version: 66.04
glider: 515
mission: 5
dive: 168
start: 6 26 110 3 18 41
data:
$ID,515
$MISSION,5
$DIVE,168
$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,-14
$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,-15398.323
$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,26
$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
$GPS1,031137,2836.405,-8827.937,29,1.2,29,-0.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-66.9
$GPS2,031743,2836.398,-8827.990,11,1.4,11,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618A
$TGT_LATLONG,2837.900,-8826.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.072,0.255
$KALMAN_X,-11148.2,506.6,-133.9,46731.0,-251.5
$KALMAN_Y,-27209.9,240.3,358.9,41514.0,-9702.4
$MHEAD_RNG_PITCHd_Wd,46.6,4266,-12.5,-7.500
$D_GRID,1636
$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,-0.64,-157.2,0.0,0.0,0,89,0.00,0.00,-75.18,0.000,2,0.000,0.000,197,2365,2553
$GC,91,-0.69,-194.6,3.0,-3.4,7,139,10.40,1.50,-30.00,0.000,4,0.256,0.062,2515,3265,3635
$GC,213,-0.69,-194.6,28.5,-26.6,18,216,0.00,1.48,0.00,0.000,6,0.000,0.029,2520,2365,3636
$GC,409,-0.69,-194.6,65.8,-16.3,37,413,0.00,1.52,0.00,0.000,4,0.000,0.044,2515,3259,3637
$GC,456,-0.69,-194.6,73.8,-16.5,41,464,0.00,1.48,0.00,0.000,6,0.000,0.028,2515,2358,3637
$GC,649,-0.69,-194.6,103.4,-14.6,60,652,0.00,1.20,0.00,0.000,4,0.000,0.035,2514,1482,3639
$GC,734,-0.69,-194.6,116.0,-17.4,68,737,0.00,1.27,0.00,0.000,6,0.000,0.038,2509,2371,3639
$GC,1055,-0.69,-194.6,160.4,-13.5,99,1059,0.00,1.27,0.00,0.000,4,0.000,0.035,2509,1470,3639
$GC,1141,-0.69,-194.6,171.4,-12.6,107,1143,0.00,1.30,0.00,0.000,6,0.000,0.037,2503,2375,3639
$GC,1462,-0.69,-194.6,215.5,-13.0,138,1465,0.00,1.27,0.00,0.000,4,0.000,0.037,2502,1479,3639
$GC,1509,-0.69,-194.6,222.0,-12.8,142,1517,0.00,1.30,0.00,0.000,6,0.000,0.038,2497,2377,3639
$GC,1826,-0.69,-194.6,264.8,-13.2,173,1830,0.00,1.30,0.00,0.000,4,0.000,0.038,2497,1471,3638
$GC,1894,-0.69,-194.6,274.3,-12.7,179,1902,0.12,1.33,0.00,0.000,6,0.159,0.038,2523,2376,3637
$GC,2212,-0.69,-194.6,310.6,-11.5,210,2215,0.00,1.27,0.00,0.000,4,0.000,0.038,2523,1488,3635
$GC,2268,-0.69,-194.6,317.5,-11.4,215,2276,0.00,1.30,0.00,0.000,6,0.000,0.039,2519,2374,3635
$GC,2586,-0.69,-194.6,354.3,-11.6,246,2587,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2375,3633
$GC,2895,-0.69,-194.6,391.0,-12.0,276,2899,0.00,1.27,0.00,0.000,4,0.000,0.040,2519,1490,3631
$GC,2953,-0.69,-194.6,398.1,-11.5,281,2960,0.00,1.30,0.00,0.000,6,0.000,0.041,2513,2374,3629
$GC,3270,-0.69,-194.6,435.9,-11.8,312,3273,0.00,1.27,0.00,0.000,4,0.000,0.041,2513,1488,3627
$GC,3301,-0.69,-194.6,439.8,-12.3,315,3305,0.00,1.30,0.00,0.000,6,0.000,0.042,2507,2375,3627
$GC,3624,-0.69,-194.6,479.7,-12.7,346,3627,0.00,1.30,0.00,0.000,4,0.000,0.041,2508,1477,3625
$GC,3681,-0.69,-194.6,487.0,-12.9,351,3688,0.00,1.33,0.00,0.000,6,0.000,0.043,2501,2375,3624
$GC,3998,-0.69,-194.6,526.9,-12.3,382,3999,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2375,3621
$GC,4307,-0.69,-194.6,564.1,-11.5,412,4311,0.00,1.27,0.00,0.000,4,0.000,0.042,2501,1493,3619
$GC,4371,-0.69,-194.6,571.5,-11.0,418,4374,0.00,1.30,0.00,0.000,6,0.000,0.044,2495,2376,3619
$GC,4694,-0.69,-194.6,610.4,-11.5,449,4697,0.12,1.30,0.00,0.000,4,0.161,0.042,2526,1490,3617
$GC,4746,-0.69,-194.6,616.5,-10.0,454,4750,0.00,1.30,0.00,0.000,6,0.000,0.045,2522,2373,3617
