version: 66.04
glider: 515
mission: 5
dive: 179
start: 6 28 110 10 51 59
data:
$ID,515
$MISSION,5
$DIVE,179
$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,-15581.265
$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,2400
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,40
$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
$GPS1,104436,2836.649,-8838.334,39,1.0,45,-0.3
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-65.0
$GPS2,105120,2836.725,-8838.382,14,1.0,14,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618A
$TGT_LATLONG,2837.900,-8826.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.220,0.147
$KALMAN_X,-15555.9,38.3,-100.9,34682.8,-3208.4
$KALMAN_Y,-67065.7,1528.6,1138.9,79858.1,-13424.3
$MHEAD_RNG_PITCHd_Wd,68.7,20244,-10.8,-7.500
$D_GRID,1329
$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,-194.6,0.0,0.0,0,103,0.00,0.00,-88.20,0.000,2,0.000,0.000,198,2369,2905
$GC,105,-0.63,-194.6,3.1,-3.2,9,141,10.75,1.55,-16.02,0.000,4,0.262,0.060,2532,3268,3637
$GC,273,-0.63,-194.6,41.9,-18.2,24,281,0.00,1.45,0.00,0.000,6,0.000,0.028,2536,2378,3638
$GC,466,-0.63,-194.6,72.0,-13.7,43,469,0.00,1.50,0.00,0.000,4,0.000,0.044,2531,3268,3639
$GC,518,-0.63,-194.6,79.2,-13.6,48,522,0.00,1.40,0.00,0.000,6,0.000,0.028,2536,2395,3639
$GC,716,-0.63,-194.6,104.4,-12.9,67,719,0.00,1.48,0.00,0.000,4,0.000,0.044,2531,3271,3640
$GC,747,-0.63,-194.6,108.7,-13.6,70,750,0.00,1.40,0.00,0.000,6,0.000,0.028,2536,2393,3640
$GC,1068,-0.63,-194.6,148.4,-11.6,101,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2390,3641
$GC,1378,-0.63,-194.6,183.9,-11.1,131,1381,0.00,1.48,0.00,0.000,4,0.000,0.044,2530,3266,3641
$GC,1453,-0.63,-194.6,192.5,-10.9,138,1456,0.00,1.40,0.00,0.000,6,0.000,0.028,2531,2388,3640
$GC,1775,-0.63,-194.6,229.2,-11.5,169,1778,0.00,1.50,0.00,0.000,4,0.000,0.046,2524,3275,3639
$GC,1828,-0.63,-194.6,235.5,-11.6,174,1831,0.00,1.40,0.00,0.000,6,0.000,0.028,2524,2403,3639
$GC,2150,-0.63,-194.6,270.8,-10.8,205,2153,0.00,1.48,0.00,0.000,4,0.000,0.048,2517,3266,3638
$GC,2185,-0.63,-194.6,275.2,-11.3,208,2193,0.00,1.42,0.00,0.000,6,0.000,0.029,2517,2384,3637
$GC,2503,-0.63,-194.6,311.4,-11.8,239,2506,0.00,1.50,0.00,0.000,4,0.000,0.049,2510,3263,3636
$GC,2567,-0.63,-194.6,319.2,-12.6,245,2570,0.08,1.40,0.00,0.000,6,0.148,0.031,2534,2395,3635
$GC,2887,-0.63,-194.6,353.1,-10.6,276,2888,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2393,3633
$GC,3198,-0.63,-194.6,386.2,-10.2,306,3201,0.00,1.50,0.00,0.000,4,0.000,0.051,2529,3270,3631
$GC,3262,-0.63,-194.6,393.1,-10.6,312,3265,0.00,1.42,0.00,0.000,6,0.000,0.032,2529,2394,3630
$GC,3584,-0.63,-194.6,427.5,-10.9,343,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2390,3628
$GC,3893,-0.63,-194.6,461.1,-11.0,373,3896,0.00,1.50,0.00,0.000,4,0.000,0.052,2522,3259,3626
$GC,3972,-0.63,-194.6,470.2,-11.5,380,3979,0.00,1.42,0.00,0.000,6,0.000,0.032,2522,2397,3625
$GC,4289,-0.63,-194.6,505.3,-10.8,411,4290,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2396,3622
$GC,4599,-0.63,-194.6,539.5,-10.6,441,4602,0.00,1.52,0.00,0.000,4,0.000,0.054,2515,3272,3621
$GC,4663,-0.63,-194.6,546.6,-10.9,447,4666,0.00,1.42,0.00,0.000,6,0.000,0.035,2515,2403,3620
$GC,4984,-0.63,-194.6,582.4,-11.0,478,4987,0.00,1.50,0.00,0.000,4,0.000,0.055,2508,3263,3619
$GC,5016,-0.63,-194.6,586.0,-11.9,481,5019,0.10,1.42,0.00,0.000,6,0.143,0.035,2539,2398,3618
