version: 66.04
glider: 515
mission: 5
dive: 185
start: 6 29 110 17 28 8
data:
$ID,515
$MISSION,5
$DIVE,185
$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,-14
$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,-15699.493
$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,33
$R_STBD_OVSHOOT,35
$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
$GPS1,172006,2838.475,-8826.102,39,1.9,44,-0.4
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-60.1
$GPS2,172628,2838.519,-8826.105,13,2.1,32,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618A
$TGT_LATLONG,2837.900,-8826.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.109,0.241
$KALMAN_X,-16665.4,-542.7,835.0,55415.2,-1773.9
$KALMAN_Y,-89567.6,986.2,421.3,106958.0,-13275.8
$MHEAD_RNG_PITCHd_Wd,146.6,1160,-26.8,-7.500
$D_GRID,1456
$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,-1.01,-41.0,0.0,0.0,0,106,0.00,0.00,-91.12,0.000,6,0.000,0.000,188,2411,3009
$GC,108,-1.04,-65.1,3.7,-4.5,9,123,10.10,1.30,-2.22,0.000,4,0.260,0.054,2410,1480,3107
$GC,184,-1.04,-65.1,25.5,-28.2,16,187,0.00,1.33,0.00,0.000,6,0.000,0.038,2406,2387,3107
$GC,380,-1.04,-65.1,59.7,-12.7,35,381,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2387,3109
$GC,566,-1.04,-65.1,81.0,-10.9,53,569,0.00,1.50,0.00,0.000,4,0.000,0.042,2398,3296,3110
$GC,667,-1.04,-65.1,93.1,-11.5,62,674,0.00,1.45,0.00,0.000,6,0.000,0.026,2404,2382,3111
$GC,859,-1.04,-65.1,111.4,-9.2,81,862,0.00,1.52,0.00,0.000,4,0.000,0.041,2398,3303,3111
$GC,1105,-1.04,-65.1,139.8,-10.7,104,1108,0.00,1.45,0.00,0.000,6,0.000,0.027,2403,2388,3112
$GC,1427,-1.04,-65.1,170.3,-9.3,135,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2388,3112
$GC,1736,-1.04,-65.1,198.0,-9.0,165,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2386,3112
$GC,2046,-1.04,-65.1,225.6,-9.3,195,2047,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2386,3110
$GC,2357,-1.04,-65.1,254.8,-9.6,225,2360,0.00,1.25,0.00,0.000,4,0.000,0.038,2403,1504,3109
$GC,2467,-1.04,-65.1,266.0,-10.2,235,2477,0.00,1.35,0.00,0.000,6,0.000,0.036,2399,2426,3109
$GC,2785,-1.04,-65.1,297.3,-9.6,266,2788,0.00,1.42,0.00,0.000,4,0.000,0.046,2391,3281,3107
$GC,2831,-1.04,-65.1,302.2,-10.2,270,2839,0.00,1.45,0.00,0.000,6,0.000,0.029,2395,2379,3107
$GC,3149,-1.04,-65.1,333.1,-9.4,301,3152,0.00,1.23,0.00,0.000,4,0.000,0.041,2401,1522,3104
$GC,3203,-1.04,-65.1,338.4,-9.7,306,3205,0.00,1.25,0.00,0.000,6,0.000,0.038,2396,2383,3104
$GC,3524,-1.04,-65.1,371.2,-9.3,337,3525,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2383,3102
$GC,3834,-1.04,-65.1,402.9,-10.3,367,3837,0.00,1.25,0.00,0.000,4,0.000,0.042,2401,1524,3100
$GC,4036,-1.04,-65.1,422.7,-9.5,386,4040,0.00,1.30,0.00,0.000,6,0.000,0.039,2396,2410,3099
$GC,4359,-1.04,-65.1,454.4,-10.0,417,4362,0.00,1.45,0.00,0.000,4,0.000,0.049,2389,3271,3096
$GC,4534,-1.04,-65.1,472.9,-10.5,433,4541,0.00,1.40,0.00,0.000,6,0.000,0.031,2391,2405,3096
$GC,4851,-1.04,-65.1,503.8,-9.3,464,4854,0.00,1.27,0.00,0.000,4,0.000,0.044,2397,1525,3093
$GC,4897,-1.04,-65.1,508.4,-9.8,468,4905,0.00,1.30,0.00,0.000,6,0.000,0.040,2393,2398,3093
$GC,5216,-1.04,-65.1,539.6,-10.3,499,5218,0.00,1.30,0.00,0.000,4,0.000,0.044,2397,1515,3092
$GC,5240,-1.04,-65.1,542.4,-9.6,501,5248,0.00,1.33,0.00,0.000,6,0.000,0.040,2392,2403,3091
$GC,5558,-1.04,-65.1,574.0,-9.6,532,5561,0.00,1.30,0.00,0.000,4,0.000,0.044,2397,1522,3090
