version: 66.04
glider: 515
mission: 5
dive: 242
start: 7 11 110 20 5 59
data:
$ID,515
$MISSION,5
$DIVE,242
$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,-14
$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,-17876.598
$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,41
$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
$GPS1,195736,2844.064,-8826.253,34,1.6,34,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-72.1
$GPS2,200420,2844.028,-8826.282,15,2.0,15,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.257,0.064
$KALMAN_X,-51406.4,80.2,2.3,90085.6,1001.7
$KALMAN_Y,-283615.2,480.0,212.6,311946.7,-10819.6
$MHEAD_RNG_PITCHd_Wd,279.3,30554,-10.8,-7.500
$D_GRID,1464
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.63,-194.6,0.0,0.0,0,59,0.00,0.00,-43.25,0.000,2,0.000,0.000,193,2394,1705
$GC,61,-0.63,-194.6,3.3,-4.7,4,132,10.50,1.45,-56.58,0.000,4,0.253,0.064,2531,3254,3635
$GC,374,-0.63,-194.6,53.1,-16.2,33,378,0.00,1.42,0.00,0.000,6,0.000,0.026,2536,2354,3637
$GC,571,-0.63,-194.6,81.4,-14.1,52,574,0.00,1.50,0.00,0.000,4,0.000,0.041,2531,3254,3637
$GC,742,-0.63,-194.6,105.8,-13.4,68,745,0.00,1.40,0.00,0.000,6,0.000,0.026,2535,2357,3638
$GC,1064,-0.63,-194.6,146.4,-11.3,99,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2356,3638
$GC,1373,-0.63,-194.6,182.8,-11.0,129,1376,0.00,1.20,0.00,0.000,4,0.000,0.035,2536,1494,3637
$GC,1416,-0.63,-194.6,187.8,-12.2,133,1419,0.00,1.23,0.00,0.000,6,0.000,0.035,2532,2354,3637
$GC,1738,-0.63,-194.6,224.9,-11.7,164,1741,0.00,1.23,0.00,0.000,4,0.000,0.035,2532,1489,3636
$GC,1781,-0.63,-194.6,230.0,-11.4,168,1784,0.00,1.30,0.00,0.000,6,0.000,0.038,2527,2390,3636
$GC,2103,-0.63,-194.6,267.6,-11.3,199,2106,0.00,1.27,0.00,0.000,4,0.000,0.036,2527,1503,3634
$GC,2149,-0.63,-194.6,273.2,-11.3,203,2157,0.00,1.25,0.00,0.000,6,0.000,0.037,2521,2362,3634
$GC,2467,-0.63,-194.6,310.5,-11.7,234,2468,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2362,3632
$GC,2777,-0.63,-194.6,345.6,-11.6,264,2780,0.00,1.25,0.00,0.000,4,0.000,0.038,2521,1497,3630
$GC,2834,-0.63,-194.6,352.3,-10.7,269,2843,0.00,1.33,0.00,0.000,6,0.000,0.038,2515,2391,3629
$GC,3152,-0.63,-194.6,388.4,-11.7,300,3153,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2391,3627
$GC,3461,-0.63,-194.6,424.7,-11.9,330,3464,0.00,1.30,0.00,0.000,4,0.000,0.039,2515,1501,3625
$GC,3514,-0.63,-194.6,430.8,-11.3,335,3518,0.10,1.25,0.00,0.000,6,0.135,0.041,2541,2357,3625
$GC,3835,-0.63,-194.6,461.6,-9.4,366,3836,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2357,3622
$GC,4145,-0.63,-194.6,491.0,-9.2,396,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2357,3620
$GC,4456,-0.63,-194.6,519.6,-9.1,426,4457,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2357,3618
$GC,4766,-0.63,-194.6,548.6,-9.3,456,4767,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2357,3615
$GC,5077,-0.63,-194.6,577.7,-9.3,486,5078,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2357,3613
$GC,5387,-0.63,-194.6,607.1,-9.6,516,5390,0.00,1.25,0.00,0.000,4,0.000,0.043,2541,1500,3610
$GC,5430,-0.63,-194.6,611.2,-9.3,520,5433,0.00,1.30,0.00,0.000,6,0.000,0.046,2538,2372,3610
$GC,5752,-0.63,-194.6,640.8,-8.9,551,5752,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2372,3608
$GC,6062,-0.63,-194.6,669.2,-9.1,581,6064,0.00,1.30,0.00,0.000,4,0.000,0.044,2538,1499,3606
