version: 66.04
glider: 515
mission: 5
dive: 158
start: 6 23 110 22 46 54
data:
$ID,515
$MISSION,5
$DIVE,158
$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,-15219.062
$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,31
$R_STBD_OVSHOOT,27
$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
$GPS1,223907,2828.421,-8850.104,33,0.9,33,-0.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-74.2
$GPS2,224620,2828.348,-8850.091,13,1.0,13,-0.1
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618A
$TGT_LATLONG,2837.900,-8826.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.241,0.109
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,65.8,42971,-10.8,-7.500
$D_GRID,1130
$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,-194.6,0.0,0.0,0,57,0.00,0.00,-43.17,0.000,2,0.000,0.000,195,2374,1712
$GC,59,-0.63,-194.6,3.0,-4.8,4,117,10.80,1.55,-43.42,0.000,4,0.265,0.067,2532,3263,3636
$GC,138,-0.63,-194.6,19.3,-32.5,11,141,0.00,1.48,0.00,0.000,6,0.000,0.028,2536,2368,3637
$GC,334,-0.63,-194.6,51.2,-14.8,30,337,0.00,1.52,0.00,0.000,4,0.000,0.044,2531,3261,3638
$GC,398,-0.63,-194.6,60.3,-12.9,36,401,0.00,1.45,0.00,0.000,6,0.000,0.028,2535,2367,3638
$GC,595,-0.63,-194.6,86.3,-13.5,55,598,0.00,1.52,0.00,0.000,4,0.000,0.045,2530,3264,3639
$GC,637,-0.63,-194.6,92.3,-14.5,59,640,0.00,1.45,0.00,0.000,6,0.000,0.028,2533,2368,3639
$GC,834,-0.63,-194.6,119.0,-13.3,78,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2368,3639
$GC,1145,-0.63,-194.6,158.0,-12.2,108,1146,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2368,3639
$GC,1454,-0.63,-194.6,194.9,-11.8,138,1455,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2367,3638
$GC,1765,-0.63,-194.6,230.0,-10.6,168,1768,0.00,1.52,0.00,0.000,4,0.000,0.048,2529,3263,3635
$GC,1822,-0.63,-194.6,237.0,-11.5,173,1831,0.00,1.45,0.00,0.000,6,0.000,0.028,2528,2370,3635
$GC,2140,-0.63,-194.6,272.3,-10.9,204,2143,0.00,1.50,0.00,0.000,4,0.000,0.048,2521,3256,3633
$GC,2187,-0.63,-194.6,278.0,-11.8,208,2194,0.00,1.42,0.00,0.000,6,0.000,0.030,2521,2370,3633
$GC,2504,-0.63,-194.6,314.1,-11.3,239,2508,0.00,1.52,0.00,0.000,4,0.000,0.048,2514,3262,3630
$GC,2546,-0.63,-194.6,319.2,-12.7,243,2550,0.00,1.45,0.00,0.000,6,0.000,0.031,2514,2368,3630
$GC,2868,-0.63,-194.6,357.8,-11.9,274,2869,0.12,0.00,0.00,0.000,6,0.150,0.000,2546,2367,3627
$GC,3179,-0.63,-194.6,387.9,-9.6,304,3182,0.00,1.52,0.00,0.000,4,0.000,0.051,2541,3256,3625
$GC,3214,-0.63,-194.6,391.9,-10.6,307,3222,0.00,1.45,0.00,0.000,6,0.000,0.031,2541,2371,3625
$GC,3533,-0.63,-194.6,425.0,-10.8,338,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2371,3622
$GC,3841,-0.63,-194.6,457.4,-10.2,368,3845,0.00,1.52,0.00,0.000,4,0.000,0.052,2534,3256,3620
$GC,3909,-0.63,-194.6,464.8,-11.4,374,3917,0.00,1.48,0.00,0.000,6,0.000,0.033,2534,2367,3620
$GC,4228,-0.63,-194.6,498.6,-10.6,405,4228,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2367,3617
$GC,4536,-0.63,-194.6,530.9,-10.1,435,4540,0.00,1.55,0.00,0.000,4,0.000,0.054,2527,3261,3615
$GC,4569,-0.63,-194.6,534.4,-11.0,438,4572,0.00,1.45,0.00,0.000,6,0.000,0.035,2527,2373,3615
$GC,4890,-0.63,-194.6,568.0,-10.6,469,4893,0.00,1.52,0.00,0.000,4,0.000,0.055,2520,3254,3612
$GC,4932,-0.63,-194.6,572.6,-10.1,473,4936,0.00,1.45,0.00,0.000,6,0.000,0.035,2520,2370,3612
