version: 66.04
glider: 515
mission: 5
dive: 229
start: 7 9 110 0 20 6
data:
$ID,515
$MISSION,5
$DIVE,229
$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,-17644.539
$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,28
$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
$GPS1,001306,2842.529,-8844.396,25,1.6,25,-0.2
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-67.2
$GPS2,001925,2842.567,-8844.398,9,2.0,14,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.232,0.127
$KALMAN_X,-51482.9,-163.3,-312.3,61237.8,4344.0
$KALMAN_Y,-237700.8,816.0,43.5,263158.2,-12010.5
$MHEAD_RNG_PITCHd_Wd,71.2,29941,-10.8,-7.500
$D_GRID,1131
$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,-73.18,0.000,2,0.000,0.000,201,2391,2490
$GC,89,-0.63,-194.6,3.1,-3.3,7,136,10.45,1.45,-32.92,0.000,4,0.254,0.066,2530,3258,3633
$GC,180,-0.63,-194.6,17.4,-27.4,15,183,0.00,1.48,0.00,0.000,6,0.000,0.028,2535,2357,3634
$GC,377,-0.63,-194.6,59.2,-15.4,34,378,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2357,3635
$GC,563,-0.63,-194.6,85.6,-13.7,52,563,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2357,3636
$GC,749,-0.63,-194.6,110.6,-13.5,70,752,0.00,1.50,0.00,0.000,4,0.000,0.044,2530,3250,3637
$GC,781,-0.63,-194.6,115.0,-13.7,73,784,0.00,1.42,0.00,0.000,6,0.000,0.028,2534,2352,3637
$GC,1103,-0.63,-194.6,156.5,-13.1,104,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2353,3638
$GC,1412,-0.63,-194.6,193.7,-11.9,134,1415,0.00,1.20,0.00,0.000,4,0.000,0.035,2535,1484,3638
$GC,1454,-0.63,-194.6,198.6,-11.8,138,1458,0.00,1.27,0.00,0.000,6,0.000,0.035,2530,2368,3638
$GC,1777,-0.63,-194.6,235.7,-11.3,169,1780,0.00,1.48,0.00,0.000,4,0.000,0.046,2523,3255,3636
$GC,1866,-0.63,-194.6,246.8,-12.0,177,1874,0.00,1.42,0.00,0.000,6,0.000,0.028,2523,2361,3636
$GC,2184,-0.63,-194.6,284.1,-11.6,208,2185,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2360,3634
$GC,2493,-0.63,-194.6,319.8,-11.3,238,2496,0.00,1.52,0.00,0.000,4,0.000,0.049,2516,3257,3633
$GC,2519,-0.63,-194.6,323.0,-11.5,240,2527,0.00,1.40,0.00,0.000,6,0.000,0.029,2516,2379,3633
$GC,2836,-0.63,-194.6,360.7,-11.8,271,2837,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2378,3632
$GC,3146,-0.63,-194.6,397.7,-11.8,301,3147,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2378,3630
$GC,3456,-0.63,-194.6,435.4,-12.5,331,3457,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2378,3628
$GC,3767,-0.63,-194.6,472.3,-11.6,361,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2378,3625
$GC,4077,-0.63,-194.6,508.7,-11.4,391,4080,0.00,1.27,0.00,0.000,4,0.000,0.042,2516,1495,3623
$GC,4135,-0.63,-194.6,515.6,-11.1,396,4143,0.08,1.30,0.00,0.000,6,0.147,0.043,2535,2370,3623
$GC,4451,-0.63,-194.6,546.1,-9.7,427,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2371,3621
$GC,4762,-0.63,-194.6,575.3,-9.1,457,4762,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2371,3619
$GC,5072,-0.63,-194.6,603.5,-9.3,487,5072,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2371,3616
$GC,5383,-0.63,-194.6,632.4,-9.4,517,5386,0.00,1.27,0.00,0.000,4,0.000,0.044,2536,1510,3615
$GC,5440,-0.63,-194.6,638.1,-9.7,522,5447,0.00,1.33,0.00,0.000,6,0.000,0.045,2532,2388,3614
$GC,5758,-0.63,-194.6,668.3,-9.7,553,5759,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2389,3612
