version: 66.04
glider: 515
mission: 5
dive: 175
start: 6 27 110 14 20 54
data:
$ID,515
$MISSION,5
$DIVE,175
$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,-15513.116
$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,2225
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,20
$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
$GPS1,141425,2837.512,-8843.201,39,1.8,39,-0.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-68.7
$GPS2,142014,2837.576,-8843.157,12,1.6,12,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0607F
$TGT_LATLONG,2837.000,-8845.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.119,0.236
$KALMAN_X,-7638.3,-333.4,163.1,19109.1,934.7
$KALMAN_Y,-49556.3,147.7,153.4,66317.9,-8840.1
$MHEAD_RNG_PITCHd_Wd,272.0,3181,-26.8,-7.500
$D_GRID,1259
$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,-83.28,0.000,2,0.000,0.000,202,2360,2851
$GC,99,-1.05,-75.9,3.7,-3.2,8,124,10.02,1.23,-6.38,0.000,4,0.262,0.055,2408,1474,3152
$GC,363,-1.05,-75.9,55.3,-13.1,32,370,0.00,1.33,0.00,0.000,6,0.000,0.035,2403,2379,3155
$GC,555,-1.05,-75.9,77.2,-10.6,51,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2378,3156
$GC,741,-1.05,-75.9,99.0,-11.5,69,745,0.00,1.27,0.00,0.000,4,0.000,0.035,2408,1488,3157
$GC,987,-1.05,-75.9,128.2,-11.6,92,990,0.00,1.27,0.00,0.000,6,0.000,0.035,2403,2377,3158
$GC,1309,-1.05,-75.9,164.2,-10.8,123,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2377,3158
$GC,1618,-1.05,-75.9,199.3,-11.7,153,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2378,3158
$GC,1929,-1.05,-75.9,235.0,-10.9,183,1932,0.00,1.27,0.00,0.000,4,0.000,0.038,2408,1481,3157
$GC,2036,-1.05,-75.9,247.1,-11.8,193,2039,0.00,1.27,0.00,0.000,6,0.000,0.037,2403,2375,3156
$GC,2357,-1.05,-75.9,282.9,-11.4,224,2358,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2375,3155
$GC,2668,-1.05,-75.9,318.5,-11.7,254,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2375,3154
$GC,2977,-1.05,-75.9,354.4,-11.6,284,2978,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2375,3151
$GC,3288,-1.05,-75.9,391.6,-12.0,314,3289,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2375,3150
$GC,3598,-1.05,-75.9,429.0,-12.0,344,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2376,3147
$GC,3909,-1.05,-75.9,465.3,-11.4,374,3912,0.00,1.27,0.00,0.000,4,0.000,0.042,2404,1492,3145
$GC,3972,-1.05,-75.9,472.5,-10.8,380,3976,0.00,1.27,0.00,0.000,6,0.000,0.040,2400,2373,3145
$GC,4295,-1.05,-75.9,508.2,-10.8,411,4298,0.00,1.52,0.00,0.000,4,0.000,0.050,2392,3268,3143
$GC,4422,-1.05,-75.9,523.4,-12.1,423,4426,0.00,1.48,0.00,0.000,6,0.000,0.034,2398,2371,3142
$GC,4745,-1.05,-75.9,559.5,-11.0,454,4748,0.00,1.52,0.00,0.000,4,0.000,0.051,2392,3257,3140
$GC,4872,-1.05,-75.9,575.0,-12.2,466,4876,0.00,1.35,0.00,0.000,6,0.000,0.033,2396,2438,3140
$GC,5195,-1.05,-75.9,611.6,-11.2,497,5196,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2438,3138
$GC,5504,-1.05,-75.9,645.8,-11.2,527,5504,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2437,3136
$GC,5814,-1.05,-75.9,680.0,-10.4,557,5818,0.00,1.42,0.00,0.000,4,0.000,0.052,2392,3258,3134
