version: 66.04
glider: 515
mission: 5
dive: 172
start: 6 26 110 23 34 47
data:
$ID,515
$MISSION,5
$DIVE,172
$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,-15470.655
$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,21
$R_STBD_OVSHOOT,27
$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
$GPS1,232437,2838.391,-8832.952,36,1.1,36,-0.3
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-68.0
$GPS2,233407,2838.387,-8832.995,10,1.1,15,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0607F
$TGT_LATLONG,2837.000,-8845.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.250,0.086
$KALMAN_X,-8944.6,255.4,-148.9,36670.6,809.2
$KALMAN_Y,-41066.0,1684.6,478.2,57425.7,-9490.9
$MHEAD_RNG_PITCHd_Wd,274.9,19685,-10.8,-7.500
$D_GRID,1555
$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,-194.6,0.0,0.0,0,87,0.00,0.00,-73.07,0.000,2,0.000,0.000,201,2372,2495
$GC,89,-0.63,-194.6,3.1,-3.5,7,137,10.55,1.50,-32.03,0.000,4,0.258,0.062,2532,3273,3632
$GC,376,-0.63,-194.6,55.6,-16.1,33,384,0.00,1.50,0.00,0.000,6,0.000,0.028,2537,2357,3633
$GC,568,-0.63,-194.6,82.3,-12.6,52,572,0.00,1.55,0.00,0.000,4,0.000,0.044,2532,3263,3634
$GC,690,-0.63,-194.6,98.4,-12.4,63,698,0.00,1.48,0.00,0.000,6,0.000,0.028,2536,2363,3635
$GC,883,-0.63,-194.6,122.8,-12.5,82,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2363,3635
$GC,1193,-0.63,-194.6,158.2,-11.4,112,1196,0.00,1.52,0.00,0.000,4,0.000,0.045,2531,3258,3635
$GC,1272,-0.63,-194.6,167.6,-11.5,119,1279,0.00,1.42,0.00,0.000,6,0.000,0.028,2531,2367,3635
$GC,1589,-0.63,-194.6,203.6,-11.1,150,1592,0.00,1.50,0.00,0.000,4,0.000,0.046,2525,3256,3634
$GC,1642,-0.63,-194.6,209.7,-11.3,155,1645,0.00,1.42,0.00,0.000,6,0.000,0.028,2525,2367,3633
$GC,1964,-0.63,-194.6,246.8,-11.5,186,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2367,3632
$GC,2273,-0.63,-194.6,281.2,-11.3,216,2274,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2366,3630
$GC,2584,-0.63,-194.6,316.5,-11.4,246,2587,0.00,1.23,0.00,0.000,4,0.000,0.040,2525,1493,3628
$GC,2619,-0.63,-194.6,320.8,-11.2,249,2627,0.00,1.27,0.00,0.000,6,0.000,0.038,2519,2369,3627
$GC,2937,-0.63,-194.6,357.1,-11.8,280,2938,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2369,3625
$GC,3246,-0.63,-194.6,392.9,-11.5,310,3247,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2370,3623
$GC,3557,-0.63,-194.6,427.4,-10.0,340,3558,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2369,3620
$GC,3867,-0.63,-194.6,456.8,-9.4,370,3870,0.00,1.52,0.00,0.000,4,0.000,0.054,2512,3258,3618
$GC,4113,-0.63,-194.6,481.0,-10.1,393,4116,0.08,1.42,0.00,0.000,6,0.140,0.033,2536,2373,3615
