version: 66.04
glider: 515
mission: 5
dive: 181
start: 6 28 110 21 15 40
data:
$ID,515
$MISSION,5
$DIVE,181
$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,-15618.429
$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,38
$R_STBD_OVSHOOT,19
$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
$GPS1,210831,2836.689,-8833.675,41,0.9,41,-0.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-64.6
$GPS2,211501,2836.677,-8833.678,9,0.9,14,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618A
$TGT_LATLONG,2837.900,-8826.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.225,0.139
$KALMAN_X,-20240.4,532.0,224.4,46185.0,-5900.2
$KALMAN_Y,-71280.2,392.4,639.6,85635.9,-9021.0
$MHEAD_RNG_PITCHd_Wd,68.9,12684,-10.8,-7.500
$D_GRID,1536
$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,-194.6,0.0,0.0,0,96,0.00,0.00,-82.68,0.000,2,0.000,0.000,191,2389,2762
$GC,98,-0.63,-194.6,3.2,-4.3,8,131,10.77,0.00,-20.30,0.000,6,0.262,0.000,2536,2389,3635
$GC,311,-0.63,-194.6,50.8,-18.8,29,314,0.00,1.27,0.00,0.000,4,0.000,0.038,2537,1502,3638
$GC,347,-0.63,-194.6,56.8,-15.5,32,355,0.00,1.38,0.00,0.000,6,0.000,0.037,2533,2430,3638
$GC,539,-0.63,-194.6,84.4,-13.8,51,543,0.00,1.42,0.00,0.000,4,0.000,0.046,2526,3273,3639
$GC,639,-0.63,-194.6,98.4,-14.1,60,647,0.00,1.45,0.00,0.000,6,0.000,0.028,2526,2377,3640
$GC,832,-0.63,-194.6,123.7,-13.2,79,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2376,3641
$GC,1142,-0.63,-194.6,163.1,-12.5,109,1146,0.00,1.50,0.00,0.000,4,0.000,0.046,2519,3263,3641
$GC,1250,-0.63,-194.6,176.0,-11.3,119,1252,0.00,1.40,0.00,0.000,6,0.000,0.029,2519,2387,3640
$GC,1571,-0.63,-194.6,213.6,-11.5,150,1574,0.00,1.50,0.00,0.000,4,0.000,0.047,2512,3273,3639
$GC,1649,-0.63,-194.6,223.1,-11.4,157,1657,0.08,1.42,0.00,0.000,6,0.145,0.028,2537,2389,3639
$GC,1966,-0.63,-194.6,255.7,-10.5,188,1969,0.00,1.48,0.00,0.000,4,0.000,0.048,2531,3263,3637
$GC,2012,-0.63,-194.6,260.9,-10.8,192,2020,0.00,1.40,0.00,0.000,6,0.000,0.029,2532,2407,3637
$GC,2330,-0.63,-194.6,296.0,-11.6,223,2333,0.00,1.48,0.00,0.000,4,0.000,0.049,2525,3270,3635
$GC,2398,-0.63,-194.6,304.1,-11.6,229,2405,0.00,1.45,0.00,0.000,6,0.000,0.031,2525,2379,3635
$GC,2716,-0.63,-194.6,340.7,-11.8,260,2719,0.00,1.52,0.00,0.000,4,0.000,0.051,2518,3269,3633
$GC,2762,-0.63,-194.6,346.7,-12.2,264,2770,0.00,1.40,0.00,0.000,6,0.000,0.031,2518,2410,3632
$GC,3080,-0.63,-194.6,384.5,-12.5,295,3083,0.00,1.48,0.00,0.000,4,0.000,0.051,2511,3275,3630
$GC,3165,-0.63,-194.6,395.3,-12.3,303,3168,0.08,1.42,0.00,0.000,6,0.148,0.032,2534,2398,3629
$GC,3486,-0.63,-194.6,429.2,-10.1,334,3489,0.00,1.48,0.00,0.000,4,0.000,0.052,2530,3258,3626
