version: 66.04
glider: 515
mission: 5
dive: 207
start: 7 4 110 10 2 10
data:
$ID,515
$MISSION,5
$DIVE,207
$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,-17252.162
$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,2375
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,33
$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
$GPS1,095607,2841.801,-8843.846,30,1.8,30,-0.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-63.6
$GPS2,100131,2841.827,-8843.896,12,1.6,17,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.140,0.225
$KALMAN_X,-47039.6,-265.6,687.0,56699.9,-8458.2
$KALMAN_Y,-169437.3,1509.7,-13.7,192866.5,-9615.5
$MHEAD_RNG_PITCHd_Wd,330.3,2083,-26.8,-7.500
$D_GRID,1165
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.01,-41.0,0.0,0.0,0,98,0.00,0.00,-82.60,0.000,2,0.000,0.000,193,2394,2743
$GC,100,-1.05,-73.4,3.0,-3.5,8,126,10.15,1.50,-10.80,0.000,4,0.262,0.070,2396,3258,3141
$GC,365,-1.05,-73.4,62.2,-15.3,32,372,0.00,1.45,0.00,0.000,6,0.000,0.027,2402,2355,3144
$GC,557,-1.05,-73.4,87.3,-12.0,51,560,0.00,1.50,0.00,0.000,4,0.000,0.041,2396,3252,3145
$GC,803,-1.05,-73.4,118.3,-13.1,74,806,0.00,1.40,0.00,0.000,6,0.000,0.028,2402,2364,3146
$GC,1125,-1.05,-73.4,157.2,-10.9,105,1128,0.00,1.48,0.00,0.000,4,0.000,0.043,2396,3251,3146
$GC,1370,-1.05,-73.4,185.0,-10.7,128,1373,0.00,1.38,0.00,0.000,6,0.000,0.028,2402,2375,3146
$GC,1692,-1.05,-73.4,219.3,-10.6,159,1695,0.00,1.45,0.00,0.000,4,0.000,0.044,2396,3251,3146
$GC,1937,-1.05,-73.4,246.8,-11.2,182,1940,0.00,1.40,0.00,0.000,6,0.000,0.028,2402,2365,3146
$GC,2259,-1.05,-73.4,281.8,-11.3,213,2262,0.00,1.50,0.00,0.000,4,0.000,0.045,2396,3258,3145
$GC,2359,-1.05,-73.4,294.2,-12.6,222,2366,0.00,1.40,0.00,0.000,6,0.000,0.029,2401,2383,3144
$GC,2676,-1.05,-73.4,330.9,-11.4,253,2679,0.00,1.45,0.00,0.000,4,0.000,0.046,2395,3250,3142
$GC,2761,-1.05,-73.4,341.2,-12.1,261,2764,0.00,1.40,0.00,0.000,6,0.000,0.031,2401,2369,3142
$GC,3083,-1.05,-73.4,379.7,-11.8,292,3084,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2371,3139
$GC,3393,-1.05,-73.4,415.5,-11.7,322,3393,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2369,3138
$GC,3703,-1.05,-73.4,451.8,-11.5,352,3706,0.00,1.25,0.00,0.000,4,0.000,0.042,2404,1499,3136
$GC,3749,-1.05,-73.4,457.2,-11.7,356,3757,0.00,1.27,0.00,0.000,6,0.000,0.038,2399,2361,3136
$GC,4067,-1.05,-73.4,492.0,-11.0,387,4068,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2362,3133
$GC,4377,-1.05,-73.4,525.3,-10.7,417,4377,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2362,3131
$GC,4687,-1.05,-73.4,559.8,-10.9,447,4688,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2362,3129
$GC,4997,-1.05,-73.4,594.1,-11.4,477,5000,0.00,1.52,0.00,0.000,4,0.000,0.051,2392,3260,3128
$GC,5033,-1.05,-73.4,598.5,-11.7,480,5041,0.00,1.45,0.00,0.000,6,0.000,0.033,2394,2369,3127
$GC,5351,-1.05,-73.4,634.5,-11.5,511,5352,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2369,3125
$GC,5660,-1.05,-73.4,670.3,-11.8,541,5661,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2369,3124
$GC,5970,-1.05,-73.4,706.3,-11.2,571,5971,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2369,3122
$GC,6281,-1.05,-73.4,740.6,-10.6,601,6282,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2369,3121
$GC,6591,-1.05,-73.4,774.7,-10.5,631,6592,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2369,3119
$GC,6902,-1.05,-73.4,805.8,-9.7,661,6903,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2369,3118
$GC,7212,-1.05,-73.4,837.3,-10.2,691,7213,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2369,3116
$GC,7523,-1.05,-73.4,868.1,-9.7,721,7524,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2369,3114
$GC,7833,-1.05,-73.4,899.6,-10.0,751,7836,0.00,1.27,0.00,0.000,4,0.000,0.047,2400,1501,3113
$GC,7886,-1.05,-73.4,904.7,-9.2,756,7889,0.00,1.33,0.00,0.000,6,0.000,0.045,2395,2382,3113
$GC,8208,-1.05,-73.4,935.4,-9.4,787,8209,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2382,3113
$GC,8517,-1.05,-73.4,965.6,-9.4,817,8518,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2382,3112
$STATE,8785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8785,begin apogee
$GC,8790,-0.25,0.0,990.8,10.0,843,8849,1.00,0.00,55.25,1.237,6,0.185,0.000,2659,2293,2840
$STATE,8849,end apogee,CONTROL_FINISHED_OK
$STATE,8849,begin climb
