version: 66.04
glider: 515
mission: 5
dive: 161
start: 6 24 110 14 49 15
data:
$ID,515
$MISSION,5
$DIVE,161
$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,-15265.667
$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,30
$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
$GPS1,143731,2830.144,-8843.381,44,1.6,50,-0.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-75.1
$GPS2,144837,2830.174,-8843.388,10,1.4,15,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618A
$TGT_LATLONG,2837.900,-8826.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.220,0.147
$KALMAN_X,-6597.9,153.6,-65.5,17427.4,-3945.8
$KALMAN_Y,-4779.9,690.2,-322.4,7799.6,-2934.2
$MHEAD_RNG_PITCHd_Wd,48.4,31679,-10.8,-7.500
$D_GRID,1310
$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,-33.85,0.000,2,0.000,0.000,194,2375,1517
$GC,49,-0.63,-194.6,3.3,-6.1,3,121,10.80,1.52,-51.38,0.000,4,0.263,0.071,2533,3264,3636
$GC,360,-0.63,-194.6,55.5,-14.3,31,368,0.00,1.48,0.00,0.000,6,0.000,0.027,2537,2365,3638
$GC,553,-0.63,-194.6,80.5,-12.8,50,556,0.00,1.50,0.00,0.000,4,0.000,0.044,2532,3254,3638
$GC,621,-0.63,-194.6,89.5,-12.6,56,629,0.00,1.45,0.00,0.000,6,0.000,0.028,2537,2359,3638
$GC,813,-0.63,-194.6,114.8,-12.6,75,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2359,3639
$GC,1124,-0.63,-194.6,155.0,-12.6,105,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2358,3638
$GC,1434,-0.63,-194.6,191.5,-10.9,135,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2358,3637
$GC,1745,-0.63,-194.6,225.6,-10.7,165,1746,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2357,3635
$GC,2055,-0.63,-194.6,259.3,-10.9,195,2056,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2357,3633
$GC,2366,-0.63,-194.6,293.3,-10.5,225,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2358,3630
$GC,2675,-0.63,-194.6,327.2,-11.1,255,2676,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2358,3627
$GC,2987,-0.63,-194.6,360.3,-10.5,285,2989,0.00,1.23,0.00,0.000,4,0.000,0.041,2536,1479,3625
$GC,3039,-0.63,-194.6,366.1,-10.8,290,3043,0.00,1.27,0.00,0.000,6,0.000,0.040,2533,2367,3624
$GC,3362,-0.63,-194.6,401.8,-10.6,321,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2368,3622
$GC,3670,-0.63,-194.6,436.3,-10.6,351,3671,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2368,3620
$GC,3981,-0.63,-194.6,470.6,-10.7,381,3982,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2367,3617
$GC,4292,-0.63,-194.6,503.6,-10.5,411,4293,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2367,3614
$GC,4602,-0.63,-194.6,535.5,-10.4,441,4603,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2368,3612
$GC,4913,-0.63,-194.6,568.6,-10.5,471,4916,0.00,1.27,0.00,0.000,4,0.000,0.044,2533,1486,3609
$GC,4955,-0.63,-194.6,573.3,-11.7,475,4958,0.00,1.30,0.00,0.000,6,0.000,0.044,2527,2373,3609
$GC,5277,-0.63,-194.6,608.2,-11.4,506,5278,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2373,3607
$GC,5586,-0.63,-194.6,641.3,-10.3,536,5587,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2373,3604
$GC,5897,-0.63,-194.6,674.2,-10.4,566,5900,0.00,1.30,0.00,0.000,4,0.000,0.046,2527,1486,3602
$GC,5975,-0.63,-194.6,682.7,-10.3,573,5982,0.00,1.33,0.00,0.000,6,0.000,0.046,2521,2375,3601
$GC,6292,-0.63,-194.6,716.0,-10.9,604,6293,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2375,3600
$GC,6602,-0.63,-194.6,748.6,-10.3,634,6603,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2375,3598
$GC,6912,-0.63,-194.6,781.8,-10.4,664,6913,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2375,3596
$GC,7223,-0.63,-194.6,813.9,-9.8,694,7224,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2375,3594
$GC,7533,-0.63,-194.6,845.9,-10.1,724,7534,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2375,3593
$GC,7844,-0.63,-194.6,878.0,-10.1,754,7847,0.00,1.30,0.00,0.000,4,0.000,0.047,2521,1491,3591
$GC,7901,-0.63,-194.6,884.1,-10.4,759,7908,0.00,1.35,0.00,0.000,6,0.000,0.048,2515,2379,3591
$GC,8219,-0.63,-194.6,916.6,-10.3,790,8219,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2379,3590
$GC,8528,-0.63,-194.6,948.6,-10.4,820,8529,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2379,3589
$GC,8838,-0.63,-194.6,981.1,-10.4,850,8841,0.00,1.33,0.00,0.000,4,0.000,0.048,2515,1491,3588
$GC,8891,-0.63,-194.6,986.7,-10.7,855,8895,0.10,1.33,0.00,0.000,6,0.147,0.049,2540,2376,3587
$STATE,8931,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8931,begin apogee
$GC,8935,-0.25,0.0,990.4,8.8,859,9087,0.40,0.00,149.20,1.253,6,0.136,0.000,2662,2256,2840
$STATE,9087,end apogee,CONTROL_FINISHED_OK
$STATE,9087,begin climb
$GC,9089,0.63,194.6,995.3,0.0,874,9259,0.90,0.00,166.35,1.220,6,0.108,0.000,2942,2256,2046
