version: 66.04
glider: 515
mission: 5
dive: 140
start: 6 19 110 1 7 23
data:
$ID,515
$MISSION,5
$DIVE,140
$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,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7729.4712
$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,0.0099999998
$PITCH_ADJ_DBAND,0.5
$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,54
$R_STBD_OVSHOOT,26
$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,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
$GPS1,010000,2839.281,-8845.437,293,1.6,298,-0.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-71.2
$GPS2,010644,2839.278,-8845.518,14,1.6,14,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618E
$TGT_LATLONG,2839.700,-8844.900
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.004,0.265
$KALMAN_X,-237996.8,472.2,-641.9,252411.3,688.1
$KALMAN_Y,-89234.5,1748.3,819.5,68007.6,-20844.9
$MHEAD_RNG_PITCHd_Wd,45.9,1272,-26.8,-7.500
$D_GRID,1174
$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,-1.01,-41.0,0.0,0.0,0,47,0.00,0.00,-33.45,0.000,2,0.000,0.000,203,2367,1467
$GC,49,-1.06,-80.9,3.0,-2.6,3,111,9.73,1.55,-48.17,0.000,4,0.254,0.069,2394,3268,3171
$GC,350,-0.93,-84.1,35.2,-7.1,30,358,0.17,1.45,-0.12,0.000,6,0.205,0.025,2439,2370,3184
$GC,542,-0.87,-84.1,51.3,-10.6,49,546,0.00,1.23,0.00,0.000,4,0.000,0.033,2444,1476,3184
$GC,788,-0.82,-84.1,76.5,-10.0,72,791,0.12,1.25,0.00,0.000,6,0.184,0.032,2475,2376,3185
$GC,985,-0.79,-84.1,95.2,-10.1,91,988,0.00,1.25,0.00,0.000,4,0.000,0.035,2481,1479,3185
$GC,1138,-0.78,-84.1,111.2,-10.4,105,1146,0.00,1.27,0.00,0.000,6,0.000,0.033,2476,2379,3185
$GC,1456,-0.77,-84.1,145.0,-10.6,136,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2379,3183
$GC,1765,-0.76,-84.1,174.9,-8.8,166,1769,0.00,1.23,0.00,0.000,4,0.000,0.035,2481,1486,3182
$GC,1883,-0.76,-84.1,185.1,-8.9,177,1886,0.00,1.23,0.00,0.000,6,0.000,0.035,2476,2370,3181
$GC,2204,-0.76,-84.1,214.1,-9.7,208,2207,0.00,1.50,0.00,0.000,4,0.000,0.046,2469,3264,3179
$GC,2354,-0.75,-84.1,229.7,-10.6,222,2357,0.08,1.42,0.00,0.000,6,0.189,0.029,2496,2373,3178
$GC,2675,-0.77,-84.1,257.6,-8.0,253,2677,0.00,1.50,0.00,0.000,4,0.000,0.045,2490,3265,3177
$GC,2781,-0.77,-84.1,267.4,-9.8,263,2784,0.00,1.42,0.00,0.000,6,0.000,0.030,2496,2374,3176
$GC,3103,-0.79,-84.1,295.0,-8.4,294,3104,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2374,3174
$GC,3413,-0.81,-84.1,321.1,-8.5,324,3413,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2374,3172
$GC,3723,-0.83,-84.1,348.7,-9.0,354,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2374,3169
$GC,4034,-0.85,-84.1,375.3,-8.0,384,4037,0.00,1.52,0.00,0.000,4,0.000,0.049,2490,3266,3166
$GC,4101,-0.86,-84.1,381.5,-8.9,390,4109,0.00,1.48,0.00,0.000,6,0.000,0.031,2496,2369,3165
$GC,4419,-0.88,-84.1,407.0,-8.0,421,4423,0.00,1.23,0.00,0.000,4,0.000,0.040,2497,1487,3163
$GC,4461,-0.90,-84.1,410.8,-8.7,425,4465,0.08,1.25,0.00,0.000,6,0.066,0.040,2453,2370,3163
$GC,4782,-0.88,-84.1,443.1,-9.7,456,4783,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2370,3162
$GC,5093,-0.87,-84.1,475.0,-10.9,486,5094,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2369,3160
$GC,5403,-0.86,-84.1,507.2,-10.1,516,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2370,3157
$GC,5714,-0.84,-84.1,539.1,-10.2,546,5715,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2370,3155
$GC,6025,-0.83,-84.1,571.0,-10.0,576,6025,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2370,3153
