version: 66.04
glider: 515
mission: 5
dive: 117
start: 6 14 110 3 13 35
data:
$ID,515
$MISSION,5
$DIVE,117
$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,-7202.0581
$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,2367
$C_ROLL_CLIMB,2280
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,24
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,030624,2837.724,-8842.234,40,0.8,40,-0.2
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-73.4
$GPS2,031256,2837.700,-8842.323,9,1.3,9,-0.2
$SPEED_LIMITS,0.115,0.252
$TGT_NAME,NEW0602B
$TGT_LATLONG,2845.000,-8829.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.180,0.177
$KALMAN_X,-268043.1,1385.4,1538.0,284462.1,-9316.3
$KALMAN_Y,4992.0,1548.5,3531.1,-31730.2,-16959.7
$MHEAD_RNG_PITCHd_Wd,42.9,25510,-9.2,-6.667
$D_GRID,1287
$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,11,-0.58,-194.6,0.0,0.0,0,62,0.00,0.00,-48.97,0.000,2,0.000,0.000,198,2368,1944
$GC,64,-0.58,-194.6,3.1,-3.7,5,123,10.40,1.50,-41.90,0.000,4,0.256,0.062,2533,3256,3636
$GC,143,-0.58,-194.6,14.1,-21.0,12,147,0.00,1.48,0.00,0.000,6,0.000,0.031,2537,2367,3637
$GC,340,-0.58,-194.6,46.9,-15.4,31,344,0.00,1.52,0.00,0.000,4,0.000,0.045,2532,3262,3638
$GC,489,-0.58,-194.6,67.9,-12.7,45,493,0.00,1.48,0.00,0.000,6,0.000,0.030,2537,2362,3638
$GC,686,-0.58,-194.6,93.2,-12.7,64,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2362,3639
$GC,872,-0.58,-194.6,117.6,-13.4,82,876,0.00,1.52,0.00,0.000,4,0.000,0.045,2531,3263,3639
$GC,926,-0.58,-194.6,125.1,-14.5,87,929,0.00,1.45,0.00,0.000,6,0.000,0.030,2536,2366,3639
$GC,1247,-0.58,-194.6,164.3,-11.8,118,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2366,3639
$GC,1557,-0.58,-194.6,199.7,-11.2,148,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2366,3638
$GC,1867,-0.58,-194.6,233.6,-10.7,178,1871,0.00,1.50,0.00,0.000,4,0.000,0.048,2531,3254,3637
$GC,1963,-0.58,-194.6,243.8,-10.9,187,1967,0.00,1.42,0.00,0.000,6,0.000,0.031,2531,2367,3636
$GC,2285,-0.58,-194.6,277.6,-10.7,218,2288,0.00,1.50,0.00,0.000,4,0.000,0.049,2526,3258,3634
$GC,2337,-0.58,-194.6,283.5,-11.6,223,2341,0.00,1.42,0.00,0.000,6,0.000,0.031,2526,2372,3634
$GC,2659,-0.58,-194.6,318.2,-10.7,254,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2371,3633
$GC,2969,-0.58,-194.6,352.6,-11.2,284,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2371,3631
$GC,3279,-0.58,-194.6,386.1,-10.5,314,3283,0.00,1.50,0.00,0.000,4,0.000,0.050,2519,3255,3628
$GC,3343,-0.58,-194.6,392.7,-10.4,320,3346,0.00,1.45,0.00,0.000,6,0.000,0.033,2519,2364,3628
$GC,3665,-0.58,-194.6,427.6,-11.2,351,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2363,3625
$GC,3974,-0.58,-194.6,461.2,-10.9,381,3978,0.00,1.52,0.00,0.000,4,0.000,0.052,2512,3252,3623
$GC,4021,-0.58,-194.6,466.7,-11.4,385,4029,0.12,1.48,0.00,0.000,6,0.143,0.035,2544,2361,3622
$GC,4338,-0.58,-194.6,495.1,-9.0,416,4341,0.00,1.52,0.00,0.000,4,0.000,0.054,2538,3250,3620
$GC,4380,-0.58,-194.6,499.0,-9.3,420,4383,0.00,1.45,0.00,0.000,6,0.000,0.035,2538,2364,3620
$GC,4701,-0.58,-194.6,528.6,-9.3,451,4704,0.00,1.52,0.00,0.000,4,0.000,0.055,2532,3250,3618
$GC,4737,-0.58,-194.6,532.1,-9.5,454,4745,0.00,1.48,0.00,0.000,6,0.000,0.036,2532,2364,3618
$GC,5054,-0.58,-194.6,564.0,-10.5,485,5055,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2364,3616
$GC,5364,-0.58,-194.6,595.1,-10.0,515,5367,0.00,1.52,0.00,0.000,4,0.000,0.056,2525,3248,3614
$GC,5438,-0.58,-194.6,602.6,-10.1,522,5442,0.00,1.45,0.00,0.000,6,0.000,0.037,2525,2366,3614
$GC,5760,-0.58,-194.6,634.3,-9.6,553,5763,0.00,1.52,0.00,0.000,4,0.000,0.057,2519,3249,3610
