version: 66.04
glider: 515
mission: 5
dive: 169
start: 6 26 110 8 2 6
data:
$ID,515
$MISSION,5
$DIVE,169
$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,-15414.387
$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,34
$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
$GPS1,075425,2838.357,-8826.599,36,1.9,36,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-66.9
$GPS2,080026,2838.383,-8826.659,13,0.9,13,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618A
$TGT_LATLONG,2837.900,-8826.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.028,0.263
$KALMAN_X,-10432.8,-391.4,393.9,48573.6,-107.1
$KALMAN_Y,-30845.2,1096.5,663.6,47632.0,-11787.9
$MHEAD_RNG_PITCHd_Wd,119.0,1396,-26.8,-7.500
$D_GRID,1433
$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,-41.0,0.0,0.0,0,97,0.00,0.00,-83.18,0.000,2,0.000,0.000,198,2362,2785
$GC,99,-1.04,-70.8,3.2,-3.8,8,119,10.02,0.00,-8.60,0.000,6,0.261,0.000,2402,2362,3131
$GC,301,-1.04,-70.8,47.6,-17.1,28,304,0.00,1.23,0.00,0.000,4,0.000,0.035,2408,1477,3133
$GC,375,-1.04,-70.8,58.6,-14.0,35,378,0.00,1.25,0.00,0.000,6,0.000,0.035,2404,2365,3133
$GC,572,-1.04,-70.8,82.9,-12.3,54,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2364,3135
$GC,758,-1.04,-70.8,102.4,-10.2,72,761,0.00,1.25,0.00,0.000,4,0.000,0.034,2408,1466,3135
$GC,908,-1.04,-70.8,118.2,-10.2,86,910,0.00,1.27,0.00,0.000,6,0.000,0.034,2404,2373,3135
$GC,1229,-1.04,-70.8,152.9,-11.2,117,1232,0.00,1.25,0.00,0.000,4,0.000,0.035,2408,1476,3136
$GC,1307,-1.04,-70.8,161.8,-11.6,124,1315,0.00,1.30,0.00,0.000,6,0.000,0.034,2404,2379,3136
$GC,1625,-1.04,-70.8,194.5,-10.3,155,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2379,3136
$GC,1935,-1.04,-70.8,225.9,-10.3,185,1938,0.00,1.27,0.00,0.000,4,0.000,0.035,2408,1473,3135
$GC,2020,-1.04,-70.8,235.2,-10.7,193,2023,0.00,1.27,0.00,0.000,6,0.000,0.036,2404,2375,3134
$GC,2342,-1.04,-70.8,269.0,-10.1,224,2344,0.00,1.48,0.00,0.000,4,0.000,0.046,2396,3257,3133
$GC,2463,-1.04,-70.8,283.1,-11.6,235,2470,0.00,1.45,0.00,0.000,6,0.000,0.029,2402,2366,3133
$GC,2781,-1.04,-70.8,316.3,-10.8,266,2784,0.00,1.23,0.00,0.000,4,0.000,0.038,2404,1485,3131
$GC,2844,-1.04,-70.8,323.5,-11.9,272,2848,0.00,1.27,0.00,0.000,6,0.000,0.038,2400,2374,3131
$GC,3166,-1.04,-70.8,357.7,-10.4,303,3167,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2374,3129
$GC,3476,-1.04,-70.8,390.1,-10.4,333,3477,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2374,3127
$GC,3786,-1.04,-70.8,423.2,-10.8,363,3789,0.00,1.50,0.00,0.000,4,0.000,0.050,2392,3262,3125
$GC,3883,-1.04,-70.8,434.2,-11.3,372,3886,0.00,1.45,0.00,0.000,6,0.000,0.032,2397,2372,3125
$GC,4204,-1.04,-70.8,468.3,-10.4,403,4205,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2370,3123
$GC,4514,-1.04,-70.8,501.5,-10.7,433,4515,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2371,3121
$GC,4824,-1.04,-70.8,535.0,-11.0,463,4825,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2371,3119
$GC,5135,-1.04,-70.8,568.4,-10.5,493,5135,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2371,3117
$GC,5445,-1.04,-70.8,603.3,-11.8,523,5448,0.00,1.27,0.00,0.000,4,0.000,0.044,2397,1479,3115
$GC,5530,-1.04,-70.8,613.3,-11.7,531,5533,0.00,1.30,0.00,0.000,6,0.000,0.044,2393,2371,3114
