version: 66.04
glider: 515
mission: 5
dive: 164
start: 6 25 110 6 28 4
data:
$ID,515
$MISSION,5
$DIVE,164
$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,-15330.341
$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,43
$R_STBD_OVSHOOT,25
$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
$GPS1,061536,2832.916,-8836.524,33,2.0,33,-0.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-67.8
$GPS2,062725,2832.907,-8836.672,12,2.0,29,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618A
$TGT_LATLONG,2837.900,-8826.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.181,0.193
$KALMAN_X,-12564.8,216.8,67.6,34105.6,-4760.8
$KALMAN_Y,-11355.7,213.5,487.7,19088.7,-5088.7
$MHEAD_RNG_PITCHd_Wd,52.7,19658,-10.8,-7.500
$D_GRID,1428
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.63,-194.6,0.0,0.0,0,87,0.00,0.00,-72.78,0.000,2,0.000,0.000,203,2370,2495
$GC,89,-0.63,-194.6,3.1,-3.6,7,136,10.40,0.00,-31.38,0.000,6,0.255,0.000,2535,2370,3634
$GC,321,-0.63,-194.6,46.7,-18.2,29,324,0.00,1.50,0.00,0.000,4,0.000,0.044,2531,3261,3636
$GC,449,-0.63,-194.6,65.8,-13.8,41,452,0.00,1.42,0.00,0.000,6,0.000,0.028,2536,2372,3637
$GC,646,-0.63,-194.6,92.1,-12.9,60,647,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2371,3638
$GC,832,-0.63,-194.6,116.7,-13.2,78,835,0.00,1.50,0.00,0.000,4,0.000,0.044,2530,3263,3638
$GC,889,-0.63,-194.6,124.6,-13.7,83,898,0.00,1.45,0.00,0.000,6,0.000,0.028,2535,2369,3638
$GC,1206,-0.63,-194.6,162.4,-11.5,114,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2368,3637
$GC,1517,-0.63,-194.6,197.4,-10.9,144,1520,0.00,1.50,0.00,0.000,4,0.000,0.045,2530,3260,3637
$GC,1580,-0.63,-194.6,204.8,-11.4,150,1584,0.00,1.42,0.00,0.000,6,0.000,0.029,2533,2370,3636
$GC,1902,-0.63,-194.6,240.3,-10.7,181,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2369,3635
$GC,2211,-0.63,-194.6,272.8,-10.4,211,2215,0.00,1.50,0.00,0.000,4,0.000,0.048,2528,3256,3632
$GC,2297,-0.63,-194.6,282.0,-10.7,219,2300,0.00,1.42,0.00,0.000,6,0.000,0.031,2527,2370,3631
$GC,2619,-0.63,-194.6,316.6,-10.6,250,2620,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2369,3629
$GC,2928,-0.63,-194.6,351.3,-11.2,280,2931,0.00,1.52,0.00,0.000,4,0.000,0.050,2521,3260,3626
$GC,2996,-0.63,-194.6,359.3,-11.4,286,3004,0.00,1.45,0.00,0.000,6,0.000,0.031,2521,2372,3625
$GC,3314,-0.63,-194.6,396.3,-11.7,317,3315,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2371,3623
$GC,3623,-0.63,-194.6,432.1,-11.8,347,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2372,3621
$GC,3934,-0.63,-194.6,466.9,-10.8,377,3937,0.00,1.52,0.00,0.000,4,0.000,0.053,2514,3258,3619
$GC,4018,-0.63,-194.6,476.8,-11.9,385,4022,0.08,1.45,0.00,0.000,6,0.147,0.034,2537,2370,3617
$GC,4340,-0.63,-194.6,509.2,-10.0,416,4343,0.00,1.52,0.00,0.000,4,0.000,0.054,2531,3259,3616
$GC,4387,-0.63,-194.6,514.3,-10.8,420,4394,0.00,1.45,0.00,0.000,6,0.000,0.034,2532,2373,3615
$GC,4704,-0.63,-194.6,547.0,-10.5,451,4705,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2372,3612
$GC,5014,-0.63,-194.6,578.7,-10.0,481,5017,0.00,1.52,0.00,0.000,4,0.000,0.055,2525,3254,3611
$GC,5060,-0.63,-194.6,583.7,-10.2,485,5068,0.00,1.45,0.00,0.000,6,0.000,0.035,2525,2374,3610
$GC,5378,-0.63,-194.6,617.1,-11.1,516,5381,0.00,1.52,0.00,0.000,4,0.000,0.056,2519,3254,3607
$GC,5446,-0.63,-194.6,624.9,-11.3,522,5453,0.00,1.48,0.00,0.000,6,0.000,0.036,2518,2370,3607
