version: 66.04
glider: 515
mission: 5
dive: 165
start: 6 25 110 11 39 47
data:
$ID,515
$MISSION,5
$DIVE,165
$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,-15349.066
$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,33
$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
$GPS1,113136,2833.795,-8834.374,29,1.0,29,-0.3
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-68.1
$GPS2,113907,2833.826,-8834.414,11,1.1,16,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618A
$TGT_LATLONG,2837.900,-8826.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.176,0.197
$KALMAN_X,-13917.2,300.2,563.9,38552.5,-5301.6
$KALMAN_Y,-14445.4,805.3,-256.9,24033.1,-5570.4
$MHEAD_RNG_PITCHd_Wd,54.0,15620,-10.8,-7.500
$D_GRID,1488
$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,-194.6,0.0,0.0,0,86,0.00,0.00,-72.75,0.000,2,0.000,0.000,198,2370,2476
$GC,88,-0.63,-194.6,3.0,-3.1,7,136,10.48,1.50,-32.42,0.000,4,0.255,0.065,2532,3274,3634
$GC,263,-0.63,-194.6,39.4,-20.8,23,267,0.00,1.50,0.00,0.000,6,0.000,0.029,2537,2369,3635
$GC,460,-0.63,-194.6,68.8,-12.9,42,461,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2368,3636
$GC,647,-0.63,-194.6,92.7,-12.1,60,647,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2368,3638
$GC,833,-0.63,-194.6,115.5,-11.8,78,836,0.00,1.50,0.00,0.000,4,0.000,0.044,2532,3262,3638
$GC,879,-0.63,-194.6,121.5,-12.7,82,887,0.00,1.48,0.00,0.000,6,0.000,0.028,2536,2360,3638
$GC,1197,-0.63,-194.6,159.1,-12.1,113,1200,0.00,1.52,0.00,0.000,4,0.000,0.045,2531,3257,3637
$GC,1265,-0.63,-194.6,167.3,-12.2,119,1272,0.00,1.45,0.00,0.000,6,0.000,0.028,2533,2365,3638
$GC,1583,-0.63,-194.6,203.8,-11.4,150,1586,0.00,1.52,0.00,0.000,4,0.000,0.047,2527,3259,3638
$GC,1629,-0.63,-194.6,209.6,-11.8,154,1636,0.00,1.45,0.00,0.000,6,0.000,0.029,2528,2367,3637
$GC,1946,-0.63,-194.6,246.7,-12.3,185,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2366,3636
$GC,2257,-0.63,-194.6,282.8,-11.2,215,2259,0.00,1.52,0.00,0.000,4,0.000,0.048,2521,3260,3634
$GC,2341,-0.63,-194.6,292.7,-11.8,223,2345,0.00,1.42,0.00,0.000,6,0.000,0.031,2520,2371,3634
$GC,2663,-0.63,-194.6,329.6,-11.2,254,2664,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2370,3632
$GC,2972,-0.63,-194.6,365.5,-11.4,284,2976,0.00,1.52,0.00,0.000,4,0.000,0.051,2514,3260,3630
$GC,3026,-0.63,-194.6,371.9,-11.6,289,3030,0.08,1.42,0.00,0.000,6,0.146,0.032,2537,2374,3629
$GC,3347,-0.63,-194.6,404.6,-9.9,320,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2374,3627
$GC,3658,-0.63,-194.6,436.5,-9.8,350,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2374,3625
$GC,3967,-0.63,-194.6,468.2,-10.1,380,3971,0.00,1.52,0.00,0.000,4,0.000,0.053,2532,3260,3622
$GC,4004,-0.63,-194.6,472.2,-11.0,383,4011,0.00,1.42,0.00,0.000,6,0.000,0.033,2532,2378,3622
$GC,4322,-0.63,-194.6,505.5,-10.3,414,4322,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2378,3620
$GC,4631,-0.63,-194.6,538.4,-10.8,444,4634,0.00,1.52,0.00,0.000,4,0.000,0.055,2525,3259,3618
$GC,4684,-0.63,-194.6,544.2,-10.9,449,4687,0.00,1.45,0.00,0.000,6,0.000,0.035,2525,2375,3618
$GC,5007,-0.63,-194.6,577.9,-10.5,480,5007,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2373,3616
$GC,5315,-0.63,-194.6,611.5,-10.6,510,5316,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2374,3614
$GC,5625,-0.63,-194.6,644.4,-10.4,540,5626,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2374,3612
$GC,5937,-0.63,-194.6,675.9,-10.2,570,5939,0.00,1.52,0.00,0.000,4,0.000,0.056,2518,3252,3609
