version: 66.04
glider: 515
mission: 5
dive: 171
start: 6 26 110 18 18 5
data:
$ID,515
$MISSION,5
$DIVE,171
$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,-15452.449
$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,24
$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
$GPS1,181037,2837.631,-8829.520,40,1.0,40,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-68.6
$GPS2,181644,2837.653,-8829.526,14,1.0,14,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0607F
$TGT_LATLONG,2837.000,-8845.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.235,0.122
$KALMAN_X,-9591.3,163.4,64.3,42852.0,721.9
$KALMAN_Y,-40665.9,777.9,1655.4,55412.6,-14621.0
$MHEAD_RNG_PITCHd_Wd,276.8,25186,-10.8,-7.500
$D_GRID,1591
$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,-83.25,0.000,2,0.000,0.000,196,2369,2791
$GC,99,-0.63,-194.6,3.1,-3.8,8,136,10.50,1.55,-19.77,0.000,4,0.256,0.063,2531,3270,3634
$GC,374,-0.63,-194.6,58.3,-14.6,33,383,0.00,1.50,0.00,0.000,6,0.000,0.028,2535,2363,3637
$GC,567,-0.63,-194.6,85.1,-15.0,52,570,0.00,1.52,0.00,0.000,4,0.000,0.045,2530,3257,3638
$GC,784,-0.63,-194.6,113.6,-13.9,72,792,0.00,1.45,0.00,0.000,6,0.000,0.028,2535,2368,3639
$GC,1102,-0.63,-194.6,153.2,-11.7,103,1105,0.00,1.52,0.00,0.000,4,0.000,0.046,2530,3267,3639
$GC,1155,-0.63,-194.6,159.7,-12.2,108,1158,0.00,1.45,0.00,0.000,6,0.000,0.028,2533,2369,3639
$GC,1477,-0.63,-194.6,196.1,-11.4,139,1480,0.00,1.52,0.00,0.000,4,0.000,0.047,2527,3265,3638
$GC,1598,-0.63,-194.6,209.7,-10.9,150,1605,0.00,1.45,0.00,0.000,6,0.000,0.029,2527,2368,3638
$GC,1915,-0.63,-194.6,245.4,-11.6,181,1918,0.00,1.52,0.00,0.000,4,0.000,0.047,2520,3265,3636
$GC,2025,-0.63,-194.6,258.8,-12.1,191,2033,0.00,1.48,0.00,0.000,6,0.000,0.029,2520,2365,3636
$GC,2344,-0.63,-194.6,295.1,-11.8,222,2347,0.00,1.52,0.00,0.000,4,0.000,0.048,2513,3257,3634
$GC,2461,-0.63,-194.6,308.8,-11.3,233,2464,0.08,1.42,0.00,0.000,6,0.143,0.031,2537,2368,3633
$GC,2782,-0.63,-194.6,340.7,-10.2,264,2785,0.00,1.52,0.00,0.000,4,0.000,0.049,2532,3261,3631
$GC,2871,-0.63,-194.6,350.1,-10.1,272,2878,0.00,1.48,0.00,0.000,6,0.000,0.031,2532,2368,3631
$GC,3189,-0.63,-194.6,381.5,-10.4,303,3192,0.00,1.52,0.00,0.000,4,0.000,0.051,2525,3257,3627
$GC,3295,-0.63,-194.6,393.0,-10.3,313,3298,0.00,1.45,0.00,0.000,6,0.000,0.032,2525,2367,3628
$GC,3617,-0.63,-194.6,428.0,-10.7,344,3620,0.00,1.55,0.00,0.000,4,0.000,0.051,2518,3261,3625
$GC,3760,-0.63,-194.6,443.8,-10.8,357,3768,0.00,1.50,0.00,0.000,6,0.000,0.032,2518,2364,3624