$GC,5852,-1.04,-70.8,648.0,-10.7,562,5854,0.00,1.27,0.00,0.000,4,0.000,0.044,2397,1492,3113
$GC,6023,-1.04,-70.8,666.5,-10.4,578,6026,0.00,1.27,0.00,0.000,6,0.000,0.044,2392,2370,3112
$GC,6345,-1.04,-70.8,699.9,-9.9,609,6348,0.00,1.27,0.00,0.000,4,0.000,0.044,2396,1491,3111
$GC,6369,-1.04,-70.8,702.6,-10.7,611,6377,0.00,1.33,0.00,0.000,6,0.000,0.044,2392,2378,3110
$GC,6687,-1.04,-70.8,734.1,-9.9,642,6690,0.00,1.52,0.00,0.000,4,0.000,0.054,2384,3263,3108
$GC,6762,-1.04,-70.8,742.0,-10.3,649,6765,0.00,1.48,0.00,0.000,6,0.000,0.036,2388,2375,3108
$GC,7083,-1.04,-70.8,773.9,-9.6,680,7084,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2374,3107
$GC,7393,-1.04,-70.8,805.1,-10.6,710,7396,0.00,1.27,0.00,0.000,4,0.000,0.046,2389,1495,3105
$GC,7521,-1.04,-70.8,818.1,-10.0,722,7524,0.00,1.30,0.00,0.000,6,0.000,0.045,2384,2374,3105
$GC,7843,-1.04,-70.8,849.9,-9.9,753,7846,0.00,1.30,0.00,0.000,4,0.000,0.045,2387,1484,3103
$GC,7895,-1.04,-70.8,855.2,-10.4,758,7899,0.00,1.33,0.00,0.000,6,0.000,0.046,2382,2377,3103
$GC,8218,-1.04,-70.8,886.2,-9.7,789,8221,0.00,1.52,0.00,0.000,4,0.000,0.056,2374,3256,3101
$GC,8264,-1.04,-70.8,891.0,-9.7,793,8273,0.10,1.48,0.00,0.000,6,0.208,0.038,2401,2374,3101
$GC,8580,-1.04,-70.8,918.5,-8.4,824,8581,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2375,3100
$GC,8891,-1.04,-70.8,945.0,-8.4,854,8894,0.00,1.30,0.00,0.000,4,0.000,0.047,2403,1484,3100
$GC,8970,-1.04,-70.8,952.0,-8.6,861,8979,0.00,1.33,0.00,0.000,6,0.000,0.046,2399,2373,3099
$GC,9288,-1.04,-70.8,980.1,-8.7,892,9289,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2374,3098
$STATE,9399,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9399,begin apogee
$GC,9404,-0.25,0.0,990.4,9.1,903,9462,1.00,0.00,52.15,1.239,6,0.188,0.000,2663,2263,2840
$STATE,9463,end apogee,CONTROL_FINISHED_OK
$STATE,9463,begin climb
$GC,9464,1.04,70.8,992.3,0.0,909,9528,1.30,0.00,60.95,1.223,6,0.103,0.000,3077,2263,2550
$GC,9833,1.04,70.8,942.1,15.3,945,9837,0.00,1.70,0.00,0.000,4,0.000,0.054,3077,3143,2544
$GC,9881,1.04,70.8,934.7,16.2,949,9889,0.00,1.65,0.00,0.000,6,0.000,0.037,3085,2250,2543
$GC,10197,1.04,70.8,886.7,15.0,980,10201,0.00,1.73,0.00,0.000,4,0.000,0.055,3085,3147,2541
$GC,10261,1.04,70.8,876.4,17.0,986,10264,0.00,1.65,0.00,0.000,6,0.000,0.038,3093,2246,2541
$GC,10582,1.04,70.8,826.6,15.5,1017,10585,0.00,1.73,0.00,0.000,4,0.000,0.054,3092,3149,2540
$GC,10699,1.04,70.8,807.1,16.3,1028,10702,0.00,1.62,0.00,0.000,6,0.000,0.038,3099,2257,2539
$GC,11020,1.04,70.8,757.3,15.2,1059,11021,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2258,2539
$GC,11331,1.04,70.8,710.6,15.0,1089,11333,0.00,1.67,0.00,0.000,4,0.000,0.055,3099,3150,2538
$GC,11516,1.04,70.8,681.7,15.6,1106,11524,0.00,1.65,0.00,0.000,6,0.000,0.037,3107,2242,2537
$GC,11834,1.04,70.8,636.2,14.6,1137,11838,0.00,1.73,0.00,0.000,4,0.000,0.054,3106,3149,2536
$GC,11848,1.04,70.8,633.8,14.5,1138,11857,0.12,1.65,0.00,0.000,6,0.214,0.037,3086,2252,2536
$GC,12166,1.04,70.8,591.0,12.8,1169,12166,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2252,2536
$GC,12476,1.04,70.8,551.4,13.0,1199,12479,0.00,1.70,0.00,0.000,4,0.000,0.053,3086,3146,2536
$GC,12550,1.04,70.8,541.2,14.0,1206,12554,0.00,1.62,0.00,0.000,6,0.000,0.037,3094,2249,2535
