version: 66.04
glider: 515
mission: 5
dive: 162
start: 6 24 110 19 59 34
data:
$ID,515
$MISSION,5
$DIVE,162
$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,-15282.181
$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,33
$R_STBD_OVSHOOT,28
$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
$GPS1,195236,2831.442,-8841.166,61,1.6,72,-0.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-74.8
$GPS2,195855,2831.414,-8841.151,8,1.6,13,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618A
$TGT_LATLONG,2837.900,-8826.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.197,0.177
$KALMAN_X,-9251.9,443.6,154.8,23193.7,-5284.8
$KALMAN_Y,-6517.4,110.7,432.9,11642.6,-4713.0
$MHEAD_RNG_PITCHd_Wd,51.4,27402,-10.8,-7.500
$D_GRID,1367
$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,-33.75,0.000,2,0.000,0.000,202,2383,1545
$GC,49,-0.63,-194.6,3.1,-5.0,3,120,10.75,1.33,-56.40,0.000,4,0.263,0.057,2537,1475,3636
$GC,362,-0.63,-194.6,51.2,-14.0,32,366,0.00,1.27,0.00,0.000,6,0.000,0.035,2533,2368,3638
$GC,559,-0.63,-194.6,79.2,-14.1,51,562,0.00,1.25,0.00,0.000,4,0.000,0.037,2536,1481,3639
$GC,702,-0.63,-194.6,98.2,-12.6,64,710,0.00,1.30,0.00,0.000,6,0.000,0.036,2532,2377,3639
$GC,895,-0.63,-194.6,123.6,-13.6,83,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2377,3640
$GC,1205,-0.63,-194.6,163.4,-12.1,113,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2377,3639
$GC,1516,-0.63,-194.6,200.3,-11.5,143,1518,0.00,1.27,0.00,0.000,4,0.000,0.038,2532,1477,3637
$GC,1590,-0.63,-194.6,209.0,-11.9,150,1593,0.00,1.27,0.00,0.000,6,0.000,0.038,2526,2371,3637
$GC,1912,-0.63,-194.6,247.7,-12.2,181,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2372,3635
$GC,2221,-0.63,-194.6,284.0,-11.4,211,2222,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2372,3633
$GC,2532,-0.63,-194.6,319.6,-11.3,241,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2372,3630
$GC,2842,-0.63,-194.6,355.2,-11.8,271,2843,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2372,3628
$GC,3152,-0.63,-194.6,390.3,-11.6,301,3153,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2372,3625
$GC,3463,-0.63,-194.6,425.1,-11.0,331,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2372,3623
$GC,3773,-0.63,-194.6,459.7,-10.9,361,3774,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2371,3621
$GC,4083,-0.63,-194.6,494.7,-11.5,391,4084,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2372,3619
$GC,4395,-0.63,-194.6,528.7,-10.6,421,4397,0.00,1.52,0.00,0.000,4,0.000,0.055,2519,3258,3615
$GC,4473,-0.63,-194.6,537.5,-10.7,428,4480,0.00,1.48,0.00,0.000,6,0.000,0.034,2519,2368,3614
$GC,4791,-0.63,-194.6,572.1,-10.8,459,4791,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2367,3612
$GC,5100,-0.63,-194.6,605.5,-11.2,489,5103,0.00,1.55,0.00,0.000,4,0.000,0.056,2512,3257,3610
$GC,5168,-0.63,-194.6,613.3,-10.4,495,5177,0.12,1.48,0.00,0.000,6,0.146,0.035,2543,2369,3609
$GC,5486,-0.63,-194.6,641.7,-9.3,526,5487,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2369,3608
$GC,5795,-0.63,-194.6,669.7,-9.2,556,5796,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2369,3606
