version: 66.04
glider: 515
mission: 5
dive: 177
start: 6 28 110 0 27 22
data:
$ID,515
$MISSION,5
$DIVE,177
$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,-15546.646
$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,49
$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
$GPS1,002031,2836.435,-8842.931,59,1.6,59,-0.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-73.4
$GPS2,002643,2836.393,-8842.842,9,1.5,14,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618A
$TGT_LATLONG,2837.900,-8826.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.225,0.139
$KALMAN_X,-10484.5,-211.7,-200.9,22716.9,-1475.8
$KALMAN_Y,-62027.5,1107.7,1163.3,74616.6,-15022.2
$MHEAD_RNG_PITCHd_Wd,64.8,27518,-10.8,-7.500
$D_GRID,1290
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.63,-194.6,0.0,0.0,0,53,0.00,0.00,-38.53,0.000,2,0.000,0.000,199,2374,1605
$GC,55,-0.63,-194.6,3.4,-5.3,4,128,11.05,1.30,-55.72,0.000,4,0.270,0.055,2539,1475,3636
$GC,367,-0.63,-194.6,51.7,-15.1,32,374,0.00,1.25,0.00,0.000,6,0.000,0.034,2536,2357,3637
$GC,559,-0.63,-194.6,77.2,-13.5,51,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2357,3638
$GC,745,-0.63,-194.6,102.8,-13.2,69,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2357,3638
$GC,1055,-0.63,-194.6,142.3,-12.2,99,1059,0.00,1.52,0.00,0.000,4,0.000,0.044,2528,3256,3638
$GC,1141,-0.63,-194.6,153.0,-12.3,107,1144,0.00,1.42,0.00,0.000,6,0.000,0.027,2528,2369,3638
$GC,1463,-0.63,-194.6,192.1,-12.0,138,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2369,3637
$GC,1772,-0.63,-194.6,228.8,-12.1,168,1775,0.00,1.52,0.00,0.000,4,0.000,0.046,2521,3266,3635
$GC,1868,-0.63,-194.6,240.6,-11.9,177,1871,0.00,1.42,0.00,0.000,6,0.000,0.029,2521,2374,3634
$GC,2190,-0.63,-194.6,279.5,-12.1,208,2193,0.00,1.50,0.00,0.000,4,0.000,0.048,2514,3257,3632
$GC,2258,-0.63,-194.6,287.9,-11.4,214,2265,0.00,1.40,0.00,0.000,6,0.000,0.029,2514,2376,3631
$GC,2575,-0.63,-194.6,326.8,-12.6,245,2576,0.12,0.00,0.00,0.000,6,0.150,0.000,2545,2374,3629
$GC,2886,-0.63,-194.6,358.0,-9.7,275,2889,0.00,1.50,0.00,0.000,4,0.000,0.050,2540,3255,3625
$GC,2928,-0.63,-194.6,362.3,-10.6,279,2931,0.00,1.40,0.00,0.000,6,0.000,0.031,2540,2382,3625
$GC,3249,-0.63,-194.6,394.8,-10.2,310,3252,0.00,1.50,0.00,0.000,4,0.000,0.051,2534,3256,3623
$GC,3285,-0.63,-194.6,398.9,-10.6,313,3293,0.00,1.42,0.00,0.000,6,0.000,0.032,2534,2375,3622
$GC,3602,-0.63,-194.6,433.0,-10.7,344,3606,0.00,1.52,0.00,0.000,4,0.000,0.052,2527,3257,3620
$GC,3666,-0.63,-194.6,440.1,-11.3,350,3669,0.00,1.45,0.00,0.000,6,0.000,0.033,2527,2373,3619
$GC,3988,-0.63,-194.6,474.9,-10.9,381,3991,0.00,1.52,0.00,0.000,4,0.000,0.052,2520,3256,3616
$GC,4030,-0.63,-194.6,479.8,-11.6,385,4033,0.00,1.45,0.00,0.000,6,0.000,0.033,2520,2372,3616
$GC,4352,-0.63,-194.6,516.1,-11.1,416,4355,0.00,1.52,0.00,0.000,4,0.000,0.053,2513,3256,3613
$GC,4388,-0.63,-194.6,520.5,-11.6,419,4396,0.12,1.48,0.00,0.000,6,0.150,0.034,2544,2368,3613
$GC,4705,-0.63,-194.6,551.1,-9.7,450,4708,0.00,1.55,0.00,0.000,4,0.000,0.054,2539,3257,3610
$GC,4751,-0.63,-194.6,555.7,-9.3,454,4759,0.00,1.50,0.00,0.000,6,0.000,0.034,2538,2363,3609
$GC,5069,-0.63,-194.6,587.2,-9.8,485,5072,0.00,1.58,0.00,0.000,4,0.000,0.054,2532,3257,3608
