version: 66.04
glider: 515
mission: 5
dive: 113
start: 6 13 110 4 7 43
data:
$ID,515
$MISSION,5
$DIVE,113
$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,495
$T_MISSION,520
$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,-7143.5337
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2733
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$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,2280
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,300
$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,5
$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,900
$ALTIM_PING_DELTA,25
$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
$GPS1,040054,2839.385,-8844.982,39,1.9,39,-0.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-71.4
$GPS2,040702,2839.437,-8845.075,13,1.8,13,-0.2
$SPEED_LIMITS,0.115,0.252
$TGT_NAME,NEW0607F
$TGT_LATLONG,2837.000,-8845.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.142,0.208
$KALMAN_X,-254435.3,533.1,86.7,268739.8,-10844.2
$KALMAN_Y,27271.5,1192.4,443.4,-47279.7,-20562.1
$MHEAD_RNG_PITCHd_Wd,170.2,4515,-22.3,-6.667
$D_GRID,1191
$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,-0.88,-47.9,0.0,0.0,0,67,0.00,0.00,-53.70,0.000,2,0.000,0.000,195,2378,2073
$GC,69,-0.92,-73.2,3.3,-4.3,5,109,10.02,1.33,-25.05,0.000,4,0.260,0.066,2439,1472,3142
$GC,350,-0.92,-73.2,41.5,-10.7,31,354,0.00,1.27,0.00,0.000,6,0.000,0.034,2435,2373,3144
$GC,547,-0.92,-73.2,59.7,-9.5,50,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2373,3145
$GC,733,-0.92,-73.2,77.1,-9.6,68,737,0.00,1.48,0.00,0.000,4,0.000,0.044,2428,3267,3146
$GC,780,-0.92,-73.2,81.9,-9.8,72,788,0.00,1.48,0.00,0.000,6,0.000,0.029,2429,2362,3146
$GC,972,-0.92,-73.2,102.7,-11.2,91,975,0.00,1.23,0.00,0.000,4,0.000,0.038,2434,1472,3146
$GC,1079,-0.92,-73.2,115.1,-11.8,101,1082,0.00,1.27,0.00,0.000,6,0.000,0.035,2430,2376,3146
$GC,1400,-0.92,-73.2,152.2,-11.7,132,1403,0.00,1.45,0.00,0.000,4,0.000,0.046,2422,3261,3146
$GC,1474,-0.92,-73.2,161.2,-11.3,139,1478,0.00,1.42,0.00,0.000,6,0.000,0.031,2428,2370,3146
$GC,1796,-0.92,-73.2,194.5,-9.5,170,1799,0.00,1.50,0.00,0.000,4,0.000,0.045,2422,3269,3145
$GC,1852,-0.92,-73.2,200.6,-10.9,175,1860,0.00,1.45,0.00,0.000,6,0.000,0.030,2427,2370,3145
$GC,2170,-0.92,-73.2,229.9,-9.2,206,2173,0.00,1.23,0.00,0.000,4,0.000,0.039,2429,1487,3144
$GC,2312,-0.92,-73.2,244.4,-9.8,219,2319,0.00,1.27,0.00,0.000,6,0.000,0.036,2425,2374,3143
$GC,2629,-0.92,-73.2,276.6,-10.2,250,2632,0.00,1.48,0.00,0.000,4,0.000,0.048,2418,3269,3142
$GC,2664,-0.92,-73.2,280.7,-11.4,253,2672,0.00,1.45,0.00,0.000,6,0.000,0.031,2418,2373,3141
$GC,2982,-0.92,-73.2,311.7,-10.3,284,2983,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2373,3140
$GC,3291,-0.92,-73.2,342.5,-9.9,314,3294,0.00,1.50,0.00,0.000,4,0.000,0.048,2411,3270,3138
$GC,3430,-0.92,-73.2,357.5,-10.6,327,3433,0.00,1.45,0.00,0.000,6,0.000,0.032,2416,2369,3137
$GC,3751,-0.92,-73.2,390.1,-10.5,358,3754,0.00,1.50,0.00,0.000,4,0.000,0.049,2410,3259,3136
$GC,3879,-0.92,-73.2,404.0,-11.1,370,3882,0.00,1.42,0.00,0.000,6,0.000,0.033,2415,2374,3134
$GC,4200,-0.92,-73.2,437.1,-10.3,401,4201,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2374,3132
$GC,4510,-0.92,-73.2,468.2,-9.7,431,4511,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2374,3131
$GC,4820,-0.92,-73.2,498.2,-9.6,461,4824,0.00,1.23,0.00,0.000,4,0.000,0.044,2415,1492,3129
$GC,4938,-0.92,-73.2,509.8,-10.2,472,4941,0.00,1.27,0.00,0.000,6,0.000,0.042,2411,2373,3128
