version: 66.04
glider: 515
mission: 5
dive: 219
start: 7 6 110 23 7 11
data:
$ID,515
$MISSION,5
$DIVE,219
$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,-17476.947
$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,28
$R_STBD_OVSHOOT,30
$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
$GPS1,225937,2843.042,-8838.101,29,1.4,29,-0.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-56.7
$GPS2,230632,2843.082,-8838.115,13,1.6,13,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.229,0.133
$KALMAN_X,-58558.9,716.5,190.4,77151.1,-4240.9
$KALMAN_Y,-208845.9,2072.2,550.0,233456.6,-12967.6
$MHEAD_RNG_PITCHd_Wd,75.6,19699,-10.8,-7.500
$D_GRID,977
$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,14,-0.63,-194.6,0.0,0.0,0,109,0.00,0.00,-93.55,0.000,2,0.000,0.000,193,2388,3059
$GC,111,-0.63,-194.6,3.5,-3.8,9,137,10.75,1.52,-11.88,0.000,4,0.262,0.066,2531,3272,3635
$GC,217,-0.63,-194.6,33.7,-25.9,18,225,0.00,1.48,0.00,0.000,6,0.000,0.028,2535,2363,3636
$GC,408,-0.63,-194.6,67.4,-15.6,37,411,0.00,1.25,0.00,0.000,4,0.000,0.036,2537,1474,3637
$GC,434,-0.63,-194.6,71.3,-15.3,39,441,0.00,1.33,0.00,0.000,6,0.000,0.036,2533,2378,3637
$GC,626,-0.63,-194.6,100.3,-15.2,58,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2378,3639
$GC,936,-0.63,-194.6,141.0,-13.1,88,939,0.00,1.27,0.00,0.000,4,0.000,0.036,2533,1485,3640
$GC,979,-0.63,-194.6,146.6,-13.2,92,982,0.00,1.27,0.00,0.000,6,0.000,0.036,2527,2369,3640
$GC,1302,-0.63,-194.6,189.1,-13.2,123,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2369,3640
$GC,1610,-0.63,-194.6,228.5,-12.4,153,1613,0.00,1.48,0.00,0.000,4,0.000,0.047,2520,3253,3639
$GC,1643,-0.63,-194.6,232.5,-12.4,156,1645,0.00,1.42,0.00,0.000,6,0.000,0.029,2520,2359,3639
$GC,1964,-0.63,-194.6,272.4,-12.0,187,1967,0.00,1.52,0.00,0.000,4,0.000,0.047,2513,3259,3638
$GC,2028,-0.63,-194.6,280.1,-12.3,193,2031,0.08,1.42,0.00,0.000,6,0.142,0.029,2537,2362,3637
$GC,2348,-0.63,-194.6,313.5,-10.5,224,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2362,3636
$GC,2659,-0.63,-194.6,344.6,-9.9,254,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2362,3634
$GC,2970,-0.63,-194.6,376.5,-10.1,284,2973,0.00,1.23,0.00,0.000,4,0.000,0.041,2538,1506,3631
$GC,3038,-0.63,-194.6,383.5,-10.2,290,3046,0.00,1.30,0.00,0.000,6,0.000,0.040,2534,2384,3631
$GC,3356,-0.63,-194.6,416.7,-10.6,321,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2384,3629
$GC,3665,-0.63,-194.6,449.7,-10.6,351,3668,0.00,1.27,0.00,0.000,4,0.000,0.041,2534,1511,3626
$GC,3718,-0.63,-194.6,455.6,-11.0,356,3721,0.00,1.25,0.00,0.000,6,0.000,0.041,2529,2361,3626
$GC,4040,-0.63,-194.6,490.5,-11.0,387,4041,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2361,3624
$GC,4350,-0.63,-194.6,523.9,-10.2,417,4350,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2361,3621
$GC,4660,-0.63,-194.6,556.5,-10.4,447,4660,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2361,3619
$GC,4970,-0.63,-194.6,587.9,-10.1,477,4971,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2361,3617
$GC,5281,-0.63,-194.6,618.4,-9.1,507,5284,0.00,1.25,0.00,0.000,4,0.000,0.044,2528,1512,3615
$GC,5334,-0.63,-194.6,623.7,-10.0,512,5337,0.00,1.27,0.00,0.000,6,0.000,0.045,2523,2366,3615
$GC,5656,-0.63,-194.6,655.1,-9.6,543,5659,0.00,1.27,0.00,0.000,4,0.000,0.044,2523,1509,3614
