version: 66.04
glider: 515
mission: 5
dive: 163
start: 6 25 110 1 14 4
data:
$ID,515
$MISSION,5
$DIVE,163
$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,-15298.159
$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,27
$R_STBD_OVSHOOT,21
$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
$GPS1,010625,2832.056,-8838.752,84,1.9,84,-0.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-73.3
$GPS2,011325,2831.981,-8838.799,8,1.2,13,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618A
$TGT_LATLONG,2837.900,-8826.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.239,0.114
$KALMAN_X,-10878.5,633.3,499.9,28103.7,-6180.4
$KALMAN_Y,-8847.3,-434.8,-227.8,16231.7,-2940.8
$MHEAD_RNG_PITCHd_Wd,48.9,23516,-10.8,-7.500
$D_GRID,1407
$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,-33.47,0.000,2,0.000,0.000,199,2365,1525
$GC,49,-0.63,-194.6,3.2,-6.7,3,118,10.52,1.25,-51.83,0.000,4,0.256,0.056,2538,1460,3635
$GC,335,-0.63,-194.6,50.8,-16.8,29,343,0.00,1.35,0.00,0.000,6,0.000,0.035,2534,2386,3636
$GC,527,-0.63,-194.6,77.0,-12.8,48,531,0.00,1.45,0.00,0.000,4,0.000,0.044,2527,3259,3637
$GC,606,-0.63,-194.6,88.1,-13.7,55,614,0.00,1.48,0.00,0.000,6,0.000,0.027,2526,2358,3637
$GC,799,-0.63,-194.6,113.7,-12.4,74,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2357,3638
$GC,1109,-0.63,-194.6,153.9,-12.8,104,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2357,3638
$GC,1420,-0.63,-194.6,191.1,-11.9,134,1423,0.00,1.55,0.00,0.000,4,0.000,0.046,2519,3266,3637
$GC,1494,-0.63,-194.6,200.0,-11.9,141,1497,0.00,1.45,0.00,0.000,6,0.000,0.028,2519,2364,3637
$GC,1816,-0.63,-194.6,239.3,-12.1,172,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2363,3634
$GC,2125,-0.63,-194.6,277.1,-11.9,202,2129,0.00,1.52,0.00,0.000,4,0.000,0.048,2513,3258,3632
$GC,2243,-0.63,-194.6,291.6,-12.3,213,2246,0.08,1.42,0.00,0.000,6,0.150,0.030,2537,2368,3630
$GC,2564,-0.63,-194.6,325.9,-10.3,244,2564,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2368,3629
$GC,2874,-0.63,-194.6,358.3,-10.5,274,2877,0.00,1.52,0.00,0.000,4,0.000,0.051,2532,3259,3626
$GC,2948,-0.63,-194.6,366.4,-10.8,281,2952,0.00,1.42,0.00,0.000,6,0.000,0.031,2531,2375,3625
$GC,3270,-0.63,-194.6,401.3,-10.8,312,3271,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2374,3623
$GC,3580,-0.63,-194.6,434.7,-11.0,342,3583,0.00,1.52,0.00,0.000,4,0.000,0.052,2525,3262,3620
$GC,3680,-0.63,-194.6,445.8,-10.5,351,3688,0.00,1.48,0.00,0.000,6,0.000,0.032,2525,2362,3620
$GC,3998,-0.63,-194.6,480.7,-11.1,382,4001,0.00,1.55,0.00,0.000,4,0.000,0.053,2518,3257,3616
$GC,4076,-0.63,-194.6,490.1,-11.6,389,4083,0.00,1.48,0.00,0.000,6,0.000,0.034,2518,2366,3616
$GC,4394,-0.63,-194.6,526.1,-11.4,420,4397,0.00,1.55,0.00,0.000,4,0.000,0.054,2511,3258,3613
$GC,4472,-0.63,-194.6,535.6,-10.9,427,4480,0.12,1.48,0.00,0.000,6,0.151,0.034,2541,2367,3612
$GC,4790,-0.63,-194.6,567.2,-9.9,458,4793,0.00,1.55,0.00,0.000,4,0.000,0.054,2537,3259,3609
$GC,4832,-0.63,-194.6,571.7,-10.1,462,4836,0.00,1.45,0.00,0.000,6,0.000,0.034,2537,2373,3609
$GC,5154,-0.63,-194.6,604.8,-10.4,493,5156,0.00,1.52,0.00,0.000,4,0.000,0.055,2532,3255,3608
$GC,5207,-0.63,-194.6,610.4,-10.1,498,5210,0.00,1.45,0.00,0.000,6,0.000,0.036,2531,2373,3608
$GC,5528,-0.63,-194.6,643.5,-10.0,529,5531,0.00,1.52,0.00,0.000,4,0.000,0.056,2524,3255,3605
$GC,5602,-0.63,-194.6,651.4,-10.5,536,5605,0.00,1.45,0.00,0.000,6,0.000,0.037,2524,2373,3604
