version: 66.04
glider: 515
mission: 5
dive: 135
start: 6 18 110 5 49 41
data:
$ID,515
$MISSION,5
$DIVE,135
$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,-7608.5107
$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,0.0049999999
$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,22
$R_STBD_OVSHOOT,34
$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,850
$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
$GPS1,054325,2843.371,-8841.223,87,1.8,87,-0.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-75.8
$GPS2,054900,2843.362,-8841.251,39,2.0,39,-0.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.224,0.191
$KALMAN_X,-236176.5,384.8,-235.9,257202.5,2356.9
$KALMAN_Y,-60117.4,-65.9,-215.4,49347.4,-4393.4
$MHEAD_RNG_PITCHd_Wd,270.8,6345,-15.6,-10.000
$D_GRID,1048
$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,-0.90,-179.2,0.0,0.0,0,47,0.00,0.00,-33.88,0.000,2,0.000,0.000,209,2370,1592
$GC,49,-0.92,-194.6,3.7,-5.8,3,108,10.12,1.33,-44.58,0.000,4,0.266,0.069,2433,1453,3636
$GC,118,-0.92,-194.6,16.8,-29.4,9,121,0.00,1.30,0.00,0.000,6,0.000,0.048,2429,2364,3637
$GC,315,-0.92,-194.6,65.9,-18.1,28,315,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2364,3638
$GC,501,-0.92,-194.6,100.4,-19.3,46,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2364,3638
$GC,811,-0.92,-194.6,158.7,-18.1,76,814,0.00,1.52,0.00,0.000,4,0.000,0.044,2422,3267,3639
$GC,960,-0.92,-194.6,187.3,-18.0,90,964,0.00,1.48,0.00,0.000,6,0.000,0.029,2427,2367,3639
$GC,1282,-0.92,-194.6,245.0,-17.4,121,1285,0.00,1.52,0.00,0.000,4,0.000,0.044,2422,3266,3638
$GC,1388,-0.92,-194.6,265.5,-19.4,131,1391,0.00,1.45,0.00,0.000,6,0.000,0.030,2427,2372,3638
$GC,1709,-0.92,-194.6,323.5,-17.9,162,1713,0.00,1.52,0.00,0.000,4,0.000,0.045,2421,3268,3637
$GC,1783,-0.92,-194.6,337.3,-18.7,169,1787,0.00,1.45,0.00,0.000,6,0.000,0.031,2427,2375,3637
$GC,2105,-0.92,-194.6,395.5,-18.2,200,2108,0.00,1.50,0.00,0.000,4,0.000,0.046,2421,3261,3635
$GC,2190,-0.92,-194.6,411.8,-19.2,208,2193,0.00,1.45,0.00,0.000,6,0.000,0.031,2426,2371,3634
$GC,2512,-0.92,-194.6,469.6,-17.8,239,2515,0.00,1.52,0.00,0.000,4,0.000,0.048,2421,3264,3632
$GC,2607,-0.92,-194.6,487.3,-18.2,248,2610,0.00,1.45,0.00,0.000,6,0.000,0.032,2426,2373,3631
$GC,2929,-0.92,-194.6,543.6,-17.4,279,2932,0.00,1.52,0.00,0.000,4,0.000,0.049,2421,3263,3628
$GC,3035,-0.92,-194.6,563.1,-17.4,289,3038,0.00,1.45,0.00,0.000,6,0.000,0.032,2425,2375,3628
$GC,3357,-0.92,-194.6,617.9,-17.0,320,3360,0.00,1.52,0.00,0.000,4,0.000,0.050,2420,3264,3624
$GC,3456,-0.92,-194.6,636.3,-18.5,329,3464,0.00,1.48,0.00,0.000,6,0.000,0.033,2425,2375,3623
$GC,3774,-0.92,-194.6,689.3,-16.6,360,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2375,3620
$GC,4084,-0.92,-194.6,742.0,-16.9,390,4087,0.00,1.52,0.00,0.000,4,0.000,0.052,2420,3259,3618
$GC,4233,-0.92,-194.6,767.6,-16.3,404,4236,0.00,1.45,0.00,0.000,6,0.000,0.035,2419,2377,3617
$GC,4555,-0.92,-194.6,821.7,-17.3,435,4557,0.00,1.52,0.00,0.000,4,0.000,0.053,2413,3262,3614
$GC,4628,-0.92,-194.6,834.8,-17.6,442,4632,0.00,1.48,0.00,0.000,6,0.000,0.035,2412,2372,3614
$GC,4950,-0.92,-194.6,890.8,-16.7,473,4953,0.00,1.52,0.00,0.000,4,0.000,0.054,2406,3254,3611
$GC,5024,-0.92,-194.6,904.0,-18.1,480,5028,0.08,1.45,0.00,0.000,6,0.185,0.037,2428,2376,3610
$GC,5345,-0.92,-194.6,956.8,-16.0,511,5348,0.00,1.52,0.00,0.000,4,0.000,0.053,2422,3259,3608
$GC,5419,-0.92,-194.6,969.3,-16.8,518,5424,0.00,1.48,0.00,0.000,6,0.000,0.037,2427,2373,3608
$STATE,5553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5553,begin apogee
$GC,5557,-0.30,0.0,991.2,16.0,531,5716,0.70,0.00,152.07,1.246,6,0.167,0.000,2627,2238,2839
