version: 66.04
glider: 515
mission: 5
dive: 233
start: 7 9 110 21 14 4
data:
$ID,515
$MISSION,5
$DIVE,233
$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,-17712.258
$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,31
$R_STBD_OVSHOOT,34
$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
$GPS1,210636,2842.627,-8837.243,35,1.0,41,-0.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-67.0
$GPS2,211325,2842.677,-8837.255,13,1.1,18,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.218,0.150
$KALMAN_X,-54249.5,670.6,438.4,74031.8,-1331.6
$KALMAN_Y,-248343.3,312.9,329.7,274197.2,-8242.7
$MHEAD_RNG_PITCHd_Wd,280.6,12591,-10.8,-7.500
$D_GRID,973
$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,-194.6,0.0,0.0,0,107,0.00,0.00,-92.80,0.000,2,0.000,0.000,200,2390,3046
$GC,109,-0.63,-194.6,3.4,-2.9,9,135,10.62,1.38,-12.05,0.000,4,0.256,0.059,2540,1466,3636
$GC,189,-0.63,-194.6,26.4,-25.7,16,192,0.00,1.30,0.00,0.000,6,0.000,0.035,2536,2363,3637
$GC,385,-0.63,-194.6,64.8,-14.9,35,388,0.00,1.27,0.00,0.000,4,0.000,0.033,2537,1470,3638
$GC,432,-0.63,-194.6,72.1,-13.8,39,440,0.00,1.35,0.00,0.000,6,0.000,0.035,2533,2391,3639
$GC,625,-0.63,-194.6,97.8,-12.5,58,628,0.00,1.33,0.00,0.000,4,0.000,0.035,2533,1461,3639
$GC,667,-0.63,-194.6,103.3,-13.6,62,670,0.00,1.30,0.00,0.000,6,0.000,0.035,2527,2365,3639
$GC,989,-0.63,-194.6,146.8,-13.5,93,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2365,3639
$GC,1299,-0.63,-194.6,188.4,-12.9,123,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2366,3639
$GC,1609,-0.63,-194.6,226.9,-11.6,153,1612,0.00,1.27,0.00,0.000,4,0.000,0.035,2527,1463,3639
$GC,1694,-0.63,-194.6,236.3,-10.9,161,1697,0.00,1.33,0.00,0.000,6,0.000,0.036,2521,2385,3638
$GC,2016,-0.63,-194.6,272.2,-11.1,192,2019,0.00,1.30,0.00,0.000,4,0.000,0.035,2521,1472,3636
$GC,2063,-0.63,-194.6,277.9,-11.4,196,2070,0.00,1.30,0.00,0.000,6,0.000,0.036,2515,2368,3636
$GC,2380,-0.63,-194.6,314.9,-11.7,227,2384,0.00,1.27,0.00,0.000,4,0.000,0.035,2515,1473,3635
$GC,2444,-0.63,-194.6,322.6,-11.3,233,2447,0.10,1.30,0.00,0.000,6,0.138,0.038,2541,2371,3634
$GC,2765,-0.63,-194.6,354.4,-9.4,264,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2371,3633
$GC,3075,-0.63,-194.6,383.8,-9.5,294,3078,0.00,1.30,0.00,0.000,4,0.000,0.037,2544,1469,3630
$GC,3129,-0.63,-194.6,388.9,-9.0,299,3132,0.00,1.33,0.00,0.000,6,0.000,0.040,2540,2379,3630
$GC,3451,-0.63,-194.6,420.5,-10.1,330,3454,0.00,1.30,0.00,0.000,4,0.000,0.038,2540,1478,3628
$GC,3486,-0.63,-194.6,424.2,-9.8,333,3494,0.00,1.33,0.00,0.000,6,0.000,0.040,2534,2371,3628
$GC,3805,-0.63,-194.6,457.0,-10.3,364,3806,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2371,3626
$GC,4114,-0.63,-194.6,489.1,-10.5,394,4117,0.00,1.30,0.00,0.000,4,0.000,0.039,2534,1476,3623
$GC,4156,-0.63,-194.6,493.7,-10.1,398,4159,0.00,1.33,0.00,0.000,6,0.000,0.042,2528,2376,3623
$GC,4478,-0.63,-194.6,528.1,-10.6,429,4479,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2377,3621
$GC,4788,-0.63,-194.6,560.8,-10.5,459,4791,0.00,1.33,0.00,0.000,4,0.000,0.041,2529,1473,3618
$GC,4830,-0.63,-194.6,565.6,-11.8,463,4833,0.00,1.33,0.00,0.000,6,0.000,0.044,2523,2366,3618
$GC,5153,-0.63,-194.6,599.7,-10.3,494,5154,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2367,3616
$GC,5461,-0.63,-194.6,632.0,-9.8,524,5464,0.00,1.30,0.00,0.000,4,0.000,0.041,2522,1481,3614