$GC,6104,-0.63,-194.6,673.3,-9.7,585,6107,0.00,1.33,0.00,0.000,6,0.000,0.047,2532,2382,3606
$GC,6426,-0.63,-194.6,703.0,-9.5,616,6429,0.00,1.30,0.00,0.000,4,0.000,0.044,2532,1509,3604
$GC,6458,-0.63,-194.6,706.1,-9.9,619,6461,0.00,1.27,0.00,0.000,6,0.000,0.046,2527,2362,3604
$GC,6780,-0.63,-194.6,736.8,-9.6,650,6781,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2363,3602
$GC,7089,-0.63,-194.6,765.7,-9.1,680,7090,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2363,3600
$GC,7399,-0.63,-194.6,793.6,-9.1,710,7400,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2363,3599
$GC,7710,-0.63,-194.6,821.8,-9.2,740,7711,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2363,3597
$GC,8022,-0.63,-194.6,850.6,-9.3,770,8023,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2363,3595
$GC,8332,-0.63,-194.6,879.0,-9.0,800,8333,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2364,3594
$GC,8641,-0.63,-194.6,907.4,-8.7,830,8644,0.00,1.27,0.00,0.000,4,0.000,0.047,2527,1513,3592
$GC,8694,-0.63,-194.6,912.3,-9.3,835,8697,0.00,1.33,0.00,0.000,6,0.000,0.049,2521,2383,3592
$GC,9015,-0.63,-194.6,943.2,-9.5,866,9018,0.00,1.30,0.00,0.000,4,0.000,0.046,2521,1515,3591
$GC,9072,-0.63,-194.6,949.0,-10.6,871,9080,0.00,1.30,0.00,0.000,6,0.000,0.048,2516,2367,3591
$GC,9389,-0.63,-194.6,977.5,-9.8,902,9390,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2368,3589
$STATE,9523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9523,begin apogee
$GC,9528,-0.25,0.0,990.1,8.5,915,9686,0.50,0.00,152.25,1.242,6,0.140,0.000,2663,2304,2839
$STATE,9686,end apogee,CONTROL_FINISHED_OK
$STATE,9686,begin climb
$GC,9688,0.63,194.6,994.5,0.0,931,9864,0.93,0.00,169.50,1.210,6,0.102,0.000,2950,2304,2045
$GC,10173,0.63,194.6,942.3,11.6,978,10176,0.00,1.30,0.00,0.000,4,0.000,0.051,2955,1383,2035
$GC,10258,0.63,194.6,932.2,11.9,986,10261,0.00,1.23,0.00,0.000,6,0.000,0.044,2955,2275,2035
$GC,10579,0.63,194.6,892.9,12.6,1017,10582,0.00,1.23,0.00,0.000,4,0.000,0.044,2961,1365,2032
$GC,10632,0.63,194.6,886.4,12.0,1022,10636,0.00,1.25,0.00,0.000,6,0.000,0.044,2961,2278,2032
$GC,10954,0.63,194.6,846.7,12.1,1053,10957,0.00,1.23,0.00,0.000,4,0.000,0.044,2966,1370,2031
$GC,10991,0.63,194.6,841.9,13.1,1056,10998,0.00,1.23,0.00,0.000,6,0.000,0.044,2966,2272,2031
$GC,11308,0.63,194.6,801.7,12.9,1087,11311,0.00,1.65,0.00,0.000,4,0.000,0.054,2966,3173,2030
$GC,11329,0.63,194.6,798.9,13.0,1089,11332,0.00,1.58,0.00,0.000,6,0.000,0.038,2973,2278,2029
$GC,11649,0.63,194.6,756.7,12.7,1120,11653,0.00,1.20,0.00,0.000,4,0.000,0.044,2979,1373,2029
$GC,11681,0.63,194.6,752.5,13.0,1123,11684,0.00,1.25,0.00,0.000,6,0.000,0.044,2979,2282,2029
$GC,12002,0.63,194.6,710.0,13.4,1154,12003,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2282,2028
$GC,12313,0.63,194.6,669.0,12.8,1184,12316,0.00,1.25,0.00,0.000,4,0.000,0.044,2985,1363,2028
$GC,12377,0.63,194.6,661.0,13.2,1190,12380,0.10,1.23,0.00,0.000,6,0.145,0.044,2953,2271,2028
$GC,12698,0.63,194.6,625.3,10.9,1221,12699,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2271,2028
$GC,13008,0.63,194.6,590.2,11.7,1251,13009,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2271,2027
$GC,13318,0.63,194.6,554.9,11.1,1281,13321,0.00,1.20,0.00,0.000,4,0.000,0.044,2957,1376,2027
$GC,13351,0.63,194.6,551.4,11.3,1284,13354,0.00,1.23,0.00,0.000,6,0.000,0.043,2957,2278,2027