$GC,9567,0.63,194.6,945.5,11.7,920,9567,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2256,2035
$GC,9877,0.63,194.6,906.9,11.9,950,9880,0.00,1.73,0.00,0.000,4,0.000,0.058,2941,3166,2033
$GC,9923,0.63,194.6,900.6,13.5,954,9931,0.00,1.70,0.00,0.000,6,0.000,0.038,2950,2245,2032
$GC,10242,0.63,194.6,859.4,13.2,985,10242,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2243,2031
$GC,10550,0.63,194.6,820.3,12.6,1015,10551,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2243,2030
$GC,10861,0.63,194.6,784.4,12.2,1045,10862,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2242,2030
$GC,11171,0.63,194.6,747.0,11.9,1075,11174,0.00,1.73,0.00,0.000,4,0.000,0.055,2950,3152,2029
$GC,11224,0.63,194.6,739.9,13.5,1080,11228,0.00,1.62,0.00,0.000,6,0.000,0.038,2958,2256,2028
$GC,11545,0.63,194.6,699.2,12.0,1111,11546,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2257,2028
$GC,11856,0.63,194.6,659.7,12.7,1141,11857,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2257,2028
$GC,12166,0.63,194.6,620.9,12.0,1171,12169,0.00,1.70,0.00,0.000,4,0.000,0.056,2958,3147,2028
$GC,12219,0.63,194.6,613.8,13.5,1176,12222,0.00,1.62,0.00,0.000,6,0.000,0.038,2965,2253,2026
$GC,12541,0.63,194.6,571.9,12.9,1207,12542,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2253,2026
$GC,12851,0.63,194.6,531.3,13.2,1237,12852,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2253,2027
$GC,13161,0.63,194.6,491.2,13.1,1267,13164,0.00,1.67,0.00,0.000,4,0.000,0.054,2966,3152,2027
$GC,13225,0.63,194.6,482.3,14.3,1273,13228,0.00,1.65,0.00,0.000,6,0.000,0.038,2973,2245,2025
$GC,13547,0.63,194.6,439.3,13.1,1304,13548,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2245,2026
$GC,13856,0.63,194.6,397.5,13.8,1334,13859,0.00,1.70,0.00,0.000,4,0.000,0.053,2973,3143,2026
$GC,13898,0.63,194.6,391.6,14.8,1338,13902,0.10,1.62,0.00,0.000,6,0.153,0.037,2951,2246,2026
$GC,14219,0.63,194.6,355.3,10.9,1369,14220,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2246,2026
$GC,14530,0.63,194.6,321.4,11.1,1399,14531,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2247,2026
$GC,14840,0.63,194.6,287.4,11.2,1429,14841,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2246,2026
$GC,15151,0.63,194.6,253.0,11.2,1459,15154,0.00,1.67,0.00,0.000,4,0.000,0.051,2950,3154,2026
$GC,15182,0.63,194.6,249.2,11.5,1462,15186,0.00,1.62,0.00,0.000,6,0.000,0.035,2957,2248,2026
$GC,15504,0.63,194.6,211.6,11.7,1493,15505,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2248,2026
$GC,15814,0.63,194.6,174.8,11.6,1523,15815,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2248,2026
$GC,16124,0.63,194.6,139.2,10.5,1553,16127,0.00,1.67,0.00,0.000,4,0.000,0.049,2957,3145,2027
$GC,16149,0.63,194.6,136.3,11.5,1555,16157,0.00,1.60,0.00,0.000,6,0.000,0.033,2965,2248,2027
$GC,16467,0.63,194.6,101.7,10.8,1586,16467,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2248,2028
$GC,16777,0.63,194.6,69.1,9.7,1616,16780,0.00,1.65,0.00,0.000,4,0.000,0.048,2965,3155,2029
$GC,16866,0.63,194.6,59.8,8.7,1624,16875,0.00,1.62,0.00,0.000,6,0.000,0.031,2973,2245,2029
$GC,17058,0.63,194.6,41.9,8.6,1643,17061,0.00,1.67,0.00,0.000,4,0.000,0.046,2972,3149,2029
$GC,17112,0.63,194.6,37.5,9.4,1648,17115,0.12,1.58,0.00,0.000,6,0.137,0.031,2947,2252,2029
$GC,17308,0.77,314.0,27.7,4.4,1667,17402,0.15,0.00,87.40,0.539,6,0.061,0.000,3015,2250,1559
$GC,17588,0.87,390.1,9.1,5.5,1694,17647,0.00,1.12,56.45,0.511,4,0.000,0.035,3019,1333,1249
$GC,17711,1.07,553.4,4.7,3.2,1705,17825,0.20,1.25,109.40,0.502,2,0.064,0.033,3096,2280,640
$STATE,17825,end climb,SURFACE_DEPTH_REACHED
$STATE,17825,begin surface coast
$FINISH,0.6,1.015372
$STATE,18070,end surface coast,NO_VERTICAL_VELOCITY
$STATE,18070,begin surface
$SM_CCo,18084,24.02,0.470,0,0,494,575.22
$SM_GC,2.55,0.00,0.00,24.02,0.000,0.000,0.470,204,2381,494,-7.95,0.17,575.22
$IRIDIUM_FIX,2821.19,-8841.55,180999,141411
$TT8_MAMPS,0.051389
$HUMID,1344
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,23.1,29.620
$10V_AH,10.7,40.982
$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,20.600,51.700,568.800,24.025,0.000,50.998,54.463,372.959,0.250,0.000,0.000,19.156,0.000,12319.312,597.406,5071.085,758.490,32.342,2011.423,0.000,4575.454,0.000,1.154,0.000
$DEVICE_MAMPS,263.081,71.331,1253.278,470.171,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1188.713,1276.094,3906.513,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91536,1738
$CAP_FILE_SIZE,155939,0
$CFSIZE,260165632,240599040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.063,175.8,1
$GPS,240610,195236,2831.442,-8841.166,61,1.6,72,-0.2