version: 66.04
glider: 515
mission: 5
dive: 183
start: 6 29 110 7 44 41
data:
$ID,515
$MISSION,5
$DIVE,183
$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,-15648.142
$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,30
$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
$GPS1,073800,2836.826,-8829.222,36,1.4,36,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-65.5
$GPS2,074402,2836.885,-8829.291,10,1.9,10,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618A
$TGT_LATLONG,2837.900,-8826.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.152,0.217
$KALMAN_X,-18772.3,1115.5,1182.7,50279.8,-3465.4
$KALMAN_Y,-80545.8,526.9,270.5,95543.5,-10765.8
$MHEAD_RNG_PITCHd_Wd,64.3,5670,-10.8,-7.500
$D_GRID,1629
$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,-194.6,0.0,0.0,0,107,0.00,0.00,-93.28,0.000,2,0.000,0.000,199,2402,3057
$GC,109,-0.63,-194.6,3.6,-3.3,9,135,10.90,1.55,-11.45,0.000,4,0.266,0.074,2532,3291,3636
$GC,264,-0.63,-194.6,44.4,-19.1,23,267,0.00,1.48,0.00,0.000,6,0.000,0.028,2537,2376,3639
$GC,461,-0.63,-194.6,73.9,-14.5,42,464,0.00,1.52,0.00,0.000,4,0.000,0.046,2532,3279,3640
$GC,546,-0.63,-194.6,85.7,-13.4,50,549,0.00,1.42,0.00,0.000,6,0.000,0.028,2533,2394,3641
$GC,743,-0.63,-194.6,111.5,-13.2,69,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2392,3641
$GC,1053,-0.63,-194.6,149.0,-11.6,99,1056,0.00,1.50,0.00,0.000,4,0.000,0.046,2527,3281,3642
$GC,1149,-0.63,-194.6,160.0,-11.4,108,1152,0.00,1.42,0.00,0.000,6,0.000,0.028,2528,2389,3641
$GC,1471,-0.63,-194.6,196.8,-11.2,139,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2387,3641
$GC,1780,-0.63,-194.6,231.6,-11.5,169,1783,0.00,1.52,0.00,0.000,4,0.000,0.047,2520,3293,3640
$GC,1838,-0.63,-194.6,238.3,-11.0,174,1847,0.00,1.42,0.00,0.000,6,0.000,0.028,2520,2402,3639
$GC,2155,-0.63,-194.6,274.4,-11.3,205,2156,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2402,3638
$GC,2465,-0.63,-194.6,310.1,-11.6,235,2468,0.00,1.50,0.00,0.000,4,0.000,0.049,2514,3283,3636
$GC,2518,-0.63,-194.6,316.5,-12.0,240,2521,0.08,1.42,0.00,0.000,6,0.142,0.031,2537,2389,3636
$GC,2839,-0.63,-194.6,350.0,-10.3,271,2840,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2387,3634
$GC,3149,-0.63,-194.6,381.8,-10.0,301,3150,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2387,3632
$GC,3460,-0.63,-194.6,412.7,-9.7,331,3463,0.00,1.52,0.00,0.000,4,0.000,0.051,2532,3283,3630
$GC,3502,-0.63,-194.6,416.8,-10.0,335,3505,0.00,1.42,0.00,0.000,6,0.000,0.032,2532,2406,3629
$GC,3824,-0.63,-194.6,449.5,-10.5,366,3826,0.00,1.50,0.00,0.000,4,0.000,0.053,2525,3282,3627
$GC,3891,-0.63,-194.6,456.6,-10.2,372,3899,0.00,1.45,0.00,0.000,6,0.000,0.031,2525,2392,3626
$GC,4209,-0.63,-194.6,490.0,-10.6,403,4210,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2392,3624
$GC,4519,-0.63,-194.6,522.5,-10.3,433,4522,0.00,1.52,0.00,0.000,4,0.000,0.054,2518,3272,3622
$GC,4604,-0.63,-194.6,531.6,-10.7,441,4607,0.00,1.42,0.00,0.000,6,0.000,0.034,2519,2402,3621
$GC,4926,-0.63,-194.6,565.4,-11.2,472,4926,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2401,3620
$GC,5235,-0.63,-194.6,597.8,-10.5,502,5238,0.00,1.52,0.00,0.000,4,0.000,0.055,2511,3282,3618
$GC,5266,-0.63,-194.6,601.3,-11.3,505,5270,0.08,1.45,0.00,0.000,6,0.141,0.035,2536,2401,3617
$GC,5588,-0.63,-194.6,630.6,-8.9,536,5588,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2401,3615
$GC,5898,-0.63,-194.6,658.4,-8.9,566,5901,0.00,1.52,0.00,0.000,4,0.000,0.057,2531,3278,3614