$GC,5336,-0.63,-194.6,615.5,-8.9,512,5337,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2398,3616
$GC,5647,-0.63,-194.6,644.5,-9.1,542,5648,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2398,3615
$GC,5958,-0.63,-194.6,673.1,-8.9,572,5958,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2398,3612
$GC,6268,-0.63,-194.6,700.7,-8.9,602,6268,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2398,3610
$GC,6579,-0.63,-194.6,728.2,-8.9,632,6580,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2398,3609
$GC,6888,-0.63,-194.6,756.2,-9.2,662,6889,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2398,3606
$GC,7199,-0.63,-194.6,784.6,-9.2,692,7202,0.00,1.52,0.00,0.000,4,0.000,0.058,2534,3259,3605
$GC,7224,-0.63,-194.6,787.0,-9.2,694,7232,0.00,1.45,0.00,0.000,6,0.000,0.037,2534,2399,3605
$GC,7542,-0.63,-194.6,816.4,-9.1,725,7543,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2400,3604
$GC,7852,-0.63,-194.6,845.7,-9.6,755,7854,0.00,1.52,0.00,0.000,4,0.000,0.059,2527,3258,3603
$GC,7920,-0.63,-194.6,852.6,-10.3,761,7927,0.00,1.42,0.00,0.000,6,0.000,0.037,2527,2402,3603
$GC,8237,-0.63,-194.6,883.4,-9.8,792,8238,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2403,3601
$GC,8547,-0.63,-194.6,914.0,-9.7,822,8547,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2403,3600
$GC,8857,-0.63,-194.6,944.6,-9.8,852,8860,0.00,1.52,0.00,0.000,4,0.000,0.060,2521,3268,3598
$GC,8889,-0.63,-194.6,947.9,-10.6,855,8892,0.00,1.45,0.00,0.000,6,0.000,0.038,2521,2403,3598
$GC,9211,-0.63,-194.6,980.0,-10.2,886,9212,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2404,3597
$STATE,9322,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9322,begin apogee
$GC,9326,-0.25,0.0,990.9,9.7,897,9485,0.47,0.00,151.90,1.254,6,0.139,0.000,2661,2252,2839
$STATE,9486,end apogee,CONTROL_FINISHED_OK
$STATE,9486,begin climb
$GC,9487,0.63,194.6,995.7,0.0,913,9658,0.90,0.00,166.93,1.208,6,0.104,0.000,2943,2253,2046
$GC,9965,0.63,194.6,946.1,12.0,958,9968,0.00,1.20,0.00,0.000,4,0.000,0.056,2948,1355,2036
$GC,10000,0.63,194.6,941.7,11.8,961,10008,0.00,1.23,0.00,0.000,6,0.000,0.044,2948,2257,2035
$GC,10318,0.63,194.6,902.4,12.5,992,10319,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2257,2034
$GC,10628,0.63,194.6,863.9,12.3,1022,10628,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2257,2033
$GC,10938,0.63,194.6,825.4,12.3,1052,10941,0.00,1.20,0.00,0.000,4,0.000,0.046,2954,1339,2032
$GC,10991,0.63,194.6,819.0,12.6,1057,10994,0.00,1.20,0.00,0.000,6,0.000,0.044,2953,2253,2032
$GC,11313,0.63,194.6,779.0,12.2,1088,11314,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2253,2030
$GC,11622,0.63,194.6,740.4,12.4,1118,11623,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2252,2030
$GC,11933,0.63,194.6,701.5,12.6,1148,11936,0.00,1.17,0.00,0.000,4,0.000,0.046,2959,1347,2030
$GC,12001,0.63,194.6,693.2,11.2,1154,12009,0.00,1.23,0.00,0.000,6,0.000,0.044,2958,2264,2030
$GC,12318,0.63,194.6,653.9,12.9,1185,12319,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2264,2029
$GC,12628,0.63,194.6,614.9,12.5,1215,12629,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2264,2029
$GC,12938,0.63,194.6,576.7,12.1,1245,12941,0.00,1.20,0.00,0.000,4,0.000,0.044,2964,1340,2029
$GC,13017,0.63,194.6,567.3,10.9,1252,13024,0.00,1.23,0.00,0.000,6,0.000,0.043,2964,2262,2028
