version: 66.04
glider: 515
mission: 5
dive: 166
start: 6 25 110 16 57 41
data:
$ID,515
$MISSION,5
$DIVE,166
$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,-15367.702
$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,43
$R_STBD_OVSHOOT,27
$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
$GPS1,165037,2834.802,-8832.222,41,0.9,41,-0.3
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-67.2
$GPS2,165702,2834.828,-8832.228,16,1.1,16,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618A
$TGT_LATLONG,2837.900,-8826.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.049,0.260
$KALMAN_X,-14537.5,647.6,131.2,42815.1,-3874.1
$KALMAN_Y,-17993.0,296.8,643.7,29041.2,-8312.3
$MHEAD_RNG_PITCHd_Wd,52.7,11612,-10.8,-7.500
$D_GRID,1604
$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,-194.6,0.0,0.0,0,97,0.00,0.00,-83.60,0.000,2,0.000,0.000,198,2372,2802
$GC,99,-0.63,-194.6,3.1,-3.6,8,136,10.65,0.00,-19.62,0.000,6,0.259,0.000,2539,2372,3636
$GC,321,-0.63,-194.6,48.8,-14.3,30,322,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2372,3638
$GC,506,-0.63,-194.6,74.8,-14.1,48,507,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2372,3639
$GC,693,-0.63,-194.6,99.8,-12.7,66,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2372,3640
$GC,880,-0.63,-194.6,122.4,-11.4,84,882,0.00,1.48,0.00,0.000,4,0.000,0.044,2534,3259,3641
$GC,922,-0.63,-194.6,128.1,-13.0,88,925,0.00,1.42,0.00,0.000,6,0.000,0.028,2534,2369,3641
$GC,1243,-0.63,-194.6,166.5,-10.9,119,1246,0.00,1.23,0.00,0.000,4,0.000,0.036,2534,1489,3641
$GC,1290,-0.63,-194.6,171.8,-10.9,123,1297,0.00,1.27,0.00,0.000,6,0.000,0.035,2529,2371,3641
$GC,1607,-0.63,-194.6,207.4,-11.6,154,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2372,3640
$GC,1917,-0.63,-194.6,242.7,-11.2,184,1918,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2372,3638
$GC,2227,-0.63,-194.6,277.0,-10.9,214,2228,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2371,3637
$GC,2538,-0.63,-194.6,311.0,-10.9,244,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2372,3635
$GC,2848,-0.63,-194.6,345.3,-10.9,274,2851,0.00,1.27,0.00,0.000,4,0.000,0.040,2528,1485,3633
$GC,2901,-0.63,-194.6,351.2,-11.0,279,2904,0.00,1.27,0.00,0.000,6,0.000,0.042,2523,2368,3632
$GC,3223,-0.63,-194.6,387.1,-11.2,310,3224,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2368,3630
$GC,3532,-0.63,-194.6,421.3,-11.3,340,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2368,3628
$GC,3843,-0.63,-194.6,455.8,-11.1,370,3844,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2368,3625
$GC,4153,-0.63,-194.6,488.7,-10.5,400,4156,0.00,1.25,0.00,0.000,4,0.000,0.043,2522,1502,3623
$GC,4200,-0.63,-194.6,494.0,-11.4,404,4207,0.00,1.27,0.00,0.000,6,0.000,0.044,2517,2373,3622
$GC,4517,-0.63,-194.6,528.9,-11.1,435,4518,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2373,3620
$GC,4827,-0.63,-194.6,563.4,-10.9,465,4828,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2373,3618
$GC,5137,-0.63,-194.6,597.5,-10.8,495,5138,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2373,3616
$GC,5447,-0.63,-194.6,631.6,-11.1,525,5448,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2373,3615