$GC,4433,-0.63,-194.6,510.4,-9.4,424,4437,0.00,1.27,0.00,0.000,4,0.000,0.042,2536,1489,3613
$GC,4679,-0.63,-194.6,534.5,-9.5,447,4682,0.00,1.30,0.00,0.000,6,0.000,0.044,2532,2373,3612
$GC,5002,-0.63,-194.6,566.1,-9.5,478,5005,0.00,1.27,0.00,0.000,4,0.000,0.042,2532,1498,3609
$GC,5247,-0.63,-194.6,590.5,-8.5,501,5250,0.00,1.30,0.00,0.000,6,0.000,0.044,2527,2374,3608
$GC,5569,-0.63,-194.6,621.3,-9.7,532,5572,0.00,1.30,0.00,0.000,4,0.000,0.043,2527,1490,3605
$GC,5741,-0.63,-194.6,637.6,-9.3,548,5744,0.00,1.30,0.00,0.000,6,0.000,0.046,2521,2372,3604
$GC,6062,-0.63,-194.6,668.6,-9.8,579,6066,0.00,1.27,0.00,0.000,4,0.000,0.044,2521,1502,3603
$GC,6137,-0.63,-194.6,676.1,-9.8,586,6140,0.00,1.30,0.00,0.000,6,0.000,0.046,2516,2375,3602
$GC,6459,-0.63,-194.6,709.0,-10.8,617,6462,0.00,1.30,0.00,0.000,4,0.000,0.044,2515,1492,3600
$GC,6511,-0.63,-194.6,714.8,-11.3,622,6515,0.08,1.30,0.00,0.000,6,0.145,0.046,2535,2369,3600
$GC,6833,-0.63,-194.6,744.3,-8.3,653,6836,0.00,1.27,0.00,0.000,4,0.000,0.045,2535,1495,3599
$GC,6943,-0.63,-194.6,754.4,-9.3,663,6951,0.00,1.33,0.00,0.000,6,0.000,0.046,2531,2375,3597
$GC,7261,-0.63,-194.6,783.0,-9.1,694,7264,0.00,1.30,0.00,0.000,4,0.000,0.045,2531,1486,3596
$GC,7382,-0.63,-194.6,794.4,-9.4,705,7389,0.00,1.33,0.00,0.000,6,0.000,0.047,2525,2374,3595
$GC,7699,-0.63,-194.6,824.6,-9.6,736,7702,0.00,1.30,0.00,0.000,4,0.000,0.045,2526,1493,3594
$GC,7800,-0.63,-194.6,834.4,-8.9,745,7807,0.00,1.30,0.00,0.000,6,0.000,0.047,2520,2369,3593
$GC,8116,-0.63,-194.6,864.2,-9.3,776,8120,0.00,1.27,0.00,0.000,4,0.000,0.045,2520,1500,3592
$GC,8227,-0.63,-194.6,874.8,-9.9,786,8235,0.08,1.35,0.00,0.000,6,0.146,0.047,2538,2389,3592
$GC,8544,-0.63,-194.6,900.8,-8.4,817,8547,0.00,1.33,0.00,0.000,4,0.000,0.045,2538,1493,3591
$GC,8716,-0.63,-194.6,915.6,-8.1,833,8719,0.00,1.30,0.00,0.000,6,0.000,0.048,2534,2368,3590
$GC,9037,-0.63,-194.6,943.9,-8.7,864,9040,0.00,1.27,0.00,0.000,4,0.000,0.046,2534,1501,3588
$GC,9213,-0.63,-194.6,959.3,-9.3,880,9220,0.00,1.30,0.00,0.000,6,0.000,0.049,2529,2369,3588
$GC,9529,-0.63,-194.6,985.9,-8.2,911,9532,0.00,1.27,0.00,0.000,4,0.000,0.045,2529,1504,3587
$STATE,9580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9580,begin apogee
$GC,9585,-0.25,0.0,990.3,8.7,916,9738,0.47,0.00,149.98,1.252,6,0.138,0.000,2666,2272,2840
$STATE,9738,end apogee,CONTROL_FINISHED_OK
$STATE,9738,begin climb
$GC,9740,0.63,194.6,994.7,0.0,931,9916,0.88,0.00,167.40,1.220,6,0.104,0.000,2941,2273,2045
$GC,10225,0.63,194.6,946.2,11.5,977,10228,0.00,1.67,0.00,0.000,4,0.000,0.060,2941,3150,2035
