version: 66.04
glider: 515
mission: 5
dive: 182
start: 6 29 110 2 27 59
data:
$ID,515
$MISSION,5
$DIVE,182
$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,-15635.045
$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,2400
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,30
$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
$GPS1,021736,2836.411,-8831.400,39,1.0,39,-0.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-62.7
$GPS2,022720,2836.432,-8831.493,14,1.0,14,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618A
$TGT_LATLONG,2837.900,-8826.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.023,0.264
$KALMAN_X,-22115.6,158.0,397.7,51816.2,-5701.3
$KALMAN_Y,-74862.9,664.6,295.6,88846.6,-8892.7
$MHEAD_RNG_PITCHd_Wd,63.3,9334,-10.8,-7.500
$D_GRID,1626
$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,-194.6,0.0,0.0,0,87,0.00,0.00,-73.57,0.000,2,0.000,0.000,196,2402,2496
$GC,89,-0.63,-194.6,3.1,-3.1,7,137,10.73,1.48,-31.90,0.000,4,0.262,0.065,2530,3279,3633
$GC,234,-0.63,-194.6,31.1,-26.2,20,237,0.00,1.48,0.00,0.000,6,0.000,0.029,2535,2377,3635
$GC,430,-0.63,-194.6,64.8,-14.4,39,433,0.00,1.55,0.00,0.000,4,0.000,0.046,2529,3290,3636
$GC,494,-0.63,-194.6,73.7,-13.0,45,497,0.00,1.45,0.00,0.000,6,0.000,0.028,2533,2386,3636
$GC,691,-0.63,-194.6,97.8,-12.0,64,692,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2383,3637
$GC,877,-0.63,-194.6,120.7,-12.8,82,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2383,3637
$GC,1188,-0.63,-194.6,158.9,-12.0,112,1191,0.00,1.52,0.00,0.000,4,0.000,0.045,2527,3291,3637
$GC,1305,-0.63,-194.6,173.4,-12.2,123,1308,0.00,1.42,0.00,0.000,6,0.000,0.028,2527,2402,3637
$GC,1627,-0.63,-194.6,210.7,-12.0,154,1629,0.00,1.50,0.00,0.000,4,0.000,0.048,2520,3287,3636
$GC,1673,-0.63,-194.6,216.5,-12.0,158,1680,0.00,1.42,0.00,0.000,6,0.000,0.028,2520,2395,3635
$GC,1991,-0.63,-194.6,253.4,-11.7,189,1993,0.00,1.50,0.00,0.000,4,0.000,0.048,2514,3280,3634
$GC,2065,-0.63,-194.6,262.0,-11.6,196,2068,0.08,1.42,0.00,0.000,6,0.145,0.030,2537,2387,3633
$GC,2386,-0.63,-194.6,294.7,-10.0,227,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2385,3632
$GC,2696,-0.63,-194.6,326.0,-9.9,257,2699,0.00,1.52,0.00,0.000,4,0.000,0.049,2532,3285,3629
$GC,2764,-0.63,-194.6,333.2,-10.2,263,2772,0.00,1.45,0.00,0.000,6,0.000,0.030,2532,2395,3629
$GC,3082,-0.63,-194.6,364.5,-9.8,294,3083,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2395,3626
$GC,3391,-0.63,-194.6,396.3,-10.4,324,3394,0.00,1.52,0.00,0.000,4,0.000,0.051,2525,3288,3624
$GC,3466,-0.63,-194.6,404.4,-11.4,331,3469,0.00,1.45,0.00,0.000,6,0.000,0.032,2525,2398,3623
$GC,3788,-0.63,-194.6,440.5,-11.2,362,3791,0.00,1.52,0.00,0.000,4,0.000,0.052,2518,3283,3621