$GC,5260,-0.92,-73.2,541.4,-10.3,503,5263,0.00,1.27,0.00,0.000,4,0.000,0.046,2411,1493,3125
$GC,5505,-0.92,-73.2,567.1,-10.4,526,5508,0.08,1.27,0.00,0.000,6,0.200,0.044,2427,2371,3125
$GC,5825,-0.92,-73.2,598.6,-9.5,557,5829,0.00,1.25,0.00,0.000,4,0.000,0.046,2429,1494,3123
$GC,5979,-0.92,-73.2,613.5,-9.5,571,5987,0.00,1.30,0.00,0.000,6,0.000,0.044,2425,2378,3123
$GC,6296,-0.92,-73.2,643.3,-9.4,602,6300,0.00,1.27,0.00,0.000,4,0.000,0.048,2428,1489,3120
$GC,6509,-0.92,-73.2,663.2,-9.1,622,6513,0.00,1.27,0.00,0.000,6,0.000,0.045,2424,2367,3119
$GC,6831,-0.92,-73.2,692.7,-8.8,653,6834,0.00,1.52,0.00,0.000,4,0.000,0.057,2417,3264,3118
$GC,6867,-0.92,-73.2,696.3,-10.5,656,6874,0.00,1.45,0.00,0.000,6,0.000,0.038,2417,2375,3118
$GC,7183,-0.92,-73.2,724.3,-8.8,687,7187,0.00,1.27,0.00,0.000,4,0.000,0.049,2417,1497,3116
$GC,7300,-0.92,-73.2,735.1,-8.8,698,7304,0.00,1.27,0.00,0.000,6,0.000,0.046,2412,2370,3115
$GC,7621,-0.92,-73.2,764.5,-9.2,729,7622,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2371,3114
$GC,7932,-0.92,-73.2,793.4,-9.2,759,7935,0.00,1.25,0.00,0.000,4,0.000,0.049,2412,1497,3113
$GC,8177,-0.92,-73.2,815.9,-10.0,782,8181,0.08,1.27,0.00,0.000,6,0.199,0.047,2427,2369,3112
$GC,8498,-0.92,-73.2,844.1,-8.8,813,8502,0.00,1.25,0.00,0.000,4,0.000,0.049,2429,1499,3110
$GC,8609,-0.92,-73.2,853.9,-8.6,823,8616,0.00,1.33,0.00,0.000,6,0.000,0.047,2425,2383,3109
$GC,8926,-0.92,-73.2,881.1,-8.0,854,8927,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2384,3109
$GC,9236,-0.92,-73.2,906.7,-8.3,884,9237,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2384,3108
$GC,9547,-0.92,-73.2,931.9,-8.2,914,9549,0.00,1.33,0.00,0.000,4,0.000,0.050,2425,1487,3106
$GC,9614,-0.92,-73.2,937.6,-8.3,920,9621,0.00,1.33,0.00,0.000,6,0.000,0.048,2419,2374,3106
$GC,9930,-0.92,-73.2,964.6,-9.0,951,9934,0.00,1.27,0.00,0.000,4,0.000,0.050,2419,1490,3105
$GC,10016,-0.92,-73.2,972.0,-8.8,959,10019,0.00,1.30,0.00,0.000,6,0.000,0.049,2414,2371,3105
$STATE,10231,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10231,begin apogee
$GC,10235,-0.26,0.0,990.6,8.4,980,10295,0.85,0.00,52.83,1.253,6,0.190,0.000,2641,2285,2841
$STATE,10295,end apogee,CONTROL_FINISHED_OK
$STATE,10295,begin climb
$GC,10297,0.92,73.2,992.7,0.0,986,10365,1.23,0.00,62.58,1.233,6,0.113,0.000,3023,2285,2545
$GC,10674,0.92,73.2,946.7,13.8,1023,10677,0.00,1.65,0.00,0.000,4,0.000,0.065,3022,3176,2536
$GC,10705,0.92,73.2,942.4,14.1,1026,10709,0.00,1.62,0.00,0.000,6,0.000,0.039,3030,2279,2535
$GC,11027,0.92,73.2,897.5,13.3,1057,11030,0.00,1.67,0.00,0.000,4,0.000,0.058,3030,3187,2534
$GC,11123,0.92,73.2,883.4,14.7,1066,11126,0.00,1.60,0.00,0.000,6,0.000,0.039,3038,2275,2533
$GC,11444,0.92,73.2,838.1,13.8,1097,11447,0.00,1.67,0.00,0.000,4,0.000,0.059,3038,3175,2532
$GC,11519,0.92,73.2,827.2,13.3,1104,11521,0.00,1.60,0.00,0.000,6,0.000,0.039,3044,2266,2532
$GC,11839,0.92,73.2,782.2,14.2,1135,11840,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2265,2532
$GC,12150,0.92,73.2,739.9,13.7,1165,12153,0.00,1.67,0.00,0.000,4,0.000,0.058,3045,3183,2532
$GC,12234,0.92,73.2,727.6,14.7,1173,12238,0.00,1.60,0.00,0.000,6,0.000,0.038,3051,2280,2530
$GC,12556,0.92,73.2,683.0,13.7,1204,12557,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2281,2531
$GC,12865,0.92,73.2,641.0,13.6,1234,12869,0.00,1.65,0.00,0.000,4,0.000,0.057,3051,3178,2529
$GC,12972,0.92,73.2,625.5,13.8,1244,12976,0.10,1.60,0.00,0.000,6,0.199,0.039,3032,2280,2530