$GC,6334,-0.82,-84.1,601.8,-9.7,606,6335,0.12,0.00,0.00,0.000,6,0.195,0.000,2481,2370,3151
$GC,6646,-0.83,-84.1,627.7,-8.5,636,6647,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2370,3150
$GC,6955,-0.84,-84.1,653.3,-8.1,666,6956,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2369,3149
$GC,7266,-0.86,-84.1,678.4,-7.9,696,7267,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2370,3147
$GC,7576,-0.88,-84.1,704.0,-8.4,726,7577,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2370,3145
$GC,7887,-0.89,-84.1,729.0,-8.1,756,7890,0.00,1.55,0.00,0.000,4,0.000,0.058,2475,3263,3143
$GC,8015,-0.90,-84.1,740.1,-9.2,768,8018,0.00,1.45,0.00,0.000,6,0.000,0.037,2481,2380,3142
$GC,8337,-0.92,-84.1,766.3,-7.9,799,8338,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2380,3141
$GC,8646,-0.94,-84.1,791.8,-8.0,829,8647,0.12,0.00,0.00,0.000,6,0.086,0.000,2436,2379,3140
$GC,8958,-0.91,-84.1,820.6,-9.7,859,8958,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2379,3139
$GC,9267,-0.90,-84.1,850.7,-9.9,889,9268,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2379,3137
$GC,9578,-0.88,-84.1,880.2,-9.0,919,9578,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2379,3136
$GC,9888,-0.86,-84.1,909.7,-9.4,949,9889,0.12,0.00,0.00,0.000,6,0.194,0.000,2463,2380,3135
$GC,10200,-0.87,-84.1,935.0,-8.0,979,10203,0.00,1.30,0.00,0.000,4,0.000,0.048,2468,1493,3135
$GC,10381,-0.87,-84.1,949.3,-8.0,996,10384,0.00,1.30,0.00,0.000,6,0.000,0.049,2465,2371,3134
$GC,10702,-0.88,-84.1,974.1,-7.6,1027,10703,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2371,3133
$STATE,10917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10918,begin apogee
$GC,10921,-0.25,0.0,990.2,7.4,1048,10983,0.70,0.00,58.83,1.253,6,0.173,0.000,2659,2257,2840
$STATE,10983,end apogee,CONTROL_FINISHED_OK
$STATE,10983,begin climb
$GC,10985,1.06,84.1,991.6,0.0,1054,11060,1.33,0.00,72.18,1.235,6,0.107,0.000,3081,2257,2497
$GC,11365,1.00,84.1,936.0,15.6,1091,11366,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2257,2488
$GC,11676,0.94,84.1,885.5,16.0,1121,11680,0.12,1.67,0.00,0.000,4,0.191,0.054,3049,3147,2486
$GC,11750,0.88,84.1,873.7,15.2,1128,11754,0.00,1.65,0.00,0.000,6,0.000,0.038,3056,2248,2485
$GC,12073,0.84,84.1,825.0,15.0,1159,12076,0.15,1.70,0.00,0.000,4,0.191,0.054,3018,3154,2484
$GC,12151,0.81,84.1,813.8,15.0,1166,12159,0.00,1.67,0.00,0.000,6,0.000,0.038,3024,2240,2484
$GC,12469,0.79,84.1,772.4,13.0,1197,12472,0.00,1.73,0.00,0.000,4,0.000,0.056,3024,3142,2484
$GC,12515,0.76,84.1,765.9,13.5,1201,12523,0.10,1.62,0.00,0.000,6,0.176,0.038,3001,2258,2483
$GC,12831,0.76,84.1,728.7,11.7,1232,12835,0.00,1.67,0.00,0.000,4,0.000,0.055,3001,3148,2482
$GC,12885,0.75,84.1,722.4,11.6,1237,12888,0.00,1.62,0.00,0.000,6,0.000,0.038,3008,2252,2482
$GC,13205,0.75,84.1,683.9,11.8,1268,13209,0.00,1.70,0.00,0.000,4,0.000,0.054,3007,3141,2481
$GC,13248,0.74,84.1,678.7,12.7,1272,13251,0.00,1.62,0.00,0.000,6,0.000,0.038,3016,2251,2481
$GC,13570,0.74,84.1,640.2,11.9,1303,13573,0.12,1.67,0.00,0.000,4,0.179,0.054,2986,3146,2481
$GC,13637,0.74,84.1,632.2,11.1,1309,13645,0.00,1.65,0.00,0.000,6,0.000,0.037,2992,2245,2480
$GC,13955,0.75,84.1,599.1,10.3,1340,13959,0.00,1.73,0.00,0.000,4,0.000,0.055,2992,3151,2480
$GC,14030,0.75,84.1,590.2,12.5,1347,14033,0.00,1.62,0.00,0.000,6,0.000,0.038,3000,2255,2480
$GC,14351,0.76,84.1,555.7,10.7,1378,14351,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2256,2480
$GC,14662,0.77,84.1,522.6,10.8,1408,14665,0.00,1.65,0.00,0.000,4,0.000,0.054,3000,3146,2479
