version: 66.04
glider: 515
mission: 5
dive: 167
start: 6 25 110 22 8 58
data:
$ID,515
$MISSION,5
$DIVE,167
$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,-15384.529
$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,34
$R_STBD_OVSHOOT,23
$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
$GPS1,220200,2835.986,-8830.146,34,0.9,40,-0.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-65.8
$GPS2,220819,2835.977,-8830.161,10,0.9,14,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618A
$TGT_LATLONG,2837.900,-8826.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.134,0.228
$KALMAN_X,-13029.0,989.4,881.8,43568.3,-4009.2
$KALMAN_Y,-21289.6,-106.7,-76.2,35580.9,-6281.3
$MHEAD_RNG_PITCHd_Wd,54.5,7644,-10.8,-7.500
$D_GRID,1669
$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,-194.6,0.0,0.0,0,89,0.00,0.00,-75.12,0.000,2,0.000,0.000,203,2362,2550
$GC,91,-0.63,-194.6,3.0,-3.7,7,138,10.52,1.55,-29.15,0.000,4,0.260,0.063,2532,3259,3634
$GC,170,-0.63,-194.6,16.4,-27.7,14,173,0.00,1.48,0.00,0.000,6,0.000,0.030,2536,2373,3635
$GC,367,-0.63,-194.6,54.7,-14.4,33,370,0.00,1.27,0.00,0.000,4,0.000,0.035,2536,1467,3636
$GC,398,-0.63,-194.6,59.0,-13.4,36,402,0.00,1.30,0.00,0.000,6,0.000,0.036,2532,2372,3636
$GC,595,-0.63,-194.6,86.7,-14.3,55,598,0.00,1.50,0.00,0.000,4,0.000,0.046,2525,3266,3638
$GC,749,-0.63,-194.6,108.2,-12.8,69,756,0.00,1.45,0.00,0.000,6,0.000,0.028,2525,2364,3638
$GC,1066,-0.63,-194.6,147.0,-11.9,100,1068,0.00,1.52,0.00,0.000,4,0.000,0.046,2518,3263,3639
$GC,1129,-0.63,-194.6,154.8,-11.7,106,1133,0.00,1.42,0.00,0.000,6,0.000,0.028,2518,2368,3639
$GC,1451,-0.63,-194.6,193.5,-12.5,137,1454,0.00,1.52,0.00,0.000,4,0.000,0.046,2511,3264,3639
$GC,1604,-0.63,-194.6,213.9,-13.2,151,1612,0.08,1.42,0.00,0.000,6,0.145,0.028,2535,2370,3639
$GC,1920,-0.63,-194.6,248.9,-10.9,182,1924,0.00,1.50,0.00,0.000,4,0.000,0.047,2530,3259,3637
$GC,1978,-0.63,-194.6,255.4,-11.4,187,1986,0.00,1.42,0.00,0.000,6,0.000,0.029,2530,2369,3637
$GC,2296,-0.63,-194.6,290.7,-11.4,218,2298,0.00,1.52,0.00,0.000,4,0.000,0.049,2525,3260,3635
$GC,2342,-0.63,-194.6,296.3,-11.3,222,2350,0.00,1.45,0.00,0.000,6,0.000,0.030,2524,2370,3635
$GC,2660,-0.63,-194.6,331.2,-11.0,253,2663,0.00,1.52,0.00,0.000,4,0.000,0.050,2517,3259,3633
$GC,2744,-0.63,-194.6,341.1,-11.5,261,2748,0.00,1.42,0.00,0.000,6,0.000,0.031,2518,2371,3632
$GC,3067,-0.63,-194.6,378.4,-11.2,292,3070,0.00,1.52,0.00,0.000,4,0.000,0.051,2510,3260,3630
$GC,3163,-0.63,-194.6,389.9,-11.2,301,3166,0.08,1.42,0.00,0.000,6,0.146,0.032,2535,2375,3629
$GC,3483,-0.63,-194.6,423.0,-10.2,332,3487,0.00,1.52,0.00,0.000,4,0.000,0.052,2530,3265,3627
