version: 66.04
glider: 515
mission: 5
dive: 234
start: 7 10 110 2 17 47
data:
$ID,515
$MISSION,5
$DIVE,234
$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,-17727.031
$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,29
$R_STBD_OVSHOOT,39
$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
$GPS1,021037,2842.328,-8839.965,25,1.9,25,-0.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-68.0
$GPS2,021708,2842.347,-8839.927,10,2.0,10,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.176,0.197
$KALMAN_X,-52197.4,625.1,-43.8,68147.9,604.6
$KALMAN_Y,-252763.9,446.3,460.1,277761.5,-9765.8
$MHEAD_RNG_PITCHd_Wd,284.9,8242,-10.8,-7.500
$D_GRID,1013
$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,11,begin dive
$GC,13,-0.63,-194.6,0.0,0.0,0,87,0.00,0.00,-72.60,0.000,2,0.000,0.000,197,2390,2478
$GC,89,-0.63,-194.6,3.2,-3.5,7,138,10.50,1.50,-33.58,0.000,4,0.254,0.071,2533,3258,3635
$GC,170,-0.63,-194.6,13.3,-23.9,14,173,0.00,1.45,0.00,0.000,6,0.000,0.028,2537,2363,3636
$GC,367,-0.63,-194.6,55.9,-19.2,33,370,0.00,1.25,0.00,0.000,4,0.000,0.035,2537,1477,3636
$GC,420,-0.63,-194.6,64.8,-16.5,38,423,0.00,1.27,0.00,0.000,6,0.000,0.035,2533,2359,3636
$GC,617,-0.63,-194.6,92.4,-13.4,57,620,0.00,1.25,0.00,0.000,4,0.000,0.033,2533,1474,3638
$GC,664,-0.63,-194.6,98.7,-12.5,61,671,0.00,1.30,0.00,0.000,6,0.000,0.035,2528,2374,3638
$GC,856,-0.63,-194.6,124.2,-14.3,80,859,0.00,1.45,0.00,0.000,4,0.000,0.044,2521,3253,3639
$GC,903,-0.63,-194.6,130.7,-13.9,84,912,0.00,1.45,0.00,0.000,6,0.000,0.027,2520,2349,3638
$GC,1221,-0.63,-194.6,175.1,-13.8,115,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2348,3638
$GC,1530,-0.63,-194.6,216.3,-12.8,145,1530,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2348,3638
$GC,1841,-0.63,-194.6,253.8,-11.8,175,1844,0.00,1.20,0.00,0.000,4,0.000,0.035,2521,1476,3637
$GC,1919,-0.63,-194.6,262.8,-11.0,182,1927,0.00,1.33,0.00,0.000,6,0.000,0.035,2514,2385,3636
$GC,2238,-0.63,-194.6,300.2,-11.8,213,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2385,3635
$GC,2546,-0.63,-194.6,337.2,-11.7,243,2550,0.12,1.27,0.00,0.000,4,0.145,0.036,2549,1490,3634
$GC,2611,-0.63,-194.6,343.3,-8.6,249,2614,0.00,1.25,0.00,0.000,6,0.000,0.038,2545,2359,3633
$GC,2933,-0.63,-194.6,372.0,-8.7,280,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2360,3631
$GC,3242,-0.63,-194.6,401.8,-9.6,310,3245,0.00,1.25,0.00,0.000,4,0.000,0.037,2545,1485,3629
$GC,3295,-0.63,-194.6,406.8,-9.6,315,3299,0.00,1.30,0.00,0.000,6,0.000,0.039,2540,2377,3628
$GC,3617,-0.63,-194.6,438.3,-9.7,346,3618,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2377,3627
$GC,3927,-0.63,-194.6,468.1,-9.2,376,3928,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2377,3624
$GC,4237,-0.63,-194.6,497.1,-9.3,406,4240,0.00,1.30,0.00,0.000,4,0.000,0.039,2540,1483,3622
$GC,4284,-0.63,-194.6,501.6,-9.3,410,4291,0.00,1.30,0.00,0.000,6,0.000,0.042,2535,2366,3622
$GC,4601,-0.63,-194.6,532.8,-10.3,441,4602,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2366,3620
$GC,4911,-0.63,-194.6,564.3,-10.0,471,4914,0.00,1.27,0.00,0.000,4,0.000,0.041,2535,1497,3619
$GC,4964,-0.63,-194.6,569.7,-9.4,476,4967,0.00,1.33,0.00,0.000,6,0.000,0.044,2529,2384,3618
$GC,5286,-0.63,-194.6,602.2,-10.0,507,5289,0.00,1.30,0.00,0.000,4,0.000,0.041,2529,1499,3616
