version: 66.04
glider: 515
mission: 5
dive: 141
start: 6 19 110 7 7 22
data:
$ID,515
$MISSION,5
$DIVE,141
$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,-7748.479
$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,1
$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,37
$R_STBD_OVSHOOT,27
$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,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
$GPS1,065955,2840.305,-8844.117,73,1.7,73,-0.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-71.9
$GPS2,070643,2840.353,-8844.123,10,1.6,15,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618E
$TGT_LATLONG,2839.700,-8844.900
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.042,0.261
$KALMAN_X,-237468.3,467.0,1133.5,252362.2,-3744.6
$KALMAN_Y,-93134.1,1864.7,1185.8,73392.1,-16447.5
$MHEAD_RNG_PITCHd_Wd,236.8,1749,-26.8,-7.500
$D_GRID,1203
$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,-1.01,-41.0,0.0,0.0,0,52,0.00,0.00,-38.47,0.000,2,0.000,0.000,204,2371,1628
$GC,54,-1.05,-78.7,3.4,-2.9,4,108,9.95,0.00,-40.50,0.000,6,0.262,0.000,2402,2371,3161
$GC,293,-0.93,-78.7,30.1,-11.7,27,296,0.17,1.48,0.00,0.000,4,0.206,0.039,2442,3268,3162
$GC,372,-0.84,-78.7,37.4,-7.6,34,380,0.00,1.48,0.00,0.000,6,0.000,0.025,2448,2364,3163
$GC,564,-0.78,-78.7,52.1,-8.8,53,568,0.17,1.20,0.00,0.000,4,0.188,0.033,2496,1472,3163
$GC,632,-0.77,-78.7,57.8,-7.8,59,640,0.00,1.27,0.00,0.000,6,0.000,0.031,2492,2377,3164
$GC,824,-0.75,-78.7,72.6,-8.1,78,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2377,3164
$GC,1011,-0.74,-78.7,89.0,-8.7,96,1014,0.00,1.25,0.00,0.000,4,0.000,0.035,2496,1481,3164
$GC,1128,-0.74,-78.7,99.4,-8.6,107,1131,0.00,1.25,0.00,0.000,6,0.000,0.033,2492,2376,3164
$GC,1325,-0.74,-78.7,118.0,-9.6,126,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2376,3164
$GC,1635,-0.74,-78.7,147.4,-9.0,156,1638,0.00,1.48,0.00,0.000,4,0.000,0.043,2484,3265,3162
$GC,1699,-0.74,-78.7,153.3,-9.2,162,1702,0.00,1.42,0.00,0.000,6,0.000,0.028,2490,2373,3162
$GC,2021,-0.74,-78.7,181.4,-8.2,193,2024,0.00,1.23,0.00,0.000,4,0.000,0.036,2496,1477,3160
$GC,2228,-0.74,-78.7,198.5,-7.8,212,2235,0.00,1.27,0.00,0.000,6,0.000,0.034,2492,2376,3159
$GC,2545,-0.74,-78.7,224.3,-8.2,243,2548,0.00,1.48,0.00,0.000,4,0.000,0.045,2484,3263,3157
$GC,2747,-0.74,-78.7,242.8,-9.4,262,2751,0.00,1.42,0.00,0.000,6,0.000,0.029,2490,2373,3156
$GC,3070,-0.74,-78.7,270.4,-8.3,293,3071,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2372,3153
$GC,3379,-0.74,-78.7,296.5,-8.4,323,3382,0.00,1.50,0.00,0.000,4,0.000,0.047,2484,3260,3151
$GC,3496,-0.74,-78.7,307.3,-9.2,334,3499,0.00,1.42,0.00,0.000,6,0.000,0.031,2486,2376,3150
$GC,3818,-0.74,-78.7,334.7,-8.4,365,3821,0.00,1.25,0.00,0.000,4,0.000,0.038,2486,1477,3149
