version: 66.04
glider: 515
mission: 5
dive: 136
start: 6 18 110 9 22 56
data:
$ID,515
$MISSION,5
$DIVE,136
$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,350
$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,-7640.0771
$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,0.0049999999
$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,34
$R_STBD_OVSHOOT,21
$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,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
$GPS1,091702,2842.958,-8843.812,38,1.9,38,-0.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-68.4
$GPS2,092217,2842.970,-8843.857,9,2.5,28,-0.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.105,0.276
$KALMAN_X,-235934.1,110.3,-62.6,252832.2,957.6
$KALMAN_Y,-65153.0,-206.2,446.2,53133.8,-8507.8
$MHEAD_RNG_PITCHd_Wd,261.7,2135,-27.2,-10.000
$D_GRID,1102
$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,-1.26,-63.0,0.0,0.0,0,59,0.00,0.00,-45.80,0.000,2,0.000,0.000,206,2362,1942
$GC,61,-1.33,-118.4,3.4,-4.1,4,108,9.62,1.60,-31.92,0.000,4,0.268,0.063,2289,3281,3324
$GC,350,-1.33,-118.4,61.6,-15.7,31,353,0.00,1.50,0.00,0.000,6,0.000,0.029,2295,2368,3327
$GC,547,-1.33,-118.4,98.0,-20.0,50,550,0.00,1.52,0.00,0.000,4,0.000,0.041,2289,3270,3329
$GC,792,-1.33,-118.4,153.6,-22.7,73,795,0.00,1.48,0.00,0.000,6,0.000,0.028,2295,2365,3329
$GC,1114,-1.33,-118.4,219.6,-19.8,104,1117,0.00,1.52,0.00,0.000,4,0.000,0.041,2289,3270,3329
$GC,1145,-1.33,-118.4,226.3,-21.0,107,1149,0.00,1.45,0.00,0.000,6,0.000,0.028,2294,2373,3329
$GC,1468,-1.33,-118.4,291.8,-20.4,138,1470,0.00,1.50,0.00,0.000,4,0.000,0.042,2289,3265,3329
$GC,1499,-1.33,-118.4,298.6,-21.4,141,1502,0.00,1.45,0.00,0.000,6,0.000,0.029,2295,2371,3328
$GC,1821,-1.33,-118.4,363.9,-19.6,172,1822,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2370,3327
$GC,2130,-1.33,-118.4,427.3,-20.7,202,2133,0.00,1.20,0.00,0.000,4,0.000,0.039,2301,1483,3325
$GC,2322,-1.33,-118.4,466.2,-20.5,220,2326,0.00,1.27,0.00,0.000,6,0.000,0.037,2296,2377,3324
$GC,2644,-1.33,-118.4,530.2,-18.9,251,2647,0.00,1.50,0.00,0.000,4,0.000,0.048,2288,3271,3321
$GC,2686,-1.33,-118.4,538.9,-20.4,255,2689,0.00,1.45,0.00,0.000,6,0.000,0.033,2294,2379,3320
$GC,3008,-1.33,-118.4,602.7,-19.3,286,3008,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2377,3318
$GC,3317,-1.33,-118.4,662.7,-18.3,316,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2377,3315
$GC,3628,-1.33,-118.4,721.1,-19.0,346,3631,0.00,1.52,0.00,0.000,4,0.000,0.050,2287,3270,3312
$GC,3756,-1.33,-118.4,746.0,-19.4,358,3759,0.00,1.48,0.00,0.000,6,0.000,0.036,2293,2375,3311
$GC,4077,-1.33,-118.4,805.5,-18.5,389,4078,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2374,3308
$GC,4387,-1.33,-118.4,862.0,-18.6,419,4390,0.00,1.52,0.00,0.000,4,0.000,0.051,2287,3262,3306
$GC,4451,-1.33,-118.4,874.1,-19.1,425,4454,0.00,1.45,0.00,0.000,6,0.000,0.037,2293,2379,3305
$GC,4772,-1.33,-118.4,931.8,-18.1,456,4775,0.00,1.52,0.00,0.000,4,0.000,0.052,2287,3266,3303
$GC,4911,-1.33,-118.4,957.5,-18.8,469,4914,0.00,1.48,0.00,0.000,6,0.000,0.038,2293,2375,3301
$STATE,5108,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5108,begin apogee
$GC,5112,-0.30,0.0,991.5,17.3,488,5209,1.25,0.00,90.75,1.242,6,0.206,0.000,2625,2249,2841
