version: 66.04
glider: 515
mission: 5
dive: 232
start: 7 9 110 16 0 29
data:
$ID,515
$MISSION,5
$DIVE,232
$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,-17690.668
$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,30
$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
$GPS1,155300,2842.974,-8834.733,37,1.1,42,-0.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-69.4
$GPS2,155950,2842.970,-8834.778,10,1.7,10,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.226,0.137
$KALMAN_X,-54618.4,-193.2,-352.5,80103.0,976.4
$KALMAN_Y,-246226.3,974.2,952.1,271348.6,-11702.5
$MHEAD_RNG_PITCHd_Wd,277.6,16638,-10.8,-7.500
$D_GRID,1054
$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,-194.6,0.0,0.0,0,87,0.00,0.00,-72.78,0.000,2,0.000,0.000,195,2390,2478
$GC,89,-0.63,-194.6,3.1,-3.2,7,138,10.68,1.38,-35.33,0.000,4,0.257,0.055,2543,1466,3635
$GC,377,-0.63,-194.6,56.0,-16.3,33,385,0.00,1.30,0.00,0.000,6,0.000,0.035,2539,2362,3637
$GC,570,-0.63,-194.6,82.6,-13.1,52,573,0.00,1.27,0.00,0.000,4,0.000,0.034,2539,1462,3638
$GC,745,-0.63,-194.6,104.1,-11.6,68,754,0.00,1.33,0.00,0.000,6,0.000,0.035,2535,2384,3639
$GC,1063,-0.63,-194.6,144.3,-13.0,99,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2384,3639
$GC,1372,-0.63,-194.6,180.4,-11.4,129,1376,0.00,1.30,0.00,0.000,4,0.000,0.035,2535,1469,3639
$GC,1440,-0.63,-194.6,188.2,-11.4,135,1448,0.00,1.33,0.00,0.000,6,0.000,0.035,2529,2378,3639
$GC,1758,-0.63,-194.6,225.5,-12.1,166,1759,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2378,3638
$GC,2067,-0.63,-194.6,262.4,-11.8,196,2070,0.00,1.30,0.00,0.000,4,0.000,0.035,2529,1464,3637
$GC,2124,-0.63,-194.6,269.3,-11.8,201,2132,0.00,1.33,0.00,0.000,6,0.000,0.036,2523,2370,3636
$GC,2443,-0.63,-194.6,305.7,-11.3,232,2446,0.00,1.30,0.00,0.000,4,0.000,0.035,2523,1459,3635
$GC,2496,-0.63,-194.6,311.9,-11.4,237,2499,0.00,1.33,0.00,0.000,6,0.000,0.038,2517,2378,3635
$GC,2819,-0.63,-194.6,348.5,-11.3,268,2819,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2378,3633
$GC,3127,-0.63,-194.6,385.2,-11.7,298,3130,0.00,1.30,0.00,0.000,4,0.000,0.037,2517,1472,3631
$GC,3174,-0.63,-194.6,391.0,-12.0,302,3182,0.08,1.30,0.00,0.000,6,0.146,0.038,2537,2365,3631
$GC,3491,-0.63,-194.6,423.3,-10.0,333,3491,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2365,3629
$GC,3801,-0.63,-194.6,454.7,-10.1,363,3804,0.00,1.30,0.00,0.000,4,0.000,0.038,2537,1467,3627
$GC,3833,-0.63,-194.6,458.1,-10.3,366,3836,0.00,1.33,0.00,0.000,6,0.000,0.041,2533,2372,3627
$GC,4155,-0.63,-194.6,491.0,-10.4,397,4156,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2372,3625
$GC,4465,-0.63,-194.6,522.4,-10.3,427,4467,0.00,1.30,0.00,0.000,4,0.000,0.039,2533,1480,3623
$GC,4507,-0.63,-194.6,526.8,-10.3,431,4510,0.00,1.33,0.00,0.000,6,0.000,0.043,2527,2370,3622
$GC,4829,-0.63,-194.6,560.0,-10.1,462,4833,0.00,1.52,0.00,0.000,4,0.000,0.054,2520,3259,3620
$GC,4861,-0.63,-194.6,563.4,-10.4,465,4864,0.00,1.48,0.00,0.000,6,0.000,0.033,2520,2356,3620
$GC,5183,-0.63,-194.6,597.2,-10.4,496,5184,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2355,3618
$GC,5492,-0.63,-194.6,629.1,-10.6,526,5493,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2356,3616