$GC,3558,-0.63,-194.6,430.9,-10.8,339,3561,0.00,1.45,0.00,0.000,6,0.000,0.034,2530,2374,3627
$GC,3880,-0.63,-194.6,465.6,-10.9,370,3883,0.00,1.52,0.00,0.000,4,0.000,0.053,2524,3260,3624
$GC,3926,-0.63,-194.6,470.9,-10.4,374,3935,0.00,1.48,0.00,0.000,6,0.000,0.033,2524,2368,3624
$GC,4243,-0.63,-194.6,506.2,-11.2,405,4247,0.00,1.55,0.00,0.000,4,0.000,0.053,2517,3263,3621
$GC,4371,-0.63,-194.6,521.2,-12.4,417,4374,0.00,1.45,0.00,0.000,6,0.000,0.035,2517,2372,3620
$GC,4693,-0.63,-194.6,558.1,-11.6,448,4696,0.00,1.52,0.00,0.000,4,0.000,0.054,2510,3257,3619
$GC,4778,-0.63,-194.6,568.2,-11.9,456,4781,0.08,1.45,0.00,0.000,6,0.148,0.035,2535,2369,3618
$GC,5098,-0.63,-194.6,599.9,-9.5,487,5102,0.00,1.55,0.00,0.000,4,0.000,0.054,2530,3263,3616
$GC,5173,-0.63,-194.6,607.3,-9.6,494,5176,0.00,1.48,0.00,0.000,6,0.000,0.036,2529,2370,3616
$GC,5495,-0.63,-194.6,638.8,-9.9,525,5498,0.00,1.55,0.00,0.000,4,0.000,0.054,2523,3262,3614
$GC,5573,-0.63,-194.6,646.9,-10.4,532,5581,0.00,1.50,0.00,0.000,6,0.000,0.035,2523,2364,3613
$GC,5891,-0.63,-194.6,678.9,-10.1,563,5894,0.00,1.55,0.00,0.000,4,0.000,0.056,2516,3253,3611
$GC,5969,-0.63,-194.6,687.6,-10.8,570,5978,0.00,1.48,0.00,0.000,6,0.000,0.036,2516,2367,3610
$GC,6287,-0.63,-194.6,722.4,-11.0,601,6291,0.00,1.55,0.00,0.000,4,0.000,0.057,2509,3258,3609
$GC,6362,-0.63,-194.6,730.7,-11.8,608,6365,0.10,1.48,0.00,0.000,6,0.141,0.037,2540,2368,3608
$GC,6682,-0.63,-194.6,760.3,-8.9,639,6686,0.00,1.55,0.00,0.000,4,0.000,0.057,2535,3258,3607
$GC,6746,-0.63,-194.6,766.4,-9.3,645,6749,0.00,1.48,0.00,0.000,6,0.000,0.038,2535,2368,3606
$GC,7068,-0.63,-194.6,797.0,-9.4,676,7071,0.00,1.55,0.00,0.000,4,0.000,0.057,2528,3256,3604
$GC,7121,-0.63,-194.6,802.1,-10.2,681,7124,0.00,1.48,0.00,0.000,6,0.000,0.038,2528,2370,3604
$GC,7442,-0.63,-194.6,833.3,-9.6,712,7445,0.00,1.55,0.00,0.000,4,0.000,0.057,2521,3256,3603
$GC,7527,-0.63,-194.6,841.9,-10.2,720,7530,0.00,1.48,0.00,0.000,6,0.000,0.038,2521,2367,3602
$GC,7849,-0.63,-194.6,873.5,-10.2,751,7852,0.00,1.55,0.00,0.000,4,0.000,0.058,2514,3253,3601
$GC,7927,-0.63,-194.6,881.7,-10.1,758,7936,0.12,1.50,0.00,0.000,6,0.147,0.038,2544,2363,3601
$GC,8244,-0.63,-194.6,908.5,-8.7,789,8245,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2364,3600
$GC,8554,-0.63,-194.6,933.8,-7.9,819,8557,0.00,1.58,0.00,0.000,4,0.000,0.059,2540,3256,3598
$GC,8639,-0.63,-194.6,940.7,-8.5,827,8642,0.00,1.48,0.00,0.000,6,0.000,0.039,2540,2371,3598
$GC,8961,-0.63,-194.6,968.1,-8.9,858,8964,0.00,1.55,0.00,0.000,4,0.000,0.060,2533,3256,3597
$GC,9039,-0.63,-194.6,975.5,-8.6,865,9047,0.00,1.48,0.00,0.000,6,0.000,0.039,2533,2370,3596