$GC,3830,-0.63,-194.6,445.2,-11.1,366,3833,0.00,1.45,0.00,0.000,6,0.000,0.033,2518,2393,3620
$GC,4152,-0.63,-194.6,481.9,-11.6,397,4155,0.00,1.52,0.00,0.000,4,0.000,0.052,2511,3275,3618
$GC,4194,-0.63,-194.6,486.9,-11.3,401,4198,0.08,1.45,0.00,0.000,6,0.146,0.033,2535,2385,3618
$GC,4515,-0.63,-194.6,520.0,-10.3,432,4519,0.00,1.55,0.00,0.000,4,0.000,0.054,2529,3281,3616
$GC,4547,-0.63,-194.6,523.4,-10.5,435,4550,0.00,1.45,0.00,0.000,6,0.000,0.035,2529,2395,3616
$GC,4869,-0.63,-194.6,556.8,-10.4,466,4872,0.00,1.52,0.00,0.000,4,0.000,0.054,2523,3271,3614
$GC,4911,-0.63,-194.6,561.3,-10.5,470,4914,0.00,1.42,0.00,0.000,6,0.000,0.035,2523,2404,3613
$GC,5233,-0.63,-194.6,594.5,-10.4,501,5236,0.00,1.52,0.00,0.000,4,0.000,0.056,2516,3274,3611
$GC,5290,-0.63,-194.6,600.6,-10.0,506,5298,0.00,1.48,0.00,0.000,6,0.000,0.035,2516,2385,3611
$GC,5608,-0.63,-194.6,634.7,-11.1,537,5611,0.00,1.55,0.00,0.000,4,0.000,0.055,2509,3272,3609
$GC,5672,-0.63,-194.6,642.1,-11.0,543,5675,0.10,1.45,0.00,0.000,6,0.143,0.035,2540,2393,3608
$GC,5992,-0.63,-194.6,670.6,-8.7,574,5996,0.00,1.27,0.00,0.000,4,0.000,0.047,2540,1525,3606
$GC,6028,-0.63,-194.6,673.8,-9.0,577,6036,0.00,1.33,0.00,0.000,6,0.000,0.045,2537,2403,3606
$GC,6346,-0.63,-194.6,701.5,-8.7,608,6347,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2403,3604
$GC,6656,-0.63,-194.6,728.4,-8.6,638,6658,0.00,1.52,0.00,0.000,4,0.000,0.058,2529,3280,3603
$GC,6719,-0.63,-194.6,734.3,-9.1,644,6722,0.00,1.45,0.00,0.000,6,0.000,0.036,2529,2408,3602
$GC,7042,-0.63,-194.6,764.0,-9.2,675,7042,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2405,3601
$GC,7350,-0.63,-194.6,792.9,-9.4,705,7351,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2406,3599
$GC,7661,-0.63,-194.6,821.4,-9.4,735,7664,0.00,1.52,0.00,0.000,4,0.000,0.059,2523,3270,3598
$GC,7725,-0.63,-194.6,827.4,-9.7,741,7728,0.00,1.45,0.00,0.000,6,0.000,0.038,2523,2400,3596
$GC,8047,-0.63,-194.6,858.0,-9.7,772,8047,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2399,3595
$GC,8356,-0.63,-194.6,887.8,-9.3,802,8360,0.00,1.55,0.00,0.000,4,0.000,0.060,2516,3276,3594
$GC,8399,-0.63,-194.6,891.8,-9.6,806,8402,0.00,1.48,0.00,0.000,6,0.000,0.038,2516,2394,3594
$GC,8721,-0.63,-194.6,923.1,-10.1,837,8724,0.00,1.55,0.00,0.000,4,0.000,0.059,2509,3269,3593
$GC,8752,-0.63,-194.6,926.3,-10.0,840,8756,0.10,1.45,0.00,0.000,6,0.142,0.038,2540,2400,3593
$GC,9073,-0.63,-194.6,952.8,-8.4,871,9074,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2400,3592
$GC,9384,-0.63,-194.6,979.1,-8.7,901,9385,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2401,3591
$STATE,9516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9516,begin apogee