$GC,12871,1.04,70.8,498.3,13.1,1237,12875,0.00,1.70,0.00,0.000,4,0.000,0.052,3093,3142,2535
$GC,12935,1.04,70.8,489.3,14.2,1243,12938,0.00,1.62,0.00,0.000,6,0.000,0.037,3100,2247,2535
$GC,13256,1.04,70.8,444.8,13.8,1274,13259,0.00,1.70,0.00,0.000,4,0.000,0.051,3100,3142,2535
$GC,13334,1.04,70.8,433.2,14.6,1281,13343,0.00,1.62,0.00,0.000,6,0.000,0.035,3108,2252,2534
$GC,13652,1.04,70.8,390.2,13.6,1312,13656,0.00,1.70,0.00,0.000,4,0.000,0.052,3106,3151,2535
$GC,13763,1.04,70.8,373.7,15.0,1322,13770,0.00,1.65,0.00,0.000,6,0.000,0.035,3114,2245,2535
$GC,14081,1.04,70.8,328.8,13.8,1353,14084,0.00,1.67,0.00,0.000,4,0.000,0.051,3114,3149,2535
$GC,14234,1.04,70.8,304.8,15.3,1367,14242,0.10,1.65,0.00,0.000,6,0.197,0.035,3092,2244,2535
$GC,14551,1.04,70.8,262.7,12.8,1398,14554,0.00,1.70,0.00,0.000,4,0.000,0.051,3092,3142,2535
$GC,14586,1.04,70.8,257.4,14.4,1401,14596,0.00,1.62,0.00,0.000,6,0.000,0.034,3100,2248,2535
$GC,14904,1.04,70.8,217.6,12.6,1432,14907,0.00,1.67,0.00,0.000,4,0.000,0.050,3100,3158,2535
$GC,14961,1.04,70.8,209.7,13.7,1437,14970,0.00,1.65,0.00,0.000,6,0.000,0.034,3108,2244,2536
$GC,15279,1.04,70.8,167.2,13.7,1468,15282,0.00,1.70,0.00,0.000,4,0.000,0.050,3107,3148,2536
$GC,15432,1.04,70.8,144.8,13.9,1482,15440,0.08,1.60,0.00,0.000,6,0.199,0.032,3093,2256,2537
$GC,15749,1.04,70.8,108.1,10.6,1513,15752,0.00,1.67,0.00,0.000,4,0.000,0.048,3092,3147,2537
$GC,15791,1.04,70.8,103.4,10.1,1517,15794,0.00,1.60,0.00,0.000,6,0.000,0.032,3099,2248,2538
$GC,16112,1.04,70.8,72.7,9.6,1548,16115,0.00,1.67,0.00,0.000,4,0.000,0.047,3099,3147,2539
$GC,16123,1.04,70.8,71.6,9.8,1549,16126,0.00,1.60,0.00,0.000,6,0.000,0.031,3107,2245,2539
$GC,16319,1.05,73.7,57.2,7.1,1568,16322,0.00,1.10,0.00,0.000,4,0.000,0.037,3112,1341,2540
$GC,16376,1.06,82.2,53.3,6.5,1573,16389,0.00,1.23,8.45,0.505,6,0.000,0.037,3112,2282,2503
$GC,16582,1.08,96.6,42.1,5.7,1593,16599,0.00,1.20,12.45,0.521,4,0.000,0.035,3117,1349,2446
$GC,16638,1.11,125.7,39.6,3.9,1598,16664,0.00,1.17,23.30,0.540,6,0.000,0.037,3117,2269,2326
$GC,16859,1.14,144.3,25.3,5.2,1619,16882,0.00,1.62,14.90,0.509,4,0.000,0.044,3117,3134,2251
$GC,17121,1.21,207.7,17.0,-0.3,1643,17177,0.00,1.60,48.03,0.518,6,0.000,0.028,3125,2234,1992
$STATE,17329,end climb,SURFACE_DEPTH_REACHED
$STATE,17329,begin surface coast
$FINISH,0.5,1.010539
$STATE,17350,end surface coast,CONTROL_FINISHED_OK
$STATE,17350,begin surface
$SM_CCo,17364,176.62,0.495,0,0,494,575.22
$SM_GC,1.56,0.00,0.00,176.62,0.000,0.000,0.495,197,2365,494,-7.97,-0.28,575.22
$IRIDIUM_FIX,2826.10,-8829.17,200999,030315
$TT8_MAMPS,0.049855
$HUMID,1286
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,23.70
$XPDR_PINGS,26
$24V_AH,23.9,30.856
$10V_AH,10.6,42.748
$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,20.625,98.450,220.225,176.625,0.000,31.321,40.097,180.606,6.500,0.000,0.000,15.433,0.000,11648.168,552.837,5130.870,605.170,33.333,1986.491,0.000,4604.261,0.000,0.847,0.000
$DEVICE_MAMPS,260.780,55.991,1239.472,494.715,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1140.795,1233.459,3742.387,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88339,1665
$CAP_FILE_SIZE,164367,0
$CFSIZE,260165632,239886336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.083,279.0,1
$GPS,260610,125530,2838.012,-8826.016,37,1.2,42,-0.4