version: 66.04
glider: 515
mission: 5
dive: 286
start: 7 21 110 20 42 42
data:
$ID,515
$MISSION,5
$DIVE,286
$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,597.54108
$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,-23917.295
$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,27
$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,2325
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,40
$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
$GPS1,203437,2842.965,-8840.107,39,0.8,39,-0.3
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-67.4
$GPS2,204201,2843.009,-8840.133,9,0.8,14,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.214,0.155
$KALMAN_X,23675.1,-404.6,-815.5,-6205.8,5736.7
$KALMAN_Y,-425233.0,1046.5,1266.8,450037.8,-11319.3
$MHEAD_RNG_PITCHd_Wd,82.1,22978,-10.8,-7.500
$D_GRID,1011
$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,-0.64,-194.6,0.0,0.0,0,77,0.00,0.00,-63.33,0.000,2,0.000,0.000,191,2343,2208
$GC,79,-0.64,-194.6,3.3,-3.8,6,128,10.57,1.50,-33.92,0.000,4,0.254,0.065,2526,3211,3636
$GC,150,-0.64,-194.6,15.9,-23.5,12,153,0.00,1.45,0.00,0.000,6,0.000,0.028,2531,2331,3637
$GC,347,-0.64,-194.6,56.9,-14.3,31,349,0.00,1.25,0.00,0.000,4,0.000,0.034,2537,1409,3637
$GC,378,-0.64,-194.6,61.3,-14.3,34,381,0.00,1.25,0.00,0.000,6,0.000,0.037,2533,2312,3637
$GC,575,-0.64,-194.6,87.3,-12.6,53,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2313,3638
$GC,762,-0.64,-194.6,110.3,-12.5,71,765,0.00,1.23,0.00,0.000,4,0.000,0.035,2535,1409,3639
$GC,847,-0.64,-194.6,121.1,-12.4,79,850,0.00,1.27,0.00,0.000,6,0.000,0.036,2531,2329,3639
$GC,1169,-0.64,-194.6,161.5,-13.0,110,1172,0.00,1.25,0.00,0.000,4,0.000,0.035,2531,1411,3639
$GC,1244,-0.64,-194.6,170.8,-12.4,117,1247,0.00,1.25,0.00,0.000,6,0.000,0.036,2525,2321,3639
$GC,1566,-0.64,-194.6,208.9,-11.6,148,1569,0.00,1.25,0.00,0.000,4,0.000,0.036,2525,1403,3638
$GC,1684,-0.64,-194.6,223.0,-11.9,159,1687,0.00,1.27,0.00,0.000,6,0.000,0.038,2520,2324,3637
$GC,2006,-0.64,-194.6,262.3,-12.1,190,2009,0.00,1.25,0.00,0.000,4,0.000,0.036,2519,1411,3636
$GC,2071,-0.64,-194.6,270.0,-12.1,196,2074,0.00,1.27,0.00,0.000,6,0.000,0.038,2514,2326,3635
$GC,2393,-0.64,-194.6,308.3,-12.2,227,2396,0.00,1.25,0.00,0.000,4,0.000,0.036,2514,1413,3634
$GC,2461,-0.64,-194.6,316.6,-11.8,233,2469,0.08,1.30,0.00,0.000,6,0.142,0.038,2533,2336,3632
$GC,2780,-0.64,-194.6,349.9,-10.4,264,2783,0.00,1.27,0.00,0.000,4,0.000,0.038,2534,1414,3631
$GC,2833,-0.64,-194.6,355.8,-10.8,269,2836,0.00,1.27,0.00,0.000,6,0.000,0.038,2530,2328,3630
$GC,3156,-0.64,-194.6,390.3,-10.2,300,3159,0.00,1.27,0.00,0.000,4,0.000,0.038,2530,1402,3628
$GC,3203,-0.64,-194.6,395.7,-10.8,304,3211,0.00,1.30,0.00,0.000,6,0.000,0.040,2524,2327,3627
$GC,3521,-0.64,-194.6,431.2,-11.6,335,3524,0.00,1.27,0.00,0.000,4,0.000,0.038,2524,1401,3626
$GC,3600,-0.64,-194.6,440.5,-10.7,342,3607,0.00,1.33,0.00,0.000,6,0.000,0.040,2518,2330,3625
$GC,3918,-0.64,-194.6,476.7,-11.6,373,3921,0.00,1.27,0.00,0.000,4,0.000,0.039,2518,1414,3623
$GC,3982,-0.64,-194.6,484.4,-11.7,379,3985,0.00,1.27,0.00,0.000,6,0.000,0.041,2513,2323,3622
$GC,4304,-0.64,-194.6,521.3,-11.1,410,4307,0.00,1.25,0.00,0.000,4,0.000,0.040,2513,1420,3621
