version: 66.04
glider: 515
mission: 5
dive: 160
start: 6 24 110 9 26 9
data:
$ID,515
$MISSION,5
$DIVE,160
$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,-15245.882
$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,40
$R_STBD_OVSHOOT,26
$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
$GPS1,091828,2829.134,-8845.961,143,2.3,162,-0.2
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-74.5
$GPS2,092532,2829.135,-8846.063,9,1.6,9,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618A
$TGT_LATLONG,2837.900,-8826.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.232,0.128
$KALMAN_X,-3460.0,-582.4,-685.1,11344.3,-1246.7
$KALMAN_Y,-2577.6,-24.0,-375.6,4451.7,-954.9
$MHEAD_RNG_PITCHd_Wd,51.4,36430,-10.8,-7.500
$D_GRID,1250
$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,-194.6,0.0,0.0,0,47,0.00,0.00,-33.53,0.000,2,0.000,0.000,196,2375,1453
$GC,49,-0.63,-194.6,3.1,-3.7,3,121,10.48,1.52,-52.20,0.000,4,0.256,0.061,2529,3272,3637
$GC,324,-0.63,-194.6,47.6,-15.0,28,327,0.00,1.45,0.00,0.000,6,0.000,0.028,2535,2371,3638
$GC,520,-0.63,-194.6,74.3,-13.1,47,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2370,3639
$GC,707,-0.63,-194.6,98.1,-13.2,65,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2370,3640
$GC,893,-0.63,-194.6,122.5,-13.5,83,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2370,3640
$GC,1203,-0.63,-194.6,163.6,-12.5,113,1204,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2370,3639
$GC,1514,-0.63,-194.6,200.4,-11.6,143,1515,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2370,3637
$GC,1824,-0.63,-194.6,237.0,-11.4,173,1827,0.00,1.50,0.00,0.000,4,0.000,0.045,2529,3259,3636
$GC,1867,-0.63,-194.6,241.9,-11.3,177,1870,0.00,1.42,0.00,0.000,6,0.000,0.029,2532,2368,3635
$GC,2188,-0.63,-194.6,278.9,-11.5,208,2189,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2368,3632
$GC,2498,-0.63,-194.6,312.8,-11.0,238,2499,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2368,3630
$GC,2808,-0.63,-194.6,346.9,-10.4,268,2811,0.00,1.52,0.00,0.000,4,0.000,0.049,2527,3259,3628
$GC,2844,-0.63,-194.6,351.1,-11.3,271,2852,0.00,1.45,0.00,0.000,6,0.000,0.031,2526,2372,3628
$GC,3162,-0.63,-194.6,386.2,-11.1,302,3165,0.00,1.52,0.00,0.000,4,0.000,0.051,2520,3260,3625
$GC,3208,-0.63,-194.6,391.8,-10.9,306,3216,0.00,1.45,0.00,0.000,6,0.000,0.031,2520,2374,3625
$GC,3526,-0.63,-194.6,427.4,-11.4,337,3527,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2374,3623
$GC,3835,-0.63,-194.6,462.3,-11.3,367,3838,0.00,1.52,0.00,0.000,4,0.000,0.051,2513,3261,3620
$GC,3877,-0.63,-194.6,467.3,-12.0,371,3881,0.08,1.45,0.00,0.000,6,0.151,0.033,2537,2369,3620
$GC,4199,-0.63,-194.6,499.5,-9.9,402,4199,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2370,3618
$GC,4509,-0.63,-194.6,531.2,-10.2,432,4509,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2370,3614
$GC,4820,-0.63,-194.6,562.4,-9.7,462,4823,0.00,1.52,0.00,0.000,4,0.000,0.053,2532,3256,3611
$GC,4872,-0.63,-194.6,568.0,-10.1,467,4876,0.00,1.45,0.00,0.000,6,0.000,0.035,2532,2372,3612
$GC,5195,-0.63,-194.6,601.0,-10.4,498,5196,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2371,3609
$GC,5503,-0.63,-194.6,632.0,-9.8,528,5504,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2372,3607
$GC,5814,-0.63,-194.6,663.0,-9.7,558,5815,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2372,3606
