version: 66.04
glider: 515
mission: 5
dive: 231
start: 7 9 110 10 48 59
data:
$ID,515
$MISSION,5
$DIVE,231
$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,-17677.924
$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,39
$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
$GPS1,104036,2843.144,-8838.032,38,1.1,43,-0.3
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-69.3
$GPS2,104819,2843.104,-8838.052,10,1.1,15,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.230,0.130
$KALMAN_X,-53569.9,-735.6,-44.1,73964.3,1133.5
$KALMAN_Y,-242793.9,1338.4,228.6,268508.6,-9488.3
$MHEAD_RNG_PITCHd_Wd,79.2,19594,-10.8,-7.500
$D_GRID,973
$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,13,-0.63,-194.6,0.0,0.0,0,87,0.00,0.00,-72.78,0.000,2,0.000,0.000,202,2392,2472
$GC,89,-0.63,-194.6,3.1,-3.3,7,138,10.52,1.38,-34.90,0.000,4,0.255,0.056,2544,1467,3634
$GC,319,-0.63,-194.6,47.4,-17.3,28,323,0.00,1.27,0.00,0.000,6,0.000,0.036,2540,2356,3636
$GC,516,-0.63,-194.6,76.9,-13.9,47,517,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2356,3637
$GC,703,-0.63,-194.6,100.9,-12.5,65,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2356,3638
$GC,1013,-0.63,-194.6,140.6,-12.2,95,1016,0.00,1.50,0.00,0.000,4,0.000,0.045,2533,3255,3638
$GC,1049,-0.63,-194.6,145.2,-12.7,98,1056,0.00,1.45,0.00,0.000,6,0.000,0.027,2537,2354,3639
$GC,1367,-0.63,-194.6,182.4,-11.4,129,1368,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2354,3638
$GC,1676,-0.63,-194.6,219.1,-12.0,159,1679,0.00,1.52,0.00,0.000,4,0.000,0.045,2531,3262,3638
$GC,1719,-0.63,-194.6,224.3,-11.5,163,1722,0.00,1.42,0.00,0.000,6,0.000,0.028,2533,2361,3638
$GC,2041,-0.63,-194.6,261.8,-11.7,194,2041,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2361,3637
$GC,2351,-0.63,-194.6,296.0,-10.8,224,2353,0.00,1.52,0.00,0.000,4,0.000,0.047,2528,3262,3635
$GC,2376,-0.63,-194.6,298.8,-10.3,226,2383,0.00,1.45,0.00,0.000,6,0.000,0.028,2528,2359,3635
$GC,2693,-0.63,-194.6,333.8,-11.0,257,2694,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2359,3633
$GC,3003,-0.63,-194.6,367.4,-10.7,287,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2359,3632
$GC,3313,-0.63,-194.6,400.8,-10.9,317,3314,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2359,3630
$GC,3624,-0.63,-194.6,434.2,-10.4,347,3627,0.00,1.55,0.00,0.000,4,0.000,0.051,2521,3261,3628
$GC,3660,-0.63,-194.6,438.3,-11.4,350,3667,0.00,1.45,0.00,0.000,6,0.000,0.031,2520,2366,3627
$GC,3978,-0.63,-194.6,473.3,-10.9,381,3979,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2366,3626
$GC,4287,-0.63,-194.6,507.0,-10.6,411,4290,0.00,1.52,0.00,0.000,4,0.000,0.054,2514,3252,3624
$GC,4329,-0.63,-194.6,511.6,-11.3,415,4332,0.08,1.42,0.00,0.000,6,0.140,0.033,2537,2369,3623
$GC,4650,-0.63,-194.6,541.5,-9.6,446,4653,0.00,1.27,0.00,0.000,4,0.000,0.042,2538,1490,3621
$GC,4686,-0.63,-194.6,545.1,-9.7,449,4693,0.00,1.33,0.00,0.000,6,0.000,0.042,2534,2375,3620
$GC,5004,-0.63,-194.6,574.9,-9.1,480,5005,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2377,3619
$GC,5313,-0.63,-194.6,604.5,-9.8,510,5316,0.00,1.30,0.00,0.000,4,0.000,0.044,2534,1493,3617
$GC,5356,-0.63,-194.6,608.5,-9.2,514,5358,0.00,1.30,0.00,0.000,6,0.000,0.044,2528,2366,3616
