version: 66.04
glider: 515
mission: 5
dive: 157
start: 6 23 110 17 39 37
data:
$ID,515
$MISSION,5
$DIVE,157
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,135
$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,597.54108
$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,-15202.752
$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,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$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
$GPS1,173236,2831.454,-8851.441,31,1.5,31,-0.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-71.9
$GPS2,173932,2831.491,-8851.413,12,1.6,12,-0.1
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,HEADING
$TGT_LATLONG,2823.855,-8842.732
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.081,0.196
$KALMAN_X,-233724.4,1015.6,520.2,247427.7,-2138.7
$KALMAN_Y,-133612.2,986.1,598.9,114190.8,-5173.9
$MHEAD_RNG_PITCHd_Wd,135.1,20000,-10.8,-7.500
$D_GRID,959
$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,-194.6,0.0,0.0,0,53,0.00,0.00,-38.12,0.000,2,0.000,0.000,201,2373,1577
$GC,55,-0.63,-194.6,3.1,-4.8,4,125,10.25,1.55,-55.90,0.000,4,0.249,0.060,2531,3280,3636
$GC,364,-0.63,-194.6,54.1,-11.9,32,371,0.00,1.50,0.00,0.000,6,0.000,0.027,2536,2364,3638
$GC,556,-0.63,-194.6,79.5,-13.6,51,559,0.00,1.52,0.00,0.000,4,0.000,0.044,2531,3261,3639
$GC,673,-0.63,-194.6,95.7,-13.1,62,676,0.00,1.45,0.00,0.000,6,0.000,0.028,2536,2365,3639
$GC,870,-0.63,-194.6,122.1,-13.2,81,873,0.00,1.23,0.00,0.000,4,0.000,0.038,2537,1478,3639
$GC,906,-0.63,-194.6,127.3,-13.2,84,913,0.00,1.30,0.00,0.000,6,0.000,0.036,2533,2376,3639
$GC,1223,-0.63,-194.6,168.2,-12.1,115,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2377,3637
$GC,1533,-0.63,-194.6,205.9,-12.2,145,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2377,3636
$GC,1843,-0.63,-194.6,241.0,-11.3,175,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2377,3634
$GC,2153,-0.63,-194.6,276.0,-11.0,205,2157,0.00,1.27,0.00,0.000,4,0.000,0.038,2532,1475,3631
$GC,2260,-0.63,-194.6,288.0,-10.9,215,2263,0.00,1.30,0.00,0.000,6,0.000,0.039,2526,2377,3630
$GC,2582,-0.63,-194.6,324.9,-11.5,246,2583,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2377,3628
$GC,2891,-0.63,-194.6,360.6,-11.3,276,2894,0.00,1.27,0.00,0.000,4,0.000,0.040,2526,1488,3624
$GC,2960,-0.63,-194.6,368.5,-11.2,282,2967,0.00,1.30,0.00,0.000,6,0.000,0.040,2521,2376,3624
$GC,3277,-0.63,-194.6,404.3,-11.1,313,3280,0.00,1.27,0.00,0.000,4,0.000,0.041,2521,1488,3622
$GC,3334,-0.63,-194.6,410.8,-11.0,318,3342,0.12,1.30,0.00,0.000,6,0.150,0.041,2550,2374,3622
$GC,3650,-0.63,-194.6,439.2,-8.8,349,3651,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2374,3619