$GC,6125,-0.63,-194.6,693.3,-9.6,588,6125,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2372,3603
$GC,6435,-0.63,-194.6,724.0,-9.9,618,6438,0.00,1.55,0.00,0.000,4,0.000,0.056,2526,3259,3601
$GC,6488,-0.63,-194.6,729.5,-10.6,623,6492,0.00,1.48,0.00,0.000,6,0.000,0.037,2526,2371,3600
$GC,6810,-0.63,-194.6,761.0,-9.4,654,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2371,3599
$GC,7120,-0.63,-194.6,790.9,-9.9,684,7123,0.00,1.55,0.00,0.000,4,0.000,0.057,2519,3258,3597
$GC,7173,-0.63,-194.6,796.2,-10.5,689,7176,0.00,1.48,0.00,0.000,6,0.000,0.038,2519,2370,3597
$GC,7495,-0.63,-194.6,829.0,-9.8,720,7498,0.00,1.27,0.00,0.000,4,0.000,0.048,2519,1489,3596
$GC,7537,-0.63,-194.6,833.4,-9.9,724,7541,0.08,1.30,0.00,0.000,6,0.153,0.048,2537,2366,3595
$GC,7858,-0.63,-194.6,860.4,-8.4,755,7862,0.00,1.55,0.00,0.000,4,0.000,0.059,2532,3257,3594
$GC,7900,-0.63,-194.6,864.3,-10.1,759,7904,0.00,1.48,0.00,0.000,6,0.000,0.038,2532,2370,3593
$GC,8222,-0.63,-194.6,892.8,-8.7,790,8223,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2369,3593
$GC,8532,-0.63,-194.6,920.2,-8.7,820,8535,0.00,1.58,0.00,0.000,4,0.000,0.060,2525,3259,3591
$GC,8575,-0.63,-194.6,924.3,-9.5,824,8578,0.00,1.48,0.00,0.000,6,0.000,0.038,2525,2373,3591
$GC,8896,-0.63,-194.6,953.3,-9.3,855,8897,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2373,3590
$GC,9206,-0.63,-194.6,981.5,-9.4,885,9207,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2373,3589
$STATE,9307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9307,begin apogee
$GC,9311,-0.25,0.0,990.7,8.7,895,9463,0.47,0.00,149.12,1.259,6,0.142,0.000,2665,2257,2840
$STATE,9464,end apogee,CONTROL_FINISHED_OK
$STATE,9464,begin climb
$GC,9466,0.63,194.6,994.8,0.0,910,9636,0.88,0.00,166.30,1.220,6,0.106,0.000,2938,2258,2046
$GC,9943,0.63,194.6,944.7,11.6,955,9944,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2258,2035
$GC,10253,0.63,194.6,907.8,12.2,985,10254,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2258,2033
$GC,10564,0.63,194.6,871.2,11.7,1015,10565,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2257,2032
$GC,10874,0.63,194.6,835.2,11.3,1045,10875,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2258,2032
$GC,11185,0.63,194.6,799.2,11.6,1075,11185,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2258,2031
$GC,11495,0.63,194.6,763.0,11.8,1105,11498,0.00,1.67,0.00,0.000,4,0.000,0.055,2938,3139,2030
$GC,11531,0.63,194.6,758.6,12.1,1108,11540,0.00,1.65,0.00,0.000,6,0.000,0.038,2946,2245,2029
$GC,11849,0.63,194.6,720.6,12.1,1139,11849,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2245,2029
$GC,12158,0.63,194.6,685.1,11.5,1169,12159,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2246,2028
$GC,12469,0.63,194.6,650.3,10.8,1199,12469,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2246,2028
$GC,12779,0.63,194.6,615.0,11.9,1229,12782,0.00,1.70,0.00,0.000,4,0.000,0.055,2946,3138,2028
$GC,12811,0.63,194.6,611.3,12.2,1232,12814,0.00,1.62,0.00,0.000,6,0.000,0.039,2954,2247,2026
$GC,13132,0.63,194.6,572.9,11.8,1263,13133,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2248,2027
$GC,13442,0.63,194.6,536.9,11.3,1293,13443,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2247,2026
$GC,13752,0.63,194.6,502.4,11.1,1323,13755,0.00,1.70,0.00,0.000,4,0.000,0.054,2953,3141,2026