$GC,5856,-1.05,-75.9,685.0,-11.6,561,5860,0.00,1.45,0.00,0.000,6,0.000,0.035,2397,2375,3133
$GC,6178,-1.05,-75.9,720.1,-11.3,592,6179,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2375,3131
$GC,6489,-1.05,-75.9,753.1,-10.6,622,6489,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2376,3130
$GC,6798,-1.05,-75.9,785.2,-10.0,652,6799,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2376,3129
$GC,7109,-1.05,-75.9,817.3,-10.5,682,7112,0.00,1.30,0.00,0.000,4,0.000,0.048,2400,1485,3127
$GC,7237,-1.05,-75.9,830.6,-10.6,694,7240,0.00,1.30,0.00,0.000,6,0.000,0.045,2396,2370,3127
$GC,7559,-1.05,-75.9,863.3,-10.2,725,7562,0.00,1.30,0.00,0.000,4,0.000,0.047,2398,1488,3125
$GC,7681,-1.05,-75.9,875.5,-10.3,736,7688,0.00,1.35,0.00,0.000,6,0.000,0.044,2394,2383,3124
$GC,7998,-1.05,-75.9,907.0,-9.9,767,8002,0.00,1.52,0.00,0.000,4,0.000,0.056,2386,3268,3123
$GC,8062,-1.05,-75.9,913.8,-10.4,773,8065,0.00,1.48,0.00,0.000,6,0.000,0.037,2389,2374,3123
$GC,8384,-1.05,-75.9,945.2,-9.7,804,8387,0.00,1.30,0.00,0.000,4,0.000,0.048,2389,1489,3122
$GC,8441,-1.05,-75.9,950.9,-9.8,809,8449,0.00,1.33,0.00,0.000,6,0.000,0.045,2385,2372,3122
$GC,8758,-1.05,-75.9,979.6,-9.5,840,8761,0.00,1.30,0.00,0.000,4,0.000,0.047,2386,1491,3121
$GC,8811,-1.05,-75.9,984.7,-9.5,845,8814,0.00,1.33,0.00,0.000,6,0.000,0.046,2381,2376,3121
$STATE,8871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8871,begin apogee
$GC,8875,-0.25,0.0,990.3,9.1,851,8935,1.05,0.00,56.50,1.237,6,0.189,0.000,2658,2232,2840
$STATE,8936,end apogee,CONTROL_FINISHED_OK
$STATE,8936,begin climb
$GC,8937,1.05,75.9,992.1,0.0,857,9006,1.30,0.00,65.72,1.214,6,0.104,0.000,3075,2233,2530
$GC,9314,1.05,75.9,938.8,15.5,894,9317,0.00,1.70,0.00,0.000,4,0.000,0.054,3075,3113,2522
$GC,9399,1.05,75.9,924.7,17.0,902,9402,0.00,1.65,0.00,0.000,6,0.000,0.037,3082,2216,2521
$GC,9721,1.05,75.9,874.1,14.7,933,9724,0.00,1.73,0.00,0.000,4,0.000,0.053,3082,3119,2519
$GC,9746,1.05,75.9,869.6,16.8,935,9753,0.00,1.62,0.00,0.000,6,0.000,0.036,3089,2234,2519
$GC,10064,1.05,75.9,821.0,16.2,966,10065,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2233,2518
$GC,10373,1.05,75.9,773.9,14.9,996,10374,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2233,2517
$GC,10684,1.05,75.9,727.7,15.1,1026,10687,0.00,1.67,0.00,0.000,4,0.000,0.055,3086,3122,2516
$GC,10773,1.05,75.9,713.8,14.7,1034,10781,0.00,1.67,0.00,0.000,6,0.000,0.037,3093,2206,2515
$GC,11091,1.05,75.9,667.4,14.6,1065,11092,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2207,2515
$GC,11400,1.05,75.9,622.6,14.4,1095,11403,0.00,1.70,0.00,0.000,4,0.000,0.054,3093,3119,2514
$GC,11496,1.05,75.9,608.0,15.9,1104,11499,0.00,1.60,0.00,0.000,6,0.000,0.037,3100,2240,2514
$GC,11817,1.05,75.9,561.4,14.4,1135,11820,0.00,1.67,0.00,0.000,4,0.000,0.053,3100,3115,2514
$GC,11864,1.05,75.9,554.3,15.6,1139,11871,0.00,1.62,0.00,0.000,6,0.000,0.037,3107,2218,2513
$GC,12181,1.05,75.9,508.5,14.5,1170,12185,0.00,1.70,0.00,0.000,4,0.000,0.052,3106,3119,2512
$GC,12260,1.05,75.9,496.2,15.2,1177,12267,0.00,1.65,0.00,0.000,6,0.000,0.036,3113,2214,2512
