version: 66.04
glider: 515
mission: 5
dive: 192
start: 7 1 110 6 10 41
data:
$ID,515
$MISSION,5
$DIVE,192
$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,-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,8
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-16950.873
$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,2400
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$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,0
$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
$GPS1,060320,2837.257,-8845.151,42,2.2,61,-0.2
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-59.7
$GPS2,061002,2837.207,-8845.217,13,1.6,13,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618A
$TGT_LATLONG,2837.900,-8826.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.235,0.122
$KALMAN_X,-23867.1,-219.4,-747.4,32772.8,-521.4
$KALMAN_Y,-123872.1,1948.7,465.4,137827.2,-15282.9
$MHEAD_RNG_PITCHd_Wd,79.1,31264,-10.8,-7.500
$D_GRID,1133
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.63,-194.6,0.0,0.0,0,97,0.00,0.00,-82.47,0.000,2,0.000,0.000,198,2419,2755
$GC,99,-0.63,-194.6,3.1,-3.8,8,136,10.70,1.50,-22.15,0.000,4,0.259,0.064,2531,3281,3635
$GC,157,-0.63,-194.6,12.8,-21.8,13,161,0.00,1.45,0.00,0.000,6,0.000,0.028,2536,2391,3636
$GC,354,-0.63,-194.6,53.1,-13.9,32,357,0.00,1.25,0.00,0.000,4,0.000,0.036,2537,1510,3637
$GC,492,-0.63,-194.6,72.5,-13.5,45,496,0.00,1.27,0.00,0.000,6,0.000,0.037,2533,2386,3638
$GC,690,-0.63,-194.6,99.8,-13.7,64,690,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2386,3639
$GC,875,-0.63,-194.6,124.8,-13.1,82,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2386,3639
$GC,1186,-0.63,-194.6,163.4,-12.1,112,1187,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2386,3639
$GC,1497,-0.63,-194.6,198.3,-11.6,142,1497,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2386,3638
$GC,1807,-0.63,-194.6,232.6,-11.5,172,1810,0.00,1.27,0.00,0.000,4,0.000,0.038,2532,1501,3637
$GC,1860,-0.63,-194.6,238.7,-11.6,177,1863,0.00,1.33,0.00,0.000,6,0.000,0.040,2527,2409,3636
$GC,2182,-0.63,-194.6,276.7,-12.0,208,2184,0.00,1.30,0.00,0.000,4,0.000,0.038,2527,1513,3634
$GC,2239,-0.63,-194.6,284.0,-11.6,213,2247,0.00,1.27,0.00,0.000,6,0.000,0.039,2521,2390,3634
$GC,2556,-0.63,-194.6,320.8,-11.4,244,2559,0.00,1.27,0.00,0.000,4,0.000,0.038,2521,1507,3632
$GC,2602,-0.63,-194.6,326.2,-11.2,248,2610,0.00,1.35,0.00,0.000,6,0.000,0.041,2514,2416,3632
$GC,2920,-0.63,-194.6,361.3,-10.9,279,2921,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2416,3630
$GC,3229,-0.63,-194.6,396.0,-11.5,309,3233,0.12,1.30,0.00,0.000,4,0.146,0.040,2549,1513,3627
$GC,3272,-0.63,-194.6,400.4,-9.4,313,3275,0.00,1.27,0.00,0.000,6,0.000,0.042,2545,2380,3627
$GC,3594,-0.63,-194.6,430.7,-9.5,344,3594,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2381,3624
$GC,3904,-0.63,-194.6,460.9,-9.4,374,3907,0.00,1.27,0.00,0.000,4,0.000,0.041,2545,1511,3622
$GC,3935,-0.63,-194.6,464.0,-9.9,377,3938,0.00,1.35,0.00,0.000,6,0.000,0.044,2540,2419,3622
$GC,4257,-0.63,-194.6,496.1,-9.8,408,4260,0.00,1.33,0.00,0.000,4,0.000,0.042,2540,1516,3620
$GC,4304,-0.63,-194.6,500.9,-9.9,412,4311,0.00,1.30,0.00,0.000,6,0.000,0.044,2534,2394,3620
$GC,4621,-0.63,-194.6,531.8,-9.5,443,4622,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2395,3617
$GC,4931,-0.63,-194.6,562.4,-9.6,473,4934,0.00,1.30,0.00,0.000,4,0.000,0.043,2535,1512,3616
