version: 66.04
glider: 515
mission: 5
dive: 133
start: 6 17 110 22 31 53
data:
$ID,515
$MISSION,5
$DIVE,133
$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,330
$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,-7518.7915
$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,23
$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,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,26
$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
$GPS1,222236,2843.747,-8836.621,45,1.1,45,-0.3
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-73.2
$GPS2,223114,2843.711,-8836.685,9,1.3,9,-0.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.221,0.195
$KALMAN_X,-237540.3,-736.0,250.8,266619.0,2286.3
$KALMAN_Y,-54671.1,94.0,1026.1,43107.9,-4038.0
$MHEAD_RNG_PITCHd_Wd,288.4,13724,-14.9,-10.000
$D_GRID,950
$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,-0.89,-194.6,0.0,0.0,0,57,0.00,0.00,-43.40,0.000,2,0.000,0.000,206,2354,1838
$GC,59,-0.89,-194.6,3.2,-3.8,4,119,10.00,1.58,-47.30,0.000,4,0.258,0.060,2434,3264,3636
$GC,358,-0.89,-194.6,60.7,-19.1,31,366,0.00,1.50,0.00,0.000,6,0.000,0.026,2439,2362,3638
$GC,551,-0.89,-194.6,98.3,-19.7,50,554,0.00,1.52,0.00,0.000,4,0.000,0.042,2434,3260,3639
$GC,796,-0.89,-194.6,149.0,-19.5,73,800,0.00,1.45,0.00,0.000,6,0.000,0.028,2438,2370,3639
$GC,1118,-0.89,-194.6,207.8,-18.2,104,1121,0.00,1.52,0.00,0.000,4,0.000,0.043,2434,3269,3639
$GC,1278,-0.89,-194.6,238.4,-19.9,119,1281,0.00,1.45,0.00,0.000,6,0.000,0.029,2438,2373,3638
$GC,1599,-0.89,-194.6,294.5,-17.6,150,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2372,3637
$GC,1909,-0.89,-194.6,348.4,-17.2,180,1910,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2372,3634
$GC,2219,-0.89,-194.6,402.2,-16.8,210,2220,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2373,3632
$GC,2530,-0.89,-194.6,454.8,-17.2,240,2533,0.00,1.52,0.00,0.000,4,0.000,0.048,2433,3262,3628
$GC,2566,-0.89,-194.6,461.2,-17.8,243,2573,0.00,1.48,0.00,0.000,6,0.000,0.032,2433,2372,3628
$GC,2883,-0.89,-194.6,516.0,-17.2,274,2884,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2371,3625
$GC,3193,-0.89,-194.6,569.1,-16.7,304,3194,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2371,3621
$GC,3503,-0.89,-194.6,621.2,-16.5,334,3506,0.00,1.52,0.00,0.000,4,0.000,0.052,2427,3255,3618
$GC,3524,-0.89,-194.6,623.6,-12.1,336,3527,0.00,1.45,0.00,0.000,6,0.000,0.036,2430,2377,3618
$GC,3846,-0.89,-194.6,672.6,-16.3,367,3847,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2376,3615
$GC,4155,-0.89,-194.6,723.2,-15.9,397,4156,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2376,3613
$GC,4466,-0.89,-194.6,771.7,-15.7,427,4469,0.00,1.52,0.00,0.000,4,0.000,0.054,2425,3258,3610
$GC,4551,-0.89,-194.6,785.2,-15.3,435,4554,0.00,1.48,0.00,0.000,6,0.000,0.037,2428,2372,3609
$GC,4873,-0.89,-194.6,835.7,-15.9,466,4874,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2372,3606
$GC,5182,-0.89,-194.6,882.9,-14.3,496,5185,0.00,1.55,0.00,0.000,4,0.000,0.056,2423,3261,3603
$GC,5282,-0.89,-194.6,897.9,-15.7,505,5292,0.00,1.50,0.00,0.000,6,0.000,0.037,2425,2370,3602
$GC,5600,-0.89,-194.6,925.9,-0.2,536,5601,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2371,3601
$STATE,5649,end dive,NO_VERTICAL_VELOCITY
$STATE,5649,begin apogee
$GC,5653,-0.30,0.0,925.8,0.0,541,5805,0.62,0.00,149.05,1.198,6,0.087,0.000,2640,2232,2840
$STATE,5805,end apogee,CONTROL_FINISHED_OK
$STATE,5806,begin climb
$GC,5807,0.89,194.6,925.9,0.0,556,5977,1.20,0.00,161.73,1.170,6,0.119,0.000,3006,2231,2045
