version: 66.04
glider: 515
mission: 5
dive: 195
start: 7 1 110 21 42 28
data:
$ID,515
$MISSION,5
$DIVE,195
$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,-17011.955
$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,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$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
$GPS1,213506,2837.739,-8838.478,41,0.9,41,-0.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-63.0
$GPS2,214149,2837.768,-8838.481,13,1.6,18,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618A
$TGT_LATLONG,2837.900,-8826.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.249,0.088
$KALMAN_X,-33242.1,260.6,506.3,51354.3,-6976.4
$KALMAN_Y,-127837.0,1121.1,824.2,143292.9,-9368.7
$MHEAD_RNG_PITCHd_Wd,72.2,20290,-10.8,-7.500
$D_GRID,1298
$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,-194.6,0.0,0.0,0,97,0.00,0.00,-83.43,0.000,2,0.000,0.000,193,2417,2779
$GC,99,-0.63,-194.6,3.1,-3.2,8,133,10.70,0.00,-20.42,0.000,6,0.262,0.000,2534,2416,3635
$GC,317,-0.63,-194.6,51.5,-17.7,29,318,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2416,3637
$GC,503,-0.63,-194.6,80.2,-15.2,47,504,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2416,3638
$GC,689,-0.63,-194.6,106.5,-14.4,65,690,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2416,3640
$GC,1000,-0.63,-194.6,146.8,-13.4,95,1003,0.00,1.35,0.00,0.000,4,0.000,0.035,2537,1465,3640
$GC,1031,-0.63,-194.6,150.9,-13.0,98,1035,0.00,1.27,0.00,0.000,6,0.000,0.037,2533,2361,3640
$GC,1354,-0.63,-194.6,188.4,-11.3,129,1354,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2362,3640
$GC,1663,-0.63,-194.6,224.8,-11.2,159,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2361,3639
$GC,1973,-0.63,-194.6,259.8,-10.9,189,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2361,3637
$GC,2284,-0.63,-194.6,295.2,-11.1,219,2285,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2362,3635
$GC,2594,-0.63,-194.6,330.8,-11.1,249,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2362,3634
$GC,2905,-0.63,-194.6,366.0,-12.1,279,2906,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2362,3631
$GC,3215,-0.63,-194.6,399.8,-10.7,309,3218,0.00,1.27,0.00,0.000,4,0.000,0.041,2532,1469,3629
$GC,3257,-0.63,-194.6,404.4,-10.0,313,3261,0.00,1.33,0.00,0.000,6,0.000,0.044,2527,2373,3629
$GC,3579,-0.63,-194.6,439.2,-11.4,344,3580,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2373,3626
$GC,3889,-0.63,-194.6,473.6,-11.1,374,3892,0.00,1.30,0.00,0.000,4,0.000,0.041,2527,1476,3625
$GC,3932,-0.63,-194.6,478.3,-10.9,378,3934,0.00,1.33,0.00,0.000,6,0.000,0.044,2521,2375,3624
$GC,4253,-0.63,-194.6,514.3,-11.3,409,4254,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2375,3622
$GC,4563,-0.63,-194.6,549.1,-11.1,439,4566,0.00,1.30,0.00,0.000,4,0.000,0.042,2521,1482,3619
$GC,4605,-0.63,-194.6,554.0,-11.2,443,4608,0.00,1.33,0.00,0.000,6,0.000,0.045,2515,2374,3619
$GC,4927,-0.63,-194.6,590.9,-11.1,474,4928,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2374,3618
$GC,5237,-0.63,-194.6,625.5,-10.9,504,5238,0.12,0.00,0.00,0.000,6,0.151,0.000,2546,2374,3616
$GC,5548,-0.63,-194.6,651.9,-8.3,534,5549,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2374,3614