$GC,5678,-0.63,-194.6,640.4,-9.9,545,5679,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2366,3615
$GC,5987,-0.63,-194.6,670.6,-9.5,575,5990,0.00,1.55,0.00,0.000,4,0.000,0.058,2521,3264,3613
$GC,6034,-0.63,-194.6,675.2,-9.6,579,6041,0.00,1.45,0.00,0.000,6,0.000,0.035,2521,2378,3612
$GC,6351,-0.63,-194.6,706.2,-9.9,610,6352,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2376,3610
$GC,6661,-0.63,-194.6,737.2,-10.1,640,6664,0.00,1.30,0.00,0.000,4,0.000,0.044,2521,1490,3608
$GC,6704,-0.63,-194.6,741.5,-9.6,644,6706,0.00,1.33,0.00,0.000,6,0.000,0.046,2515,2376,3608
$GC,7025,-0.63,-194.6,774.6,-10.4,675,7026,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2377,3607
$GC,7335,-0.63,-194.6,805.6,-10.0,705,7336,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2377,3605
$GC,7645,-0.63,-194.6,838.2,-10.7,735,7646,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2378,3604
$GC,7957,-0.63,-194.6,869.8,-10.1,765,7958,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2378,3602
$GC,8267,-0.63,-194.6,900.9,-10.0,795,8270,0.00,1.52,0.00,0.000,4,0.000,0.060,2508,3251,3601
$GC,8309,-0.63,-194.6,905.3,-10.7,799,8312,0.10,1.45,0.00,0.000,6,0.138,0.038,2540,2370,3601
$GC,8630,-0.63,-194.6,932.4,-8.2,830,8633,0.00,1.55,0.00,0.000,4,0.000,0.060,2534,3248,3599
$GC,8667,-0.63,-194.6,935.6,-8.7,833,8674,0.00,1.45,0.00,0.000,6,0.000,0.038,2534,2370,3599
$GC,8983,-0.63,-194.6,961.8,-8.1,864,8983,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2371,3598
$STATE,9261,end dive,NO_VERTICAL_VELOCITY
$STATE,9261,begin apogee
$GC,9266,-0.25,0.0,971.9,0.0,891,9424,0.40,0.00,152.85,1.232,6,0.095,0.000,2667,2290,2841
$STATE,9424,end apogee,CONTROL_FINISHED_OK
$STATE,9424,begin climb
$GC,9426,0.63,194.6,971.7,0.0,907,9607,0.82,1.40,168.93,1.198,4,0.077,0.048,2949,1377,2045
$GC,9793,0.63,194.6,937.3,12.3,939,9800,0.00,1.27,0.00,0.000,6,0.000,0.043,2949,2276,2036
$GC,10111,0.63,194.6,898.9,11.8,970,10114,0.00,1.62,0.00,0.000,4,0.000,0.054,2949,3177,2034
$GC,10147,0.63,194.6,894.2,12.4,973,10155,0.00,1.60,0.00,0.000,6,0.000,0.037,2957,2278,2033
$GC,10465,0.63,194.6,855.2,12.8,1004,10466,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2278,2032
$GC,10774,0.63,194.6,816.2,12.5,1034,10774,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2278,2031
$GC,11085,0.63,194.6,777.0,12.6,1064,11086,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2278,2030
$GC,11394,0.63,194.6,738.4,12.0,1094,11397,0.00,1.20,0.00,0.000,4,0.000,0.044,2962,1370,2030
$GC,11452,0.63,194.6,731.2,12.1,1099,11459,0.00,1.25,0.00,0.000,6,0.000,0.044,2962,2276,2030
$GC,11770,0.63,194.6,691.1,13.0,1130,11773,0.00,1.23,0.00,0.000,4,0.000,0.044,2967,1364,2029
$GC,11806,0.63,194.6,686.5,11.5,1133,11813,0.00,1.27,0.00,0.000,6,0.000,0.044,2967,2285,2029
$GC,12124,0.63,194.6,646.0,12.7,1164,12125,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2285,2029
$GC,12433,0.63,194.6,608.1,12.1,1194,12436,0.00,1.25,0.00,0.000,4,0.000,0.043,2972,1365,2028
$GC,12491,0.63,194.6,600.9,12.2,1199,12498,0.00,1.23,0.00,0.000,6,0.000,0.044,2973,2275,2028
$GC,12808,0.63,194.6,561.1,12.6,1230,12809,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2275,2028
