version: 66.04
glider: 515
mission: 5
dive: 110
start: 6 12 110 12 27 49
data:
$ID,515
$MISSION,5
$DIVE,110
$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,495
$T_MISSION,520
$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,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7094.7026
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2733
$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,2375
$C_ROLL_CLIMB,2280
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,300
$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,5
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,25
$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
$GPS1,122025,2841.881,-8840.781,39,1.1,39,-0.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-70.7
$GPS2,122707,2841.929,-8840.701,11,1.1,16,-0.2
$SPEED_LIMITS,0.115,0.252
$TGT_NAME,NEW0607E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.007,0.252
$KALMAN_X,-240492.1,665.7,176.5,261702.1,-6444.2
$KALMAN_Y,46279.8,1456.7,1432.1,-62949.7,-18039.5
$MHEAD_RNG_PITCHd_Wd,298.6,7037,-11.3,-6.667
$D_GRID,1027
$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,11,-0.60,-147.4,0.0,0.0,0,77,0.00,0.00,-63.90,0.000,2,0.000,0.000,197,2371,2307
$GC,79,-0.66,-194.6,3.1,-3.8,6,127,10.48,1.27,-31.70,0.000,4,0.263,0.058,2516,1479,3634
$GC,354,-0.66,-194.6,56.0,-14.1,31,363,0.00,1.33,0.00,0.000,6,0.000,0.037,2511,2384,3636
$GC,546,-0.66,-194.6,83.2,-14.5,50,547,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2385,3637
$GC,733,-0.66,-194.6,110.5,-14.5,68,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2385,3638
$GC,1043,-0.66,-194.6,156.6,-14.9,98,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2384,3638
$GC,1354,-0.66,-194.6,198.9,-13.0,128,1357,0.00,1.27,0.00,0.000,4,0.000,0.040,2512,1470,3638
$GC,1417,-0.66,-194.6,207.4,-13.7,134,1421,0.00,1.27,0.00,0.000,6,0.000,0.038,2506,2370,3638
$GC,1740,-0.66,-194.6,247.7,-12.5,165,1740,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2370,3637
$GC,2049,-0.66,-194.6,287.2,-13.0,195,2052,0.00,1.25,0.00,0.000,4,0.000,0.041,2506,1472,3635
$GC,2138,-0.66,-194.6,298.8,-12.6,203,2147,0.00,1.30,0.00,0.000,6,0.000,0.040,2500,2373,3634
$GC,2455,-0.66,-194.6,338.8,-12.6,234,2456,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2374,3633
$GC,2765,-0.66,-194.6,378.3,-13.0,264,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2374,3631
$GC,3075,-0.66,-194.6,417.7,-12.5,294,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2374,3629
$GC,3385,-0.66,-194.6,455.7,-12.2,324,3386,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2374,3626
$GC,3696,-0.66,-194.6,493.5,-12.5,354,3699,0.00,1.27,0.00,0.000,4,0.000,0.045,2500,1473,3624
$GC,3749,-0.66,-194.6,499.9,-12.2,359,3752,0.00,1.30,0.00,0.000,6,0.000,0.045,2494,2372,3624
$GC,4071,-0.66,-194.6,540.3,-12.3,390,4072,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2373,3621
$GC,4380,-0.66,-194.6,578.0,-12.1,420,4384,0.00,1.25,0.00,0.000,4,0.000,0.046,2494,1486,3620
$GC,4455,-0.66,-194.6,587.1,-12.4,427,4459,0.08,1.30,0.00,0.000,6,0.161,0.048,2513,2374,3619
$GC,4775,-0.66,-194.6,621.3,-10.7,458,4776,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2374,3616