$GC,5802,-0.63,-194.6,661.8,-10.4,556,5803,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2356,3615
$GC,6114,-0.63,-194.6,694.5,-10.7,586,6117,0.00,1.58,0.00,0.000,4,0.000,0.056,2513,3257,3612
$GC,6167,-0.63,-194.6,700.2,-10.6,591,6170,0.08,1.45,0.00,0.000,6,0.141,0.035,2537,2367,3612
$GC,6487,-0.63,-194.6,731.0,-9.6,622,6488,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2368,3610
$GC,6798,-0.63,-194.6,760.8,-9.3,652,6801,0.00,1.27,0.00,0.000,4,0.000,0.044,2537,1502,3608
$GC,6851,-0.63,-194.6,766.0,-10.1,657,6855,0.00,1.33,0.00,0.000,6,0.000,0.048,2533,2382,3607
$GC,7173,-0.63,-194.6,797.0,-9.5,688,7174,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2383,3606
$GC,7483,-0.63,-194.6,825.5,-9.2,718,7484,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2383,3605
$GC,7794,-0.63,-194.6,854.5,-9.6,748,7795,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2383,3603
$GC,8103,-0.63,-194.6,883.6,-9.2,778,8106,0.00,1.33,0.00,0.000,4,0.000,0.045,2533,1500,3602
$GC,8188,-0.63,-194.6,891.7,-10.0,786,8192,0.00,1.30,0.00,0.000,6,0.000,0.048,2528,2360,3602
$GC,8510,-0.63,-194.6,921.6,-8.9,817,8511,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2360,3601
$GC,8822,-0.63,-194.6,950.3,-9.3,847,8822,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2359,3599
$GC,9132,-0.63,-194.6,978.9,-9.2,877,9133,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2360,3598
$STATE,9255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9255,begin apogee
$GC,9260,-0.25,0.0,990.0,9.0,889,9418,0.43,0.00,153.50,1.249,6,0.137,0.000,2658,2297,2840
$STATE,9418,end apogee,CONTROL_FINISHED_OK
$STATE,9418,begin climb
$GC,9421,0.63,194.6,994.8,0.0,905,9598,0.90,0.00,169.60,1.214,6,0.106,0.000,2940,2297,2046
$GC,9907,0.63,194.6,945.9,12.0,953,9910,0.00,1.30,0.00,0.000,4,0.000,0.048,2945,1373,2036
$GC,9932,0.63,194.6,943.0,11.7,955,9940,0.00,1.25,0.00,0.000,6,0.000,0.044,2945,2275,2036
$GC,10250,0.63,194.6,905.8,11.7,986,10253,0.00,1.65,0.00,0.000,4,0.000,0.055,2945,3172,2034
$GC,10281,0.63,194.6,901.8,13.5,989,10284,0.00,1.58,0.00,0.000,6,0.000,0.038,2952,2282,2033
$GC,10602,0.63,194.6,863.4,11.7,1020,10605,0.00,1.23,0.00,0.000,4,0.000,0.044,2958,1364,2033
$GC,10655,0.63,194.6,857.4,11.2,1025,10658,0.00,1.25,0.00,0.000,6,0.000,0.045,2958,2276,2033
$GC,10976,0.63,194.6,818.1,12.6,1056,10979,0.00,1.65,0.00,0.000,4,0.000,0.055,2958,3177,2032
$GC,10997,0.63,194.6,815.3,12.8,1058,11000,0.00,1.60,0.00,0.000,6,0.000,0.038,2965,2274,2031
$GC,11320,0.63,194.6,774.8,12.3,1089,11321,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2275,2031
$GC,11628,0.63,194.6,736.0,12.4,1119,11629,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2275,2031
$GC,11939,0.63,194.6,696.4,12.9,1149,11940,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2275,2030
$GC,12249,0.63,194.6,657.3,12.1,1179,12252,0.00,1.62,0.00,0.000,4,0.000,0.055,2965,3169,2029
$GC,12281,0.63,194.6,652.9,14.5,1182,12284,0.00,1.58,0.00,0.000,6,0.000,0.038,2973,2276,2028
$GC,12604,0.63,194.6,610.6,13.4,1213,12605,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2276,2029
$GC,12912,0.63,194.6,570.1,12.8,1243,12913,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2277,2029