$GC,13794,0.63,194.6,497.5,11.9,1327,13798,0.00,1.62,0.00,0.000,6,0.000,0.038,2961,2249,2026
$GC,14117,0.63,194.6,459.6,11.8,1358,14118,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2250,2026
$GC,14426,0.63,194.6,422.3,11.7,1388,14426,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2250,2026
$GC,14736,0.63,194.6,384.3,12.0,1418,14739,0.00,1.67,0.00,0.000,4,0.000,0.054,2961,3155,2026
$GC,14772,0.63,194.6,379.5,12.9,1421,14780,0.00,1.65,0.00,0.000,6,0.000,0.037,2969,2250,2026
$GC,15090,0.63,194.6,338.6,12.9,1452,15093,0.00,1.12,0.00,0.000,4,0.000,0.044,2974,1347,2026
$GC,15125,0.63,194.6,333.7,12.7,1455,15133,0.00,1.23,0.00,0.000,6,0.000,0.042,2975,2271,2026
$GC,15443,0.63,194.6,291.7,13.0,1486,15444,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2271,2026
$GC,15752,0.63,194.6,250.4,12.9,1516,15753,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2271,2026
$GC,16063,0.63,194.6,209.4,13.2,1546,16066,0.00,1.20,0.00,0.000,4,0.000,0.041,2980,1343,2026
$GC,16105,0.63,194.6,203.9,12.6,1550,16109,0.08,1.17,0.00,0.000,6,0.146,0.041,2955,2259,2027
$GC,16426,0.63,194.6,167.8,11.2,1581,16427,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2260,2027
$GC,16737,0.63,194.6,134.7,10.0,1611,16740,0.00,1.62,0.00,0.000,4,0.000,0.049,2955,3136,2028
$GC,16762,0.63,194.6,131.9,12.1,1613,16770,0.00,1.62,0.00,0.000,6,0.000,0.033,2961,2232,2027
$GC,17079,0.63,194.6,97.9,10.4,1644,17080,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2233,2028
$GC,17264,0.63,194.6,78.3,10.8,1662,17268,0.00,1.67,0.00,0.000,4,0.000,0.048,2961,3132,2029
$GC,17318,0.63,194.6,72.4,11.1,1667,17321,0.00,1.55,0.00,0.000,6,0.000,0.033,2970,2258,2029
$GC,17515,0.63,194.6,51.9,10.0,1686,17518,0.00,1.62,0.00,0.000,4,0.000,0.047,2969,3127,2030
$GC,17550,0.63,194.6,47.9,10.8,1689,17558,0.00,1.60,0.00,0.000,6,0.000,0.031,2977,2233,2029
$GC,17743,0.70,255.0,32.4,5.9,1708,17791,0.00,1.67,44.22,0.545,4,0.000,0.045,2977,3143,1800
$GC,17845,0.75,297.6,26.6,6.4,1717,17888,0.00,1.58,32.78,0.528,6,0.000,0.030,2984,2264,1625
$GC,18072,0.94,450.4,15.4,3.5,1739,18188,0.17,0.00,113.15,0.518,6,0.059,0.000,3071,2264,1002
$GC,18372,1.28,723.8,5.5,0.3,1768,18472,0.22,0.00,96.90,0.498,2,0.126,0.000,3144,2263,465
$STATE,18472,end climb,SURFACE_DEPTH_REACHED
$STATE,18472,begin surface coast
$FINISH,0.7,1.016582
$STATE,18538,end surface coast,CONTROL_FINISHED_OK
$STATE,18538,begin surface
$SM_CCo,18613,0.00,0.000,0,0,461,583.80
$SM_GC,2.28,8.07,0.00,0.00,0.045,0.000,0.000,195,2373,461,-7.92,-0.06,583.80
$IRIDIUM_FIX,2818.74,-9036.78,180999,040452
$TT8_MAMPS,0.050622
$HUMID,1331
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,23.90
$XPDR_PINGS,1
$24V_AH,23.1,29.443
$10V_AH,10.7,40.758
$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,20.525,64.025,602.475,0.000,0.000,31.004,32.455,252.117,0.250,0.000,0.000,11.153,0.000,12643.617,607.864,5165.271,589.685,31.411,2060.462,0.000,4653.292,0.000,0.848,0.000
$DEVICE_MAMPS,256.178,60.593,1259.414,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1220.528,1307.478,4009.938,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94572,1784
$CAP_FILE_SIZE,156600,0
$CFSIZE,260165632,240676864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.069,163.2,1
$GPS,240610,143731,2830.144,-8843.381,44,1.6,50,-0.2