version: 66.04
glider: 515
mission: 5
dive: 156
start: 6 23 110 12 54 38
data:
$ID,515
$MISSION,5
$DIVE,156
$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,440
$T_MISSION,500
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,135
$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,597.54108
$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,8
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-15187.921
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2747
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$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,33
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,250
$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,4
$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,0
$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
$GPS1,123037,2833.662,-8852.511,174,1.3,174,-0.1
$_CALLS,1
$_XMS_NAKs,23
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-75.9
$GPS2,125432,2834.057,-8852.629,12,1.5,12,-0.1
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,HEADING
$TGT_LATLONG,2826.421,-8843.945
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.081,0.196
$KALMAN_X,-233724.4,1015.6,520.2,247427.7,-2138.7
$KALMAN_Y,-133612.2,986.1,598.9,114190.8,-5173.9
$MHEAD_RNG_PITCHd_Wd,135.1,20000,-10.8,-7.500
$D_GRID,943
$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,-0.63,-194.6,0.0,0.0,0,42,0.00,0.00,-28.73,0.000,2,0.000,0.000,199,2370,1314
$GC,44,-0.63,-194.6,3.1,-3.4,3,124,10.23,1.52,-62.08,0.000,4,0.246,0.061,2531,3264,3636
$GC,128,-0.63,-194.6,12.1,-24.6,10,136,0.00,1.50,0.00,0.000,6,0.000,0.028,2536,2360,3636
$GC,320,-0.63,-194.6,47.1,-13.3,29,324,0.00,1.55,0.00,0.000,4,0.000,0.043,2531,3264,3637
$GC,549,-0.63,-194.6,78.2,-14.4,50,556,0.00,1.48,0.00,0.000,6,0.000,0.026,2534,2364,3638
$GC,741,-0.63,-194.6,104.4,-13.7,69,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2363,3638
$GC,1052,-0.63,-194.6,145.7,-12.7,99,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2362,3636
$GC,1362,-0.63,-194.6,183.3,-11.6,129,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2361,3634
$GC,1673,-0.63,-194.6,219.2,-11.4,159,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2362,3632
$GC,1983,-0.63,-194.6,255.1,-12.1,189,1986,0.00,1.52,0.00,0.000,4,0.000,0.046,2529,3259,3629
$GC,2019,-0.63,-194.6,259.7,-12.6,192,2026,0.00,1.42,0.00,0.000,6,0.000,0.029,2529,2370,3628
$GC,2336,-0.63,-194.6,296.1,-10.9,223,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2370,3625
$GC,2646,-0.63,-194.6,330.7,-11.3,253,2649,0.00,1.25,0.00,0.000,4,0.000,0.039,2529,1471,3622
$GC,2699,-0.63,-194.6,336.7,-11.0,258,2702,0.00,1.27,0.00,0.000,6,0.000,0.038,2525,2370,3622
$GC,3021,-0.63,-194.6,373.4,-11.5,289,3024,0.00,1.50,0.00,0.000,4,0.000,0.050,2518,3259,3619
$GC,3064,-0.63,-194.6,378.6,-11.9,293,3067,0.00,1.42,0.00,0.000,6,0.000,0.031,2518,2374,3618
$GC,3385,-0.63,-194.6,417.9,-11.8,324,3388,0.00,1.25,0.00,0.000,4,0.000,0.041,2519,1486,3616
$GC,3448,-0.63,-194.6,425.3,-11.4,330,3452,0.08,1.27,0.00,0.000,6,0.152,0.041,2536,2370,3614
$GC,3769,-0.63,-194.6,459.1,-10.2,361,3770,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2371,3612
