version: 66.04
glider: 515
mission: 5
dive: 222
start: 7 7 110 14 36 7
data:
$ID,515
$MISSION,5
$DIVE,222
$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,-17524.586
$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,30
$R_STBD_OVSHOOT,31
$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
$GPS1,142854,2843.508,-8829.324,37,1.6,37,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-59.5
$GPS2,143526,2843.532,-8829.374,11,1.5,11,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.174,0.199
$KALMAN_X,-60355.5,333.8,30.5,93708.1,-2196.4
$KALMAN_Y,-215221.2,314.2,455.1,242548.7,-8646.5
$MHEAD_RNG_PITCHd_Wd,76.3,5481,-15.3,-7.500
$D_GRID,1367
$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,-0.69,-113.5,0.0,0.0,0,97,0.00,0.00,-83.00,0.000,2,0.000,0.000,187,2390,2760
$GC,99,-0.79,-194.6,3.3,-3.8,8,136,10.20,1.45,-21.52,0.000,4,0.252,0.074,2482,3265,3634
$GC,183,-0.79,-194.6,22.6,-31.5,15,190,0.00,1.50,0.00,0.000,6,0.000,0.028,2488,2354,3635
$GC,375,-0.79,-194.6,66.5,-18.1,34,376,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2353,3636
$GC,561,-0.79,-194.6,100.4,-17.8,52,562,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2353,3637
$GC,872,-0.79,-194.6,153.3,-17.0,82,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2353,3638
$GC,1182,-0.79,-194.6,202.1,-15.5,112,1185,0.00,1.52,0.00,0.000,4,0.000,0.044,2482,3257,3638
$GC,1225,-0.79,-194.6,208.7,-16.2,116,1228,0.00,1.42,0.00,0.000,6,0.000,0.028,2486,2362,3638
$GC,1547,-0.79,-194.6,257.2,-14.5,147,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2361,3637
$GC,1856,-0.79,-194.6,302.3,-14.9,177,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2361,3636
$GC,2167,-0.79,-194.6,347.2,-14.5,207,2170,0.00,1.50,0.00,0.000,4,0.000,0.048,2480,3250,3634
$GC,2213,-0.79,-194.6,354.0,-13.9,211,2221,0.00,1.42,0.00,0.000,6,0.000,0.029,2482,2362,3634
$GC,2531,-0.79,-194.6,398.2,-14.2,242,2532,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2362,3632
$GC,2840,-0.79,-194.6,441.2,-13.8,272,2843,0.00,1.50,0.00,0.000,4,0.000,0.049,2476,3248,3630
$GC,2872,-0.79,-194.6,445.7,-14.6,275,2875,0.00,1.40,0.00,0.000,6,0.000,0.031,2481,2376,3630
$GC,3195,-0.79,-194.6,489.9,-13.6,306,3197,0.00,1.50,0.00,0.000,4,0.000,0.051,2476,3249,3627
$GC,3230,-0.79,-194.6,495.4,-13.6,309,3239,0.00,1.45,0.00,0.000,6,0.000,0.031,2481,2362,3627
$GC,3549,-0.79,-194.6,539.6,-14.1,340,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2363,3625
$GC,3857,-0.79,-194.6,581.9,-13.6,370,3860,0.00,1.52,0.00,0.000,4,0.000,0.053,2476,3246,3622
$GC,3932,-0.79,-194.6,591.9,-13.6,377,3935,0.00,1.42,0.00,0.000,6,0.000,0.034,2480,2365,3621
$GC,4254,-0.79,-194.6,633.7,-13.0,408,4255,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2365,3619
$GC,4563,-0.79,-194.6,673.1,-12.3,438,4564,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2365,3617
$GC,4874,-0.79,-194.6,712.2,-12.5,468,4877,0.00,1.52,0.00,0.000,4,0.000,0.055,2475,3245,3615
$GC,4906,-0.79,-194.6,716.3,-12.8,471,4909,0.00,1.42,0.00,0.000,6,0.000,0.035,2480,2380,3614
$GC,5229,-0.79,-194.6,755.2,-12.2,502,5229,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2378,3613
$GC,5537,-0.79,-194.6,793.7,-12.6,532,5538,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2377,3610
$GC,5848,-0.79,-194.6,832.3,-12.2,562,5849,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2377,3608
$GC,6159,-0.79,-194.6,870.0,-12.5,592,6160,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2377,3606
$GC,6468,-0.79,-194.6,907.7,-12.1,622,6471,0.00,1.52,0.00,0.000,4,0.000,0.058,2475,3244,3604
$GC,6515,-0.79,-194.6,913.8,-13.1,626,6523,0.00,1.48,0.00,0.000,6,0.000,0.037,2479,2362,3603
$GC,6831,-0.79,-194.6,951.6,-11.8,657,6832,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2363,3602
$GC,7142,-0.79,-194.6,988.9,-11.9,687,7143,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2363,3601
$STATE,7151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7151,begin apogee