$STATE,5716,end apogee,CONTROL_FINISHED_OK
$STATE,5717,begin climb
$GC,5718,0.92,194.6,998.8,0.0,547,5887,1.33,0.00,164.38,1.216,6,0.119,0.000,3026,2238,2046
$GC,6195,0.92,194.6,922.0,18.4,594,6196,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2238,2035
$GC,6506,0.92,194.6,865.1,18.0,624,6509,0.00,1.70,0.00,0.000,4,0.000,0.051,3026,3132,2032
$GC,6531,0.92,194.6,860.3,19.2,626,6539,0.00,1.62,0.00,0.000,6,0.000,0.036,3034,2256,2031
$GC,6848,0.92,194.6,801.9,18.8,657,6849,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2257,2031
$GC,7158,0.92,194.6,745.0,18.2,687,7159,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2257,2029
$GC,7468,0.92,194.6,689.5,17.6,717,7469,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2257,2029
$GC,7779,0.92,194.6,633.4,17.6,747,7780,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2257,2027
$GC,8089,0.92,194.6,581.1,17.1,777,8090,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2257,2027
$GC,8400,0.92,194.6,527.9,17.5,807,8401,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2257,2027
$GC,8710,0.92,194.6,473.8,17.4,837,8711,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2257,2027
$GC,9021,0.92,194.6,421.1,16.3,867,9024,0.00,1.65,0.00,0.000,4,0.000,0.053,3034,3139,2026
$GC,9045,0.92,194.6,416.6,17.6,869,9053,0.00,1.65,0.00,0.000,6,0.000,0.037,3042,2238,2025
$GC,9363,0.92,194.6,363.3,16.7,900,9364,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2238,2025
$GC,9673,0.92,194.6,310.3,16.5,930,9674,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2238,2025
$GC,9983,0.92,194.6,258.8,16.3,960,9984,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2238,2025
$GC,10294,0.92,194.6,207.3,16.3,990,10294,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2238,2025
$GC,10604,0.92,194.6,156.0,16.2,1020,10607,0.00,1.10,0.00,0.000,4,0.000,0.042,3047,1345,2026
$GC,10683,0.92,194.6,143.3,16.0,1027,10690,0.00,1.20,0.00,0.000,6,0.000,0.041,3047,2269,2026
$GC,11000,0.92,194.6,95.0,15.3,1058,11001,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2269,2026
$GC,11185,0.92,194.6,66.4,15.1,1076,11186,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2269,2026
$GC,11371,0.92,194.6,40.8,12.5,1094,11372,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2269,2027
$GC,11558,1.01,268.2,24.3,7.2,1112,11619,0.00,1.20,52.83,0.546,4,0.000,0.040,3052,1345,1745
$GC,11651,1.06,307.2,17.3,8.5,1120,11687,0.00,1.17,29.75,0.526,6,0.000,0.040,3052,2255,1588
$GC,11872,1.32,517.9,7.7,2.1,1141,12032,0.25,0.00,154.50,0.522,6,0.054,0.000,3169,2255,727
$STATE,12102,end climb,SURFACE_DEPTH_REACHED
$STATE,12102,begin surface coast
$FINISH,2.2,1.015980
$STATE,12328,end surface coast,NO_VERTICAL_VELOCITY
$STATE,12328,begin surface
$SM_CCo,12342,40.60,0.494,0,0,494,575.22
$SM_GC,2.45,0.00,0.00,40.60,0.000,0.000,0.494,206,2361,494,-7.90,-0.42,575.22
$IRIDIUM_FIX,2833.46,-8841.38,120999,020255
$TT8_MAMPS,0.052156
$HUMID,1398
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,19.80
$XPDR_PINGS,2
$24V_AH,23.4,25.224
$10V_AH,10.6,34.306
$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,20.700,47.250,553.525,40.600,0.000,31.395,29.995,154.274,4.250,0.000,0.000,41.278,0.000,8139.971,588.318,3574.112,399.103,33.352,1631.175,0.000,3170.393,0.000,28.365,0.000
$DEVICE_MAMPS,266.149,69.030,1246.375,493.948,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,807.438,867.710,2663.854,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63090,1185
$CAP_FILE_SIZE,111212,0
$CFSIZE,260165632,243159040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.103,202.8,1
$GPS,180610,091702,2842.958,-8843.812,38,1.9,38,-0.2