$GC,3522,-0.63,-194.6,433.2,-10.5,337,3529,0.00,1.42,0.00,0.000,6,0.000,0.032,2530,2389,3627
$GC,3839,-0.63,-194.6,466.2,-9.9,368,3842,0.00,1.52,0.00,0.000,4,0.000,0.053,2523,3270,3625
$GC,3881,-0.63,-194.6,470.7,-10.7,372,3884,0.00,1.42,0.00,0.000,6,0.000,0.033,2523,2403,3624
$GC,4203,-0.63,-194.6,506.4,-11.1,403,4206,0.00,1.50,0.00,0.000,4,0.000,0.054,2516,3264,3622
$GC,4239,-0.63,-194.6,510.8,-11.5,406,4248,0.00,1.45,0.00,0.000,6,0.000,0.034,2516,2388,3621
$GC,4557,-0.63,-194.6,546.0,-10.8,437,4559,0.00,1.52,0.00,0.000,4,0.000,0.054,2509,3262,3620
$GC,4642,-0.63,-194.6,556.1,-12.0,445,4645,0.10,1.42,0.00,0.000,6,0.143,0.035,2540,2399,3618
$GC,4962,-0.63,-194.6,587.7,-9.7,476,4966,0.00,1.52,0.00,0.000,4,0.000,0.055,2534,3270,3617
$GC,5015,-0.63,-194.6,592.6,-9.9,481,5019,0.00,1.45,0.00,0.000,6,0.000,0.035,2535,2392,3616
$GC,5337,-0.63,-194.6,623.6,-9.3,512,5340,0.00,1.52,0.00,0.000,4,0.000,0.056,2528,3258,3615
$GC,5405,-0.63,-194.6,630.6,-10.2,518,5414,0.00,1.42,0.00,0.000,6,0.000,0.035,2528,2399,3614
$GC,5722,-0.63,-194.6,662.7,-10.1,549,5726,0.00,1.52,0.00,0.000,4,0.000,0.057,2522,3261,3612
$GC,5780,-0.63,-194.6,668.9,-10.3,554,5788,0.00,1.45,0.00,0.000,6,0.000,0.035,2521,2387,3612
$GC,6097,-0.63,-194.6,702.5,-10.4,585,6100,0.00,1.55,0.00,0.000,4,0.000,0.057,2515,3268,3609
$GC,6144,-0.63,-194.6,707.9,-11.2,589,6151,0.00,1.45,0.00,0.000,6,0.000,0.035,2515,2396,3609
$GC,6461,-0.63,-194.6,741.4,-10.6,620,6465,0.12,1.52,0.00,0.000,4,0.151,0.055,2541,3259,3607
$GC,6497,-0.63,-194.6,745.3,-9.7,623,6504,0.00,1.45,0.00,0.000,6,0.000,0.036,2541,2398,3607
$GC,6815,-0.63,-194.6,773.6,-9.4,654,6818,0.00,1.52,0.00,0.000,4,0.000,0.058,2534,3257,3606
$GC,6862,-0.63,-194.6,778.1,-9.4,658,6870,0.00,1.45,0.00,0.000,6,0.000,0.036,2534,2390,3605
$GC,7179,-0.63,-194.6,807.4,-9.2,689,7182,0.00,1.55,0.00,0.000,4,0.000,0.058,2528,3268,3604
$GC,7215,-0.63,-194.6,810.9,-10.0,692,7222,0.00,1.48,0.00,0.000,6,0.000,0.037,2528,2382,3604
$GC,7532,-0.63,-194.6,840.8,-9.3,723,7535,0.00,1.55,0.00,0.000,4,0.000,0.058,2521,3262,3603
$GC,7611,-0.63,-194.6,848.5,-10.0,730,7620,0.00,1.42,0.00,0.000,6,0.000,0.037,2521,2406,3602
$GC,7928,-0.63,-194.6,879.2,-9.6,761,7929,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2407,3601
$GC,8238,-0.63,-194.6,909.0,-9.8,791,8241,0.00,1.52,0.00,0.000,4,0.000,0.059,2514,3268,3599
$GC,8284,-0.63,-194.6,913.8,-10.2,795,8292,0.12,1.48,0.00,0.000,6,0.149,0.038,2544,2397,3599
$GC,8601,-0.63,-194.6,939.5,-7.9,826,8602,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2398,3598
$GC,8912,-0.63,-194.6,964.1,-7.2,856,8915,0.00,1.52,0.00,0.000,4,0.000,0.060,2539,3258,3597
