version: 66.04
glider: 515
mission: 5
dive: 180
start: 6 28 110 16 7 34
data:
$ID,515
$MISSION,5
$DIVE,180
$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,-15601.163
$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,25
$R_STBD_OVSHOOT,33
$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
$GPS1,155737,2836.725,-8835.983,39,1.0,39,-0.3
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-67.4
$GPS2,160655,2836.789,-8835.945,11,1.0,17,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618A
$TGT_LATLONG,2837.900,-8826.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.232,0.127
$KALMAN_X,-18315.2,678.9,300.2,40357.0,-5797.8
$KALMAN_Y,-68622.6,745.9,617.7,82836.6,-9965.9
$MHEAD_RNG_PITCHd_Wd,70.4,16297,-10.8,-7.500
$D_GRID,1425
$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,-194.6,0.0,0.0,0,109,0.00,0.00,-94.07,0.000,2,0.000,0.000,199,2404,3098
$GC,111,-0.63,-194.6,3.5,-3.0,9,137,10.85,1.52,-10.48,0.000,4,0.265,0.061,2529,3293,3636
$GC,376,-0.63,-194.6,61.6,-16.8,33,383,0.00,1.48,0.00,0.000,6,0.000,0.028,2534,2377,3639
$GC,568,-0.63,-194.6,88.2,-13.5,52,571,0.00,1.52,0.00,0.000,4,0.000,0.045,2529,3281,3640
$GC,611,-0.63,-194.6,93.9,-13.7,56,614,0.00,1.42,0.00,0.000,6,0.000,0.028,2532,2396,3640
$GC,808,-0.63,-194.6,119.5,-13.0,75,811,0.00,1.50,0.00,0.000,4,0.000,0.046,2527,3285,3640
$GC,833,-0.63,-194.6,123.0,-13.1,77,840,0.00,1.45,0.00,0.000,6,0.000,0.028,2527,2390,3640
$GC,1149,-0.63,-194.6,163.3,-12.8,108,1152,0.00,1.50,0.00,0.000,4,0.000,0.045,2520,3281,3640
$GC,1203,-0.63,-194.6,170.2,-12.5,113,1206,0.00,1.42,0.00,0.000,6,0.000,0.029,2520,2388,3640
$GC,1524,-0.63,-194.6,211.9,-12.4,144,1527,0.00,1.50,0.00,0.000,4,0.000,0.047,2513,3276,3638
$GC,1581,-0.63,-194.6,219.7,-12.2,149,1589,0.12,1.45,0.00,0.000,6,0.151,0.029,2544,2375,3638
$GC,1898,-0.63,-194.6,252.1,-10.4,180,1901,0.00,1.52,0.00,0.000,4,0.000,0.048,2538,3276,3637
$GC,1951,-0.63,-194.6,257.5,-10.4,185,1954,0.00,1.40,0.00,0.000,6,0.000,0.030,2538,2405,3636
$GC,2273,-0.63,-194.6,292.5,-11.2,216,2274,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2405,3634
$GC,2582,-0.63,-194.6,325.9,-10.8,246,2585,0.00,1.48,0.00,0.000,4,0.000,0.048,2532,3276,3632
$GC,2625,-0.63,-194.6,330.6,-11.7,250,2628,0.00,1.42,0.00,0.000,6,0.000,0.031,2532,2397,3632
$GC,2947,-0.63,-194.6,366.7,-11.6,281,2950,0.00,1.50,0.00,0.000,4,0.000,0.051,2525,3275,3629
$GC,2999,-0.63,-194.6,373.1,-11.4,286,3003,0.00,1.42,0.00,0.000,6,0.000,0.032,2525,2402,3629
$GC,3322,-0.63,-194.6,410.0,-11.4,317,3323,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2402,3627
$GC,3631,-0.63,-194.6,445.2,-11.2,347,3634,0.00,1.50,0.00,0.000,4,0.000,0.052,2518,3272,3624