$GC,5698,-0.63,-194.6,659.4,-9.6,547,5701,0.00,1.30,0.00,0.000,6,0.000,0.045,2517,2377,3614
$GC,6021,-0.63,-194.6,692.4,-10.3,578,6022,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2378,3611
$GC,6329,-0.63,-194.6,724.5,-10.1,608,6332,0.00,1.30,0.00,0.000,4,0.000,0.045,2517,1501,3609
$GC,6361,-0.63,-194.6,727.8,-10.5,611,6365,0.08,1.30,0.00,0.000,6,0.150,0.048,2536,2369,3609
$GC,6682,-0.63,-194.6,756.6,-8.8,642,6683,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2369,3608
$GC,6993,-0.63,-194.6,784.3,-8.3,672,6994,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2369,3606
$GC,7303,-0.63,-194.6,811.9,-9.2,702,7306,0.00,1.27,0.00,0.000,4,0.000,0.048,2536,1516,3604
$GC,7361,-0.63,-194.6,817.4,-9.0,707,7368,0.00,1.30,0.00,0.000,6,0.000,0.047,2532,2376,3604
$GC,7679,-0.63,-194.6,846.2,-8.7,738,7682,0.00,1.30,0.00,0.000,4,0.000,0.047,2532,1508,3602
$GC,7714,-0.63,-194.6,849.6,-9.3,741,7726,0.00,1.35,0.00,0.000,6,0.000,0.048,2528,2390,3602
$GC,8031,-0.63,-194.6,878.7,-9.5,772,8032,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2390,3602
$GC,8341,-0.63,-194.6,906.9,-8.8,802,8344,0.00,1.33,0.00,0.000,4,0.000,0.047,2527,1507,3600
$GC,8384,-0.63,-194.6,910.7,-9.7,806,8387,0.00,1.27,0.00,0.000,6,0.000,0.049,2522,2357,3600
$STATE,8631,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8631,begin apogee
$GC,8636,-0.25,0.0,932.9,9.3,830,8794,0.47,0.00,151.90,1.207,6,0.137,0.000,2662,2309,2839
$STATE,8795,end apogee,CONTROL_FINISHED_OK
$STATE,8795,begin climb
$GC,8797,0.63,194.6,937.3,0.0,846,8969,0.88,1.48,166.98,1.174,4,0.104,0.051,2944,1376,2046
$GC,9000,0.63,194.6,920.7,10.6,865,9003,0.00,1.30,0.00,0.000,6,0.000,0.044,2944,2269,2042
$GC,9322,0.63,194.6,882.3,11.8,896,9323,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2269,2035
$GC,9632,0.63,194.6,845.9,12.4,926,9635,0.00,1.20,0.00,0.000,4,0.000,0.044,2949,1375,2034
$GC,9663,0.63,194.6,842.1,11.8,929,9666,0.00,1.23,0.00,0.000,6,0.000,0.044,2949,2276,2034
$GC,9986,0.63,194.6,804.0,11.8,960,9989,0.00,1.23,0.00,0.000,4,0.000,0.044,2954,1361,2032
$GC,10021,0.63,194.6,799.6,11.7,963,10029,0.00,1.25,0.00,0.000,6,0.000,0.044,2954,2273,2032
$GC,10339,0.63,194.6,761.2,11.9,994,10340,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2273,2032
$GC,10648,0.63,194.6,723.9,11.9,1024,10649,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2273,2031
$GC,10958,0.63,194.6,687.5,11.9,1054,10961,0.00,1.20,0.00,0.000,4,0.000,0.044,2960,1377,2030
$GC,10995,0.63,194.6,683.1,12.0,1057,11002,0.00,1.25,0.00,0.000,6,0.000,0.044,2959,2289,2030
$GC,11312,0.63,194.6,644.2,12.4,1088,11315,0.00,1.25,0.00,0.000,4,0.000,0.044,2965,1366,2030
$GC,11354,0.63,194.6,638.9,12.4,1092,11358,0.00,1.23,0.00,0.000,6,0.000,0.044,2965,2274,2030
$GC,11677,0.63,194.6,599.7,11.7,1123,11680,0.00,1.20,0.00,0.000,4,0.000,0.043,2970,1373,2029
$GC,11708,0.63,194.6,595.6,12.4,1126,11711,0.00,1.23,0.00,0.000,6,0.000,0.044,2970,2279,2029
$GC,12030,0.63,194.6,556.2,12.6,1157,12031,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2279,2028
$GC,12340,0.63,194.6,517.0,12.8,1187,12340,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2279,2028
$GC,12650,0.63,194.6,477.3,12.7,1217,12653,0.00,1.23,0.00,0.000,4,0.000,0.043,2975,1363,2028