$STATE,9209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9209,begin apogee
$GC,9214,-0.25,0.0,990.6,9.2,882,9372,0.43,0.00,151.23,1.253,6,0.135,0.000,2660,2257,2839
$STATE,9373,end apogee,CONTROL_FINISHED_OK
$STATE,9373,begin climb
$GC,9375,0.63,194.6,995.3,0.0,898,9553,0.90,1.33,166.62,1.220,4,0.105,0.044,2948,1348,2045
$GC,9596,0.63,194.6,975.7,11.9,917,9599,0.00,1.27,0.00,0.000,6,0.000,0.044,2948,2253,2042
$GC,9918,0.63,194.6,936.6,11.8,948,9921,0.00,1.20,0.00,0.000,4,0.000,0.045,2953,1347,2036
$GC,10018,0.63,194.6,924.3,12.0,957,10025,0.00,1.23,0.00,0.000,6,0.000,0.044,2953,2255,2035
$GC,10335,0.63,194.6,884.6,12.4,988,10338,0.00,1.17,0.00,0.000,4,0.000,0.045,2958,1353,2033
$GC,10484,0.63,194.6,865.6,12.5,1002,10487,0.00,1.17,0.00,0.000,6,0.000,0.044,2959,2250,2033
$GC,10805,0.63,194.6,824.4,13.0,1033,10808,0.00,1.17,0.00,0.000,4,0.000,0.044,2964,1339,2031
$GC,10916,0.63,194.6,810.0,13.1,1043,10923,0.00,1.23,0.00,0.000,6,0.000,0.044,2964,2258,2032
$GC,11233,0.63,194.6,769.5,12.7,1074,11237,0.00,1.17,0.00,0.000,4,0.000,0.044,2969,1352,2031
$GC,11361,0.63,194.6,753.1,13.2,1086,11364,0.00,1.17,0.00,0.000,6,0.000,0.044,2969,2252,2031
$GC,11682,0.63,194.6,710.9,13.1,1117,11685,0.00,1.17,0.00,0.000,4,0.000,0.044,2974,1344,2030
$GC,11788,0.63,194.6,697.3,11.7,1127,11792,0.00,1.20,0.00,0.000,6,0.000,0.044,2974,2257,2030
$GC,12110,0.63,194.6,655.0,13.0,1158,12113,0.00,1.17,0.00,0.000,4,0.000,0.044,2980,1349,2029
$GC,12252,0.63,194.6,636.4,13.7,1171,12260,0.00,1.20,0.00,0.000,6,0.000,0.044,2980,2255,2030
$GC,12570,0.63,194.6,594.0,13.5,1202,12573,0.00,1.17,0.00,0.000,4,0.000,0.044,2985,1342,2029
$GC,12687,0.63,194.6,578.2,13.0,1213,12690,0.10,1.17,0.00,0.000,6,0.148,0.044,2954,2249,2029
$GC,13007,0.63,194.6,542.6,11.4,1244,13011,0.00,1.15,0.00,0.000,4,0.000,0.044,2958,1351,2028
$GC,13108,0.63,194.6,531.0,11.4,1253,13115,0.00,1.20,0.00,0.000,6,0.000,0.043,2958,2257,2029
$GC,13425,0.63,194.6,493.5,12.0,1284,13428,0.00,1.17,0.00,0.000,4,0.000,0.043,2963,1342,2028
$GC,13488,0.63,194.6,485.9,12.4,1290,13492,0.00,1.17,0.00,0.000,6,0.000,0.043,2963,2250,2029
$GC,13809,0.63,194.6,448.5,11.4,1321,13812,0.00,1.17,0.00,0.000,4,0.000,0.043,2968,1331,2028
$GC,13917,0.63,194.6,435.9,11.6,1331,13919,0.00,1.20,0.00,0.000,6,0.000,0.043,2967,2258,2028
$GC,14237,0.63,194.6,396.1,12.6,1362,14240,0.00,1.17,0.00,0.000,4,0.000,0.042,2972,1347,2028
$GC,14322,0.63,194.6,385.9,11.4,1370,14325,0.00,1.17,0.00,0.000,6,0.000,0.043,2972,2253,2028
$GC,14644,0.63,194.6,345.9,12.9,1401,14647,0.00,1.15,0.00,0.000,4,0.000,0.042,2978,1352,2028