$GC,5924,-0.63,-194.6,684.0,-9.7,567,5925,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2371,3602
$GC,6234,-0.63,-194.6,716.1,-10.4,597,6237,0.00,1.55,0.00,0.000,4,0.000,0.057,2517,3258,3600
$GC,6308,-0.63,-194.6,724.1,-10.7,604,6311,0.00,1.48,0.00,0.000,6,0.000,0.037,2517,2370,3600
$GC,6630,-0.63,-194.6,758.7,-10.8,635,6631,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2369,3598
$GC,6939,-0.63,-194.6,792.0,-10.2,665,6942,0.00,1.55,0.00,0.000,4,0.000,0.058,2510,3256,3596
$GC,7025,-0.63,-194.6,801.1,-10.5,673,7028,0.10,1.48,0.00,0.000,6,0.146,0.038,2541,2369,3596
$GC,7345,-0.63,-194.6,829.0,-8.7,704,7346,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2370,3594
$GC,7656,-0.63,-194.6,855.7,-8.3,734,7659,0.00,1.55,0.00,0.000,4,0.000,0.058,2536,3253,3593
$GC,7724,-0.63,-194.6,861.9,-8.7,740,7733,0.00,1.50,0.00,0.000,6,0.000,0.038,2536,2364,3593
$GC,8042,-0.63,-194.6,888.3,-8.5,771,8045,0.00,1.58,0.00,0.000,4,0.000,0.059,2529,3256,3592
$GC,8094,-0.63,-194.6,893.1,-10.1,776,8098,0.00,1.48,0.00,0.000,6,0.000,0.038,2529,2371,3591
$GC,8417,-0.63,-194.6,922.1,-9.1,807,8420,0.00,1.55,0.00,0.000,4,0.000,0.060,2522,3255,3590
$GC,8469,-0.63,-194.6,927.4,-9.2,812,8473,0.00,1.48,0.00,0.000,6,0.000,0.039,2522,2370,3590
$GC,8792,-0.63,-194.6,958.1,-9.4,843,8793,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2370,3589
$GC,9101,-0.63,-194.6,987.4,-9.3,873,9104,0.00,1.55,0.00,0.000,4,0.000,0.059,2515,3250,3588
$STATE,9124,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9124,begin apogee
$GC,9130,-0.25,0.0,990.2,9.3,875,9286,0.47,0.00,149.07,1.258,6,0.143,0.000,2660,2260,2840
$STATE,9287,end apogee,CONTROL_FINISHED_OK
$STATE,9287,begin climb
$GC,9289,0.63,194.6,995.0,0.0,891,9461,0.90,1.30,166.15,1.222,4,0.106,0.053,2947,1347,2045
$GC,9515,0.63,194.6,975.1,11.8,910,9517,0.00,1.27,0.00,0.000,6,0.000,0.045,2947,2255,2039
$GC,9836,0.63,194.6,935.3,12.3,941,9839,0.00,1.20,0.00,0.000,4,0.000,0.045,2953,1346,2034
$GC,9893,0.63,194.6,928.2,12.5,946,9900,0.00,1.25,0.00,0.000,6,0.000,0.044,2953,2264,2034
$GC,10211,0.63,194.6,889.6,12.4,977,10212,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2265,2032
$GC,10519,0.63,194.6,851.1,12.5,1007,10523,0.00,1.20,0.00,0.000,4,0.000,0.044,2958,1349,2031
$GC,10594,0.63,194.6,842.0,11.4,1014,10597,0.00,1.20,0.00,0.000,6,0.000,0.045,2958,2259,2031
$GC,10915,0.63,194.6,801.1,12.9,1045,10918,0.00,1.20,0.00,0.000,4,0.000,0.045,2963,1337,2030
$GC,10958,0.63,194.6,795.5,13.0,1049,10961,0.00,1.20,0.00,0.000,6,0.000,0.044,2963,2254,2029
$GC,11278,0.63,194.6,754.9,12.1,1080,11281,0.00,1.17,0.00,0.000,4,0.000,0.045,2968,1342,2029
$GC,11347,0.63,194.6,746.3,12.4,1086,11354,0.00,1.23,0.00,0.000,6,0.000,0.044,2968,2262,2029
$GC,11664,0.63,194.6,705.0,13.3,1117,11667,0.00,1.20,0.00,0.000,4,0.000,0.045,2974,1340,2028
$GC,11732,0.63,194.6,695.4,13.0,1123,11739,0.00,1.23,0.00,0.000,6,0.000,0.044,2974,2261,2029
$GC,12049,0.63,194.6,652.8,13.1,1154,12053,0.00,1.20,0.00,0.000,4,0.000,0.044,2979,1336,2027
$GC,12113,0.63,194.6,644.0,13.4,1160,12116,0.08,1.20,0.00,0.000,6,0.151,0.044,2954,2256,2028
$GC,12433,0.63,194.6,606.1,11.7,1191,12437,0.00,1.17,0.00,0.000,4,0.000,0.044,2959,1344,2027
$GC,12487,0.63,194.6,599.9,11.4,1196,12490,0.00,1.20,0.00,0.000,6,0.000,0.044,2959,2259,2027
$GC,12809,0.63,194.6,562.2,11.7,1227,12812,0.00,1.20,0.00,0.000,4,0.000,0.044,2964,1333,2026