$GC,6106,-0.63,-194.6,697.7,-9.1,586,6109,0.00,1.55,0.00,0.000,4,0.000,0.059,2538,3257,3603
$GC,6137,-0.63,-194.6,700.6,-9.5,589,6140,0.00,1.45,0.00,0.000,6,0.000,0.037,2538,2373,3603
$GC,6459,-0.63,-194.6,730.5,-9.6,620,6460,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2373,3601
$GC,6769,-0.63,-194.6,759.3,-9.2,650,6770,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2373,3599
$GC,7079,-0.63,-194.6,788.1,-9.7,680,7080,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2373,3598
$GC,7389,-0.63,-194.6,818.2,-9.8,710,7392,0.00,1.55,0.00,0.000,4,0.000,0.061,2531,3254,3596
$GC,7431,-0.63,-194.6,822.6,-10.8,714,7435,0.00,1.48,0.00,0.000,6,0.000,0.038,2532,2367,3596
$GC,7754,-0.63,-194.6,854.2,-9.8,745,7755,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2367,3594
$GC,8063,-0.63,-194.6,884.6,-9.8,775,8066,0.00,1.58,0.00,0.000,4,0.000,0.061,2525,3256,3593
$GC,8105,-0.63,-194.6,888.9,-10.3,779,8108,0.00,1.48,0.00,0.000,6,0.000,0.039,2525,2371,3593
$GC,8428,-0.63,-194.6,920.8,-9.9,810,8429,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2372,3592
$GC,8736,-0.63,-194.6,950.8,-9.8,840,8740,0.00,1.58,0.00,0.000,4,0.000,0.061,2517,3257,3590
$GC,8779,-0.63,-194.6,955.0,-10.5,844,8782,0.00,1.48,0.00,0.000,6,0.000,0.039,2518,2374,3590
$GC,9101,-0.63,-194.6,986.9,-10.0,875,9102,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2374,3590
$STATE,9140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9140,begin apogee
$GC,9144,-0.25,0.0,990.9,9.4,879,9296,0.50,0.00,149.32,1.256,6,0.141,0.000,2665,2257,2840
$STATE,9296,end apogee,CONTROL_FINISHED_OK
$STATE,9296,begin climb
$GC,9298,0.63,194.6,995.4,0.0,894,9468,0.88,0.00,166.80,1.220,6,0.106,0.000,2939,2257,2046
$GC,9774,0.63,194.6,945.7,11.8,941,9775,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2257,2035
$GC,10084,0.63,194.6,908.4,11.8,971,10085,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2258,2033
$GC,10395,0.63,194.6,871.6,11.8,1001,10396,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2257,2032
$GC,10705,0.63,194.6,835.7,11.3,1031,10706,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2257,2031
$GC,11016,0.63,194.6,800.2,11.4,1061,11016,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2257,2031
$GC,11326,0.63,194.6,762.0,11.5,1091,11329,0.00,1.15,0.00,0.000,4,0.000,0.045,2944,1355,2030
$GC,11426,0.63,194.6,750.5,11.5,1100,11433,0.00,1.23,0.00,0.000,6,0.000,0.044,2944,2269,2030
$GC,11743,0.63,194.6,713.4,11.5,1131,11747,0.00,1.20,0.00,0.000,4,0.000,0.045,2950,1348,2029
$GC,11860,0.63,194.6,699.4,11.6,1142,11864,0.00,1.20,0.00,0.000,6,0.000,0.046,2949,2259,2029
$GC,12181,0.63,194.6,660.1,12.5,1173,12185,0.00,1.17,0.00,0.000,4,0.000,0.044,2954,1353,2028
$GC,12362,0.63,194.6,638.3,11.9,1190,12366,0.00,1.17,0.00,0.000,6,0.000,0.044,2955,2253,2028
$GC,12684,0.63,194.6,599.9,11.8,1221,12687,0.00,1.17,0.00,0.000,4,0.000,0.044,2960,1344,2028
$GC,12794,0.63,194.6,586.6,12.4,1231,12803,0.00,1.23,0.00,0.000,6,0.000,0.044,2960,2264,2027
$GC,13112,0.63,194.6,548.2,12.3,1262,13115,0.00,1.17,0.00,0.000,4,0.000,0.044,2965,1354,2028
$GC,13261,0.63,194.6,529.8,11.9,1276,13264,0.00,1.17,0.00,0.000,6,0.000,0.045,2965,2256,2027