$GC,5626,-1.04,-65.1,580.5,-9.5,538,5633,0.00,1.27,0.00,0.000,6,0.000,0.041,2392,2392,3089
$GC,5943,-1.04,-65.1,610.5,-9.6,569,5946,0.00,1.50,0.00,0.000,4,0.000,0.051,2385,3280,3088
$GC,6145,-1.04,-65.1,632.6,-11.4,588,6149,0.00,1.42,0.00,0.000,6,0.000,0.034,2389,2407,3087
$GC,6468,-1.04,-65.1,664.2,-9.8,619,6470,0.00,1.50,0.00,0.000,4,0.000,0.052,2384,3283,3085
$GC,6504,-1.04,-65.1,668.3,-9.6,622,6511,0.00,1.45,0.00,0.000,6,0.000,0.034,2389,2398,3086
$GC,6821,-1.04,-65.1,699.5,-9.9,653,6822,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2399,3085
$GC,7131,-1.04,-65.1,730.0,-10.3,683,7134,0.00,1.30,0.00,0.000,4,0.000,0.047,2388,1515,3083
$GC,7156,-1.04,-65.1,732.5,-10.4,685,7163,0.00,1.33,0.00,0.000,6,0.000,0.042,2384,2399,3082
$GC,7473,-1.04,-65.1,764.9,-10.3,716,7474,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2399,3081
$GC,7783,-1.04,-65.1,795.8,-9.9,746,7784,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2400,3080
$GC,8093,-1.04,-65.1,825.6,-8.9,776,8094,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2400,3079
$GC,8404,-1.04,-65.1,853.4,-9.2,806,8407,0.00,1.50,0.00,0.000,4,0.000,0.055,2377,3272,3078
$GC,8435,-1.04,-65.1,856.3,-8.7,809,8439,0.10,1.45,0.00,0.000,6,0.213,0.037,2402,2398,3078
$GC,8757,-1.04,-65.1,881.9,-7.9,840,8760,0.00,1.30,0.00,0.000,4,0.000,0.048,2404,1519,3076
$GC,8814,-1.04,-65.1,886.6,-7.8,845,8821,0.00,1.35,0.00,0.000,6,0.000,0.044,2400,2407,3076
$GC,9132,-1.04,-65.1,912.4,-8.1,876,9135,0.00,1.33,0.00,0.000,4,0.000,0.048,2402,1521,3075
$GC,9185,-1.04,-65.1,917.1,-8.4,881,9188,0.00,1.30,0.00,0.000,6,0.000,0.045,2398,2389,3075
$GC,9507,-1.04,-65.1,945.2,-8.8,912,9510,0.00,1.30,0.00,0.000,4,0.000,0.047,2397,1516,3074
$GC,9542,-1.04,-65.1,948.6,-8.9,915,9551,0.00,1.35,0.00,0.000,6,0.000,0.044,2392,2407,3074
$GC,9860,-1.04,-65.1,976.1,-8.7,946,9863,0.00,1.50,0.00,0.000,4,0.000,0.056,2384,3274,3072
$GC,9923,-1.04,-65.1,982.4,-9.7,952,9927,0.00,1.45,0.00,0.000,6,0.000,0.038,2389,2401,3072
$STATE,10015,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10015,begin apogee
$GC,10020,-0.25,0.0,990.7,8.8,961,10070,1.02,0.00,47.40,1.236,6,0.190,0.000,2657,2268,2840
$STATE,10070,end apogee,CONTROL_FINISHED_OK
$STATE,10070,begin climb
$GC,10072,1.04,65.1,992.6,0.0,966,10137,1.30,0.00,56.20,1.217,6,0.107,0.000,3075,2268,2573
$GC,10445,1.04,65.1,946.6,13.5,1002,10448,0.00,1.65,0.00,0.000,4,0.000,0.057,3074,3141,2566
$GC,10545,1.04,65.1,932.0,14.2,1011,10554,0.00,1.67,0.00,0.000,6,0.000,0.036,3083,2226,2565
$GC,10863,1.04,65.1,888.6,13.6,1042,10864,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2227,2564
$GC,11172,1.04,65.1,845.4,13.8,1072,11175,0.00,1.70,0.00,0.000,4,0.000,0.054,3083,3134,2563
$GC,11229,1.04,65.1,837.0,14.6,1077,11237,0.00,1.62,0.00,0.000,6,0.000,0.036,3090,2251,2562
$GC,11548,1.04,65.1,792.3,14.1,1108,11551,0.00,1.65,0.00,0.000,4,0.000,0.054,3087,3130,2562
$GC,11590,1.04,65.1,785.9,14.7,1112,11593,0.00,1.60,0.00,0.000,6,0.000,0.038,3094,2252,2561
$GC,11910,1.04,65.1,741.4,13.5,1143,11911,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2253,2561
$GC,12221,1.04,65.1,700.3,13.4,1173,12224,0.00,1.65,0.00,0.000,4,0.000,0.055,3093,3130,2560
$GC,12318,1.04,65.1,687.0,14.0,1182,12321,0.00,1.60,0.00,0.000,6,0.000,0.038,3100,2231,2560
$GC,12638,1.04,65.1,645.1,12.3,1213,12642,0.00,1.73,0.00,0.000,4,0.000,0.054,3100,3135,2559
$GC,12745,1.04,65.1,631.0,13.0,1223,12748,0.00,1.60,0.00,0.000,6,0.000,0.038,3107,2256,2559