$GC,5504,-0.63,-194.6,636.3,-10.2,528,5507,0.00,1.35,0.00,0.000,6,0.000,0.045,2517,2384,3614
$GC,5826,-0.63,-194.6,669.4,-9.9,559,5827,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2384,3612
$GC,6135,-0.63,-194.6,700.7,-10.2,589,6138,0.00,1.33,0.00,0.000,4,0.000,0.044,2517,1486,3610
$GC,6178,-0.63,-194.6,705.1,-10.1,593,6181,0.08,1.33,0.00,0.000,6,0.151,0.046,2535,2373,3610
$GC,6498,-0.63,-194.6,733.9,-8.7,624,6499,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2372,3608
$GC,6809,-0.63,-194.6,761.8,-9.0,654,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2373,3606
$GC,7119,-0.63,-194.6,789.0,-8.6,684,7122,0.00,1.33,0.00,0.000,4,0.000,0.044,2535,1484,3604
$GC,7151,-0.63,-194.6,791.9,-9.6,687,7154,0.00,1.35,0.00,0.000,6,0.000,0.047,2532,2382,3604
$GC,7473,-0.63,-194.6,820.9,-8.9,718,7474,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2382,3603
$GC,7782,-0.63,-194.6,847.6,-8.4,748,7785,0.00,1.33,0.00,0.000,4,0.000,0.044,2531,1488,3602
$GC,7825,-0.63,-194.6,851.2,-8.5,752,7828,0.00,1.33,0.00,0.000,6,0.000,0.048,2527,2367,3602
$GC,8146,-0.63,-194.6,879.4,-9.1,783,8155,0.00,1.33,0.00,0.000,4,0.000,0.044,2527,1474,3600
$GC,8235,-0.63,-194.6,887.9,-9.5,791,8238,0.00,1.35,0.00,0.000,6,0.000,0.048,2521,2373,3599
$GC,8555,-0.63,-194.6,916.5,-8.4,822,8559,0.00,1.55,0.00,0.000,4,0.000,0.061,2514,3254,3599
$GC,8581,-0.63,-194.6,918.9,-9.1,824,8589,0.08,1.48,0.00,0.000,6,0.137,0.037,2538,2364,3598
$STATE,8845,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8845,begin apogee
$GC,8850,-0.25,0.0,939.4,7.7,850,9008,0.40,0.00,151.68,1.210,6,0.132,0.000,2661,2285,2840
$STATE,9008,end apogee,CONTROL_FINISHED_OK
$STATE,9008,begin climb
$GC,9010,0.63,194.6,943.3,0.0,866,9181,0.88,0.00,167.30,1.176,6,0.100,0.000,2940,2285,2046
$GC,9488,0.63,194.6,895.2,11.2,910,9489,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2285,2035
$GC,9798,0.63,194.6,861.4,11.0,940,9801,0.00,1.23,0.00,0.000,4,0.000,0.044,2945,1381,2033
$GC,9840,0.63,194.6,856.8,11.4,944,9844,0.00,1.23,0.00,0.000,6,0.000,0.043,2945,2275,2033
$GC,10163,0.63,194.6,820.5,11.3,975,10166,0.00,1.60,0.00,0.000,4,0.000,0.055,2945,3168,2031
$GC,10188,0.63,194.6,817.3,11.8,977,10196,0.00,1.58,0.00,0.000,6,0.000,0.036,2953,2277,2031
$GC,10507,0.63,194.6,779.8,12.1,1008,10508,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2277,2030
$GC,10815,0.63,194.6,741.9,12.1,1038,10816,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2278,2030
$GC,11126,0.63,194.6,705.7,11.7,1068,11127,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2278,2029
$GC,11437,0.63,194.6,669.6,11.6,1098,11439,0.00,1.62,0.00,0.000,4,0.000,0.054,2952,3179,2029
$GC,11461,0.63,194.6,666.3,13.9,1100,11469,0.00,1.58,0.00,0.000,6,0.000,0.036,2961,2279,2028
$GC,11780,0.63,194.6,629.1,11.6,1131,11783,0.00,1.20,0.00,0.000,4,0.000,0.044,2966,1371,2028
$GC,11805,0.63,194.6,625.9,12.3,1133,11812,0.00,1.25,0.00,0.000,6,0.000,0.044,2966,2283,2028
$GC,12123,0.63,194.6,587.6,11.8,1164,12124,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2284,2028
$GC,12432,0.63,194.6,549.0,12.5,1194,12435,0.00,1.60,0.00,0.000,4,0.000,0.054,2966,3164,2028
$GC,12457,0.63,194.6,545.7,13.1,1196,12465,0.00,1.58,0.00,0.000,6,0.000,0.036,2973,2272,2027
$GC,12775,0.63,194.6,506.2,12.9,1227,12776,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2273,2027
