version: 66.04
glider: 515
mission: 5
dive: 155
start: 6 23 110 7 22 42
data:
$ID,515
$MISSION,5
$DIVE,155
$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,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,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-15171.362
$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,32
$R_STBD_OVSHOOT,29
$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
$GPS1,071840,2839.267,-8838.656,16,2.9,35,-0.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.98
$_SM_ANGLEo,-70.7
$GPS2,071840,2839.267,-8838.656,16,2.9,35,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618E
$TGT_LATLONG,2839.700,-8844.900
$TGT_RADIUS,1000.000
$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,277.3,10178,-10.8,-7.500
$D_GRID,1210
$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,-194.6,0.0,0.0,0,27,0.00,0.00,-13.12,0.000,2,0.000,0.000,201,2369,882
$GC,29,-0.63,-194.6,4.1,-0.0,1,116,9.90,1.27,-73.20,0.000,4,0.243,0.054,2544,1462,3636
$GC,308,-0.63,-194.6,40.4,-13.0,26,312,0.00,1.25,0.00,0.000,6,0.000,0.033,2541,2368,3637
$GC,505,-0.63,-194.6,65.6,-12.6,45,508,0.00,1.48,0.00,0.000,4,0.000,0.043,2533,3261,3637
$GC,548,-0.63,-194.6,71.3,-13.9,49,551,0.00,1.42,0.00,0.000,6,0.000,0.027,2537,2366,3637
$GC,744,-0.63,-194.6,95.2,-12.3,68,747,0.00,1.20,0.00,0.000,4,0.000,0.033,2537,1475,3637
$GC,819,-0.63,-194.6,104.5,-12.9,75,822,0.00,1.25,0.00,0.000,6,0.000,0.033,2533,2371,3637
$GC,1141,-0.63,-194.6,145.3,-12.0,106,1144,0.00,1.25,0.00,0.000,4,0.000,0.033,2533,1471,3635
$GC,1187,-0.63,-194.6,151.4,-12.5,110,1196,0.00,1.30,0.00,0.000,6,0.000,0.034,2527,2380,3634
$GC,1505,-0.63,-194.6,189.6,-12.0,141,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2379,3631
$GC,1814,-0.63,-194.6,226.4,-11.7,171,1817,0.00,1.27,0.00,0.000,4,0.000,0.035,2527,1471,3628
$GC,1920,-0.63,-194.6,238.8,-11.0,181,1924,0.00,1.27,0.00,0.000,6,0.000,0.035,2521,2375,3627
$GC,2243,-0.63,-194.6,277.2,-11.7,212,2244,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2375,3624
$GC,2552,-0.63,-194.6,313.7,-11.9,242,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2376,3621
$GC,2862,-0.63,-194.6,350.8,-12.0,272,2865,0.00,1.27,0.00,0.000,4,0.000,0.038,2521,1473,3619
$GC,2947,-0.63,-194.6,360.8,-11.7,280,2951,0.00,1.27,0.00,0.000,6,0.000,0.039,2515,2371,3618
$GC,3270,-0.63,-194.6,399.8,-11.6,311,3273,0.00,1.25,0.00,0.000,4,0.000,0.038,2514,1487,3613
$GC,3312,-0.63,-194.6,405.3,-13.6,315,3315,0.10,1.27,0.00,0.000,6,0.144,0.041,2540,2372,3613
$GC,3632,-0.63,-194.6,437.2,-9.8,346,3633,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2372,3610
$GC,3943,-0.63,-194.6,467.8,-9.5,376,3944,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2372,3607
$GC,4254,-0.63,-194.6,497.3,-9.3,406,4254,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2372,3605
$GC,4564,-0.63,-194.6,527.5,-9.7,436,4567,0.00,1.27,0.00,0.000,4,0.000,0.042,2540,1487,3601
$GC,4606,-0.63,-194.6,531.7,-9.8,440,4610,0.00,1.30,0.00,0.000,6,0.000,0.045,2537,2376,3601
$GC,4928,-0.63,-194.6,563.1,-9.8,471,4929,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2376,3599
$GC,5238,-0.63,-194.6,594.5,-10.5,501,5241,0.00,1.27,0.00,0.000,4,0.000,0.044,2537,1491,3596
$GC,5281,-0.63,-194.6,598.7,-9.6,505,5283,0.00,1.27,0.00,0.000,6,0.000,0.046,2531,2369,3596
$GC,5602,-0.63,-194.6,632.2,-10.6,536,5602,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2369,3593
