version: 66.04
glider: 515
mission: 5
dive: 191
start: 7 1 110 1 18 17
data:
$ID,515
$MISSION,5
$DIVE,191
$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,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,8
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-16934.932
$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,2400
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,39
$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
$GPS1,011007,2836.410,-8843.309,30,1.7,30,-0.2
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-65.6
$GPS2,011738,2836.396,-8843.294,17,1.8,17,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0607F
$TGT_LATLONG,2837.000,-8845.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.017,0.264
$KALMAN_X,-21540.1,-1022.7,492.2,33158.0,-1964.7
$KALMAN_Y,-118072.0,783.4,728.4,131416.9,-11753.9
$MHEAD_RNG_PITCHd_Wd,337.1,2990,-26.8,-7.500
$D_GRID,1252
$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,13,-1.01,-41.0,0.0,0.0,0,93,0.00,0.00,-78.10,0.000,2,0.000,0.000,195,2420,2630
$GC,95,-1.05,-74.6,3.1,-3.4,8,124,10.05,1.35,-15.25,0.000,4,0.258,0.054,2408,1485,3144
$GC,365,-1.05,-74.6,56.7,-11.4,33,369,0.00,1.30,0.00,0.000,6,0.000,0.035,2404,2384,3146
$GC,562,-1.05,-74.6,80.9,-11.0,52,565,0.00,1.50,0.00,0.000,4,0.000,0.043,2396,3293,3148
$GC,695,-1.05,-74.6,95.8,-11.0,64,702,0.00,1.48,0.00,0.000,6,0.000,0.027,2402,2366,3148
$GC,887,-1.05,-74.6,117.0,-12.0,83,890,0.00,1.55,0.00,0.000,4,0.000,0.043,2396,3296,3149
$GC,1126,-1.05,-74.6,147.3,-12.0,105,1135,0.00,1.45,0.00,0.000,6,0.000,0.027,2401,2392,3149
$GC,1444,-1.05,-74.6,182.8,-11.2,136,1447,0.00,1.50,0.00,0.000,4,0.000,0.044,2396,3294,3149
$GC,1518,-1.05,-74.6,191.2,-11.0,143,1521,0.00,1.42,0.00,0.000,6,0.000,0.028,2401,2398,3149
$GC,1840,-1.05,-74.6,226.0,-11.2,174,1841,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2399,3148
$GC,2150,-1.05,-74.6,260.8,-12.0,204,2151,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2398,3147
$GC,2460,-1.05,-74.6,295.5,-11.7,234,2463,0.00,1.25,0.00,0.000,4,0.000,0.040,2402,1522,3146
$GC,2588,-1.05,-74.6,310.6,-12.0,246,2591,0.00,1.30,0.00,0.000,6,0.000,0.038,2397,2417,3145
$GC,2910,-1.05,-74.6,347.6,-11.7,277,2911,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2417,3142
$GC,3219,-1.05,-74.6,383.6,-11.9,307,3222,0.00,1.30,0.00,0.000,4,0.000,0.040,2401,1522,3141
$GC,3315,-1.05,-74.6,394.7,-11.2,316,3318,0.00,1.25,0.00,0.000,6,0.000,0.039,2396,2380,3140
$GC,3638,-1.05,-74.6,432.6,-11.6,347,3638,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2380,3138
$GC,3946,-1.05,-74.6,468.5,-11.8,377,3947,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2380,3136
$GC,4257,-1.05,-74.6,504.0,-11.3,407,4258,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2380,3133
$GC,4567,-1.05,-74.6,539.3,-11.5,437,4570,0.00,1.25,0.00,0.000,4,0.000,0.044,2400,1530,3131
$GC,4763,-1.05,-74.6,562.2,-11.0,455,4771,0.00,1.33,0.00,0.000,6,0.000,0.041,2396,2415,3130
$GC,5081,-1.05,-74.6,598.1,-12.0,486,5084,0.00,1.30,0.00,0.000,4,0.000,0.043,2398,1530,3128
$GC,5134,-1.05,-74.6,604.5,-11.7,491,5137,0.00,1.27,0.00,0.000,6,0.000,0.041,2394,2392,3128
