version: 66.04
glider: 515
mission: 5
dive: 218
start: 7 6 110 18 3 59
data:
$ID,515
$MISSION,5
$DIVE,218
$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,-17460.674
$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
$GPS1,174855,2842.816,-8841.008,38,1.8,38,-0.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-53.3
$GPS2,180320,2842.906,-8841.023,13,1.5,13,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.220,0.147
$KALMAN_X,-56230.6,22.5,-309.0,71289.1,-433.2
$KALMAN_Y,-206498.0,1288.2,1422.8,230694.7,-15349.1
$MHEAD_RNG_PITCHd_Wd,74.0,24433,-10.8,-7.500
$D_GRID,1031
$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,-194.6,0.0,0.0,0,89,0.00,0.00,-75.00,0.000,2,0.000,0.000,194,2390,2537
$GC,91,-0.63,-194.6,3.0,-3.3,7,140,10.68,1.50,-33.00,0.000,4,0.257,0.064,2532,3255,3635
$GC,165,-0.63,-194.6,11.9,-22.2,13,173,0.00,1.45,0.00,0.000,6,0.000,0.027,2536,2358,3636
$GC,357,-0.63,-194.6,54.8,-17.3,32,358,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2357,3636
$GC,544,-0.63,-194.6,83.5,-13.7,50,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2358,3637
$GC,730,-0.63,-194.6,108.3,-13.9,68,733,0.00,1.50,0.00,0.000,4,0.000,0.044,2532,3249,3638
$GC,755,-0.63,-194.6,112.1,-14.6,70,764,0.00,1.42,0.00,0.000,6,0.000,0.026,2533,2363,3638
$GC,1072,-0.63,-194.6,153.1,-12.2,101,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2362,3638
$GC,1383,-0.63,-194.6,189.9,-10.9,131,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2362,3638
$GC,1693,-0.63,-194.6,225.0,-11.4,161,1696,0.00,1.50,0.00,0.000,4,0.000,0.047,2528,3250,3636
$GC,1718,-0.63,-194.6,228.1,-11.2,163,1726,0.00,1.42,0.00,0.000,6,0.000,0.028,2528,2361,3635
$GC,2036,-0.63,-194.6,264.1,-11.2,194,2039,0.00,1.50,0.00,0.000,4,0.000,0.048,2521,3248,3633
$GC,2072,-0.63,-194.6,268.5,-11.1,197,2079,0.00,1.40,0.00,0.000,6,0.000,0.028,2522,2364,3633
$GC,2390,-0.63,-194.6,304.9,-12.3,228,2393,0.00,1.23,0.00,0.000,4,0.000,0.038,2521,1503,3631
$GC,2443,-0.63,-194.6,311.4,-11.3,233,2446,0.00,1.25,0.00,0.000,6,0.000,0.039,2516,2364,3631
$GC,2765,-0.63,-194.6,350.1,-11.6,264,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2365,3628
$GC,3074,-0.63,-194.6,386.6,-11.5,294,3077,0.00,1.25,0.00,0.000,4,0.000,0.039,2516,1500,3626
$GC,3106,-0.63,-194.6,390.4,-11.8,297,3109,0.08,1.27,0.00,0.000,6,0.146,0.041,2535,2372,3626
$GC,3426,-0.63,-194.6,423.0,-10.0,328,3427,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2372,3623
$GC,3738,-0.63,-194.6,455.2,-10.1,358,3739,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2373,3621
$GC,4048,-0.63,-194.6,487.3,-10.2,388,4049,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2373,3618
$GC,4358,-0.63,-194.6,518.5,-9.8,418,4359,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2373,3616
$GC,4669,-0.63,-194.6,549.7,-10.1,448,4672,0.00,1.27,0.00,0.000,4,0.000,0.043,2535,1509,3614
$GC,4716,-0.63,-194.6,554.6,-10.0,452,4723,0.00,1.30,0.00,0.000,6,0.000,0.043,2531,2376,3614
$GC,5033,-0.63,-194.6,587.0,-10.3,483,5034,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2376,3611
$GC,5343,-0.63,-194.6,618.2,-10.1,513,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2376,3609
$GC,5653,-0.63,-194.6,648.4,-9.5,543,5654,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2376,3607