$GC,6067,-0.63,-194.6,698.7,-10.0,583,6070,0.00,1.33,0.00,0.000,4,0.000,0.044,2532,1497,3610
$GC,6124,-0.63,-194.6,704.5,-9.9,588,6133,0.00,1.33,0.00,0.000,6,0.000,0.046,2527,2368,3610
$GC,6443,-0.63,-194.6,734.9,-9.7,619,6443,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2368,3608
$GC,6752,-0.63,-194.6,765.3,-10.0,649,6753,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2368,3606
$GC,7062,-0.63,-194.6,795.2,-9.6,679,7063,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2368,3605
$GC,7372,-0.63,-194.6,824.5,-9.3,709,7375,0.00,1.30,0.00,0.000,4,0.000,0.045,2527,1499,3603
$GC,7426,-0.63,-194.6,829.3,-8.7,714,7429,0.00,1.33,0.00,0.000,6,0.000,0.049,2521,2375,3603
$GC,7746,-0.63,-194.6,858.9,-9.3,745,7747,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2375,3602
$GC,8057,-0.63,-194.6,888.7,-9.6,775,8058,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2376,3600
$GC,8367,-0.63,-194.6,918.3,-9.3,805,8368,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2375,3599
$GC,8677,-0.63,-194.6,947.3,-9.1,835,8680,0.00,1.30,0.00,0.000,4,0.000,0.047,2521,1511,3597
$GC,8745,-0.63,-194.6,953.8,-9.4,841,8753,0.00,1.35,0.00,0.000,6,0.000,0.049,2516,2386,3597
$GC,9063,-0.63,-194.6,983.5,-9.4,872,9066,0.00,1.33,0.00,0.000,4,0.000,0.046,2516,1499,3596
$GC,9099,-0.63,-194.6,987.0,-9.0,875,9107,0.12,1.35,0.00,0.000,6,0.150,0.049,2541,2375,3596
$STATE,9135,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9135,begin apogee
$GC,9140,-0.25,0.0,990.2,8.5,879,9298,0.40,0.00,153.18,1.246,6,0.132,0.000,2664,2299,2839
$STATE,9298,end apogee,CONTROL_FINISHED_OK
$STATE,9298,begin climb
$GC,9301,0.63,194.6,994.3,0.0,895,9480,0.88,1.42,168.57,1.215,4,0.102,0.048,2945,1375,2045
$GC,9506,0.63,194.6,977.3,11.7,912,9515,0.00,1.33,0.00,0.000,6,0.000,0.043,2945,2271,2042
$GC,9824,0.63,194.6,940.0,11.8,943,9827,0.00,1.20,0.00,0.000,4,0.000,0.044,2950,1381,2036
$GC,9856,0.63,194.6,936.3,11.4,946,9859,0.00,1.23,0.00,0.000,6,0.000,0.044,2950,2273,2035
$GC,10179,0.63,194.6,898.5,12.0,977,10179,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2273,2034
$GC,10487,0.63,194.6,861.5,12.5,1007,10490,0.00,1.20,0.00,0.000,4,0.000,0.044,2955,1374,2032
$GC,10534,0.63,194.6,855.6,12.7,1011,10541,0.00,1.25,0.00,0.000,6,0.000,0.044,2955,2278,2032
$GC,10852,0.63,194.6,816.6,12.3,1042,10853,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2278,2031
$GC,11161,0.63,194.6,778.8,11.9,1072,11164,0.00,1.23,0.00,0.000,4,0.000,0.044,2961,1367,2030
$GC,11208,0.63,194.6,772.9,12.1,1076,11216,0.00,1.23,0.00,0.000,6,0.000,0.044,2960,2273,2030
$GC,11525,0.63,194.6,733.2,12.3,1107,11526,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2273,2030
$GC,11835,0.63,194.6,695.3,12.3,1137,11838,0.00,1.20,0.00,0.000,4,0.000,0.044,2966,1372,2030
$GC,11871,0.63,194.6,690.5,12.2,1140,11879,0.00,1.25,0.00,0.000,6,0.000,0.044,2966,2281,2030
$GC,12188,0.63,194.6,650.6,12.6,1171,12189,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2281,2029
$GC,12498,0.63,194.6,612.5,11.9,1201,12501,0.00,1.23,0.00,0.000,4,0.000,0.044,2971,1369,2029
$GC,12555,0.63,194.6,605.4,12.5,1206,12563,0.00,1.25,0.00,0.000,6,0.000,0.044,2971,2280,2029
$GC,12874,0.63,194.6,565.4,12.5,1237,12875,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2279,2028
$GC,13182,0.63,194.6,526.5,12.3,1267,13185,0.00,1.23,0.00,0.000,4,0.000,0.043,2976,1369,2028