$GC,3865,-0.74,-78.7,339.2,-9.2,369,3872,0.00,1.25,0.00,0.000,6,0.000,0.036,2481,2369,3148
$GC,4181,-0.74,-78.7,365.9,-8.5,400,4185,0.00,1.50,0.00,0.000,4,0.000,0.048,2474,3261,3147
$GC,4244,-0.74,-78.7,371.7,-8.9,406,4248,0.08,1.42,0.00,0.000,6,0.189,0.031,2498,2374,3146
$GC,4565,-0.76,-78.7,397.8,-8.1,437,4566,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2374,3144
$GC,4877,-0.78,-78.7,423.0,-8.2,467,4880,0.00,1.25,0.00,0.000,4,0.000,0.041,2499,1483,3140
$GC,4994,-0.79,-78.7,432.7,-7.8,478,4998,0.00,1.25,0.00,0.000,6,0.000,0.040,2494,2368,3140
$GC,5316,-0.81,-78.7,459.1,-8.0,509,5317,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2368,3138
$GC,5626,-0.83,-78.7,484.1,-8.1,539,5627,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2368,3137
$GC,5937,-0.85,-78.7,509.9,-8.4,569,5938,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2368,3134
$GC,6247,-0.86,-78.7,535.6,-8.5,599,6250,0.00,1.52,0.00,0.000,4,0.000,0.053,2487,3260,3133
$GC,6346,-0.86,-78.7,544.4,-8.7,608,6354,0.00,1.48,0.00,0.000,6,0.000,0.034,2487,2369,3133
$GC,6664,-0.88,-78.7,570.9,-8.5,639,6665,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2370,3131
$GC,6975,-0.89,-78.7,597.9,-9.2,669,6975,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2369,3130
$GC,7285,-0.91,-78.7,625.1,-9.0,699,7286,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2370,3128
$GC,7595,-0.92,-78.7,651.3,-8.2,729,7598,0.12,1.52,0.00,0.000,4,0.080,0.054,2433,3261,3126
$GC,7669,-0.89,-78.7,658.7,-10.0,736,7673,0.00,1.45,0.00,0.000,6,0.000,0.035,2438,2379,3126
$GC,7991,-0.87,-78.7,688.7,-9.1,767,7993,0.12,0.00,0.00,0.000,6,0.200,0.000,2467,2378,3125
$GC,8301,-0.87,-78.7,714.4,-7.7,797,8305,0.00,1.52,0.00,0.000,4,0.000,0.055,2462,3259,3124
$GC,8332,-0.87,-78.7,717.2,-9.1,800,8336,0.00,1.48,0.00,0.000,6,0.000,0.037,2467,2371,3123
$GC,8655,-0.87,-78.7,743.0,-8.6,831,8656,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2369,3123
$GC,8964,-0.87,-78.7,768.8,-8.6,861,8967,0.00,1.55,0.00,0.000,4,0.000,0.056,2462,3261,3121
$GC,9075,-0.87,-78.7,778.5,-8.8,871,9082,0.00,1.48,0.00,0.000,6,0.000,0.038,2467,2372,3121
$GC,9392,-0.87,-78.7,804.4,-8.3,902,9395,0.00,1.27,0.00,0.000,4,0.000,0.048,2469,1489,3120
$GC,9552,-0.87,-78.7,818.0,-8.4,917,9555,0.00,1.30,0.00,0.000,6,0.000,0.047,2465,2373,3119
$GC,9873,-0.87,-78.7,844.3,-8.1,948,9876,0.00,1.55,0.00,0.000,4,0.000,0.058,2457,3268,3118
$GC,9926,-0.87,-78.7,848.9,-8.3,953,9929,0.00,1.50,0.00,0.000,6,0.000,0.038,2457,2371,3118
$GC,10248,-0.87,-78.7,874.9,-7.8,984,10249,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2371,3117
$GC,10557,-0.87,-78.7,900.7,-8.5,1014,10558,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2371,3116
$GC,10867,-0.87,-78.7,926.4,-8.1,1044,10871,0.00,1.58,0.00,0.000,4,0.000,0.058,2451,3266,3115