$GC,3688,-0.63,-194.6,452.0,-11.0,352,3696,0.00,1.42,0.00,0.000,6,0.000,0.032,2518,2402,3624
$GC,4006,-0.63,-194.6,487.9,-11.1,383,4009,0.00,1.50,0.00,0.000,4,0.000,0.052,2511,3266,3621
$GC,4069,-0.63,-194.6,495.6,-11.2,389,4072,0.08,1.42,0.00,0.000,6,0.150,0.034,2535,2397,3621
$GC,4390,-0.63,-194.6,529.2,-10.6,420,4390,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2397,3619
$GC,4700,-0.63,-194.6,561.1,-10.1,450,4703,0.00,1.52,0.00,0.000,4,0.000,0.054,2529,3279,3617
$GC,4736,-0.63,-194.6,565.1,-10.4,453,4744,0.00,1.45,0.00,0.000,6,0.000,0.035,2530,2402,3616
$GC,5054,-0.63,-194.6,598.6,-10.5,484,5054,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2401,3615
$GC,5364,-0.63,-194.6,630.5,-10.0,514,5367,0.00,1.52,0.00,0.000,4,0.000,0.056,2523,3272,3612
$GC,5399,-0.63,-194.6,634.4,-10.9,517,5407,0.00,1.48,0.00,0.000,6,0.000,0.035,2523,2388,3612
$GC,5717,-0.63,-194.6,666.9,-10.5,548,5720,0.00,1.55,0.00,0.000,4,0.000,0.056,2516,3271,3610
$GC,5781,-0.63,-194.6,673.6,-10.6,554,5784,0.00,1.45,0.00,0.000,6,0.000,0.037,2516,2398,3609
$GC,6102,-0.63,-194.6,708.9,-11.2,585,6103,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2394,3608
$GC,6412,-0.63,-194.6,742.8,-10.8,615,6413,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2395,3606
$GC,6722,-0.63,-194.6,776.4,-10.8,645,6723,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2395,3604
$GC,7033,-0.63,-194.6,808.6,-10.3,675,7036,0.00,1.55,0.00,0.000,4,0.000,0.058,2509,3274,3602
$GC,7086,-0.63,-194.6,814.2,-9.8,680,7089,0.10,1.48,0.00,0.000,6,0.144,0.038,2540,2385,3602
$GC,7407,-0.63,-194.6,842.1,-9.1,711,7408,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2385,3601
$GC,7717,-0.63,-194.6,869.1,-8.8,741,7720,0.00,1.58,0.00,0.000,4,0.000,0.059,2534,3281,3599
$GC,7749,-0.63,-194.6,871.9,-8.9,744,7752,0.00,1.48,0.00,0.000,6,0.000,0.038,2534,2401,3599
$GC,8071,-0.63,-194.6,900.7,-8.9,775,8074,0.00,1.55,0.00,0.000,4,0.000,0.059,2528,3275,3598
$GC,8102,-0.63,-194.6,904.0,-9.7,778,8105,0.00,1.48,0.00,0.000,6,0.000,0.038,2527,2394,3597
$GC,8425,-0.63,-194.6,934.5,-9.6,809,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2391,3596
$GC,8733,-0.63,-194.6,963.9,-9.8,839,8737,0.00,1.55,0.00,0.000,4,0.000,0.059,2521,3268,3595
$GC,8791,-0.63,-194.6,969.6,-10.1,844,8798,0.00,1.45,0.00,0.000,6,0.000,0.038,2521,2403,3595
$STATE,9002,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9002,begin apogee
$GC,9007,-0.25,0.0,990.4,9.7,865,9165,0.47,0.00,150.82,1.246,6,0.139,0.000,2661,2255,2839
$STATE,9166,end apogee,CONTROL_FINISHED_OK
$STATE,9166,begin climb