$GC,13084,0.63,194.6,466.5,12.4,1257,13085,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2273,2027
$GC,13395,0.63,194.6,426.6,12.7,1287,13398,0.00,1.62,0.00,0.000,4,0.000,0.053,2973,3173,2027
$GC,13437,0.63,194.6,420.9,13.0,1291,13441,0.10,1.58,0.00,0.000,6,0.145,0.037,2950,2276,2026
$GC,13758,0.63,194.6,386.2,10.3,1322,13761,0.00,1.20,0.00,0.000,4,0.000,0.042,2954,1362,2027
$GC,13790,0.63,194.6,382.9,10.6,1325,13793,0.00,1.25,0.00,0.000,6,0.000,0.042,2954,2280,2027
$GC,14111,0.63,194.6,348.5,10.5,1356,14114,0.00,1.60,0.00,0.000,4,0.000,0.052,2954,3163,2027
$GC,14132,0.63,194.6,346.1,12.1,1358,14135,0.00,1.55,0.00,0.000,6,0.000,0.036,2962,2275,2026
$GC,14453,0.63,194.6,309.7,11.6,1389,14454,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2276,2027
$GC,14764,0.63,194.6,274.6,11.1,1419,14765,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2276,2027
$GC,15074,0.63,194.6,239.3,11.5,1449,15074,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2276,2027
$GC,15385,0.63,194.6,204.0,11.3,1479,15388,0.00,1.17,0.00,0.000,4,0.000,0.041,2967,1371,2027
$GC,15416,0.63,194.6,200.4,11.5,1482,15419,0.00,1.20,0.00,0.000,6,0.000,0.040,2968,2276,2028
$GC,15737,0.63,194.6,164.7,11.1,1513,15738,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2276,2028
$GC,16047,0.63,194.6,130.7,10.9,1543,16050,0.00,1.60,0.00,0.000,4,0.000,0.048,2967,3166,2029
$GC,16079,0.63,194.6,127.1,10.6,1546,16082,0.00,1.52,0.00,0.000,6,0.000,0.032,2974,2277,2029
$GC,16400,0.63,194.6,90.7,10.1,1577,16403,0.00,1.60,0.00,0.000,4,0.000,0.047,2974,3160,2031
$GC,16453,0.63,194.6,84.9,11.0,1582,16456,0.10,1.52,0.00,0.000,6,0.132,0.031,2950,2275,2030
$GC,16651,0.64,205.0,69.2,7.2,1601,16662,0.00,1.12,7.22,0.476,4,0.000,0.035,2954,1369,2004
$GC,16726,0.64,205.0,64.0,7.7,1608,16729,0.00,1.20,0.00,0.000,6,0.000,0.037,2954,2278,2004
$GC,16923,0.68,237.8,49.9,6.6,1627,16956,0.00,0.00,26.90,0.536,6,0.000,0.000,2954,2278,1869
$GC,17141,0.81,345.5,38.4,4.7,1648,17231,0.15,0.00,81.05,0.530,6,0.061,0.000,3028,2278,1430
$GC,17415,0.81,345.5,17.7,7.8,1674,17418,0.00,1.20,0.00,0.000,4,0.000,0.034,3033,1369,1423
$GC,17479,0.81,345.5,12.7,8.1,1680,17482,0.00,1.20,0.00,0.000,6,0.000,0.034,3034,2275,1422
$STATE,17591,end climb,SURFACE_DEPTH_REACHED
$STATE,17591,begin surface coast
$FINISH,0.8,1.022916
$STATE,17622,end surface coast,CONTROL_FINISHED_OK
$STATE,17622,begin surface
$SM_CCo,17637,109.25,0.489,0,0,495,575.22
$SM_GC,1.71,0.00,0.00,109.25,0.000,0.000,0.489,196,2390,495,-7.97,0.42,575.22
$IRIDIUM_FIX,2833.46,-8834.01,031099,161650
$TT8_MAMPS,0.051389
$HUMID,1339
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,910.5,48.1
$24V_AH,22.9,40.875
$10V_AH,10.6,56.691
$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,20.075,79.550,434.150,109.250,0.000,30.723,28.758,222.898,2.500,0.000,0.000,20.964,0.000,11908.865,611.081,5006.769,598.988,33.338,2018.052,0.000,4467.381,0.000,20.877,0.000
$DEVICE_MAMPS,256.178,62.894,1209.559,488.579,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1158.240,1234.319,3807.449,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88354,1694
$CAP_FILE_SIZE,160748,0
$CFSIZE,260165632,234348544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.066,162.9,1
$GPS,100710,021037,2842.328,-8839.965,25,1.9,25,-0.3