version: 66.04
glider: 515
mission: 5
dive: 159
start: 6 24 110 4 4 8
data:
$ID,515
$MISSION,5
$DIVE,159
$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,-15234.097
$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,36
$R_STBD_OVSHOOT,22
$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
$GPS1,035037,2827.875,-8847.631,43,1.4,43,-0.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-73.2
$GPS2,040332,2827.703,-8847.872,12,1.9,12,-0.1
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618A
$TGT_LATLONG,2837.900,-8826.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.243,0.105
$KALMAN_X,-671.9,-671.9,-671.9,5695.1,635.5
$KALMAN_Y,-991.5,-991.5,-991.5,1880.4,937.8
$MHEAD_RNG_PITCHd_Wd,37.6,40257,-10.8,-7.500
$D_GRID,1208
$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,-0.63,-194.6,0.0,0.0,0,47,0.00,0.00,-33.08,0.000,2,0.000,0.000,203,2364,1433
$GC,49,-0.63,-194.6,3.2,-6.6,3,108,10.60,0.00,-47.28,0.000,6,0.259,0.000,2534,2365,3635
$GC,291,-0.63,-194.6,41.8,-14.0,26,292,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2365,3636
$GC,477,-0.63,-194.6,67.6,-13.1,44,478,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2365,3638
$GC,663,-0.63,-194.6,91.6,-12.8,62,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2365,3638
$GC,850,-0.63,-194.6,115.7,-13.2,80,853,0.00,1.52,0.00,0.000,4,0.000,0.044,2529,3271,3638
$GC,903,-0.63,-194.6,122.8,-13.4,85,906,0.00,1.45,0.00,0.000,6,0.000,0.028,2534,2369,3638
$GC,1226,-0.63,-194.6,161.6,-11.4,116,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2368,3636
$GC,1534,-0.63,-194.6,197.2,-11.4,146,1537,0.00,1.52,0.00,0.000,4,0.000,0.046,2529,3265,3635
$GC,1587,-0.63,-194.6,203.5,-12.3,151,1591,0.00,1.42,0.00,0.000,6,0.000,0.028,2529,2371,3634
$GC,1909,-0.63,-194.6,241.6,-12.0,182,1910,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2371,3632
$GC,2218,-0.63,-194.6,278.4,-11.3,212,2219,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2370,3630
$GC,2530,-0.63,-194.6,313.3,-11.1,242,2532,0.00,1.52,0.00,0.000,4,0.000,0.049,2522,3264,3627
$GC,2582,-0.63,-194.6,319.6,-12.0,247,2585,0.00,1.42,0.00,0.000,6,0.000,0.031,2522,2375,3627
$GC,2904,-0.63,-194.6,357.1,-11.3,278,2907,0.00,1.50,0.00,0.000,4,0.000,0.050,2515,3260,3624
$GC,2957,-0.63,-194.6,363.7,-12.3,283,2960,0.00,1.42,0.00,0.000,6,0.000,0.031,2515,2375,3624
$GC,3279,-0.63,-194.6,401.4,-11.5,314,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2374,3621
$GC,3589,-0.63,-194.6,437.0,-11.8,344,3592,0.00,1.52,0.00,0.000,4,0.000,0.051,2508,3261,3618
$GC,3635,-0.63,-194.6,442.7,-12.5,348,3644,0.12,1.48,0.00,0.000,6,0.150,0.032,2539,2366,3618
$GC,3952,-0.63,-194.6,473.5,-9.6,379,3953,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2366,3616
$GC,4262,-0.63,-194.6,504.1,-9.8,409,4263,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2367,3612
$GC,4573,-0.63,-194.6,535.0,-9.6,439,4574,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2367,3610
$GC,4883,-0.63,-194.6,565.1,-10.1,469,4886,0.00,1.55,0.00,0.000,4,0.000,0.054,2534,3258,3607
$GC,4926,-0.63,-194.6,569.5,-10.7,473,4929,0.00,1.45,0.00,0.000,6,0.000,0.035,2534,2373,3607
$GC,5247,-0.63,-194.6,602.4,-9.9,504,5248,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2372,3605