$GC,10368,0.63,194.6,928.5,13.2,990,10375,0.00,1.60,0.00,0.000,6,0.000,0.038,2948,2279,2033
$GC,10685,0.63,194.6,892.7,11.2,1021,10688,0.00,1.65,0.00,0.000,4,0.000,0.055,2948,3144,2032
$GC,10759,0.63,194.6,883.7,12.5,1028,10762,0.00,1.65,0.00,0.000,6,0.000,0.038,2956,2245,2031
$GC,11080,0.63,194.6,845.3,12.2,1059,11083,0.00,1.73,0.00,0.000,4,0.000,0.054,2956,3145,2031
$GC,11191,0.63,194.6,830.8,13.5,1069,11199,0.00,1.65,0.00,0.000,6,0.000,0.037,2963,2251,2029
$GC,11509,0.63,194.6,791.0,12.7,1100,11512,0.00,1.70,0.00,0.000,4,0.000,0.054,2963,3137,2029
$GC,11583,0.63,194.6,780.7,14.3,1107,11586,0.00,1.62,0.00,0.000,6,0.000,0.038,2971,2250,2029
$GC,11905,0.63,194.6,738.4,13.4,1138,11908,0.00,1.70,0.00,0.000,4,0.000,0.055,2971,3142,2029
$GC,11979,0.63,194.6,728.2,14.3,1145,11982,0.00,1.62,0.00,0.000,6,0.000,0.038,2979,2254,2028
$GC,12300,0.63,194.6,686.4,12.8,1176,12303,0.00,1.67,0.00,0.000,4,0.000,0.054,2979,3131,2028
$GC,12389,0.63,194.6,673.5,14.2,1184,12399,0.12,1.65,0.00,0.000,6,0.162,0.038,2951,2241,2027
$GC,12706,0.63,194.6,638.9,11.1,1215,12709,0.00,1.70,0.00,0.000,4,0.000,0.054,2951,3131,2028
$GC,12806,0.63,194.6,627.2,10.5,1224,12815,0.00,1.62,0.00,0.000,6,0.000,0.038,2956,2251,2027
$GC,13124,0.63,194.6,590.5,11.4,1255,13127,0.00,1.67,0.00,0.000,4,0.000,0.054,2956,3151,2027
$GC,13188,0.63,194.6,582.4,12.7,1261,13191,0.00,1.62,0.00,0.000,6,0.000,0.038,2963,2254,2026
$GC,13510,0.63,194.6,544.3,11.9,1292,13513,0.00,1.67,0.00,0.000,4,0.000,0.054,2964,3152,2027
$GC,13578,0.63,194.6,535.3,13.9,1298,13585,0.00,1.67,0.00,0.000,6,0.000,0.038,2971,2241,2026
$GC,13895,0.63,194.6,496.7,11.8,1329,13899,0.00,1.70,0.00,0.000,4,0.000,0.053,2971,3133,2026
$GC,13981,0.63,194.6,485.9,12.6,1337,13983,0.00,1.60,0.00,0.000,6,0.000,0.038,2979,2238,2026
$GC,14302,0.63,194.6,445.7,12.9,1368,14305,0.00,1.67,0.00,0.000,4,0.000,0.053,2979,3138,2026
$GC,14398,0.63,194.6,432.4,14.6,1377,14402,0.15,1.62,0.00,0.000,6,0.152,0.036,2949,2224,2026
$GC,14718,0.63,194.6,397.9,10.3,1408,14722,0.00,1.73,0.00,0.000,4,0.000,0.051,2948,3141,2026
$GC,14808,0.63,194.6,387.6,11.1,1416,14817,0.00,1.60,0.00,0.000,6,0.000,0.036,2954,2256,2026
$GC,15126,0.63,194.6,354.2,10.7,1447,15129,0.00,1.65,0.00,0.000,4,0.000,0.052,2954,3146,2026
$GC,15194,0.63,194.6,346.2,11.8,1453,15201,0.00,1.62,0.00,0.000,6,0.000,0.035,2962,2248,2026
$GC,15511,0.63,194.6,310.8,11.1,1484,15514,0.00,1.67,0.00,0.000,4,0.000,0.051,2962,3134,2027
$GC,15574,0.63,194.6,303.0,12.2,1490,15578,0.00,1.60,0.00,0.000,6,0.000,0.036,2969,2252,2026
$GC,15895,0.63,194.6,264.2,12.1,1521,15898,0.00,1.67,0.00,0.000,4,0.000,0.051,2970,3138,2026