$GC,5964,-0.63,-194.6,678.2,-9.8,573,5967,0.00,1.30,0.00,0.000,4,0.000,0.044,2531,1500,3605
$GC,5999,-0.63,-194.6,681.5,-9.3,576,6007,0.00,1.33,0.00,0.000,6,0.000,0.046,2526,2373,3605
$GC,6318,-0.63,-194.6,711.1,-9.5,607,6319,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2374,3603
$GC,6626,-0.63,-194.6,741.2,-10.0,637,6629,0.00,1.30,0.00,0.000,4,0.000,0.045,2526,1498,3601
$GC,6658,-0.63,-194.6,744.4,-11.0,640,6661,0.00,1.33,0.00,0.000,6,0.000,0.048,2520,2379,3601
$GC,6980,-0.63,-194.6,777.6,-10.7,671,6981,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2379,3599
$GC,7289,-0.63,-194.6,809.8,-10.3,701,7290,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2380,3598
$GC,7600,-0.63,-194.6,841.6,-10.2,731,7603,0.00,1.30,0.00,0.000,4,0.000,0.046,2520,1505,3595
$GC,7642,-0.63,-194.6,846.1,-10.4,735,7645,0.00,1.30,0.00,0.000,6,0.000,0.048,2515,2368,3595
$GC,7963,-0.63,-194.6,879.4,-10.2,766,7964,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2370,3594
$GC,8274,-0.63,-194.6,910.2,-10.2,796,8275,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2371,3593
$GC,8584,-0.63,-194.6,940.9,-10.2,826,8587,0.00,1.30,0.00,0.000,4,0.000,0.047,2515,1502,3592
$GC,8637,-0.63,-194.6,946.2,-9.6,831,8641,0.10,1.33,0.00,0.000,6,0.143,0.049,2539,2378,3592
$STATE,8812,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8812,begin apogee
$GC,8816,-0.25,0.0,961.3,8.3,848,8975,0.40,0.00,150.90,1.228,6,0.133,0.000,2662,2301,2839
$STATE,8975,end apogee,CONTROL_FINISHED_OK
$STATE,8975,begin climb
$GC,8977,0.63,194.6,964.5,0.0,864,9148,0.90,0.00,167.50,1.194,6,0.100,0.000,2943,2301,2045
$GC,9455,0.63,194.6,917.4,11.6,910,9458,0.00,1.30,0.00,0.000,4,0.000,0.049,2948,1374,2035
$GC,9523,0.63,194.6,909.6,10.9,916,9531,0.00,1.23,0.00,0.000,6,0.000,0.044,2948,2270,2035
$GC,9841,0.63,194.6,872.7,11.9,947,9842,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2271,2033
$GC,10150,0.63,194.6,836.7,11.5,977,10153,0.00,1.20,0.00,0.000,4,0.000,0.044,2954,1370,2032
$GC,10197,0.63,194.6,831.2,11.7,981,10204,0.00,1.25,0.00,0.000,6,0.000,0.045,2954,2282,2032
$GC,10515,0.63,194.6,792.1,12.4,1012,10516,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2282,2031
$GC,10824,0.63,194.6,755.2,12.3,1042,10825,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2282,2030
$GC,11135,0.63,194.6,719.4,11.5,1072,11138,0.00,1.23,0.00,0.000,4,0.000,0.044,2959,1375,2030
$GC,11166,0.63,194.6,715.8,11.1,1075,11169,0.00,1.23,0.00,0.000,6,0.000,0.046,2959,2281,2030
$GC,11487,0.63,194.6,678.6,12.1,1106,11488,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2281,2029
$GC,11798,0.63,194.6,642.5,11.4,1136,11801,0.00,1.23,0.00,0.000,4,0.000,0.044,2964,1369,2029
$GC,11862,0.63,194.6,635.3,10.9,1142,11865,0.00,1.23,0.00,0.000,6,0.000,0.045,2964,2277,2029
$GC,12183,0.63,194.6,597.6,12.2,1173,12184,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2277,2028
$GC,12494,0.63,194.6,560.0,11.9,1203,12495,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2277,2028
$GC,12803,0.63,194.6,523.7,12.0,1233,12806,0.00,1.20,0.00,0.000,4,0.000,0.043,2970,1377,2027
$GC,12850,0.63,194.6,518.1,12.2,1237,12857,0.00,1.23,0.00,0.000,6,0.000,0.044,2969,2277,2028
$GC,13168,0.63,194.6,479.6,12.5,1268,13169,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2277,2028