$GC,5763,-0.63,-194.6,659.3,-11.1,553,5764,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2371,3605
$GC,6073,-0.63,-194.6,693.5,-10.8,583,6074,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2371,3604
$GC,6383,-0.63,-194.6,726.3,-10.2,613,6386,0.00,1.55,0.00,0.000,4,0.000,0.056,2512,3259,3601
$GC,6420,-0.63,-194.6,730.2,-10.5,616,6427,0.08,1.48,0.00,0.000,6,0.148,0.038,2535,2371,3601
$GC,6736,-0.63,-194.6,758.7,-9.0,647,6736,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2371,3600
$GC,7047,-0.63,-194.6,786.5,-8.8,677,7048,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2372,3598
$GC,7356,-0.63,-194.6,814.3,-8.8,707,7357,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2371,3596
$GC,7667,-0.63,-194.6,841.5,-8.4,737,7668,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2371,3595
$GC,7978,-0.63,-194.6,869.2,-9.0,767,7980,0.00,1.55,0.00,0.000,4,0.000,0.059,2531,3255,3593
$GC,8030,-0.63,-194.6,874.1,-9.0,772,8034,0.00,1.48,0.00,0.000,6,0.000,0.040,2531,2373,3593
$GC,8353,-0.63,-194.6,903.6,-8.9,803,8356,0.00,1.55,0.00,0.000,4,0.000,0.060,2523,3255,3591
$GC,8395,-0.63,-194.6,907.8,-9.6,807,8398,0.00,1.48,0.00,0.000,6,0.000,0.040,2523,2373,3591
$GC,8717,-0.63,-194.6,937.4,-8.8,838,8718,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2374,3590
$GC,9027,-0.63,-194.6,965.5,-9.3,868,9027,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2374,3589
$STATE,9304,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9304,begin apogee
$GC,9308,-0.25,0.0,990.7,8.8,895,9460,0.47,0.00,149.18,1.259,6,0.138,0.000,2664,2246,2840
$STATE,9460,end apogee,CONTROL_FINISHED_OK
$STATE,9461,begin climb
$GC,9462,0.63,194.6,994.9,0.0,910,9633,0.88,1.23,165.62,1.223,4,0.104,0.044,2945,1361,2048
$GC,9682,0.63,194.6,975.8,13.1,929,9685,0.00,1.25,0.00,0.000,6,0.000,0.044,2945,2254,2042
$GC,10004,0.63,194.6,936.2,12.2,960,10005,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2254,2037
$GC,10314,0.63,194.6,898.8,11.6,990,10317,0.00,1.17,0.00,0.000,4,0.000,0.045,2950,1356,2035
$GC,10381,0.63,194.6,890.6,12.1,996,10389,0.00,1.23,0.00,0.000,6,0.000,0.044,2950,2264,2035
$GC,10699,0.63,194.6,852.5,11.6,1027,10700,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2265,2034
$GC,11008,0.63,194.6,815.0,11.8,1057,11011,0.00,1.20,0.00,0.000,4,0.000,0.045,2955,1343,2032
$GC,11076,0.63,194.6,806.7,11.8,1063,11085,0.00,1.23,0.00,0.000,6,0.000,0.044,2956,2262,2033
$GC,11394,0.63,194.6,767.4,12.5,1094,11397,0.00,1.17,0.00,0.000,4,0.000,0.045,2960,1357,2031
$GC,11457,0.63,194.6,759.2,12.8,1100,11460,0.00,1.17,0.00,0.000,6,0.000,0.044,2961,2256,2031
$GC,11778,0.63,194.6,718.7,12.9,1131,11781,0.00,1.17,0.00,0.000,4,0.000,0.044,2966,1347,2031
$GC,11835,0.63,194.6,711.3,12.5,1136,11843,0.00,1.20,0.00,0.000,6,0.000,0.044,2966,2254,2031
$GC,12153,0.63,194.6,671.5,12.3,1167,12156,0.00,1.15,0.00,0.000,4,0.000,0.045,2971,1359,2030
$GC,12184,0.63,194.6,667.7,12.5,1170,12187,0.00,1.17,0.00,0.000,6,0.000,0.044,2971,2256,2030
$GC,12506,0.63,194.6,626.5,12.8,1201,12509,0.00,1.17,0.00,0.000,4,0.000,0.045,2976,1347,2030
$GC,12559,0.63,194.6,619.4,13.2,1206,12562,0.00,1.17,0.00,0.000,6,0.000,0.044,2976,2251,2030
$GC,12880,0.63,194.6,577.4,12.8,1237,12880,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2252,2030
$GC,13190,0.63,194.6,536.9,12.7,1267,13193,0.00,1.15,0.00,0.000,4,0.000,0.044,2981,1356,2030