$GC,12883,0.63,194.6,553.3,11.9,1234,12886,0.00,1.20,0.00,0.000,6,0.000,0.044,2964,2256,2027
$GC,13204,0.63,194.6,514.3,12.2,1265,13205,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2256,2027
$GC,13515,0.63,194.6,476.3,12.3,1295,13518,0.00,1.17,0.00,0.000,4,0.000,0.044,2969,1341,2027
$GC,13572,0.63,194.6,469.0,11.7,1300,13580,0.00,1.20,0.00,0.000,6,0.000,0.042,2969,2256,2026
$GC,13890,0.63,194.6,429.0,13.1,1331,13891,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2256,2026
$GC,14198,0.63,194.6,389.6,12.1,1361,14202,0.00,1.17,0.00,0.000,4,0.000,0.043,2973,1341,2026
$GC,14295,0.63,194.6,377.5,12.6,1370,14298,0.00,1.17,0.00,0.000,6,0.000,0.043,2974,2250,2026
$GC,14617,0.63,194.6,336.7,12.4,1401,14617,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2250,2027
$GC,14926,0.63,194.6,296.6,12.7,1431,14929,0.00,1.15,0.00,0.000,4,0.000,0.042,2979,1341,2026
$GC,15000,0.63,194.6,287.0,13.4,1438,15004,0.08,1.17,0.00,0.000,6,0.146,0.041,2955,2253,2027
$GC,15321,0.63,194.6,250.6,11.5,1469,15324,0.00,1.17,0.00,0.000,4,0.000,0.041,2959,1329,2027
$GC,15389,0.63,194.6,242.7,11.4,1475,15397,0.00,1.23,0.00,0.000,6,0.000,0.040,2959,2264,2027
$GC,15707,0.63,194.6,206.9,10.8,1506,15710,0.00,1.17,0.00,0.000,4,0.000,0.041,2964,1340,2027
$GC,15770,0.63,194.6,199.4,11.7,1512,15774,0.00,1.17,0.00,0.000,6,0.000,0.041,2964,2256,2027
$GC,16091,0.63,194.6,162.6,11.7,1543,16094,0.00,1.17,0.00,0.000,4,0.000,0.040,2969,1327,2027
$GC,16123,0.63,194.6,159.0,11.8,1546,16126,0.00,1.17,0.00,0.000,6,0.000,0.039,2969,2252,2027
$GC,16444,0.63,194.6,120.9,11.8,1577,16447,0.00,1.15,0.00,0.000,4,0.000,0.039,2974,1335,2028
$GC,16540,0.63,194.6,110.4,10.5,1586,16543,0.00,1.17,0.00,0.000,6,0.000,0.038,2973,2259,2028
$GC,16862,0.63,194.6,75.5,9.7,1617,16865,0.00,1.17,0.00,0.000,4,0.000,0.038,2979,1323,2029
$GC,16908,0.63,194.6,70.9,9.7,1621,16916,0.12,1.20,0.00,0.000,6,0.137,0.036,2947,2257,2029
$GC,17100,0.63,194.6,55.8,7.6,1640,17101,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2257,2029
$GC,17287,0.72,271.6,43.4,5.5,1658,17348,0.00,0.00,56.47,0.553,6,0.000,0.000,2947,2257,1731
$GC,17533,0.77,315.5,30.6,6.3,1682,17571,0.15,1.67,33.55,0.527,4,0.057,0.045,3021,3136,1552
$GC,17596,0.77,315.5,24.7,11.1,1687,17604,0.12,1.65,0.00,0.000,6,0.131,0.030,2995,2228,1549
$GC,17788,0.88,405.1,13.7,5.1,1706,17863,0.12,0.00,66.68,0.513,6,0.067,0.000,3063,2225,1187
$STATE,17910,end climb,SURFACE_DEPTH_REACHED
$STATE,17911,begin surface coast
$FINISH,0.6,1.017189
$STATE,17941,end surface coast,CONTROL_FINISHED_OK
$STATE,17941,begin surface
$SM_CCo,17955,82.43,0.496,0,0,494,575.22
$SM_GC,1.37,0.00,0.00,82.43,0.000,0.000,0.496,203,2370,494,-7.95,-0.14,575.22
$IRIDIUM_FIX,2821.19,-8853.80,180999,202021
$TT8_MAMPS,0.051389
$HUMID,1340
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,23.1,29.947
$10V_AH,10.6,41.431
$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,20.675,95.275,471.925,82.425,0.000,28.156,32.251,244.047,0.250,0.000,0.000,15.350,0.000,11937.330,625.461,5240.342,625.925,33.326,2145.389,0.000,4719.453,0.000,0.849,0.000
$DEVICE_MAMPS,256.178,59.826,1257.880,496.249,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1178.115,1261.163,3868.173,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91462,1721
$CAP_FILE_SIZE,167659,0
$CFSIZE,260165632,240410624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.064,199.2,1
$GPS,250610,061536,2832.916,-8836.524,33,2.0,33,-0.3