$GC,5758,-0.63,-194.6,665.6,-10.8,555,5759,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2373,3612
$GC,6068,-0.63,-194.6,699.2,-10.2,585,6069,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2373,3610
$GC,6379,-0.63,-194.6,732.3,-10.6,615,6380,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2373,3609
$GC,6689,-0.63,-194.6,765.3,-10.5,645,6690,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2373,3607
$GC,7000,-0.63,-194.6,797.5,-10.2,675,7003,0.00,1.30,0.00,0.000,4,0.000,0.047,2517,1495,3605
$GC,7053,-0.63,-194.6,803.1,-10.3,680,7057,0.08,1.30,0.00,0.000,6,0.150,0.049,2536,2371,3605
$GC,7373,-0.63,-194.6,831.7,-8.6,711,7374,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2371,3603
$GC,7684,-0.63,-194.6,859.0,-8.6,741,7685,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2371,3603
$GC,7995,-0.63,-194.6,886.8,-9.1,771,7995,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2371,3601
$GC,8305,-0.63,-194.6,914.9,-9.1,801,8305,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2371,3600
$GC,8616,-0.63,-194.6,942.4,-8.2,831,8617,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2371,3599
$GC,8925,-0.63,-194.6,969.2,-8.4,861,8926,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2371,3597
$STATE,9172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9172,begin apogee
$GC,9177,-0.25,0.0,990.5,8.5,885,9330,0.43,0.00,150.68,1.258,6,0.137,0.000,2664,2274,2840
$STATE,9330,end apogee,CONTROL_FINISHED_OK
$STATE,9330,begin climb
$GC,9332,0.63,194.6,994.8,0.0,900,9502,0.88,0.00,166.93,1.220,6,0.106,0.000,2938,2273,2046
$GC,9808,0.63,194.6,947.1,11.3,947,9809,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2274,2036
$GC,10118,0.63,194.6,911.4,11.0,977,10121,0.00,1.67,0.00,0.000,4,0.000,0.054,2938,3146,2034
$GC,10139,0.63,194.6,908.7,12.2,979,10142,0.00,1.65,0.00,0.000,6,0.000,0.038,2946,2250,2033
$GC,10461,0.63,194.6,870.8,11.6,1010,10462,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2250,2032
$GC,10770,0.63,194.6,833.8,11.9,1040,10771,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2251,2031
$GC,11081,0.63,194.6,796.6,12.1,1070,11082,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2250,2031
$GC,11391,0.63,194.6,760.1,11.4,1100,11392,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2251,2030
$GC,11702,0.63,194.6,724.3,11.4,1130,11705,0.00,1.70,0.00,0.000,4,0.000,0.055,2946,3164,2030
$GC,11727,0.63,194.6,721.0,12.7,1132,11735,0.00,1.70,0.00,0.000,6,0.000,0.038,2954,2234,2029
$GC,12044,0.63,194.6,682.5,11.5,1163,12045,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2234,2029
$GC,12354,0.63,194.6,644.8,12.1,1193,12357,0.00,1.73,0.00,0.000,4,0.000,0.054,2954,3142,2029
$GC,12386,0.63,194.6,640.9,12.2,1196,12389,0.00,1.60,0.00,0.000,6,0.000,0.039,2962,2264,2028
$GC,12706,0.63,194.6,602.1,11.6,1227,12707,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2265,2028
$GC,13017,0.63,194.6,563.8,12.2,1257,13020,0.00,1.17,0.00,0.000,4,0.000,0.045,2967,1344,2027
$GC,13080,0.63,194.6,555.6,12.9,1263,13084,0.00,1.20,0.00,0.000,6,0.000,0.044,2967,2262,2027
$GC,13401,0.63,194.6,515.1,12.8,1294,13402,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2262,2027
