version: 66.04
glider: 515
mission: 5
dive: 174
start: 6 27 110 10 12 12
data:
$ID,515
$MISSION,5
$DIVE,174
$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,-15497.774
$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,2225
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,47
$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
$GPS1,100507,2837.502,-8839.990,30,1.9,30,-0.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-66.1
$GPS2,101132,2837.549,-8840.042,11,1.8,11,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0607F
$TGT_LATLONG,2837.000,-8845.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.214,0.156
$KALMAN_X,-7301.2,-420.4,-482.5,24574.8,2624.4
$KALMAN_Y,-46419.2,56.8,735.2,62617.5,-8768.9
$MHEAD_RNG_PITCHd_Wd,277.4,8124,-14.5,-7.500
$D_GRID,1297
$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,-0.67,-123.6,0.0,0.0,0,112,0.00,0.00,-98.00,0.000,2,0.000,0.000,203,2365,3233
$GC,114,-0.76,-194.6,4.2,-4.2,10,139,10.45,1.25,-7.22,0.000,4,0.262,0.059,2499,1481,3636
$GC,352,-0.76,-194.6,62.5,-16.5,32,355,0.00,1.23,0.00,0.000,6,0.000,0.036,2495,2351,3639
$GC,549,-0.76,-194.6,95.0,-16.9,51,552,0.00,1.55,0.00,0.000,4,0.000,0.046,2488,3257,3639
$GC,639,-0.76,-194.6,111.0,-17.2,59,647,0.00,1.45,0.00,0.000,6,0.000,0.028,2493,2363,3639
$GC,955,-0.76,-194.6,161.0,-14.6,90,958,0.00,1.55,0.00,0.000,4,0.000,0.047,2487,3266,3640
$GC,997,-0.76,-194.6,167.6,-15.3,94,1001,0.00,1.45,0.00,0.000,6,0.000,0.028,2487,2368,3640
$GC,1320,-0.76,-194.6,216.2,-14.9,125,1322,0.00,1.52,0.00,0.000,4,0.000,0.047,2480,3258,3640
$GC,1404,-0.76,-194.6,229.3,-15.3,133,1408,0.00,1.42,0.00,0.000,6,0.000,0.029,2485,2374,3639
$GC,1727,-0.76,-194.6,275.3,-14.7,164,1729,0.00,1.52,0.00,0.000,4,0.000,0.048,2479,3264,3639
$GC,1790,-0.76,-194.6,284.7,-13.7,170,1793,0.00,1.45,0.00,0.000,6,0.000,0.030,2482,2372,3638
$GC,2112,-0.76,-194.6,331.3,-15.2,201,2115,0.00,1.52,0.00,0.000,4,0.000,0.048,2476,3261,3636
$GC,2176,-0.76,-194.6,340.9,-14.8,207,2179,0.00,1.45,0.00,0.000,6,0.000,0.031,2482,2370,3636
$GC,2497,-0.76,-194.6,386.8,-14.8,238,2500,0.00,1.52,0.00,0.000,4,0.000,0.050,2476,3256,3633
$GC,2561,-0.76,-194.6,396.6,-15.5,244,2564,0.00,1.45,0.00,0.000,6,0.000,0.032,2482,2368,3633
$GC,2883,-0.76,-194.6,444.2,-14.6,275,2886,0.00,1.55,0.00,0.000,4,0.000,0.051,2476,3264,3630
$GC,2979,-0.76,-194.6,458.2,-14.1,284,2982,0.00,1.45,0.00,0.000,6,0.000,0.034,2481,2374,3629
$GC,3300,-0.76,-194.6,503.0,-13.6,315,3303,0.00,1.52,0.00,0.000,4,0.000,0.053,2476,3257,3627
$GC,3385,-0.76,-194.6,515.2,-14.0,323,3388,0.00,1.45,0.00,0.000,6,0.000,0.033,2481,2373,3626
$GC,3707,-0.76,-194.6,559.2,-13.6,354,3710,0.00,1.52,0.00,0.000,4,0.000,0.054,2475,3255,3624
$GC,3782,-0.76,-194.6,570.0,-14.3,361,3785,0.00,1.45,0.00,0.000,6,0.000,0.034,2480,2373,3623
$GC,4104,-0.76,-194.6,612.8,-13.4,392,4107,0.00,1.55,0.00,0.000,4,0.000,0.054,2475,3261,3620