$GC,6000,-0.63,-194.6,682.8,-10.6,576,6004,0.00,1.45,0.00,0.000,6,0.000,0.037,2518,2375,3609
$GC,6322,-0.63,-194.6,716.7,-10.6,607,6322,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2374,3607
$GC,6632,-0.63,-194.6,749.3,-10.0,637,6635,0.00,1.52,0.00,0.000,4,0.000,0.058,2511,3253,3605
$GC,6695,-0.63,-194.6,756.3,-11.2,643,6699,0.08,1.45,0.00,0.000,6,0.146,0.038,2536,2373,3604
$GC,7016,-0.63,-194.6,784.7,-8.3,674,7017,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2374,3604
$GC,7327,-0.63,-194.6,811.9,-8.8,704,7328,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2374,3602
$GC,7637,-0.63,-194.6,838.8,-8.7,734,7638,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2374,3601
$GC,7947,-0.63,-194.6,865.8,-8.6,764,7948,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2375,3599
$GC,8259,-0.63,-194.6,892.7,-8.7,794,8260,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2375,3598
$GC,8568,-0.63,-194.6,919.9,-8.9,824,8569,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2375,3596
$GC,8879,-0.63,-194.6,947.3,-9.0,854,8882,0.00,1.30,0.00,0.000,4,0.000,0.051,2537,1498,3596
$GC,8921,-0.63,-194.6,951.2,-8.9,858,8925,0.00,1.30,0.00,0.000,6,0.000,0.049,2532,2367,3595
$GC,9243,-0.63,-194.6,980.6,-9.2,889,9246,0.00,1.58,0.00,0.000,4,0.000,0.061,2526,3262,3594
$GC,9290,-0.63,-194.6,985.1,-9.6,893,9297,0.00,1.48,0.00,0.000,6,0.000,0.039,2525,2377,3594
$STATE,9345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9345,begin apogee
$GC,9349,-0.25,0.0,990.5,9.5,899,9503,0.47,0.00,150.75,1.256,6,0.140,0.000,2666,2263,2839
$STATE,9503,end apogee,CONTROL_FINISHED_OK
$STATE,9503,begin climb
$GC,9505,0.63,194.6,995.4,0.0,914,9676,0.88,0.00,166.65,1.223,6,0.107,0.000,2940,2262,2045
$GC,9985,0.63,194.6,945.9,11.8,960,9986,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2262,2036
$GC,10296,0.63,194.6,909.1,12.1,990,10298,0.00,1.20,0.00,0.000,4,0.000,0.047,2945,1341,2034
$GC,10381,0.63,194.6,899.2,12.4,998,10384,0.00,1.23,0.00,0.000,6,0.000,0.045,2945,2263,2033
$GC,10701,0.63,194.6,859.3,12.4,1029,10702,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2263,2032
$GC,11012,0.63,194.6,821.5,12.3,1059,11015,0.00,1.20,0.00,0.000,4,0.000,0.047,2950,1341,2031
$GC,11048,0.63,194.6,817.2,12.5,1062,11055,0.00,1.23,0.00,0.000,6,0.000,0.044,2950,2260,2031
$GC,11365,0.63,194.6,778.8,12.0,1093,11366,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2260,2031
$GC,11674,0.63,194.6,740.7,12.2,1123,11675,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2260,2030
$GC,11985,0.63,194.6,702.3,12.3,1153,11988,0.00,1.17,0.00,0.000,4,0.000,0.045,2956,1353,2030
$GC,12021,0.63,194.6,697.9,12.3,1156,12030,0.00,1.20,0.00,0.000,6,0.000,0.044,2956,2257,2030
$GC,12338,0.63,194.6,659.5,11.6,1187,12341,0.00,1.62,0.00,0.000,4,0.000,0.054,2956,3137,2029
$GC,12363,0.63,194.6,656.0,12.2,1189,12371,0.00,1.65,0.00,0.000,6,0.000,0.038,2963,2242,2028
$GC,12681,0.63,194.6,616.7,12.7,1220,12684,0.00,1.12,0.00,0.000,4,0.000,0.045,2969,1347,2028
$GC,12734,0.63,194.6,609.7,12.7,1225,12737,0.00,1.17,0.00,0.000,6,0.000,0.044,2968,2250,2028
$GC,13054,0.63,194.6,570.2,11.3,1256,13058,0.00,1.65,0.00,0.000,4,0.000,0.054,2969,3123,2028
$GC,13187,0.63,194.6,553.3,13.1,1268,13195,0.00,1.60,0.00,0.000,6,0.000,0.038,2976,2248,2027
$GC,13504,0.63,194.6,516.0,11.7,1299,13507,0.00,1.67,0.00,0.000,4,0.000,0.053,2976,3131,2027
$GC,13647,0.63,194.6,497.0,13.6,1312,13656,0.10,1.60,0.00,0.000,6,0.152,0.038,2953,2256,2027
