version: 66.04
glider: 515
mission: 5
dive: 154
start: 6 23 110 1 37 12
data:
$ID,515
$MISSION,5
$DIVE,154
$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,-13362.294
$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,36
$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,5.72
$_SM_ANGLEo,-71.9
$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,-0.137,-0.014
$KALMAN_X,-233274.0,-732.6,-635.8,251050.2,2453.8
$KALMAN_Y,-131542.1,97.1,-269.5,114552.9,-312.7
$MHEAD_RNG_PITCHd_Wd,268.3,10178,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.63,-194.6,0.0,0.0,0,28,0.00,0.00,-13.20,0.000,2,0.000,0.000,204,2361,945
$GC,30,-0.63,-194.6,5.9,-0.0,1,106,10.10,1.55,-62.90,0.000,4,0.249,0.059,2534,3276,3635
$GC,345,-0.63,-194.6,49.0,-13.0,29,353,0.00,1.48,0.00,0.000,6,0.000,0.026,2537,2365,3636
$GC,538,-0.63,-194.6,72.7,-13.3,48,541,0.00,1.50,0.00,0.000,4,0.000,0.044,2532,3258,3636
$GC,655,-0.63,-194.6,88.9,-14.2,59,658,0.00,1.42,0.00,0.000,6,0.000,0.028,2534,2366,3636
$GC,851,-0.63,-194.6,115.8,-13.7,78,855,0.00,1.20,0.00,0.000,4,0.000,0.036,2536,1479,3636
$GC,948,-0.63,-194.6,128.5,-13.1,87,951,0.00,1.25,0.00,0.000,6,0.000,0.037,2532,2369,3635
$GC,1269,-0.63,-194.6,168.1,-12.7,118,1272,0.00,1.25,0.00,0.000,4,0.000,0.037,2532,1470,3632
$GC,1326,-0.63,-194.6,175.8,-12.6,123,1334,0.00,1.30,0.00,0.000,6,0.000,0.036,2527,2376,3632
$GC,1643,-0.63,-194.6,214.5,-12.3,154,1646,0.00,1.27,0.00,0.000,4,0.000,0.037,2526,1472,3629
$GC,1700,-0.63,-194.6,221.8,-11.7,159,1708,0.00,1.30,0.00,0.000,6,0.000,0.036,2521,2377,3628
$GC,2018,-0.63,-194.6,261.1,-12.5,190,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2377,3624
$GC,2327,-0.63,-194.6,299.9,-12.1,220,2330,0.00,1.27,0.00,0.000,4,0.000,0.038,2521,1476,3622
$GC,2427,-0.63,-194.6,312.3,-12.2,229,2435,0.00,1.30,0.00,0.000,6,0.000,0.038,2514,2375,3621
$GC,2744,-0.63,-194.6,351.3,-12.0,260,2747,0.12,1.27,0.00,0.000,4,0.151,0.038,2549,1480,3617
$GC,2830,-0.63,-194.6,360.4,-9.8,268,2832,0.00,1.27,0.00,0.000,6,0.000,0.041,2545,2370,3617
$GC,3151,-0.63,-194.6,391.1,-9.5,299,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2370,3612
$GC,3461,-0.63,-194.6,420.7,-9.3,329,3464,0.00,1.25,0.00,0.000,4,0.000,0.041,2545,1489,3610
$GC,3535,-0.63,-194.6,428.0,-9.6,336,3538,0.00,1.27,0.00,0.000,6,0.000,0.043,2540,2372,3609
$GC,3857,-0.63,-194.6,460.0,-10.1,367,3858,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2372,3606
$GC,4167,-0.63,-194.6,491.3,-10.0,397,4170,0.00,1.27,0.00,0.000,4,0.000,0.042,2540,1481,3604
$GC,4209,-0.63,-194.6,495.8,-10.5,401,4212,0.00,1.30,0.00,0.000,6,0.000,0.044,2535,2376,3603
$GC,4531,-0.63,-194.6,530.2,-10.4,432,4532,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2375,3599
$GC,4840,-0.63,-194.6,562.7,-10.2,462,4843,0.00,1.27,0.00,0.000,4,0.000,0.044,2534,1490,3597
$GC,4882,-0.63,-194.6,567.2,-11.3,466,4886,0.00,1.27,0.00,0.000,6,0.000,0.045,2529,2370,3597
$GC,5205,-0.63,-194.6,601.8,-10.2,497,5206,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2370,3593
$GC,5514,-0.63,-194.6,634.9,-10.6,527,5514,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2371,3591
$GC,5824,-0.63,-194.6,666.4,-9.6,557,5828,0.00,1.27,0.00,0.000,4,0.000,0.044,2529,1489,3589
$GC,5881,-0.63,-194.6,672.3,-10.0,562,5889,0.00,1.33,0.00,0.000,6,0.000,0.047,2524,2377,3589
$GC,6199,-0.63,-194.6,703.8,-10.4,593,6202,0.00,1.30,0.00,0.000,4,0.000,0.045,2523,1479,3586
