version: 66.04
glider: 515
mission: 5
dive: 139
start: 6 18 110 18 46 54
data:
$ID,515
$MISSION,5
$DIVE,139
$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,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7712.5366
$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,0.0099999998
$PITCH_ADJ_DBAND,0.5
$ROLL_MIN,159
$ROLL_MAX,3575
$ROLL_DEG,25
$C_ROLL_DIVE,2375
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,22
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,184143,2840.983,-8844.043,75,1.7,82,-0.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-67.9
$GPS2,184614,2840.935,-8844.039,11,1.8,11,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618E
$TGT_LATLONG,2839.700,-8844.900
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.032,0.263
$KALMAN_X,-236319.5,-481.3,533.8,252891.4,1483.4
$KALMAN_Y,-80594.8,1565.2,497.6,62960.7,-26042.1
$MHEAD_RNG_PITCHd_Wd,221.9,2681,-26.8,-7.500
$D_GRID,1189
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-1.01,-41.0,0.0,0.0,0,66,0.00,0.00,-53.05,0.000,2,0.000,0.000,206,2381,2063
$GC,68,-1.05,-73.8,3.7,-3.5,5,108,9.95,1.50,-25.17,0.000,4,0.263,0.062,2396,3266,3142
$GC,350,-0.93,-76.3,34.1,-7.2,31,353,0.15,1.42,0.00,0.000,6,0.208,0.027,2440,2374,3143
$GC,547,-0.86,-76.3,49.7,-9.0,50,550,0.12,1.48,0.00,0.000,4,0.199,0.041,2464,3266,3145
$GC,792,-0.81,-76.3,72.3,-9.4,73,795,0.00,1.42,0.00,0.000,6,0.000,0.027,2469,2375,3146
$GC,989,-0.78,-76.3,90.3,-10.0,92,992,0.00,1.50,0.00,0.000,4,0.000,0.042,2463,3267,3147
$GC,1235,-0.75,-76.3,116.8,-11.3,115,1238,0.10,1.42,0.00,0.000,6,0.192,0.028,2497,2377,3147
$GC,1555,-0.75,-76.3,146.3,-8.6,146,1559,0.00,1.50,0.00,0.000,4,0.000,0.042,2491,3268,3147
$GC,1738,-0.75,-76.3,162.6,-8.6,163,1741,0.00,1.42,0.00,0.000,6,0.000,0.028,2497,2375,3146
$GC,2059,-0.76,-76.3,188.0,-7.6,194,2062,0.00,1.50,0.00,0.000,4,0.000,0.043,2491,3270,3145
$GC,2304,-0.76,-76.3,209.2,-9.3,217,2307,0.00,1.42,0.00,0.000,6,0.000,0.028,2496,2376,3144
$GC,2626,-0.77,-76.3,236.1,-8.0,248,2629,0.00,1.23,0.00,0.000,4,0.000,0.038,2498,1487,3143
$GC,2864,-0.78,-76.3,255.5,-8.7,270,2872,0.00,1.27,0.00,0.000,6,0.000,0.035,2494,2381,3142
$GC,3182,-0.79,-76.3,280.3,-8.0,301,3183,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2381,3140
$GC,3492,-0.80,-76.3,304.6,-7.6,331,3495,0.00,1.25,0.00,0.000,4,0.000,0.039,2497,1482,3138
$GC,3646,-0.82,-76.3,316.9,-7.8,345,3653,0.00,1.25,0.00,0.000,6,0.000,0.037,2493,2374,3137
$GC,3963,-0.83,-76.3,341.8,-8.3,376,3963,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2374,3135
$GC,4274,-0.84,-76.3,367.5,-8.2,406,4274,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2374,3133
$GC,4583,-0.86,-76.3,393.4,-8.6,436,4586,0.00,1.50,0.00,0.000,4,0.000,0.049,2485,3263,3132
$GC,4669,-0.86,-76.3,400.9,-8.8,444,4672,0.00,1.42,0.00,0.000,6,0.000,0.032,2485,2379,3132
