version: 66.04
glider: 515
mission: 5
dive: 121
start: 6 15 110 1 47 54
data:
$ID,515
$MISSION,5
$DIVE,121
$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,-7261.4829
$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,2425
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,35
$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
$GPS1,014037,2843.189,-8831.678,33,1.2,33,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-70.3
$GPS2,014714,2843.187,-8831.836,14,1.3,14,-0.4
$SPEED_LIMITS,0.115,0.252
$TGT_NAME,NEW0602B
$TGT_LATLONG,2845.000,-8829.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.048,0.248
$KALMAN_X,-251484.0,-513.3,-1724.7,290171.3,2011.2
$KALMAN_Y,-3034.1,889.2,248.6,-9535.1,-9850.1
$MHEAD_RNG_PITCHd_Wd,45.5,5699,-17.1,-6.667
$D_GRID,1245
$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,-0.73,-76.4,0.0,0.0,0,74,0.00,0.00,-60.53,0.000,2,0.000,0.000,203,2445,2286
$GC,76,-0.80,-137.3,3.1,-3.1,6,115,10.30,1.42,-25.35,0.000,4,0.264,0.062,2459,3320,3399
$GC,140,-0.80,-137.3,13.4,-15.3,11,148,0.00,1.50,0.00,0.000,6,0.000,0.028,2464,2405,3401
$GC,333,-0.80,-137.3,42.7,-13.9,30,334,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2402,3402
$GC,519,-0.80,-137.3,67.4,-14.2,48,522,0.00,1.50,0.00,0.000,4,0.000,0.042,2459,3307,3403
$GC,668,-0.80,-137.3,89.6,-15.3,62,672,0.00,1.42,0.00,0.000,6,0.000,0.028,2458,2410,3404
$GC,865,-0.80,-137.3,118.7,-15.0,81,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2409,3404
$GC,1175,-0.80,-137.3,164.3,-13.1,111,1179,0.00,1.20,0.00,0.000,4,0.000,0.036,2458,1548,3404
$GC,1293,-0.80,-137.3,180.8,-14.6,122,1296,0.00,1.27,0.00,0.000,6,0.000,0.035,2454,2434,3404
$GC,1614,-0.80,-137.3,225.1,-13.9,153,1617,0.00,1.27,0.00,0.000,4,0.000,0.036,2456,1538,3403
$GC,1682,-0.80,-137.3,234.4,-13.5,159,1689,0.00,1.30,0.00,0.000,6,0.000,0.035,2451,2434,3402
$GC,1999,-0.80,-137.3,276.0,-13.5,190,2002,0.00,1.27,0.00,0.000,4,0.000,0.037,2455,1538,3401
$GC,2148,-0.80,-137.3,295.5,-13.0,204,2151,0.00,1.27,0.00,0.000,6,0.000,0.037,2451,2425,3400
$GC,2469,-0.80,-137.3,337.9,-13.1,235,2470,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2426,3398
$GC,2779,-0.80,-137.3,379.8,-13.5,265,2782,0.00,1.25,0.00,0.000,4,0.000,0.038,2455,1549,3396
$GC,2864,-0.80,-137.3,391.4,-13.8,273,2867,0.00,1.25,0.00,0.000,6,0.000,0.038,2451,2417,3396
$GC,3186,-0.80,-137.3,434.3,-13.2,304,3189,0.00,1.25,0.00,0.000,4,0.000,0.040,2451,1547,3393
$GC,3292,-0.80,-137.3,448.2,-13.1,314,3295,0.00,1.27,0.00,0.000,6,0.000,0.040,2447,2425,3393
$GC,3613,-0.80,-137.3,491.3,-13.4,345,3616,0.00,1.25,0.00,0.000,4,0.000,0.041,2449,1553,3389
$GC,3692,-0.80,-137.3,502.1,-13.7,352,3700,0.00,1.30,0.00,0.000,6,0.000,0.040,2444,2432,3389
$GC,4008,-0.80,-137.3,544.3,-13.3,383,4009,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2433,3386
$GC,4319,-0.80,-137.3,586.9,-13.6,413,4322,0.00,1.27,0.00,0.000,4,0.000,0.044,2444,1556,3385
$GC,4425,-0.80,-137.3,601.1,-12.8,423,4429,0.10,1.27,0.00,0.000,6,0.177,0.042,2467,2424,3384