$GC,3961,-0.63,-194.6,467.6,-9.6,379,3962,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2374,3618
$GC,4271,-0.63,-194.6,497.6,-9.4,409,4274,0.00,1.27,0.00,0.000,4,0.000,0.043,2550,1489,3614
$GC,4307,-0.63,-194.6,501.2,-9.0,412,4314,0.00,1.30,0.00,0.000,6,0.000,0.044,2546,2374,3613
$GC,4625,-0.63,-194.6,530.6,-9.3,443,4628,0.00,1.27,0.00,0.000,4,0.000,0.044,2546,1490,3611
$GC,4656,-0.63,-194.6,533.7,-9.9,446,4659,0.00,1.30,0.00,0.000,6,0.000,0.044,2541,2375,3611
$GC,4978,-0.63,-194.6,563.8,-9.0,477,4981,0.00,1.27,0.00,0.000,4,0.000,0.044,2541,1489,3608
$GC,5020,-0.63,-194.6,567.7,-8.4,481,5023,0.00,1.30,0.00,0.000,6,0.000,0.045,2535,2376,3608
$GC,5342,-0.63,-194.6,599.2,-10.5,512,5345,0.00,1.30,0.00,0.000,4,0.000,0.044,2536,1480,3605
$GC,5431,-0.63,-194.6,608.5,-10.0,520,5439,0.00,1.35,0.00,0.000,6,0.000,0.045,2530,2382,3605
$GC,5748,-0.63,-194.6,640.3,-10.3,551,5749,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2383,3604
$GC,6058,-0.63,-194.6,671.3,-10.1,581,6061,0.00,1.30,0.00,0.000,4,0.000,0.045,2529,1492,3601
$GC,6090,-0.63,-194.6,674.6,-10.3,584,6093,0.00,1.30,0.00,0.000,6,0.000,0.046,2524,2375,3601
$GC,6412,-0.63,-194.6,707.7,-10.4,615,6415,0.00,1.55,0.00,0.000,4,0.000,0.058,2517,3269,3598
$GC,6443,-0.63,-194.6,711.0,-10.7,618,6446,0.00,1.48,0.00,0.000,6,0.000,0.036,2517,2375,3599
$GC,6765,-0.63,-194.6,745.6,-10.8,649,6766,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2375,3597
$GC,7074,-0.63,-194.6,779.4,-11.1,679,7077,0.00,1.27,0.00,0.000,4,0.000,0.048,2517,1492,3595
$GC,7110,-0.63,-194.6,783.5,-11.6,682,7118,0.12,1.33,0.00,0.000,6,0.155,0.047,2542,2376,3595
$GC,7427,-0.63,-194.6,812.4,-8.8,713,7430,0.00,1.30,0.00,0.000,4,0.000,0.046,2543,1489,3593
$GC,7527,-0.63,-194.6,821.4,-8.4,722,7535,0.00,1.35,0.00,0.000,6,0.000,0.048,2539,2380,3592
$GC,7844,-0.63,-194.6,848.4,-8.4,753,7848,0.00,1.52,0.00,0.000,4,0.000,0.060,2533,3263,3591
$GC,7876,-0.63,-194.6,851.2,-9.2,756,7879,0.00,1.48,0.00,0.000,6,0.000,0.038,2533,2374,3591
$GC,8198,-0.63,-194.6,880.0,-8.7,787,8200,0.00,1.30,0.00,0.000,4,0.000,0.048,2533,1479,3589
$GC,8240,-0.63,-194.6,883.9,-8.7,791,8243,0.00,1.33,0.00,0.000,6,0.000,0.049,2528,2373,3590
$GC,8561,-0.63,-194.6,912.3,-8.8,822,8562,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2373,3589
$GC,8872,-0.63,-194.6,940.3,-9.4,852,8874,0.00,1.30,0.00,0.000,4,0.000,0.048,2527,1487,3587
$GC,8924,-0.63,-194.6,945.6,-10.5,857,8928,0.00,1.33,0.00,0.000,6,0.000,0.050,2522,2375,3587
$STATE,9068,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9068,begin apogee
$GC,9072,-0.25,0.0,959.6,9.6,871,9223,0.47,0.00,148.00,1.232,6,0.150,0.000,2659,2252,2840