$GC,13066,1.04,65.1,590.1,13.1,1254,13069,0.00,1.67,0.00,0.000,4,0.000,0.054,3106,3132,2559
$GC,13205,1.04,65.1,570.3,14.1,1267,13208,0.10,1.60,0.00,0.000,6,0.202,0.038,3086,2252,2559
$GC,13525,1.04,65.1,531.6,12.0,1298,13526,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2253,2559
$GC,13837,1.04,65.1,493.9,12.5,1328,13839,0.00,1.65,0.00,0.000,4,0.000,0.053,3080,3136,2559
$GC,13926,1.04,65.1,482.4,12.3,1336,13933,0.00,1.62,0.00,0.000,6,0.000,0.036,3087,2249,2558
$GC,14244,1.04,65.1,445.3,11.5,1367,14244,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2249,2559
$GC,14553,1.04,65.1,408.8,12.3,1397,14554,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2249,2559
$GC,14863,1.04,65.1,372.0,11.8,1427,14866,0.00,1.65,0.00,0.000,4,0.000,0.053,3085,3130,2559
$GC,14995,1.04,65.1,354.8,11.4,1439,15004,0.00,1.62,0.00,0.000,6,0.000,0.035,3092,2241,2559
$GC,15313,1.04,65.1,316.2,12.3,1470,15314,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2242,2559
$GC,15623,1.04,65.1,278.9,11.2,1500,15626,0.00,1.67,0.00,0.000,4,0.000,0.051,3092,3145,2559
$GC,15644,1.04,65.1,276.1,14.0,1502,15647,0.00,1.60,0.00,0.000,6,0.000,0.035,3100,2254,2559
$GC,15964,1.04,65.1,235.9,12.3,1533,15968,0.00,1.67,0.00,0.000,4,0.000,0.051,3099,3137,2560
$GC,16043,1.04,65.1,225.0,13.5,1540,16051,0.00,1.62,0.00,0.000,6,0.000,0.034,3107,2241,2560
$GC,16361,1.04,65.1,185.7,12.6,1571,16364,0.00,1.67,0.00,0.000,4,0.000,0.049,3106,3129,2560
$GC,16424,1.04,65.1,177.9,13.2,1577,16428,0.10,1.58,0.00,0.000,6,0.197,0.034,3086,2255,2561
$GC,16745,1.04,65.1,141.8,11.1,1608,16748,0.00,1.12,0.00,0.000,4,0.000,0.038,3090,1346,2561
$GC,16856,1.04,65.1,129.7,9.2,1618,16863,0.00,1.20,0.00,0.000,6,0.000,0.039,3091,2266,2562
$GC,17173,1.04,65.1,101.2,8.0,1649,17177,0.00,1.60,0.00,0.000,4,0.000,0.048,3090,3131,2563
$GC,17419,1.04,65.1,78.9,8.4,1672,17422,0.00,1.58,0.00,0.000,6,0.000,0.031,3097,2240,2563
$GC,17616,1.05,72.9,65.0,6.6,1691,17628,0.00,1.62,5.90,0.462,4,0.000,0.045,3096,3134,2544
$GC,17867,1.07,95.3,50.2,4.7,1714,17889,0.00,1.55,18.60,0.540,6,0.000,0.029,3104,2253,2451
$GC,18072,1.09,110.2,39.2,5.7,1734,18087,0.00,1.67,12.70,0.509,4,0.000,0.044,3104,3138,2389
$GC,18327,1.18,183.9,29.9,-1.5,1757,18386,0.00,1.60,55.85,0.530,6,0.000,0.028,3112,2227,2089
$GC,18571,1.18,183.9,17.9,7.6,1780,18574,0.00,1.67,0.00,0.000,4,0.000,0.044,3112,3142,2084
$STATE,18731,end climb,SURFACE_DEPTH_REACHED
$STATE,18731,begin surface coast
$FINISH,0.8,1.023178
$STATE,18754,end surface coast,CONTROL_FINISHED_OK
$STATE,18754,begin surface
$SM_CCo,18769,183.48,0.487,0,0,495,575.22
$SM_GC,1.42,0.00,0.00,183.48,0.000,0.000,0.487,202,2375,495,-7.95,-0.71,575.22
$IRIDIUM_FIX,2826.10,-8834.14,230999,131314
$TT8_MAMPS,0.050622
$HUMID,1309
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,23.8,33.298
$10V_AH,10.6,46.273
$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,20.600,103.325,196.650,183.475,0.000,24.805,29.394,198.915,0.250,0.000,0.000,37.144,0.000,12554.066,547.916,5614.489,657.134,33.333,2108.979,0.000,5040.324,0.000,0.849,0.000
$DEVICE_MAMPS,260.013,56.758,1235.637,487.045,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1231.551,1323.747,4038.966,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94584,1797
$CAP_FILE_SIZE,176963,0
$CFSIZE,260165632,238448640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.088,272.3,1
$GPS,290610,224501,2837.470,-8826.158,38,1.3,38,-0.4