$GC,13223,0.63,194.6,529.9,12.8,1273,13224,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2277,2029
$GC,13533,0.63,194.6,489.7,13.0,1303,13534,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2277,2028
$GC,13844,0.63,194.6,449.8,12.8,1333,13845,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2277,2028
$GC,14154,0.63,194.6,409.6,12.8,1363,14155,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2277,2028
$GC,14465,0.63,194.6,370.2,12.3,1393,14466,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2277,2029
$GC,14775,0.63,194.6,330.3,13.1,1423,14775,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2277,2029
$GC,15085,0.63,194.6,290.8,13.2,1453,15089,0.00,1.17,0.00,0.000,4,0.000,0.043,2979,1376,2029
$GC,15128,0.63,194.6,285.2,13.1,1457,15131,0.08,1.23,0.00,0.000,6,0.141,0.042,2955,2283,2029
$GC,15449,0.63,194.6,249.5,10.7,1488,15450,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2283,2029
$GC,15759,0.63,194.6,216.8,10.3,1518,15760,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2283,2030
$GC,16070,0.63,194.6,183.3,10.6,1548,16071,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2283,2030
$GC,16380,0.63,194.6,152.6,9.8,1578,16383,0.00,1.23,0.00,0.000,4,0.000,0.038,2958,1362,2031
$GC,16412,0.63,194.6,149.6,9.6,1581,16415,0.00,1.20,0.00,0.000,6,0.000,0.039,2958,2267,2032
$GC,16733,0.63,194.6,117.3,10.1,1612,16736,0.00,1.60,0.00,0.000,4,0.000,0.048,2958,3175,2032
$GC,16796,0.63,194.6,110.4,11.1,1618,16800,0.00,1.55,0.00,0.000,6,0.000,0.031,2966,2273,2032
$GC,17117,0.63,194.6,77.5,10.1,1649,17120,0.00,1.17,0.00,0.000,4,0.000,0.037,2971,1360,2033
$GC,17185,0.63,194.6,71.0,9.7,1655,17193,0.00,1.25,0.00,0.000,6,0.000,0.036,2971,2285,2034
$GC,17378,0.63,194.6,54.7,8.6,1674,17379,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2285,2034
$GC,17564,0.63,198.0,39.8,7.4,1692,17567,0.00,1.55,0.00,0.000,4,0.000,0.047,2971,3162,2035
$GC,17600,0.68,237.0,37.1,6.5,1695,17636,0.00,1.52,32.15,0.527,6,0.000,0.029,2978,2272,1872
$GC,17831,0.82,348.5,26.1,4.6,1717,17918,0.00,1.20,83.12,0.520,4,0.000,0.035,2983,1365,1419
$GC,17950,0.89,412.4,20.4,5.8,1727,18005,0.15,1.25,48.47,0.503,6,0.067,0.034,3047,2279,1156
$STATE,18177,end climb,SURFACE_DEPTH_REACHED
$STATE,18177,begin surface coast
$FINISH,0.7,1.008408
$STATE,18209,end surface coast,CONTROL_FINISHED_OK
$STATE,18209,begin surface
$SM_CCo,18223,80.50,0.485,0,0,495,575.22
$SM_GC,1.58,0.00,0.00,80.50,0.000,0.000,0.485,200,2389,495,-7.96,0.40,575.22
$IRIDIUM_FIX,2831.00,-8836.47,031099,101030
$TT8_MAMPS,0.050622
$HUMID,1358
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.40
$XPDR_PINGS,9
$24V_AH,22.8,40.720
$10V_AH,10.6,56.474
$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,20.050,63.250,486.850,80.500,0.000,25.841,28.498,235.989,6.250,0.000,0.000,12.115,0.000,12333.670,610.639,5142.031,598.885,33.340,2041.206,0.000,4599.450,0.000,31.165,0.000
$DEVICE_MAMPS,256.945,65.962,1248.676,484.744,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1197.779,1278.440,3937.770,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91541,1752
$CAP_FILE_SIZE,159678,0
$CFSIZE,260165632,234434560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.071,142.5,1
$GPS,090710,210636,2842.627,-8837.243,35,1.0,41,-0.3