version: 66.04
glider: 515
mission: 5
dive: 212
start: 7 5 110 11 53 53
data:
$ID,515
$MISSION,5
$DIVE,212
$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,-17347.543
$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,29
$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,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
$GPS1,114707,2843.269,-8834.645,27,1.5,27,-0.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-64.6
$GPS2,115314,2843.323,-8834.679,10,1.5,10,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.240,0.111
$KALMAN_X,-54344.1,-534.7,697.9,79244.8,-4505.1
$KALMAN_Y,-182743.1,1517.0,207.7,208703.3,-8067.4
$MHEAD_RNG_PITCHd_Wd,77.3,14104,-10.8,-7.500
$D_GRID,1060
$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,13,-0.63,-194.6,0.0,0.0,0,107,0.00,0.00,-92.75,0.000,2,0.000,0.000,190,2395,3030
$GC,109,-0.63,-194.6,3.3,-2.8,9,135,10.68,1.50,-12.48,0.000,4,0.259,0.066,2530,3260,3636
$GC,203,-0.63,-194.6,30.4,-23.0,17,211,0.00,1.50,0.00,0.000,6,0.000,0.028,2535,2350,3638
$GC,396,-0.63,-194.6,65.7,-16.3,36,399,0.00,1.23,0.00,0.000,4,0.000,0.037,2536,1471,3639
$GC,443,-0.63,-194.6,72.3,-14.3,40,450,0.00,1.33,0.00,0.000,6,0.000,0.038,2532,2366,3639
$GC,635,-0.63,-194.6,98.3,-13.2,59,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2366,3640
$GC,822,-0.63,-194.6,124.0,-13.9,77,825,0.00,1.50,0.00,0.000,4,0.000,0.048,2525,3266,3641
$GC,874,-0.63,-194.6,131.6,-14.6,82,878,0.00,1.45,0.00,0.000,6,0.000,0.028,2525,2359,3641
$GC,1197,-0.63,-194.6,174.8,-12.6,113,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2359,3641
$GC,1506,-0.63,-194.6,213.0,-12.3,143,1507,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2359,3641
$GC,1817,-0.63,-194.6,249.2,-11.9,173,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2358,3640
$GC,2127,-0.63,-194.6,285.8,-11.4,203,2130,0.00,1.23,0.00,0.000,4,0.000,0.038,2525,1488,3639
$GC,2190,-0.63,-194.6,293.0,-11.1,209,2194,0.00,1.30,0.00,0.000,6,0.000,0.040,2519,2380,3638
$GC,2513,-0.63,-194.6,329.4,-11.5,240,2516,0.00,1.27,0.00,0.000,4,0.000,0.038,2519,1501,3636
$GC,2556,-0.63,-194.6,334.5,-11.4,244,2559,0.08,1.30,0.00,0.000,6,0.145,0.041,2537,2384,3636
$GC,2876,-0.63,-194.6,368.0,-10.7,275,2877,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2384,3634
$GC,3187,-0.63,-194.6,400.1,-10.3,305,3190,0.00,1.30,0.00,0.000,4,0.000,0.040,2537,1489,3632
$GC,3230,-0.63,-194.6,404.5,-9.5,309,3232,0.00,1.27,0.00,0.000,6,0.000,0.041,2534,2362,3632
$GC,3551,-0.63,-194.6,439.0,-11.0,340,3555,0.00,1.25,0.00,0.000,4,0.000,0.040,2534,1503,3629
$GC,3587,-0.63,-194.6,443.2,-10.7,343,3595,0.00,1.33,0.00,0.000,6,0.000,0.042,2528,2390,3629
$GC,3906,-0.63,-194.6,477.2,-10.6,374,3908,0.00,1.30,0.00,0.000,4,0.000,0.041,2528,1500,3627
$GC,3941,-0.63,-194.6,481.5,-10.6,377,3949,0.00,1.30,0.00,0.000,6,0.000,0.043,2522,2365,3626
$GC,4259,-0.63,-194.6,515.9,-10.8,408,4260,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2365,3624
$GC,4569,-0.63,-194.6,550.6,-11.5,438,4572,0.00,1.27,0.00,0.000,4,0.000,0.042,2522,1499,3622
$GC,4626,-0.63,-194.6,557.0,-11.0,443,4633,0.00,1.35,0.00,0.000,6,0.000,0.044,2516,2393,3622
$GC,4944,-0.63,-194.6,591.8,-11.0,474,4945,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2393,3619
$GC,5253,-0.63,-194.6,626.2,-10.9,504,5256,0.00,1.33,0.00,0.000,4,0.000,0.044,2516,1496,3618