$GC,13118,0.63,194.6,522.1,12.4,1260,13121,0.00,1.23,0.00,0.000,4,0.000,0.044,2978,1360,2029
$GC,13165,0.63,194.6,516.0,12.3,1264,13173,0.00,1.25,0.00,0.000,6,0.000,0.043,2979,2281,2028
$GC,13482,0.63,194.6,476.0,12.8,1295,13483,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2282,2028
$GC,13792,0.63,194.6,434.3,13.4,1325,13795,0.00,1.23,0.00,0.000,4,0.000,0.042,2984,1369,2028
$GC,13828,0.63,194.6,429.3,13.3,1328,13837,0.12,1.25,0.00,0.000,6,0.148,0.043,2952,2281,2028
$GC,14144,0.63,194.6,393.5,10.7,1359,14145,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2282,2028
$GC,14455,0.63,194.6,360.1,10.9,1389,14458,0.00,1.23,0.00,0.000,4,0.000,0.042,2956,1367,2028
$GC,14509,0.63,194.6,354.4,11.7,1394,14512,0.00,1.23,0.00,0.000,6,0.000,0.043,2956,2276,2028
$GC,14829,0.63,194.6,318.8,11.1,1425,14830,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2277,2028
$GC,15140,0.63,194.6,284.6,11.1,1455,15141,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2276,2028
$GC,15450,0.63,194.6,250.0,11.5,1485,15451,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2277,2028
$GC,15761,0.63,194.6,215.2,10.9,1515,15762,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2276,2029
$GC,16072,0.63,194.6,181.0,10.8,1545,16075,0.00,1.20,0.00,0.000,4,0.000,0.039,2961,1367,2029
$GC,16103,0.63,194.6,177.5,9.6,1548,16107,0.00,1.20,0.00,0.000,6,0.000,0.040,2961,2278,2029
$GC,16424,0.63,194.6,142.7,10.8,1579,16425,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2278,2030
$GC,16735,0.63,194.6,110.6,9.2,1609,16738,0.00,1.60,0.00,0.000,4,0.000,0.048,2961,3168,2032
$GC,16756,0.63,194.6,108.4,11.8,1611,16759,0.00,1.55,0.00,0.000,6,0.000,0.032,2968,2269,2031
$GC,17078,0.63,194.6,75.1,9.6,1642,17079,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2270,2032
$GC,17263,0.63,194.6,57.9,9.3,1660,17266,0.00,1.62,0.00,0.000,4,0.000,0.047,2968,3161,2033
$GC,17306,0.63,194.6,54.0,8.6,1664,17309,0.00,1.52,0.00,0.000,6,0.000,0.031,2975,2275,2033
$GC,17503,0.63,197.0,39.3,7.4,1683,17505,0.00,1.15,0.00,0.000,4,0.000,0.036,2981,1371,2034
$GC,17748,0.88,401.5,25.9,2.1,1706,17904,0.10,1.17,152.12,0.519,6,0.054,0.036,3040,2273,1202
$STATE,18045,end climb,SURFACE_DEPTH_REACHED
$STATE,18045,begin surface coast
$FINISH,0.7,1.002211
$STATE,18076,end surface coast,CONTROL_FINISHED_OK
$STATE,18076,begin surface
$SM_CCo,18091,85.90,0.486,0,0,495,575.22
$SM_GC,1.66,0.00,0.00,85.90,0.000,0.000,0.486,194,2390,495,-7.98,0.42,575.22
$IRIDIUM_FIX,2833.46,-8838.92,031099,050536
$TT8_MAMPS,0.051389
$HUMID,1357
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,22.8,40.556
$10V_AH,10.6,56.250
$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,19.825,66.450,473.900,85.900,0.000,28.097,35.677,273.745,4.250,0.000,0.000,18.990,0.000,12198.877,614.274,5132.742,666.569,33.368,2056.473,0.000,4605.219,0.000,32.953,0.000
$DEVICE_MAMPS,254.644,68.263,1231.802,486.278,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1186.851,1268.114,3902.126,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91578,1736
$CAP_FILE_SIZE,158457,0
$CFSIZE,260165632,234520576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.060,143.8,1
$GPS,090710,155300,2842.974,-8834.733,37,1.1,42,-0.3