version: 66.04
glider: 515
mission: 5
dive: 216
start: 7 6 110 8 40 18
data:
$ID,515
$MISSION,5
$DIVE,216
$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,-17410.729
$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,34
$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
$GPS1,082824,2842.847,-8841.455,27,1.4,44,-0.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-59.8
$GPS2,083937,2842.914,-8841.557,10,1.3,15,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.124,0.234
$KALMAN_X,-54207.2,-481.0,186.1,68388.7,-1317.7
$KALMAN_Y,-195678.1,215.6,23.0,222413.4,-9035.0
$MHEAD_RNG_PITCHd_Wd,279.2,5674,-19.6,-7.500
$D_GRID,1061
$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,-0.79,-73.5,0.0,0.0,0,88,0.00,0.00,-74.10,0.000,2,0.000,0.000,190,2395,2493
$GC,90,-0.88,-142.7,3.0,-2.7,7,130,10.35,1.45,-25.90,0.000,4,0.259,0.062,2451,3249,3423
$GC,372,-0.88,-142.7,65.7,-17.6,33,376,0.00,1.45,0.00,0.000,6,0.000,0.027,2456,2349,3425
$GC,569,-0.88,-142.7,98.2,-16.0,52,572,0.00,1.52,0.00,0.000,4,0.000,0.043,2450,3253,3426
$GC,815,-0.88,-142.7,139.7,-16.5,75,818,0.00,1.42,0.00,0.000,6,0.000,0.028,2456,2359,3427
$GC,1138,-0.88,-142.7,188.8,-15.3,106,1140,0.00,1.50,0.00,0.000,4,0.000,0.044,2450,3255,3427
$GC,1201,-0.88,-142.7,198.8,-15.6,112,1205,0.00,1.40,0.00,0.000,6,0.000,0.028,2455,2367,3427
$GC,1523,-0.88,-142.7,244.3,-14.5,143,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2366,3426
$GC,1833,-0.88,-142.7,287.8,-14.1,173,1835,0.00,1.23,0.00,0.000,4,0.000,0.038,2455,1499,3424
$GC,1886,-0.88,-142.7,295.7,-14.9,178,1889,0.00,1.25,0.00,0.000,6,0.000,0.038,2451,2363,3424
$GC,2208,-0.88,-142.7,341.7,-14.3,209,2209,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2364,3423
$GC,2517,-0.88,-142.7,387.2,-15.1,239,2520,0.00,1.25,0.00,0.000,4,0.000,0.040,2451,1500,3419
$GC,2606,-0.88,-142.7,400.2,-14.4,247,2614,0.00,1.33,0.00,0.000,6,0.000,0.038,2447,2394,3419
$GC,2925,-0.88,-142.7,446.0,-15.3,278,2925,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2394,3417
$GC,3234,-0.88,-142.7,491.3,-14.2,308,3237,0.00,1.30,0.00,0.000,4,0.000,0.041,2450,1506,3414
$GC,3302,-0.88,-142.7,501.3,-14.2,314,3309,0.00,1.25,0.00,0.000,6,0.000,0.040,2447,2360,3414
$GC,3620,-0.88,-142.7,546.2,-13.9,345,3620,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2360,3412
$GC,3929,-0.88,-142.7,589.5,-13.7,375,3930,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2360,3409
$GC,4239,-0.88,-142.7,633.2,-14.1,405,4242,0.00,1.25,0.00,0.000,4,0.000,0.043,2447,1506,3405
$GC,4281,-0.88,-142.7,639.2,-14.4,409,4285,0.00,1.30,0.00,0.000,6,0.000,0.043,2441,2382,3405
$GC,4604,-0.88,-142.7,683.8,-13.8,440,4605,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2382,3403
$GC,4913,-0.88,-142.7,726.8,-14.2,470,4913,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2383,3400
$GC,5224,-0.88,-142.7,769.4,-13.2,500,5227,0.00,1.30,0.00,0.000,4,0.000,0.044,2441,1505,3398
$GC,5302,-0.88,-142.7,780.3,-12.8,507,5309,0.00,1.30,0.00,0.000,6,0.000,0.044,2438,2366,3398
$GC,5620,-0.88,-142.7,822.8,-13.4,538,5620,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2366,3395
$GC,5931,-0.88,-142.7,863.9,-13.4,568,5934,0.00,1.27,0.00,0.000,4,0.000,0.046,2438,1510,3393
$GC,5983,-0.88,-142.7,871.4,-13.8,573,5987,0.08,1.30,0.00,0.000,6,0.174,0.046,2454,2377,3393
$GC,6304,-0.88,-142.7,911.5,-12.5,604,6305,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2378,3391
$GC,6616,-0.88,-142.7,950.7,-12.8,634,6619,0.00,1.30,0.00,0.000,4,0.000,0.047,2455,1506,3390
$GC,6673,-0.88,-142.7,958.4,-12.9,639,6681,0.00,1.33,0.00,0.000,6,0.000,0.046,2451,2376,3390
$STATE,6928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6928,begin apogee
$GC,6933,-0.25,0.0,990.6,12.6,664,7050,0.73,0.00,110.53,1.246,6,0.172,0.000,2653,2300,2839
$STATE,7050,end apogee,CONTROL_FINISHED_OK
$STATE,7050,begin climb
$GC,7052,0.88,142.7,995.3,0.0,676,7183,1.17,1.73,122.65,1.216,4,0.110,0.057,3022,3157,2257
