version: 66.04
glider: 515
mission: 5
dive: 153
start: 6 22 110 19 35 58
data:
$ID,515
$MISSION,5
$DIVE,153
$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,597.54108
$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,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-11553.217
$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,2375
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,29
$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
$GPS1,071840,2839.267,-8838.656,16,2.9,35,-0.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-74.6
$GPS2,071840,2839.267,-8838.656,16,2.9,35,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618E
$TGT_LATLONG,2839.700,-8844.900
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.112,0.065
$KALMAN_X,-232823.6,-542.5,524.9,248080.3,-1801.2
$KALMAN_Y,-129472.1,-1058.2,-144.1,112837.9,-1040.2
$MHEAD_RNG_PITCHd_Wd,297.5,10178,-10.8,-7.500
$D_GRID,1210
$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,-194.6,0.0,0.0,0,37,0.00,0.00,-23.20,0.000,2,0.000,0.000,204,2377,1169
$GC,39,-0.63,-194.6,3.3,-3.9,2,119,10.30,1.50,-65.18,0.000,4,0.255,0.061,2531,3264,3635
$GC,268,-0.63,-194.6,35.9,-13.6,23,271,0.00,1.42,0.00,0.000,6,0.000,0.026,2536,2368,3636
$GC,464,-0.63,-194.6,61.7,-12.9,42,468,0.00,1.20,0.00,0.000,4,0.000,0.035,2536,1481,3636
$GC,507,-0.63,-194.6,67.2,-12.9,46,510,0.00,1.23,0.00,0.000,6,0.000,0.034,2532,2368,3636
$GC,704,-0.63,-194.6,93.4,-13.3,65,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2368,3636
$GC,890,-0.63,-194.6,118.4,-13.5,83,893,0.00,1.23,0.00,0.000,4,0.000,0.035,2532,1474,3636
$GC,943,-0.63,-194.6,125.4,-13.0,88,947,0.00,1.25,0.00,0.000,6,0.000,0.035,2527,2371,3635
$GC,1265,-0.63,-194.6,167.0,-11.9,119,1268,0.00,1.25,0.00,0.000,4,0.000,0.036,2526,1470,3633
$GC,1328,-0.63,-194.6,174.8,-11.6,125,1331,0.00,1.27,0.00,0.000,6,0.000,0.035,2521,2378,3633
$GC,1650,-0.63,-194.6,213.9,-11.8,156,1653,0.00,1.27,0.00,0.000,4,0.000,0.037,2521,1469,3629
$GC,1703,-0.63,-194.6,220.6,-12.7,161,1706,0.00,1.27,0.00,0.000,6,0.000,0.036,2514,2376,3629
$GC,2025,-0.63,-194.6,259.8,-12.9,192,2026,0.12,0.00,0.00,0.000,6,0.150,0.000,2546,2377,3625
$GC,2335,-0.63,-194.6,291.8,-10.7,222,2338,0.00,1.27,0.00,0.000,4,0.000,0.038,2546,1472,3622
$GC,2399,-0.63,-194.6,298.4,-10.1,228,2402,0.00,1.27,0.00,0.000,6,0.000,0.038,2543,2375,3622
$GC,2721,-0.63,-194.6,332.4,-10.5,259,2722,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2375,3618
$GC,3030,-0.63,-194.6,365.1,-10.6,289,3031,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2375,3615
$GC,3341,-0.63,-194.6,396.5,-10.2,319,3344,0.00,1.27,0.00,0.000,4,0.000,0.041,2542,1480,3611
$GC,3404,-0.63,-194.6,403.0,-11.0,325,3408,0.00,1.27,0.00,0.000,6,0.000,0.041,2537,2372,3611
$GC,3727,-0.63,-194.6,437.3,-10.4,356,3727,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2372,3607
$GC,4035,-0.63,-194.6,469.2,-10.1,386,4039,0.00,1.25,0.00,0.000,4,0.000,0.042,2537,1493,3604
$GC,4142,-0.63,-194.6,480.1,-10.2,396,4146,0.00,1.25,0.00,0.000,6,0.000,0.042,2531,2368,3604
$GC,4464,-0.63,-194.6,513.5,-10.3,427,4465,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2369,3600
$GC,4774,-0.63,-194.6,545.4,-10.3,457,4774,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2369,3597
$GC,5084,-0.63,-194.6,577.3,-10.4,487,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2369,3595
$GC,5394,-0.63,-194.6,608.3,-10.0,517,5397,0.00,1.25,0.00,0.000,4,0.000,0.044,2531,1496,3592
$GC,5463,-0.63,-194.6,615.5,-10.0,523,5470,0.00,1.30,0.00,0.000,6,0.000,0.044,2525,2376,3591