$STATE,9223,end apogee,CONTROL_FINISHED_OK
$STATE,9223,begin climb
$GC,9225,0.63,194.6,963.4,0.0,886,9398,0.90,0.00,164.40,1.203,6,0.113,0.000,2938,2252,2045
$GC,9707,0.63,194.6,914.2,11.7,932,9710,0.00,1.70,0.00,0.000,4,0.000,0.056,2938,3146,2035
$GC,9742,0.63,194.6,909.7,13.1,935,9750,0.00,1.67,0.00,0.000,6,0.000,0.038,2946,2253,2033
$GC,10060,0.63,194.6,872.1,11.5,966,10063,0.00,1.70,0.00,0.000,4,0.000,0.057,2946,3157,2033
$GC,10096,0.63,194.6,867.5,12.4,969,10103,0.00,1.67,0.00,0.000,6,0.000,0.038,2954,2244,2032
$GC,10413,0.63,194.6,828.2,12.1,1000,10416,0.00,1.73,0.00,0.000,4,0.000,0.056,2954,3148,2031
$GC,10465,0.63,194.6,821.0,13.9,1005,10469,0.00,1.65,0.00,0.000,6,0.000,0.038,2963,2248,2030
$GC,10788,0.63,194.6,778.5,13.4,1036,10791,0.00,1.12,0.00,0.000,4,0.000,0.045,2967,1354,2030
$GC,10812,0.63,194.6,775.1,13.9,1038,10820,0.00,1.23,0.00,0.000,6,0.000,0.044,2968,2268,2030
$GC,11130,0.63,194.6,734.0,13.1,1069,11133,0.00,1.65,0.00,0.000,4,0.000,0.056,2968,3147,2030
$GC,11165,0.63,194.6,728.8,14.9,1072,11173,0.00,1.65,0.00,0.000,6,0.000,0.038,2976,2248,2028
$GC,11484,0.63,194.6,686.0,13.8,1103,11486,0.00,1.67,0.00,0.000,4,0.000,0.054,2975,3149,2029
$GC,11526,0.63,194.6,679.9,14.8,1107,11529,0.08,1.62,0.00,0.000,6,0.160,0.038,2950,2253,2027
$GC,11846,0.63,194.6,642.7,11.4,1138,11847,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2254,2027
$GC,12157,0.63,194.6,608.4,10.8,1168,12158,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2254,2027
$GC,12467,0.63,194.6,573.9,11.0,1198,12470,0.00,1.67,0.00,0.000,4,0.000,0.054,2950,3137,2027
$GC,12493,0.63,194.6,570.7,12.8,1200,12501,0.00,1.60,0.00,0.000,6,0.000,0.038,2956,2255,2026
$GC,12810,0.63,194.6,533.2,11.3,1231,12813,0.00,1.65,0.00,0.000,4,0.000,0.054,2956,3142,2026
$GC,12846,0.63,194.6,528.5,12.8,1234,12853,0.00,1.62,0.00,0.000,6,0.000,0.038,2963,2247,2026
$GC,13163,0.63,194.6,490.0,12.6,1265,13164,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2247,2025
$GC,13473,0.63,194.6,451.0,12.3,1295,13476,0.00,1.67,0.00,0.000,4,0.000,0.054,2964,3149,2026
$GC,13526,0.63,194.6,443.9,13.5,1300,13529,0.00,1.62,0.00,0.000,6,0.000,0.037,2971,2249,2025
$GC,13848,0.63,194.6,401.8,13.0,1331,13850,0.00,1.65,0.00,0.000,4,0.000,0.053,2971,3141,2025
$GC,13890,0.63,194.6,395.9,13.8,1335,13893,0.00,1.60,0.00,0.000,6,0.000,0.038,2979,2233,2026
$GC,14210,0.63,194.6,352.4,13.4,1366,14211,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2233,2026
$GC,14522,0.63,194.6,310.0,13.7,1396,14525,0.12,1.67,0.00,0.000,4,0.162,0.051,2949,3140,2026
$GC,14546,0.63,194.6,306.5,14.2,1398,14554,0.00,1.62,0.00,0.000,6,0.000,0.035,2955,2248,2026