$GC,4973,-0.63,-194.6,566.6,-9.4,477,4976,0.00,1.33,0.00,0.000,6,0.000,0.046,2529,2400,3615
$GC,5295,-0.63,-194.6,599.0,-10.5,508,5296,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2400,3613
$GC,5605,-0.63,-194.6,630.3,-10.1,538,5606,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2400,3611
$GC,5915,-0.63,-194.6,661.3,-9.8,568,5918,0.00,1.30,0.00,0.000,4,0.000,0.044,2529,1520,3609
$GC,5994,-0.63,-194.6,669.2,-9.9,575,6001,0.00,1.33,0.00,0.000,6,0.000,0.047,2523,2401,3608
$GC,6311,-0.63,-194.6,701.7,-10.3,606,6312,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2401,3606
$GC,6621,-0.63,-194.6,733.7,-10.1,636,6624,0.00,1.30,0.00,0.000,4,0.000,0.045,2523,1522,3604
$GC,6668,-0.63,-194.6,738.7,-10.8,640,6675,0.00,1.35,0.00,0.000,6,0.000,0.048,2517,2404,3604
$GC,6985,-0.63,-194.6,771.3,-10.2,671,6989,0.00,1.33,0.00,0.000,4,0.000,0.044,2517,1514,3603
$GC,7049,-0.63,-194.6,778.0,-10.3,677,7052,0.08,1.33,0.00,0.000,6,0.151,0.048,2536,2394,3603
$GC,7370,-0.63,-194.6,806.2,-8.7,708,7370,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2394,3601
$GC,7681,-0.63,-194.6,832.9,-8.5,738,7681,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2396,3600
$GC,7991,-0.63,-194.6,859.7,-8.8,768,7994,0.00,1.30,0.00,0.000,4,0.000,0.046,2536,1522,3598
$GC,8055,-0.63,-194.6,865.3,-9.0,774,8058,0.00,1.33,0.00,0.000,6,0.000,0.049,2532,2400,3598
$GC,8376,-0.63,-194.6,894.2,-9.3,805,8379,0.00,1.30,0.00,0.000,4,0.000,0.046,2532,1524,3596
$GC,8451,-0.63,-194.6,901.1,-9.1,812,8454,0.00,1.33,0.00,0.000,6,0.000,0.050,2527,2400,3596
$GC,8772,-0.63,-194.6,930.6,-8.4,843,8773,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2400,3594
$GC,9083,-0.63,-194.6,958.8,-9.2,873,9085,0.00,1.33,0.00,0.000,4,0.000,0.047,2527,1516,3593
$GC,9114,-0.63,-194.6,961.8,-9.3,876,9117,0.00,1.33,0.00,0.000,6,0.000,0.050,2522,2392,3593
$STATE,9424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9424,begin apogee
$GC,9428,-0.25,0.0,990.2,8.9,906,9587,0.47,0.00,151.93,1.246,6,0.139,0.000,2661,2263,2840
$STATE,9588,end apogee,CONTROL_FINISHED_OK
$STATE,9588,begin climb
$GC,9590,0.63,194.6,994.8,0.0,922,9768,0.90,1.85,169.02,1.216,4,0.105,0.054,2942,3137,2044
$GC,9790,0.63,194.6,977.9,12.8,941,9793,0.00,1.73,0.00,0.000,6,0.000,0.038,2950,2259,2041
$GC,10111,0.63,194.6,938.3,12.2,972,10112,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2260,2034
$GC,10421,0.63,194.6,900.0,12.7,1002,10422,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2260,2032
$GC,10731,0.63,194.6,861.6,12.2,1032,10732,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2260,2031
$GC,11041,0.63,194.6,823.4,12.0,1062,11042,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2260,2030
$GC,11352,0.63,194.6,786.0,12.0,1092,11353,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2260,2029
$GC,11662,0.63,194.6,749.3,11.4,1122,11665,0.00,1.67,0.00,0.000,4,0.000,0.054,2950,3139,2029
$GC,11688,0.63,194.6,746.0,13.8,1124,11695,0.00,1.62,0.00,0.000,6,0.000,0.038,2957,2248,2028
$GC,12005,0.63,194.6,707.0,12.0,1155,12006,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2248,2028
$GC,12315,0.63,194.6,668.2,12.7,1185,12316,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2248,2028
$GC,12625,0.63,194.6,629.6,12.2,1215,12628,0.00,1.67,0.00,0.000,4,0.000,0.054,2957,3145,2028
$GC,12657,0.63,194.6,625.5,13.1,1218,12660,0.00,1.62,0.00,0.000,6,0.000,0.038,2965,2249,2026