$GC,5780,-0.63,-194.6,648.0,-10.3,554,5781,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2377,3590
$GC,6090,-0.63,-194.6,679.3,-9.9,584,6093,0.00,1.30,0.00,0.000,4,0.000,0.045,2526,1483,3587
$GC,6175,-0.63,-194.6,688.0,-10.7,592,6178,0.00,1.30,0.00,0.000,6,0.000,0.046,2519,2374,3587
$GC,6497,-0.63,-194.6,721.1,-10.6,623,6497,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2374,3585
$GC,6806,-0.63,-194.6,753.4,-10.6,653,6807,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2374,3582
$GC,7117,-0.63,-194.6,785.9,-10.4,683,7117,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2374,3581
$GC,7427,-0.63,-194.6,817.2,-9.5,713,7430,0.00,1.30,0.00,0.000,4,0.000,0.046,2519,1485,3579
$GC,7505,-0.63,-194.6,825.1,-9.8,720,7513,0.12,1.33,0.00,0.000,6,0.155,0.048,2544,2375,3578
$GC,7822,-0.63,-194.6,851.3,-8.7,751,7823,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2375,3577
$GC,8132,-0.63,-194.6,877.7,-8.5,781,8133,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2375,3575
$GC,8443,-0.63,-194.6,903.9,-8.8,811,8446,0.00,1.30,0.00,0.000,4,0.000,0.048,2544,1487,3574
$GC,8500,-0.63,-194.6,909.0,-9.2,816,8507,0.00,1.33,0.00,0.000,6,0.000,0.048,2541,2375,3574
$GC,8818,-0.63,-194.6,935.7,-8.8,847,8818,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2374,3572
$GC,9127,-0.63,-194.6,962.3,-8.9,877,9128,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2374,3572
$GC,9438,-0.63,-194.6,988.9,-8.5,907,9440,0.00,1.30,0.00,0.000,4,0.000,0.048,2541,1488,3570
$STATE,9450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9450,begin apogee
$GC,9455,-0.25,0.0,990.2,8.0,908,9603,0.40,0.00,145.68,1.258,6,0.140,0.000,2660,2270,2840
$STATE,9604,end apogee,CONTROL_FINISHED_OK
$STATE,9604,begin climb
$GC,9605,0.63,194.6,994.9,0.0,923,9777,0.90,1.83,164.43,1.227,4,0.111,0.058,2939,3132,2045
$GC,9824,0.63,194.6,975.4,13.4,942,9833,0.00,1.67,0.00,0.000,6,0.000,0.037,2946,2270,2038
$GC,10142,0.63,194.6,935.5,12.4,973,10145,0.00,1.67,0.00,0.000,4,0.000,0.056,2946,3135,2033
$GC,10167,0.63,194.6,931.9,13.5,975,10175,0.00,1.65,0.00,0.000,6,0.000,0.038,2954,2242,2032
$GC,10484,0.63,194.6,891.4,12.8,1006,10487,0.00,1.70,0.00,0.000,4,0.000,0.057,2954,3125,2032
$GC,10510,0.63,194.6,887.9,13.5,1008,10517,0.00,1.60,0.00,0.000,6,0.000,0.038,2962,2253,2031
$GC,10826,0.63,194.6,845.9,13.3,1039,10830,0.00,1.67,0.00,0.000,4,0.000,0.056,2962,3126,2030
$GC,10858,0.63,194.6,841.4,14.2,1042,10861,0.00,1.60,0.00,0.000,6,0.000,0.038,2969,2251,2029
$GC,11179,0.63,194.6,796.9,13.7,1073,11182,0.00,1.67,0.00,0.000,4,0.000,0.055,2970,3131,2029
$GC,11210,0.63,194.6,792.4,14.3,1076,11214,0.00,1.60,0.00,0.000,6,0.000,0.038,2977,2253,2028
$GC,11533,0.63,194.6,747.0,14.1,1107,11536,0.00,1.65,0.00,0.000,4,0.000,0.054,2978,3140,2028
$GC,11575,0.63,194.6,740.5,15.1,1111,11578,0.10,1.62,0.00,0.000,6,0.162,0.038,2956,2248,2027
$GC,11895,0.63,194.6,700.8,11.7,1142,11896,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2249,2027
$GC,12206,0.63,194.6,663.8,11.7,1172,12209,0.00,1.65,0.00,0.000,4,0.000,0.054,2956,3132,2027
$GC,12242,0.63,194.6,659.2,13.0,1175,12250,0.00,1.62,0.00,0.000,6,0.000,0.038,2962,2247,2027
$GC,12560,0.63,194.6,621.0,12.1,1206,12561,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2247,2027
$GC,12869,0.63,194.6,583.6,12.4,1236,12872,0.00,1.67,0.00,0.000,4,0.000,0.054,2962,3126,2027
$GC,12933,0.63,194.6,575.3,12.6,1242,12936,0.00,1.60,0.00,0.000,6,0.000,0.038,2970,2248,2026