$STATE,5209,end apogee,CONTROL_FINISHED_OK
$STATE,5209,begin climb
$GC,5211,1.33,118.4,996.5,0.0,498,5318,1.70,1.17,99.85,1.216,4,0.121,0.041,3155,1349,2355
$GC,5364,1.33,118.4,972.2,22.0,511,5372,0.00,1.27,0.00,0.000,6,0.000,0.042,3154,2269,2350
$GC,5681,1.33,118.4,900.6,22.4,542,5684,0.00,1.65,0.00,0.000,4,0.000,0.053,3155,3136,2344
$GC,5716,1.33,118.4,891.6,24.2,545,5724,0.00,1.65,0.00,0.000,6,0.000,0.036,3161,2249,2344
$GC,6034,1.33,118.4,820.1,22.5,576,6037,0.00,1.67,0.00,0.000,4,0.000,0.053,3161,3143,2342
$GC,6112,1.33,118.4,801.0,24.5,583,6121,0.00,1.65,0.00,0.000,6,0.000,0.036,3168,2247,2341
$GC,6430,1.33,118.4,730.2,22.6,614,6433,0.00,1.12,0.00,0.000,4,0.000,0.043,3173,1344,2340
$GC,6483,1.33,118.4,718.5,21.3,619,6486,0.00,1.20,0.00,0.000,6,0.000,0.043,3173,2267,2339
$GC,6805,1.33,118.4,648.8,20.5,650,6805,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2270,2337
$GC,7114,1.33,118.4,580.6,21.8,680,7115,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2270,2336
$GC,7424,1.33,118.4,512.7,22.3,710,7425,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2270,2335
$GC,7736,1.33,118.4,444.6,22.3,740,7736,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2270,2334
$GC,8045,1.33,118.4,376.8,22.0,770,8046,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2270,2333
$GC,8356,1.33,118.4,309.8,21.2,800,8357,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2270,2333
$GC,8666,1.33,118.4,243.1,21.3,830,8669,0.00,1.17,0.00,0.000,4,0.000,0.041,3179,1340,2332
$GC,8709,1.33,118.4,233.6,22.9,834,8712,0.00,1.17,0.00,0.000,6,0.000,0.041,3178,2261,2333
$GC,9030,1.33,118.4,164.2,22.1,865,9033,0.00,1.60,0.00,0.000,4,0.000,0.050,3178,3121,2333
$GC,9126,1.33,118.4,143.2,21.9,874,9129,0.00,1.58,0.00,0.000,6,0.000,0.035,3185,2246,2332
$GC,9447,1.33,118.4,77.7,20.3,905,9450,0.00,1.65,0.00,0.000,4,0.000,0.048,3179,3131,2332
$GC,9585,1.33,118.4,49.3,20.8,918,9589,0.00,1.58,0.00,0.000,6,0.000,0.032,3186,2250,2332
$GC,9782,1.37,151.2,23.6,6.5,937,9809,0.00,1.12,22.05,0.549,4,0.000,0.038,3191,1337,2223
$GC,10051,1.50,252.5,12.0,-0.8,962,10129,0.00,1.17,75.05,0.540,6,0.000,0.037,3191,2266,1809
$GC,10315,1.60,337.6,7.8,0.9,986,10330,0.15,0.00,13.52,0.488,2,0.073,0.000,3252,2267,1736
$STATE,10331,end climb,NO_VERTICAL_VELOCITY
$STATE,10331,begin surface
$SM_CCo,10333,269.48,0.463,18,0,404,597.54
$SM_GC,2.14,8.62,0.00,0.00,0.058,0.000,0.000,201,2359,400,-7.87,-0.45,598.52
$IRIDIUM_FIX,2833.46,-8838.92,120999,050548
$TT8_MAMPS,0.050622
$HUMID,1302
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,23.40
$XPDR_PINGS,3
$24V_AH,23.8,25.354
$10V_AH,10.7,34.441
$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,21.350,49.350,301.225,269.475,0.000,29.294,25.796,155.501,4.500,0.000,0.000,30.937,0.000,6890.624,701.009,3125.032,378.520,33.345,1607.291,0.000,2764.792,0.000,28.334,0.000
$DEVICE_MAMPS,268.450,62.894,1241.773,463.268,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,674.706,725.455,2217.861,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53661,987
$CAP_FILE_SIZE,101509,0
$CFSIZE,260165632,243118080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,18,0
$CURRENT,0.047,201.4,1
$GPS,180610,122355,2842.638,-8845.368,41,1.3,42,-0.2