$GC,6256,-0.63,-194.6,710.0,-9.9,598,6264,0.00,1.33,0.00,0.000,6,0.000,0.046,2518,2375,3587
$GC,6574,-0.63,-194.6,743.4,-10.9,629,6574,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2375,3584
$GC,6883,-0.63,-194.6,775.7,-10.7,659,6886,0.00,1.27,0.00,0.000,4,0.000,0.047,2518,1496,3581
$GC,6957,-0.63,-194.6,783.5,-10.4,666,6961,0.08,1.30,0.00,0.000,6,0.158,0.048,2536,2376,3581
$GC,7278,-0.63,-194.6,812.9,-9.1,697,7279,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2376,3579
$GC,7589,-0.63,-194.6,840.7,-9.1,727,7592,0.00,1.30,0.00,0.000,4,0.000,0.047,2536,1486,3578
$GC,7647,-0.63,-194.6,846.1,-8.9,732,7654,0.00,1.33,0.00,0.000,6,0.000,0.048,2532,2377,3577
$GC,7963,-0.63,-194.6,875.0,-9.3,763,7967,0.00,1.30,0.00,0.000,4,0.000,0.046,2532,1488,3576
$GC,8016,-0.63,-194.6,880.1,-9.5,768,8019,0.00,1.30,0.00,0.000,6,0.000,0.048,2528,2371,3575
$GC,8338,-0.63,-194.6,911.1,-9.8,799,8339,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2371,3573
$GC,8647,-0.63,-194.6,940.6,-9.5,829,8650,0.00,1.27,0.00,0.000,4,0.000,0.048,2527,1499,3572
$GC,8694,-0.63,-194.6,945.0,-9.4,833,8702,0.00,1.33,0.00,0.000,6,0.000,0.048,2522,2379,3572
$GC,9012,-0.63,-194.6,975.0,-9.5,864,9012,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2379,3572
$STATE,9174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9174,begin apogee
$GC,9179,-0.25,0.0,990.5,9.0,880,9329,0.47,0.00,145.75,1.254,6,0.143,0.000,2661,2263,2840
$STATE,9329,end apogee,CONTROL_FINISHED_OK
$STATE,9329,begin climb
$GC,9330,0.63,194.6,995.1,0.0,895,9502,0.90,1.80,164.95,1.221,4,0.108,0.058,2941,3143,2045
$GC,9538,0.63,194.6,977.1,13.1,914,9546,0.00,1.75,0.00,0.000,6,0.000,0.036,2949,2249,2039
$GC,9856,0.63,194.6,937.1,13.7,945,9858,0.00,1.70,0.00,0.000,4,0.000,0.057,2949,3146,2034
$GC,9898,0.63,194.6,931.3,14.4,949,9901,0.00,1.65,0.00,0.000,6,0.000,0.038,2957,2249,2033
$GC,10219,0.63,194.6,887.8,13.6,980,10223,0.00,1.73,0.00,0.000,4,0.000,0.056,2957,3152,2032
$GC,10250,0.63,194.6,883.3,14.6,983,10254,0.00,1.65,0.00,0.000,6,0.000,0.038,2965,2249,2031
$GC,10573,0.63,194.6,838.4,14.1,1014,10576,0.00,1.67,0.00,0.000,4,0.000,0.056,2965,3145,2029
$GC,10608,0.63,194.6,832.9,14.5,1017,10617,0.00,1.65,0.00,0.000,6,0.000,0.037,2973,2248,2029
$GC,10926,0.63,194.6,787.8,14.4,1048,10929,0.00,1.70,0.00,0.000,4,0.000,0.055,2973,3159,2029
$GC,10962,0.63,194.6,782.0,14.8,1051,10971,0.08,1.65,0.00,0.000,6,0.163,0.038,2958,2254,2028
$GC,11278,0.63,194.6,741.3,12.8,1082,11279,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2253,2028
$GC,11589,0.63,194.6,702.0,12.7,1112,11592,0.00,1.67,0.00,0.000,4,0.000,0.055,2958,3155,2027
$GC,11625,0.63,194.6,696.8,13.4,1115,11634,0.00,1.67,0.00,0.000,6,0.000,0.038,2965,2236,2027
$GC,11943,0.63,194.6,654.1,13.5,1146,11943,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2237,2027
$GC,12252,0.63,194.6,613.7,12.5,1176,12255,0.00,1.73,0.00,0.000,4,0.000,0.055,2964,3145,2027
$GC,12316,0.63,194.6,605.2,14.1,1182,12319,0.00,1.60,0.00,0.000,6,0.000,0.038,2972,2260,2026
$GC,12637,0.63,194.6,563.0,13.3,1213,12640,0.00,1.67,0.00,0.000,4,0.000,0.055,2972,3141,2026
$GC,12668,0.63,194.6,558.6,13.0,1216,12672,0.08,1.62,0.00,0.000,6,0.163,0.038,2957,2248,2025
$GC,12989,0.63,194.6,519.9,11.9,1247,12992,0.00,1.70,0.00,0.000,4,0.000,0.054,2956,3144,2025
