version: 66.04
glider: 515
mission: 5
dive: 230
start: 7 9 110 5 36 35
data:
$ID,515
$MISSION,5
$DIVE,230
$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,-17658.305
$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,26
$R_STBD_OVSHOOT,36
$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
$GPS1,052500,2842.876,-8841.265,35,1.3,40,-0.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-69.4
$GPS2,053556,2842.845,-8841.251,11,1.9,11,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.216,0.153
$KALMAN_X,-52429.4,-523.6,-563.9,67933.3,2834.5
$KALMAN_Y,-241405.9,1221.6,1454.6,265536.0,-14167.6
$MHEAD_RNG_PITCHd_Wd,75.9,24808,-10.8,-7.500
$D_GRID,1039
$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,-194.6,0.0,0.0,0,89,0.00,0.00,-75.07,0.000,2,0.000,0.000,203,2393,2547
$GC,91,-0.63,-194.6,3.1,-3.1,7,136,10.62,0.00,-31.25,0.000,6,0.256,0.000,2539,2394,3635
$GC,318,-0.63,-194.6,49.5,-18.9,29,321,0.00,1.33,0.00,0.000,4,0.000,0.033,2545,1463,3636
$GC,397,-0.63,-194.6,61.2,-13.2,36,404,0.00,1.30,0.00,0.000,6,0.000,0.035,2542,2361,3637
$GC,589,-0.63,-194.6,88.5,-14.0,55,592,0.00,1.27,0.00,0.000,4,0.000,0.034,2541,1457,3637
$GC,625,-0.63,-194.6,93.4,-12.6,58,634,0.00,1.35,0.00,0.000,6,0.000,0.034,2536,2389,3638
$GC,818,-0.63,-194.6,119.0,-13.6,77,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2389,3638
$GC,1128,-0.63,-194.6,157.7,-11.2,107,1131,0.00,1.30,0.00,0.000,4,0.000,0.034,2536,1466,3638
$GC,1164,-0.63,-194.6,162.0,-12.0,110,1173,0.00,1.27,0.00,0.000,6,0.000,0.035,2530,2362,3638
$GC,1481,-0.63,-194.6,199.1,-11.7,141,1482,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2362,3638
$GC,1792,-0.63,-194.6,235.9,-12.5,171,1794,0.00,1.50,0.00,0.000,4,0.000,0.046,2522,3260,3636
$GC,1827,-0.63,-194.6,240.6,-11.3,174,1836,0.00,1.48,0.00,0.000,6,0.000,0.028,2522,2348,3636
$GC,2145,-0.63,-194.6,278.3,-12.0,205,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2349,3634
$GC,2455,-0.63,-194.6,314.2,-11.3,235,2458,0.00,1.20,0.00,0.000,4,0.000,0.037,2522,1484,3633
$GC,2490,-0.63,-194.6,318.5,-11.4,238,2499,0.00,1.33,0.00,0.000,6,0.000,0.038,2516,2387,3633
$GC,2809,-0.63,-194.6,354.6,-11.5,269,2812,0.00,1.30,0.00,0.000,4,0.000,0.038,2516,1485,3630
$GC,2851,-0.63,-194.6,359.8,-11.4,273,2854,0.08,1.27,0.00,0.000,6,0.144,0.040,2536,2360,3630
$GC,3172,-0.63,-194.6,391.8,-9.9,304,3175,0.00,1.52,0.00,0.000,4,0.000,0.051,2531,3261,3628
$GC,3225,-0.63,-194.6,397.0,-9.9,309,3228,0.00,1.42,0.00,0.000,6,0.000,0.031,2530,2368,3628
$GC,3547,-0.63,-194.6,430.1,-10.5,340,3548,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2368,3625
$GC,3857,-0.63,-194.6,463.5,-10.7,370,3858,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2368,3623
$GC,4167,-0.63,-194.6,497.2,-10.6,400,4170,0.00,1.25,0.00,0.000,4,0.000,0.041,2531,1500,3621
$GC,4209,-0.63,-194.6,501.6,-10.2,404,4213,0.00,1.30,0.00,0.000,6,0.000,0.043,2525,2383,3620
$GC,4532,-0.63,-194.6,535.4,-10.1,435,4533,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2384,3618
$GC,4840,-0.63,-194.6,567.1,-10.1,465,4841,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2384,3616
$GC,5152,-0.63,-194.6,598.7,-10.4,495,5155,0.00,1.30,0.00,0.000,4,0.000,0.043,2525,1502,3614
$GC,5194,-0.63,-194.6,603.3,-10.5,499,5197,0.00,1.27,0.00,0.000,6,0.000,0.045,2519,2359,3614