$GC,13334,0.63,194.6,529.8,11.7,1283,13335,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2263,2029
$GC,13644,0.63,194.6,491.9,12.7,1313,13647,0.00,1.20,0.00,0.000,4,0.000,0.044,2969,1340,2028
$GC,13722,0.63,194.6,482.2,12.2,1320,13730,0.00,1.23,0.00,0.000,6,0.000,0.043,2969,2264,2029
$GC,14040,0.63,194.6,441.1,13.8,1351,14041,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2263,2029
$GC,14349,0.63,194.6,399.7,13.2,1381,14352,0.00,1.20,0.00,0.000,4,0.000,0.044,2974,1338,2028
$GC,14428,0.63,194.6,389.4,12.6,1388,14435,0.00,1.23,0.00,0.000,6,0.000,0.042,2974,2265,2028
$GC,14745,0.63,194.6,345.7,13.9,1419,14746,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2265,2029
$GC,15055,0.63,194.6,303.4,13.3,1449,15058,0.00,1.17,0.00,0.000,4,0.000,0.042,2980,1350,2029
$GC,15123,0.63,194.6,294.4,12.8,1455,15132,0.12,1.20,0.00,0.000,6,0.151,0.041,2948,2262,2029
$GC,15439,0.63,194.6,258.8,11.4,1486,15442,0.00,1.17,0.00,0.000,4,0.000,0.042,2952,1346,2029
$GC,15497,0.63,194.6,252.3,10.3,1491,15505,0.00,1.20,0.00,0.000,6,0.000,0.041,2952,2260,2029
$GC,15814,0.63,194.6,216.4,11.4,1522,15815,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2260,2028
$GC,16124,0.63,194.6,182.5,11.1,1552,16127,0.00,1.17,0.00,0.000,4,0.000,0.041,2957,1338,2029
$GC,16166,0.63,194.6,178.0,10.8,1556,16169,0.00,1.17,0.00,0.000,6,0.000,0.040,2957,2255,2029
$GC,16487,0.63,194.6,142.4,11.2,1587,16490,0.00,1.15,0.00,0.000,4,0.000,0.039,2962,1343,2029
$GC,16540,0.63,194.6,136.5,11.6,1592,16543,0.00,1.17,0.00,0.000,6,0.000,0.039,2962,2261,2029
$GC,16863,0.63,194.6,101.2,10.2,1623,16865,0.00,1.17,0.00,0.000,4,0.000,0.039,2967,1331,2030
$GC,16930,0.63,194.6,94.1,8.6,1629,16938,0.00,1.20,0.00,0.000,6,0.000,0.037,2967,2260,2030
$GC,17122,0.63,194.6,74.1,9.9,1648,17123,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2260,2031
$GC,17309,0.63,194.6,56.4,9.7,1666,17310,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2260,2031
$GC,17495,0.63,194.6,41.6,7.7,1684,17498,0.00,1.17,0.00,0.000,4,0.000,0.038,2972,1329,2031
$GC,17623,0.71,260.3,33.8,5.8,1696,17675,0.00,1.17,48.58,0.534,6,0.000,0.036,2973,2259,1777
$GC,17863,0.81,345.0,20.7,5.3,1718,17933,0.10,0.00,63.53,0.516,6,0.074,0.000,3028,2259,1431
$STATE,18116,end climb,SURFACE_DEPTH_REACHED
$STATE,18116,begin surface coast
$FINISH,0.7,1.023020
$STATE,18156,end surface coast,CONTROL_FINISHED_OK
$STATE,18156,begin surface
$SM_CCo,18170,107.32,0.487,0,0,494,575.22
$SM_GC,1.48,0.00,0.00,107.32,0.000,0.000,0.487,200,2403,494,-7.96,0.08,575.22
$IRIDIUM_FIX,2826.10,-8846.40,220999,050553
$TT8_MAMPS,0.050622
$HUMID,1328
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,23.20
$XPDR_PINGS,2
$24V_AH,23.0,32.432
$10V_AH,10.6,44.949
$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,20.175,70.300,430.925,107.325,0.000,29.171,30.183,228.018,0.500,0.000,0.000,16.440,0.000,12302.489,629.207,5152.195,569.470,33.328,2074.335,0.000,4624.358,0.000,0.847,0.000
$DEVICE_MAMPS,262.314,59.826,1254.045,487.045,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1195.382,1284.290,3924.244,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91554,1746
$CAP_FILE_SIZE,159170,0
$CFSIZE,260165632,238997504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081,217.2,1
$GPS,280610,155737,2836.725,-8835.983,39,1.0,39,-0.3