$GC,5802,-0.58,-194.6,638.7,-11.3,557,5805,0.00,1.48,0.00,0.000,6,0.000,0.038,2518,2363,3610
$GC,6123,-0.58,-194.6,671.5,-10.5,588,6126,0.00,1.55,0.00,0.000,4,0.000,0.057,2512,3255,3608
$GC,6187,-0.58,-194.6,678.6,-11.5,594,6191,0.08,1.48,0.00,0.000,6,0.148,0.038,2536,2363,3608
$GC,6507,-0.58,-194.6,708.2,-8.9,625,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2364,3606
$GC,6818,-0.58,-194.6,736.3,-8.6,655,6819,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2364,3604
$GC,7128,-0.58,-194.6,763.7,-8.7,685,7129,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2364,3603
$GC,7438,-0.58,-194.6,791.2,-8.7,715,7442,0.00,1.55,0.00,0.000,4,0.000,0.059,2530,3252,3601
$GC,7517,-0.58,-194.6,798.5,-10.3,722,7526,0.00,1.50,0.00,0.000,6,0.000,0.039,2531,2362,3601
$GC,7835,-0.58,-194.6,826.7,-8.5,753,7835,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2363,3599
$GC,8145,-0.58,-194.6,853.4,-8.6,783,8148,0.00,1.55,0.00,0.000,4,0.000,0.061,2524,3249,3598
$GC,8212,-0.58,-194.6,859.8,-9.2,789,8220,0.00,1.50,0.00,0.000,6,0.000,0.039,2524,2362,3597
$GC,8530,-0.58,-194.6,888.9,-9.4,820,8531,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2362,3596
$GC,8839,-0.58,-194.6,918.0,-9.2,850,8843,0.00,1.55,0.00,0.000,4,0.000,0.061,2517,3247,3595
$GC,8903,-0.58,-194.6,924.1,-9.9,856,8907,0.00,1.48,0.00,0.000,6,0.000,0.041,2517,2365,3595
$GC,9225,-0.58,-194.6,954.9,-9.5,887,9226,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2366,3594
$GC,9534,-0.58,-194.6,983.8,-9.7,917,9538,0.00,1.55,0.00,0.000,4,0.000,0.061,2510,3251,3593
$GC,9588,-0.58,-194.6,988.6,-9.7,922,9591,0.10,1.48,0.00,0.000,6,0.146,0.041,2541,2366,3592
$STATE,9607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9607,begin apogee
$GC,9610,-0.26,0.0,990.5,8.8,924,9763,0.35,0.00,149.73,1.267,6,0.137,0.000,2649,2283,2840
$STATE,9763,end apogee,CONTROL_FINISHED_OK
$STATE,9763,begin climb
$GC,9764,0.58,194.6,994.7,0.0,939,9933,0.85,0.00,165.32,1.233,6,0.110,0.000,2912,2283,2045
$GC,10240,0.58,194.6,948.8,11.2,986,10243,0.00,1.25,0.00,0.000,4,0.000,0.056,2918,1371,2035
$GC,10297,0.58,194.6,942.5,11.3,991,10305,0.00,1.25,0.00,0.000,6,0.000,0.047,2917,2276,2035
$GC,10615,0.58,194.6,907.5,11.3,1022,10617,0.00,1.20,0.00,0.000,4,0.000,0.047,2923,1377,2033
$GC,10657,0.58,194.6,902.8,11.6,1026,10660,0.00,1.23,0.00,0.000,6,0.000,0.048,2923,2280,2033
$GC,10977,0.58,194.6,866.6,11.2,1057,10981,0.00,1.20,0.00,0.000,4,0.000,0.046,2928,1380,2031
$GC,11024,0.58,194.6,861.2,10.9,1061,11031,0.00,1.25,0.00,0.000,6,0.000,0.046,2928,2288,2031
$GC,11341,0.58,194.6,824.7,11.6,1092,11342,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2289,2030
$GC,11651,0.58,194.6,787.7,12.1,1122,11654,0.00,1.20,0.00,0.000,4,0.000,0.047,2933,1371,2030
$GC,11714,0.58,194.6,780.1,11.8,1128,11718,0.00,1.23,0.00,0.000,6,0.000,0.047,2933,2284,2030
$GC,12035,0.58,194.6,741.2,11.9,1159,12039,0.00,1.20,0.00,0.000,4,0.000,0.045,2938,1378,2029
$GC,12077,0.58,194.6,736.3,12.2,1163,12081,0.00,1.20,0.00,0.000,6,0.000,0.046,2938,2281,2029
$GC,12399,0.58,194.6,696.8,12.4,1194,12400,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2281,2028
$GC,12709,0.58,194.6,658.0,11.9,1224,12712,0.00,1.20,0.00,0.000,4,0.000,0.045,2943,1369,2028
$GC,12767,0.58,194.6,650.8,12.5,1229,12774,0.00,1.25,0.00,0.000,6,0.000,0.045,2943,2291,2028
$GC,13083,0.58,194.6,611.8,12.4,1260,13084,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2291,2028
$GC,13394,0.58,194.6,573.9,12.3,1290,13397,0.00,1.20,0.00,0.000,4,0.000,0.045,2949,1369,2027
