version: 66.04
glider: 515
mission: 5
dive: 224
start: 7 7 110 23 55 48
data:
$ID,515
$MISSION,5
$DIVE,224
$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,-17557.406
$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,24
$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
$GPS1,234607,2843.388,-8829.838,24,1.6,24,-0.4
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,3
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-61.9
$GPS2,235426,2843.481,-8829.881,11,1.6,11,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.237,0.118
$KALMAN_X,-59257.6,438.8,551.2,91144.5,-1716.4
$KALMAN_Y,-223672.2,1067.2,1453.7,249132.2,-13411.9
$MHEAD_RNG_PITCHd_Wd,286.0,24640,-10.8,-7.500
$D_GRID,1303
$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,13,-0.63,-194.6,0.0,0.0,0,93,0.00,0.00,-78.22,0.000,2,0.000,0.000,191,2386,2616
$GC,95,-0.63,-194.6,3.1,-3.3,8,137,10.57,1.38,-27.67,0.000,4,0.256,0.058,2537,1453,3634
$GC,376,-0.63,-194.6,54.9,-13.2,33,384,0.00,1.35,0.00,0.000,6,0.000,0.035,2533,2375,3636
$GC,569,-0.63,-194.6,82.4,-13.9,52,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2376,3638
$GC,755,-0.63,-194.6,109.7,-14.0,70,758,0.00,1.30,0.00,0.000,4,0.000,0.037,2533,1465,3638
$GC,818,-0.63,-194.6,118.2,-13.2,76,822,0.00,1.30,0.00,0.000,6,0.000,0.037,2529,2367,3638
$GC,1141,-0.63,-194.6,162.9,-13.9,107,1144,0.00,1.48,0.00,0.000,4,0.000,0.047,2521,3255,3638
$GC,1177,-0.63,-194.6,168.4,-13.7,110,1186,0.00,1.48,0.00,0.000,6,0.000,0.028,2521,2348,3638
$GC,1495,-0.63,-194.6,209.1,-13.1,141,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2348,3638
$GC,1804,-0.63,-194.6,248.6,-12.8,171,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2347,3637
$GC,2115,-0.63,-194.6,287.2,-11.8,201,2118,0.00,1.20,0.00,0.000,4,0.000,0.038,2521,1487,3635
$GC,2162,-0.63,-194.6,293.1,-12.3,205,2169,0.00,1.30,0.00,0.000,6,0.000,0.038,2515,2384,3636
$GC,2479,-0.63,-194.6,330.0,-11.6,236,2480,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2385,3633
$GC,2789,-0.63,-194.6,367.3,-11.7,266,2792,0.00,1.30,0.00,0.000,4,0.000,0.038,2516,1484,3632
$GC,2878,-0.63,-194.6,378.1,-11.8,274,2887,0.12,1.30,0.00,0.000,6,0.143,0.038,2541,2366,3631
$GC,3195,-0.63,-194.6,408.5,-9.5,305,3196,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2366,3629
$GC,3506,-0.63,-194.6,437.8,-9.5,335,3507,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2366,3627
$GC,3816,-0.63,-194.6,467.0,-9.5,365,3819,0.00,1.27,0.00,0.000,4,0.000,0.042,2543,1493,3625
$GC,3852,-0.63,-194.6,470.6,-9.4,368,3859,0.00,1.30,0.00,0.000,6,0.000,0.041,2539,2374,3624
$GC,4170,-0.63,-194.6,500.5,-10.0,399,4171,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2375,3622
$GC,4479,-0.63,-194.6,530.4,-9.5,429,4482,0.00,1.30,0.00,0.000,4,0.000,0.043,2540,1485,3619
$GC,4511,-0.63,-194.6,533.4,-10.0,432,4514,0.00,1.30,0.00,0.000,6,0.000,0.043,2534,2365,3619
$GC,4833,-0.63,-194.6,565.1,-10.2,463,4834,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2366,3618
$GC,5142,-0.63,-194.6,596.2,-10.0,493,5143,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2366,3615
$GC,5453,-0.63,-194.6,626.2,-9.5,523,5456,0.00,1.30,0.00,0.000,4,0.000,0.044,2534,1486,3613
$GC,5499,-0.63,-194.6,630.9,-9.6,527,5507,0.00,1.38,0.00,0.000,6,0.000,0.044,2528,2396,3613