$GC,5557,-0.63,-194.6,633.4,-9.9,534,5558,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2372,3603
$GC,5867,-0.63,-194.6,664.6,-9.8,564,5870,0.00,1.55,0.00,0.000,4,0.000,0.055,2527,3260,3601
$GC,5931,-0.63,-194.6,671.0,-9.4,570,5934,0.00,1.48,0.00,0.000,6,0.000,0.035,2527,2369,3600
$GC,6253,-0.63,-194.6,704.5,-10.6,601,6254,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2368,3598
$GC,6562,-0.63,-194.6,736.0,-10.2,631,6565,0.00,1.55,0.00,0.000,4,0.000,0.056,2520,3257,3596
$GC,6658,-0.63,-194.6,746.1,-10.8,640,6661,0.00,1.48,0.00,0.000,6,0.000,0.037,2520,2369,3595
$GC,6980,-0.63,-194.6,779.7,-10.5,671,6981,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2369,3594
$GC,7290,-0.63,-194.6,811.3,-10.3,701,7291,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2368,3592
$GC,7600,-0.63,-194.6,842.7,-10.2,731,7604,0.00,1.55,0.00,0.000,4,0.000,0.058,2512,3255,3590
$GC,7642,-0.63,-194.6,847.2,-11.1,735,7646,0.08,1.48,0.00,0.000,6,0.150,0.038,2536,2369,3590
$GC,7963,-0.63,-194.6,876.4,-8.8,766,7964,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2369,3590
$GC,8274,-0.63,-194.6,903.9,-8.8,796,8275,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2370,3588
$GC,8584,-0.63,-194.6,930.7,-8.7,826,8587,0.00,1.58,0.00,0.000,4,0.000,0.060,2531,3260,3587
$GC,8648,-0.63,-194.6,936.2,-9.0,832,8651,0.00,1.48,0.00,0.000,6,0.000,0.038,2531,2375,3587
$GC,8970,-0.63,-194.6,964.2,-9.1,863,8971,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2375,3586
$STATE,9257,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9257,begin apogee
$GC,9261,-0.25,0.0,990.7,8.9,891,9412,0.45,0.00,148.15,1.260,6,0.140,0.000,2665,2248,2840
$STATE,9412,end apogee,CONTROL_FINISHED_OK
$STATE,9412,begin climb
$GC,9414,0.63,194.6,995.2,0.0,906,9584,0.88,0.00,165.65,1.226,6,0.107,0.000,2939,2248,2045
$GC,9891,0.63,194.6,946.8,11.5,951,9892,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2248,2035
$GC,10201,0.63,194.6,910.4,11.6,981,10202,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2248,2033
$GC,10512,0.63,194.6,874.0,11.7,1011,10512,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2248,2032
$GC,10823,0.63,194.6,838.3,11.4,1041,10824,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2248,2031
$GC,11132,0.63,194.6,802.8,11.8,1071,11136,0.00,1.70,0.00,0.000,4,0.000,0.054,2938,3141,2030
$GC,11175,0.63,194.6,797.3,12.6,1075,11178,0.00,1.62,0.00,0.000,6,0.000,0.039,2946,2253,2029
$GC,11496,0.63,194.6,758.6,12.2,1106,11497,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2254,2028
$GC,11806,0.63,194.6,722.5,11.7,1136,11809,0.00,1.15,0.00,0.000,4,0.000,0.046,2952,1343,2028
$GC,11842,0.63,194.6,718.1,12.5,1139,11850,0.00,1.23,0.00,0.000,6,0.000,0.045,2952,2265,2028
$GC,12160,0.63,194.6,680.1,12.0,1170,12161,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2265,2028
$GC,12470,0.63,194.6,643.2,11.5,1200,12471,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2265,2027
$GC,12780,0.63,194.6,607.0,11.0,1230,12780,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2265,2027
$GC,13090,0.63,194.6,571.7,11.3,1260,13093,0.00,1.20,0.00,0.000,4,0.000,0.045,2957,1338,2027