$GC,15948,0.63,194.6,257.3,12.0,1526,15952,0.00,1.60,0.00,0.000,6,0.000,0.035,2977,2252,2026
$GC,16271,0.63,194.6,217.2,12.3,1557,16273,0.00,1.65,0.00,0.000,4,0.000,0.051,2977,3146,2026
$GC,16323,0.63,194.6,210.2,12.9,1562,16327,0.10,1.62,0.00,0.000,6,0.144,0.034,2954,2244,2027
$GC,16644,0.63,194.6,176.9,9.8,1593,16647,0.00,1.67,0.00,0.000,4,0.000,0.049,2953,3134,2027
$GC,16680,0.63,194.6,173.0,10.1,1596,16690,0.00,1.60,0.00,0.000,6,0.000,0.033,2959,2250,2027
$GC,16998,0.63,194.6,139.0,10.8,1627,17001,0.00,1.65,0.00,0.000,4,0.000,0.049,2959,3148,2028
$GC,17055,0.63,194.6,132.7,10.8,1632,17064,0.00,1.62,0.00,0.000,6,0.000,0.032,2966,2247,2028
$GC,17372,0.63,194.6,100.6,10.1,1663,17376,0.00,1.67,0.00,0.000,4,0.000,0.048,2966,3143,2029
$GC,17447,0.63,194.6,92.5,11.1,1670,17450,0.00,1.60,0.00,0.000,6,0.000,0.032,2974,2223,2028
$GC,17643,0.63,194.6,72.0,10.3,1689,17644,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2224,2029
$GC,17830,0.63,194.6,54.3,8.6,1707,17833,0.00,1.67,0.00,0.000,4,0.000,0.046,2974,3152,2030
$GC,17904,0.63,194.6,47.5,7.9,1714,17908,0.10,1.58,0.00,0.000,6,0.127,0.031,2949,2262,2030
$GC,18101,0.75,295.1,37.0,4.9,1733,18184,0.12,1.17,73.90,0.545,4,0.067,0.036,3012,1345,1636
$GC,18227,0.75,295.1,27.3,8.5,1744,18230,0.00,1.20,0.00,0.000,6,0.000,0.035,3012,2266,1632
$GC,18423,0.86,388.8,14.3,5.0,1763,18498,0.00,1.67,69.78,0.515,4,0.000,0.043,3011,3141,1253
$GC,18519,0.87,394.7,8.6,7.3,1771,18530,0.00,1.62,5.28,0.381,6,0.000,0.029,3018,2243,1231
$STATE,18621,end climb,SURFACE_DEPTH_REACHED
$STATE,18621,begin surface coast
$FINISH,0.6,1.008521
$STATE,18662,end surface coast,CONTROL_FINISHED_OK
$STATE,18662,begin surface
$SM_CCo,18676,87.78,0.492,0,0,494,575.22
$SM_GC,1.53,0.00,0.00,87.78,0.000,0.000,0.492,197,2378,494,-7.97,0.08,575.22
$IRIDIUM_FIX,2826.10,-8834.07,200999,232326
$TT8_MAMPS,0.050622
$HUMID,1323
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.0,31.346
$10V_AH,10.6,43.441
$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,20.325,120.250,466.325,87.775,0.000,60.457,61.215,264.586,0.000,0.000,0.000,17.578,0.000,12255.376,664.678,5645.290,738.569,33.331,2332.496,0.000,5082.295,0.000,1.152,0.000
$DEVICE_MAMPS,258.479,62.127,1251.744,491.647,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1221.549,1321.614,4011.754,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94747,1785
$CAP_FILE_SIZE,184980,0
$CFSIZE,260165632,239583232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.087,212.9,1
$GPS,270610,044831,2837.193,-8836.114,39,1.2,39,-0.3