$GC,12707,0.63,194.6,469.7,12.9,1222,12716,0.00,1.25,0.00,0.000,6,0.000,0.043,2975,2279,2028
$GC,13025,0.63,194.6,429.0,13.0,1253,13028,0.00,1.23,0.00,0.000,4,0.000,0.042,2980,1359,2028
$GC,13071,0.63,194.6,422.5,13.3,1257,13079,0.12,1.25,0.00,0.000,6,0.150,0.043,2949,2280,2028
$GC,13388,0.63,194.6,387.5,10.5,1288,13392,0.00,1.62,0.00,0.000,4,0.000,0.053,2949,3169,2028
$GC,13409,0.63,194.6,385.1,11.6,1290,13412,0.00,1.58,0.00,0.000,6,0.000,0.036,2955,2273,2027
$GC,13730,0.63,194.6,348.3,11.9,1321,13733,0.00,1.17,0.00,0.000,4,0.000,0.041,2961,1374,2027
$GC,13784,0.63,194.6,342.1,10.8,1326,13786,0.00,1.20,0.00,0.000,6,0.000,0.042,2961,2270,2027
$GC,14104,0.63,194.6,303.3,12.3,1357,14105,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2270,2027
$GC,14415,0.63,194.6,267.6,11.3,1387,14416,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2270,2027
$GC,14725,0.63,194.6,231.4,11.5,1417,14726,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2270,2027
$GC,15036,0.63,194.6,196.4,10.9,1447,15037,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2270,2027
$GC,15346,0.63,194.6,160.4,11.5,1477,15346,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2270,2028
$GC,15657,0.63,194.6,126.0,10.3,1507,15657,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2270,2028
$GC,15967,0.63,194.6,94.7,9.6,1537,15967,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2270,2029
$GC,16153,0.63,194.6,77.2,8.8,1555,16156,0.00,1.17,0.00,0.000,4,0.000,0.037,2965,1368,2030
$GC,16178,0.63,194.6,75.0,9.6,1557,16186,0.00,1.20,0.00,0.000,6,0.000,0.037,2965,2279,2030
$GC,16370,0.63,194.6,59.1,8.0,1576,16371,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2279,2030
$GC,16557,0.63,201.9,45.4,7.3,1594,16569,0.00,1.20,5.05,0.409,4,0.000,0.036,2971,1368,2016
$GC,16655,0.70,258.9,39.8,6.0,1603,16703,0.00,1.17,44.60,0.538,6,0.000,0.036,2971,2273,1783
$GC,16887,0.86,385.5,28.1,4.2,1625,16986,0.15,1.65,94.28,0.522,4,0.064,0.044,3050,3165,1267
$GC,17020,0.86,385.5,16.7,10.3,1636,17025,0.10,1.58,0.00,0.000,6,0.123,0.029,3024,2272,1263
$GC,17211,0.86,385.5,3.3,8.1,1655,17214,0.00,1.17,0.00,0.000,4,0.000,0.035,3028,1356,1259
$STATE,17219,end climb,SURFACE_DEPTH_REACHED
$STATE,17220,begin surface coast
$FINISH,0.6,1.023190
$STATE,17245,end surface coast,CONTROL_FINISHED_OK
$STATE,17245,begin surface
$SM_CCo,17261,87.88,0.490,0,0,495,575.22
$SM_GC,1.45,0.00,0.00,87.88,0.000,0.000,0.490,197,2375,495,-7.96,0.00,575.22
$IRIDIUM_FIX,2835.91,-8841.38,300999,181813
$TT8_MAMPS,0.050622
$HUMID,1344
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,24.20
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,910.3,42.6
$24V_AH,22.9,38.605
$10V_AH,10.6,53.688
$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,20.200,70.850,462.800,87.875,0.000,31.072,25.710,238.276,3.250,0.000,0.000,15.644,0.000,11645.841,623.448,4869.671,596.035,33.334,1995.389,0.000,4354.901,0.000,19.548,0.000
$DEVICE_MAMPS,261.547,72.098,1207.258,490.113,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1132.602,1211.017,3725.797,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85028,1658
$CAP_FILE_SIZE,154590,0
$CFSIZE,260165632,235540480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.050,184.3,1
$GPS,070710,035724,2843.266,-8835.349,25,1.1,42,-0.3