$GC,5817,-0.63,-194.6,662.2,-9.8,558,5818,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2396,3611
$GC,6127,-0.63,-194.6,693.9,-10.1,588,6129,0.00,1.35,0.00,0.000,4,0.000,0.044,2528,1489,3609
$GC,6162,-0.63,-194.6,697.6,-10.4,591,6170,0.00,1.33,0.00,0.000,6,0.000,0.045,2524,2366,3609
$GC,6480,-0.63,-194.6,729.0,-10.2,622,6481,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2366,3607
$GC,6789,-0.63,-194.6,760.2,-10.0,652,6793,0.00,1.55,0.00,0.000,4,0.000,0.058,2517,3263,3605
$GC,6826,-0.63,-194.6,764.2,-10.7,655,6833,0.00,1.48,0.00,0.000,6,0.000,0.036,2516,2366,3605
$GC,7143,-0.63,-194.6,796.0,-10.3,686,7144,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2366,3603
$GC,7453,-0.63,-194.6,827.6,-10.4,716,7453,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2366,3602
$GC,7764,-0.63,-194.6,858.8,-10.1,746,7765,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2367,3601
$GC,8073,-0.63,-194.6,889.7,-10.0,776,8074,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2367,3599
$GC,8384,-0.63,-194.6,921.0,-9.9,806,8387,0.00,1.27,0.00,0.000,4,0.000,0.048,2517,1502,3597
$GC,8438,-0.63,-194.6,926.3,-9.7,811,8441,0.08,1.33,0.00,0.000,6,0.151,0.049,2535,2380,3597
$GC,8758,-0.63,-194.6,954.9,-8.9,842,8759,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2380,3596
$GC,9069,-0.63,-194.6,982.4,-8.4,872,9072,0.00,1.33,0.00,0.000,4,0.000,0.047,2536,1496,3595
$GC,9112,-0.63,-194.6,986.1,-8.8,876,9115,0.00,1.33,0.00,0.000,6,0.000,0.050,2533,2367,3595
$STATE,9163,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9163,begin apogee
$GC,9168,-0.25,0.0,990.5,8.6,881,9325,0.45,0.00,152.27,1.250,6,0.133,0.000,2667,2287,2840
$STATE,9326,end apogee,CONTROL_FINISHED_OK
$STATE,9326,begin climb
$GC,9328,0.63,194.6,995.2,0.0,897,9501,0.88,0.00,169.18,1.215,6,0.102,0.000,2942,2287,2046
$GC,9810,0.63,194.6,946.0,11.2,944,9813,0.00,1.27,0.00,0.000,4,0.000,0.051,2948,1365,2035
$GC,9857,0.63,194.6,940.5,12.3,948,9864,0.00,1.27,0.00,0.000,6,0.000,0.044,2948,2275,2035
$GC,10174,0.63,194.6,902.3,12.3,979,10178,0.00,1.23,0.00,0.000,4,0.000,0.044,2953,1370,2033
$GC,10210,0.63,194.6,897.9,11.2,982,10219,0.00,1.25,0.00,0.000,6,0.000,0.044,2953,2279,2033
$GC,10528,0.63,194.6,858.5,12.6,1013,10529,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2279,2032
$GC,10838,0.63,194.6,820.2,12.3,1043,10840,0.00,1.23,0.00,0.000,4,0.000,0.044,2959,1370,2031
$GC,10869,0.63,194.6,816.2,12.4,1046,10872,0.00,1.23,0.00,0.000,6,0.000,0.044,2959,2275,2031
$GC,11190,0.63,194.6,776.2,12.3,1077,11191,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2275,2030
$GC,11501,0.63,194.6,738.2,12.7,1107,11504,0.00,1.62,0.00,0.000,4,0.000,0.055,2958,3182,2029
$GC,11526,0.63,194.6,734.9,12.8,1109,11533,0.00,1.62,0.00,0.000,6,0.000,0.037,2966,2264,2029
$GC,11844,0.63,194.6,694.8,12.8,1140,11845,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2265,2029
$GC,12153,0.63,194.6,655.8,12.6,1170,12156,0.00,1.15,0.00,0.000,4,0.000,0.044,2972,1377,2029
$GC,12185,0.63,194.6,652.0,12.3,1173,12188,0.00,1.20,0.00,0.000,6,0.000,0.044,2972,2270,2029
$GC,12507,0.63,194.6,611.2,12.4,1204,12507,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2269,2028
$GC,12816,0.63,194.6,572.3,12.6,1234,12817,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2270,2028
$GC,13126,0.63,194.6,532.7,12.8,1264,13129,0.00,1.20,0.00,0.000,4,0.000,0.043,2977,1369,2028