$GC,9167,0.63,194.6,995.3,0.0,881,9338,0.88,0.00,166.90,1.212,6,0.104,0.000,2938,2255,2046
$GC,9644,0.63,194.6,947.5,11.6,926,9647,0.00,1.20,0.00,0.000,4,0.000,0.045,2943,1340,2035
$GC,9697,0.63,194.6,941.5,11.7,931,9700,0.00,1.20,0.00,0.000,6,0.000,0.045,2943,2245,2035
$GC,10020,0.63,194.6,903.3,11.4,962,10023,0.00,1.17,0.00,0.000,4,0.000,0.045,2948,1343,2033
$GC,10062,0.63,194.6,897.9,11.8,966,10065,0.00,1.20,0.00,0.000,6,0.000,0.045,2948,2251,2033
$GC,10384,0.63,194.6,858.8,12.2,997,10385,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2251,2031
$GC,10693,0.63,194.6,820.7,11.4,1027,10696,0.00,1.17,0.00,0.000,4,0.000,0.044,2953,1344,2031
$GC,10757,0.63,194.6,812.9,13.0,1033,10761,0.00,1.20,0.00,0.000,6,0.000,0.046,2953,2256,2030
$GC,11078,0.63,194.6,772.6,12.7,1064,11081,0.00,1.17,0.00,0.000,4,0.000,0.044,2958,1347,2029
$GC,11120,0.63,194.6,767.2,12.6,1068,11124,0.00,1.20,0.00,0.000,6,0.000,0.044,2958,2259,2030
$GC,11442,0.63,194.6,725.7,12.7,1099,11445,0.00,1.17,0.00,0.000,4,0.000,0.044,2963,1349,2029
$GC,11510,0.63,194.6,716.8,13.0,1105,11517,0.00,1.20,0.00,0.000,6,0.000,0.044,2963,2255,2029
$GC,11828,0.63,194.6,676.3,12.4,1136,11831,0.00,1.17,0.00,0.000,4,0.000,0.044,2968,1342,2029
$GC,11891,0.63,194.6,668.3,12.9,1142,11895,0.00,1.20,0.00,0.000,6,0.000,0.044,2968,2260,2029
$GC,12212,0.63,194.6,627.4,12.6,1173,12216,0.00,1.17,0.00,0.000,4,0.000,0.044,2973,1348,2028
$GC,12280,0.63,194.6,618.5,13.0,1179,12288,0.00,1.23,0.00,0.000,6,0.000,0.044,2973,2268,2028
$GC,12598,0.63,194.6,575.7,13.8,1210,12601,0.00,1.20,0.00,0.000,4,0.000,0.044,2978,1340,2028
$GC,12672,0.63,194.6,565.5,13.3,1217,12675,0.00,1.20,0.00,0.000,6,0.000,0.044,2978,2260,2028
$GC,12993,0.63,194.6,520.9,13.5,1248,12997,0.00,1.17,0.00,0.000,4,0.000,0.044,2984,1349,2028
$GC,13068,0.63,194.6,510.0,15.7,1255,13071,0.10,1.17,0.00,0.000,6,0.148,0.044,2954,2253,2027
$GC,13389,0.63,194.6,472.7,11.6,1286,13389,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2253,2027
$GC,13700,0.63,194.6,437.4,11.7,1316,13703,0.00,1.17,0.00,0.000,4,0.000,0.043,2958,1335,2027
$GC,13763,0.63,194.6,429.8,12.2,1322,13767,0.00,1.17,0.00,0.000,6,0.000,0.042,2957,2249,2027
$GC,14084,0.63,194.6,391.4,11.7,1353,14087,0.00,1.15,0.00,0.000,4,0.000,0.042,2962,1344,2027
$GC,14131,0.63,194.6,385.6,12.5,1357,14138,0.00,1.20,0.00,0.000,6,0.000,0.042,2962,2259,2027
$GC,14449,0.63,194.6,346.2,12.2,1388,14452,0.00,1.17,0.00,0.000,4,0.000,0.041,2967,1337,2027
$GC,14501,0.63,194.6,339.3,13.1,1393,14505,0.00,1.17,0.00,0.000,6,0.000,0.042,2967,2253,2027
$GC,14822,0.63,194.6,297.5,12.9,1424,14825,0.00,1.15,0.00,0.000,4,0.000,0.041,2972,1346,2027