$GC,10953,-0.85,-78.7,933.7,-8.2,1052,10956,0.00,1.50,0.00,0.000,6,0.000,0.039,2451,2371,3114
$GC,11275,-0.85,-78.7,960.6,-8.6,1083,11278,0.00,1.58,0.00,0.000,4,0.000,0.058,2446,3269,3114
$GC,11403,-0.83,-78.7,971.4,-7.6,1095,11406,0.08,1.50,0.00,0.000,6,0.209,0.040,2474,2371,3113
$STATE,11671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11671,begin apogee
$GC,11674,-0.25,0.0,990.9,7.0,1121,11734,0.65,0.00,54.80,1.253,6,0.170,0.000,2657,2245,2840
$STATE,11734,end apogee,CONTROL_FINISHED_OK
$STATE,11735,begin climb
$GC,11736,1.05,78.7,992.5,0.0,1127,11810,1.30,1.83,67.60,1.233,4,0.109,0.054,3074,3142,2518
$GC,11843,0.98,78.7,981.8,16.0,1136,11850,0.00,1.70,0.00,0.000,6,0.000,0.037,3082,2254,2514
$GC,12160,0.91,78.7,932.1,15.6,1167,12164,0.17,1.73,0.00,0.000,4,0.196,0.054,3039,3144,2509
$GC,12271,0.86,78.7,915.3,14.9,1177,12278,0.00,1.67,0.00,0.000,6,0.000,0.037,3045,2242,2508
$GC,12589,0.83,78.7,871.8,14.3,1208,12590,0.12,0.00,0.00,0.000,6,0.196,0.000,3017,2239,2507
$GC,12899,0.81,78.7,833.9,12.0,1238,12899,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2239,2507
$GC,13208,0.81,78.7,796.2,12.1,1268,13209,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2239,2506
$GC,13519,0.81,78.7,758.0,12.0,1298,13522,0.00,1.73,0.00,0.000,4,0.000,0.055,3017,3147,2505
$GC,13551,0.79,78.7,753.8,12.6,1301,13554,0.00,1.62,0.00,0.000,6,0.000,0.038,3024,2254,2505
$GC,13871,0.77,78.7,714.6,11.7,1332,13872,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2255,2504
$GC,14183,0.76,78.7,678.1,11.7,1362,14186,0.12,1.67,0.00,0.000,4,0.184,0.054,2994,3149,2504
$GC,14235,0.76,78.7,671.8,12.3,1367,14239,0.00,1.62,0.00,0.000,6,0.000,0.038,3000,2251,2503
$GC,14556,0.76,78.7,637.8,10.5,1398,14557,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2252,2503
$GC,14867,0.76,78.7,604.9,10.6,1428,14868,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2252,2503
$GC,15177,0.76,78.7,573.0,10.3,1458,15180,0.00,1.70,0.00,0.000,4,0.000,0.054,3000,3143,2503
$GC,15202,0.76,78.7,570.2,11.5,1460,15210,0.00,1.65,0.00,0.000,6,0.000,0.037,3008,2242,2503
$GC,15520,0.76,78.7,537.4,10.1,1491,15520,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2242,2503
$GC,15829,0.76,78.7,506.3,9.9,1521,15830,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2242,2503
$GC,16140,0.76,78.7,474.0,10.4,1551,16141,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2243,2503
$GC,16450,0.76,78.7,440.9,10.8,1581,16453,0.00,1.73,0.00,0.000,4,0.000,0.054,3008,3151,2503
$GC,16493,0.74,78.7,436.3,12.5,1585,16496,0.08,1.62,0.00,0.000,6,0.178,0.037,2994,2256,2503
$GC,16814,0.76,78.7,404.3,9.7,1616,16814,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2256,2503
$GC,17125,0.78,78.7,373.8,10.0,1646,17125,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2256,2502
$GC,17435,0.80,78.7,344.3,9.8,1676,17436,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2256,2503