$GC,13147,0.63,194.6,530.0,13.0,1266,13150,0.00,1.23,0.00,0.000,6,0.000,0.044,2977,2277,2028
$GC,13468,0.63,194.6,487.5,13.1,1297,13469,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2277,2028
$GC,13779,0.63,194.6,446.3,13.2,1327,13780,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2278,2028
$GC,14089,0.63,194.6,404.2,13.7,1357,14090,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2278,2028
$GC,14399,0.63,194.6,361.5,13.1,1387,14400,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2277,2028
$GC,14710,0.63,194.6,318.6,14.0,1417,14713,0.00,1.20,0.00,0.000,4,0.000,0.042,2982,1376,2028
$GC,14753,0.63,194.6,312.7,13.5,1421,14756,0.10,1.20,0.00,0.000,6,0.143,0.041,2951,2276,2028
$GC,15074,0.63,194.6,275.6,10.1,1452,15077,0.00,1.20,0.00,0.000,4,0.000,0.041,2955,1374,2028
$GC,15127,0.63,194.6,270.0,10.5,1457,15130,0.00,1.20,0.00,0.000,6,0.000,0.041,2955,2277,2028
$GC,15447,0.63,194.6,234.5,11.0,1488,15451,0.00,1.60,0.00,0.000,4,0.000,0.051,2955,3161,2028
$GC,15468,0.63,194.6,232.0,11.2,1490,15472,0.00,1.55,0.00,0.000,6,0.000,0.034,2962,2273,2029
$GC,15790,0.63,194.6,195.5,11.3,1521,15793,0.00,1.17,0.00,0.000,4,0.000,0.040,2967,1361,2029
$GC,15822,0.63,194.6,191.8,10.8,1524,15824,0.00,1.20,0.00,0.000,6,0.000,0.040,2968,2274,2029
$GC,16144,0.63,194.6,154.9,10.8,1555,16145,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2274,2030
$GC,16453,0.63,194.6,120.3,11.2,1585,16454,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2274,2031
$GC,16763,0.63,194.6,87.4,10.2,1615,16766,0.00,1.60,0.00,0.000,4,0.000,0.048,2968,3166,2032
$GC,16784,0.63,194.6,85.2,10.7,1617,16787,0.00,1.55,0.00,0.000,6,0.000,0.031,2975,2268,2031
$GC,16981,0.63,194.6,65.5,9.6,1636,16984,0.00,1.15,0.00,0.000,4,0.000,0.038,2981,1362,2033
$GC,17023,0.63,194.6,61.5,8.6,1640,17027,0.10,1.20,0.00,0.000,6,0.120,0.037,2948,2277,2032
$GC,17221,0.69,243.9,47.8,6.2,1659,17268,0.00,1.65,36.85,0.542,4,0.000,0.045,2947,3183,1843
$GC,17321,0.72,268.6,41.6,6.9,1668,17344,0.00,1.55,19.62,0.517,6,0.000,0.030,2953,2278,1745
$GC,17529,0.87,393.4,30.5,4.2,1688,17626,0.17,1.23,93.38,0.522,4,0.058,0.035,3050,1373,1234
$GC,17737,0.87,393.4,13.5,8.5,1706,17745,0.00,1.23,0.00,0.000,6,0.000,0.033,3050,2278,1229
$STATE,17845,end climb,SURFACE_DEPTH_REACHED
$STATE,17845,begin surface coast
$FINISH,0.7,1.023168
$STATE,17866,end surface coast,CONTROL_FINISHED_OK
$STATE,17866,begin surface
$SM_CCo,17881,88.12,0.491,0,0,494,575.22
$SM_GC,1.52,0.00,0.00,88.12,0.000,0.000,0.491,195,2398,494,-7.97,0.65,575.22
$IRIDIUM_FIX,2831.00,-8831.56,011099,181852
$TT8_MAMPS,0.049855
$HUMID,1349
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.10
$XPDR_PINGS,1
$24V_AH,22.8,39.421
$10V_AH,10.6,54.754
$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,20.150,69.575,471.300,88.125,0.000,30.184,26.229,323.278,4.000,0.000,0.000,13.416,0.000,12054.684,631.097,5054.929,740.953,33.340,2049.995,0.000,4525.743,0.000,28.328,0.000
$DEVICE_MAMPS,256.178,59.059,1250.210,490.880,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1174.810,1255.109,3863.605,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88332,1719
$CAP_FILE_SIZE,162296,0
$CFSIZE,260165632,235114496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.058,202.9,1
$GPS,080710,045607,2843.590,-8833.065,28,1.7,28,-0.3