version: 66.04
glider: 515
mission: 5
dive: 240
start: 7 11 110 9 52 7
data:
$ID,515
$MISSION,5
$DIVE,240
$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,-17839.627
$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,28
$R_STBD_OVSHOOT,37
$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
$GPS1,094407,2843.201,-8830.626,37,1.0,37,-0.4
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,2
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-70.8
$GPS2,095126,2843.169,-8830.637,16,1.6,16,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.175,0.199
$KALMAN_X,-53117.3,22.6,223.6,84530.4,-282.9
$KALMAN_Y,-273548.2,255.4,420.9,300279.6,-8090.8
$MHEAD_RNG_PITCHd_Wd,63.1,7572,-11.5,-7.500
$D_GRID,1276
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.63,-178.3,0.0,0.0,0,58,0.00,0.00,-43.12,0.000,2,0.000,0.000,206,2395,1764
$GC,60,-0.65,-194.6,3.2,-4.3,4,132,10.50,0.00,-57.45,0.000,6,0.254,0.000,2533,2395,3633
$GC,318,-0.65,-194.6,46.8,-19.2,28,321,0.00,1.42,0.00,0.000,4,0.000,0.043,2527,3250,3634
$GC,354,-0.65,-194.6,52.6,-15.5,31,361,0.00,1.45,0.00,0.000,6,0.000,0.026,2527,2353,3634
$GC,546,-0.65,-194.6,80.0,-12.8,50,549,0.00,1.20,0.00,0.000,4,0.000,0.034,2527,1482,3635
$GC,636,-0.65,-194.6,92.1,-13.2,58,643,0.00,1.25,0.00,0.000,6,0.000,0.035,2522,2359,3635
$GC,828,-0.65,-194.6,117.0,-13.6,77,829,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2359,3637
$GC,1139,-0.65,-194.6,156.5,-12.5,107,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2359,3637
$GC,1449,-0.65,-194.6,195.8,-12.0,137,1452,0.00,1.50,0.00,0.000,4,0.000,0.047,2515,3256,3636
$GC,1495,-0.65,-194.6,201.8,-12.4,141,1503,0.00,1.45,0.00,0.000,6,0.000,0.028,2515,2354,3636
$GC,1814,-0.65,-194.6,240.6,-12.7,172,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2354,3635
$GC,2122,-0.65,-194.6,278.6,-11.9,202,2125,0.00,1.20,0.00,0.000,4,0.000,0.037,2515,1493,3633
$GC,2155,-0.65,-194.6,282.5,-12.1,205,2158,0.00,1.27,0.00,0.000,6,0.000,0.038,2509,2375,3633
$GC,2477,-0.65,-194.6,322.1,-12.2,236,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2375,3632
$GC,2787,-0.65,-194.6,360.2,-11.6,266,2790,0.00,1.27,0.00,0.000,4,0.000,0.038,2509,1495,3629
$GC,2844,-0.65,-194.6,367.1,-11.8,271,2852,0.12,1.30,0.00,0.000,6,0.140,0.039,2536,2372,3629
$GC,3161,-0.65,-194.6,398.1,-9.5,302,3164,0.00,1.48,0.00,0.000,4,0.000,0.051,2531,3251,3628
$GC,3197,-0.65,-194.6,401.7,-10.0,305,3204,0.00,1.40,0.00,0.000,6,0.000,0.031,2531,2372,3627
$GC,3514,-0.65,-194.6,433.3,-10.2,336,3515,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2373,3625
$GC,3824,-0.65,-194.6,465.3,-9.8,366,3827,0.00,1.25,0.00,0.000,4,0.000,0.040,2531,1503,3623
$GC,3866,-0.65,-194.6,469.6,-9.8,370,3870,0.00,1.27,0.00,0.000,6,0.000,0.041,2525,2370,3623
$GC,4188,-0.65,-194.6,504.0,-10.8,401,4189,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2371,3620
$GC,4498,-0.65,-194.6,537.3,-10.4,431,4499,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2371,3618
$GC,4808,-0.65,-194.6,569.9,-10.0,461,4811,0.00,1.27,0.00,0.000,4,0.000,0.042,2525,1507,3615
$GC,4866,-0.65,-194.6,576.3,-10.0,466,4873,0.00,1.27,0.00,0.000,6,0.000,0.043,2519,2366,3615
$GC,5183,-0.65,-194.6,609.8,-10.7,497,5184,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2366,3613
$GC,5493,-0.65,-194.6,642.3,-10.6,527,5494,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2366,3610