$GC,7156,-0.25,0.0,990.1,11.5,688,7314,0.62,0.00,152.40,1.246,6,0.153,0.000,2661,2286,2842
$STATE,7315,end apogee,CONTROL_FINISHED_OK
$STATE,7315,begin climb
$GC,7317,0.79,194.6,995.3,0.0,704,7491,1.10,1.40,168.15,1.210,4,0.104,0.046,3005,1368,2046
$GC,7539,0.79,194.6,970.2,15.5,723,7547,0.00,1.27,0.00,0.000,6,0.000,0.042,3005,2260,2042
$GC,7857,0.79,194.6,917.9,16.5,754,7860,0.00,1.17,0.00,0.000,4,0.000,0.044,3010,1379,2036
$GC,7892,0.79,194.6,911.5,17.2,757,7901,0.00,1.25,0.00,0.000,6,0.000,0.043,3010,2280,2036
$GC,8211,0.79,194.6,858.2,16.9,788,8212,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2280,2033
$GC,8519,0.79,194.6,806.2,16.7,818,8522,0.00,1.23,0.00,0.000,4,0.000,0.044,3014,1373,2032
$GC,8577,0.79,194.6,796.3,17.1,823,8584,0.00,1.23,0.00,0.000,6,0.000,0.044,3015,2278,2032
$GC,8894,0.79,194.6,742.3,16.7,854,8898,0.00,1.20,0.00,0.000,4,0.000,0.044,3020,1383,2031
$GC,8926,0.79,194.6,736.7,18.0,857,8929,0.00,1.20,0.00,0.000,6,0.000,0.044,3020,2274,2031
$GC,9248,0.79,194.6,683.2,16.8,888,9251,0.00,1.20,0.00,0.000,4,0.000,0.044,3024,1377,2030
$GC,9280,0.79,194.6,677.7,16.9,891,9283,0.00,1.20,0.00,0.000,6,0.000,0.044,3025,2274,2030
$GC,9603,0.79,194.6,623.3,16.9,922,9603,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2274,2030
$GC,9911,0.79,194.6,570.9,16.6,952,9914,0.00,1.20,0.00,0.000,4,0.000,0.043,3029,1374,2029
$GC,9943,0.79,194.6,565.4,17.2,955,9946,0.00,1.20,0.00,0.000,6,0.000,0.044,3029,2274,2029
$GC,10265,0.79,194.6,511.7,17.1,986,10266,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2275,2028
$GC,10574,0.79,194.6,458.5,16.9,1016,10575,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2275,2027
$GC,10885,0.79,194.6,405.3,17.7,1046,10886,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2274,2027
$GC,11195,0.79,194.6,351.6,17.1,1076,11196,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2274,2027
$GC,11506,0.79,194.6,296.4,17.6,1106,11507,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2275,2027
$GC,11816,0.79,194.6,242.0,17.1,1136,11817,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2275,2027
$GC,12127,0.79,194.6,187.6,17.7,1166,12128,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2275,2027
$GC,12437,0.79,194.6,135.2,16.3,1196,12440,0.00,1.20,0.00,0.000,4,0.000,0.040,3034,1362,2027
$GC,12469,0.79,194.6,130.0,15.8,1199,12472,0.10,1.20,0.00,0.000,6,0.150,0.041,3004,2277,2028
$GC,12790,0.79,194.6,85.7,13.1,1230,12790,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2277,2027
$GC,12976,0.79,194.6,62.8,12.1,1248,12977,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2276,2028
$GC,13162,0.79,194.6,44.1,9.7,1266,13163,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2277,2029
$GC,13348,0.80,206.2,30.2,7.0,1284,13360,0.00,1.62,7.82,0.466,4,0.000,0.045,3003,3172,1999
$GC,13599,0.85,245.3,15.9,5.8,1307,13635,0.00,1.55,31.48,0.515,6,0.000,0.029,3010,2269,1837
$STATE,13796,end climb,SURFACE_DEPTH_REACHED
$STATE,13796,begin surface coast
$FINISH,0.9,1.023180
$STATE,13827,end surface coast,CONTROL_FINISHED_OK
$STATE,13827,begin surface
$SM_CCo,13841,154.82,0.499,0,0,493,575.22
$SM_GC,1.52,0.00,0.00,154.82,0.000,0.000,0.499,197,2390,493,-7.96,0.42,575.22
$IRIDIUM_FIX,2831.00,-8831.56,011099,090909
$TT8_MAMPS,0.052156
$HUMID,1334
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,23.40
$XPDR_PINGS,1
$24V_AH,22.9,39.092
$10V_AH,10.6,54.307
$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,19.475,44.350,359.850,154.825,0.000,26.208,26.937,214.271,4.000,0.000,0.000,13.587,0.000,9362.940,578.370,3887.084,532.997,33.337,1662.299,0.000,3484.885,0.000,28.339,0.000
$DEVICE_MAMPS,251.576,74.399,1246.375,499.317,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,907.502,974.357,2987.088,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69380,1329
$CAP_FILE_SIZE,121466,0
$CFSIZE,260165632,235339776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086,173.3,1
$GPS,070710,183024,2843.373,-8826.805,39,0.9,39,-0.4