$GC,13712,0.63,194.6,475.2,12.7,1324,13715,0.00,1.62,0.00,0.000,4,0.000,0.054,2967,3130,2027
$GC,13748,0.63,194.6,470.3,13.4,1327,13755,0.00,1.62,0.00,0.000,6,0.000,0.038,2975,2245,2027
$GC,14066,0.63,194.6,428.8,12.9,1358,14069,0.00,1.12,0.00,0.000,4,0.000,0.044,2980,1350,2027
$GC,14112,0.63,194.6,422.6,12.7,1362,14119,0.12,1.20,0.00,0.000,6,0.152,0.042,2949,2259,2027
$GC,14428,0.63,194.6,387.2,11.1,1393,14431,0.00,1.65,0.00,0.000,4,0.000,0.054,2949,3139,2027
$GC,14460,0.63,194.6,383.5,12.6,1396,14463,0.00,1.60,0.00,0.000,6,0.000,0.038,2955,2256,2027
$GC,14781,0.63,194.6,346.3,11.3,1427,14781,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2256,2027
$GC,15092,0.63,194.6,310.9,11.3,1457,15092,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2256,2027
$GC,15401,0.63,194.6,275.9,11.3,1487,15405,0.00,1.15,0.00,0.000,4,0.000,0.042,2961,1341,2027
$GC,15455,0.63,194.6,270.0,11.0,1492,15458,0.00,1.17,0.00,0.000,6,0.000,0.041,2961,2254,2028
$GC,15775,0.63,194.6,232.4,12.4,1523,15776,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2254,2027
$GC,16086,0.63,194.6,196.2,11.6,1553,16087,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2254,2027
$GC,16397,0.63,194.6,161.3,11.4,1583,16399,0.00,1.62,0.00,0.000,4,0.000,0.049,2960,3128,2028
$GC,16475,0.63,194.6,151.7,13.2,1590,16483,0.00,1.58,0.00,0.000,6,0.000,0.034,2968,2246,2028
$GC,16793,0.63,194.6,116.0,11.2,1621,16796,0.00,1.12,0.00,0.000,4,0.000,0.040,2973,1334,2028
$GC,16845,0.63,194.6,110.1,10.4,1626,16849,0.00,1.17,0.00,0.000,6,0.000,0.038,2973,2258,2028
$GC,17168,0.63,194.6,74.7,9.9,1657,17169,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2258,2029
$GC,17352,0.63,194.6,57.7,9.2,1675,17356,0.00,1.60,0.00,0.000,4,0.000,0.047,2973,3128,2030
$GC,17449,0.63,194.6,48.5,10.3,1684,17452,0.10,1.58,0.00,0.000,6,0.127,0.031,2949,2241,2030
$GC,17645,0.73,278.0,36.6,5.3,1703,17709,0.10,0.00,61.42,0.549,6,0.076,0.000,2998,2238,1705
$GC,17894,0.81,341.3,18.9,5.8,1727,17944,0.00,1.10,47.17,0.522,4,0.000,0.035,3001,1346,1448
$GC,18003,0.95,455.8,12.9,4.5,1736,18095,0.15,1.20,85.20,0.512,6,0.056,0.034,3078,2263,979
$STATE,18102,end climb,SURFACE_DEPTH_REACHED
$STATE,18102,begin surface coast
$FINISH,0.6,1.022717
$STATE,18124,end surface coast,CONTROL_FINISHED_OK
$STATE,18124,begin surface
$SM_CCo,18139,59.33,0.492,0,0,494,575.22
$SM_GC,1.47,0.00,0.00,59.33,0.000,0.000,0.492,203,2361,494,-7.95,-0.40,575.22
$IRIDIUM_FIX,2823.64,-8831.68,190999,111113
$TT8_MAMPS,0.049855
$HUMID,1339
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,22.80
$XPDR_PINGS,1
$24V_AH,22.5,30.441
$10V_AH,10.6,42.103
$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,20.425,48.100,511.400,59.325,0.000,28.497,25.060,215.469,0.250,0.000,0.000,18.005,0.000,12408.584,611.207,5007.452,526.114,33.329,1979.124,0.000,4503.799,0.000,0.850,0.000
$DEVICE_MAMPS,259.246,56.758,1257.880,492.414,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1196.094,1282.868,3926.554,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91452,1747
$CAP_FILE_SIZE,149860,0
$CFSIZE,260165632,240164864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.062,205.9,1
$GPS,250610,220200,2835.986,-8830.146,34,0.9,40,-0.4