$GC,7215,0.88,142.7,977.8,16.6,690,7218,0.00,1.65,0.00,0.000,6,0.000,0.035,3030,2280,2252
$GC,7538,0.88,142.7,925.5,16.8,721,7538,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2281,2246
$GC,7846,0.88,142.7,874.0,15.8,751,7847,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2281,2244
$GC,8157,0.88,142.7,823.1,16.9,781,8158,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2281,2243
$GC,8467,0.88,142.7,773.2,16.3,811,8468,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2281,2241
$GC,8778,0.88,142.7,723.4,15.8,841,8781,0.00,1.62,0.00,0.000,4,0.000,0.054,3029,3177,2240
$GC,8814,0.88,142.7,717.2,17.1,844,8821,0.00,1.60,0.00,0.000,6,0.000,0.037,3037,2273,2239
$GC,9132,0.88,142.7,667.1,15.9,875,9132,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2273,2239
$GC,9441,0.88,142.7,618.2,17.0,905,9442,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2273,2238
$GC,9751,0.88,142.7,569.5,16.0,935,9754,0.00,1.62,0.00,0.000,4,0.000,0.054,3036,3168,2238
$GC,9808,0.88,142.7,560.0,16.1,940,9816,0.00,1.60,0.00,0.000,6,0.000,0.036,3043,2267,2237
$GC,10126,0.88,142.7,511.2,15.9,971,10129,0.00,1.67,0.00,0.000,4,0.000,0.054,3043,3171,2236
$GC,10173,0.88,142.7,503.2,16.8,975,10180,0.00,1.58,0.00,0.000,6,0.000,0.036,3050,2276,2236
$GC,10490,0.88,142.7,452.0,16.4,1006,10493,0.00,1.20,0.00,0.000,4,0.000,0.042,3056,1358,2236
$GC,10522,0.88,142.7,446.8,15.9,1009,10525,0.00,1.23,0.00,0.000,6,0.000,0.044,3056,2270,2236
$GC,10842,0.88,142.7,394.3,16.2,1040,10845,0.00,1.65,0.00,0.000,4,0.000,0.053,3056,3174,2236
$GC,10878,0.88,142.7,388.0,17.3,1043,10886,0.10,1.60,0.00,0.000,6,0.184,0.035,3034,2267,2235
$GC,11195,0.88,142.7,340.6,15.0,1074,11196,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2267,2235
$GC,11505,0.88,142.7,293.3,15.2,1104,11509,0.00,1.65,0.00,0.000,4,0.000,0.051,3034,3160,2235
$GC,11537,0.88,142.7,288.1,16.3,1107,11541,0.00,1.55,0.00,0.000,6,0.000,0.035,3041,2275,2235
$GC,11858,0.88,142.7,237.3,15.6,1138,11859,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2276,2235
$GC,12169,0.88,142.7,189.6,15.2,1168,12172,0.00,1.62,0.00,0.000,4,0.000,0.050,3037,3184,2236
$GC,12247,0.88,142.7,177.1,14.7,1175,12255,0.00,1.58,0.00,0.000,6,0.000,0.033,3043,2276,2236
$GC,12565,0.88,142.7,131.8,14.1,1206,12569,0.00,1.17,0.00,0.000,4,0.000,0.038,3048,1365,2236
$GC,12618,0.88,142.7,124.2,13.6,1211,12621,0.00,1.20,0.00,0.000,6,0.000,0.040,3049,2273,2237
$GC,12940,0.88,142.7,78.7,13.6,1242,12943,0.00,1.60,0.00,0.000,4,0.000,0.048,3049,3163,2237
$GC,12992,0.88,142.7,71.3,13.7,1247,12996,0.00,1.55,0.00,0.000,6,0.000,0.031,3056,2269,2237
$GC,13189,0.88,142.7,49.4,9.6,1266,13192,0.00,1.60,0.00,0.000,4,0.000,0.048,3056,3167,2238
$GC,13396,0.90,161.2,31.2,6.2,1285,13417,0.00,1.52,12.60,0.512,6,0.000,0.030,3064,2275,2182
$GC,13602,0.98,228.2,24.9,2.9,1305,13662,0.00,1.20,51.08,0.534,4,0.000,0.037,3069,1362,1908
$STATE,13884,end climb,SURFACE_DEPTH_REACHED
$STATE,13885,begin surface coast
$FINISH,0.5,1.010597
$STATE,13927,end surface coast,CONTROL_FINISHED_OK
$STATE,13927,begin surface
$SM_CCo,13943,160.60,0.495,0,0,495,575.22
$SM_GC,1.38,0.00,0.00,160.60,0.000,0.000,0.495,201,2398,495,-7.95,0.65,575.22
$IRIDIUM_FIX,2831.00,-8841.44,300999,080814
$TT8_MAMPS,0.050622
$HUMID,1353
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.2,38.108
$10V_AH,10.6,53.034
$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,20.150,63.375,296.850,160.600,0.000,54.531,54.917,375.002,3.750,0.000,0.000,17.233,0.000,9370.301,548.199,4080.823,750.861,33.338,1703.828,0.000,3640.520,0.000,28.648,0.000
$DEVICE_MAMPS,259.246,64.428,1246.375,494.715,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,913.047,979.136,3000.527,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69417,1335
$CAP_FILE_SIZE,136695,0
$CFSIZE,260165632,235827200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.061,216.6,1
$GPS,060710,123619,2842.807,-8843.854,24,1.6,36,-0.2