$GC,4368,-0.64,-194.6,529.1,-11.9,416,4371,0.08,1.27,0.00,0.000,6,0.145,0.041,2531,2325,3620
$GC,4689,-0.64,-194.6,561.0,-9.6,447,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2325,3618
$GC,5000,-0.64,-194.6,590.4,-9.4,477,5000,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2324,3616
$GC,5309,-0.64,-194.6,619.6,-9.7,507,5313,0.00,1.27,0.00,0.000,4,0.000,0.041,2532,1410,3613
$GC,5356,-0.64,-194.6,624.0,-9.0,511,5363,0.00,1.33,0.00,0.000,6,0.000,0.043,2528,2336,3613
$GC,5675,-0.64,-194.6,655.1,-10.0,542,5678,0.00,1.30,0.00,0.000,4,0.000,0.041,2528,1413,3611
$GC,5706,-0.64,-194.6,658.4,-10.1,545,5709,0.00,1.30,0.00,0.000,6,0.000,0.044,2523,2327,3611
$GC,6030,-0.64,-194.6,690.7,-10.3,576,6030,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2327,3608
$GC,6338,-0.64,-194.6,721.3,-9.8,606,6341,0.00,1.27,0.00,0.000,4,0.000,0.042,2523,1419,3606
$GC,6380,-0.64,-194.6,725.5,-9.4,610,6383,0.00,1.27,0.00,0.000,6,0.000,0.045,2517,2314,3606
$GC,6703,-0.64,-194.6,756.7,-9.5,641,6704,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2315,3604
$GC,7012,-0.64,-194.6,787.4,-9.6,671,7012,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2315,3603
$GC,7323,-0.64,-194.6,817.4,-9.5,701,7323,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2315,3601
$GC,7633,-0.64,-194.6,847.3,-9.5,731,7635,0.00,1.25,0.00,0.000,4,0.000,0.044,2517,1428,3600
$GC,7676,-0.64,-194.6,851.6,-9.9,735,7679,0.00,1.30,0.00,0.000,6,0.000,0.048,2512,2327,3599
$GC,7997,-0.64,-194.6,882.1,-9.3,766,7998,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2327,3598
$STATE,8253,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8253,begin apogee
$GC,8259,-0.26,0.0,906.8,9.6,791,8417,0.50,0.00,152.93,1.175,6,0.136,0.000,2660,2270,2838
$STATE,8417,end apogee,CONTROL_FINISHED_OK
$STATE,8417,begin climb
$GC,8420,0.64,194.6,911.5,0.0,807,8595,0.93,0.00,167.15,1.149,6,0.101,0.000,2948,2269,2045
$GC,8904,0.64,194.6,864.0,11.0,854,8907,0.00,1.67,0.00,0.000,4,0.000,0.059,2948,3165,2035
$GC,8994,0.64,194.6,853.3,11.7,862,9001,0.00,1.55,0.00,0.000,6,0.000,0.036,2956,2275,2033
$GC,9312,0.64,194.6,816.0,11.4,893,9316,0.00,1.62,0.00,0.000,4,0.000,0.055,2956,3168,2032
$GC,9348,0.64,194.6,811.1,12.2,896,9357,0.00,1.55,0.00,0.000,6,0.000,0.035,2963,2273,2032
$GC,9666,0.64,194.6,772.8,11.8,927,9667,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2274,2030
$GC,9976,0.64,194.6,735.9,12.1,957,9979,0.00,1.62,0.00,0.000,4,0.000,0.054,2963,3187,2030
$GC,10019,0.64,194.6,730.5,12.6,961,10022,0.00,1.58,0.00,0.000,6,0.000,0.036,2971,2272,2028
$GC,10342,0.64,194.6,690.3,11.9,992,10343,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2274,2028
$GC,10650,0.64,194.6,652.6,12.0,1022,10653,0.00,1.62,0.00,0.000,4,0.000,0.054,2970,3161,2028
$GC,10687,0.64,194.6,647.7,12.8,1025,10693,0.00,1.52,0.00,0.000,6,0.000,0.036,2977,2278,2027
$GC,11005,0.64,194.6,608.1,12.4,1056,11006,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2279,2027
$GC,11314,0.64,194.6,569.9,12.7,1086,11315,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2279,2027
$GC,11624,0.64,194.6,530.0,12.8,1116,11627,0.00,1.62,0.00,0.000,4,0.000,0.054,2977,3170,2027
$GC,11656,0.64,194.6,525.7,12.6,1119,11659,0.08,1.55,0.00,0.000,6,0.125,0.035,2951,2273,2026