$GC,5111,-0.63,-194.6,591.5,-10.2,489,5114,0.00,1.48,0.00,0.000,6,0.000,0.036,2532,2369,3608
$GC,5433,-0.63,-194.6,623.6,-10.2,520,5433,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2368,3606
$GC,5743,-0.63,-194.6,654.4,-10.1,550,5746,0.00,1.55,0.00,0.000,4,0.000,0.055,2525,3255,3603
$GC,5817,-0.63,-194.6,662.0,-10.1,557,5820,0.00,1.48,0.00,0.000,6,0.000,0.035,2525,2367,3603
$GC,6139,-0.63,-194.6,694.1,-10.1,588,6140,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2367,3600
$GC,6449,-0.63,-194.6,725.3,-10.5,618,6452,0.00,1.55,0.00,0.000,4,0.000,0.057,2518,3252,3599
$GC,6512,-0.63,-194.6,731.8,-9.8,624,6516,0.00,1.48,0.00,0.000,6,0.000,0.036,2518,2368,3598
$GC,6835,-0.63,-194.6,766.3,-11.0,655,6836,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2368,3596
$GC,7143,-0.63,-194.6,799.8,-10.8,685,7147,0.00,1.58,0.00,0.000,4,0.000,0.057,2511,3257,3594
$GC,7233,-0.63,-194.6,810.0,-11.7,693,7242,0.08,1.48,0.00,0.000,6,0.146,0.037,2534,2372,3594
$GC,7549,-0.63,-194.6,840.5,-10.4,724,7550,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2373,3592
$GC,7861,-0.63,-194.6,870.3,-9.5,754,7862,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2373,3592
$GC,8170,-0.63,-194.6,899.9,-9.1,784,8171,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2373,3590
$GC,8481,-0.63,-194.6,927.3,-8.4,814,8482,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2373,3589
$GC,8791,-0.63,-194.6,954.4,-8.7,844,8792,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2373,3589
$GC,9102,-0.63,-194.6,981.3,-8.7,874,9102,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2373,3587
$STATE,9214,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9214,begin apogee
$GC,9218,-0.25,0.0,990.9,8.8,885,9370,0.43,0.00,149.40,1.252,6,0.135,0.000,2663,2218,2840
$STATE,9371,end apogee,CONTROL_FINISHED_OK
$STATE,9371,begin climb
$GC,9372,0.63,194.6,995.2,0.0,900,9545,0.90,1.27,166.70,1.217,4,0.104,0.044,2949,1334,2046
$GC,9577,0.63,194.6,977.4,11.9,917,9580,0.00,1.25,0.00,0.000,6,0.000,0.042,2949,2230,2042
$GC,9899,0.63,194.6,937.4,12.6,948,9900,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2230,2035
$GC,10208,0.63,194.6,899.0,12.0,978,10211,0.00,1.17,0.00,0.000,4,0.000,0.044,2954,1327,2033
$GC,10244,0.63,194.6,894.5,13.0,981,10253,0.00,1.20,0.00,0.000,6,0.000,0.043,2954,2232,2033
$GC,10562,0.63,194.6,853.7,12.6,1012,10563,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2233,2031
$GC,10871,0.63,194.6,814.4,12.6,1042,10874,0.00,1.15,0.00,0.000,4,0.000,0.045,2959,1340,2030
$GC,10918,0.63,194.6,808.4,12.3,1046,10925,0.00,1.17,0.00,0.000,6,0.000,0.043,2960,2231,2030
$GC,11236,0.63,194.6,768.5,12.5,1077,11236,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2231,2030
$GC,11545,0.63,194.6,729.5,12.6,1107,11546,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2231,2029
$GC,11855,0.63,194.6,689.8,12.9,1137,11858,0.00,1.15,0.00,0.000,4,0.000,0.044,2964,1335,2028
$GC,11908,0.63,194.6,683.2,11.7,1142,11912,0.00,1.15,0.00,0.000,6,0.000,0.043,2964,2228,2028
$GC,12230,0.63,194.6,642.7,12.6,1173,12231,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2227,2028
$GC,12539,0.63,194.6,602.9,13.2,1203,12540,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2228,2028
