088,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2278,2027
$GC,15398,0.63,194.6,284.5,12.1,1486,15399,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2278,2028
$GC,15709,0.63,194.6,245.3,12.4,1516,15709,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2277,2028
$GC,16019,0.63,194.6,207.4,11.7,1546,16020,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2278,2028
$GC,16329,0.63,194.6,169.3,12.3,1576,16330,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2278,2028
$GC,16640,0.63,194.6,132.1,11.1,1606,16641,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2278,2028
$GC,16950,0.63,194.6,98.5,10.6,1636,16951,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2278,2029
$GC,17137,0.63,194.6,80.4,10.6,1654,17137,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2278,2030
$GC,17323,0.63,194.6,63.2,9.1,1672,17324,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2278,2030
$GC,17509,0.63,194.6,47.0,8.6,1690,17509,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2278,2030
$GC,17695,0.70,253.3,33.3,6.0,1708,17744,0.00,1.17,43.33,0.532,4,0.000,0.035,2978,1356,1806
$GC,17790,0.82,356.4,28.0,4.8,1716,17872,0.10,1.25,77.78,0.524,6,0.076,0.035,3026,2278,1385
$GC,18053,0.82,356.4,10.9,8.4,1741,18054,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2278,1377
$STATE,18155,end climb,SURFACE_DEPTH_REACHED
$STATE,18155,begin surface coast
$FINISH,0.7,1.023231
$STATE,18186,end surface coast,CONTROL_FINISHED_OK
$STATE,18186,begin surface
$SM_CCo,18200,101.00,0.492,0,0,494,575.22
$SM_GC,1.62,0.00,0.00,101.00,0.000,0.000,0.492,200,2397,494,-7.96,0.62,575.22
$IRIDIUM_FIX,2831.00,-8836.53,011099,040410
$TT8_MAMPS,0.051389
$HUMID,1361
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,23.20
$XPDR_PINGS,2
$24V_AH,22.9,38.779
$10V_AH,10.6,53.914
$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,19.850,39.500,442.500,101.000,0.000,54.276,58.853,438.366,4.250,0.000,0.000,13.787,0.000,12532.855,598.841,5010.449,866.781,33.335,1948.807,0.000,4512.881,0.000,32.069,0.000
$DEVICE_MAMPS,256.178,63.661,1250.210,491.647,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1200.067,1286.445,3941.919,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91628,1754
$CAP_FILE_SIZE,155798,0
$CFSIZE,260165632,235446272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.027,177.7,1
$GPS,070710,091624,2843.739,-8832.404,26,1.8,43,-0.4