$GC,8851,1.05,73.4,992.7,0.0,849,8920,1.30,1.75,64.18,1.212,4,0.102,0.058,3079,3171,2540
$GC,8952,1.05,73.4,982.6,14.3,859,8954,0.00,1.62,0.00,0.000,6,0.000,0.037,3086,2277,2536
$GC,9273,1.05,73.4,932.2,15.9,890,9274,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2277,2532
$GC,9583,1.05,73.4,884.0,14.7,920,9586,0.00,1.62,0.00,0.000,4,0.000,0.054,3086,3162,2529
$GC,9614,1.05,73.4,879.0,14.9,923,9617,0.00,1.60,0.00,0.000,6,0.000,0.037,3093,2268,2529
$GC,9936,1.05,73.4,828.8,14.9,954,9939,0.00,1.67,0.00,0.000,4,0.000,0.054,3092,3163,2528
$GC,9968,1.05,73.4,823.7,16.5,957,9971,0.00,1.58,0.00,0.000,6,0.000,0.037,3099,2277,2528
$GC,10290,1.05,73.4,773.5,15.8,988,10291,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2276,2527
$GC,10599,1.05,73.4,726.0,15.5,1018,10600,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2276,2526
$GC,10909,1.05,73.4,679.8,14.1,1048,10913,0.00,1.65,0.00,0.000,4,0.000,0.054,3099,3158,2525
$GC,10945,1.05,73.4,674.1,14.5,1051,10953,0.00,1.60,0.00,0.000,6,0.000,0.037,3107,2270,2525
$GC,11264,1.05,73.4,626.7,14.8,1082,11264,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2270,2524
$GC,11572,1.05,73.4,580.7,14.8,1112,11575,0.00,1.65,0.00,0.000,4,0.000,0.053,3105,3156,2524
$GC,11626,1.05,73.4,572.7,14.5,1117,11629,0.00,1.58,0.00,0.000,6,0.000,0.037,3112,2269,2524
$GC,11946,1.05,73.4,524.7,14.3,1148,11947,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2270,2524
$GC,12257,1.05,73.4,479.6,14.4,1178,12258,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2270,2523
$GC,12567,1.05,73.4,435.7,14.7,1208,12568,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2270,2523
$GC,12878,1.05,73.4,392.0,14.2,1238,12879,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2270,2522
$GC,13188,1.05,73.4,347.7,14.0,1268,13189,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2269,2522
$GC,13499,1.05,73.4,304.4,14.0,1298,13502,0.00,1.65,0.00,0.000,4,0.000,0.051,3106,3176,2523
$GC,13556,1.05,73.4,295.7,14.4,1303,13563,0.00,1.60,0.00,0.000,6,0.000,0.035,3113,2274,2523
$GC,13874,1.05,73.4,251.5,13.3,1334,13877,0.00,1.65,0.00,0.000,4,0.000,0.051,3113,3167,2523
$GC,14016,1.05,73.4,229.9,15.1,1347,14024,0.10,1.60,0.00,0.000,6,0.193,0.034,3092,2268,2523
$GC,14333,1.05,73.4,188.0,13.3,1378,14336,0.00,1.65,0.00,0.000,4,0.000,0.050,3084,3185,2524
$GC,14397,1.05,73.4,179.7,12.7,1384,14400,0.00,1.58,0.00,0.000,6,0.000,0.033,3091,2276,2525
$GC,14718,1.05,73.4,142.0,11.2,1415,14718,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2277,2525
$GC,15028,1.05,73.4,108.4,10.5,1445,15031,0.00,1.17,0.00,0.000,4,0.000,0.038,3097,1360,2525
$GC,15220,1.05,73.4,88.9,9.2,1463,15223,0.00,1.20,0.00,0.000,6,0.000,0.038,3096,2274,2526
$GC,15417,1.05,74.0,73.5,7.4,1482,15418,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2274,2526
$GC,15604,1.06,80.2,59.7,6.7,1500,15614,0.00,0.00,4.57,0.410,6,0.000,0.000,3096,2275,2513
$GC,15800,1.07,87.5,44.1,6.6,1519,15812,0.00,1.62,7.62,0.478,4,0.000,0.046,3096,3169,2482
$GC,16051,1.12,135.8,39.3,1.6,1542,16095,0.00,1.55,37.47,0.538,6,0.000,0.029,3103,2265,2285
$GC,16279,1.15,158.6,27.9,4.7,1564,16303,0.00,1.12,18.12,0.505,4,0.000,0.033,3109,1355,2193
$GC,16542,1.18,178.5,18.9,5.1,1588,16563,0.00,1.23,16.08,0.484,6,0.000,0.033,3109,2281,2111
$STATE,16745,end climb,SURFACE_DEPTH_REACHED
$STATE,16745,begin surface coast
$FINISH,0.7,1.022533
$STATE,16776,end surface coast,CONTROL_FINISHED_OK
$STATE,16776,begin surface
$SM_CCo,16790,188.40,0.486,0,0,494,575.22
$SM_GC,1.69,0.00,0.00,188.40,0.000,0.000,0.486,199,2378,494,-7.96,0.08,575.22
$IRIDIUM_FIX,2826.10,-8843.89,280999,050550
$TT8_MAMPS,0.050622
$HUMID,1308
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,23.8,36.647
$10V_AH,10.6,51.073
$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,20.300,59.750,203.300,188.400,0.000,24.617,29.758,162.055,0.250,0.000,0.000,19.375,0.000,11410.366,508.580,4866.293,496.335,33.331,1824.610,0.000,4375.267,0.000,0.849,0.000
$DEVICE_MAMPS,262.314,69.797,1237.171,486.278,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1103.730,1187.168,3620.887,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85140,1611
$CAP_FILE_SIZE,146216,0
$CFSIZE,260165632,236589056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.067,262.4,1
$GPS,040710,144607,2842.998,-8845.245,37,1.5,37,-0.2