$GC,14864,0.63,194.6,269.6,11.9,1429,14867,0.00,1.67,0.00,0.000,4,0.000,0.051,2954,3139,2026
$GC,14889,0.63,194.6,266.4,12.5,1431,14897,0.00,1.60,0.00,0.000,6,0.000,0.035,2962,2249,2025
$GC,15206,0.63,194.6,227.2,12.6,1462,15210,0.00,1.67,0.00,0.000,4,0.000,0.051,2962,3141,2026
$GC,15232,0.63,194.6,223.6,13.9,1464,15239,0.00,1.60,0.00,0.000,6,0.000,0.034,2970,2248,2026
$GC,15549,0.63,194.6,181.6,12.9,1495,15552,0.00,1.67,0.00,0.000,4,0.000,0.050,2970,3143,2026
$GC,15601,0.63,194.6,174.2,13.3,1500,15605,0.00,1.60,0.00,0.000,6,0.000,0.034,2978,2248,2026
$GC,15924,0.63,194.6,133.5,12.6,1531,15927,0.00,1.65,0.00,0.000,4,0.000,0.048,2977,3154,2026
$GC,15955,0.63,194.6,129.2,13.3,1534,15959,0.12,1.60,0.00,0.000,6,0.142,0.033,2947,2255,2026
$GC,16276,0.63,194.6,98.2,9.3,1565,16277,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2256,2027
$GC,16462,0.63,194.6,80.9,9.5,1583,16463,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2256,2028
$GC,16648,0.63,194.6,62.9,9.3,1601,16651,0.00,1.65,0.00,0.000,4,0.000,0.047,2946,3143,2029
$GC,16674,0.63,194.6,60.4,10.4,1603,16681,0.00,1.60,0.00,0.000,6,0.000,0.031,2952,2236,2029
$GC,16866,0.63,197.5,44.2,7.4,1622,16869,0.00,1.67,0.00,0.000,4,0.000,0.047,2953,3144,2029
$GC,16988,0.64,205.0,35.2,7.3,1633,16999,0.00,1.55,6.60,0.456,6,0.000,0.031,2960,2261,2005
$GC,17192,0.79,327.5,25.0,4.3,1653,17288,0.12,1.20,92.07,0.538,4,0.066,0.036,3028,1334,1504
$GC,17373,0.90,420.7,14.7,5.1,1670,17445,0.00,1.20,69.00,0.518,6,0.000,0.035,3028,2263,1124
$GC,17638,1.16,624.8,3.5,2.1,1695,17697,0.28,0.00,56.60,0.499,2,0.121,0.000,3112,2263,810
$STATE,17697,end climb,SURFACE_DEPTH_REACHED
$STATE,17697,begin surface coast
$FINISH,0.6,0.998105
$STATE,17839,end surface coast,CONTROL_FINISHED_OK
$STATE,17839,begin surface
$SM_CCo,17853,62.53,0.489,0,0,403,597.54
$SM_GC,1.48,0.00,0.00,62.53,0.000,0.000,0.489,196,2373,403,-7.97,-0.06,597.54
$IRIDIUM_FIX,2823.64,-9210.08,170999,121226
$TT8_MAMPS,0.051389
$HUMID,1347
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,23.20
$XPDR_PINGS,1
$24V_AH,23.2,28.921
$10V_AH,10.7,40.079
$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,20.450,103.750,536.675,62.525,0.000,28.198,30.913,244.687,0.250,0.000,0.000,14.204,0.000,11903.222,656.529,5130.600,613.618,0.000,2168.586,0.000,4629.656,0.000,0.543,0.000
$DEVICE_MAMPS,249.275,59.826,1231.802,488.579,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1171.287,1251.661,3852.679,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91615,1714
$CAP_FILE_SIZE,166991,0
$CFSIZE,260165632,240930816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230610,223907,2828.421,-8850.104,33,0.9,33,-0.1