version: 66.04
glider: 515
mission: 5
dive: 122
start: 6 15 110 6 17 11
data:
$ID,515
$MISSION,5
$DIVE,122
$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,495
$T_MISSION,520
$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,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7293.2075
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2733
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$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,2400
$C_ROLL_CLIMB,2230
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,300
$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,5
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,25
$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
$GPS1,061037,2844.793,-8830.478,24,1.6,24,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-73.7
$GPS2,061631,2844.854,-8830.595,12,1.6,29,-0.4
$SPEED_LIMITS,0.115,0.252
$TGT_NAME,NEW0602B
$TGT_LATLONG,2845.000,-8829.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.132,0.215
$KALMAN_X,-248481.1,-492.0,-4328.9,291761.4,11943.0
$KALMAN_Y,-7706.0,1339.0,845.3,-2801.8,-14982.5
$MHEAD_RNG_PITCHd_Wd,88.0,2604,-26.6,-6.667
$D_GRID,1247
$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,11,-1.03,-34.4,0.0,0.0,0,72,0.00,0.00,-59.20,0.000,2,0.000,0.000,199,2418,2179
$GC,74,-1.05,-52.4,3.3,-4.3,6,110,10.12,1.48,-19.40,0.000,4,0.269,0.058,2382,3305,3055
$GC,349,-1.05,-52.4,36.9,-7.7,31,358,0.00,1.45,0.00,0.000,6,0.000,0.026,2388,2395,3057
$GC,541,-1.05,-52.6,49.6,-6.6,50,545,0.00,1.48,0.00,0.000,4,0.000,0.040,2382,3289,3058
$GC,787,-1.05,-52.6,67.0,-7.6,73,790,0.00,1.40,0.00,0.000,6,0.000,0.026,2387,2394,3059
$GC,984,-1.05,-52.6,82.9,-7.2,92,987,0.00,1.20,0.00,0.000,4,0.000,0.034,2394,1521,3059
$GC,1229,-1.05,-52.6,101.2,-7.6,115,1233,0.00,1.25,0.00,0.000,6,0.000,0.032,2389,2411,3060
$GC,1551,-1.05,-52.6,126.3,-8.4,146,1554,0.00,1.25,0.00,0.000,4,0.000,0.034,2394,1517,3059
$GC,1775,-1.05,-52.6,145.1,-8.3,167,1778,0.00,1.23,0.00,0.000,6,0.000,0.033,2389,2385,3058
$GC,2096,-1.05,-52.6,170.1,-7.7,198,2099,0.00,1.48,0.00,0.000,4,0.000,0.043,2382,3296,3057
$GC,2341,-1.05,-52.6,188.5,-7.5,221,2344,0.00,1.40,0.00,0.000,6,0.000,0.028,2388,2402,3056
$GC,2663,-1.05,-52.6,210.1,-7.0,252,2666,0.00,1.23,0.00,0.000,4,0.000,0.037,2393,1517,3056
$GC,2908,-1.05,-52.6,227.5,-7.4,275,2911,0.00,1.27,0.00,0.000,6,0.000,0.035,2389,2414,3055
$GC,3229,-1.05,-52.6,250.7,-7.6,306,3233,0.00,1.27,0.00,0.000,4,0.000,0.037,2393,1511,3054
$GC,3474,-1.05,-52.6,268.6,-7.6,329,3478,0.00,1.23,0.00,0.000,6,0.000,0.036,2389,2377,3052