$GC,5360,-0.63,-194.6,638.1,-10.7,514,5363,0.08,1.27,0.00,0.000,6,0.150,0.047,2535,2358,3617
$GC,5680,-0.63,-194.6,669.3,-9.8,545,5681,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2358,3616
$GC,5992,-0.63,-194.6,698.1,-9.2,575,5995,0.00,1.25,0.00,0.000,4,0.000,0.044,2536,1507,3615
$GC,6044,-0.63,-194.6,703.1,-9.7,580,6048,0.00,1.33,0.00,0.000,6,0.000,0.047,2532,2387,3614
$GC,6367,-0.63,-194.6,734.3,-9.6,611,6370,0.00,1.33,0.00,0.000,4,0.000,0.044,2532,1494,3612
$GC,6403,-0.63,-194.6,738.0,-9.9,614,6411,0.00,1.30,0.00,0.000,6,0.000,0.047,2526,2362,3611
$GC,6720,-0.63,-194.6,768.6,-10.0,645,6723,0.00,1.27,0.00,0.000,4,0.000,0.044,2526,1502,3609
$GC,6756,-0.63,-194.6,772.4,-10.0,648,6763,0.00,1.33,0.00,0.000,6,0.000,0.047,2520,2380,3609
$GC,7074,-0.63,-194.6,804.3,-10.0,679,7075,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2381,3608
$GC,7383,-0.63,-194.6,834.7,-9.6,709,7386,0.00,1.30,0.00,0.000,4,0.000,0.044,2520,1508,3606
$GC,7436,-0.63,-194.6,840.0,-10.4,714,7439,0.00,1.30,0.00,0.000,6,0.000,0.048,2515,2368,3606
$GC,7757,-0.63,-194.6,872.6,-10.5,745,7758,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2369,3605
$GC,8067,-0.63,-194.6,903.8,-10.3,775,8070,0.00,1.30,0.00,0.000,4,0.000,0.044,2515,1495,3603
$GC,8110,-0.63,-194.6,907.9,-9.9,779,8113,0.08,1.33,0.00,0.000,6,0.153,0.049,2534,2370,3603
$GC,8431,-0.63,-194.6,935.3,-8.3,810,8431,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2372,3602
$GC,8741,-0.63,-194.6,962.0,-8.6,840,8744,0.00,1.30,0.00,0.000,4,0.000,0.045,2534,1504,3601
$GC,8794,-0.63,-194.6,966.4,-9.0,845,8797,0.00,1.33,0.00,0.000,6,0.000,0.048,2530,2379,3601
$STATE,9083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9083,begin apogee
$GC,9088,-0.25,0.0,990.9,8.0,873,9246,0.45,0.00,153.80,1.246,6,0.135,0.000,2664,2295,2839
$STATE,9246,end apogee,CONTROL_FINISHED_OK
$STATE,9246,begin climb
$GC,9249,0.63,194.6,994.9,0.0,889,9422,0.88,0.00,168.98,1.216,6,0.103,0.000,2938,2295,2046
$GC,9731,0.63,194.6,945.9,11.4,934,9731,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2295,2036
$GC,10040,0.63,194.6,909.6,11.8,964,10041,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2295,2034
$GC,10351,0.63,194.6,874.2,11.6,994,10354,0.00,1.25,0.00,0.000,4,0.000,0.044,2943,1372,2032
$GC,10393,0.63,194.6,869.4,11.9,998,10396,0.00,1.23,0.00,0.000,6,0.000,0.045,2943,2273,2032
$GC,10714,0.63,194.6,831.4,12.0,1029,10717,0.00,1.67,0.00,0.000,4,0.000,0.056,2943,3200,2031
$GC,10757,0.63,194.6,826.0,13.2,1033,10760,0.00,1.60,0.00,0.000,6,0.000,0.038,2951,2273,2031
$GC,11079,0.63,194.6,788.8,12.1,1064,11082,0.00,1.17,0.00,0.000,4,0.000,0.045,2957,1374,2031
$GC,11132,0.63,194.6,782.3,11.7,1069,11135,0.00,1.23,0.00,0.000,6,0.000,0.046,2956,2275,2031
$GC,11453,0.63,194.6,741.9,12.5,1100,11454,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2275,2029
$GC,11763,0.63,194.6,703.4,12.3,1130,11766,0.00,1.20,0.00,0.000,4,0.000,0.044,2961,1374,2030
$GC,11795,0.63,194.6,699.6,12.4,1133,11798,0.00,1.23,0.00,0.000,6,0.000,0.045,2961,2278,2030
$GC,12115,0.63,194.6,659.5,12.4,1164,12116,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2279,2029
$GC,12427,0.63,194.6,621.1,12.4,1194,12429,0.00,1.23,0.00,0.000,4,0.000,0.044,2967,1365,2028
$GC,12469,0.63,194.6,615.8,11.5,1198,12472,0.00,1.23,0.00,0.000,6,0.000,0.044,2966,2273,2028
$GC,12791,0.63,194.6,575.5,12.5,1229,12794,0.00,1.20,0.00,0.000,4,0.000,0.043,2971,1371,2028