$GC,13293,0.92,73.2,586.1,11.9,1275,13294,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2280,2529
$GC,13604,0.92,73.2,549.0,12.3,1305,13605,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2280,2528
$GC,13914,0.92,73.2,511.9,11.7,1335,13915,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2281,2528
$GC,14225,0.92,73.2,475.3,11.6,1365,14225,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2280,2528
$GC,14535,0.92,73.2,438.9,11.8,1395,14538,0.00,1.65,0.00,0.000,4,0.000,0.057,3031,3178,2528
$GC,14674,0.92,73.2,421.1,12.1,1408,14677,0.00,1.60,0.00,0.000,6,0.000,0.038,3037,2277,2528
$GC,14994,0.92,73.2,383.0,11.7,1439,14998,0.00,1.65,0.00,0.000,4,0.000,0.054,3037,3178,2528
$GC,15073,0.92,73.2,373.1,12.2,1446,15081,0.00,1.60,0.00,0.000,6,0.000,0.036,3045,2280,2528
$GC,15390,0.92,73.2,335.0,11.6,1477,15394,0.00,1.65,0.00,0.000,4,0.000,0.054,3044,3182,2528
$GC,15571,0.92,73.2,311.3,13.1,1494,15574,0.00,1.58,0.00,0.000,6,0.000,0.036,3051,2281,2529
$GC,15893,0.92,73.2,271.8,12.1,1525,15896,0.00,1.62,0.00,0.000,4,0.000,0.054,3051,3194,2529
$GC,15960,0.92,73.2,263.0,11.9,1531,15970,0.12,1.62,0.00,0.000,6,0.197,0.035,3030,2276,2529
$GC,16277,0.92,73.2,228.0,11.4,1562,16278,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2276,2530
$GC,16588,0.92,73.2,193.3,11.0,1592,16591,0.00,1.62,0.00,0.000,4,0.000,0.052,3028,3187,2530
$GC,16677,0.92,73.2,182.2,10.4,1600,16685,0.00,1.60,0.00,0.000,6,0.000,0.034,3034,2278,2530
$GC,16994,0.92,73.2,147.4,10.8,1631,16995,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2278,2531
$GC,17304,0.92,73.2,116.3,9.9,1661,17307,0.00,1.60,0.00,0.000,4,0.000,0.050,3034,3179,2531
$GC,17357,0.92,73.2,110.9,9.9,1666,17360,0.00,1.58,0.00,0.000,6,0.000,0.032,3041,2278,2531
$GC,17678,0.92,73.2,78.2,9.7,1697,17681,0.00,1.62,0.00,0.000,4,0.000,0.049,3041,3176,2533
$GC,17806,0.92,73.2,64.9,9.3,1709,17809,0.00,1.55,0.00,0.000,6,0.000,0.031,3047,2282,2534
$GC,18003,0.92,73.2,48.2,7.2,1728,18006,0.00,1.60,0.00,0.000,4,0.000,0.048,3047,3178,2535
$GC,18248,0.94,93.1,36.7,4.8,1751,18272,0.00,1.55,15.48,0.525,6,0.000,0.031,3054,2278,2459
$GC,18457,0.94,96.2,26.0,6.4,1771,18470,0.00,1.62,3.88,0.357,4,0.000,0.047,3054,3179,2447
$GC,18709,1.04,176.5,21.4,-0.9,1794,18778,0.00,1.55,59.88,0.530,6,0.000,0.029,3061,2275,2118
$GC,18962,1.11,227.5,9.1,1.9,1818,19002,0.00,1.17,37.90,0.507,4,0.000,0.036,3067,1374,1911
$GC,19241,1.18,285.1,7.3,1.3,1843,19288,0.12,1.23,42.72,0.499,6,0.071,0.035,3125,2294,1677
$STATE,19387,end climb,SURFACE_DEPTH_REACHED
$STATE,19387,begin surface coast
$FINISH,0.6,1.001433
$STATE,19480,end surface coast,CONTROL_FINISHED_OK
$STATE,19480,begin surface
$SM_CCo,19493,165.43,0.491,0,0,495,575.22
$SM_GC,1.49,0.00,0.00,165.43,0.000,0.000,0.491,201,2391,495,-7.91,0.45,575.22
$IRIDIUM_FIX,2831.00,-8846.35,060999,222212
$TT8_MAMPS,0.051389
$HUMID,1247
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.0,21.848
$10V_AH,10.7,29.122
$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,20.550,99.150,275.250,165.425,0.000,29.821,30.181,197.178,1.000,0.000,0.000,15.299,0.000,12992.478,573.051,5871.114,559.826,33.350,2221.092,0.000,5296.075,0.000,8.517,0.000
$DEVICE_MAMPS,260.013,67.496,1253.278,490.880,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1278.316,1380.482,4194.286,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97845,1866
$CAP_FILE_SIZE,183327,0
$CFSIZE,260165632,245178368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
$CURRENT,0.012,206.0,1
$GPS,130610,093607,2837.878,-8844.551,25,1.3,25,-0.2