$GC,3796,-1.05,-52.6,291.4,-7.2,360,3799,0.00,1.50,0.00,0.000,4,0.000,0.044,2381,3293,3050
$GC,4042,-1.05,-52.6,310.3,-8.0,383,4045,0.00,1.40,0.00,0.000,6,0.000,0.030,2387,2407,3049
$GC,4362,-1.05,-52.6,334.2,-7.4,414,4366,0.00,1.48,0.00,0.000,4,0.000,0.046,2381,3293,3047
$GC,4393,-1.05,-52.6,336.6,-7.8,417,4397,0.00,1.42,0.00,0.000,6,0.000,0.031,2387,2395,3047
$GC,4716,-1.05,-52.6,360.7,-7.8,448,4719,0.00,1.23,0.00,0.000,4,0.000,0.040,2393,1516,3045
$GC,4961,-1.05,-52.6,379.5,-8.0,471,4964,0.00,1.27,0.00,0.000,6,0.000,0.038,2389,2411,3044
$GC,5282,-1.05,-52.6,404.1,-7.3,502,5285,0.00,1.27,0.00,0.000,4,0.000,0.040,2393,1517,3043
$GC,5425,-1.05,-52.6,415.4,-8.1,515,5433,0.00,1.27,0.00,0.000,6,0.000,0.038,2389,2396,3042
$GC,5741,-1.05,-52.6,440.1,-7.9,546,5745,0.00,1.48,0.00,0.000,4,0.000,0.048,2381,3285,3041
$GC,5987,-1.05,-52.6,459.9,-7.7,569,5990,0.00,1.42,0.00,0.000,6,0.000,0.032,2387,2393,3040
$GC,6308,-1.05,-52.6,484.8,-8.0,600,6311,0.00,1.50,0.00,0.000,4,0.000,0.049,2381,3285,3038
$GC,6387,-1.05,-52.6,491.7,-8.4,607,6395,0.00,1.45,0.00,0.000,6,0.000,0.032,2387,2389,3038
$GC,6704,-1.05,-52.6,517.7,-8.1,638,6707,0.00,1.25,0.00,0.000,4,0.000,0.044,2393,1512,3036
$GC,6949,-1.05,-52.6,538.1,-8.2,661,6952,0.00,1.27,0.00,0.000,6,0.000,0.041,2388,2389,3034
$GC,7270,-1.05,-52.6,564.7,-8.1,692,7273,0.00,1.25,0.00,0.000,4,0.000,0.044,2390,1527,3033
$GC,7472,-1.05,-52.6,581.3,-7.9,711,7476,0.00,1.30,0.00,0.000,6,0.000,0.042,2385,2419,3033
$GC,7794,-1.05,-52.6,606.4,-7.7,742,7797,0.00,1.42,0.00,0.000,4,0.000,0.052,2378,3270,3030
$GC,8040,-1.05,-52.6,626.2,-7.6,765,8043,0.00,1.40,0.00,0.000,6,0.000,0.035,2383,2404,3030
$GC,8361,-1.05,-52.6,650.4,-7.5,796,8365,0.00,1.48,0.00,0.000,4,0.000,0.053,2378,3269,3029
$GC,8606,-1.05,-52.6,670.5,-8.5,819,8610,0.00,1.40,0.00,0.000,6,0.000,0.035,2383,2405,3029
$GC,8928,-1.05,-52.6,695.1,-7.5,850,8931,0.00,1.27,0.00,0.000,4,0.000,0.046,2389,1518,3028
$GC,9174,-1.05,-52.6,713.4,-6.8,873,9177,0.00,1.27,0.00,0.000,6,0.000,0.044,2385,2385,3027
$GC,9495,-1.05,-52.6,736.8,-6.9,904,9498,0.00,1.27,0.00,0.000,4,0.000,0.048,2389,1517,3026
$GC,9740,-1.05,-52.6,754.0,-6.9,927,9743,0.00,1.33,0.00,0.000,6,0.000,0.044,2384,2413,3025
$GC,10061,-1.05,-54.9,775.5,-6.4,958,10064,0.00,1.45,0.00,0.000,4,0.000,0.055,2377,3269,3023
$GC,10306,-1.05,-54.9,793.2,-7.8,981,10310,0.00,1.42,0.00,0.000,6,0.000,0.037,2377,2397,3023
$GC,10627,-1.05,-54.9,814.7,-7.0,1012,10631,0.00,1.50,0.00,0.000,4,0.000,0.054,2370,3274,3021