$GC,13673,0.63,194.6,514.6,11.6,1315,13676,0.00,1.23,0.00,0.000,4,0.000,0.043,2963,1367,2027
$GC,13719,0.63,194.6,509.2,11.7,1319,13727,0.00,1.25,0.00,0.000,6,0.000,0.043,2962,2279,2027
$GC,14037,0.63,194.6,471.9,12.0,1350,14038,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2278,2027
$GC,14347,0.63,194.6,435.0,11.9,1380,14348,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2279,2027
$GC,14657,0.63,194.6,398.7,11.8,1410,14660,0.00,1.23,0.00,0.000,4,0.000,0.042,2967,1365,2027
$GC,14710,0.63,194.6,392.4,11.8,1415,14713,0.00,1.23,0.00,0.000,6,0.000,0.043,2967,2275,2027
$GC,15033,0.63,194.6,352.8,12.3,1446,15033,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2275,2027
$GC,15341,0.63,194.6,316.1,11.7,1476,15345,0.00,1.23,0.00,0.000,4,0.000,0.041,2972,1356,2027
$GC,15384,0.63,194.6,311.0,12.0,1480,15387,0.00,1.23,0.00,0.000,6,0.000,0.041,2973,2274,2027
$GC,15705,0.63,194.6,271.8,12.8,1511,15705,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2274,2027
$GC,16016,0.63,194.6,233.0,12.0,1541,16019,0.00,1.20,0.00,0.000,4,0.000,0.040,2978,1369,2027
$GC,16073,0.63,194.6,225.9,11.1,1546,16080,0.00,1.25,0.00,0.000,6,0.000,0.039,2978,2285,2027
$GC,16391,0.63,194.6,186.3,11.8,1577,16394,0.00,1.23,0.00,0.000,4,0.000,0.039,2983,1367,2027
$GC,16445,0.63,194.6,179.9,11.3,1582,16448,0.10,1.20,0.00,0.000,6,0.137,0.039,2950,2273,2028
$GC,16765,0.63,194.6,147.8,10.0,1613,16766,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2274,2028
$GC,17076,0.63,194.6,117.0,9.9,1643,17077,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2274,2029
$GC,17386,0.63,194.6,88.0,8.8,1673,17389,0.00,1.60,0.00,0.000,4,0.000,0.048,2950,3164,2030
$GC,17418,0.63,194.6,85.3,8.5,1676,17421,0.00,1.55,0.00,0.000,6,0.000,0.031,2955,2266,2030
$GC,17615,0.64,208.7,69.5,7.1,1695,17627,0.00,0.00,10.20,0.505,6,0.000,0.000,2956,2266,1989
$GC,17811,0.64,208.7,54.8,7.7,1714,17814,0.00,1.12,0.00,0.000,4,0.000,0.036,2961,1375,1989
$GC,17901,0.70,253.4,48.3,6.3,1722,17944,0.00,1.20,35.28,0.535,6,0.000,0.035,2961,2275,1806
$GC,18129,0.81,341.6,34.6,5.2,1744,18201,0.12,1.25,66.78,0.523,4,0.066,0.035,3029,1363,1446
$GC,18287,0.84,367.0,23.9,6.8,1758,18310,0.00,1.23,19.83,0.490,6,0.000,0.035,3029,2277,1342
$GC,18495,0.84,367.0,8.4,7.9,1778,18496,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2278,1338
$STATE,18576,end climb,SURFACE_DEPTH_REACHED
$STATE,18576,begin surface coast
$FINISH,3.0,1.018343
$STATE,18617,end surface coast,CONTROL_FINISHED_OK
$STATE,18617,begin surface
$SM_CCo,18620,138.65,0.486,0,0,403,597.54
$SM_GC,1.86,7.75,0.00,0.00,0.045,0.000,0.000,201,2390,399,-7.90,0.40,598.52
$IRIDIUM_FIX,2831.00,-8829.10,051099,151515
$TT8_MAMPS,0.051389
$HUMID,1344
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,23.70
$XPDR_PINGS,7
$24V_AH,22.8,42.263
$10V_AH,10.6,58.706
$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,20.100,69.950,453.825,138.650,0.000,30.044,29.554,222.358,5.500,0.000,0.000,18.696,0.000,12660.726,637.349,5322.134,679.117,33.340,2120.587,0.000,4754.955,0.000,28.329,0.000
$DEVICE_MAMPS,253.110,69.030,1241.773,486.278,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1225.102,1305.378,4023.241,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94589,1790
$CAP_FILE_SIZE,167379,0
$CFSIZE,260165632,233553920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.148,173.1,1
$GPS,120710,012130,2843.008,-8829.071,39,0.9,45,-0.4