$GC,5951,-0.63,-194.6,663.4,-9.5,571,5955,0.00,1.45,0.00,0.000,6,0.000,0.035,2531,2402,3614
$GC,6273,-0.63,-194.6,693.5,-9.5,602,6274,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2401,3612
$GC,6583,-0.63,-194.6,723.2,-9.8,632,6586,0.00,1.52,0.00,0.000,4,0.000,0.058,2525,3269,3610
$GC,6618,-0.63,-194.6,726.8,-9.6,635,6626,0.00,1.48,0.00,0.000,6,0.000,0.036,2525,2387,3610
$GC,6937,-0.63,-194.6,758.4,-9.8,666,6937,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2387,3608
$GC,7246,-0.63,-194.6,789.6,-10.0,696,7248,0.00,1.55,0.00,0.000,4,0.000,0.058,2518,3268,3606
$GC,7298,-0.63,-194.6,795.3,-10.6,701,7302,0.00,1.45,0.00,0.000,6,0.000,0.038,2518,2399,3606
$GC,7620,-0.63,-194.6,829.7,-10.7,732,7621,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2397,3605
$GC,7930,-0.63,-194.6,862.2,-10.1,762,7931,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2397,3604
$GC,8240,-0.63,-194.6,895.0,-10.9,792,8243,0.00,1.55,0.00,0.000,4,0.000,0.059,2511,3276,3602
$GC,8265,-0.63,-194.6,897.9,-11.8,794,8275,0.12,1.50,0.00,0.000,6,0.144,0.037,2542,2381,3603
$GC,8582,-0.63,-194.6,926.9,-8.6,825,8583,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2382,3602
$GC,8893,-0.63,-194.6,953.5,-8.2,855,8896,0.00,1.58,0.00,0.000,4,0.000,0.061,2537,3274,3600
$GC,8935,-0.63,-194.6,957.3,-8.8,859,8939,0.00,1.45,0.00,0.000,6,0.000,0.039,2537,2407,3600
$GC,9257,-0.63,-194.6,985.8,-9.4,890,9258,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2406,3599
$STATE,9306,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9306,begin apogee
$GC,9310,-0.25,0.0,990.4,8.9,895,9470,0.43,0.00,152.23,1.249,6,0.133,0.000,2664,2263,2838
$STATE,9471,end apogee,CONTROL_FINISHED_OK
$STATE,9471,begin climb
$GC,9472,0.63,194.6,995.2,0.0,911,9650,0.88,1.33,167.20,1.216,4,0.101,0.044,2947,1354,2045
$GC,9694,0.63,194.6,976.6,12.7,930,9697,0.00,1.25,0.00,0.000,6,0.000,0.043,2947,2248,2040
$GC,10016,0.63,194.6,937.1,12.3,961,10019,0.00,1.20,0.00,0.000,4,0.000,0.044,2952,1338,2035
$GC,10058,0.63,194.6,931.8,12.3,965,10061,0.00,1.23,0.00,0.000,6,0.000,0.044,2952,2255,2035
$GC,10380,0.63,194.6,891.1,13.0,996,10383,0.00,1.17,0.00,0.000,4,0.000,0.044,2957,1351,2033
$GC,10433,0.63,194.6,884.3,13.3,1001,10436,0.00,1.20,0.00,0.000,6,0.000,0.044,2957,2259,2033
$GC,10755,0.63,194.6,842.1,13.2,1032,10757,0.00,1.20,0.00,0.000,4,0.000,0.044,2962,1337,2032
$GC,10833,0.63,194.6,831.6,12.9,1039,10841,0.00,1.23,0.00,0.000,6,0.000,0.044,2962,2257,2032
$GC,11151,0.63,194.6,790.2,12.8,1070,11153,0.00,1.17,0.00,0.000,4,0.000,0.044,2967,1348,2031
$GC,11203,0.63,194.6,783.2,13.3,1075,11207,0.00,1.17,0.00,0.000,6,0.000,0.044,2967,2250,2031
$GC,11524,0.63,194.6,740.2,13.6,1106,11527,0.00,1.17,0.00,0.000,4,0.000,0.044,2972,1338,2030
$GC,11567,0.63,194.6,734.7,13.6,1110,11570,0.00,1.20,0.00,0.000,6,0.000,0.044,2972,2255,2030
$GC,11887,0.63,194.6,692.0,13.1,1141,11891,0.00,1.17,0.00,0.000,4,0.000,0.044,2978,1343,2029
$GC,11940,0.63,194.6,685.1,12.2,1146,11944,0.00,1.20,0.00,0.000,6,0.000,0.044,2978,2259,2029
$GC,12263,0.63,194.6,643.0,13.0,1177,12266,0.00,1.17,0.00,0.000,4,0.000,0.044,2983,1346,2029
$GC,12348,0.63,194.6,632.0,13.0,1185,12351,0.10,1.17,0.00,0.000,6,0.145,0.044,2952,2251,2028
$GC,12669,0.63,194.6,595.9,11.5,1216,12670,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2251,2029
$GC,12979,0.63,194.6,561.0,11.2,1246,12982,0.00,1.15,0.00,0.000,4,0.000,0.043,2956,1349,2028