$GC,10873,-1.05,-54.9,833.0,-7.2,1035,10876,0.00,1.42,0.00,0.000,6,0.000,0.038,2374,2407,3020
$GC,11193,-1.05,-54.9,855.5,-6.8,1066,11197,0.00,1.30,0.00,0.000,4,0.000,0.049,2374,1517,3020
$GC,11440,-1.06,-58.7,871.9,-6.2,1089,11443,0.00,1.27,0.00,0.000,6,0.000,0.046,2369,2377,3018
$GC,11760,-1.06,-62.4,893.0,-6.2,1120,11764,0.00,1.25,0.00,0.000,4,0.000,0.047,2373,1517,3017
$GC,12006,-1.07,-64.7,908.6,-6.4,1143,12009,0.00,1.33,0.00,0.000,6,0.000,0.047,2369,2409,3017
$GC,12327,-1.07,-65.4,928.6,-6.6,1174,12330,0.00,1.33,0.00,0.000,4,0.000,0.048,2374,1507,3017
$GC,12401,-1.08,-74.0,933.3,-5.6,1181,12404,0.00,1.30,0.00,0.000,6,0.000,0.047,2369,2388,3017
$GC,12722,-1.08,-78.0,953.7,-6.1,1212,12726,0.00,1.52,0.00,0.000,4,0.000,0.057,2361,3283,3016
$GC,12968,-1.09,-85.2,970.1,-5.7,1235,12971,0.00,1.45,0.00,0.000,6,0.000,0.039,2361,2401,3015
$GC,13289,-1.10,-92.7,989.0,-5.7,1266,13293,0.00,1.52,0.00,0.000,4,0.000,0.058,2355,3283,3015
$STATE,13309,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13309,begin apogee
$GC,13314,-0.26,0.0,990.1,5.8,1268,13354,1.10,0.00,35.55,1.247,6,0.205,0.000,2645,2238,2841
$STATE,13355,end apogee,CONTROL_FINISHED_OK
$STATE,13355,begin climb
$GC,13356,1.10,92.7,991.1,0.0,1272,13439,1.35,1.25,78.75,1.249,4,0.113,0.044,3085,1331,2462
$GC,13614,1.10,92.7,953.0,17.0,1295,13623,0.00,1.23,0.00,0.000,6,0.000,0.044,3086,2242,2455
$GC,13931,1.10,92.7,898.9,17.5,1326,13934,0.00,1.65,0.00,0.000,4,0.000,0.054,3085,3105,2452
$GC,13977,1.10,92.7,890.6,18.7,1330,13985,0.00,1.65,0.00,0.000,6,0.000,0.038,3093,2211,2452
$GC,14295,1.10,92.7,836.0,16.9,1361,14298,0.00,1.70,0.00,0.000,4,0.000,0.055,3093,3104,2451
$GC,14540,1.10,92.7,792.3,17.2,1384,14543,0.00,1.58,0.00,0.000,6,0.000,0.038,3099,2243,2449
$GC,14860,1.10,92.7,738.2,16.5,1415,14864,0.00,1.15,0.00,0.000,4,0.000,0.044,3105,1323,2449
$GC,14978,1.10,92.7,719.2,14.5,1426,14982,0.00,1.17,0.00,0.000,6,0.000,0.045,3104,2231,2449
$GC,15300,1.10,92.7,665.9,16.4,1457,15302,0.00,1.62,0.00,0.000,4,0.000,0.055,3105,3112,2448
$GC,15341,1.10,92.7,658.6,17.4,1461,15345,0.00,1.62,0.00,0.000,6,0.000,0.038,3113,2217,2447
$GC,15662,1.10,92.7,604.1,17.1,1492,15666,0.00,1.08,0.00,0.000,4,0.000,0.044,3118,1345,2447
$GC,15908,1.10,92.7,562.9,16.8,1515,15912,0.10,1.15,0.00,0.000,6,0.195,0.044,3089,2248,2447
$GC,16229,1.10,92.7,512.9,15.7,1546,16232,0.00,1.12,0.00,0.000,4,0.000,0.042,3095,1346,2446
$GC,16475,1.10,92.7,474.9,16.4,1569,16478,0.00,1.12,0.00,0.000,6,0.000,0.044,3093,2230,2446
$GC,16796,1.10,92.7,425.6,15.2,1600,16799,0.00,1.62,0.00,0.000,4,0.000,0.053,3092,3112,2446