$GC,13254,0.63,194.6,534.8,12.4,1273,13255,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2249,2026
$GC,13565,0.63,194.6,496.3,12.2,1303,13567,0.00,1.67,0.00,0.000,4,0.000,0.054,2969,3127,2026
$GC,13639,0.63,194.6,486.0,13.9,1310,13642,0.00,1.58,0.00,0.000,6,0.000,0.038,2977,2256,2026
$GC,13959,0.63,194.6,443.3,12.9,1341,13963,0.00,1.65,0.00,0.000,4,0.000,0.054,2977,3126,2025
$GC,14002,0.63,194.6,437.5,14.6,1345,14006,0.10,1.60,0.00,0.000,6,0.156,0.037,2955,2246,2025
$GC,14323,0.63,194.6,401.6,11.0,1376,14326,0.00,1.65,0.00,0.000,4,0.000,0.053,2955,3137,2025
$GC,14355,0.63,194.6,397.7,13.1,1379,14358,0.00,1.60,0.00,0.000,6,0.000,0.037,2961,2249,2026
$GC,14677,0.63,194.6,359.9,11.7,1410,14680,0.00,1.65,0.00,0.000,4,0.000,0.053,2961,3143,2025
$GC,14713,0.63,194.6,355.3,12.2,1413,14720,0.00,1.60,0.00,0.000,6,0.000,0.036,2968,2253,2025
$GC,15030,0.63,194.6,316.1,12.4,1444,15030,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2253,2025
$GC,15340,0.63,194.6,276.7,13.0,1474,15343,0.00,1.67,0.00,0.000,4,0.000,0.051,2969,3139,2026
$GC,15418,0.63,194.6,265.7,14.0,1481,15426,0.00,1.62,0.00,0.000,6,0.000,0.035,2976,2243,2025
$GC,15736,0.63,194.6,224.4,13.0,1512,15739,0.00,1.67,0.00,0.000,4,0.000,0.051,2976,3133,2025
$GC,15771,0.63,194.6,219.2,13.6,1515,15779,0.12,1.60,0.00,0.000,6,0.156,0.034,2953,2253,2026
$GC,16088,0.63,194.6,184.7,10.6,1546,16089,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2253,2026
$GC,16399,0.63,194.6,152.1,10.4,1576,16402,0.00,1.65,0.00,0.000,4,0.000,0.049,2953,3129,2026
$GC,16441,0.63,194.6,147.4,13.8,1580,16444,0.00,1.58,0.00,0.000,6,0.000,0.033,2959,2250,2026
$GC,16762,0.63,194.6,112.8,10.2,1611,16763,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2250,2026
$GC,17072,0.63,194.6,81.3,10.5,1641,17075,0.00,1.65,0.00,0.000,4,0.000,0.047,2959,3132,2027
$GC,17162,0.63,194.6,71.0,12.8,1649,17169,0.00,1.58,0.00,0.000,6,0.000,0.031,2967,2244,2027
$GC,17354,0.63,194.6,50.8,10.6,1668,17355,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2245,2028
$GC,17540,0.63,194.6,34.9,7.6,1686,17541,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2245,2029
$GC,17727,0.74,284.6,23.9,5.1,1704,17801,0.00,0.00,65.90,0.538,6,0.000,0.000,2967,2244,1677
$GC,17983,0.94,449.4,13.6,3.2,1729,18112,0.22,1.73,120.97,0.519,4,0.074,0.042,3049,3141,1005
$GC,18218,1.28,724.2,5.8,0.3,1750,18335,0.30,1.62,108.50,0.500,6,0.116,0.041,3150,2251,404
$GC,18519,1.64,1017.6,5.7,-0.2,1778,18523,0.38,1.12,0.00,0.000,4,0.133,0.039,3265,1352,401
$GC,18765,2.03,1339.8,5.7,-1.0,1801,18768,0.38,1.15,0.00,0.000,6,0.101,0.035,3390,2266,402
$STATE,18929,end climb,NO_VERTICAL_VELOCITY
$STATE,18929,begin surface
$SM_CCo,19160,0.00,0.000,0,0,402,598.28
$SM_GC,5.64,8.90,0.00,0.00,0.067,0.000,0.000,205,2361,402,-7.91,-0.40,598.28
$IRIDIUM_FIX,2826.10,-8841.44,160999,191918
$TT8_MAMPS,0.049088
$HUMID,1340
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,24.20
$XPDR_PINGS,3
$24V_AH,23.4,28.212
$10V_AH,10.7,39.106
$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,22.350,91.600,605.475,0.000,0.000,158.006,229.827,332.071,0.750,0.000,0.000,903.498,0.000,13111.944,625.555,6337.748,1097.267,33.347,2205.793,0.000,4895.621,0.000,1.775,0.000
$DEVICE_MAMPS,255.411,61.360,1257.880,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1241.696,1328.733,4084.998,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94514,1817
$CAP_FILE_SIZE,179465,0
$CFSIZE,260165632,241197056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.113,290.0,1
$GPS,220610,071840,2839.267,-8838.656,16,2.9,35,-0.3