$GC,9520,-0.25,0.0,990.4,8.5,914,9673,0.40,0.00,150.40,1.246,6,0.134,0.000,2662,2259,2840
$STATE,9674,end apogee,CONTROL_FINISHED_OK
$STATE,9674,begin climb
$GC,9676,0.63,194.6,995.3,0.0,929,9850,0.88,0.00,167.35,1.214,6,0.105,0.000,2937,2259,2045
$GC,10158,0.63,194.6,948.4,11.0,975,10160,0.00,1.20,0.00,0.000,4,0.000,0.044,2942,1344,2036
$GC,10232,0.63,194.6,939.9,11.7,982,10235,0.00,1.20,0.00,0.000,6,0.000,0.044,2941,2249,2035
$GC,10554,0.63,194.6,902.1,12.3,1013,10557,0.00,1.17,0.00,0.000,4,0.000,0.045,2947,1348,2033
$GC,10632,0.63,194.6,892.4,12.0,1020,10641,0.00,1.23,0.00,0.000,6,0.000,0.044,2947,2260,2033
$GC,10950,0.63,194.6,854.2,11.9,1051,10953,0.00,1.20,0.00,0.000,4,0.000,0.044,2952,1336,2032
$GC,10986,0.63,194.6,849.8,11.4,1054,10993,0.00,1.23,0.00,0.000,6,0.000,0.044,2952,2258,2032
$GC,11303,0.63,194.6,811.3,12.4,1085,11306,0.00,1.17,0.00,0.000,4,0.000,0.044,2957,1351,2031
$GC,11377,0.63,194.6,802.2,11.9,1092,11380,0.00,1.17,0.00,0.000,6,0.000,0.044,2957,2250,2031
$GC,11698,0.63,194.6,762.8,12.4,1123,11701,0.00,1.17,0.00,0.000,4,0.000,0.044,2962,1337,2031
$GC,11783,0.63,194.6,752.3,10.6,1131,11786,0.00,1.20,0.00,0.000,6,0.000,0.044,2963,2254,2031
$GC,12104,0.63,194.6,712.2,12.6,1162,12107,0.00,1.17,0.00,0.000,4,0.000,0.044,2967,1344,2029
$GC,12136,0.63,194.6,708.2,12.3,1165,12139,0.00,1.17,0.00,0.000,6,0.000,0.044,2967,2249,2029
$GC,12457,0.63,194.6,667.2,12.4,1196,12460,0.00,1.17,0.00,0.000,4,0.000,0.044,2973,1340,2029
$GC,12510,0.63,194.6,660.6,12.6,1201,12513,0.00,1.20,0.00,0.000,6,0.000,0.044,2973,2257,2029
$GC,12831,0.63,194.6,619.8,12.7,1232,12834,0.00,1.17,0.00,0.000,4,0.000,0.044,2978,1348,2028
$GC,12877,0.63,194.6,613.7,13.5,1236,12886,0.00,1.20,0.00,0.000,6,0.000,0.043,2978,2257,2028
$GC,13195,0.63,194.6,572.0,13.1,1267,13198,0.00,1.17,0.00,0.000,4,0.000,0.044,2983,1344,2028
$GC,13263,0.63,194.6,563.0,13.3,1273,13270,0.12,1.20,0.00,0.000,6,0.153,0.043,2952,2253,2028
$GC,13579,0.63,194.6,527.1,11.2,1304,13582,0.00,1.17,0.00,0.000,4,0.000,0.043,2955,1336,2028
$GC,13615,0.63,194.6,522.8,12.1,1307,13622,0.00,1.23,0.00,0.000,6,0.000,0.041,2956,2262,2028
$GC,13933,0.63,194.6,484.6,11.8,1338,13935,0.00,1.17,0.00,0.000,4,0.000,0.043,2961,1349,2028
$GC,13985,0.63,194.6,478.0,11.2,1343,13989,0.00,1.17,0.00,0.000,6,0.000,0.043,2961,2256,2028
$GC,14306,0.63,194.6,438.8,11.9,1374,14307,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2256,2028
$GC,14616,0.63,194.6,402.0,11.7,1404,14620,0.00,1.17,0.00,0.000,4,0.000,0.042,2965,1339,2028
$GC,14685,0.63,194.6,394.0,12.2,1410,14692,0.00,1.23,0.00,0.000,6,0.000,0.041,2966,2267,2028
$GC,15003,0.63,194.6,354.6,12.5,1441,15006,0.00,1.20,0.00,0.000,4,0.000,0.042,2971,1336,2028