$GC,16977,1.10,92.7,396.7,14.4,1617,16980,0.00,1.60,0.00,0.000,6,0.000,0.037,3099,2233,2446
$GC,17297,1.10,92.7,347.0,15.7,1648,17301,0.00,1.10,0.00,0.000,4,0.000,0.042,3105,1337,2445
$GC,17330,1.10,92.7,341.9,17.2,1651,17333,0.00,1.15,0.00,0.000,6,0.000,0.043,3105,2244,2446
$GC,17650,1.10,92.7,291.2,16.2,1682,17654,0.00,1.60,0.00,0.000,4,0.000,0.051,3105,3094,2446
$GC,17714,1.10,92.7,280.6,16.8,1688,17718,0.00,1.58,0.00,0.000,6,0.000,0.036,3113,2221,2446
$GC,18035,1.10,92.7,228.6,15.8,1719,18039,0.00,1.65,0.00,0.000,4,0.000,0.051,3113,3094,2446
$GC,18281,1.10,92.7,188.1,15.3,1742,18284,0.10,1.55,0.00,0.000,6,0.196,0.035,3092,2238,2447
$GC,18601,1.10,92.7,141.8,14.5,1773,18605,0.00,1.62,0.00,0.000,4,0.000,0.050,3092,3097,2448
$GC,18847,1.10,92.7,106.7,12.6,1796,18851,0.00,1.58,0.00,0.000,6,0.000,0.034,3099,2213,2448
$GC,19169,1.10,92.7,64.3,13.1,1827,19172,0.00,1.05,0.00,0.000,4,0.000,0.039,3105,1340,2449
$GC,19414,1.10,92.7,40.2,9.6,1850,19417,0.00,1.12,0.00,0.000,6,0.000,0.038,3105,2246,2450
$GC,19611,1.13,118.0,27.1,3.4,1869,19634,0.00,1.08,18.30,0.542,4,0.000,0.035,3110,1340,2359
$GC,19763,1.15,134.2,20.0,4.6,1883,19779,0.00,1.10,13.80,0.518,6,0.000,0.037,3110,2229,2291
$GC,19967,1.19,168.5,14.8,2.2,1902,19996,0.00,1.12,26.45,0.531,4,0.000,0.036,3114,1344,2152
$GC,20150,1.26,221.0,9.0,-0.2,1918,20196,0.00,1.15,39.85,0.523,6,0.000,0.035,3114,2249,1938
$GC,20382,1.32,269.2,3.8,0.4,1940,20421,0.12,1.65,35.58,0.507,4,0.066,0.043,3170,3109,1741
$STATE,20473,end climb,SURFACE_DEPTH_REACHED
$STATE,20473,begin surface coast
$FINISH,3.2,1.020423
$STATE,20574,end surface coast,NO_VERTICAL_VELOCITY
$STATE,20574,begin surface
$SM_CCo,20576,182.10,0.497,0,0,404,597.54
$SM_GC,1.75,8.20,0.00,0.00,0.044,0.000,0.000,196,2402,401,-7.87,0.06,598.28
$IRIDIUM_FIX,2835.91,-8831.49,090999,010122
$TT8_MAMPS,0.049855
$HUMID,1280
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,23.9,23.124
$10V_AH,10.7,31.307
$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,21.100,114.800,248.275,182.100,0.000,28.174,26.876,183.460,0.250,0.000,0.000,31.096,0.000,13377.369,541.916,6697.441,575.357,33.347,2477.898,0.000,6029.680,0.000,0.848,0.000
$DEVICE_MAMPS,269.217,58.292,1249.443,497.016,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1342.835,1454.346,4399.011,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100914,1957
$CAP_FILE_SIZE,203887,0
$CFSIZE,260165632,244297728
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.023,296.4,1
$GPS,150610,120554,2844.985,-8830.801,41,1.7,41,-0.4