$GC,13457,0.58,194.6,565.9,12.1,1296,13461,0.00,1.20,0.00,0.000,6,0.000,0.045,2949,2276,2028
$GC,13778,0.58,194.6,526.4,12.5,1327,13778,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2276,2027
$GC,14088,0.58,194.6,487.8,12.0,1357,14089,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2276,2027
$GC,14399,0.58,194.6,449.7,12.0,1387,14402,0.00,1.17,0.00,0.000,4,0.000,0.044,2954,1372,2026
$GC,14441,0.58,194.6,444.6,12.1,1391,14445,0.10,1.23,0.00,0.000,6,0.146,0.045,2923,2290,2027
$GC,14762,0.58,194.6,412.2,9.7,1422,14763,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2289,2027
$GC,15073,0.58,194.6,380.9,10.4,1452,15076,0.00,1.17,0.00,0.000,4,0.000,0.044,2927,1379,2027
$GC,15126,0.58,194.6,375.5,10.4,1457,15129,0.00,1.20,0.00,0.000,6,0.000,0.044,2926,2285,2027
$GC,15448,0.58,194.6,342.6,10.2,1488,15451,0.00,1.17,0.00,0.000,4,0.000,0.042,2932,1380,2027
$GC,15500,0.58,194.6,337.3,9.4,1493,15504,0.00,1.17,0.00,0.000,6,0.000,0.043,2932,2280,2027
$GC,15821,0.58,194.6,302.4,11.1,1524,15824,0.00,1.17,0.00,0.000,4,0.000,0.042,2937,1370,2028
$GC,15868,0.58,194.6,297.5,9.8,1528,15875,0.00,1.23,0.00,0.000,6,0.000,0.042,2937,2290,2028
$GC,16185,0.58,194.6,262.6,10.7,1559,16186,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2290,2028
$GC,16495,0.58,194.6,227.3,11.8,1589,16498,0.00,1.20,0.00,0.000,4,0.000,0.041,2942,1369,2028
$GC,16558,0.58,194.6,220.0,11.1,1595,16562,0.00,1.17,0.00,0.000,6,0.000,0.041,2942,2278,2029
$GC,16879,0.58,194.6,182.5,11.7,1626,16880,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2278,2029
$GC,17190,0.58,194.6,146.6,11.4,1656,17190,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2278,2030
$GC,17501,0.58,194.6,113.0,11.0,1686,17502,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2278,2030
$GC,17810,0.58,194.6,81.5,10.3,1716,17814,0.00,1.15,0.00,0.000,4,0.000,0.038,2947,1373,2032
$GC,17868,0.58,194.6,75.4,9.7,1721,17876,0.00,1.20,0.00,0.000,6,0.000,0.038,2947,2285,2032
$GC,18060,0.58,194.6,56.0,9.7,1740,18063,0.00,1.17,0.00,0.000,4,0.000,0.036,2952,1364,2032
$GC,18139,0.58,194.6,49.0,9.0,1747,18147,0.12,1.20,0.00,0.000,6,0.132,0.037,2917,2282,2033
$GC,18331,0.66,258.2,37.0,5.2,1766,18385,0.00,0.00,45.95,0.554,6,0.000,0.000,2917,2282,1787
$GC,18568,0.69,280.9,24.2,6.1,1789,18592,0.12,1.17,18.10,0.518,4,0.074,0.035,2970,1374,1693
$GC,18639,0.69,284.6,19.6,6.6,1795,18647,0.00,1.20,4.28,0.370,6,0.000,0.036,2971,2282,1678
$GC,18831,0.84,404.2,10.0,3.9,1814,18925,0.00,1.65,88.50,0.524,4,0.000,0.044,2971,3169,1191
$STATE,18977,end climb,SURFACE_DEPTH_REACHED
$STATE,18977,begin surface coast
$FINISH,0.5,1.020133
$STATE,19019,end surface coast,CONTROL_FINISHED_OK
$STATE,19019,begin surface
$SM_CCo,19033,96.35,0.503,0,0,494,575.22
$SM_GC,1.49,0.00,0.00,96.35,0.000,0.000,0.503,202,2354,494,-7.91,-0.34,575.22
$IRIDIUM_FIX,2823.64,-8846.40,070999,212117
$TT8_MAMPS,0.051389
$HUMID,1316
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.3,22.370
$10V_AH,10.7,30.107
$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,19.775,87.150,471.875,96.350,0.000,28.289,29.119,229.698,0.000,0.000,0.000,11.222,0.000,12851.389,654.524,5434.226,550.563,33.343,2183.355,0.000,4885.827,0.000,0.846,0.000
$DEVICE_MAMPS,256.178,66.729,1267.084,503.152,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1253.812,1338.269,4115.329,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94537,1831
$CAP_FILE_SIZE,171196,0
$CFSIZE,260165632,244797440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.058,134.3,1
$GPS,140610,083324,2839.191,-8839.423,40,0.9,40,-0.3