$GC,5069,-0.69,-194.6,649.5,-10.0,485,5071,0.00,1.30,0.00,0.000,4,0.000,0.044,2522,1482,3615
$GC,5153,-0.69,-194.6,658.2,-9.9,493,5157,0.00,1.33,0.00,0.000,6,0.000,0.045,2516,2377,3614
$GC,5475,-0.69,-194.6,690.6,-10.1,524,5478,0.00,1.30,0.00,0.000,4,0.000,0.044,2516,1493,3612
$GC,5517,-0.69,-194.6,695.0,-10.0,528,5521,0.00,1.30,0.00,0.000,6,0.000,0.046,2510,2373,3611
$GC,5839,-0.69,-194.6,729.3,-10.2,559,5840,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2373,3609
$GC,6149,-0.69,-194.6,762.4,-11.2,589,6152,0.00,1.30,0.00,0.000,4,0.000,0.045,2510,1484,3608
$GC,6266,-0.69,-194.6,775.5,-11.2,600,6269,0.00,1.30,0.00,0.000,6,0.000,0.047,2505,2368,3607
$GC,6588,-0.69,-194.6,811.7,-11.4,631,6591,0.00,1.27,0.00,0.000,4,0.000,0.045,2504,1493,3605
$GC,6641,-0.69,-194.6,817.8,-11.1,636,6644,0.00,1.30,0.00,0.000,6,0.000,0.047,2499,2373,3604
$GC,6963,-0.69,-194.6,853.1,-11.2,667,6966,0.00,1.30,0.00,0.000,4,0.000,0.045,2499,1488,3603
$GC,6999,-0.69,-194.6,857.6,-11.4,670,7008,0.12,1.35,0.00,0.000,6,0.160,0.047,2524,2379,3603
$GC,7316,-0.69,-194.6,887.4,-9.4,701,7319,0.00,1.33,0.00,0.000,4,0.000,0.046,2524,1480,3602
$GC,7369,-0.69,-194.6,892.6,-9.6,706,7373,0.00,1.33,0.00,0.000,6,0.000,0.048,2520,2371,3602
$GC,7691,-0.69,-194.6,924.1,-10.1,737,7694,0.00,1.30,0.00,0.000,4,0.000,0.047,2520,1484,3600
$GC,7737,-0.69,-194.6,928.9,-9.6,741,7744,0.00,1.35,0.00,0.000,6,0.000,0.048,2515,2375,3600
$GC,8054,-0.69,-194.6,961.6,-10.8,772,8057,0.00,1.30,0.00,0.000,4,0.000,0.046,2515,1495,3599
$GC,8096,-0.69,-194.6,966.1,-10.7,776,8100,0.00,1.30,0.00,0.000,6,0.000,0.048,2509,2371,3599
$STATE,8333,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8333,begin apogee
$GC,8337,-0.25,0.0,990.9,10.3,799,8497,0.52,0.00,151.15,1.256,6,0.140,0.000,2665,2261,2839
$STATE,8497,end apogee,CONTROL_FINISHED_OK
$STATE,8497,begin climb
$GC,8499,0.69,194.6,996.1,0.0,815,8672,0.98,1.88,166.48,1.220,4,0.100,0.056,2966,3142,2046
$GC,8710,0.69,194.6,975.9,15.5,835,8714,0.00,1.73,0.00,0.000,6,0.000,0.037,2974,2260,2040
$GC,9032,0.69,194.6,931.9,13.3,866,9035,0.00,1.67,0.00,0.000,4,0.000,0.055,2974,3141,2035
$GC,9068,0.69,194.6,926.9,14.3,869,9075,0.00,1.67,0.00,0.000,6,0.000,0.038,2982,2241,2034
$GC,9385,0.69,194.6,883.1,13.8,900,9386,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2242,2033
$GC,9695,0.69,194.6,838.5,14.6,930,9698,0.00,1.70,0.00,0.000,4,0.000,0.055,2982,3150,2032
$GC,9752,0.69,194.6,829.8,15.6,935,9760,0.00,1.67,0.00,0.000,6,0.000,0.038,2990,2244,2031
$GC,10070,0.69,194.6,781.8,15.3,966,10073,0.00,1.70,0.00,0.000,4,0.000,0.054,2990,3156,2031
$GC,10106,0.69,194.6,775.6,16.9,969,10114,0.00,1.65,0.00,0.000,6,0.000,0.038,2998,2253,2029
$GC,10423,0.69,194.6,726.9,15.4,1000,10424,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2253,2029
$GC,10733,0.69,194.6,680.2,14.8,1030,10736,0.00,1.70,0.00,0.000,4,0.000,0.054,2997,3145,2029
$GC,10807,0.69,194.6,668.3,16.4,1037,10811,0.10,1.65,0.00,0.000,6,0.163,0.038,2975,2241,2028
$GC,11128,0.69,194.6,624.6,13.4,1068,11129,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2242,2028
$GC,11439,0.69,194.6,585.1,12.9,1098,11439,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2242,2028
$GC,11749,0.69,194.6,546.7,12.6,1128,11750,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2242,2028