$GC,5329,-0.63,-194.6,606.7,-9.4,511,5332,0.00,1.27,0.00,0.000,6,0.000,0.044,2523,2361,3616
$GC,5651,-0.63,-194.6,639.3,-9.9,542,5654,0.00,1.55,0.00,0.000,4,0.000,0.056,2516,3259,3614
$GC,5676,-0.63,-194.6,642.2,-10.4,544,5685,0.00,1.45,0.00,0.000,6,0.000,0.034,2516,2365,3614
$GC,5994,-0.63,-194.6,675.2,-10.8,575,5995,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2366,3611
$GC,6303,-0.63,-194.6,708.2,-10.6,605,6306,0.00,1.27,0.00,0.000,4,0.000,0.044,2516,1493,3609
$GC,6335,-0.63,-194.6,711.5,-10.8,608,6338,0.08,1.33,0.00,0.000,6,0.148,0.046,2535,2379,3609
$GC,6656,-0.63,-194.6,741.0,-8.8,639,6657,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2380,3607
$GC,6967,-0.63,-194.6,769.4,-9.2,669,6970,0.00,1.30,0.00,0.000,4,0.000,0.044,2535,1504,3605
$GC,7030,-0.63,-194.6,775.1,-9.2,675,7033,0.00,1.30,0.00,0.000,6,0.000,0.047,2531,2368,3605
$GC,7353,-0.63,-194.6,805.4,-9.7,706,7354,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2368,3604
$GC,7662,-0.63,-194.6,833.2,-8.9,736,7664,0.00,1.30,0.00,0.000,4,0.000,0.045,2531,1494,3603
$GC,7730,-0.63,-194.6,839.3,-8.7,742,7737,0.00,1.35,0.00,0.000,6,0.000,0.047,2526,2380,3603
$GC,8046,-0.63,-194.6,867.9,-8.8,773,8049,0.00,1.33,0.00,0.000,4,0.000,0.044,2526,1490,3601
$GC,8110,-0.63,-194.6,873.5,-8.9,779,8113,0.00,1.33,0.00,0.000,6,0.000,0.048,2521,2367,3601
$GC,8431,-0.63,-194.6,902.5,-9.2,810,8432,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2368,3599
$GC,8742,-0.63,-194.6,931.1,-9.2,840,8745,0.00,1.30,0.00,0.000,4,0.000,0.044,2520,1501,3598
$GC,8785,-0.63,-194.6,935.0,-10.0,844,8787,0.00,1.33,0.00,0.000,6,0.000,0.049,2515,2376,3598
$GC,9105,-0.63,-194.6,965.4,-9.7,875,9106,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2376,3596
$STATE,9363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9365,begin apogee
$GC,9369,-0.25,0.0,990.4,9.8,900,9527,0.47,0.00,153.27,1.243,6,0.140,0.000,2659,2291,2840
$STATE,9527,end apogee,CONTROL_FINISHED_OK
$STATE,9527,begin climb
$GC,9529,0.63,194.6,995.5,0.0,916,9702,0.90,0.00,169.25,1.212,6,0.105,0.000,2940,2292,2045
$GC,10013,0.63,194.6,947.3,11.5,960,10014,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2291,2035
$GC,10324,0.63,194.6,911.9,11.2,990,10326,0.00,1.25,0.00,0.000,4,0.000,0.044,2946,1373,2034
$GC,10348,0.63,194.6,908.8,12.8,992,10357,0.00,1.25,0.00,0.000,6,0.000,0.043,2946,2274,2034
$GC,10667,0.63,194.6,872.5,12.5,1023,10668,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2274,2032
$GC,10976,0.63,194.6,835.5,12.0,1053,10979,0.00,1.23,0.00,0.000,4,0.000,0.044,2951,1366,2031
$GC,11029,0.63,194.6,829.2,12.8,1058,11032,0.00,1.25,0.00,0.000,6,0.000,0.044,2951,2278,2031
$GC,11352,0.63,194.6,790.0,11.9,1089,11352,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2279,2030
$GC,11660,0.63,194.6,753.6,11.3,1119,11661,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2279,2029
$GC,11970,0.63,194.6,718.2,11.2,1149,11971,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2278,2029
$GC,12282,0.63,194.6,682.1,11.5,1179,12283,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2279,2029
$GC,12591,0.63,194.6,647.8,11.1,1209,12592,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2279,2028
$GC,12902,0.63,194.6,612.8,11.5,1239,12905,0.00,1.62,0.00,0.000,4,0.000,0.054,2952,3165,2029