$GC,13132,0.63,194.6,567.0,10.5,1264,13136,0.00,1.20,0.00,0.000,6,0.000,0.044,2957,2258,2027
$GC,13454,0.63,194.6,528.8,12.3,1295,13454,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2258,2027
$GC,13764,0.63,194.6,491.6,11.6,1325,13765,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2259,2027
$GC,14075,0.63,194.6,454.9,11.2,1355,14075,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2259,2027
$GC,14385,0.63,194.6,418.0,11.8,1385,14386,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2259,2026
$GC,14695,0.63,194.6,380.6,12.4,1415,14698,0.00,1.17,0.00,0.000,4,0.000,0.044,2962,1346,2026
$GC,14731,0.63,194.6,376.4,12.0,1418,14739,0.00,1.20,0.00,0.000,6,0.000,0.043,2963,2259,2026
$GC,15049,0.63,194.6,337.9,12.0,1449,15050,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2259,2027
$GC,15358,0.63,194.6,300.5,11.8,1479,15359,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2259,2027
$GC,15669,0.63,194.6,263.0,12.4,1509,15670,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2259,2027
$GC,15979,0.63,194.6,226.2,12.3,1539,15980,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2259,2027
$GC,16290,0.63,194.6,189.2,12.1,1569,16291,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2259,2027
$GC,16600,0.63,194.6,152.3,11.1,1599,16600,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2259,2027
$GC,16910,0.63,194.6,117.7,10.7,1629,16911,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2259,2028
$GC,17221,0.63,194.6,84.1,10.5,1659,17222,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2259,2028
$GC,17407,0.63,194.6,64.1,10.4,1677,17408,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2259,2029
$GC,17593,0.63,194.6,48.0,7.8,1695,17594,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2259,2029
$GC,17780,0.67,232.2,33.7,6.5,1713,17811,0.00,0.00,27.38,0.541,6,0.000,0.000,2963,2259,1892
$GC,17996,0.73,278.4,21.5,6.3,1734,18035,0.00,1.62,35.25,0.528,4,0.000,0.046,2962,3130,1704
$GC,18089,0.89,412.9,16.8,4.0,1742,18195,0.15,1.60,99.93,0.522,6,0.045,0.030,3054,2238,1155
$GC,18388,1.20,661.3,5.3,1.0,1770,18526,0.22,0.00,134.70,0.503,6,0.117,0.000,3125,2236,403
$STATE,18531,end climb,SURFACE_DEPTH_REACHED
$STATE,18531,begin surface coast
$FINISH,0.8,1.014939
$STATE,18604,end surface coast,CONTROL_FINISHED_OK
$STATE,18604,begin surface
$SM_CCo,18678,0.00,0.000,0,0,399,598.52
$SM_GC,3.24,7.93,0.00,0.00,0.038,0.000,0.000,197,2373,399,-7.92,-0.08,598.52
$IRIDIUM_FIX,2813.85,-8839.16,180999,040424
$TT8_MAMPS,0.050622
$HUMID,1326
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,23.1,29.274
$10V_AH,10.7,40.530
$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,20.425,44.250,611.050,0.000,0.000,88.736,113.701,334.883,0.000,0.000,0.000,14.406,0.000,12891.177,574.395,5140.305,816.656,30.173,1996.709,0.000,4642.431,0.000,1.153,0.000
$DEVICE_MAMPS,259.246,59.826,1260.181,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1225.398,1313.622,4023.596,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94629,1790
$CAP_FILE_SIZE,156000,0
$CFSIZE,260165632,240762880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068,188.4,1
$GPS,240610,091828,2829.134,-8845.961,143,2.3,162,-0.2