$GC,4078,-0.63,-194.6,478.5,-10.7,388,4081,0.00,1.55,0.00,0.000,4,0.000,0.053,2511,3255,3622
$GC,4194,-0.63,-194.6,491.8,-11.6,399,4198,0.00,1.45,0.00,0.000,6,0.000,0.034,2511,2371,3621
$GC,4517,-0.63,-194.6,529.2,-11.5,430,4520,0.12,1.52,0.00,0.000,4,0.151,0.051,2537,3267,3619
$GC,4655,-0.63,-194.6,543.7,-10.5,443,4658,0.00,1.48,0.00,0.000,6,0.000,0.035,2537,2372,3618
$GC,4977,-0.63,-194.6,575.3,-9.8,474,4980,0.00,1.52,0.00,0.000,4,0.000,0.054,2531,3255,3616
$GC,5073,-0.63,-194.6,584.7,-10.1,483,5076,0.00,1.45,0.00,0.000,6,0.000,0.035,2531,2373,3616
$GC,5395,-0.63,-194.6,615.3,-9.8,514,5398,0.00,1.52,0.00,0.000,4,0.000,0.054,2524,3254,3613
$GC,5491,-0.63,-194.6,625.1,-10.5,523,5494,0.00,1.45,0.00,0.000,6,0.000,0.036,2524,2371,3613
$GC,5813,-0.63,-194.6,657.4,-9.9,554,5816,0.00,1.55,0.00,0.000,4,0.000,0.055,2517,3260,3610
$GC,5891,-0.63,-194.6,666.2,-11.2,561,5900,0.00,1.50,0.00,0.000,6,0.000,0.035,2517,2365,3610
$GC,6209,-0.63,-194.6,699.1,-10.6,592,6212,0.00,1.55,0.00,0.000,4,0.000,0.055,2509,3256,3608
$GC,6326,-0.63,-194.6,712.0,-11.6,603,6329,0.10,1.48,0.00,0.000,6,0.142,0.037,2541,2366,3608
$GC,6646,-0.63,-194.6,741.1,-9.1,634,6650,0.00,1.55,0.00,0.000,4,0.000,0.056,2535,3255,3605
$GC,6775,-0.63,-194.6,753.2,-9.8,646,6778,0.00,1.45,0.00,0.000,6,0.000,0.037,2535,2374,3605
$GC,7097,-0.63,-194.6,782.9,-8.8,677,7099,0.00,1.55,0.00,0.000,4,0.000,0.058,2529,3260,3603
$GC,7214,-0.63,-194.6,794.2,-9.3,688,7217,0.00,1.48,0.00,0.000,6,0.000,0.038,2529,2372,3603
$GC,7535,-0.63,-194.6,824.8,-9.7,719,7538,0.00,1.55,0.00,0.000,4,0.000,0.058,2522,3253,3602
$GC,7642,-0.63,-194.6,835.4,-9.4,729,7645,0.00,1.48,0.00,0.000,6,0.000,0.038,2522,2368,3601
$GC,7963,-0.63,-194.6,867.7,-10.0,760,7966,0.00,1.55,0.00,0.000,4,0.000,0.058,2515,3250,3599
$GC,8091,-0.63,-194.6,880.6,-9.8,772,8094,0.00,1.48,0.00,0.000,6,0.000,0.038,2515,2368,3599
$GC,8413,-0.63,-194.6,912.6,-9.8,803,8416,0.00,1.58,0.00,0.000,4,0.000,0.058,2507,3260,3597
$GC,8513,-0.63,-194.6,923.0,-10.2,812,8521,0.10,1.48,0.00,0.000,6,0.145,0.038,2539,2371,3597
$GC,8829,-0.63,-194.6,950.2,-8.8,843,8833,0.00,1.55,0.00,0.000,4,0.000,0.058,2533,3255,3596
$GC,8962,-0.63,-194.6,962.4,-8.5,855,8969,0.00,1.48,0.00,0.000,6,0.000,0.038,2533,2368,3595
$GC,9279,-0.63,-194.6,988.6,-7.9,886,9282,0.00,1.55,0.00,0.000,4,0.000,0.059,2526,3252,3594
$STATE,9292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9292,begin apogee