$GC,12851,0.63,194.6,563.1,12.3,1233,12851,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2228,2028
$GC,13160,0.63,194.6,524.3,12.5,1263,13161,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2228,2027
$GC,13471,0.63,194.6,486.4,12.1,1293,13472,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2228,2027
$GC,13781,0.63,194.6,448.2,12.2,1323,13784,0.00,1.15,0.00,0.000,4,0.000,0.044,2970,1326,2027
$GC,13817,0.63,194.6,443.5,12.8,1326,13825,0.00,1.20,0.00,0.000,6,0.000,0.041,2969,2244,2027
$GC,14135,0.63,194.6,402.9,13.1,1357,14135,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2244,2027
$GC,14444,0.63,194.6,363.4,12.6,1387,14445,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2244,2027
$GC,14755,0.63,194.6,322.6,13.4,1417,14758,0.00,1.17,0.00,0.000,4,0.000,0.043,2974,1328,2027
$GC,14812,0.63,194.6,315.0,12.6,1422,14819,0.00,1.17,0.00,0.000,6,0.000,0.041,2974,2231,2027
$GC,15130,0.63,194.6,272.9,13.7,1453,15131,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2231,2027
$GC,15439,0.63,194.6,231.0,13.1,1483,15442,0.00,1.15,0.00,0.000,4,0.000,0.041,2980,1326,2027
$GC,15513,0.63,194.6,221.1,12.8,1490,15517,0.08,1.15,0.00,0.000,6,0.147,0.040,2955,2228,2027
$GC,15834,0.63,194.6,184.9,10.8,1521,15835,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2228,2027
$GC,16145,0.63,194.6,149.9,10.9,1551,16146,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2228,2028
$GC,16455,0.63,194.6,116.1,10.3,1581,16456,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2228,2028
$GC,16765,0.63,194.6,85.3,9.8,1611,16768,0.00,1.12,0.00,0.000,4,0.000,0.039,2959,1333,2028
$GC,16829,0.63,194.6,79.5,8.9,1617,16832,0.00,1.12,0.00,0.000,6,0.000,0.037,2959,2227,2029
$GC,17026,0.63,194.6,61.4,8.9,1636,17027,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2227,2029
$GC,17212,0.65,213.0,46.7,7.0,1654,17228,0.00,1.58,13.35,0.522,4,0.000,0.044,2959,3098,1971
$GC,17325,0.65,213.0,38.4,7.7,1664,17328,0.00,1.58,0.00,0.000,6,0.000,0.031,2966,2216,1969
$GC,17522,0.74,290.9,26.9,5.5,1683,17583,0.00,0.00,59.45,0.533,6,0.000,0.000,2966,2217,1651
$GC,17768,0.93,441.9,16.7,3.5,1707,17886,0.22,1.12,110.97,0.513,4,0.052,0.035,3081,1332,1037
$STATE,17927,end climb,SURFACE_DEPTH_REACHED
$STATE,17927,begin surface coast
$FINISH,1.6,1.017506
$STATE,17970,end surface coast,CONTROL_FINISHED_OK
$STATE,17970,begin surface
$SM_CCo,17985,81.80,0.493,0,0,495,575.22
$SM_GC,1.83,0.00,0.00,81.80,0.000,0.000,0.493,200,2355,495,-7.96,-0.57,575.22
$IRIDIUM_FIX,2818.74,-8856.30,210999,191947
$TT8_MAMPS,0.049855
$HUMID,1322
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,23.50
$XPDR_PINGS,32
$24V_AH,22.4,32.103
$10V_AH,10.6,44.502
$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,21.000,66.200,499.875,81.800,0.000,28.167,29.908,197.412,8.000,0.000,0.000,16.641,0.000,12157.527,615.489,5110.590,526.656,33.332,2060.515,0.000,4590.018,0.000,0.848,0.000
$DEVICE_MAMPS,269.984,56.758,1251.744,493.181,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1180.893,1265.278,3877.236,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91526,1725
$CAP_FILE_SIZE,155647,0
$CFSIZE,260165632,239177728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.107,206.5,1
$GPS,280610,052930,2836.413,-8840.551,40,1.7,40,-0.2