version: 66.04
glider: 515
mission: 5
dive: 227
start: 7 8 110 15 1 17
data:
$ID,515
$MISSION,5
$DIVE,227
$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,-17613.074
$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,39
$R_STBD_OVSHOOT,20
$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
$GPS1,145406,2843.143,-8839.021,39,0.8,39,-0.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-67.1
$GPS2,150038,2843.152,-8839.058,15,1.0,15,-0.3
$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,-53790.7,-323.6,-199.2,72275.1,3565.8
$KALMAN_Y,-229041.7,91.5,305.1,256022.0,-7969.6
$MHEAD_RNG_PITCHd_Wd,269.5,9752,-10.8,-7.500
$D_GRID,994
$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,-0.63,-194.6,0.0,0.0,0,94,0.00,0.00,-80.15,0.000,2,0.000,0.000,196,2348,2685
$GC,96,-0.63,-194.6,3.1,-3.4,8,135,10.52,1.55,-25.15,0.000,4,0.255,0.062,2530,3267,3633
$GC,140,-0.63,-194.6,8.2,-14.4,11,148,0.00,1.48,0.00,0.000,6,0.000,0.027,2534,2355,3634
$GC,332,-0.63,-194.6,52.0,-18.9,30,336,0.00,1.55,0.00,0.000,4,0.000,0.044,2529,3268,3635
$GC,578,-0.63,-194.6,88.0,-14.7,53,581,0.00,1.42,0.00,0.000,6,0.000,0.028,2534,2365,3636
$GC,775,-0.63,-194.6,114.8,-13.0,72,778,0.00,1.50,0.00,0.000,4,0.000,0.046,2529,3257,3636
$GC,885,-0.63,-194.6,130.2,-13.2,82,893,0.00,1.42,0.00,0.000,6,0.000,0.027,2529,2366,3637
$GC,1204,-0.63,-194.6,171.5,-12.7,113,1207,0.00,1.23,0.00,0.000,4,0.000,0.036,2529,1498,3637
$GC,1250,-0.63,-194.6,177.6,-11.6,117,1258,0.00,1.30,0.00,0.000,6,0.000,0.037,2523,2391,3636
$GC,1568,-0.63,-194.6,216.5,-12.5,148,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2392,3636
$GC,1877,-0.63,-194.6,253.1,-11.7,178,1880,0.00,1.27,0.00,0.000,4,0.000,0.037,2523,1505,3635
$GC,1941,-0.63,-194.6,260.4,-11.4,184,1944,0.00,1.25,0.00,0.000,6,0.000,0.038,2517,2365,3634
$GC,2263,-0.63,-194.6,299.7,-12.4,215,2264,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2365,3633
$GC,2572,-0.63,-194.6,336.6,-12.1,245,2573,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2364,3631
$GC,2883,-0.63,-194.6,374.4,-11.8,275,2886,0.00,1.25,0.00,0.000,4,0.000,0.038,2517,1500,3629
$GC,2919,-0.63,-194.6,378.9,-12.6,278,2927,0.12,1.33,0.00,0.000,6,0.143,0.040,2543,2392,3629
$GC,3235,-0.63,-194.6,408.9,-9.3,309,3236,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2393,3627
$GC,3546,-0.63,-194.6,438.7,-9.4,339,3547,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2393,3625
$GC,3857,-0.63,-194.6,468.6,-9.4,369,3860,0.00,1.30,0.00,0.000,4,0.000,0.041,2544,1504,3623
$GC,3920,-0.63,-194.6,474.7,-9.7,375,3924,0.00,1.25,0.00,0.000,6,0.000,0.044,2540,2358,3622
$GC,4242,-0.63,-194.6,506.1,-9.3,406,4243,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2357,3620
$GC,4552,-0.63,-194.6,536.4,-9.9,436,4553,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2358,3618
$GC,4862,-0.63,-194.6,566.0,-9.5,466,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2358,3616
$GC,5173,-0.63,-194.6,594.2,-9.2,496,5174,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2358,3615
$GC,5483,-0.63,-194.6,621.7,-8.9,526,5486,0.00,1.25,0.00,0.000,4,0.000,0.044,2540,1504,3612
$GC,5526,-0.63,-194.6,625.6,-9.1,530,5529,0.00,1.33,0.00,0.000,6,0.000,0.047,2534,2389,3612
$GC,5848,-0.63,-194.6,656.2,-9.4,561,5849,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2389,3609
$GC,6158,-0.63,-194.6,685.2,-9.3,591,6159,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2389,3607