$GC,4080,-0.63,-194.6,491.4,-10.6,391,4081,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2371,3609
$GC,4390,-0.63,-194.6,523.3,-10.6,421,4393,0.00,1.27,0.00,0.000,4,0.000,0.042,2537,1483,3606
$GC,4426,-0.63,-194.6,527.2,-10.0,424,4434,0.00,1.33,0.00,0.000,6,0.000,0.043,2533,2378,3605
$GC,4744,-0.63,-194.6,560.5,-10.9,455,4747,0.00,1.30,0.00,0.000,4,0.000,0.044,2533,1486,3604
$GC,4818,-0.63,-194.6,568.8,-10.9,462,4821,0.00,1.30,0.00,0.000,6,0.000,0.044,2527,2374,3603
$GC,5140,-0.63,-194.6,604.6,-10.8,493,5143,0.00,1.52,0.00,0.000,4,0.000,0.055,2520,3265,3599
$GC,5171,-0.63,-194.6,608.1,-11.0,496,5174,0.00,1.45,0.00,0.000,6,0.000,0.035,2520,2376,3599
$GC,5493,-0.63,-194.6,642.6,-10.4,527,5494,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2375,3597
$GC,5803,-0.63,-194.6,675.4,-10.7,557,5804,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2375,3595
$GC,6113,-0.63,-194.6,705.3,-8.8,587,6114,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2376,3592
$GC,6424,-0.63,-194.6,737.0,-10.9,617,6427,0.00,1.27,0.00,0.000,4,0.000,0.046,2521,1490,3591
$GC,6466,-0.63,-194.6,741.2,-10.1,621,6469,0.00,1.33,0.00,0.000,6,0.000,0.047,2515,2380,3591
$GC,6788,-0.63,-194.6,775.2,-10.5,652,6791,0.12,1.52,0.00,0.000,4,0.160,0.058,2540,3259,3589
$GC,6830,-0.63,-194.6,779.3,-9.6,656,6834,0.00,1.45,0.00,0.000,6,0.000,0.037,2540,2377,3588
$GC,7151,-0.63,-194.6,810.0,-10.0,687,7152,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2376,3587
$GC,7462,-0.63,-194.6,837.5,-7.6,717,7463,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2377,3585
$GC,7771,-0.63,-194.6,863.9,-9.2,747,7772,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2376,3583
$GC,8082,-0.63,-194.6,883.7,0.1,777,8083,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2376,3581
$STATE,8163,end dive,NO_VERTICAL_VELOCITY
$STATE,8163,begin apogee
$GC,8167,-0.25,0.0,883.6,0.0,785,8317,0.40,0.00,145.00,1.178,6,0.121,0.000,2665,2265,2840
$STATE,8317,end apogee,CONTROL_FINISHED_OK
$STATE,8317,begin climb
$GC,8319,0.63,194.6,883.2,0.0,800,8485,0.88,0.00,161.93,1.144,6,0.105,0.000,2941,2265,2046
$GC,8793,0.63,194.6,836.3,11.9,846,8796,0.00,1.20,0.00,0.000,4,0.000,0.046,2946,1351,2035
$GC,8846,0.63,194.6,830.2,11.0,851,8849,0.00,1.23,0.00,0.000,6,0.000,0.046,2946,2267,2035
$GC,9168,0.63,194.6,790.5,12.3,882,9169,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2267,2033
$GC,9477,0.63,194.6,753.6,11.1,912,9480,0.00,1.65,0.00,0.000,4,0.000,0.056,2946,3142,2032
$GC,9498,0.63,194.6,751.0,12.3,914,9501,0.00,1.62,0.00,0.000,6,0.000,0.038,2954,2249,2030
$GC,9821,0.63,194.6,709.8,12.8,945,9821,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2249,2030
$GC,10129,0.63,194.6,670.8,12.3,975,10130,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2249,2029
$GC,10440,0.63,194.6,631.8,12.9,1005,10443,0.00,1.70,0.00,0.000,4,0.000,0.055,2954,3141,2029
$GC,10472,0.63,194.6,627.6,14.4,1008,10475,0.00,1.62,0.00,0.000,6,0.000,0.038,2962,2246,2027
$GC,10792,0.63,194.6,588.0,12.7,1039,10793,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2247,2027
$GC,11104,0.63,194.6,549.5,12.2,1069,11104,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2247,2027
$GC,11413,0.63,194.6,510.6,12.3,1099,11417,0.00,1.70,0.00,0.000,4,0.000,0.054,2962,3141,2026