$GC,4990,-0.87,-76.3,426.9,-7.7,475,4993,0.00,1.50,0.00,0.000,4,0.000,0.048,2479,3264,3129
$GC,5064,-0.87,-76.3,433.3,-8.8,482,5067,0.00,1.45,0.00,0.000,6,0.000,0.033,2484,2377,3129
$GC,5386,-0.88,-76.3,460.4,-8.6,513,5387,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2376,3128
$GC,5696,-0.89,-76.3,486.1,-8.2,543,5699,0.00,1.25,0.00,0.000,4,0.000,0.042,2485,1483,3126
$GC,5807,-0.89,-76.3,495.7,-8.5,553,5814,0.00,1.27,0.00,0.000,6,0.000,0.039,2480,2374,3126
$GC,6124,-0.90,-76.3,521.3,-8.0,584,6128,0.00,1.25,0.00,0.000,4,0.000,0.042,2480,1480,3124
$GC,6234,-0.90,-76.3,531.0,-9.0,594,6242,0.00,1.30,0.00,0.000,6,0.000,0.040,2476,2377,3124
$GC,6552,-0.90,-76.3,557.5,-8.4,625,6555,0.00,1.52,0.00,0.000,4,0.000,0.053,2469,3268,3123
$GC,6620,-0.89,-76.3,563.7,-9.3,631,6629,0.00,1.50,0.00,0.000,6,0.000,0.034,2469,2371,3122
$GC,6937,-0.89,-76.3,591.2,-8.5,662,6940,0.00,1.27,0.00,0.000,4,0.000,0.044,2469,1467,3120
$GC,7037,-0.89,-76.3,600.1,-9.0,671,7045,0.00,1.30,0.00,0.000,6,0.000,0.042,2464,2373,3119
$GC,7354,-0.89,-76.3,627.7,-8.4,702,7357,0.00,1.52,0.00,0.000,4,0.000,0.054,2457,3263,3118
$GC,7514,-0.88,-76.3,642.9,-9.6,717,7517,0.00,1.48,0.00,0.000,6,0.000,0.036,2457,2371,3118
$GC,7836,-0.87,-76.3,670.7,-8.3,748,7837,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2370,3117
$GC,8146,-0.86,-76.3,696.1,-8.3,778,8149,0.00,1.27,0.00,0.000,4,0.000,0.048,2457,1478,3115
$GC,8235,-0.85,-76.3,704.0,-8.6,786,8244,0.00,1.35,0.00,0.000,6,0.000,0.045,2451,2384,3114
$GC,8553,-0.84,-76.3,731.2,-8.7,817,8554,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2383,3113
$GC,8863,-0.83,-76.3,758.2,-9.1,847,8864,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2383,3112
$GC,9174,-0.82,-76.3,785.4,-9.0,877,9175,0.12,0.00,0.00,0.000,6,0.202,0.000,2478,2383,3111
$GC,9484,-0.83,-76.3,810.1,-8.1,907,9488,0.00,1.50,0.00,0.000,4,0.000,0.056,2472,3259,3110
$GC,9601,-0.83,-76.3,819.8,-8.3,918,9604,0.00,1.48,0.00,0.000,6,0.000,0.038,2472,2373,3109
$GC,9923,-0.84,-76.3,845.7,-7.9,949,9926,0.00,1.30,0.00,0.000,4,0.000,0.048,2472,1474,3108
$GC,9997,-0.85,-76.9,851.8,-7.4,956,10000,0.00,1.33,0.00,0.000,6,0.000,0.047,2467,2375,3108
$GC,10318,-0.85,-76.9,877.2,-7.7,987,10319,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2375,3107
$GC,10629,-0.86,-76.9,900.8,-7.5,1017,10630,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2375,3106
$GC,10940,-0.87,-76.9,924.1,-7.6,1047,10941,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2375,3106
$GC,11250,-0.87,-76.9,947.6,-7.5,1077,11251,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2375,3105
$GC,11561,-0.88,-78.2,970.1,-7.3,1107,11564,0.00,1.30,0.00,0.000,4,0.000,0.049,2467,1487,3104
$GC,11646,-0.89,-79.4,976.2,-7.4,1115,11649,0.00,1.30,0.00,0.000,6,0.000,0.048,2462,2372,3103