$GC,13036,0.63,194.6,513.8,12.6,1251,13045,0.00,1.62,0.00,0.000,6,0.000,0.037,2963,2247,2025
$GC,13353,0.63,194.6,475.1,12.3,1282,13357,0.00,1.70,0.00,0.000,4,0.000,0.054,2963,3144,2025
$GC,13389,0.63,194.6,470.4,13.2,1285,13397,0.00,1.62,0.00,0.000,6,0.000,0.037,2970,2252,2025
$GC,13707,0.63,194.6,431.1,12.5,1316,13710,0.00,1.67,0.00,0.000,4,0.000,0.054,2970,3158,2025
$GC,13764,0.63,194.6,423.0,13.4,1321,13772,0.00,1.67,0.00,0.000,6,0.000,0.037,2979,2238,2025
$GC,14082,0.63,194.6,380.8,13.3,1352,14085,0.00,1.70,0.00,0.000,4,0.000,0.053,2978,3160,2025
$GC,14117,0.63,194.6,375.4,13.8,1355,14127,0.15,1.65,0.00,0.000,6,0.159,0.036,2949,2255,2025
$GC,14434,0.63,194.6,340.8,11.2,1386,14437,0.00,1.15,0.00,0.000,4,0.000,0.043,2952,1337,2025
$GC,14466,0.63,194.6,337.3,10.5,1389,14469,0.00,1.20,0.00,0.000,6,0.000,0.042,2952,2266,2025
$GC,14787,0.63,194.6,300.7,11.5,1420,14790,0.00,1.62,0.00,0.000,4,0.000,0.052,2952,3137,2025
$GC,14818,0.63,194.6,296.7,12.3,1423,14822,0.00,1.60,0.00,0.000,6,0.000,0.036,2960,2248,2025
$GC,15139,0.63,194.6,257.8,12.5,1454,15143,0.00,1.67,0.00,0.000,4,0.000,0.052,2960,3136,2025
$GC,15192,0.63,194.6,251.2,12.2,1459,15196,0.00,1.60,0.00,0.000,6,0.000,0.035,2968,2248,2025
$GC,15515,0.63,194.6,210.0,12.2,1490,15518,0.00,1.65,0.00,0.000,4,0.000,0.051,2968,3143,2025
$GC,15561,0.63,194.6,203.5,13.6,1494,15569,0.00,1.60,0.00,0.000,6,0.000,0.034,2976,2249,2025
$GC,15879,0.63,194.6,162.0,12.7,1525,15879,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2249,2026
$GC,16188,0.63,194.6,123.5,11.1,1555,16191,0.00,1.67,0.00,0.000,4,0.000,0.049,2975,3165,2026
$GC,16273,0.63,194.6,112.2,13.2,1563,16277,0.10,1.62,0.00,0.000,6,0.147,0.033,2953,2248,2026
$GC,16594,0.63,194.6,79.8,9.9,1594,16597,0.00,1.10,0.00,0.000,4,0.000,0.038,2957,1349,2027
$GC,16636,0.63,194.6,75.7,11.0,1598,16640,0.00,1.15,0.00,0.000,6,0.000,0.038,2956,2256,2027
$GC,16834,0.63,194.6,56.7,9.7,1617,16837,0.00,1.60,0.00,0.000,4,0.000,0.048,2957,3149,2028
$GC,16912,0.63,194.6,48.8,9.6,1624,16920,0.00,1.62,0.00,0.000,6,0.000,0.031,2964,2232,2028
$GC,17105,0.66,221.5,34.6,6.8,1643,17130,0.00,1.65,19.15,0.528,4,0.000,0.046,2963,3144,1936
$GC,17336,0.76,302.7,20.5,5.4,1664,17404,0.00,1.58,61.25,0.532,6,0.000,0.030,2971,2260,1605
$GC,17589,1.00,500.5,11.5,2.3,1688,17743,0.28,1.17,144.80,0.512,4,0.068,0.035,3073,1346,798
$GC,17865,1.38,810.8,4.2,-0.7,1712,17943,0.35,1.20,71.68,0.490,6,0.130,0.036,3178,2266,404
$STATE,17990,end climb,NO_VERTICAL_VELOCITY
$STATE,17990,begin surface
$SM_CCo,18219,0.00,0.000,0,0,399,598.77
$SM_GC,4.16,8.23,0.00,0.00,0.055,0.000,0.000,201,2367,399,-7.91,-0.23,598.77
$IRIDIUM_FIX,2826.10,-8843.89,160999,191934
$TT8_MAMPS,0.050622
$HUMID,1350
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,23.30
$XPDR_PINGS,0
$24V_AH,21.7,28.375
$10V_AH,10.7,39.374
$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,20.925,109.200,607.575,0.000,0.000,166.251,143.354,0.000,0.000,0.000,0.000,903.516,0.000,12302.953,652.673,6162.834,626.226,33.344,2223.965,0.000,4742.325,0.000,0.548,0.000
$DEVICE_MAMPS,248.508,59.059,1254.045,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1177.801,1262.756,3875.217,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91383,1724
$CAP_FILE_SIZE,168389,0
$CFSIZE,260165632,241078272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.072,265.0,1
$GPS,220610,071840,2839.267,-8838.656,16,2.9,35,-0.3