$GC,11977,0.64,194.6,491.0,10.5,1150,11978,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2274,2025
$GC,12287,0.64,194.6,458.8,9.9,1180,12288,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2273,2025
$GC,12598,0.64,194.6,427.8,10.2,1210,12601,0.00,1.62,0.00,0.000,4,0.000,0.053,2950,3166,2025
$GC,12640,0.64,194.6,423.2,10.7,1214,12644,0.00,1.52,0.00,0.000,6,0.000,0.035,2956,2276,2025
$GC,12963,0.64,194.6,387.6,11.6,1245,12964,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2277,2025
$GC,13272,0.64,194.6,352.9,10.9,1275,13272,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2277,2025
$GC,13583,0.64,194.6,318.7,11.1,1305,13586,0.00,1.60,0.00,0.000,4,0.000,0.051,2957,3182,2025
$GC,13651,0.64,194.6,310.7,12.1,1311,13658,0.00,1.55,0.00,0.000,6,0.000,0.033,2963,2277,2025
$GC,13970,0.64,194.6,274.7,11.4,1342,13971,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2278,2025
$GC,14279,0.64,194.6,239.4,11.7,1372,14281,0.00,1.60,0.00,0.000,4,0.000,0.049,2963,3188,2026
$GC,14314,0.64,194.6,234.8,12.5,1375,14322,0.00,1.58,0.00,0.000,6,0.000,0.032,2970,2268,2026
$GC,14633,0.64,194.6,196.6,12.0,1406,14634,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2268,2026
$GC,14941,0.64,194.6,159.5,12.0,1436,14945,0.00,1.62,0.00,0.000,4,0.000,0.048,2970,3171,2027
$GC,15006,0.64,194.6,151.9,11.3,1442,15009,0.00,1.52,0.00,0.000,6,0.000,0.031,2977,2272,2026
$GC,15327,0.64,194.6,116.1,10.5,1473,15327,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2273,2028
$GC,15638,0.64,194.6,81.6,11.0,1503,15641,0.00,1.60,0.00,0.000,4,0.000,0.047,2977,3167,2029
$GC,15706,0.64,194.6,74.1,10.5,1509,15713,0.08,1.50,0.00,0.000,6,0.133,0.029,2958,2277,2029
$GC,15898,0.64,194.6,58.5,8.1,1528,15899,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2278,2029
$GC,16085,0.68,228.4,45.7,6.6,1546,16118,0.00,0.00,25.42,0.528,6,0.000,0.000,2958,2278,1907
$GC,16303,0.89,396.5,34.3,3.1,1567,16433,0.17,1.60,125.68,0.527,4,0.055,0.043,3050,3178,1223
$GC,16465,0.89,396.5,22.7,9.3,1581,16473,0.00,1.58,0.00,0.000,6,0.000,0.027,3058,2267,1219
$GC,16658,0.94,440.6,8.1,6.3,1600,16695,0.00,1.67,33.00,0.486,4,0.000,0.044,3058,3179,1042
$STATE,16761,end climb,SURFACE_DEPTH_REACHED
$STATE,16761,begin surface coast
$FINISH,0.8,1.020256
$STATE,16814,end surface coast,CONTROL_FINISHED_OK
$STATE,16814,begin surface
$SM_CCo,16831,84.90,0.479,0,0,401,597.54
$SM_GC,1.67,0.00,0.00,84.90,0.000,0.000,0.479,187,2302,401,-8.00,-0.65,597.54
$IRIDIUM_FIX,2831.00,-8853.71,151099,151526
$TT8_MAMPS,0.049855
$HUMID,1385
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,24.20
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,860.6,66.2
$24V_AH,22.8,50.242
$10V_AH,10.5,69.117
$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,20.050,79.225,504.175,84.900,0.000,27.684,29.830,250.436,2.000,0.000,0.000,16.502,0.000,11230.248,637.044,4805.776,657.498,33.342,2017.814,0.000,4304.871,0.000,7.404,0.000
$DEVICE_MAMPS,253.877,69.797,1175.044,479.375,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1101.424,1180.834,3627.921,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85091,1614
$CAP_FILE_SIZE,150759,0
$CFSIZE,260165632,229588992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.113,116.1,1
$GPS,220710,012537,2843.175,-8836.283,36,1.2,36,-0.3