$GC,4746,-0.80,-137.3,639.2,-11.4,454,4747,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2424,3381
$GC,5056,-0.80,-137.3,675.6,-11.4,484,5060,0.00,1.27,0.00,0.000,4,0.000,0.045,2468,1552,3379
$GC,5178,-0.80,-137.3,689.5,-11.4,495,5186,0.00,1.33,0.00,0.000,6,0.000,0.044,2464,2435,3378
$GC,5495,-0.80,-137.3,726.7,-11.7,526,5498,0.00,1.30,0.00,0.000,4,0.000,0.048,2464,1553,3375
$GC,5602,-0.80,-137.3,739.2,-12.0,536,5605,0.00,1.30,0.00,0.000,6,0.000,0.046,2460,2429,3375
$GC,5923,-0.80,-137.3,776.6,-11.9,567,5926,0.00,1.27,0.00,0.000,4,0.000,0.047,2460,1557,3373
$GC,5990,-0.80,-137.3,784.8,-12.4,573,5999,0.00,1.33,0.00,0.000,6,0.000,0.046,2454,2436,3372
$GC,6307,-0.80,-137.3,822.5,-12.1,604,6311,0.00,1.30,0.00,0.000,4,0.000,0.048,2454,1556,3370
$GC,6392,-0.80,-137.3,832.6,-11.8,612,6395,0.00,1.30,0.00,0.000,6,0.000,0.047,2448,2427,3370
$GC,6714,-0.80,-137.3,871.5,-12.0,643,6715,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2428,3368
$GC,7023,-0.80,-137.3,908.5,-11.9,673,7027,0.00,1.30,0.00,0.000,4,0.000,0.047,2450,1545,3366
$GC,7092,-0.80,-137.3,916.3,-11.3,679,7099,0.00,1.35,0.00,0.000,6,0.000,0.048,2445,2437,3366
$GC,7409,-0.80,-137.3,953.2,-11.8,710,7412,0.00,1.30,0.00,0.000,4,0.000,0.048,2446,1559,3364
$GC,7461,-0.80,-137.3,959.4,-11.5,715,7465,0.10,1.30,0.00,0.000,6,0.179,0.048,2468,2426,3364
$STATE,7761,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7761,begin apogee
$GC,7765,-0.26,0.0,990.4,10.7,744,7874,0.62,0.00,103.53,1.264,6,0.166,0.000,2647,2198,2841
$STATE,7875,end apogee,CONTROL_FINISHED_OK
$STATE,7875,begin climb
$GC,7876,0.80,137.3,994.1,0.0,755,7999,1.10,1.75,116.25,1.236,4,0.109,0.052,2986,3079,2281
$GC,8030,0.80,137.3,979.2,15.2,770,8034,0.00,1.67,0.00,0.000,6,0.000,0.037,2993,2209,2275
$GC,8352,0.80,137.3,930.7,15.1,801,8355,0.00,1.65,0.00,0.000,4,0.000,0.056,2994,3091,2270
$GC,8452,0.80,137.3,914.6,14.8,810,8459,0.00,1.65,0.00,0.000,6,0.000,0.038,3002,2186,2267
$GC,8769,0.80,137.3,867.1,14.9,841,8772,0.00,1.70,0.00,0.000,4,0.000,0.055,3001,3087,2265
$GC,8869,0.80,137.3,850.6,16.6,850,8876,0.00,1.62,0.00,0.000,6,0.000,0.038,3010,2186,2264
$GC,9186,0.80,137.3,800.0,16.9,881,9189,0.00,1.67,0.00,0.000,4,0.000,0.054,3010,3080,2264
$GC,9303,0.80,137.3,780.6,16.5,892,9306,0.00,1.60,0.00,0.000,6,0.000,0.038,3017,2189,2263
$GC,9624,0.80,137.3,729.1,15.8,923,9627,0.00,1.67,0.00,0.000,4,0.000,0.054,3018,3082,2263
$GC,9676,0.80,137.3,720.2,17.1,928,9680,0.10,1.60,0.00,0.000,6,0.176,0.038,2996,2194,2263
$GC,9998,0.80,137.3,674.5,14.2,959,10001,0.00,1.65,0.00,0.000,4,0.000,0.054,2996,3076,2263
$GC,10087,0.80,137.3,661.4,14.2,967,10095,0.00,1.60,0.00,0.000,6,0.000,0.037,3002,2195,2262
$GC,10404,0.80,137.3,615.8,14.3,998,10408,0.00,1.65,0.00,0.000,4,0.000,0.054,3002,3079,2262
$GC,10521,0.80,137.3,598.0,16.0,1009,10525,0.00,1.58,0.00,0.000,6,0.000,0.038,3010,2201,2261
$GC,10842,0.80,137.3,550.9,14.3,1040,10846,0.00,1.65,0.00,0.000,4,0.000,0.052,3009,3083,2260