$GC,5086,-0.66,-194.6,654.5,-11.1,488,5087,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2374,3615
$GC,5397,-0.66,-194.6,686.6,-10.1,518,5397,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2374,3613
$GC,5707,-0.66,-194.6,718.6,-10.9,548,5708,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2373,3610
$GC,6017,-0.66,-194.6,750.5,-10.4,578,6018,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2374,3608
$GC,6328,-0.66,-194.6,782.3,-10.5,608,6331,0.00,1.27,0.00,0.000,4,0.000,0.050,2513,1484,3606
$GC,6385,-0.66,-194.6,788.7,-10.5,613,6393,0.00,1.33,0.00,0.000,6,0.000,0.051,2508,2375,3606
$GC,6702,-0.66,-194.6,822.2,-10.9,644,6703,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2375,3604
$GC,7012,-0.66,-194.6,854.5,-10.3,674,7013,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2375,3603
$GC,7322,-0.66,-194.6,887.2,-10.9,704,7326,0.00,1.27,0.00,0.000,4,0.000,0.049,2508,1487,3602
$GC,7369,-0.66,-194.6,892.3,-10.3,708,7377,0.00,1.33,0.00,0.000,6,0.000,0.051,2503,2375,3601
$GC,7686,-0.66,-194.6,925.4,-10.8,739,7687,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2374,3599
$GC,7995,-0.66,-194.6,957.1,-10.2,769,7996,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2374,3599
$GC,8306,-0.66,-194.6,989.2,-10.2,799,8307,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2374,3597
$STATE,8315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8315,begin apogee
$GC,8318,-0.26,0.0,990.2,10.4,800,8471,0.47,0.00,150.10,1.262,6,0.143,0.000,2643,2288,2840
$STATE,8472,end apogee,CONTROL_FINISHED_OK
$STATE,8472,begin climb
$GC,8473,0.66,194.6,995.8,0.0,815,8645,0.95,0.00,164.35,1.226,6,0.110,0.000,2938,2288,2045
$GC,8953,0.66,194.6,943.3,12.5,861,8954,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2288,2035
$GC,9264,0.66,194.6,904.3,12.7,891,9265,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2288,2033
$GC,9574,0.66,194.6,865.2,12.6,921,9575,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2288,2031
$GC,9885,0.66,194.6,826.3,12.1,951,9888,0.00,1.20,0.00,0.000,4,0.000,0.047,2943,1373,2031
$GC,9927,0.66,194.6,821.1,11.9,955,9930,0.00,1.23,0.00,0.000,6,0.000,0.047,2943,2285,2031
$GC,10249,0.66,194.6,780.8,12.2,986,10249,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2285,2030
$GC,10558,0.66,194.6,741.6,13.0,1016,10559,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2285,2029
$GC,10869,0.66,194.6,702.2,12.5,1046,10870,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2285,2028
$GC,11179,0.66,194.6,664.1,12.5,1076,11180,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2285,2028
$GC,11490,0.66,194.6,626.0,12.4,1106,11491,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2285,2028
$GC,11800,0.66,194.6,588.5,12.0,1136,11801,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2285,2027
$GC,12111,0.66,194.6,550.8,12.0,1166,12111,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2285,2027
$GC,12421,0.66,194.6,513.9,11.8,1196,12424,0.00,1.20,0.00,0.000,4,0.000,0.045,2949,1369,2027
$GC,12489,0.66,194.6,505.6,11.6,1202,12497,0.00,1.23,0.00,0.000,6,0.000,0.045,2948,2283,2027
