version: 66.04
glider: 515
mission: 5
dive: 134
start: 6 18 110 2 4 4
data:
$ID,515
$MISSION,5
$DIVE,134
$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,330
$T_MISSION,350
$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,-7566.6045
$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,23
$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,25
$R_STBD_OVSHOOT,36
$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
$GPS1,015440,2843.888,-8838.799,13,3.8,33,-0.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-77.8
$GPS2,020325,2843.876,-8838.863,45,0.8,45,-0.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.265,0.129
$KALMAN_X,-236649.0,-90.8,-643.2,262428.2,3603.8
$KALMAN_Y,-56553.9,60.4,-412.1,46799.7,-2991.8
$MHEAD_RNG_PITCHd_Wd,269.5,10337,-14.9,-10.000
$D_GRID,986
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.89,-194.6,0.0,0.0,0,48,0.00,0.00,-34.03,0.000,2,0.000,0.000,200,2370,1600
$GC,50,-0.89,-194.6,3.7,-6.3,3,110,10.18,1.58,-46.12,0.000,4,0.265,0.067,2432,3262,3636
$GC,349,-0.89,-194.6,69.6,-18.5,30,357,0.00,1.50,0.00,0.000,6,0.000,0.029,2437,2367,3637
$GC,541,-0.89,-194.6,104.8,-18.8,49,544,0.00,1.52,0.00,0.000,4,0.000,0.044,2432,3259,3638
$GC,787,-0.89,-194.6,152.4,-17.8,72,790,0.00,1.45,0.00,0.000,6,0.000,0.029,2437,2372,3638
$GC,1108,-0.89,-194.6,207.6,-17.0,103,1111,0.00,1.50,0.00,0.000,4,0.000,0.044,2431,3253,3638
$GC,1293,-0.89,-194.6,240.3,-16.9,120,1302,0.00,1.48,0.00,0.000,6,0.000,0.029,2435,2365,3637
$GC,1610,-0.89,-194.6,294.4,-17.8,151,1613,0.00,1.50,0.00,0.000,4,0.000,0.044,2429,3250,3636
$GC,1684,-0.89,-194.6,307.6,-17.6,158,1688,0.00,1.45,0.00,0.000,6,0.000,0.030,2429,2367,3636
$GC,2006,-0.89,-194.6,364.6,-17.9,189,2009,0.00,1.52,0.00,0.000,4,0.000,0.045,2424,3261,3634
$GC,2058,-0.89,-194.6,374.4,-18.3,194,2062,0.00,1.45,0.00,0.000,6,0.000,0.031,2429,2368,3634
$GC,2380,-0.89,-194.6,429.9,-17.2,225,2383,0.00,1.52,0.00,0.000,4,0.000,0.047,2424,3259,3632
$GC,2443,-0.89,-194.6,441.4,-17.7,231,2447,0.00,1.45,0.00,0.000,6,0.000,0.031,2428,2372,3631
$GC,2766,-0.89,-194.6,495.6,-16.8,262,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2371,3628
$GC,3075,-0.89,-194.6,547.8,-16.8,292,3075,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2371,3626
$GC,3385,-0.89,-194.6,600.8,-16.9,322,3388,0.00,1.52,0.00,0.000,4,0.000,0.051,2423,3254,3622
$GC,3481,-0.89,-194.6,618.0,-18.2,331,3484,0.00,1.45,0.00,0.000,6,0.000,0.034,2428,2373,3621
$GC,3803,-0.89,-194.6,672.4,-16.8,362,3804,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2372,3619
$GC,4112,-0.89,-194.6,723.8,-16.6,392,4113,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2371,3616
$GC,4423,-0.89,-194.6,775.0,-16.9,422,4426,0.00,1.52,0.00,0.000,4,0.000,0.052,2423,3254,3614
$GC,4497,-0.89,-194.6,787.3,-16.8,429,4501,0.00,1.45,0.00,0.000,6,0.000,0.036,2427,2377,3614
$GC,4819,-0.89,-194.6,838.9,-15.7,460,4822,0.00,1.50,0.00,0.000,4,0.000,0.053,2422,3248,3610
$GC,4887,-0.89,-194.6,850.3,-17.1,466,4894,0.00,1.48,0.00,0.000,6,0.000,0.035,2426,2370,3609
$GC,5204,-0.89,-194.6,900.3,-15.9,497,5207,0.00,1.27,0.00,0.000,4,0.000,0.047,2429,1478,3607
$GC,5250,-0.89,-194.6,908.1,-16.1,501,5258,0.00,1.27,0.00,0.000,6,0.000,0.043,2425,2361,3607
$GC,5567,-0.89,-194.6,957.8,-16.0,532,5568,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2360,3604
$STATE,5751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5752,begin apogee
$GC,5756,-0.30,0.0,987.0,15.8,550,5914,0.68,0.00,150.77,1.243,6,0.130,0.000,2633,2229,2839
$STATE,5915,end apogee,CONTROL_FINISHED_OK
$STATE,5915,begin climb
$GC,5916,0.89,194.6,987.8,0.0,566,6083,1.15,0.00,162.95,1.213,6,0.084,0.000,3014,2229,2046
$GC,6388,0.89,194.6,933.4,14.7,610,6391,0.00,1.73,0.00,0.000,4,0.000,0.054,3014,3142,2036