$GC,14859,0.63,194.6,292.6,13.8,1427,14866,0.00,1.20,0.00,0.000,6,0.000,0.041,2972,2261,2027
$GC,15176,0.63,194.6,250.6,13.4,1458,15179,0.00,1.17,0.00,0.000,4,0.000,0.041,2977,1339,2027
$GC,15222,0.63,194.6,244.3,11.3,1462,15230,0.00,1.20,0.00,0.000,6,0.000,0.040,2977,2260,2027
$GC,15540,0.63,194.6,202.9,13.0,1493,15543,0.00,1.17,0.00,0.000,4,0.000,0.040,2982,1335,2028
$GC,15603,0.63,194.6,194.5,14.0,1499,15607,0.10,1.17,0.00,0.000,6,0.142,0.040,2951,2253,2028
$GC,15924,0.63,194.6,160.9,10.1,1530,15925,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2253,2027
$GC,16235,0.63,194.6,130.0,10.2,1560,16238,0.00,1.15,0.00,0.000,4,0.000,0.039,2954,1337,2028
$GC,16314,0.63,194.6,122.0,10.8,1567,16321,0.00,1.17,0.00,0.000,6,0.000,0.038,2955,2259,2029
$GC,16631,0.63,194.6,90.0,9.9,1598,16634,0.00,1.15,0.00,0.000,4,0.000,0.038,2960,1342,2029
$GC,16738,0.63,194.6,79.7,9.9,1608,16741,0.00,1.15,0.00,0.000,6,0.000,0.038,2960,2253,2030
$GC,16935,0.63,194.6,61.9,8.6,1627,16935,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2253,2030
$GC,17121,0.65,212.7,47.7,7.0,1645,17137,0.00,1.60,13.30,0.519,4,0.000,0.046,2958,3139,1971
$GC,17185,0.65,212.7,42.8,8.4,1650,17193,0.00,1.60,0.00,0.000,6,0.000,0.030,2967,2239,1970
$GC,17377,0.73,283.1,31.8,5.7,1669,17436,0.00,1.10,53.67,0.533,4,0.000,0.036,2972,1356,1684
$GC,17457,0.82,352.4,27.6,5.7,1676,17516,0.08,1.15,52.45,0.522,6,0.059,0.035,3022,2257,1402
$GC,17701,0.83,359.9,12.2,7.3,1699,17713,0.00,1.15,5.80,0.401,4,0.000,0.035,3026,1351,1373
$GC,17824,0.83,359.9,3.6,7.5,1710,17832,0.00,1.17,0.00,0.000,6,0.000,0.033,3027,2263,1371
$STATE,17838,end climb,SURFACE_DEPTH_REACHED
$STATE,17838,begin surface coast
$FINISH,0.7,1.010965
$STATE,17880,end surface coast,CONTROL_FINISHED_OK
$STATE,17880,begin surface
$SM_CCo,17893,100.57,0.489,0,0,495,575.22
$SM_GC,1.35,0.00,0.00,100.57,0.000,0.000,0.489,194,2388,495,-7.98,-0.34,575.22
$IRIDIUM_FIX,2826.10,-8834.07,220999,161619
$TT8_MAMPS,0.050622
$HUMID,1321
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,20.7,32.595
$10V_AH,10.6,45.172
$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,20.275,99.050,442.950,100.575,0.000,49.949,58.927,266.877,0.000,0.000,0.000,19.271,0.000,11985.863,645.315,5206.350,686.909,33.334,2151.582,0.000,4657.001,0.000,1.153,0.000
$DEVICE_MAMPS,265.382,61.360,1246.375,489.346,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1174.169,1256.548,3856.886,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88380,1716
$CAP_FILE_SIZE,172210,0
$CFSIZE,260165632,238899200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.088,224.2,1
$GPS,280610,210831,2836.689,-8833.675,41,0.9,41,-0.3