$GC,11439,0.63,194.6,507.2,13.5,1101,11447,0.00,1.60,0.00,0.000,6,0.000,0.038,2969,2256,2025
$GC,11756,0.63,194.6,467.2,12.5,1132,11757,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2257,2025
$GC,12066,0.63,194.6,427.3,13.2,1162,12067,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2257,2025
$GC,12376,0.63,194.6,386.5,13.0,1192,12377,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2257,2025
$GC,12687,0.63,194.6,346.7,13.0,1222,12690,0.00,1.67,0.00,0.000,4,0.000,0.054,2969,3165,2025
$GC,12712,0.63,194.6,343.3,14.2,1224,12720,0.00,1.67,0.00,0.000,6,0.000,0.036,2978,2237,2025
$GC,13029,0.63,194.6,299.2,13.9,1255,13030,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2237,2025
$GC,13339,0.63,194.6,256.7,13.8,1285,13342,0.00,1.70,0.00,0.000,4,0.000,0.052,2978,3141,2025
$GC,13360,0.63,194.6,253.8,14.0,1287,13363,0.10,1.60,0.00,0.000,6,0.155,0.035,2955,2252,2025
$GC,13680,0.63,194.6,216.4,11.6,1318,13684,0.00,1.67,0.00,0.000,4,0.000,0.051,2955,3145,2025
$GC,13723,0.63,194.6,211.1,13.2,1322,13726,0.00,1.60,0.00,0.000,6,0.000,0.035,2961,2250,2025
$GC,14045,0.63,194.6,173.1,11.5,1353,14048,0.00,1.65,0.00,0.000,4,0.000,0.050,2961,3155,2026
$GC,14070,0.63,194.6,169.8,11.4,1355,14078,0.00,1.62,0.00,0.000,6,0.000,0.033,2968,2247,2026
$GC,14388,0.63,194.6,131.5,12.2,1386,14391,0.00,1.67,0.00,0.000,4,0.000,0.048,2969,3145,2026
$GC,14451,0.63,194.6,123.4,13.0,1392,14454,0.00,1.60,0.00,0.000,6,0.000,0.032,2977,2243,2026
$GC,14772,0.63,194.6,84.2,12.8,1423,14773,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2244,2027
$GC,14958,0.63,194.6,62.2,11.9,1441,14961,0.00,1.10,0.00,0.000,4,0.000,0.038,2982,1340,2027
$GC,14990,0.63,194.6,58.5,11.7,1444,14993,0.10,1.17,0.00,0.000,6,0.137,0.038,2950,2266,2028
$GC,15187,0.63,194.6,42.1,8.2,1463,15190,0.00,1.58,0.00,0.000,4,0.000,0.047,2950,3127,2028
$GC,15432,0.74,283.3,26.8,5.2,1486,15501,0.00,1.55,64.45,0.539,6,0.000,0.031,2956,2250,1684
$GC,15686,0.88,399.8,14.8,4.4,1510,15778,0.20,1.67,85.90,0.519,4,0.064,0.044,3040,3133,1209
$GC,16002,1.08,566.7,3.1,3.1,1539,16017,0.12,1.58,11.75,0.459,2,0.098,0.029,3086,2247,1143
$STATE,16018,end climb,SURFACE_DEPTH_REACHED
$STATE,16018,begin surface coast
$FINISH,3.1,1.017036
$STATE,16411,end surface coast,CONTROL_FINISHED_OK
$STATE,16411,begin surface
$SM_CCo,16413,110.32,0.484,0,0,404,597.54
$SM_GC,1.63,7.85,0.00,0.00,0.041,0.000,0.000,202,2372,399,-7.90,-0.08,598.77
$IRIDIUM_FIX,2826.10,-8843.89,160999,191934
$TT8_MAMPS,0.050622
$HUMID,1332
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.10
$XPDR_PINGS,2
$24V_AH,23.6,28.755
$10V_AH,10.7,39.860
$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,20.075,68.750,469.025,110.325,0.000,27.740,47.009,1230.623,0.500,0.000,0.000,15.927,0.000,11131.799,609.580,4703.024,1587.914,0.000,1957.645,0.000,4250.105,0.000,0.544,0.000
$DEVICE_MAMPS,246.207,61.360,1178.112,483.977,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1076.973,1155.340,3545.556,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85148,1577
$CAP_FILE_SIZE,166568,0
$CFSIZE,260165632,241029120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230610,173236,2831.454,-8851.441,31,1.5,31,-0.1