$GC,6286,0.89,194.6,854.4,18.2,602,6287,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2230,2035
$GC,6596,0.89,194.6,800.4,17.7,632,6600,0.00,1.73,0.00,0.000,4,0.000,0.054,3006,3135,2033
$GC,6628,0.89,194.6,794.8,17.6,635,6631,0.00,1.60,0.00,0.000,6,0.000,0.038,3014,2264,2031
$GC,6950,0.89,194.6,739.5,17.3,666,6950,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2265,2030
$GC,7260,0.89,194.6,686.8,16.4,696,7263,0.00,1.17,0.00,0.000,4,0.000,0.044,3020,1339,2029
$GC,7312,0.89,194.6,678.1,16.3,701,7316,0.00,1.17,0.00,0.000,6,0.000,0.044,3020,2254,2029
$GC,7634,0.89,194.6,624.1,16.9,732,7635,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2254,2028
$GC,7944,0.89,194.6,572.4,17.2,762,7945,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2254,2027
$GC,8254,0.89,194.6,521.2,16.0,792,8258,0.00,1.15,0.00,0.000,4,0.000,0.043,3025,1346,2027
$GC,8308,0.89,194.6,512.7,15.8,797,8311,0.00,1.17,0.00,0.000,6,0.000,0.044,3026,2255,2027
$GC,8629,0.89,194.6,460.8,16.4,828,8630,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2256,2026
$GC,8939,0.89,194.6,409.2,16.7,858,8940,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2256,2025
$GC,9249,0.89,194.6,358.3,16.7,888,9250,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2256,2025
$GC,9560,0.89,194.6,306.7,17.0,918,9563,0.00,1.15,0.00,0.000,4,0.000,0.044,3030,1348,2025
$GC,9623,0.89,194.6,296.1,17.2,924,9627,0.00,1.17,0.00,0.000,6,0.000,0.044,3030,2260,2025
$GC,9945,0.89,194.6,242.7,17.0,955,9946,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2260,2025
$GC,10255,0.89,194.6,191.6,17.1,985,10258,0.00,1.17,0.00,0.000,4,0.000,0.042,3036,1333,2025
$GC,10318,0.89,194.6,181.2,15.5,991,10322,0.00,1.17,0.00,0.000,6,0.000,0.042,3036,2253,2025
$GC,10639,0.89,194.6,130.0,14.5,1022,10643,0.00,1.62,0.00,0.000,4,0.000,0.053,3035,3121,2025
$GC,10682,0.89,194.6,123.1,17.0,1026,10685,0.00,1.58,0.00,0.000,6,0.000,0.036,3044,2248,2025
$GC,11002,0.89,194.6,74.4,15.1,1057,11006,0.00,1.10,0.00,0.000,4,0.000,0.041,3049,1351,2026
$GC,11049,0.89,194.6,67.6,14.5,1061,11058,0.12,1.17,0.00,0.000,6,0.162,0.041,3018,2260,2026
$GC,11241,0.89,194.6,45.1,10.7,1080,11242,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2260,2026
$GC,11428,0.99,277.0,28.9,7.1,1098,11494,0.00,1.65,59.00,0.554,4,0.000,0.050,3017,3119,1710
$GC,11515,1.06,333.7,22.5,8.0,1106,11564,0.10,1.60,43.08,0.536,6,0.054,0.034,3078,2245,1478
$GC,11747,1.33,554.6,6.8,2.3,1128,11915,0.22,1.70,160.68,0.522,4,0.054,0.044,3181,3138,579
$STATE,11956,end climb,SURFACE_DEPTH_REACHED
$STATE,11956,begin surface coast
$FINISH,1.3,1.014799
$STATE,12085,end surface coast,CONTROL_FINISHED_OK
$STATE,12085,begin surface
$SM_CCo,12099,14.90,0.472,0,0,494,575.22
$SM_GC,4.02,0.00,0.00,14.90,0.000,0.000,0.472,201,2370,494,-7.91,-0.14,575.22
$IRIDIUM_FIX,2833.46,-8831.56,110999,141455
$TT8_MAMPS,0.051389
$HUMID,1414
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,23.5,24.896
$10V_AH,10.6,33.985
$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,20.625,45.775,573.525,14.900,0.000,29.469,30.204,328.127,0.000,0.000,0.000,10.919,0.000,7939.524,572.034,3503.810,566.962,33.340,1627.013,0.000,3143.104,0.000,0.846,0.000
$DEVICE_MAMPS,257.712,59.826,1198.054,471.705,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,788.552,844.399,2603.584,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,60025,1158
$CAP_FILE_SIZE,113065,0
$CFSIZE,260165632,243286016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.097,204.6,1
$GPS,180610,015440,2843.888,-8838.799,13,3.8,33,-0.3