$GC,8975,-0.63,-194.6,969.3,-7.9,862,8978,0.00,1.45,0.00,0.000,6,0.000,0.039,2539,2388,3596
$STATE,9233,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9233,begin apogee
$GC,9237,-0.25,0.0,990.2,7.9,887,9397,0.43,0.00,151.85,1.246,6,0.140,0.000,2665,2262,2838
$STATE,9397,end apogee,CONTROL_FINISHED_OK
$STATE,9398,begin climb
$GC,9399,0.63,194.6,994.9,0.0,903,9570,0.88,0.00,167.32,1.214,6,0.104,0.000,2939,2262,2046
$GC,9878,0.63,194.6,944.8,12.1,950,9881,0.00,1.20,0.00,0.000,4,0.000,0.044,2944,1349,2036
$GC,9963,0.63,194.6,934.7,11.6,958,9967,0.00,1.17,0.00,0.000,6,0.000,0.044,2944,2240,2035
$GC,10285,0.63,194.6,895.6,12.6,989,10288,0.00,1.15,0.00,0.000,4,0.000,0.045,2949,1351,2033
$GC,10359,0.63,194.6,886.0,12.9,996,10363,0.00,1.17,0.00,0.000,6,0.000,0.045,2949,2248,2033
$GC,10682,0.63,194.6,845.6,12.1,1027,10684,0.00,1.17,0.00,0.000,4,0.000,0.045,2954,1337,2032
$GC,10788,0.63,194.6,832.2,12.8,1037,10791,0.00,1.20,0.00,0.000,6,0.000,0.044,2954,2253,2032
$GC,11108,0.63,194.6,791.3,12.7,1068,11112,0.00,1.17,0.00,0.000,4,0.000,0.044,2959,1345,2031
$GC,11187,0.63,194.6,781.6,12.4,1075,11195,0.00,1.23,0.00,0.000,6,0.000,0.044,2959,2263,2031
$GC,11505,0.63,194.6,742.5,12.2,1106,11508,0.00,1.17,0.00,0.000,4,0.000,0.045,2964,1352,2030
$GC,11568,0.63,194.6,734.3,13.6,1112,11572,0.00,1.20,0.00,0.000,6,0.000,0.044,2964,2262,2030
$GC,11889,0.63,194.6,693.6,12.4,1143,11892,0.00,1.17,0.00,0.000,4,0.000,0.044,2969,1354,2029
$GC,12011,0.63,194.6,678.3,13.4,1154,12019,0.00,1.23,0.00,0.000,6,0.000,0.044,2969,2270,2029
$GC,12329,0.63,194.6,637.4,13.2,1185,12331,0.00,1.20,0.00,0.000,4,0.000,0.044,2975,1346,2029
$GC,12425,0.63,194.6,624.9,13.5,1194,12427,0.00,1.20,0.00,0.000,6,0.000,0.045,2975,2265,2029
$GC,12745,0.63,194.6,580.1,14.4,1225,12748,0.00,1.20,0.00,0.000,4,0.000,0.043,2980,1339,2028
$GC,12809,0.63,194.6,571.1,14.3,1231,12812,0.08,1.20,0.00,0.000,6,0.150,0.044,2956,2259,2028
$GC,13130,0.63,194.6,532.4,11.9,1262,13133,0.00,1.17,0.00,0.000,4,0.000,0.044,2959,1346,2028
$GC,13219,0.63,194.6,521.9,11.6,1270,13228,0.00,1.20,0.00,0.000,6,0.000,0.043,2960,2255,2029
$GC,13537,0.63,194.6,484.2,12.6,1301,13540,0.00,1.17,0.00,0.000,4,0.000,0.043,2965,1337,2028
$GC,13622,0.63,194.6,474.2,11.7,1309,13625,0.00,1.20,0.00,0.000,6,0.000,0.043,2964,2261,2028
$GC,13942,0.63,194.6,434.2,12.2,1340,13945,0.00,1.17,0.00,0.000,4,0.000,0.043,2970,1344,2028
$GC,14049,0.63,194.6,421.1,12.6,1350,14052,0.00,1.17,0.00,0.000,6,0.000,0.044,2970,2254,2028
$GC,14371,0.63,194.6,380.1,12.9,1381,14374,0.00,1.15,0.00,0.000,4,0.000,0.042,2975,1351,2028
$GC,14445,0.63,194.6,370.5,12.0,1388,14448,0.00,1.17,0.00,0.000,6,0.000,0.043,2976,2261,2028