$GC,9298,-0.25,0.0,990.2,8.7,887,9454,0.43,0.00,151.35,1.253,6,0.143,0.000,2657,2260,2840
$STATE,9455,end apogee,CONTROL_FINISHED_OK
$STATE,9455,begin climb
$GC,9456,0.63,194.6,994.4,0.0,903,9636,0.90,1.33,167.20,1.220,4,0.110,0.044,2942,1349,2045
$GC,9765,0.63,194.6,964.6,11.6,930,9767,0.00,1.25,0.00,0.000,6,0.000,0.044,2942,2259,2038
$GC,10086,0.63,194.6,925.9,12.0,961,10089,0.00,1.20,0.00,0.000,4,0.000,0.045,2947,1352,2034
$GC,10258,0.63,194.6,905.1,12.8,977,10260,0.00,1.20,0.00,0.000,6,0.000,0.045,2948,2258,2034
$GC,10578,0.63,194.6,865.1,12.5,1008,10581,0.00,1.20,0.00,0.000,4,0.000,0.045,2953,1342,2032
$GC,10732,0.63,194.6,846.4,12.8,1022,10739,0.00,1.23,0.00,0.000,6,0.000,0.044,2953,2259,2032
$GC,11049,0.63,194.6,808.2,11.8,1053,11052,0.00,1.20,0.00,0.000,4,0.000,0.045,2958,1333,2031
$GC,11198,0.63,194.6,790.4,11.4,1067,11202,0.00,1.23,0.00,0.000,6,0.000,0.044,2958,2260,2031
$GC,11519,0.63,194.6,751.0,12.5,1098,11523,0.00,1.20,0.00,0.000,4,0.000,0.044,2963,1335,2030
$GC,11691,0.63,194.6,730.0,11.3,1114,11694,0.00,1.20,0.00,0.000,6,0.000,0.045,2963,2254,2030
$GC,12011,0.63,194.6,689.0,12.9,1145,12015,0.00,1.17,0.00,0.000,4,0.000,0.044,2969,1346,2029
$GC,12172,0.63,194.6,668.4,14.0,1160,12175,0.00,1.17,0.00,0.000,6,0.000,0.044,2968,2251,2029
$GC,12493,0.63,194.6,626.5,12.6,1191,12496,0.00,1.17,0.00,0.000,4,0.000,0.044,2974,1340,2029
$GC,12658,0.63,194.6,606.3,11.9,1206,12665,0.00,1.20,0.00,0.000,6,0.000,0.043,2973,2257,2028
$GC,12975,0.63,194.6,565.5,12.9,1237,12978,0.00,1.17,0.00,0.000,4,0.000,0.044,2979,1346,2028
$GC,13146,0.63,194.6,543.6,11.6,1253,13149,0.00,1.17,0.00,0.000,6,0.000,0.044,2979,2251,2028
$GC,13466,0.63,194.6,501.4,13.4,1284,13470,0.00,1.17,0.00,0.000,4,0.000,0.043,2984,1335,2027
$GC,13573,0.63,194.6,487.5,12.7,1294,13577,0.10,1.20,0.00,0.000,6,0.144,0.043,2954,2256,2027
$GC,13894,0.63,194.6,450.9,10.8,1325,13897,0.00,1.17,0.00,0.000,4,0.000,0.044,2957,1342,2027
$GC,14043,0.63,194.6,434.2,12.2,1339,14047,0.00,1.17,0.00,0.000,6,0.000,0.042,2957,2251,2027
$GC,14364,0.63,194.6,397.1,11.2,1370,14367,0.00,1.15,0.00,0.000,4,0.000,0.043,2962,1346,2027
$GC,14503,0.63,194.6,381.2,10.2,1383,14506,0.00,1.17,0.00,0.000,6,0.000,0.042,2962,2255,2027
$GC,14825,0.63,194.6,343.8,11.4,1414,14828,0.00,1.17,0.00,0.000,4,0.000,0.042,2967,1333,2027
$GC,14931,0.63,194.6,331.2,12.1,1424,14934,0.00,1.20,0.00,0.000,6,0.000,0.041,2967,2259,2027
$GC,15253,0.63,194.6,291.8,12.2,1455,15256,0.00,1.17,0.00,0.000,4,0.000,0.041,2972,1337,2027