$GC,12806,0.66,194.6,467.6,12.2,1233,12809,0.00,1.62,0.00,0.000,4,0.000,0.056,2948,3167,2026
$GC,12837,0.66,194.6,463.5,13.4,1236,12841,0.00,1.58,0.00,0.000,6,0.000,0.040,2956,2279,2026
$GC,13159,0.66,194.6,422.4,12.6,1267,13160,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2279,2026
$GC,13468,0.66,194.6,382.5,12.9,1297,13469,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2279,2026
$GC,13779,0.66,194.6,342.4,12.8,1327,13780,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2279,2026
$GC,14090,0.66,194.6,302.7,12.5,1357,14093,0.00,1.62,0.00,0.000,4,0.000,0.054,2956,3170,2026
$GC,14121,0.66,194.6,298.3,13.1,1360,14124,0.00,1.58,0.00,0.000,6,0.000,0.038,2963,2279,2026
$GC,14443,0.66,194.6,255.6,13.4,1391,14446,0.00,1.15,0.00,0.000,4,0.000,0.044,2968,1371,2026
$GC,14474,0.66,194.6,251.1,14.2,1394,14477,0.00,1.20,0.00,0.000,6,0.000,0.043,2968,2283,2026
$GC,14795,0.66,194.6,206.8,13.9,1425,14798,0.00,1.60,0.00,0.000,4,0.000,0.053,2968,3164,2026
$GC,14838,0.66,194.6,200.3,16.3,1429,14841,0.00,1.55,0.00,0.000,6,0.000,0.037,2976,2281,2026
$GC,15158,0.66,194.6,154.5,13.8,1460,15159,0.12,0.00,0.00,0.000,6,0.166,0.000,2944,2279,2027
$GC,15469,0.66,194.6,121.0,10.9,1490,15472,0.00,1.15,0.00,0.000,4,0.000,0.041,2948,1368,2028
$GC,15512,0.66,194.6,116.6,10.0,1494,15515,0.00,1.17,0.00,0.000,6,0.000,0.041,2948,2277,2028
$GC,15833,0.66,194.6,81.3,10.6,1525,15836,0.00,1.60,0.00,0.000,4,0.000,0.049,2948,3166,2029
$GC,15896,0.66,194.6,74.2,11.8,1531,15899,0.00,1.55,0.00,0.000,6,0.000,0.034,2955,2278,2028
$GC,16093,0.66,194.6,53.0,11.0,1550,16093,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2278,2030
$GC,16279,0.66,194.6,36.1,6.9,1568,16280,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2278,2030
$GC,16466,0.73,250.1,24.6,5.0,1586,16511,0.00,1.62,40.17,0.539,4,0.000,0.048,2955,3166,1819
$GC,16543,0.78,292.3,20.6,5.4,1593,16579,0.00,1.58,32.22,0.528,6,0.000,0.031,2963,2278,1647
$GC,16772,0.88,376.2,10.6,4.1,1615,16844,0.15,1.70,61.88,0.520,4,0.061,0.045,3042,3178,1305
$GC,16923,1.03,496.9,3.9,2.9,1628,16957,0.00,1.60,30.35,0.501,2,0.000,0.030,3047,2277,1140
$STATE,16957,end climb,SURFACE_DEPTH_REACHED
$STATE,16957,begin surface coast
$FINISH,0.6,1.019192
$STATE,17036,end surface coast,CONTROL_FINISHED_OK
$STATE,17037,begin surface
$SM_CCo,17050,90.10,0.502,0,0,494,575.22
$SM_GC,1.56,0.00,0.00,90.10,0.000,0.000,0.502,200,2378,494,-7.91,0.08,575.22
$IRIDIUM_FIX,2828.55,-8838.98,060999,060611
$TT8_MAMPS,0.051389
$HUMID,1293
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.50
$XPDR_PINGS,1
$24V_AH,23.4,21.483
$10V_AH,10.7,28.415
$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,20.075,47.150,479.075,90.100,0.000,25.150,27.934,240.221,0.250,0.000,0.000,18.775,0.000,11608.323,603.888,4781.113,521.774,33.351,1925.959,0.000,4305.420,0.000,0.847,0.000
$DEVICE_MAMPS,263.081,68.263,1261.715,502.385,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1121.994,1194.546,3683.948,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85157,1639
$CAP_FILE_SIZE,145865,0
$CFSIZE,260165632,245497856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$CURRENT,0.071,210.6,1
$GPS,120610,171431,2842.521,-8843.732,42,1.0,42,-0.2