$GC,6467,-0.63,-194.6,714.3,-9.0,621,6471,0.00,1.30,0.00,0.000,4,0.000,0.044,2534,1511,3606
$GC,6514,-0.63,-194.6,718.9,-9.1,625,6522,0.00,1.30,0.00,0.000,6,0.000,0.047,2529,2365,3606
$GC,6833,-0.63,-194.6,747.4,-9.4,656,6833,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2365,3604
$GC,7141,-0.63,-194.6,776.1,-9.7,686,7144,0.00,1.27,0.00,0.000,4,0.000,0.044,2529,1507,3603
$GC,7174,-0.63,-194.6,779.1,-9.8,689,7176,0.00,1.30,0.00,0.000,6,0.000,0.048,2524,2371,3602
$GC,7495,-0.63,-194.6,810.6,-9.7,720,7496,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2371,3601
$GC,7805,-0.63,-194.6,841.0,-9.8,750,7808,0.00,1.27,0.00,0.000,4,0.000,0.044,2524,1515,3599
$GC,7841,-0.63,-194.6,844.8,-9.9,753,7849,0.00,1.33,0.00,0.000,6,0.000,0.048,2518,2381,3599
$GC,8158,-0.63,-194.6,876.1,-10.0,784,8159,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2381,3598
$GC,8468,-0.63,-194.6,905.2,-8.6,814,8471,0.00,1.55,0.00,0.000,4,0.000,0.061,2512,3255,3596
$GC,8514,-0.63,-194.6,909.9,-10.1,818,8523,0.08,1.48,0.00,0.000,6,0.141,0.037,2536,2374,3596
$GC,8831,-0.63,-194.6,937.0,-9.3,849,8834,0.00,1.30,0.00,0.000,4,0.000,0.045,2536,1490,3595
$GC,8889,-0.63,-194.6,942.5,-10.0,854,8896,0.00,1.33,0.00,0.000,6,0.000,0.049,2532,2362,3595
$GC,9205,-0.63,-194.6,971.3,-9.2,885,9206,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2362,3594
$STATE,9421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9421,begin apogee
$GC,9426,-0.25,0.0,990.3,8.8,906,9584,0.43,0.00,152.43,1.249,6,0.133,0.000,2660,2291,2839
$STATE,9585,end apogee,CONTROL_FINISHED_OK
$STATE,9585,begin climb
$GC,9587,0.63,194.6,994.5,0.0,922,9762,0.93,1.42,168.82,1.217,4,0.105,0.045,2950,1367,2046
$GC,9815,0.63,194.6,974.5,12.4,943,9818,0.00,1.33,0.00,0.000,6,0.000,0.044,2949,2275,2040
$GC,10137,0.63,194.6,934.9,11.8,974,10140,0.00,1.67,0.00,0.000,4,0.000,0.056,2949,3178,2035
$GC,10169,0.63,194.6,931.0,13.0,977,10172,0.00,1.60,0.00,0.000,6,0.000,0.038,2957,2266,2034
$GC,10491,0.63,194.6,890.8,12.3,1008,10494,0.00,1.17,0.00,0.000,4,0.000,0.045,2963,1377,2032
$GC,10523,0.63,194.6,886.9,10.9,1011,10526,0.00,1.23,0.00,0.000,6,0.000,0.044,2962,2275,2033
$GC,10844,0.63,194.6,846.2,12.8,1042,10844,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2275,2032
$GC,11154,0.63,194.6,806.7,13.1,1072,11155,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2275,2031
$GC,11465,0.63,194.6,768.2,12.4,1102,11468,0.00,1.23,0.00,0.000,4,0.000,0.045,2967,1365,2031
$GC,11501,0.63,194.6,763.5,12.9,1105,11508,0.00,1.27,0.00,0.000,6,0.000,0.044,2968,2282,2031
$GC,11819,0.63,194.6,723.5,12.7,1136,11822,0.00,1.23,0.00,0.000,4,0.000,0.044,2973,1377,2030
$GC,11850,0.63,194.6,719.2,12.5,1139,11854,0.00,1.23,0.00,0.000,6,0.000,0.044,2973,2278,2030
$GC,12173,0.63,194.6,676.6,12.6,1170,12176,0.00,1.23,0.00,0.000,4,0.000,0.044,2979,1365,2029
$GC,12204,0.63,194.6,672.3,13.3,1173,12207,0.00,1.23,0.00,0.000,6,0.000,0.045,2978,2273,2029
$GC,12526,0.63,194.6,628.7,13.8,1204,12529,0.00,1.62,0.00,0.000,4,0.000,0.055,2978,3176,2029
$GC,12569,0.63,194.6,622.6,14.4,1208,12572,0.10,1.58,0.00,0.000,6,0.150,0.038,2944,2280,2027
$GC,12890,0.63,194.6,586.9,10.7,1239,12893,0.00,1.23,0.00,0.000,4,0.000,0.044,2949,1357,2027
$GC,12975,0.63,194.6,578.2,9.9,1247,12978,0.00,1.25,0.00,0.000,6,0.000,0.044,2949,2278,2027
$GC,13296,0.63,194.6,544.6,10.8,1278,13296,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2278,2027