$GC,5516,-0.63,-194.6,638.1,-11.0,530,5520,0.00,1.25,0.00,0.000,4,0.000,0.042,2519,1509,3611
$GC,5552,-0.63,-194.6,642.4,-11.6,533,5560,0.12,1.33,0.00,0.000,6,0.146,0.044,2545,2388,3611
$GC,5869,-0.63,-194.6,671.0,-8.7,564,5870,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2388,3609
$GC,6179,-0.63,-194.6,698.7,-8.9,594,6182,0.00,1.30,0.00,0.000,4,0.000,0.044,2545,1509,3607
$GC,6221,-0.63,-194.6,702.5,-9.3,598,6225,0.00,1.27,0.00,0.000,6,0.000,0.045,2542,2361,3607
$GC,6544,-0.63,-194.6,730.5,-8.8,629,6545,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2362,3605
$GC,6853,-0.63,-194.6,756.2,-8.4,659,6854,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2362,3603
$GC,7164,-0.63,-194.6,781.5,-8.1,689,7164,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2362,3602
$GC,7474,-0.63,-194.6,808.1,-8.5,719,7475,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2362,3600
$GC,7784,-0.63,-194.6,835.0,-8.6,749,7787,0.00,1.27,0.00,0.000,4,0.000,0.045,2542,1506,3599
$GC,7837,-0.63,-194.6,839.7,-9.0,754,7841,0.00,1.33,0.00,0.000,6,0.000,0.048,2537,2385,3598
$GC,8158,-0.63,-194.6,867.9,-8.9,785,8159,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2385,3597
$GC,8468,-0.63,-194.6,894.8,-8.7,815,8469,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2385,3596
$GC,8780,-0.63,-194.6,921.9,-8.7,845,8780,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2385,3594
$GC,9089,-0.63,-194.6,948.3,-8.2,875,9092,0.00,1.33,0.00,0.000,4,0.000,0.047,2537,1499,3593
$GC,9153,-0.63,-194.6,953.8,-9.0,881,9156,0.00,1.33,0.00,0.000,6,0.000,0.049,2531,2369,3593
$STATE,9234,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9234,begin apogee
$GC,9239,-0.25,0.0,961.2,9.3,889,9398,0.45,0.00,151.43,1.230,6,0.133,0.000,2665,2297,2839
$STATE,9398,end apogee,CONTROL_FINISHED_OK
$STATE,9398,begin climb
$GC,9400,0.63,194.6,965.8,0.0,905,9572,0.88,0.00,168.20,1.195,6,0.099,0.000,2944,2296,2046
$GC,9880,0.63,194.6,917.0,11.7,950,9883,0.00,1.30,0.00,0.000,4,0.000,0.047,2950,1365,2036
$GC,9937,0.63,194.6,910.4,11.1,955,9945,0.00,1.27,0.00,0.000,6,0.000,0.044,2950,2276,2035
$GC,10256,0.63,194.6,874.1,11.5,986,10256,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2276,2033
$GC,10565,0.63,194.6,837.6,11.3,1016,10566,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2276,2032
$GC,10875,0.63,194.6,800.2,12.2,1046,10876,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2276,2031
$GC,11185,0.63,194.6,763.9,11.7,1076,11186,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2276,2030
$GC,11496,0.63,194.6,728.5,11.3,1106,11499,0.00,1.23,0.00,0.000,4,0.000,0.044,2955,1364,2030
$GC,11539,0.63,194.6,723.8,11.4,1110,11542,0.00,1.25,0.00,0.000,6,0.000,0.045,2955,2281,2030
$GC,11859,0.63,194.6,687.8,11.4,1141,11860,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2281,2029
$GC,12170,0.63,194.6,651.7,11.8,1171,12171,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2281,2029
$GC,12481,0.63,194.6,615.4,11.4,1201,12483,0.00,1.23,0.00,0.000,4,0.000,0.044,2961,1369,2028
$GC,12523,0.63,194.6,610.4,11.9,1205,12526,0.00,1.23,0.00,0.000,6,0.000,0.044,2961,2274,2029
$GC,12844,0.63,194.6,572.4,12.0,1236,12845,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2274,2029
$GC,13154,0.63,194.6,535.3,11.8,1266,13155,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2274,2028