$GC,12578,1.05,75.9,449.7,14.4,1208,12581,0.00,1.73,0.00,0.000,4,0.000,0.052,3113,3124,2512
$GC,12656,1.05,75.9,437.4,15.3,1215,12664,0.15,1.65,0.00,0.000,6,0.204,0.035,3083,2220,2512
$GC,12973,1.05,75.9,395.5,13.4,1246,12976,0.00,1.70,0.00,0.000,4,0.000,0.051,3077,3136,2512
$GC,12994,1.05,75.9,392.5,14.2,1248,12997,0.00,1.65,0.00,0.000,6,0.000,0.036,3085,2224,2512
$GC,13315,1.05,75.9,349.3,13.5,1279,13319,0.00,1.70,0.00,0.000,4,0.000,0.051,3079,3120,2512
$GC,13405,1.05,75.9,336.5,14.3,1287,13412,0.00,1.62,0.00,0.000,6,0.000,0.035,3086,2219,2512
$GC,13722,1.05,75.9,293.9,13.0,1318,13725,0.00,1.67,0.00,0.000,4,0.000,0.051,3085,3124,2512
$GC,13754,1.05,75.9,289.4,13.5,1321,13757,0.00,1.60,0.00,0.000,6,0.000,0.035,3093,2213,2512
$GC,14074,1.05,75.9,246.7,13.5,1352,14078,0.00,1.70,0.00,0.000,4,0.000,0.051,3092,3117,2513
$GC,14202,1.05,75.9,228.2,13.8,1364,14205,0.00,1.60,0.00,0.000,6,0.000,0.035,3099,2230,2513
$GC,14523,1.05,75.9,184.2,12.9,1395,14524,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2231,2513
$GC,14834,1.05,75.9,142.5,12.8,1425,14835,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2230,2514
$GC,15144,1.05,75.9,105.1,12.0,1455,15147,0.00,1.12,0.00,0.000,4,0.000,0.038,3105,1320,2514
$GC,15276,1.05,75.9,90.1,10.6,1467,15284,0.00,1.23,0.00,0.000,6,0.000,0.038,3105,2264,2515
$GC,15469,1.05,75.9,68.7,11.0,1486,15472,0.00,1.55,0.00,0.000,4,0.000,0.048,3105,3100,2515
$GC,15547,1.05,75.9,60.2,9.6,1493,15555,0.00,1.60,0.00,0.000,6,0.000,0.031,3113,2205,2516
$GC,15741,1.07,90.0,46.4,5.8,1512,15755,0.00,1.67,10.12,0.514,4,0.000,0.046,3113,3103,2472
$GC,15784,1.09,105.8,44.0,5.6,1516,15800,0.00,1.55,13.50,0.525,6,0.000,0.031,3120,2234,2408
$GC,15988,1.11,123.3,31.9,5.4,1535,16011,0.00,1.67,14.38,0.515,4,0.000,0.045,3120,3113,2337
$GC,16074,1.11,126.9,26.1,7.1,1543,16086,0.00,1.60,4.47,0.382,6,0.000,0.030,3128,2215,2322
$GC,16271,1.19,188.3,19.6,-0.0,1562,16322,0.00,1.12,46.90,0.524,4,0.000,0.035,3133,1328,2071
$GC,16561,1.23,217.5,5.7,3.9,1588,16592,0.00,1.17,22.25,0.489,6,0.000,0.032,3133,2249,1952
$STATE,16774,end climb,NO_VERTICAL_VELOCITY
$STATE,16776,begin surface
$SM_CCo,16777,242.02,0.489,0,0,404,597.54
$SM_GC,1.95,8.05,0.00,0.00,0.042,0.000,0.000,193,2351,400,-7.92,-0.71,598.52
$IRIDIUM_FIX,2826.10,-8834.07,210999,101004
$TT8_MAMPS,0.051389
$HUMID,1304
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,24.30
$XPDR_PINGS,3
$24V_AH,23.8,31.770
$10V_AH,10.7,44.058
$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,20.575,83.950,233.850,242.025,0.000,30.222,31.284,183.673,0.750,0.000,0.000,14.713,0.000,11357.761,611.700,4926.118,554.366,33.332,1984.784,0.000,4448.677,0.000,0.847,0.000
$DEVICE_MAMPS,261.547,55.991,1237.171,489.346,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1102.208,1196.555,3616.456,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85137,1609
$CAP_FILE_SIZE,156025,0
$CFSIZE,260165632,239362048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.062,234.1,1
$GPS,270610,190707,2837.103,-8845.304,30,0.9,30,-0.2