$GC,14714,0.77,84.1,516.4,11.7,1413,14718,0.00,1.62,0.00,0.000,6,0.000,0.038,3008,2249,2479
$GC,15035,0.77,84.1,481.1,10.3,1444,15039,0.00,1.70,0.00,0.000,4,0.000,0.054,3008,3142,2479
$GC,15125,0.75,84.1,470.6,11.8,1452,15132,0.00,1.65,0.00,0.000,6,0.000,0.037,3016,2238,2479
$GC,15442,0.75,84.1,435.6,11.0,1483,15446,0.00,1.73,0.00,0.000,4,0.000,0.054,3016,3151,2479
$GC,15495,0.74,84.1,429.4,11.0,1488,15499,0.12,1.60,0.00,0.000,6,0.169,0.037,2986,2262,2479
$GC,15816,0.76,84.1,397.0,10.5,1519,15817,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2263,2479
$GC,16127,0.79,84.1,365.6,9.9,1549,16130,0.00,1.62,0.00,0.000,4,0.000,0.053,2987,3145,2479
$GC,16234,0.80,84.1,354.1,10.2,1559,16237,0.00,1.60,0.00,0.000,6,0.000,0.036,2994,2232,2479
$GC,16554,0.82,84.1,322.4,9.6,1590,16558,0.00,1.73,0.00,0.000,4,0.000,0.052,2993,3151,2480
$GC,16655,0.82,84.1,311.5,10.6,1599,16663,0.00,1.60,0.00,0.000,6,0.000,0.035,3002,2262,2480
$GC,16972,0.84,84.1,279.4,9.7,1630,16973,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2262,2480
$GC,17283,0.86,84.1,246.9,10.5,1660,17286,0.00,1.62,0.00,0.000,4,0.000,0.052,3002,3146,2480
$GC,17361,0.86,84.1,237.8,10.5,1667,17370,0.00,1.62,0.00,0.000,6,0.000,0.034,3010,2242,2481
$GC,17679,0.87,84.1,204.2,10.6,1698,17680,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2242,2481
$GC,17990,0.88,84.1,171.9,9.9,1728,17992,0.00,1.67,0.00,0.000,4,0.000,0.050,3010,3150,2482
$GC,18139,0.88,84.1,155.6,11.4,1742,18142,0.00,1.60,0.00,0.000,6,0.000,0.034,3018,2252,2482
$GC,18459,0.89,84.1,123.2,10.1,1773,18460,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2253,2482
$GC,18771,0.90,84.1,93.5,9.4,1803,18772,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2253,2483
$GC,18956,0.92,84.1,75.7,9.8,1821,18959,0.00,1.65,0.00,0.000,4,0.000,0.048,3018,3158,2485
$GC,19095,0.92,84.1,61.9,11.3,1834,19098,0.00,1.60,0.00,0.000,6,0.000,0.031,3026,2249,2486
$GC,19291,0.95,89.2,46.0,6.9,1853,19303,0.00,1.12,3.83,0.370,4,0.000,0.036,3032,1335,2475
$GC,19457,1.00,101.0,35.3,6.0,1868,19476,0.10,1.20,10.68,0.510,6,0.081,0.035,3073,2272,2428
$GC,19661,1.05,132.6,25.3,3.6,1888,19694,0.00,1.60,24.77,0.535,4,0.000,0.045,3073,3138,2298
$GC,19933,1.14,188.5,14.0,0.6,1913,19979,0.00,1.60,42.15,0.526,6,0.000,0.028,3082,2238,2071
$GC,20164,1.30,252.8,8.9,-0.4,1935,20223,0.20,1.73,47.70,0.514,4,0.058,0.043,3174,3135,1808
$GC,20462,1.41,311.0,6.9,0.4,1962,20508,0.00,1.55,43.03,0.498,6,0.000,0.028,3182,2258,1572
$GC,20693,1.59,373.0,5.1,-0.1,1984,20708,0.17,0.00,13.10,0.456,2,0.058,0.000,3266,2258,1503
$STATE,20708,end climb,NO_VERTICAL_VELOCITY
$STATE,20709,begin surface
$SM_CCo,20711,209.10,0.466,7,0,404,597.54
$SM_GC,2.43,8.60,0.00,0.00,0.055,0.000,0.000,204,2370,400,-7.91,-0.11,598.52
$IRIDIUM_FIX,2828.55,-8841.44,120999,181851
$TT8_MAMPS,0.051389
$HUMID,1257
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,25.10
$XPDR_PINGS,2
$24V_AH,23.9,25.915
$10V_AH,10.7,35.239
$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,22.275,86.300,316.250,209.100,0.000,29.876,30.088,223.307,0.500,0.000,0.000,16.304,0.000,14093.088,657.115,6072.056,602.300,33.346,2327.262,0.000,5467.287,0.000,0.850,0.000
$DEVICE_MAMPS,253.877,69.030,1252.511,466.336,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1360.194,1466.533,4461.804,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104072,1985
$CAP_FILE_SIZE,195627,0
$CFSIZE,260165632,242700288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,7,0
$CURRENT,0.030,174.4,1
$GPS,190610,065955,2840.305,-8844.117,73,1.7,73,-0.2