$GC,12933,0.63,194.6,609.0,12.1,1242,12937,0.00,1.58,0.00,0.000,6,0.000,0.038,2958,2276,2027
$GC,13255,0.63,194.6,570.9,11.8,1273,13256,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2277,2027
$GC,13565,0.63,194.6,534.3,11.9,1303,13566,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2277,2027
$GC,13875,0.63,194.6,497.4,11.9,1333,13876,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2277,2027
$GC,14187,0.63,194.6,460.0,11.9,1363,14189,0.00,1.62,0.00,0.000,4,0.000,0.054,2959,3174,2027
$GC,14218,0.63,194.6,455.9,12.0,1366,14221,0.00,1.60,0.00,0.000,6,0.000,0.037,2966,2268,2027
$GC,14539,0.63,194.6,416.0,12.6,1397,14540,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2269,2026
$GC,14849,0.63,194.6,377.8,12.4,1427,14850,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2268,2027
$GC,15160,0.63,194.6,338.9,12.6,1457,15161,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2269,2027
$GC,15470,0.63,194.6,300.8,12.1,1487,15471,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2269,2027
$GC,15781,0.63,194.6,263.8,12.1,1517,15784,0.00,1.65,0.00,0.000,4,0.000,0.051,2965,3184,2028
$GC,15817,0.63,194.6,259.2,12.5,1520,15825,0.00,1.58,0.00,0.000,6,0.000,0.035,2973,2279,2027
$GC,16135,0.63,194.6,219.9,11.5,1551,16138,0.00,1.20,0.00,0.000,4,0.000,0.040,2979,1366,2028
$GC,16210,0.63,194.6,211.2,12.0,1558,16213,0.00,1.23,0.00,0.000,6,0.000,0.041,2979,2281,2027
$GC,16530,0.63,194.6,170.0,13.0,1589,16531,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2281,2029
$GC,16842,0.63,194.6,131.5,11.8,1619,16843,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2281,2029
$GC,17151,0.63,194.6,93.9,11.7,1649,17152,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2281,2030
$GC,17338,0.63,194.6,73.4,10.5,1667,17338,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2281,2031
$GC,17524,0.63,194.6,55.9,8.5,1685,17525,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2281,2032
$GC,17710,0.63,196.2,41.9,7.5,1703,17713,0.00,1.20,0.00,0.000,4,0.000,0.037,2985,1367,2032
$GC,17743,0.68,235.6,39.4,6.5,1706,17778,0.00,1.20,30.58,0.532,6,0.000,0.037,2984,2276,1878
$GC,17963,0.82,354.2,27.2,4.4,1727,18054,0.00,0.00,88.90,0.525,6,0.000,0.000,2984,2276,1396
$GC,18240,0.95,454.2,14.1,4.9,1754,18319,0.20,1.25,74.07,0.502,4,0.054,0.035,3088,1358,987
$STATE,18339,end climb,SURFACE_DEPTH_REACHED
$STATE,18339,begin surface coast
$FINISH,0.8,1.023017
$STATE,18362,end surface coast,CONTROL_FINISHED_OK
$STATE,18362,begin surface
$SM_CCo,18378,61.40,0.484,0,0,494,575.22
$SM_GC,1.47,0.00,0.00,61.40,0.000,0.000,0.484,196,2388,494,-7.97,0.37,575.22
$IRIDIUM_FIX,2831.00,-8836.47,031099,212129
$TT8_MAMPS,0.050622
$HUMID,1376
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,22.8,41.038
$10V_AH,10.6,56.915
$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,20.075,64.875,516.075,61.400,0.000,31.687,37.021,200.193,4.000,0.000,0.000,14.145,0.000,12416.383,612.664,5156.577,615.472,33.343,2053.423,0.000,4637.764,0.000,29.796,0.000
$DEVICE_MAMPS,253.877,71.331,1243.307,483.977,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1207.383,1291.030,3966.946,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91359,1765
$CAP_FILE_SIZE,160760,0
$CFSIZE,260165632,234258432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.061,179.9,1
$GPS,100710,072607,2842.318,-8842.959,38,1.0,38,-0.2