$GC,13581,0.63,194.6,488.6,12.8,1307,13585,0.00,1.17,0.00,0.000,4,0.000,0.043,2970,1340,2027
$GC,13710,0.63,194.6,472.3,12.6,1319,13713,0.00,1.20,0.00,0.000,6,0.000,0.044,2970,2261,2027
$GC,14030,0.63,194.6,429.8,13.0,1350,14034,0.00,1.17,0.00,0.000,4,0.000,0.043,2975,1346,2026
$GC,14184,0.63,194.6,409.3,12.3,1364,14192,0.00,1.20,0.00,0.000,6,0.000,0.043,2975,2257,2028
$GC,14501,0.63,194.6,366.4,13.6,1395,14505,0.00,1.17,0.00,0.000,4,0.000,0.043,2980,1337,2027
$GC,14619,0.63,194.6,350.9,12.5,1406,14622,0.08,1.17,0.00,0.000,6,0.153,0.044,2956,2250,2027
$GC,14939,0.63,194.6,313.1,11.4,1437,14942,0.00,1.15,0.00,0.000,4,0.000,0.042,2960,1347,2027
$GC,15035,0.63,194.6,302.2,11.6,1446,15038,0.00,1.17,0.00,0.000,6,0.000,0.043,2960,2253,2027
$GC,15356,0.63,194.6,263.4,12.2,1477,15359,0.00,1.15,0.00,0.000,4,0.000,0.041,2965,1351,2027
$GC,15506,0.63,194.6,245.7,11.4,1491,15509,0.00,1.17,0.00,0.000,6,0.000,0.042,2965,2263,2027
$GC,15826,0.63,194.6,205.7,11.4,1522,15829,0.00,1.17,0.00,0.000,4,0.000,0.040,2970,1342,2028
$GC,15969,0.63,194.6,188.2,12.1,1535,15978,0.00,1.20,0.00,0.000,6,0.000,0.040,2970,2262,2028
$GC,16287,0.63,194.6,148.5,12.7,1566,16290,0.00,1.17,0.00,0.000,4,0.000,0.039,2974,1335,2027
$GC,16415,0.63,194.6,133.4,11.7,1578,16418,0.00,1.17,0.00,0.000,6,0.000,0.039,2974,2256,2028
$GC,16735,0.63,194.6,95.8,11.9,1609,16738,0.00,1.15,0.00,0.000,4,0.000,0.038,2979,1340,2029
$GC,16810,0.63,194.6,86.9,11.0,1616,16813,0.08,1.17,0.00,0.000,6,0.140,0.039,2954,2259,2029
$GC,17007,0.63,194.6,67.6,9.5,1635,17007,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2259,2029
$GC,17193,0.63,194.6,51.6,8.6,1653,17193,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2259,2030
$GC,17379,0.69,243.4,39.4,6.2,1671,17420,0.00,0.00,35.55,0.547,6,0.000,0.000,2955,2259,1848
$GC,17605,0.79,330.5,26.7,5.2,1693,17676,0.15,1.23,65.65,0.533,4,0.061,0.036,3030,1329,1491
$GC,17793,0.87,389.7,13.2,5.9,1710,17841,0.00,1.20,44.38,0.510,6,0.000,0.035,3030,2262,1250
$GC,18026,1.24,693.6,4.6,-0.5,1732,18145,0.30,0.00,116.38,0.501,2,0.098,0.000,3136,2262,602
$STATE,18146,end climb,SURFACE_DEPTH_REACHED
$STATE,18146,begin surface coast
$FINISH,0.7,1.006019
$STATE,18274,end surface coast,CONTROL_FINISHED_OK
$STATE,18275,begin surface
$SM_CCo,18289,17.62,0.462,0,0,495,575.22
$SM_GC,3.89,0.00,0.00,17.62,0.000,0.000,0.462,200,2365,495,-7.96,-0.28,575.22
$IRIDIUM_FIX,2818.74,-8841.55,180999,141432
$TT8_MAMPS,0.051389
$HUMID,1336
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.50
$XPDR_PINGS,2
$24V_AH,23.1,29.785
$10V_AH,10.7,41.207
$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,20.900,59.475,578.075,17.625,0.000,31.297,31.371,201.545,0.500,0.000,0.000,15.885,0.000,12213.727,609.210,5295.945,539.178,33.338,2120.417,0.000,4768.720,0.000,0.848,0.000
$DEVICE_MAMPS,263.081,61.360,1255.579,461.734,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1200.635,1292.629,3944.869,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91328,1755
$CAP_FILE_SIZE,159155,0
$CFSIZE,260165632,240508928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.079,189.9,1
$GPS,250610,010625,2832.056,-8838.752,84,1.9,84,-0.3