$GC,12822,0.63,194.6,571.6,11.6,1232,12826,0.00,1.23,0.00,0.000,6,0.000,0.044,2971,2276,2028
$GC,13145,0.63,194.6,530.9,12.5,1263,13146,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2276,2028
$GC,13454,0.63,194.6,490.2,13.5,1293,13455,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2276,2028
$GC,13764,0.63,194.6,448.9,12.9,1323,13765,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2276,2027
$GC,14075,0.63,194.6,407.7,13.5,1353,14078,0.00,1.20,0.00,0.000,4,0.000,0.043,2977,1371,2028
$GC,14118,0.63,194.6,402.1,12.5,1357,14120,0.00,1.23,0.00,0.000,6,0.000,0.044,2977,2280,2028
$GC,14438,0.63,194.6,359.9,13.1,1388,14439,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2281,2028
$GC,14749,0.63,194.6,318.3,13.7,1418,14752,0.00,1.23,0.00,0.000,4,0.000,0.042,2982,1360,2028
$GC,14774,0.63,194.6,314.8,12.5,1420,14782,0.10,1.25,0.00,0.000,6,0.140,0.041,2951,2282,2028
$GC,15090,0.63,194.6,280.3,10.4,1451,15091,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2281,2028
$GC,15402,0.63,194.6,247.6,10.4,1481,15403,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2281,2028
$GC,15711,0.63,194.6,215.2,10.4,1511,15712,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2282,2028
$GC,16022,0.63,194.6,182.1,10.7,1541,16025,0.00,1.60,0.00,0.000,4,0.000,0.050,2950,3161,2028
$GC,16047,0.63,194.6,179.3,12.0,1543,16055,0.00,1.55,0.00,0.000,6,0.000,0.032,2956,2275,2028
$GC,16365,0.63,194.6,146.9,10.6,1574,16365,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2275,2029
$GC,16675,0.63,194.6,115.2,10.5,1604,16678,0.00,1.60,0.00,0.000,4,0.000,0.048,2956,3171,2030
$GC,16700,0.63,194.6,112.4,12.5,1606,16708,0.00,1.58,0.00,0.000,6,0.000,0.031,2964,2272,2030
$GC,17018,0.63,194.6,82.0,9.1,1637,17019,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2273,2031
$GC,17203,0.63,194.6,66.0,8.2,1655,17204,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2273,2031
$GC,17389,0.63,194.6,51.2,7.8,1673,17390,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2273,2032
$GC,17576,0.69,243.0,38.7,6.2,1691,17618,0.00,0.00,36.25,0.535,6,0.000,0.000,2963,2273,1849
$GC,17802,0.86,381.7,27.6,3.9,1713,17910,0.17,1.70,103.07,0.524,4,0.057,0.044,3053,3167,1283
$GC,17948,0.86,381.7,15.7,9.8,1725,17953,0.10,1.58,0.00,0.000,6,0.123,0.029,3027,2275,1278
$STATE,18106,end climb,SURFACE_DEPTH_REACHED
$STATE,18106,begin surface coast
$FINISH,0.7,1.001263
$STATE,18139,end surface coast,CONTROL_FINISHED_OK
$STATE,18139,begin surface
$SM_CCo,18153,91.05,0.492,0,0,494,575.22
$SM_GC,1.64,0.00,0.00,91.05,0.000,0.000,0.492,195,2381,494,-7.97,0.17,575.22
$IRIDIUM_FIX,2831.00,-8838.92,290999,060658
$TT8_MAMPS,0.052156
$HUMID,1336
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,23.50
$XPDR_PINGS,1
$24V_AH,22.9,37.472
$10V_AH,10.6,52.192
$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,20.175,72.625,462.100,91.050,0.000,23.544,26.394,200.956,4.000,0.000,0.000,14.000,0.000,12275.028,617.507,5111.620,580.476,33.336,2048.892,0.000,4589.643,0.000,28.321,0.000
$DEVICE_MAMPS,259.246,65.962,1246.375,492.414,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1192.968,1276.395,3919.048,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91402,1744
$CAP_FILE_SIZE,160534,0
$CFSIZE,260165632,236126208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.037,183.8,1
$GPS,050710,165901,2843.685,-8831.730,41,1.6,41,-0.4