$GC,5254,-0.63,-194.6,608.0,-11.0,504,5255,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2370,3610
$GC,5564,-0.63,-194.6,641.7,-10.7,534,5566,0.00,1.52,0.00,0.000,4,0.000,0.055,2513,3251,3607
$GC,5627,-0.63,-194.6,649.2,-11.4,540,5631,0.08,1.45,0.00,0.000,6,0.152,0.037,2536,2368,3606
$GC,5948,-0.63,-194.6,680.8,-9.6,571,5948,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2370,3605
$GC,6259,-0.63,-194.6,710.6,-9.9,601,6262,0.00,1.55,0.00,0.000,4,0.000,0.057,2531,3258,3603
$GC,6312,-0.63,-194.6,715.8,-10.7,606,6315,0.00,1.45,0.00,0.000,6,0.000,0.036,2531,2376,3603
$GC,6634,-0.63,-194.6,747.0,-9.7,637,6637,0.00,1.52,0.00,0.000,4,0.000,0.058,2524,3251,3601
$GC,6676,-0.63,-194.6,751.4,-9.7,641,6679,0.00,1.45,0.00,0.000,6,0.000,0.038,2524,2372,3600
$GC,6998,-0.63,-194.6,782.8,-9.7,672,7001,0.00,1.55,0.00,0.000,4,0.000,0.058,2518,3259,3598
$GC,7055,-0.63,-194.6,788.9,-10.6,677,7063,0.00,1.48,0.00,0.000,6,0.000,0.037,2517,2369,3598
$GC,7372,-0.63,-194.6,821.6,-10.3,708,7373,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2370,3597
$GC,7682,-0.63,-194.6,853.1,-10.2,738,7683,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2369,3595
$GC,7992,-0.63,-194.6,884.7,-9.8,768,7996,0.00,1.55,0.00,0.000,4,0.000,0.058,2510,3253,3594
$GC,8103,-0.63,-194.6,896.5,-9.9,778,8111,0.12,1.48,0.00,0.000,6,0.154,0.038,2541,2372,3593
$GC,8421,-0.63,-194.6,923.9,-8.9,809,8422,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2373,3592
$GC,8730,-0.63,-194.6,949.7,-7.9,839,8733,0.00,1.55,0.00,0.000,4,0.000,0.060,2536,3253,3590
$GC,8767,-0.63,-194.6,952.9,-8.6,842,8774,0.00,1.48,0.00,0.000,6,0.000,0.038,2536,2370,3591
$GC,9083,-0.63,-194.6,980.1,-8.8,873,9087,0.00,1.55,0.00,0.000,4,0.000,0.060,2529,3249,3590
$GC,9130,-0.63,-194.6,984.3,-8.9,877,9138,0.00,1.48,0.00,0.000,6,0.000,0.038,2529,2372,3589
$STATE,9196,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9196,begin apogee
$GC,9200,-0.25,0.0,990.3,9.2,884,9352,0.45,0.00,149.35,1.257,6,0.143,0.000,2661,2252,2840
$STATE,9352,end apogee,CONTROL_FINISHED_OK
$STATE,9352,begin climb
$GC,9354,0.63,194.6,994.7,0.0,899,9528,0.90,0.00,165.75,1.226,6,0.109,0.000,2941,2252,2045
$GC,9837,0.63,194.6,944.3,12.1,946,9838,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2252,2035
$GC,10147,0.63,194.6,908.3,11.6,976,10148,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2253,2033
$GC,10458,0.63,194.6,871.7,11.8,1006,10459,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2253,2032
$GC,10769,0.63,194.6,835.4,11.7,1036,10772,0.00,1.67,0.00,0.000,4,0.000,0.054,2941,3148,2031
$GC,10811,0.63,194.6,830.4,12.1,1040,10814,0.00,1.62,0.00,0.000,6,0.000,0.039,2949,2258,2030
$GC,11131,0.63,194.6,792.7,12.2,1071,11135,0.00,1.17,0.00,0.000,4,0.000,0.046,2954,1336,2030
$GC,11185,0.63,194.6,786.5,12.2,1076,11188,0.00,1.20,0.00,0.000,6,0.000,0.045,2954,2256,2030
$GC,11506,0.63,194.6,746.7,12.4,1107,11506,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2256,2029
$GC,11816,0.63,194.6,708.0,12.5,1137,11819,0.00,1.65,0.00,0.000,4,0.000,0.056,2954,3129,2028
$GC,11848,0.63,194.6,703.6,13.9,1140,11851,0.00,1.62,0.00,0.000,6,0.000,0.039,2962,2242,2027
$GC,12169,0.63,194.6,662.1,12.8,1171,12170,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2242,2027
$GC,12479,0.63,194.6,622.5,12.5,1201,12480,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2243,2027