$GC,13237,0.63,194.6,530.8,13.1,1271,13245,0.12,1.20,0.00,0.000,6,0.154,0.043,2950,2261,2030
$GC,13553,0.63,194.6,495.8,11.1,1302,13554,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2261,2029
$GC,13863,0.63,194.6,460.6,11.4,1332,13867,0.00,1.17,0.00,0.000,4,0.000,0.044,2954,1353,2029
$GC,13906,0.63,194.6,455.8,10.5,1336,13909,0.00,1.17,0.00,0.000,6,0.000,0.043,2954,2253,2029
$GC,14228,0.63,194.6,418.9,11.4,1367,14229,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2253,2029
$GC,14537,0.63,194.6,382.6,11.5,1397,14540,0.00,1.15,0.00,0.000,4,0.000,0.042,2959,1355,2029
$GC,14612,0.63,194.6,373.9,12.1,1404,14615,0.00,1.17,0.00,0.000,6,0.000,0.043,2959,2260,2029
$GC,14933,0.63,194.6,336.0,11.9,1435,14936,0.00,1.17,0.00,0.000,4,0.000,0.042,2965,1341,2029
$GC,14976,0.63,194.6,330.8,10.5,1439,14979,0.00,1.17,0.00,0.000,6,0.000,0.042,2964,2253,2029
$GC,15296,0.63,194.6,292.1,11.9,1470,15297,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2253,2029
$GC,15607,0.63,194.6,255.6,11.4,1500,15610,0.00,1.15,0.00,0.000,4,0.000,0.041,2969,1345,2030
$GC,15664,0.63,194.6,248.5,12.0,1505,15671,0.00,1.20,0.00,0.000,6,0.000,0.041,2969,2261,2029
$GC,15981,0.63,194.6,208.8,12.6,1536,15982,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2261,2029
$GC,16291,0.63,194.6,170.7,12.2,1566,16292,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2261,2029
$GC,16601,0.63,194.6,133.3,11.7,1596,16604,0.00,1.17,0.00,0.000,4,0.000,0.039,2974,1336,2030
$GC,16644,0.63,194.6,128.3,13.1,1600,16647,0.00,1.17,0.00,0.000,6,0.000,0.039,2974,2256,2030
$GC,16965,0.63,194.6,91.1,11.0,1631,16965,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2256,2030
$GC,17151,0.63,194.6,70.4,10.7,1649,17152,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2255,2030
$GC,17337,0.63,194.6,51.3,9.5,1667,17338,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2256,2030
$GC,17523,0.67,230.5,35.7,6.6,1685,17559,0.00,1.15,26.52,0.538,4,0.000,0.038,2980,1354,1899
$GC,17613,0.77,309.4,30.5,5.4,1693,17676,0.00,1.15,59.72,0.539,6,0.000,0.036,2979,2255,1577
$GC,17863,0.89,413.1,17.8,4.8,1716,17945,0.15,1.62,76.85,0.518,4,0.063,0.043,3059,3135,1154
$GC,17977,0.89,413.1,7.8,8.6,1726,17980,0.08,1.62,0.00,0.000,6,0.126,0.030,3031,2247,1151
$STATE,18037,end climb,SURFACE_DEPTH_REACHED
$STATE,18037,begin surface coast
$FINISH,0.5,1.023443
$STATE,18068,end surface coast,CONTROL_FINISHED_OK
$STATE,18068,begin surface
$SM_CCo,18082,78.40,0.495,0,0,494,575.22
$SM_GC,1.39,0.00,0.00,78.40,0.000,0.000,0.495,199,2370,494,-7.96,-0.14,575.22
$IRIDIUM_FIX,2823.64,-8834.14,190999,060657
$TT8_MAMPS,0.049855
$HUMID,1333
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,23.00
$XPDR_PINGS,5
$24V_AH,22.2,30.115
$10V_AH,10.6,41.655
$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,19.900,72.625,477.900,78.400,0.000,76.538,178.874,202.548,1.250,0.000,0.000,31.554,0.000,12321.684,612.722,5157.159,749.626,33.326,2072.991,0.000,4627.175,0.000,0.848,0.000
$DEVICE_MAMPS,254.644,59.826,1258.647,494.715,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1188.222,1270.254,3899.606,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91478,1735
$CAP_FILE_SIZE,160835,0
$CFSIZE,260165632,240324608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.060,206.4,1
$GPS,250610,113136,2833.795,-8834.374,29,1.0,29,-0.3