$GC,14744,0.63,194.6,333.0,13.4,1410,14752,0.00,1.20,0.00,0.000,6,0.000,0.041,2978,2261,2028
$GC,15061,0.63,194.6,292.3,12.9,1441,15064,0.00,1.17,0.00,0.000,4,0.000,0.042,2983,1345,2028
$GC,15189,0.63,194.6,275.7,13.0,1453,15192,0.10,1.17,0.00,0.000,6,0.146,0.041,2952,2253,2028
$GC,15510,0.63,194.6,240.1,10.8,1484,15513,0.00,1.15,0.00,0.000,4,0.000,0.041,2956,1350,2028
$GC,15567,0.63,194.6,233.8,10.7,1489,15574,0.00,1.20,0.00,0.000,6,0.000,0.041,2956,2264,2029
$GC,15885,0.63,194.6,198.5,11.2,1520,15887,0.00,1.17,0.00,0.000,4,0.000,0.040,2961,1345,2028
$GC,15984,0.63,194.6,186.8,11.7,1529,15992,0.00,1.20,0.00,0.000,6,0.000,0.040,2961,2264,2029
$GC,16302,0.63,194.6,149.3,12.0,1560,16305,0.00,1.17,0.00,0.000,4,0.000,0.039,2966,1338,2029
$GC,16376,0.63,194.6,141.0,11.0,1567,16379,0.00,1.17,0.00,0.000,6,0.000,0.039,2966,2256,2029
$GC,16696,0.63,194.6,106.0,10.7,1598,16700,0.00,1.15,0.00,0.000,4,0.000,0.038,2971,1344,2030
$GC,16814,0.63,194.6,93.4,9.0,1609,16818,0.00,1.15,0.00,0.000,6,0.000,0.038,2971,2252,2030
$GC,17011,0.63,194.6,73.0,9.9,1628,17014,0.00,1.15,0.00,0.000,4,0.000,0.038,2977,1335,2030
$GC,17079,0.63,194.6,66.3,9.9,1634,17087,0.00,1.20,0.00,0.000,6,0.000,0.037,2977,2264,2031
$GC,17272,0.63,194.6,48.5,8.2,1653,17272,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2264,2031
$GC,17457,0.70,252.2,36.0,6.0,1671,17501,0.00,0.00,42.38,0.545,6,0.000,0.000,2977,2264,1811
$GC,17684,0.80,333.6,21.2,5.4,1693,17748,0.00,1.23,61.15,0.528,4,0.000,0.035,2980,1340,1478
$GC,17844,0.93,440.3,14.0,4.7,1707,17929,0.15,1.17,78.97,0.514,6,0.047,0.035,3056,2255,1043
$STATE,17997,end climb,SURFACE_DEPTH_REACHED
$STATE,17998,begin surface coast
$FINISH,0.6,1.022752
$STATE,18028,end surface coast,CONTROL_FINISHED_OK
$STATE,18029,begin surface
$SM_CCo,18042,66.40,0.492,0,0,494,575.22
$SM_GC,1.42,0.00,0.00,66.40,0.000,0.000,0.492,196,2364,494,-7.97,-0.31,575.22
$IRIDIUM_FIX,2826.10,-8834.07,190999,171719
$TT8_MAMPS,0.051389
$HUMID,1320
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.40
$XPDR_PINGS,2
$24V_AH,23.0,30.603
$10V_AH,10.6,42.329
$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,20.325,116.525,500.350,66.400,0.000,30.794,30.028,205.223,0.500,0.000,0.000,16.199,0.000,11755.901,664.311,5468.117,572.714,33.331,2304.491,0.000,4897.144,0.000,0.848,0.000
$DEVICE_MAMPS,260.013,62.894,1252.511,491.647,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1179.219,1267.244,3874.812,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91450,1724
$CAP_FILE_SIZE,178189,0
$CFSIZE,260165632,240046080
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081,220.1,1
$GPS,260610,031137,2836.405,-8827.937,29,1.2,29,-0.4