$GC,5803,-0.65,-194.6,674.7,-10.6,557,5804,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2366,3609
$GC,6114,-0.65,-194.6,707.7,-10.3,587,6115,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2366,3607
$GC,6424,-0.65,-194.6,739.0,-9.8,617,6424,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2366,3604
$GC,6734,-0.65,-194.6,769.9,-10.2,647,6735,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2366,3603
$GC,7045,-0.65,-194.6,800.5,-9.8,677,7046,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2366,3602
$GC,7355,-0.65,-194.6,831.4,-9.7,707,7358,0.00,1.27,0.00,0.000,4,0.000,0.046,2520,1512,3600
$GC,7408,-0.65,-194.6,836.2,-9.6,712,7412,0.00,1.30,0.00,0.000,6,0.000,0.047,2514,2375,3600
$GC,7729,-0.65,-194.6,867.9,-9.9,743,7730,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2375,3598
$GC,8039,-0.65,-194.6,898.2,-9.5,773,8043,0.00,1.30,0.00,0.000,4,0.000,0.045,2514,1503,3597
$GC,8114,-0.65,-194.6,905.2,-9.4,780,8117,0.00,1.33,0.00,0.000,6,0.000,0.048,2508,2375,3596
$GC,8435,-0.65,-194.6,936.9,-10.3,811,8438,0.00,1.30,0.00,0.000,4,0.000,0.046,2508,1509,3595
$GC,8509,-0.65,-194.6,944.6,-9.5,818,8513,0.10,1.33,0.00,0.000,6,0.141,0.048,2534,2378,3594
$GC,8830,-0.65,-194.6,971.7,-8.2,849,8833,0.00,1.55,0.00,0.000,4,0.000,0.061,2529,3265,3593
$GC,8873,-0.65,-194.6,975.4,-8.5,853,8876,0.00,1.45,0.00,0.000,6,0.000,0.038,2529,2390,3593
$STATE,9048,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9048,begin apogee
$GC,9053,-0.25,0.0,990.3,8.5,870,9211,0.45,0.00,152.90,1.244,6,0.132,0.000,2663,2285,2839
$STATE,9211,end apogee,CONTROL_FINISHED_OK
$STATE,9211,begin climb
$GC,9213,0.65,194.6,994.6,0.0,886,9391,0.93,0.00,169.82,1.211,6,0.103,0.000,2949,2284,2045
$GC,9700,0.65,194.6,943.7,11.9,934,9701,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2285,2034
$GC,10011,0.65,194.6,907.2,11.3,964,10014,0.00,1.25,0.00,0.000,4,0.000,0.044,2954,1358,2032
$GC,10086,0.65,194.6,898.5,12.0,971,10089,0.00,1.25,0.00,0.000,6,0.000,0.044,2954,2274,2032
$GC,10407,0.65,194.6,859.6,11.8,1002,10411,0.00,1.23,0.00,0.000,4,0.000,0.044,2960,1361,2031
$GC,10454,0.65,194.6,853.8,12.4,1006,10461,0.00,1.27,0.00,0.000,6,0.000,0.044,2960,2279,2031
$GC,10772,0.65,194.6,814.8,11.8,1037,10776,0.00,1.23,0.00,0.000,4,0.000,0.044,2965,1372,2030
$GC,10804,0.65,194.6,810.7,12.1,1040,10807,0.00,1.23,0.00,0.000,6,0.000,0.044,2965,2272,2030
$GC,11125,0.65,194.6,771.1,12.5,1071,11125,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2273,2029
$GC,11435,0.65,194.6,733.2,12.4,1101,11436,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2273,2029
$GC,11746,0.65,194.6,697.0,11.7,1131,11747,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2273,2029
$GC,12056,0.65,194.6,658.9,12.1,1161,12057,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2273,2028
$GC,12367,0.65,194.6,622.4,11.3,1191,12368,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2273,2028
$GC,12677,0.65,194.6,586.0,11.4,1221,12680,0.00,1.20,0.00,0.000,4,0.000,0.044,2970,1374,2028
$GC,12720,0.65,194.6,581.0,11.8,1225,12723,0.00,1.23,0.00,0.000,6,0.000,0.044,2970,2278,2028
$GC,13040,0.65,194.6,543.1,12.0,1256,13041,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2278,2027
$GC,13351,0.65,194.6,506.1,11.8,1286,13352,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2278,2027