$GC,10895,0.80,137.3,542.6,15.6,1045,10898,0.00,1.60,0.00,0.000,6,0.000,0.037,3018,2187,2260
$GC,11216,0.80,137.3,494.2,15.2,1076,11219,0.00,1.67,0.00,0.000,4,0.000,0.053,3018,3086,2260
$GC,11290,0.80,137.3,482.1,17.5,1083,11294,0.10,1.58,0.00,0.000,6,0.176,0.037,2997,2204,2260
$GC,11611,0.80,137.3,438.2,13.8,1114,11614,0.00,1.65,0.00,0.000,4,0.000,0.053,2997,3085,2260
$GC,11697,0.80,137.3,425.7,14.6,1122,11700,0.00,1.60,0.00,0.000,6,0.000,0.037,3003,2187,2260
$GC,12017,0.80,137.3,378.9,14.7,1153,12021,0.00,1.67,0.00,0.000,4,0.000,0.052,3003,3090,2259
$GC,12081,0.80,137.3,369.3,14.7,1159,12084,0.00,1.58,0.00,0.000,6,0.000,0.035,3011,2201,2259
$GC,12403,0.80,137.3,322.4,14.3,1190,12406,0.00,1.62,0.00,0.000,4,0.000,0.051,3011,3095,2259
$GC,12488,0.80,137.3,309.4,15.3,1198,12491,0.00,1.60,0.00,0.000,6,0.000,0.035,3019,2192,2259
$GC,12809,0.80,137.3,261.6,15.5,1229,12812,0.00,1.65,0.00,0.000,4,0.000,0.051,3019,3082,2259
$GC,12916,0.80,137.3,244.3,16.2,1239,12919,0.10,1.58,0.00,0.000,6,0.174,0.035,2997,2199,2259
$GC,13236,0.80,137.3,200.4,13.3,1270,13239,0.00,1.65,0.00,0.000,4,0.000,0.049,2996,3086,2260
$GC,13321,0.80,137.3,188.7,13.0,1278,13325,0.00,1.58,0.00,0.000,6,0.000,0.035,3003,2196,2260
$GC,13642,0.80,137.3,146.3,13.1,1309,13645,0.00,1.65,0.00,0.000,4,0.000,0.048,3003,3091,2261
$GC,13760,0.80,137.3,130.5,13.6,1320,13763,0.00,1.58,0.00,0.000,6,0.000,0.033,3010,2196,2261
$GC,14080,0.80,137.3,89.5,12.7,1351,14081,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2196,2261
$GC,14267,0.80,137.3,66.9,11.6,1369,14270,0.00,1.62,0.00,0.000,4,0.000,0.047,3011,3082,2262
$GC,14420,0.80,137.3,48.5,11.2,1383,14428,0.00,1.58,0.00,0.000,6,0.000,0.031,3019,2188,2263
$GC,14613,0.80,137.3,29.5,7.9,1402,14616,0.00,1.65,0.00,0.000,4,0.000,0.046,3018,3095,2263
$GC,14858,0.91,227.6,18.5,1.3,1425,14931,0.00,1.55,64.60,0.545,6,0.000,0.030,3026,2197,1910
$GC,15116,1.00,296.9,8.7,2.6,1449,15178,0.00,1.70,51.08,0.522,4,0.000,0.043,3026,3087,1627
$STATE,15373,end climb,NO_VERTICAL_VELOCITY
$STATE,15373,begin surface
$SM_CCo,15375,196.05,0.474,9,0,403,597.54
$SM_GC,1.82,7.78,0.00,0.00,0.043,0.000,0.000,198,2418,400,-7.87,-0.20,598.52
$IRIDIUM_FIX,2828.55,-8834.07,080999,202044
$TT8_MAMPS,0.050622
$HUMID,1297
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,24.00
$XPDR_PINGS,3
$24V_AH,23.7,23.025
$10V_AH,10.7,31.047
$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,20.300,97.875,335.450,196.050,0.000,27.895,31.099,225.170,0.750,0.000,0.000,16.261,0.000,10229.828,679.792,4652.866,522.171,33.351,2034.269,0.000,4172.951,0.000,0.847,0.000
$DEVICE_MAMPS,263.848,62.127,1264.016,474.006,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1007.221,1081.744,3308.363,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78941,1472
$CAP_FILE_SIZE,150041,0
$CFSIZE,260165632,244453376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,9,0
$CURRENT,0.010, 41.8,1
$GPS,150610,061037,2844.793,-8830.478,24,1.6,24,-0.4