$GC,14766,0.63,194.6,328.8,13.0,1419,14769,0.00,1.17,0.00,0.000,4,0.000,0.041,2980,1346,2028
$GC,14851,0.63,194.6,317.7,13.3,1427,14854,0.08,1.17,0.00,0.000,6,0.149,0.042,2956,2255,2028
$GC,15172,0.63,194.6,281.0,11.2,1458,15175,0.00,1.17,0.00,0.000,4,0.000,0.041,2960,1333,2028
$GC,15229,0.63,194.6,274.5,11.0,1463,15237,0.00,1.20,0.00,0.000,6,0.000,0.040,2960,2255,2028
$GC,15547,0.63,194.6,237.2,12.1,1494,15550,0.00,1.15,0.00,0.000,4,0.000,0.041,2965,1344,2028
$GC,15653,0.63,194.6,224.5,11.4,1504,15656,0.00,1.17,0.00,0.000,6,0.000,0.041,2965,2260,2028
$GC,15975,0.63,194.6,184.8,12.2,1535,15978,0.00,1.17,0.00,0.000,4,0.000,0.040,2970,1331,2028
$GC,16064,0.63,194.6,173.4,12.4,1543,16072,0.00,1.20,0.00,0.000,6,0.000,0.038,2970,2259,2028
$GC,16382,0.63,194.6,134.6,12.5,1574,16385,0.00,1.15,0.00,0.000,4,0.000,0.039,2974,1344,2028
$GC,16445,0.63,194.6,126.9,11.4,1580,16448,0.00,1.17,0.00,0.000,6,0.000,0.038,2974,2263,2029
$GC,16767,0.63,194.6,87.9,11.3,1611,16770,0.00,1.15,0.00,0.000,4,0.000,0.038,2980,1342,2029
$GC,16921,0.63,194.6,71.0,10.5,1625,16928,0.12,1.17,0.00,0.000,6,0.137,0.037,2947,2258,2030
$GC,17113,0.64,205.3,55.7,7.2,1644,17124,0.00,0.00,7.25,0.482,6,0.000,0.000,2947,2258,2003
$GC,17310,0.74,285.3,44.7,5.4,1663,17377,0.12,1.17,61.70,0.550,4,0.067,0.035,3007,1342,1675
$GC,17430,0.74,285.3,33.8,8.9,1674,17433,0.00,1.17,0.00,0.000,6,0.000,0.035,3007,2254,1672
$GC,17627,0.79,329.0,19.4,6.4,1693,17664,0.00,1.20,32.92,0.515,4,0.000,0.035,3012,1332,1497
$GC,17786,0.85,377.8,10.0,6.2,1707,17829,0.00,1.17,37.35,0.502,6,0.000,0.034,3012,2254,1298
$STATE,17907,end climb,SURFACE_DEPTH_REACHED
$STATE,17907,begin surface coast
$FINISH,0.7,1.022827
$STATE,17950,end surface coast,CONTROL_FINISHED_OK
$STATE,17950,begin surface
$SM_CCo,17964,92.55,0.491,0,0,494,575.46
$SM_GC,1.53,0.00,0.00,92.55,0.000,0.000,0.491,197,2399,494,-7.97,-0.03,575.46
$IRIDIUM_FIX,2828.55,-8836.53,220999,161607
$TT8_MAMPS,0.050622
$HUMID,1323
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,23.0,32.754
$10V_AH,10.6,45.396
$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,20.475,112.450,458.400,92.550,0.000,29.197,32.544,208.548,0.000,0.000,0.000,16.637,0.000,11822.284,692.703,5331.713,569.829,33.331,2259.276,0.000,4758.266,0.000,0.851,0.000
$DEVICE_MAMPS,262.314,59.826,1245.608,490.880,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1178.017,1271.743,3872.556,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91417,1723
$CAP_FILE_SIZE,175425,0
$CFSIZE,260165632,238809088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090,222.3,1
$GPS,290610,021736,2836.411,-8831.400,39,1.0,39,-0.3