$STATE,11841,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11841,begin apogee
$GC,11845,-0.25,0.0,990.0,6.9,1134,11905,0.73,0.00,52.85,1.251,6,0.174,0.000,2662,2254,2840
$STATE,11905,end apogee,CONTROL_FINISHED_OK
$STATE,11905,begin climb
$GC,11907,1.06,79.4,991.6,0.0,1140,11981,1.30,1.80,68.12,1.233,4,0.106,0.057,3079,3147,2515
$GC,12025,0.98,79.4,978.2,16.2,1150,12032,0.00,1.70,0.00,0.000,6,0.000,0.038,3086,2251,2510
$GC,12342,0.91,79.4,926.9,16.5,1181,12345,0.17,1.70,0.00,0.000,4,0.190,0.054,3038,3146,2507
$GC,12384,0.86,79.4,920.3,15.7,1185,12387,0.00,1.65,0.00,0.000,6,0.000,0.038,3044,2248,2506
$GC,12705,0.82,79.4,875.6,14.3,1216,12708,0.12,1.70,0.00,0.000,4,0.195,0.056,3011,3150,2504
$GC,12790,0.80,79.4,864.2,13.4,1224,12793,0.00,1.65,0.00,0.000,6,0.000,0.038,3017,2245,2503
$GC,13110,0.79,79.4,824.1,12.7,1255,13114,0.00,1.73,0.00,0.000,4,0.000,0.056,3017,3149,2503
$GC,13147,0.76,79.4,819.1,14.1,1258,13154,0.10,1.62,0.00,0.000,6,0.179,0.037,2996,2255,2502
$GC,13463,0.76,79.4,783.7,11.0,1289,13466,0.00,1.67,0.00,0.000,4,0.000,0.056,2996,3144,2502
$GC,13548,0.76,79.4,773.4,11.5,1297,13552,0.00,1.62,0.00,0.000,6,0.000,0.038,3003,2251,2502
$GC,13869,0.76,79.4,737.1,11.0,1328,13872,0.00,1.67,0.00,0.000,4,0.000,0.056,3003,3141,2502
$GC,13901,0.74,79.4,733.3,11.9,1331,13904,0.00,1.62,0.00,0.000,6,0.000,0.038,3011,2251,2501
$GC,14222,0.74,79.4,697.6,10.8,1362,14225,0.00,1.70,0.00,0.000,4,0.000,0.055,3011,3141,2501
$GC,14243,0.73,79.4,695.2,12.1,1364,14246,0.08,1.62,0.00,0.000,6,0.181,0.038,2987,2250,2500
$GC,14564,0.75,79.4,663.3,9.2,1395,14564,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2250,2500
$GC,14875,0.77,79.4,632.9,9.8,1425,14878,0.00,1.12,0.00,0.000,4,0.000,0.044,2990,1345,2500
$GC,14900,0.79,79.4,630.3,11.5,1427,14909,0.00,1.23,0.00,0.000,6,0.000,0.044,2990,2270,2500
$GC,15218,0.80,79.4,598.8,9.8,1458,15221,0.00,1.62,0.00,0.000,4,0.000,0.054,2990,3131,2499
$GC,15292,0.80,79.4,590.7,11.7,1465,15295,0.00,1.60,0.00,0.000,6,0.000,0.038,2997,2249,2499
$GC,15613,0.82,79.4,558.0,10.3,1496,15613,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2250,2500
$GC,15924,0.83,79.4,526.9,10.3,1526,15927,0.00,1.67,0.00,0.000,4,0.000,0.054,2997,3150,2499
$GC,15967,0.83,79.4,522.2,10.7,1530,15970,0.00,1.62,0.00,0.000,6,0.000,0.037,3005,2251,2499
$GC,16288,0.84,79.4,488.2,10.3,1561,16291,0.00,1.70,0.00,0.000,4,0.000,0.054,3005,3141,2499
$GC,16330,0.83,79.4,483.3,11.8,1565,16334,0.00,1.62,0.00,0.000,6,0.000,0.038,3013,2246,2499
$GC,16651,0.83,79.4,448.9,10.7,1596,16651,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2246,2499
$GC,16962,0.83,79.4,416.0,10.5,1626,16965,0.00,1.67,0.00,0.000,4,0.000,0.054,3013,3147,2499
$GC,17047,0.82,79.4,406.2,12.0,1634,17050,0.00,1.60,0.00,0.000,6,0.000,0.036,3021,2255,2499