$GC,6435,0.89,194.6,926.2,16.1,614,6442,0.00,1.65,0.00,0.000,6,0.000,0.035,3022,2259,2035
$GC,6752,0.89,194.6,877.9,15.2,645,6753,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2260,2033
$GC,7062,0.89,194.6,830.6,15.6,675,7062,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2259,2032
$GC,7372,0.89,194.6,783.6,15.2,705,7375,0.00,1.65,0.00,0.000,4,0.000,0.054,3022,3136,2030
$GC,7418,0.89,194.6,776.0,17.0,709,7426,0.00,1.65,0.00,0.000,6,0.000,0.037,3030,2237,2029
$GC,7736,0.89,194.6,726.1,16.5,740,7737,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2237,2030
$GC,8046,0.89,194.6,675.3,16.7,770,8049,0.00,1.73,0.00,0.000,4,0.000,0.054,3030,3147,2028
$GC,8098,0.89,194.6,665.9,18.6,775,8102,0.00,1.60,0.00,0.000,6,0.000,0.038,3038,2265,2027
$GC,8420,0.89,194.6,612.0,16.9,806,8421,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2264,2027
$GC,8730,0.89,194.6,560.3,16.8,836,8731,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2264,2027
$GC,9040,0.89,194.6,509.2,16.1,866,9043,0.00,1.62,0.00,0.000,4,0.000,0.055,3038,3141,2027
$GC,9087,0.89,194.6,500.7,17.7,870,9095,0.00,1.65,0.00,0.000,6,0.000,0.038,3045,2238,2025
$GC,9404,0.89,194.6,447.2,17.2,901,9405,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2238,2026
$GC,9714,0.89,194.6,395.4,16.9,931,9717,0.00,1.70,0.00,0.000,4,0.000,0.054,3045,3138,2026
$GC,9782,0.89,194.6,383.2,18.1,937,9790,0.12,1.62,0.00,0.000,6,0.181,0.037,3024,2252,2025
$GC,10099,0.89,194.6,335.3,15.0,968,10099,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2252,2025
$GC,10409,0.89,194.6,288.9,14.4,998,10410,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2252,2026
$GC,10719,0.89,194.6,243.6,14.7,1028,10720,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2252,2026
$GC,11030,0.89,194.6,196.3,15.1,1058,11033,0.00,1.12,0.00,0.000,4,0.000,0.042,3028,1345,2026
$GC,11066,0.89,194.6,191.0,14.6,1061,11074,0.00,1.20,0.00,0.000,6,0.000,0.042,3027,2264,2026
$GC,11383,0.89,194.6,145.5,13.7,1092,11384,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2264,2025
$GC,11693,0.89,194.6,102.2,13.9,1122,11694,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2264,2026
$GC,12003,0.89,194.6,59.8,13.3,1152,12004,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2264,2027
$GC,12189,0.89,194.6,38.2,10.0,1170,12192,0.00,1.15,0.00,0.000,4,0.000,0.041,3033,1351,2028
$GC,12210,0.95,244.6,36.6,8.3,1172,12250,0.00,1.15,35.97,0.554,6,0.000,0.041,3032,2259,1841
$GC,12444,1.05,329.3,18.1,7.1,1194,12509,0.12,0.00,63.42,0.537,6,0.072,0.000,3088,2259,1496
$GC,12693,1.35,568.0,6.6,1.7,1218,12875,0.17,1.70,174.32,0.517,4,0.060,0.047,3173,3129,523
$STATE,12878,end climb,SURFACE_DEPTH_REACHED
$STATE,12878,begin surface coast
$FINISH,1.1,1.014549
$STATE,13035,end surface coast,CONTROL_FINISHED_OK
$STATE,13035,begin surface
$SM_CCo,13049,4.45,0.348,0,0,494,575.22
$SM_GC,3.11,0.00,0.00,4.45,0.000,0.000,0.348,208,2370,494,-7.89,-0.14,575.22
$IRIDIUM_FIX,2835.91,-8833.95,110999,222241
$TT8_MAMPS,0.050622
$HUMID,1393
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,19.60
$XPDR_PINGS,1
$24V_AH,23.5,25.062
$10V_AH,10.6,34.150
$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,20.725,53.925,587.450,4.450,0.000,57.498,119.172,164.807,0.250,0.000,0.000,47.184,0.000,8638.534,577.410,3821.696,523.969,33.333,1713.502,0.000,3396.299,0.000,0.845,0.000
$DEVICE_MAMPS,265.382,67.496,1242.540,348.218,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,851.367,911.425,2809.123,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66303,1249
$CAP_FILE_SIZE,117416,0
$CFSIZE,260165632,243212288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.095,194.1,1
$GPS,180610,054325,2843.371,-8841.223,87,1.8,87,-0.2