$GC,13661,0.65,194.6,469.0,12.0,1316,13662,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2278,2027
$GC,13972,0.65,194.6,431.3,11.9,1346,13975,0.00,1.23,0.00,0.000,4,0.000,0.043,2975,1365,2027
$GC,14008,0.65,194.6,426.8,12.3,1349,14015,0.00,1.23,0.00,0.000,6,0.000,0.041,2975,2274,2027
$GC,14325,0.65,194.6,388.2,12.0,1380,14329,0.00,1.62,0.00,0.000,4,0.000,0.052,2975,3165,2027
$GC,14357,0.65,194.6,383.9,13.0,1383,14360,0.00,1.58,0.00,0.000,6,0.000,0.036,2982,2274,2027
$GC,14679,0.65,194.6,342.0,12.8,1414,14682,0.00,1.17,0.00,0.000,4,0.000,0.042,2988,1371,2027
$GC,14715,0.65,194.6,337.1,12.1,1417,14723,0.12,1.25,0.00,0.000,6,0.151,0.041,2956,2282,2028
$GC,15032,0.65,194.6,303.8,10.7,1448,15033,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2282,2027
$GC,15343,0.65,194.6,270.5,10.4,1478,15343,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2282,2027
$GC,15653,0.65,194.6,237.9,10.1,1508,15654,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2282,2028
$GC,15963,0.65,194.6,206.0,10.6,1538,15966,0.00,1.23,0.00,0.000,4,0.000,0.040,2961,1359,2029
$GC,16021,0.65,194.6,200.0,10.7,1543,16028,0.00,1.25,0.00,0.000,6,0.000,0.038,2960,2280,2028
$GC,16339,0.65,194.6,166.7,10.4,1574,16339,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2280,2029
$GC,16649,0.65,194.6,134.5,10.3,1604,16650,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2280,2030
$GC,16958,0.65,194.6,103.6,9.6,1634,16961,0.00,1.60,0.00,0.000,4,0.000,0.048,2960,3175,2031
$GC,16980,0.65,194.6,101.2,10.7,1636,16983,0.00,1.58,0.00,0.000,6,0.000,0.031,2968,2265,2031
$GC,17302,0.65,194.6,68.7,9.9,1667,17305,0.00,1.12,0.00,0.000,4,0.000,0.036,2973,1370,2032
$GC,17402,0.65,194.6,60.0,8.9,1676,17410,0.00,1.20,0.00,0.000,6,0.000,0.035,2973,2281,2033
$GC,17594,0.65,194.6,45.3,7.7,1695,17597,0.00,1.58,0.00,0.000,4,0.000,0.046,2973,3168,2033
$GC,17651,0.65,194.6,40.8,7.5,1700,17660,0.00,1.52,0.00,0.000,6,0.000,0.029,2981,2276,2033
$GC,17845,0.71,239.5,28.6,6.2,1719,17882,0.00,1.20,33.62,0.517,4,0.000,0.035,2986,1363,1862
$GC,17914,0.83,343.1,25.6,4.5,1725,17997,0.00,1.20,77.22,0.518,6,0.000,0.035,2986,2272,1442
$GC,18182,0.85,357.4,9.2,7.1,1750,18198,0.10,1.62,11.90,0.457,4,0.085,0.044,3027,3165,1381
$STATE,18293,end climb,SURFACE_DEPTH_REACHED
$STATE,18294,begin surface coast
$FINISH,1.9,1.018730
$STATE,18720,end surface coast,CONTROL_FINISHED_OK
$STATE,18720,begin surface
$SM_CCo,18735,120.68,0.479,0,0,495,575.22
$SM_GC,1.77,0.00,0.00,120.68,0.000,0.000,0.479,207,2352,495,-7.94,-0.65,575.22
$IRIDIUM_FIX,2831.00,-8836.47,051099,040429
$TT8_MAMPS,0.050622
$HUMID,1340
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,24.70
$XPDR_PINGS,3
$24V_AH,22.8,41.989
$10V_AH,10.6,58.269
$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,20.050,66.700,445.475,120.675,0.000,29.620,31.190,250.763,4.500,0.000,0.000,18.602,0.000,12656.221,638.047,5324.567,648.789,33.337,2119.312,0.000,4775.518,0.000,30.415,0.000
$DEVICE_MAMPS,253.877,60.593,1244.074,479.375,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1230.592,1315.355,4045.917,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94520,1800
$CAP_FILE_SIZE,164126,0
$CFSIZE,260165632,233725952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.130,155.3,1
$GPS,110710,150725,2843.373,-8827.357,39,1.5,39,-0.4