$GC,5857,-0.63,-194.6,677.8,-8.0,564,5858,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2374,3612
$GC,6168,-0.63,-194.6,704.7,-8.9,594,6171,0.00,1.33,0.00,0.000,4,0.000,0.044,2546,1476,3610
$GC,6221,-0.63,-194.6,709.4,-9.0,599,6224,0.00,1.35,0.00,0.000,6,0.000,0.048,2542,2375,3610
$GC,6543,-0.63,-194.6,738.1,-9.0,630,6544,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2375,3608
$GC,6853,-0.63,-194.6,765.5,-8.3,660,6856,0.00,1.33,0.00,0.000,4,0.000,0.045,2542,1481,3606
$GC,6905,-0.63,-194.6,770.4,-8.9,665,6909,0.00,1.35,0.00,0.000,6,0.000,0.049,2537,2378,3606
$GC,7228,-0.63,-194.6,800.1,-9.2,696,7229,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2378,3604
$GC,7537,-0.63,-194.6,828.7,-8.9,726,7540,0.00,1.33,0.00,0.000,4,0.000,0.045,2537,1485,3603
$GC,7580,-0.63,-194.6,832.6,-9.1,730,7583,0.00,1.35,0.00,0.000,6,0.000,0.049,2532,2381,3603
$GC,7902,-0.63,-194.6,862.0,-9.3,761,7902,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2382,3602
$GC,8211,-0.63,-194.6,890.6,-9.3,791,8214,0.00,1.35,0.00,0.000,4,0.000,0.046,2531,1474,3600
$GC,8285,-0.63,-194.6,897.7,-9.1,798,8288,0.00,1.35,0.00,0.000,6,0.000,0.049,2526,2372,3600
$GC,8607,-0.63,-194.6,929.0,-9.7,829,8608,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2372,3599
$GC,8917,-0.63,-194.6,959.8,-9.9,859,8920,0.00,1.33,0.00,0.000,4,0.000,0.045,2526,1480,3597
$GC,8952,-0.63,-194.6,963.6,-10.9,862,8960,0.00,1.38,0.00,0.000,6,0.000,0.049,2521,2378,3598
$STATE,9226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9226,begin apogee
$GC,9230,-0.25,0.0,990.2,9.6,889,9390,0.47,0.00,152.52,1.249,6,0.140,0.000,2660,2278,2839
$STATE,9390,end apogee,CONTROL_FINISHED_OK
$STATE,9390,begin climb
$GC,9392,0.63,194.6,994.8,0.0,905,9571,0.90,0.00,168.98,1.216,6,0.105,0.000,2941,2278,2044
$GC,9879,0.63,194.6,942.2,12.2,952,9880,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2278,2035
$GC,10189,0.63,194.6,903.6,12.1,982,10192,0.00,1.23,0.00,0.000,4,0.000,0.045,2947,1358,2034
$GC,10225,0.63,194.6,899.1,12.4,985,10234,0.00,1.27,0.00,0.000,6,0.000,0.044,2947,2281,2033
$GC,10543,0.63,194.6,860.0,12.4,1016,10546,0.00,1.23,0.00,0.000,4,0.000,0.044,2952,1367,2032
$GC,10585,0.63,194.6,854.6,12.5,1020,10588,0.00,1.23,0.00,0.000,6,0.000,0.045,2952,2275,2032
$GC,10907,0.63,194.6,815.6,11.7,1051,10908,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2275,2031
$GC,11216,0.63,194.6,778.0,12.1,1081,11219,0.00,1.20,0.00,0.000,4,0.000,0.044,2957,1366,2030
$GC,11241,0.63,194.6,774.9,12.2,1083,11249,0.00,1.25,0.00,0.000,6,0.000,0.044,2958,2281,2031
$GC,11559,0.63,194.6,735.2,12.7,1114,11560,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2281,2030
$GC,11868,0.63,194.6,696.1,12.2,1144,11869,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2281,2029
$GC,12179,0.63,194.6,657.4,12.4,1174,12180,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2281,2029
$GC,12489,0.63,194.6,618.4,12.9,1204,12490,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2282,2029
$GC,12800,0.63,194.6,579.6,12.2,1234,12803,0.00,1.20,0.00,0.000,4,0.000,0.044,2963,1373,2028
$GC,12831,0.63,194.6,575.7,10.9,1237,12834,0.00,1.20,0.00,0.000,6,0.000,0.044,2963,2272,2028