$GC,17746,0.82,78.7,314.6,10.2,1706,17749,0.00,1.67,0.00,0.000,4,0.000,0.052,2994,3157,2503
$GC,17799,0.82,78.7,309.1,10.9,1711,17802,0.00,1.62,0.00,0.000,6,0.000,0.035,3000,2249,2503
$GC,18119,0.83,78.7,276.9,10.1,1742,18120,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2249,2503
$GC,18431,0.85,78.7,246.5,9.6,1772,18434,0.00,1.67,0.00,0.000,4,0.000,0.051,3000,3158,2504
$GC,18483,0.85,78.7,240.9,12.3,1777,18487,0.00,1.62,0.00,0.000,6,0.000,0.035,3008,2248,2504
$GC,18804,0.86,78.7,209.7,9.3,1808,18808,0.00,1.70,0.00,0.000,4,0.000,0.050,3008,3152,2505
$GC,18889,0.86,78.7,200.4,10.9,1816,18893,0.00,1.60,0.00,0.000,6,0.000,0.033,3016,2255,2505
$GC,19210,0.86,78.7,167.8,10.3,1847,19214,0.00,1.67,0.00,0.000,4,0.000,0.049,3016,3146,2505
$GC,19317,0.86,78.7,155.9,10.9,1857,19320,0.00,1.60,0.00,0.000,6,0.000,0.033,3024,2248,2506
$GC,19638,0.86,78.7,124.1,9.3,1888,19639,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2248,2506
$GC,19948,0.86,78.7,94.4,9.5,1918,19949,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2249,2507
$GC,20135,0.86,78.7,77.0,9.1,1936,20138,0.00,1.67,0.00,0.000,4,0.000,0.047,3024,3146,2508
$GC,20267,0.86,78.7,63.5,8.8,1948,20274,0.00,1.60,0.00,0.000,6,0.000,0.031,3032,2247,2509
$GC,20459,0.87,78.7,48.0,7.6,1967,20460,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2247,2509
$GC,20646,0.92,99.2,37.0,5.0,1985,20670,0.00,1.10,15.60,0.532,4,0.000,0.036,3037,1349,2434
$GC,20909,1.01,139.4,23.5,2.6,2009,20945,0.08,1.20,31.00,0.535,6,0.065,0.035,3080,2281,2271
$GC,21138,1.08,166.8,12.5,4.1,2031,21163,0.00,1.23,21.35,0.512,4,0.000,0.035,3085,1341,2159
$GC,21387,1.23,230.1,10.3,-0.3,2054,21439,0.12,1.17,47.42,0.515,6,0.054,0.035,3150,2270,1901
$GC,21632,1.36,286.9,7.4,0.5,2077,21647,0.00,0.00,14.15,0.475,2,0.000,0.000,3150,2270,1827
$STATE,21648,end climb,NO_VERTICAL_VELOCITY
$STATE,21648,begin surface
$SM_CCo,21649,255.27,0.499,0,0,404,597.54
$SM_GC,2.54,8.30,0.00,0.00,0.054,0.000,0.000,204,2366,400,-7.90,-0.25,598.52
$IRIDIUM_FIX,2828.55,-8843.89,130999,010149
$TT8_MAMPS,0.050622
$HUMID,1277
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,23.9,26.029
$10V_AH,10.7,35.505
$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,21.650,92.800,251.925,255.275,0.000,29.265,39.992,218.588,0.250,0.000,0.000,18.378,0.000,14844.219,620.569,6306.815,610.106,33.335,2333.452,0.000,5660.097,0.000,0.851,0.000
$DEVICE_MAMPS,261.547,58.292,1253.278,498.550,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1425.456,1531.974,4670.724,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110245,2078
$CAP_FILE_SIZE,201091,0
$CFSIZE,260165632,242585600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.043,164.9,1
$GPS,190610,131507,2838.862,-8845.681,34,1.5,34,-0.2