$GC,5912,-0.63,-194.6,664.5,-9.9,566,5913,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2369,3591
$GC,6222,-0.63,-194.6,696.6,-10.3,596,6222,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2369,3589
$GC,6532,-0.63,-194.6,727.9,-10.2,626,6536,0.00,1.27,0.00,0.000,4,0.000,0.046,2531,1488,3587
$GC,6574,-0.63,-194.6,732.3,-10.6,630,6578,0.00,1.30,0.00,0.000,6,0.000,0.049,2525,2371,3586
$GC,6896,-0.63,-194.6,765.4,-10.6,661,6899,0.00,1.27,0.00,0.000,4,0.000,0.047,2525,1496,3584
$GC,6953,-0.63,-194.6,771.5,-10.3,666,6962,0.00,1.33,0.00,0.000,6,0.000,0.048,2520,2377,3584
$GC,7271,-0.63,-194.6,804.2,-10.1,697,7272,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2378,3582
$GC,7580,-0.63,-194.6,835.8,-10.1,727,7583,0.00,1.30,0.00,0.000,4,0.000,0.046,2520,1491,3580
$GC,7654,-0.63,-194.6,843.4,-10.4,734,7658,0.00,1.30,0.00,0.000,6,0.000,0.048,2514,2372,3580
$GC,7977,-0.63,-194.6,877.1,-10.7,765,7978,0.12,0.00,0.00,0.000,6,0.159,0.000,2545,2372,3579
$GC,8287,-0.63,-194.6,903.5,-8.6,795,8287,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2372,3577
$GC,8597,-0.63,-194.6,930.2,-8.8,825,8600,0.00,1.30,0.00,0.000,4,0.000,0.048,2545,1484,3576
$GC,8682,-0.63,-194.6,937.7,-9.0,833,8685,0.00,1.33,0.00,0.000,6,0.000,0.050,2542,2375,3575
$GC,9003,-0.63,-194.6,966.3,-8.8,864,9004,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2375,3574
$STATE,9280,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9280,begin apogee
$GC,9285,-0.25,0.0,990.9,9.4,891,9434,0.43,0.00,146.15,1.256,6,0.138,0.000,2668,2265,2840
$STATE,9435,end apogee,CONTROL_FINISHED_OK
$STATE,9435,begin climb
$GC,9436,0.63,194.6,996.4,0.0,906,9607,0.88,1.85,164.65,1.224,4,0.105,0.054,2944,3143,2046
$GC,9665,0.63,194.6,976.3,13.2,925,9673,0.00,1.75,0.00,0.000,6,0.000,0.037,2951,2242,2038
$GC,9983,0.63,194.6,936.6,12.9,956,9984,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2242,2034
$GC,10292,0.63,194.6,897.2,12.3,986,10293,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2243,2032
$GC,10603,0.63,194.6,859.6,12.7,1016,10606,0.00,1.73,0.00,0.000,4,0.000,0.055,2951,3169,2031
$GC,10660,0.63,194.6,851.9,14.3,1021,10668,0.00,1.67,0.00,0.000,6,0.000,0.038,2959,2252,2030
$GC,10978,0.63,194.6,811.3,12.2,1052,10978,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2253,2030
$GC,11287,0.63,194.6,770.2,13.6,1082,11288,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2252,2029
$GC,11598,0.63,194.6,729.7,13.5,1112,11601,0.00,1.67,0.00,0.000,4,0.000,0.056,2959,3147,2028
$GC,11650,0.63,194.6,722.4,14.8,1117,11654,0.00,1.62,0.00,0.000,6,0.000,0.038,2967,2249,2028
$GC,11972,0.63,194.6,679.0,13.5,1148,11973,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2250,2028
$GC,12282,0.63,194.6,637.4,13.3,1178,12285,0.00,1.67,0.00,0.000,4,0.000,0.055,2967,3153,2027
$GC,12325,0.63,194.6,631.3,13.7,1182,12328,0.00,1.62,0.00,0.000,6,0.000,0.038,2975,2254,2026
$GC,12646,0.63,194.6,586.3,13.6,1213,12650,0.00,1.70,0.00,0.000,4,0.000,0.055,2975,3152,2026
$GC,12688,0.63,194.6,580.1,15.1,1217,12692,0.10,1.62,0.00,0.000,6,0.158,0.038,2953,2251,2026
$GC,13009,0.63,194.6,543.0,11.9,1248,13010,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2252,2026
$GC,13320,0.63,194.6,505.5,12.3,1278,13323,0.00,1.70,0.00,0.000,4,0.000,0.054,2953,3151,2026
$GC,13366,0.63,194.6,499.3,13.4,1282,13375,0.00,1.62,0.00,0.000,6,0.000,0.037,2959,2248,2026