$GC,13236,0.63,194.6,520.1,12.0,1272,13239,0.00,1.23,0.00,0.000,6,0.000,0.045,2976,2279,2028
$GC,13556,0.63,194.6,479.1,12.8,1303,13557,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2278,2028
$GC,13868,0.63,194.6,438.7,13.2,1333,13871,0.00,1.20,0.00,0.000,4,0.000,0.043,2981,1378,2028
$GC,13931,0.63,194.6,430.4,12.9,1339,13935,0.08,1.20,0.00,0.000,6,0.144,0.043,2957,2274,2028
$GC,14252,0.63,194.6,393.9,11.1,1370,14256,0.00,1.20,0.00,0.000,4,0.000,0.042,2961,1369,2028
$GC,14288,0.63,194.6,389.8,11.0,1373,14296,0.00,1.25,0.00,0.000,6,0.000,0.042,2961,2281,2029
$GC,14606,0.63,194.6,353.8,11.5,1404,14609,0.00,1.62,0.00,0.000,4,0.000,0.052,2961,3193,2028
$GC,14638,0.63,194.6,349.6,12.8,1407,14641,0.00,1.60,0.00,0.000,6,0.000,0.036,2969,2261,2028
$GC,14959,0.63,194.6,309.1,12.8,1438,14962,0.00,1.15,0.00,0.000,4,0.000,0.041,2974,1367,2028
$GC,15016,0.63,194.6,301.8,11.8,1443,15023,0.00,1.25,0.00,0.000,6,0.000,0.041,2974,2283,2028
$GC,15335,0.63,194.6,260.7,13.1,1474,15335,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2283,2028
$GC,15643,0.63,194.6,220.7,12.6,1504,15646,0.00,1.23,0.00,0.000,4,0.000,0.039,2980,1364,2029
$GC,15685,0.63,194.6,215.4,12.7,1508,15689,0.08,1.20,0.00,0.000,6,0.140,0.041,2956,2274,2029
$GC,16007,0.63,194.6,181.1,10.2,1539,16007,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2274,2029
$GC,16317,0.63,194.6,149.3,10.1,1569,16320,0.00,1.20,0.00,0.000,4,0.000,0.039,2959,1362,2030
$GC,16359,0.63,194.6,144.9,9.0,1573,16362,0.00,1.20,0.00,0.000,6,0.000,0.039,2959,2273,2031
$GC,16682,0.63,194.6,111.1,9.9,1604,16683,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2274,2031
$GC,16991,0.63,194.6,82.9,8.1,1634,16994,0.00,1.20,0.00,0.000,4,0.000,0.037,2965,1357,2032
$GC,17070,0.63,194.6,76.2,8.6,1641,17077,0.00,1.20,0.00,0.000,6,0.000,0.037,2965,2274,2033
$GC,17262,0.63,194.6,60.5,7.8,1660,17263,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2275,2033
$GC,17449,0.66,223.2,45.3,6.8,1678,17472,0.00,0.00,21.38,0.528,6,0.000,0.000,2965,2274,1930
$GC,17657,0.82,349.3,34.1,4.2,1698,17758,0.12,0.00,94.97,0.532,6,0.068,0.000,3025,2275,1414
$GC,17944,0.82,349.3,13.3,7.7,1726,17947,0.00,1.20,0.00,0.000,4,0.000,0.035,3031,1359,1407
$GC,18029,0.82,349.3,6.9,8.5,1734,18032,0.00,1.20,0.00,0.000,6,0.000,0.035,3030,2271,1407
$STATE,18079,end climb,SURFACE_DEPTH_REACHED
$STATE,18079,begin surface coast
$FINISH,0.7,1.023146
$STATE,18110,end surface coast,CONTROL_FINISHED_OK
$STATE,18110,begin surface
$SM_CCo,18124,107.07,0.492,0,0,495,575.22
$SM_GC,1.60,0.00,0.00,107.07,0.000,0.000,0.492,204,2391,495,-7.95,0.42,575.22
$IRIDIUM_FIX,2833.46,-8843.84,021099,202030
$TT8_MAMPS,0.050622
$HUMID,1334
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.70
$XPDR_PINGS,2
$24V_AH,22.8,40.223
$10V_AH,10.6,55.803
$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,19.850,67.900,438.100,107.075,0.000,29.422,32.072,205.491,4.250,0.000,0.000,16.687,0.000,12256.493,636.604,5115.322,582.358,33.365,2067.024,0.000,4574.805,0.000,28.328,0.000
$DEVICE_MAMPS,253.877,65.962,1246.375,491.647,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1191.203,1270.364,3915.282,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91382,1742
$CAP_FILE_SIZE,159676,0
$CFSIZE,260165632,234692608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.053,161.8,1
$GPS,090710,052500,2842.876,-8841.265,35,1.3,40,-0.2