$GC,13154,0.63,194.6,535.7,12.2,1268,13157,0.00,1.65,0.00,0.000,4,0.000,0.054,2963,3180,2028
$GC,13206,0.63,194.6,528.4,13.3,1273,13210,0.00,1.60,0.00,0.000,6,0.000,0.038,2970,2276,2026
$GC,13527,0.63,194.6,486.0,13.2,1304,13528,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2277,2027
$GC,13838,0.63,194.6,444.2,13.6,1334,13841,0.00,1.17,0.00,0.000,4,0.000,0.044,2976,1377,2027
$GC,13880,0.63,194.6,438.4,14.2,1338,13883,0.00,1.20,0.00,0.000,6,0.000,0.044,2976,2273,2027
$GC,14203,0.63,194.6,394.6,13.4,1369,14203,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2273,2027
$GC,14511,0.63,194.6,353.0,13.4,1399,14512,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2274,2027
$GC,14822,0.63,194.6,311.4,13.5,1429,14823,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2274,2027
$GC,15132,0.63,194.6,270.0,13.2,1459,15135,0.00,1.20,0.00,0.000,4,0.000,0.042,2981,1366,2027
$GC,15186,0.63,194.6,263.0,12.6,1464,15189,0.10,1.23,0.00,0.000,6,0.145,0.042,2950,2279,2027
$GC,15507,0.63,194.6,227.0,11.4,1495,15507,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2279,2027
$GC,15817,0.63,194.6,192.4,11.5,1525,15818,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2279,2027
$GC,16127,0.63,194.6,157.5,11.0,1555,16128,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2279,2028
$GC,16438,0.63,194.6,125.4,9.8,1585,16441,0.00,1.60,0.00,0.000,4,0.000,0.049,2950,3165,2028
$GC,16491,0.63,194.6,119.8,9.9,1590,16494,0.00,1.55,0.00,0.000,6,0.000,0.032,2956,2275,2028
$GC,16814,0.63,194.6,89.3,8.9,1621,16814,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2275,2030
$GC,16998,0.63,194.6,73.2,9.3,1639,17001,0.00,1.65,0.00,0.000,4,0.000,0.048,2956,3179,2030
$GC,17041,0.63,194.6,68.9,9.3,1643,17044,0.00,1.58,0.00,0.000,6,0.000,0.031,2963,2271,2030
$GC,17238,0.65,212.8,51.2,7.0,1662,17254,0.00,1.17,13.30,0.523,4,0.000,0.036,2969,1365,1971
$GC,17339,0.75,298.1,44.3,5.3,1671,17410,0.00,1.20,65.10,0.550,6,0.000,0.037,2969,2275,1623
$GC,17595,0.86,381.4,28.3,5.3,1695,17666,0.15,1.67,62.38,0.526,4,0.061,0.045,3043,3177,1283
$GC,17686,0.86,381.4,19.9,9.4,1703,17690,0.00,1.60,0.00,0.000,6,0.000,0.029,3050,2274,1281
$STATE,17861,end climb,SURFACE_DEPTH_REACHED
$STATE,17861,begin surface coast
$FINISH,0.7,1.010909
$STATE,17882,end surface coast,CONTROL_FINISHED_OK
$STATE,17882,begin surface
$SM_CCo,17896,92.15,0.496,0,0,494,575.22
$SM_GC,1.62,0.00,0.00,92.15,0.000,0.000,0.496,202,2394,494,-7.95,0.54,575.22
$IRIDIUM_FIX,2828.55,-8841.44,250999,161646
$TT8_MAMPS,0.050622
$HUMID,1342
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,22.90
$XPDR_PINGS,0
$24V_AH,21.8,34.815
$10V_AH,10.6,48.509
$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,20.125,54.300,462.275,92.150,0.000,26.966,31.465,220.331,0.000,0.000,0.000,19.894,0.000,12236.435,592.859,4981.295,552.732,33.331,1961.238,0.000,4470.804,0.000,0.846,0.000
$DEVICE_MAMPS,261.547,53.690,1249.443,496.249,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1179.574,1253.619,3870.184,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88246,1722
$CAP_FILE_SIZE,149821,0
$CFSIZE,260165632,237596672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.087,211.1,1
$GPS,020710,024306,2837.919,-8836.072,28,1.2,28,-0.3