$GC,13464,0.63,194.6,499.2,11.2,1296,13465,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2274,2028
$GC,13776,0.63,194.6,463.8,11.4,1326,13779,0.00,1.20,0.00,0.000,4,0.000,0.043,2966,1376,2028
$GC,13807,0.63,194.6,460.0,10.2,1329,13810,0.00,1.23,0.00,0.000,6,0.000,0.043,2965,2280,2028
$GC,14128,0.63,194.6,422.1,12.1,1360,14129,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2280,2028
$GC,14439,0.63,194.6,384.6,12.3,1390,14439,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2280,2028
$GC,14749,0.63,194.6,346.9,12.5,1420,14750,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2280,2028
$GC,15060,0.63,194.6,309.4,11.6,1450,15061,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2280,2028
$GC,15370,0.63,194.6,272.7,11.8,1480,15373,0.00,1.23,0.00,0.000,4,0.000,0.041,2971,1362,2028
$GC,15434,0.63,194.6,265.1,11.2,1486,15437,0.00,1.23,0.00,0.000,6,0.000,0.041,2971,2279,2028
$GC,15755,0.63,194.6,225.6,12.4,1517,15758,0.00,1.62,0.00,0.000,4,0.000,0.051,2971,3173,2029
$GC,15780,0.63,194.6,222.4,12.7,1519,15788,0.08,1.60,0.00,0.000,6,0.143,0.033,2955,2262,2029
$GC,16097,0.63,194.6,189.0,10.7,1550,16098,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2262,2029
$GC,16407,0.63,194.6,155.6,10.9,1580,16410,0.00,1.62,0.00,0.000,4,0.000,0.049,2955,3167,2030
$GC,16432,0.63,194.6,152.8,12.6,1582,16441,0.00,1.58,0.00,0.000,6,0.000,0.032,2961,2270,2030
$GC,16751,0.63,194.6,118.5,11.0,1613,16751,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2271,2031
$GC,17060,0.63,194.6,85.8,10.6,1643,17062,0.00,1.62,0.00,0.000,4,0.000,0.048,2961,3164,2032
$GC,17095,0.63,194.6,81.9,11.7,1646,17104,0.00,1.55,0.00,0.000,6,0.000,0.031,2968,2274,2032
$GC,17288,0.63,194.6,63.3,9.0,1665,17292,0.00,1.15,0.00,0.000,4,0.000,0.037,2974,1373,2032
$GC,17335,0.63,194.6,59.1,9.6,1669,17342,0.00,1.23,0.00,0.000,6,0.000,0.036,2973,2284,2033
$GC,17528,0.70,252.5,44.1,6.0,1688,17574,0.00,1.62,43.33,0.540,4,0.000,0.046,2973,3175,1810
$GC,17595,0.73,280.4,39.8,6.8,1694,17621,0.00,1.55,22.45,0.517,6,0.000,0.030,2981,2279,1696
$GC,17806,0.90,418.5,27.3,3.9,1714,17915,0.15,1.25,102.68,0.521,4,0.058,0.035,3063,1358,1132
$GC,18053,0.90,418.5,3.8,11.1,1736,18056,0.00,1.23,0.00,0.000,6,0.000,0.034,3063,2276,1126
$STATE,18062,end climb,SURFACE_DEPTH_REACHED
$STATE,18062,begin surface coast
$FINISH,0.8,1.009914
$STATE,18083,end surface coast,CONTROL_FINISHED_OK
$STATE,18083,begin surface
$SM_CCo,18098,78.07,0.489,0,0,494,575.22
$SM_GC,1.45,0.00,0.00,78.07,0.000,0.000,0.489,202,2391,494,-7.96,0.45,575.22
$IRIDIUM_FIX,2833.46,-8843.84,031099,050551
$TT8_MAMPS,0.052156
$HUMID,1362
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,22.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,890.2,91.0
$24V_AH,22.9,40.393
$10V_AH,10.6,56.027
$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,20.000,64.775,488.075,78.075,0.000,57.430,89.469,315.290,2.000,0.000,0.000,13.136,0.000,12313.893,624.814,5078.080,786.995,33.341,2049.244,0.000,4553.025,0.000,20.618,0.000
$DEVICE_MAMPS,256.178,60.593,1230.268,488.579,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1189.221,1268.561,3908.563,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91433,1739
$CAP_FILE_SIZE,161288,0
$CFSIZE,260165632,234602496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.045,147.0,1
$GPS,090710,104036,2843.144,-8838.032,38,1.1,43,-0.3