$GC,13963,0.63,194.6,462.5,10.8,1343,13966,0.00,1.67,0.00,0.000,4,0.000,0.053,2953,3135,2027
$GC,14017,0.63,194.6,456.2,12.7,1348,14020,0.00,1.60,0.00,0.000,6,0.000,0.038,2959,2237,2027
$GC,14337,0.63,194.6,419.9,11.2,1379,14341,0.00,1.70,0.00,0.000,4,0.000,0.052,2959,3136,2027
$GC,14423,0.63,194.6,409.9,10.8,1387,14426,0.00,1.60,0.00,0.000,6,0.000,0.038,2967,2257,2027
$GC,14743,0.63,194.6,373.1,11.5,1418,14746,0.00,1.65,0.00,0.000,4,0.000,0.052,2967,3125,2027
$GC,14796,0.63,194.6,366.6,11.6,1423,14800,0.00,1.60,0.00,0.000,6,0.000,0.037,2974,2249,2027
$GC,15117,0.63,194.6,327.9,12.2,1454,15121,0.00,1.67,0.00,0.000,4,0.000,0.051,2974,3132,2027
$GC,15185,0.63,194.6,318.7,13.6,1460,15194,0.12,1.62,0.00,0.000,6,0.160,0.036,2951,2246,2027
$GC,15502,0.63,194.6,284.4,10.5,1491,15505,0.00,1.67,0.00,0.000,4,0.000,0.051,2951,3129,2027
$GC,15538,0.63,194.6,280.2,11.8,1494,15546,0.00,1.60,0.00,0.000,6,0.000,0.035,2958,2250,2027
$GC,15856,0.63,194.6,246.4,10.9,1525,15859,0.00,1.65,0.00,0.000,4,0.000,0.051,2957,3123,2027
$GC,15940,0.63,194.6,236.3,10.6,1533,15944,0.00,1.58,0.00,0.000,6,0.000,0.035,2965,2251,2027
$GC,16263,0.63,194.6,199.2,11.3,1564,16266,0.00,1.62,0.00,0.000,4,0.000,0.050,2965,3132,2027
$GC,16315,0.63,194.6,192.7,12.8,1569,16319,0.00,1.60,0.00,0.000,6,0.000,0.035,2973,2244,2027
$GC,16636,0.63,194.6,154.1,12.3,1600,16639,0.00,1.67,0.00,0.000,4,0.000,0.048,2973,3134,2028
$GC,16690,0.63,194.6,147.3,13.7,1605,16693,0.08,1.58,0.00,0.000,6,0.149,0.035,2956,2255,2028
$GC,17010,0.63,194.6,115.2,9.7,1636,17013,0.00,1.65,0.00,0.000,4,0.000,0.048,2956,3134,2028
$GC,17089,0.63,194.6,106.8,10.9,1643,17097,0.00,1.60,0.00,0.000,6,0.000,0.032,2961,2238,2028
$GC,17407,0.63,194.6,75.9,8.8,1674,17410,0.00,1.65,0.00,0.000,4,0.000,0.047,2962,3144,2029
$GC,17485,0.63,194.6,68.3,9.7,1681,17493,0.00,1.58,0.00,0.000,6,0.000,0.031,2969,2257,2029
$GC,17678,0.63,194.6,50.9,8.8,1700,17678,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2257,2030
$GC,17864,0.69,248.8,37.0,6.1,1718,17906,0.00,0.00,39.92,0.546,6,0.000,0.000,2969,2257,1824
$GC,18091,0.81,345.4,24.0,5.0,1740,18167,0.12,1.65,72.35,0.529,4,0.069,0.044,3031,3131,1430
$GC,18211,0.81,345.4,15.4,7.8,1750,18214,0.12,1.60,0.00,0.000,6,0.128,0.031,3004,2228,1425
$GC,18408,0.90,415.4,4.1,5.7,1769,18430,0.00,0.00,21.05,0.486,2,0.000,0.000,3004,2228,1315
$STATE,18430,end climb,SURFACE_DEPTH_REACHED
$STATE,18430,begin surface coast
$FINISH,0.7,1.011618
$STATE,18477,end surface coast,CONTROL_FINISHED_OK
$STATE,18478,begin surface
$SM_CCo,18491,96.30,0.495,0,0,494,575.22
$SM_GC,1.45,0.00,0.00,96.30,0.000,0.000,0.495,198,2372,494,-7.97,-0.08,575.22
$IRIDIUM_FIX,2821.19,-8836.59,190999,060638
$TT8_MAMPS,0.051389
$HUMID,1311
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.50
$XPDR_PINGS,7
$24V_AH,23.0,30.278
$10V_AH,10.6,41.883
$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,20.050,91.100,450.725,96.300,0.000,25.620,25.942,284.986,1.750,0.000,0.000,18.099,0.000,12444.148,639.914,5293.326,634.897,33.328,2138.920,0.000,4755.294,0.000,0.847,0.000
$DEVICE_MAMPS,255.411,65.195,1256.346,494.715,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1216.060,1301.311,3991.043,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91421,1776
$CAP_FILE_SIZE,168266,0
$CFSIZE,260165632,240230400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.064,204.1,1
$GPS,250610,165037,2834.802,-8832.222,41,0.9,41,-0.3