$GC,13476,0.63,194.6,441.0,12.3,1298,13479,0.00,1.20,0.00,0.000,4,0.000,0.043,2975,1374,2028
$GC,13513,0.63,194.6,436.6,11.8,1301,13520,0.00,1.20,0.00,0.000,6,0.000,0.043,2975,2274,2028
$GC,13830,0.63,194.6,397.3,12.7,1332,13833,0.00,1.20,0.00,0.000,4,0.000,0.041,2980,1365,2028
$GC,13862,0.63,194.6,393.2,12.9,1335,13865,0.08,1.23,0.00,0.000,6,0.144,0.043,2956,2278,2028
$GC,14182,0.63,194.6,356.2,11.8,1366,14185,0.00,1.20,0.00,0.000,4,0.000,0.041,2960,1379,2028
$GC,14225,0.63,194.6,351.4,11.5,1370,14228,0.00,1.20,0.00,0.000,6,0.000,0.042,2960,2277,2028
$GC,14548,0.63,194.6,313.1,12.0,1401,14550,0.00,1.62,0.00,0.000,4,0.000,0.052,2960,3187,2028
$GC,14579,0.63,194.6,309.0,12.6,1404,14582,0.00,1.58,0.00,0.000,6,0.000,0.035,2967,2281,2028
$GC,14902,0.63,194.6,269.8,12.3,1435,14905,0.00,1.20,0.00,0.000,4,0.000,0.041,2973,1362,2027
$GC,14937,0.63,194.6,265.3,12.2,1438,14946,0.00,1.25,0.00,0.000,6,0.000,0.041,2973,2281,2027
$GC,15255,0.63,194.6,227.2,12.6,1469,15256,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2281,2028
$GC,15565,0.63,194.6,190.1,11.9,1499,15566,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2281,2028
$GC,15875,0.63,194.6,153.4,12.4,1529,15876,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2281,2028
$GC,16186,0.63,194.6,117.1,11.2,1559,16186,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2281,2028
$GC,16495,0.63,194.6,83.1,9.9,1589,16499,0.00,1.20,0.00,0.000,4,0.000,0.038,2979,1374,2029
$GC,16549,0.63,194.6,77.6,10.2,1594,16552,0.00,1.17,0.00,0.000,6,0.000,0.038,2978,2273,2029
$GC,16746,0.63,194.6,60.3,7.9,1613,16749,0.00,1.60,0.00,0.000,4,0.000,0.048,2978,3188,2030
$GC,16788,0.63,194.6,56.3,9.9,1617,16791,0.08,1.55,0.00,0.000,6,0.114,0.031,2950,2279,2030
$GC,16985,0.69,247.9,43.0,6.1,1636,17033,0.00,1.23,39.40,0.544,4,0.000,0.036,2954,1354,1829
$GC,17086,0.83,357.0,38.0,4.6,1645,17173,0.12,1.23,82.12,0.536,6,0.051,0.035,3021,2278,1382
$GC,17366,0.91,423.0,18.0,5.8,1671,17418,0.00,1.25,48.92,0.509,4,0.000,0.035,3026,1366,1113
$GC,17476,0.92,436.5,10.2,7.1,1680,17495,0.00,1.23,11.35,0.458,6,0.000,0.032,3027,2277,1058
$STATE,17575,end climb,SURFACE_DEPTH_REACHED
$STATE,17575,begin surface coast
$FINISH,0.8,1.023198
$STATE,17606,end surface coast,CONTROL_FINISHED_OK
$STATE,17606,begin surface
$SM_CCo,17621,66.22,0.488,0,0,494,575.22
$SM_GC,1.43,0.00,0.00,66.22,0.000,0.000,0.488,197,2384,494,-7.96,0.25,575.22
$IRIDIUM_FIX,2833.46,-8841.38,300999,181803
$TT8_MAMPS,0.050622
$HUMID,1372
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,23.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,880.3,100.6
$24V_AH,23.0,38.447
$10V_AH,10.6,53.476
$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,19.950,65.775,500.200,66.225,0.000,79.593,88.129,444.542,1.500,0.000,0.000,15.770,0.000,12014.309,621.418,4947.756,940.214,33.334,2019.939,0.000,4448.102,0.000,14.978,0.000
$DEVICE_MAMPS,256.945,63.661,1227.967,487.812,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1157.166,1235.908,3805.325,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88205,1693
$CAP_FILE_SIZE,162920,0
$CFSIZE,260165632,235614208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.055,174.8,1
$GPS,060710,225937,2843.042,-8838.101,29,1.4,29,-0.3