$GC,4161,-0.76,-194.6,621.1,-13.2,397,4169,0.00,1.50,0.00,0.000,6,0.000,0.035,2480,2368,3620
$GC,4479,-0.76,-194.6,662.3,-12.8,428,4482,0.00,1.55,0.00,0.000,4,0.000,0.054,2475,3256,3618
$GC,4510,-0.76,-194.6,666.5,-13.4,431,4514,0.00,1.48,0.00,0.000,6,0.000,0.035,2475,2368,3617
$GC,4832,-0.76,-194.6,707.9,-12.6,462,4835,0.00,1.55,0.00,0.000,4,0.000,0.055,2468,3254,3615
$GC,4911,-0.76,-194.6,718.4,-13.4,469,4919,0.10,1.45,0.00,0.000,6,0.173,0.035,2497,2372,3615
$GC,5227,-0.76,-194.6,754.8,-12.0,500,5230,0.00,1.55,0.00,0.000,4,0.000,0.055,2491,3261,3613
$GC,5270,-0.76,-194.6,759.9,-11.6,504,5273,0.00,1.48,0.00,0.000,6,0.000,0.037,2491,2372,3613
$GC,5592,-0.76,-194.6,797.2,-11.5,535,5592,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2372,3609
$GC,5902,-0.76,-194.6,833.3,-11.9,565,5905,0.00,1.55,0.00,0.000,4,0.000,0.057,2483,3254,3608
$GC,5954,-0.76,-194.6,839.7,-11.8,570,5958,0.00,1.48,0.00,0.000,6,0.000,0.037,2484,2372,3608
$GC,6276,-0.76,-194.6,878.4,-12.1,601,6279,0.00,1.55,0.00,0.000,4,0.000,0.057,2479,3255,3605
$GC,6340,-0.76,-194.6,886.1,-11.7,607,6343,0.00,1.48,0.00,0.000,6,0.000,0.038,2478,2371,3605
$GC,6661,-0.76,-194.6,925.3,-12.7,638,6662,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2370,3604
$GC,6972,-0.76,-194.6,963.3,-11.9,668,6975,0.00,1.58,0.00,0.000,4,0.000,0.058,2472,3260,3602
$GC,7018,-0.76,-194.6,969.5,-12.5,672,7026,0.08,1.50,0.00,0.000,6,0.184,0.038,2494,2369,3602
$STATE,7209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7209,begin apogee
$GC,7213,-0.25,0.0,990.6,10.7,691,7372,0.57,0.00,152.20,1.244,6,0.146,0.000,2663,2208,2838
$STATE,7373,end apogee,CONTROL_FINISHED_OK
$STATE,7373,begin climb
$GC,7374,0.76,194.6,995.4,0.0,707,7544,1.02,0.00,166.25,1.213,6,0.104,0.000,2984,2208,2047
$GC,7853,0.76,194.6,933.0,14.9,753,7853,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2208,2036
$GC,8163,0.76,194.6,887.2,15.2,783,8166,0.00,1.12,0.00,0.000,4,0.000,0.044,2990,1332,2034
$GC,8220,0.76,194.6,878.4,15.2,788,8228,0.00,1.23,0.00,0.000,6,0.000,0.042,2989,2253,2034
$GC,8538,0.76,194.6,830.2,15.6,819,8541,0.00,1.17,0.00,0.000,4,0.000,0.044,2995,1346,2032
$GC,8590,0.76,194.6,821.8,14.7,824,8594,0.00,1.15,0.00,0.000,6,0.000,0.044,2994,2227,2032
$GC,8913,0.76,194.6,772.1,15.5,855,8914,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2227,2031
$GC,9222,0.76,194.6,723.9,16.1,885,9225,0.00,1.15,0.00,0.000,4,0.000,0.044,3000,1337,2030
$GC,9279,0.76,194.6,714.7,15.2,890,9287,0.00,1.17,0.00,0.000,6,0.000,0.043,3000,2229,2030
$GC,9597,0.76,194.6,665.2,16.0,921,9600,0.00,1.15,0.00,0.000,4,0.000,0.044,3005,1334,2029
$GC,9628,0.76,194.6,660.0,16.1,924,9631,0.00,1.17,0.00,0.000,6,0.000,0.043,3005,2238,2029
$GC,9950,0.76,194.6,608.6,15.9,955,9953,0.00,1.15,0.00,0.000,4,0.000,0.044,3009,1340,2028
$GC,9992,0.76,194.6,601.6,15.6,959,9995,0.00,1.15,0.00,0.000,6,0.000,0.044,3009,2226,2029
$GC,10314,0.76,194.6,549.1,16.1,990,10315,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2226,2028