$GC,13086,0.63,194.6,548.9,11.1,1256,13089,0.00,1.17,0.00,0.000,6,0.000,0.044,2956,2250,2028
$GC,13408,0.63,194.6,512.4,11.4,1287,13411,0.00,1.15,0.00,0.000,4,0.000,0.044,2961,1349,2029
$GC,13460,0.63,194.6,506.4,10.2,1292,13464,0.00,1.17,0.00,0.000,6,0.000,0.043,2961,2255,2028
$GC,13783,0.63,194.6,468.4,11.8,1323,13786,0.00,1.17,0.00,0.000,4,0.000,0.042,2965,1335,2028
$GC,13829,0.63,194.6,462.6,12.1,1327,13837,0.00,1.23,0.00,0.000,6,0.000,0.041,2966,2266,2028
$GC,14147,0.63,194.6,423.5,12.7,1358,14150,0.00,1.17,0.00,0.000,4,0.000,0.042,2971,1349,2028
$GC,14183,0.63,194.6,418.7,12.8,1361,14190,0.00,1.20,0.00,0.000,6,0.000,0.041,2971,2261,2028
$GC,14500,0.63,194.6,377.4,13.2,1392,14503,0.00,1.17,0.00,0.000,4,0.000,0.041,2976,1343,2028
$GC,14547,0.63,194.6,371.3,13.7,1396,14554,0.00,1.17,0.00,0.000,6,0.000,0.041,2976,2255,2028
$GC,14864,0.63,194.6,329.5,13.5,1427,14867,0.00,1.17,0.00,0.000,4,0.000,0.041,2982,1335,2028
$GC,14939,0.63,194.6,319.4,13.2,1434,14942,0.08,1.17,0.00,0.000,6,0.146,0.041,2957,2251,2028
$GC,15259,0.63,194.6,281.7,11.4,1465,15262,0.00,1.15,0.00,0.000,4,0.000,0.041,2961,1344,2028
$GC,15334,0.63,194.6,273.1,11.7,1472,15337,0.00,1.17,0.00,0.000,6,0.000,0.041,2961,2255,2028
$GC,15655,0.63,194.6,234.5,11.5,1503,15658,0.00,1.15,0.00,0.000,4,0.000,0.040,2966,1347,2028
$GC,15691,0.63,194.6,230.3,11.6,1506,15700,0.00,1.20,0.00,0.000,6,0.000,0.039,2966,2266,2028
$GC,16009,0.63,194.6,192.3,11.8,1537,16012,0.00,1.17,0.00,0.000,4,0.000,0.039,2971,1341,2028
$GC,16098,0.63,194.6,181.7,12.1,1545,16105,0.00,1.20,0.00,0.000,6,0.000,0.038,2971,2264,2029
$GC,16416,0.63,194.6,144.4,11.7,1576,16418,0.00,1.17,0.00,0.000,4,0.000,0.039,2976,1336,2030
$GC,16468,0.63,194.6,138.0,11.5,1581,16472,0.00,1.17,0.00,0.000,6,0.000,0.038,2976,2260,2030
$GC,16789,0.63,194.6,100.0,11.4,1612,16790,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2260,2030
$GC,16975,0.63,194.6,78.7,11.1,1630,16976,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2260,2030
$GC,17162,0.63,194.6,57.9,11.2,1648,17163,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2260,2031
$GC,17348,0.63,194.6,40.7,8.6,1666,17349,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2260,2031
$GC,17534,0.75,295.0,29.6,4.9,1684,17610,0.00,0.00,73.75,0.538,6,0.000,0.000,2976,2260,1636
$GC,17798,0.88,400.7,17.0,4.7,1708,17883,0.15,1.67,78.53,0.514,4,0.066,0.044,3044,3125,1205
$STATE,17992,end climb,SURFACE_DEPTH_REACHED
$STATE,17992,begin surface coast
$FINISH,0.8,1.023013
$STATE,18024,end surface coast,CONTROL_FINISHED_OK
$STATE,18024,begin surface
$SM_CCo,18039,82.43,0.486,0,0,495,575.22
$SM_GC,1.37,0.00,0.00,82.43,0.000,0.000,0.486,199,2378,495,-7.96,-0.62,575.22
$IRIDIUM_FIX,2823.64,-8834.14,230999,020217
$TT8_MAMPS,0.051389
$HUMID,1344
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.90
$XPDR_PINGS,3
$24V_AH,23.0,33.079
$10V_AH,10.6,45.847
$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,20.575,87.700,471.700,82.425,0.000,25.587,28.670,193.693,0.750,0.000,0.000,12.468,0.000,12083.173,623.993,5206.957,539.362,33.333,2123.244,0.000,4662.039,0.000,0.847,0.000
$DEVICE_MAMPS,266.149,73.632,1249.443,486.278,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1183.014,1264.405,3883.707,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91483,1728
$CAP_FILE_SIZE,165197,0
$CFSIZE,260165632,238632960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081,225.8,1
$GPS,290610,124737,2837.226,-8827.078,33,1.2,33,-0.4