$GC,15067,0.63,194.6,346.5,12.9,1447,15070,0.00,1.20,0.00,0.000,6,0.000,0.041,2971,2263,2028
$GC,15387,0.63,194.6,306.7,12.1,1478,15390,0.00,1.17,0.00,0.000,4,0.000,0.041,2976,1348,2028
$GC,15473,0.63,194.6,296.1,12.6,1486,15476,0.00,1.17,0.00,0.000,6,0.000,0.041,2975,2259,2028
$GC,15793,0.63,194.6,254.8,13.0,1517,15797,0.00,1.17,0.00,0.000,4,0.000,0.041,2981,1342,2028
$GC,15868,0.63,194.6,245.4,11.8,1524,15872,0.08,1.17,0.00,0.000,6,0.143,0.040,2956,2255,2028
$GC,16189,0.63,194.6,209.0,10.9,1555,16192,0.00,1.15,0.00,0.000,4,0.000,0.040,2960,1346,2028
$GC,16246,0.63,194.6,202.4,11.4,1560,16254,0.00,1.20,0.00,0.000,6,0.000,0.039,2960,2264,2028
$GC,16564,0.63,194.6,166.5,11.1,1591,16567,0.00,1.17,0.00,0.000,4,0.000,0.040,2965,1339,2028
$GC,16660,0.63,194.6,156.0,10.7,1600,16663,0.00,1.17,0.00,0.000,6,0.000,0.038,2965,2258,2029
$GC,16980,0.63,194.6,120.0,10.7,1631,16984,0.00,1.15,0.00,0.000,4,0.000,0.038,2970,1343,2029
$GC,17034,0.63,194.6,114.5,9.9,1636,17037,0.00,1.17,0.00,0.000,6,0.000,0.038,2970,2261,2030
$GC,17356,0.63,194.6,78.7,10.6,1667,17359,0.00,1.17,0.00,0.000,4,0.000,0.038,2974,1330,2030
$GC,17441,0.63,194.6,69.8,9.0,1675,17444,0.00,1.17,0.00,0.000,6,0.000,0.037,2974,2255,2030
$GC,17638,0.63,194.6,51.2,9.4,1694,17639,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2255,2030
$GC,17825,0.63,201.6,37.2,7.3,1712,17837,0.00,0.00,4.60,0.394,6,0.000,0.000,2974,2255,2018
$GC,18021,0.75,292.7,25.1,5.1,1731,18092,0.00,0.00,69.60,0.532,6,0.000,0.000,2974,2256,1646
$GC,18280,0.86,387.3,13.0,5.0,1755,18353,0.15,0.00,70.62,0.509,6,0.058,0.000,3053,2256,1259
$STATE,18420,end climb,SURFACE_DEPTH_REACHED
$STATE,18420,begin surface coast
$FINISH,0.7,1.023027
$STATE,18441,end surface coast,CONTROL_FINISHED_OK
$STATE,18441,begin surface
$SM_CCo,18455,88.38,0.490,0,0,495,575.22
$SM_GC,1.45,0.00,0.00,88.38,0.000,0.000,0.490,201,2399,495,-7.95,0.00,575.22
$IRIDIUM_FIX,2823.64,-8831.68,230999,020217
$TT8_MAMPS,0.050622
$HUMID,1324
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,23.0,32.920
$10V_AH,10.6,45.625
$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,20.450,98.875,462.575,88.375,0.000,52.883,57.929,290.963,0.250,0.000,0.000,15.989,0.000,12377.869,649.320,5345.895,724.908,33.336,2180.787,0.000,4790.086,0.000,1.155,0.000
$DEVICE_MAMPS,261.547,65.195,1245.608,490.113,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1212.299,1307.357,3980.404,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91535,1771
$CAP_FILE_SIZE,176766,0
$CFSIZE,260165632,238710784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.075,226.1,1
$GPS,290610,073800,2836.826,-8829.222,36,1.4,36,-0.4