$GC,17367,0.81,79.4,371.4,10.9,1665,17371,0.00,1.65,0.00,0.000,4,0.000,0.053,3021,3134,2499
$GC,17463,0.79,79.4,359.8,13.4,1674,17467,0.00,1.60,0.00,0.000,6,0.000,0.036,3029,2251,2500
$GC,17786,0.78,79.4,322.7,11.2,1705,17789,0.00,1.67,0.00,0.000,4,0.000,0.052,3029,3152,2500
$GC,17832,0.76,79.4,316.8,12.6,1709,17840,0.12,1.62,0.00,0.000,6,0.174,0.035,3000,2248,2500
$GC,18149,0.78,79.4,285.0,9.8,1740,18152,0.00,1.67,0.00,0.000,4,0.000,0.051,2998,3132,2500
$GC,18227,0.78,79.4,276.5,10.1,1747,18236,0.00,1.62,0.00,0.000,6,0.000,0.035,3005,2235,2500
$GC,18546,0.79,79.4,243.8,10.5,1778,18548,0.00,1.67,0.00,0.000,4,0.000,0.051,3005,3144,2500
$GC,18737,0.79,79.4,221.6,11.2,1796,18741,0.00,1.58,0.00,0.000,6,0.000,0.035,3013,2261,2500
$GC,19058,0.80,79.4,188.9,9.8,1827,19059,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2262,2501
$GC,19370,0.81,79.4,158.9,10.2,1857,19373,0.00,1.62,0.00,0.000,4,0.000,0.050,3013,3157,2502
$GC,19459,0.81,79.4,149.9,10.1,1865,19466,0.00,1.62,0.00,0.000,6,0.000,0.032,3021,2241,2502
$GC,19776,0.82,79.4,119.4,8.9,1896,19779,0.00,1.67,0.00,0.000,4,0.000,0.048,3021,3136,2503
$GC,19951,0.82,79.4,101.3,10.3,1912,19958,0.00,1.55,0.00,0.000,6,0.000,0.031,3029,2262,2504
$GC,20268,0.83,79.4,71.1,9.2,1943,20269,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2262,2505
$GC,20455,0.84,79.4,54.2,8.5,1961,20457,0.00,1.62,0.00,0.000,4,0.000,0.048,3029,3155,2506
$GC,20701,0.89,107.6,37.6,4.0,1984,20726,0.00,1.60,21.08,0.540,6,0.000,0.031,3037,2215,2400
$GC,20920,0.95,129.8,28.6,4.8,2005,20943,0.00,1.02,17.20,0.521,4,0.000,0.035,3042,1367,2312
$GC,21081,1.04,153.3,18.6,4.6,2020,21105,0.08,1.15,19.12,0.515,6,0.066,0.035,3085,2269,2214
$GC,21290,1.12,190.4,10.7,2.9,2040,21323,0.00,0.00,28.60,0.515,6,0.000,0.000,3085,2269,2062
$STATE,21496,end climb,NO_VERTICAL_VELOCITY
$STATE,21496,begin surface
$SM_CCo,21498,341.40,0.454,25,0,404,597.54
$SM_GC,2.73,8.23,0.00,0.00,0.061,0.000,0.000,202,2366,401,-7.91,-0.25,598.52
$IRIDIUM_FIX,2833.46,-8843.84,120999,161633
$TT8_MAMPS,0.049855
$HUMID,1291
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,23.00
$XPDR_PINGS,0
$24V_AH,22.5,25.798
$10V_AH,10.7,34.977
$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,21.375,114.350,206.975,341.400,0.000,24.419,31.263,135.333,0.000,0.000,0.000,14.369,0.000,14528.206,820.736,6441.076,538.332,33.334,2603.905,0.000,5798.040,0.000,0.848,0.000
$DEVICE_MAMPS,263.081,62.127,1250.977,454.064,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1413.468,1526.612,4629.638,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107251,2060
$CAP_FILE_SIZE,209716,0
$CFSIZE,260165632,242786304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,25,0
$CURRENT,0.035,207.6,1
$GPS,190610,010000,2839.281,-8845.437,293,1.6,298,-0.2