$GC,10624,0.76,194.6,498.7,16.1,1020,10625,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2226,2028
$GC,10934,0.76,194.6,449.2,16.2,1050,10937,0.00,1.12,0.00,0.000,4,0.000,0.043,3014,1346,2028
$GC,11002,0.76,194.6,438.5,15.5,1056,11009,0.00,1.17,0.00,0.000,6,0.000,0.042,3014,2241,2028
$GC,11320,0.76,194.6,387.9,15.9,1087,11320,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2242,2028
$GC,11628,0.76,194.6,338.1,16.7,1117,11632,0.00,1.15,0.00,0.000,4,0.000,0.042,3019,1341,2028
$GC,11671,0.76,194.6,331.3,14.3,1121,11674,0.00,1.15,0.00,0.000,6,0.000,0.041,3019,2236,2028
$GC,11992,0.76,194.6,277.9,16.7,1152,11995,0.00,1.15,0.00,0.000,4,0.000,0.041,3025,1330,2028
$GC,12023,0.76,194.6,272.6,16.2,1155,12027,0.10,1.15,0.00,0.000,6,0.155,0.041,2994,2224,2028
$GC,12344,0.76,194.6,226.7,14.3,1186,12347,0.00,1.12,0.00,0.000,4,0.000,0.041,2998,1334,2028
$GC,12397,0.76,194.6,219.3,13.9,1191,12401,0.00,1.15,0.00,0.000,6,0.000,0.040,2997,2231,2028
$GC,12718,0.76,194.6,171.3,14.3,1222,12719,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2232,2028
$GC,13029,0.76,194.6,128.1,13.3,1252,13032,0.00,1.12,0.00,0.000,4,0.000,0.040,3000,1339,2028
$GC,13097,0.76,194.6,118.9,12.2,1258,13104,0.00,1.17,0.00,0.000,6,0.000,0.038,3000,2248,2028
$GC,13414,0.76,194.6,77.4,12.0,1289,13417,0.00,1.15,0.00,0.000,4,0.000,0.038,3005,1330,2028
$GC,13489,0.76,194.6,67.9,12.9,1296,13492,0.00,1.15,0.00,0.000,6,0.000,0.037,3005,2243,2029
$GC,13686,0.76,194.6,45.5,10.2,1315,13687,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2243,2030
$GC,13871,0.76,194.6,28.9,8.1,1333,13875,0.00,1.15,0.00,0.000,4,0.000,0.037,3010,1321,2030
$GC,13961,0.85,265.7,23.5,4.6,1341,14017,0.00,1.17,51.80,0.538,6,0.000,0.035,3010,2241,1755
$GC,14202,0.94,339.9,10.5,4.4,1364,14262,0.12,1.20,55.55,0.515,4,0.063,0.035,3077,1326,1453
$STATE,14302,end climb,SURFACE_DEPTH_REACHED
$STATE,14302,begin surface coast
$FINISH,0.6,1.020309
$STATE,14335,end surface coast,CONTROL_FINISHED_OK
$STATE,14335,begin surface
$SM_CCo,14350,123.22,0.500,0,0,495,575.22
$SM_GC,1.59,0.00,0.00,123.22,0.000,0.000,0.500,202,2358,495,-7.95,-0.48,575.22
$IRIDIUM_FIX,2823.64,-8836.59,210999,050517
$TT8_MAMPS,0.051389
$HUMID,1321
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,22.80
$XPDR_PINGS,1
$24V_AH,22.1,31.664
$10V_AH,10.6,43.850
$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,20.300,81.300,425.800,123.225,0.000,30.329,38.665,200.353,0.250,0.000,0.000,13.370,0.000,9493.536,623.922,4203.849,505.445,33.334,1852.374,0.000,3748.543,0.000,0.847,0.000
$DEVICE_MAMPS,261.547,59.059,1244.074,500.084,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,940.779,1007.058,3092.724,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72598,1376
$CAP_FILE_SIZE,137952,0
$CFSIZE,260165632,239472640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.112,225.1,1
$GPS,270610,141425,2837.512,-8843.201,39,1.8,39,-0.2