$GC,12059,0.69,194.6,508.5,11.8,1158,12062,0.00,1.73,0.00,0.000,4,0.000,0.054,2975,3152,2028
$GC,12117,0.69,194.6,501.0,13.3,1163,12124,0.00,1.62,0.00,0.000,6,0.000,0.037,2981,2254,2027
$GC,12434,0.69,194.6,459.6,13.0,1194,12435,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2254,2028
$GC,12744,0.69,194.6,418.5,13.6,1224,12747,0.00,1.65,0.00,0.000,4,0.000,0.053,2981,3143,2027
$GC,12797,0.69,194.6,411.1,13.5,1229,12800,0.00,1.62,0.00,0.000,6,0.000,0.037,2989,2247,2027
$GC,13118,0.69,194.6,366.7,14.2,1260,13121,0.00,1.70,0.00,0.000,4,0.000,0.051,2989,3149,2027
$GC,13175,0.69,194.6,358.0,14.8,1265,13183,0.00,1.62,0.00,0.000,6,0.000,0.036,2997,2251,2027
$GC,13493,0.69,194.6,313.0,14.2,1296,13496,0.00,1.65,0.00,0.000,4,0.000,0.051,2996,3146,2027
$GC,13524,0.69,194.6,308.3,14.5,1299,13528,0.10,1.62,0.00,0.000,6,0.158,0.036,2974,2246,2027
$GC,13845,0.69,194.6,268.3,11.9,1330,13848,0.00,1.70,0.00,0.000,4,0.000,0.051,2974,3152,2027
$GC,13876,0.69,194.6,264.2,12.7,1333,13880,0.00,1.62,0.00,0.000,6,0.000,0.035,2980,2250,2027
$GC,14199,0.69,194.6,222.9,13.3,1364,14202,0.00,1.65,0.00,0.000,4,0.000,0.050,2980,3147,2027
$GC,14230,0.69,194.6,218.4,14.3,1367,14234,0.00,1.62,0.00,0.000,6,0.000,0.035,2988,2248,2027
$GC,14551,0.69,194.6,174.1,13.8,1398,14552,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2248,2027
$GC,14861,0.69,194.6,132.5,13.4,1428,14865,0.00,1.67,0.00,0.000,4,0.000,0.048,2988,3143,2027
$GC,14940,0.69,194.6,121.8,13.7,1435,14948,0.00,1.62,0.00,0.000,6,0.000,0.032,2995,2244,2028
$GC,15258,0.69,194.6,82.5,12.6,1466,15261,0.00,1.67,0.00,0.000,4,0.000,0.048,2996,3143,2028
$GC,15315,0.69,194.6,75.0,12.6,1471,15323,0.12,1.62,0.00,0.000,6,0.153,0.031,2971,2240,2029
$GC,15508,0.69,194.6,56.5,9.9,1490,15509,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2240,2028
$GC,15694,0.71,213.1,41.5,6.9,1508,15710,0.00,1.08,13.25,0.525,4,0.000,0.037,2975,1339,1971
$GC,15732,0.72,224.1,39.2,7.1,1511,15745,0.00,1.17,9.93,0.498,6,0.000,0.036,2975,2262,1925
$GC,15929,0.74,237.5,25.7,7.1,1530,15945,0.00,1.62,11.85,0.500,4,0.000,0.046,2975,3140,1870
$GC,16038,0.80,290.1,19.5,5.8,1540,16087,0.00,1.58,40.40,0.528,6,0.000,0.030,2982,2254,1655
$GC,16272,0.88,355.2,9.3,5.4,1562,16325,0.15,1.73,49.00,0.510,4,0.062,0.044,3066,3142,1389
$STATE,16345,end climb,SURFACE_DEPTH_REACHED
$STATE,16345,begin surface coast
$FINISH,0.6,1.009792
$STATE,16367,end surface coast,CONTROL_FINISHED_OK
$STATE,16367,begin surface
$SM_CCo,16382,104.12,0.499,0,0,494,575.22
$SM_GC,1.51,0.00,0.00,104.12,0.000,0.000,0.499,198,2362,494,-7.96,-0.34,575.22
$IRIDIUM_FIX,2828.55,-8831.62,190999,222247
$TT8_MAMPS,0.050622
$HUMID,1317
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,23.30
$XPDR_PINGS,14
$24V_AH,23.1,30.761
$10V_AH,10.6,42.532
$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,20.525,104.950,442.050,104.125,0.000,23.500,28.850,200.909,3.500,0.000,0.000,13.166,0.000,10877.329,653.028,4768.185,543.113,33.330,2042.732,0.000,4258.498,0.000,0.847,0.000
$DEVICE_MAMPS,256.178,62.127,1255.579,498.550,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1073.632,1149.233,3528.705,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82045,1570
$CAP_FILE_SIZE,157438,0
$CFSIZE,260165632,239980544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.044,274.2,1
$GPS,260610,075425,2838.357,-8826.599,36,1.9,36,-0.4