$GC,5456,-1.05,-74.6,641.1,-11.2,522,5459,0.00,1.27,0.00,0.000,4,0.000,0.044,2397,1524,3126
$GC,5524,-1.05,-74.6,649.0,-11.1,528,5532,0.00,1.33,0.00,0.000,6,0.000,0.042,2392,2405,3125
$GC,5842,-1.05,-74.6,683.4,-11.1,559,5845,0.00,1.30,0.00,0.000,4,0.000,0.044,2396,1525,3124
$GC,5942,-1.05,-74.6,695.1,-12.0,568,5949,0.00,1.27,0.00,0.000,6,0.000,0.042,2392,2387,3123
$GC,6260,-1.05,-74.6,729.8,-10.8,599,6263,0.00,1.55,0.00,0.000,4,0.000,0.054,2384,3298,3122
$GC,6349,-1.05,-74.6,740.2,-12.2,607,6357,0.00,1.48,0.00,0.000,6,0.000,0.035,2389,2400,3121
$GC,6667,-1.05,-74.6,773.3,-10.2,638,6668,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2401,3120
$GC,6976,-1.05,-74.6,803.9,-9.7,668,6977,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2401,3118
$GC,7287,-1.05,-74.6,835.5,-10.1,698,7290,0.00,1.30,0.00,0.000,4,0.000,0.046,2389,1514,3116
$GC,7393,-1.05,-74.6,846.4,-10.2,708,7397,0.00,1.33,0.00,0.000,6,0.000,0.045,2384,2401,3116
$GC,7715,-1.05,-74.6,878.4,-9.6,739,7718,0.00,1.50,0.00,0.000,4,0.000,0.057,2377,3276,3115
$GC,7762,-1.05,-74.6,883.4,-10.4,743,7770,0.10,1.45,0.00,0.000,6,0.211,0.036,2403,2396,3115
$GC,8078,-1.05,-74.6,913.3,-9.2,774,8082,0.00,1.30,0.00,0.000,4,0.000,0.045,2403,1516,3113
$GC,8196,-1.05,-74.6,924.4,-9.4,785,8199,0.00,1.33,0.00,0.000,6,0.000,0.046,2399,2398,3113
$GC,8517,-1.05,-74.6,954.5,-9.4,816,8518,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2398,3112
$GC,8828,-1.05,-74.6,983.2,-9.4,846,8831,0.00,1.33,0.00,0.000,4,0.000,0.047,2399,1515,3111
$STATE,8900,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8900,begin apogee
$GC,8905,-0.25,0.0,990.2,9.1,853,8964,1.02,0.00,55.25,1.234,6,0.187,0.000,2662,2259,2840
$STATE,8964,end apogee,CONTROL_FINISHED_OK
$STATE,8965,begin climb
$GC,8967,1.05,74.6,991.9,0.0,859,9038,1.30,1.80,64.55,1.214,4,0.105,0.060,3077,3137,2535
$GC,9091,1.05,74.6,977.4,16.8,870,9094,0.00,1.62,0.00,0.000,6,0.000,0.037,3085,2271,2531
$GC,9413,1.05,74.6,926.7,15.4,901,9416,0.00,1.23,0.00,0.000,4,0.000,0.044,3091,1334,2527
$GC,9444,1.05,74.6,921.6,15.1,904,9447,0.00,1.23,0.00,0.000,6,0.000,0.044,3091,2254,2527
$GC,9766,1.05,74.6,872.5,15.4,935,9767,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2254,2525
$GC,10076,1.05,74.6,826.3,14.5,965,10079,0.00,1.67,0.00,0.000,4,0.000,0.054,3090,3161,2524
$GC,10096,1.05,74.6,823.1,15.9,967,10100,0.00,1.65,0.00,0.000,6,0.000,0.038,3097,2249,2524
$GC,10418,1.05,74.6,774.2,15.4,998,10421,0.00,1.67,0.00,0.000,4,0.000,0.054,3097,3141,2522
$GC,10464,1.05,74.6,766.4,15.9,1002,10472,0.00,1.62,0.00,0.000,6,0.000,0.036,3104,2248,2522
$GC,10782,1.05,74.6,718.8,15.1,1033,10782,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2248,2521
$GC,11092,1.05,74.6,672.6,15.5,1063,11095,0.00,1.67,0.00,0.000,4,0.000,0.054,3101,3148,2521
$GC,11127,1.05,74.6,666.8,15.4,1066,11135,0.00,1.65,0.00,0.000,6,0.000,0.036,3108,2245,2520
$GC,11445,1.05,74.6,619.6,14.4,1097,11448,0.00,1.67,0.00,0.000,4,0.000,0.053,3108,3146,2520
$GC,11509,1.05,74.6,610.1,14.8,1103,11512,0.10,1.62,0.00,0.000,6,0.202,0.037,3089,2250,2519