$GC,13606,0.63,194.6,510.1,11.2,1308,13609,0.00,1.23,0.00,0.000,4,0.000,0.043,2954,1368,2027
$GC,13660,0.63,194.6,504.3,10.8,1313,13663,0.00,1.23,0.00,0.000,6,0.000,0.044,2954,2277,2027
$GC,13980,0.63,194.6,467.1,12.0,1344,13981,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2278,2027
$GC,14292,0.63,194.6,430.6,11.7,1374,14295,0.00,1.23,0.00,0.000,4,0.000,0.042,2959,1361,2027
$GC,14359,0.63,194.6,422.9,10.8,1380,14367,0.00,1.27,0.00,0.000,6,0.000,0.042,2959,2285,2027
$GC,14678,0.63,194.6,386.7,11.1,1411,14678,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2285,2027
$GC,14987,0.63,194.6,351.2,11.1,1441,14988,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2285,2027
$GC,15297,0.63,194.6,314.6,11.8,1471,15300,0.00,1.25,0.00,0.000,4,0.000,0.041,2964,1361,2027
$GC,15365,0.63,194.6,306.5,12.0,1477,15373,0.00,1.25,0.00,0.000,6,0.000,0.041,2964,2278,2028
$GC,15684,0.63,194.6,269.3,11.8,1508,15684,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2278,2027
$GC,15992,0.63,194.6,233.2,11.7,1538,15995,0.00,1.23,0.00,0.000,4,0.000,0.040,2970,1357,2027
$GC,16067,0.63,194.6,224.8,10.9,1545,16070,0.00,1.23,0.00,0.000,6,0.000,0.041,2970,2275,2028
$GC,16387,0.63,194.6,186.7,12.4,1576,16390,0.00,1.20,0.00,0.000,4,0.000,0.040,2974,1364,2028
$GC,16440,0.63,194.6,180.4,12.8,1581,16444,0.00,1.20,0.00,0.000,6,0.000,0.040,2974,2272,2029
$GC,16763,0.63,194.6,142.7,11.4,1612,16766,0.00,1.62,0.00,0.000,4,0.000,0.049,2974,3196,2029
$GC,16795,0.63,194.6,139.1,10.4,1615,16798,0.08,1.60,0.00,0.000,6,0.142,0.033,2947,2272,2029
$GC,17115,0.63,194.6,107.6,9.5,1646,17118,0.00,1.15,0.00,0.000,4,0.000,0.038,2951,1374,2030
$GC,17179,0.63,194.6,101.7,7.9,1652,17183,0.00,1.20,0.00,0.000,6,0.000,0.038,2951,2279,2030
$GC,17502,0.63,194.6,73.4,7.9,1683,17504,0.00,1.20,0.00,0.000,4,0.000,0.036,2956,1364,2031
$GC,17538,0.63,194.6,70.4,7.9,1686,17545,0.00,1.23,0.00,0.000,6,0.000,0.036,2957,2283,2031
$GC,17730,0.63,198.5,55.4,7.4,1705,17733,0.00,1.58,0.00,0.000,4,0.000,0.047,2956,3168,2032
$GC,17755,0.63,198.5,53.5,8.9,1707,17764,0.00,1.55,0.00,0.000,6,0.000,0.030,2963,2273,2032
$GC,17948,0.72,275.2,42.1,5.5,1726,18012,0.00,0.00,60.05,0.541,6,0.000,0.000,2963,2274,1717
$GC,18194,0.86,380.9,29.1,4.7,1750,18279,0.17,1.15,78.95,0.522,4,0.059,0.034,3064,1368,1286
$GC,18347,0.86,380.9,15.4,10.3,1763,18356,0.15,1.23,0.00,0.000,6,0.120,0.033,3021,2275,1281
$STATE,18517,end climb,SURFACE_DEPTH_REACHED
$STATE,18517,begin surface coast
$FINISH,0.7,1.012427
$STATE,18560,end surface coast,CONTROL_FINISHED_OK
$STATE,18560,begin surface
$SM_CCo,18575,93.15,0.490,0,0,495,575.22
$SM_GC,1.65,0.00,0.00,93.15,0.000,0.000,0.490,199,2389,495,-7.96,0.40,575.22
$IRIDIUM_FIX,2833.46,-8834.01,021099,101039
$TT8_MAMPS,0.049855
$HUMID,1341
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,22.8,39.905
$10V_AH,10.6,55.409
$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,20.075,82.800,460.250,93.150,0.000,24.800,31.455,211.104,3.750,0.000,0.000,16.904,0.000,12495.327,633.496,5313.659,588.458,33.340,2136.178,0.000,4737.950,0.000,28.353,0.000
$DEVICE_MAMPS,255.411,62.127,1248.676,490.113,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1220.183,1299.263,4009.684,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94701,1784
$CAP_FILE_SIZE,169805,0
$CFSIZE,260165632,234840064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.058,168.3,1
$GPS,080710,201330,2842.719,-8841.854,38,1.7,43,-0.2