$GC,12790,0.63,194.6,583.3,13.3,1231,12790,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2242,2027
$GC,13100,0.63,194.6,543.8,12.5,1261,13101,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2243,2027
$GC,13410,0.63,194.6,505.8,12.3,1291,13411,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2242,2027
$GC,13721,0.63,194.6,468.1,12.5,1321,13724,0.00,1.12,0.00,0.000,4,0.000,0.045,2967,1348,2027
$GC,13763,0.63,194.6,462.9,12.5,1325,13766,0.00,1.17,0.00,0.000,6,0.000,0.044,2967,2254,2027
$GC,14084,0.63,194.6,423.0,12.1,1356,14085,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2254,2027
$GC,14394,0.63,194.6,384.4,12.5,1386,14398,0.00,1.15,0.00,0.000,4,0.000,0.043,2972,1357,2027
$GC,14437,0.63,194.6,379.0,12.7,1390,14440,0.00,1.15,0.00,0.000,6,0.000,0.043,2971,2252,2027
$GC,14758,0.63,194.6,336.5,13.4,1421,14759,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2252,2027
$GC,15068,0.63,194.6,295.8,12.9,1451,15069,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2252,2027
$GC,15378,0.63,194.6,254.9,13.7,1481,15379,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2252,2027
$GC,15690,0.63,194.6,214.7,13.0,1511,15690,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2252,2027
$GC,15999,0.63,194.6,174.3,12.6,1541,16000,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2252,2027
$GC,16310,0.63,194.6,134.9,12.6,1571,16313,0.00,1.62,0.00,0.000,4,0.000,0.050,2973,3122,2027
$GC,16341,0.63,194.6,130.7,13.4,1574,16345,0.08,1.58,0.00,0.000,6,0.150,0.034,2956,2246,2027
$GC,16662,0.63,194.6,96.6,10.7,1605,16663,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2246,2028
$GC,16849,0.63,194.6,76.8,10.2,1623,16850,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2246,2028
$GC,17035,0.63,194.6,57.7,9.8,1641,17036,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2246,2029
$GC,17222,0.63,194.6,42.1,7.8,1659,17224,0.00,1.62,0.00,0.000,4,0.000,0.048,2956,3137,2029
$GC,17278,0.63,194.6,37.5,7.5,1664,17286,0.00,1.60,0.00,0.000,6,0.000,0.031,2961,2243,2030
$GC,17471,0.74,284.1,26.0,5.2,1683,17542,0.00,1.10,65.53,0.543,4,0.000,0.036,2965,1334,1679
$GC,17574,0.90,415.9,21.3,4.0,1692,17675,0.15,1.20,97.12,0.530,6,0.046,0.035,3052,2265,1143
$GC,17861,1.12,598.0,7.5,2.7,1718,18001,0.15,1.25,132.43,0.509,4,0.087,0.038,3103,1341,403
$STATE,18047,end climb,SURFACE_DEPTH_REACHED
$STATE,18047,begin surface coast
$FINISH,0.9,1.016334
$STATE,18085,end surface coast,CONTROL_FINISHED_OK
$STATE,18085,begin surface
$SM_CCo,18161,0.00,0.000,0,0,400,598.52
$SM_GC,2.73,7.93,0.00,0.00,0.044,0.000,0.000,202,2363,400,-7.91,-0.34,598.52
$IRIDIUM_FIX,2818.74,-8851.35,170999,171717
$TT8_MAMPS,0.049855
$HUMID,1327
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,23.20
$XPDR_PINGS,1
$24V_AH,23.1,29.093
$10V_AH,10.7,40.301
$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,20.775,76.125,610.175,0.000,0.000,28.292,25.428,265.621,0.250,0.000,0.000,15.681,0.000,12236.581,615.772,5099.652,609.084,29.222,2078.905,0.000,4590.820,0.000,0.848,0.000
$DEVICE_MAMPS,264.615,67.496,1257.113,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1188.976,1274.043,3906.607,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91471,1738
$CAP_FILE_SIZE,159355,0
$CFSIZE,260165632,240848896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.148,194.3,1
$GPS,240610,035037,2827.875,-8847.631,43,1.4,43,-0.1