$GC,11829,1.05,74.6,565.7,13.9,1134,11830,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2250,2519
$GC,12140,1.05,74.6,523.9,13.0,1164,12141,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2250,2519
$GC,12451,1.05,74.6,482.5,13.1,1194,12452,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2250,2519
$GC,12761,1.05,74.6,440.9,13.5,1224,12764,0.00,1.67,0.00,0.000,4,0.000,0.053,3086,3132,2519
$GC,12857,1.05,74.6,427.5,13.9,1233,12860,0.00,1.60,0.00,0.000,6,0.000,0.037,3093,2249,2519
$GC,13179,1.05,74.6,385.3,13.0,1264,13180,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2250,2519
$GC,13488,1.05,74.6,343.9,12.9,1294,13491,0.00,1.65,0.00,0.000,4,0.000,0.052,3092,3136,2519
$GC,13535,1.05,74.6,337.1,14.1,1298,13542,0.00,1.62,0.00,0.000,6,0.000,0.035,3099,2244,2518
$GC,13853,1.05,74.6,294.0,13.3,1329,13856,0.00,1.67,0.00,0.000,4,0.000,0.051,3099,3150,2518
$GC,13938,1.05,74.6,281.0,14.3,1337,13941,0.00,1.62,0.00,0.000,6,0.000,0.035,3106,2248,2519
$GC,14259,1.05,74.6,235.9,13.8,1368,14262,0.00,1.12,0.00,0.000,4,0.000,0.041,3112,1345,2519
$GC,14312,1.05,74.6,228.7,13.3,1373,14316,0.00,1.17,0.00,0.000,6,0.000,0.042,3112,2259,2519
$GC,14633,1.05,74.6,184.6,13.9,1404,14634,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2259,2520
$GC,14944,1.05,74.6,142.6,13.3,1434,14947,0.00,1.62,0.00,0.000,4,0.000,0.049,3110,3135,2520
$GC,15065,1.05,74.6,126.1,13.4,1445,15074,0.08,1.60,0.00,0.000,6,0.191,0.032,3095,2246,2520
$GC,15382,1.05,74.6,92.3,10.7,1476,15385,0.00,1.65,0.00,0.000,4,0.000,0.048,3092,3128,2522
$GC,15488,1.05,74.6,80.0,12.2,1486,15491,0.00,1.58,0.00,0.000,6,0.000,0.032,3100,2244,2522
$GC,15686,1.05,74.6,60.6,11.1,1505,15688,0.00,1.65,0.00,0.000,4,0.000,0.047,3099,3145,2523
$GC,15932,1.08,100.4,45.5,4.3,1528,15957,0.00,1.58,19.02,0.542,6,0.000,0.030,3107,2247,2429
$GC,16140,1.14,145.9,39.9,1.9,1548,16182,0.00,0.00,35.30,0.544,6,0.000,0.000,3107,2247,2244
$GC,16367,1.16,162.7,26.3,5.4,1570,16389,0.00,1.70,13.62,0.499,4,0.000,0.044,3107,3144,2176
$GC,16628,1.17,170.9,13.7,6.5,1594,16639,0.00,1.58,7.47,0.436,6,0.000,0.028,3114,2247,2142
$STATE,16779,end climb,SURFACE_DEPTH_REACHED
$STATE,16779,begin surface coast
$FINISH,0.6,1.023027
$STATE,16812,end surface coast,CONTROL_FINISHED_OK
$STATE,16812,begin surface
$SM_CCo,16826,194.00,0.489,0,0,494,575.22
$SM_GC,1.42,0.00,0.00,194.00,0.000,0.000,0.489,199,2415,494,-7.96,0.45,575.22
$IRIDIUM_FIX,2826.10,-8839.04,240999,202025
$TT8_MAMPS,0.050622
$HUMID,1299
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,23.90
$XPDR_PINGS,1
$24V_AH,23.8,34.159
$10V_AH,10.6,47.629
$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,20.400,85.125,195.225,194.000,0.000,27.822,38.383,261.451,0.250,0.000,0.000,19.412,0.000,11289.838,525.495,4990.108,634.826,33.337,1914.679,0.000,4487.470,0.000,0.847,0.000
$DEVICE_MAMPS,258.479,59.826,1234.103,489.346,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1104.672,1187.691,3623.089,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85156,1612
$CAP_FILE_SIZE,158108,0
$CFSIZE,260165632,237940736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.111,246.1,1
$GPS,010710,060320,2837.257,-8845.151,42,2.2,61,-0.2