$GC,15360,0.63,194.6,278.5,12.0,1465,15363,0.00,1.17,0.00,0.000,6,0.000,0.041,2973,2250,2028
$GC,15681,0.63,194.6,238.1,11.8,1496,15684,0.00,1.15,0.00,0.000,4,0.000,0.041,2978,1340,2028
$GC,15802,0.63,194.6,223.6,12.7,1507,15810,0.00,1.20,0.00,0.000,6,0.000,0.040,2977,2260,2028
$GC,16120,0.63,194.6,183.5,12.8,1538,16123,0.00,1.17,0.00,0.000,4,0.000,0.040,2983,1335,2029
$GC,16280,0.63,194.6,163.6,12.0,1553,16284,0.10,1.17,0.00,0.000,6,0.137,0.041,2952,2257,2029
$GC,16601,0.63,194.6,129.7,11.0,1584,16604,0.00,1.17,0.00,0.000,4,0.000,0.039,2955,1330,2029
$GC,16751,0.63,194.6,114.7,10.4,1598,16754,0.00,1.17,0.00,0.000,6,0.000,0.038,2955,2253,2030
$GC,17071,0.63,194.6,84.3,8.9,1629,17074,0.00,1.15,0.00,0.000,4,0.000,0.037,2960,1335,2030
$GC,17182,0.63,194.6,74.1,8.5,1639,17190,0.00,1.20,0.00,0.000,6,0.000,0.037,2960,2266,2031
$GC,17374,0.63,194.6,56.6,8.8,1658,17378,0.00,1.17,0.00,0.000,4,0.000,0.036,2965,1330,2031
$GC,17470,0.66,218.5,49.4,6.9,1667,17494,0.00,1.17,17.38,0.536,6,0.000,0.036,2965,2260,1949
$GC,17679,0.73,276.3,35.8,6.0,1687,17727,0.00,1.23,44.40,0.542,4,0.000,0.036,2970,1323,1712
$GC,17791,0.78,316.3,28.9,6.4,1697,17828,0.00,1.20,30.92,0.522,6,0.000,0.035,2971,2257,1550
$GC,18014,0.88,402.7,16.4,5.2,1718,18085,0.17,1.15,64.68,0.515,4,0.076,0.034,3045,1331,1196
$GC,18170,0.89,409.9,5.4,7.3,1732,18182,0.00,1.20,6.32,0.406,6,0.000,0.033,3045,2261,1167
$STATE,18210,end climb,SURFACE_DEPTH_REACHED
$STATE,18210,begin surface coast
$FINISH,0.7,1.022447
$STATE,18241,end surface coast,CONTROL_FINISHED_OK
$STATE,18241,begin surface
$SM_CCo,18255,79.97,0.491,0,0,495,575.22
$SM_GC,1.49,0.00,0.00,79.97,0.000,0.000,0.491,200,2371,495,-7.96,-0.14,575.22
$IRIDIUM_FIX,2828.55,-8824.26,200999,131311
$TT8_MAMPS,0.050622
$HUMID,1330
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,23.0,31.180
$10V_AH,10.6,43.206
$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,20.350,114.325,482.250,79.975,0.000,31.766,24.078,194.909,0.250,0.000,0.000,16.551,0.000,11747.433,645.419,5711.999,608.953,33.332,2362.092,0.000,5124.326,0.000,0.847,0.000
$DEVICE_MAMPS,256.178,62.894,1253.278,490.880,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1189.950,1281.058,3908.308,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91414,1739
$CAP_FILE_SIZE,183443,0
$CFSIZE,260165632,239685632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.104,230.4,1
$GPS,260610,232437,2838.391,-8832.952,36,1.1,36,-0.3