$GC,13684,0.63,194.6,459.6,12.5,1313,13687,0.00,1.70,0.00,0.000,4,0.000,0.054,2959,3150,2026
$GC,13715,0.63,194.6,455.3,14.1,1316,13719,0.00,1.62,0.00,0.000,6,0.000,0.037,2967,2249,2025
$GC,14038,0.63,194.6,414.7,12.3,1347,14041,0.00,1.67,0.00,0.000,4,0.000,0.053,2967,3158,2025
$GC,14080,0.63,194.6,409.0,13.8,1351,14083,0.00,1.62,0.00,0.000,6,0.000,0.038,2974,2254,2025
$GC,14401,0.63,194.6,366.9,13.3,1382,14401,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2255,2026
$GC,14711,0.63,194.6,324.9,13.3,1412,14714,0.00,1.67,0.00,0.000,4,0.000,0.053,2974,3165,2026
$GC,14779,0.63,194.6,315.2,14.6,1418,14788,0.12,1.67,0.00,0.000,6,0.160,0.036,2952,2235,2025
$GC,15095,0.63,194.6,279.3,11.1,1449,15096,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2235,2025
$GC,15406,0.63,194.6,244.4,11.1,1479,15409,0.00,1.67,0.00,0.000,4,0.000,0.051,2952,3148,2026
$GC,15442,0.63,194.6,240.2,12.1,1482,15451,0.00,1.60,0.00,0.000,6,0.000,0.035,2958,2252,2026
$GC,15759,0.63,194.6,204.8,11.3,1513,15762,0.00,1.65,0.00,0.000,4,0.000,0.050,2958,3154,2026
$GC,15802,0.63,194.6,199.6,11.9,1517,15805,0.00,1.60,0.00,0.000,6,0.000,0.034,2966,2256,2026
$GC,16122,0.63,194.6,161.0,11.7,1548,16123,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2256,2026
$GC,16433,0.63,194.6,124.1,12.1,1578,16436,0.00,1.67,0.00,0.000,4,0.000,0.050,2966,3152,2027
$GC,16486,0.63,194.6,117.6,12.0,1583,16489,0.00,1.62,0.00,0.000,6,0.000,0.033,2974,2236,2026
$GC,16806,0.63,194.6,80.5,11.1,1614,16810,0.00,1.70,0.00,0.000,4,0.000,0.048,2974,3150,2028
$GC,16839,0.63,194.6,76.5,13.7,1617,16842,0.12,1.58,0.00,0.000,6,0.150,0.032,2950,2256,2028
$GC,17035,0.63,194.6,57.7,9.1,1636,17038,0.00,1.65,0.00,0.000,4,0.000,0.047,2950,3144,2029
$GC,17093,0.63,194.6,52.1,9.8,1641,17100,0.00,1.58,0.00,0.000,6,0.000,0.031,2956,2251,2029
$GC,17285,0.64,205.1,38.0,7.2,1660,17296,0.00,0.00,7.00,0.466,6,0.000,0.000,2956,2251,2003
$GC,17482,0.73,277.1,27.1,5.6,1679,17542,0.00,1.67,54.70,0.539,4,0.000,0.044,2956,3160,1710
$GC,17584,0.85,376.8,21.2,4.9,1688,17667,0.12,1.62,74.18,0.525,6,0.054,0.031,3032,2251,1304
$GC,17851,1.03,519.2,8.5,3.8,1713,17961,0.12,1.15,104.50,0.507,4,0.079,0.036,3077,1356,722
$GC,17973,1.16,631.3,3.1,4.6,1723,17984,0.12,1.20,7.68,0.416,2,0.130,0.033,3114,2270,686
$STATE,17985,end climb,SURFACE_DEPTH_REACHED
$STATE,17985,begin surface coast
$FINISH,3.2,1.015484
$STATE,18121,end surface coast,CONTROL_FINISHED_OK
$STATE,18121,begin surface
$SM_CCo,18123,51.55,0.486,0,0,404,597.54
$SM_GC,2.85,7.93,0.00,0.00,0.043,0.000,0.000,199,2370,401,-7.90,-0.14,598.28
$IRIDIUM_FIX,2826.10,-8843.89,160999,191934
$TT8_MAMPS,0.050622
$HUMID,1365
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,23.70
$XPDR_PINGS,2
$24V_AH,22.0,28.537
$10V_AH,10.7,39.641
$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,20.075,86.275,558.850,51.550,0.000,166.489,143.519,0.000,0.500,0.000,0.000,903.500,0.000,12472.189,625.669,6092.881,612.851,33.346,2128.281,0.000,4682.548,0.000,0.545,0.000
$DEVICE_MAMPS,243.139,55.991,1256.346,486.278,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1188.765,1273.420,3904.490,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91461,1737
$CAP_FILE_SIZE,161907,0
$CFSIZE,260165632,240959488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,1.106,238.7,1
$GPS,230610,123037,2833.662,-8852.511,174,1.3,174,-0.1