$GC,12978,0.63,194.6,584.7,12.4,1249,12978,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2250,2026
$GC,13288,0.63,194.6,545.3,12.8,1279,13289,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2250,2026
$GC,13599,0.63,194.6,506.5,12.2,1309,13602,0.00,1.70,0.00,0.000,4,0.000,0.054,2965,3142,2026
$GC,13634,0.63,194.6,501.6,14.1,1312,13642,0.00,1.65,0.00,0.000,6,0.000,0.037,2973,2245,2025
$GC,13953,0.63,194.6,460.2,13.0,1343,13953,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2244,2026
$GC,14261,0.63,194.6,417.8,13.9,1373,14262,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2244,2026
$GC,14572,0.63,194.6,375.3,13.4,1403,14575,0.00,1.70,0.00,0.000,4,0.000,0.051,2973,3142,2026
$GC,14593,0.63,194.6,372.4,14.1,1405,14596,0.08,1.62,0.00,0.000,6,0.158,0.037,2957,2246,2026
$GC,14914,0.63,194.6,335.4,11.4,1436,14915,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2247,2026
$GC,15224,0.63,194.6,300.5,11.1,1466,15227,0.00,1.67,0.00,0.000,4,0.000,0.051,2957,3151,2026
$GC,15271,0.63,194.6,294.7,11.5,1470,15278,0.00,1.62,0.00,0.000,6,0.000,0.036,2962,2252,2026
$GC,15589,0.63,194.6,258.1,11.2,1501,15592,0.00,1.15,0.00,0.000,4,0.000,0.042,2968,1338,2026
$GC,15631,0.63,194.6,253.2,11.4,1505,15634,0.00,1.20,0.00,0.000,6,0.000,0.041,2968,2257,2027
$GC,15952,0.63,194.6,213.1,12.6,1536,15952,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2257,2027
$GC,16262,0.63,194.6,173.1,12.5,1566,16265,0.00,1.62,0.00,0.000,4,0.000,0.049,2968,3133,2027
$GC,16304,0.63,194.6,167.2,13.9,1570,16308,0.00,1.60,0.00,0.000,6,0.000,0.035,2976,2244,2027
$GC,16626,0.63,194.6,127.7,12.2,1601,16626,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2244,2028
$GC,16936,0.63,194.6,91.4,10.7,1631,16939,0.00,1.65,0.00,0.000,4,0.000,0.048,2976,3146,2029
$GC,17010,0.63,194.6,83.1,11.5,1638,17014,0.10,1.58,0.00,0.000,6,0.139,0.032,2952,2257,2029
$GC,17207,0.63,194.6,64.6,8.4,1657,17208,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2257,2030
$GC,17394,0.65,217.4,51.6,6.9,1675,17417,0.00,1.62,16.30,0.535,4,0.000,0.046,2951,3133,1954
$GC,17484,0.71,264.9,45.2,6.3,1683,17529,0.00,1.58,37.22,0.548,6,0.000,0.030,2957,2245,1760
$GC,17715,0.86,383.7,33.1,4.4,1705,17807,0.17,0.00,89.22,0.534,6,0.060,0.000,3047,2245,1274
$GC,17988,0.86,383.7,5.2,9.0,1731,17991,0.00,1.67,0.00,0.000,4,0.000,0.044,3047,3134,1266
$STATE,18012,end climb,SURFACE_DEPTH_REACHED
$STATE,18012,begin surface coast
$FINISH,0.6,1.022907
$STATE,18034,end surface coast,CONTROL_FINISHED_OK
$STATE,18034,begin surface
$SM_CCo,18049,92.38,0.494,0,0,495,575.22
$SM_GC,1.42,0.00,0.00,92.38,0.000,0.000,0.494,199,2371,495,-7.96,-0.82,575.22
$IRIDIUM_FIX,2823.64,-8846.40,250999,010158
$TT8_MAMPS,0.049855
$HUMID,1370
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,23.60
$XPDR_PINGS,6
$24V_AH,23.0,34.321
$10V_AH,10.6,47.850
$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,20.350,74.950,463.700,92.375,0.000,30.267,27.651,229.660,1.500,0.000,0.000,15.312,0.000,12235.095,623.097,5075.413,582.274,33.334,2041.892,0.000,4560.518,0.000,0.848,0.000
$DEVICE_MAMPS,259.246,63.661,1245.608,493.948,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1187.990,1269.385,3899.462,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91394,1735
$CAP_FILE_SIZE,157909,0
$CFSIZE,260165632,237842432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.106,212.7,1
$GPS,010710,111407,2837.066,-8842.901,43,1.1,43,-0.2