version: 66.04
glider: 515
mission: 5
dive: 187
start: 6 30 110 4 15 5
data:
$ID,515
$MISSION,5
$DIVE,187
$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,-15722.847
$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,31
$R_STBD_OVSHOOT,36
$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
$GPS1,040706,2836.652,-8829.910,26,1.2,26,-0.4
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-63.4
$GPS2,041344,2836.682,-8829.982,9,1.7,9,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0607F
$TGT_LATLONG,2837.000,-8845.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.216,0.153
$KALMAN_X,-20053.2,-82.9,545.4,52347.1,-2033.1
$KALMAN_Y,-101465.4,999.9,1340.3,114502.5,-15295.4
$MHEAD_RNG_PITCHd_Wd,288.3,24422,-10.8,-7.500
$D_GRID,1638
$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,-194.6,0.0,0.0,0,108,0.00,0.00,-94.00,0.000,2,0.000,0.000,195,2402,3083
$GC,110,-0.63,-194.6,3.6,-3.9,9,136,10.75,1.35,-10.95,0.000,4,0.261,0.059,2543,1489,3635
$GC,375,-0.63,-194.6,59.5,-14.0,33,382,0.00,1.35,0.00,0.000,6,0.000,0.036,2539,2403,3638
$GC,567,-0.63,-194.6,85.5,-12.7,52,570,0.00,1.33,0.00,0.000,4,0.000,0.038,2539,1486,3639
$GC,657,-0.63,-194.6,96.8,-12.2,60,664,0.00,1.35,0.00,0.000,6,0.000,0.036,2535,2405,3640
$GC,849,-0.63,-194.6,120.9,-12.5,79,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2405,3640
$GC,1160,-0.63,-194.6,157.9,-10.6,109,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2405,3640
$GC,1470,-0.63,-194.6,192.8,-10.7,139,1473,0.00,1.30,0.00,0.000,4,0.000,0.039,2535,1501,3640
$GC,1517,-0.63,-194.6,198.3,-11.7,143,1524,0.00,1.33,0.00,0.000,6,0.000,0.038,2529,2404,3640
$GC,1834,-0.63,-194.6,233.5,-10.9,174,1835,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2404,3638
$GC,2144,-0.63,-194.6,268.9,-10.5,204,2147,0.00,1.48,0.00,0.000,4,0.000,0.049,2522,3280,3636
$GC,2197,-0.63,-194.6,275.0,-11.6,209,2200,0.00,1.45,0.00,0.000,6,0.000,0.030,2522,2371,3636
$GC,2519,-0.63,-194.6,312.4,-11.9,240,2519,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2371,3634
$GC,2828,-0.63,-194.6,347.3,-11.0,270,2831,0.00,1.23,0.00,0.000,4,0.000,0.041,2522,1515,3632
$GC,2860,-0.63,-194.6,350.8,-10.7,273,2863,0.00,1.30,0.00,0.000,6,0.000,0.041,2516,2401,3632
$GC,3181,-0.63,-194.6,385.3,-11.3,304,3182,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2401,3630
$GC,3492,-0.63,-194.6,421.3,-12.2,334,3492,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2401,3627
$GC,3801,-0.63,-194.6,456.9,-11.0,364,3804,0.00,1.30,0.00,0.000,4,0.000,0.043,2516,1517,3625
$GC,3848,-0.63,-194.6,462.1,-10.8,368,3856,0.10,1.33,0.00,0.000,6,0.140,0.042,2541,2410,3625
$GC,4165,-0.63,-194.6,491.5,-9.6,399,4166,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2411,3622
$GC,4475,-0.63,-194.6,522.1,-10.2,429,4478,0.00,1.30,0.00,0.000,4,0.000,0.044,2543,1530,3620
$GC,4507,-0.63,-194.6,525.4,-10.6,432,4510,0.00,1.27,0.00,0.000,6,0.000,0.044,2539,2391,3620
$GC,4829,-0.63,-194.6,558.2,-10.2,463,4832,0.00,1.27,0.00,0.000,4,0.000,0.044,2539,1525,3618
$GC,4871,-0.63,-194.6,562.6,-9.8,467,4874,0.00,1.30,0.00,0.000,6,0.000,0.045,2534,2400,3618
$GC,5192,-0.63,-194.6,592.8,-9.2,498,5196,0.00,1.52,0.00,0.000,4,0.000,0.058,2527,3288,3616
$GC,5228,-0.63,-194.6,596.5,-9.5,501,5236,0.00,1.48,0.00,0.000,6,0.000,0.035,2527,2398,3616
$GC,5546,-0.63,-194.6,628.7,-10.3,532,5547,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2398,3614
$GC,5855,-0.63,-194.6,660.7,-10.2,562,5858,0.00,1.30,0.00,0.000,4,0.000,0.045,2526,1510,3612
$GC,5892,-0.63,-194.6,664.6,-10.5,565,5899,0.00,1.33,0.00,0.000,6,0.000,0.046,2521,2397,3611
$GC,6209,-0.63,-194.6,697.9,-10.6,596,6209,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2398,3609
$GC,6519,-0.63,-194.6,728.9,-9.5,626,6519,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2398,3608
$GC,6828,-0.63,-194.6,760.3,-10.2,656,6832,0.00,1.33,0.00,0.000,4,0.000,0.048,2521,1509,3606
$GC,6865,-0.63,-194.6,764.2,-10.2,659,6872,0.00,1.35,0.00,0.000,6,0.000,0.048,2515,2399,3606
$GC,7182,-0.63,-194.6,797.5,-10.8,690,7183,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2398,3604
$GC,7492,-0.63,-194.6,830.2,-10.4,720,7493,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2398,3603
$GC,7802,-0.63,-194.6,861.8,-10.3,750,7803,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2398,3602
$GC,8112,-0.63,-194.6,892.9,-9.9,780,8113,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2398,3600
$GC,8423,-0.63,-194.6,923.9,-10.0,810,8424,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2399,3599
$GC,8733,-0.63,-194.6,953.7,-9.5,840,8736,0.00,1.33,0.00,0.000,4,0.000,0.048,2515,1519,3598
$GC,8776,-0.63,-194.6,957.7,-9.9,844,8779,0.10,1.33,0.00,0.000,6,0.145,0.050,2540,2394,3598
$GC,9097,-0.63,-194.6,983.4,-7.9,875,9098,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2395,3596
$STATE,9188,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9188,begin apogee
$GC,9192,-0.25,0.0,990.5,7.5,884,9352,0.40,0.00,151.90,1.250,6,0.137,0.000,2660,2264,2839
$STATE,9352,end apogee,CONTROL_FINISHED_OK
$STATE,9352,begin climb
$GC,9354,0.63,194.6,994.6,0.0,900,9525,0.93,0.00,167.68,1.217,6,0.107,0.000,2943,2264,2046
$GC,9832,0.63,194.6,943.9,12.0,947,9833,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2264,2035
$GC,10141,0.63,194.6,907.7,11.8,977,10145,0.00,1.20,0.00,0.000,4,0.000,0.052,2948,1360,2033
$GC,10184,0.63,194.6,902.7,13.0,981,10187,0.00,1.17,0.00,0.000,6,0.000,0.044,2948,2251,2033
$GC,10505,0.63,194.6,864.6,11.7,1012,10508,0.00,1.67,0.00,0.000,4,0.000,0.054,2948,3135,2032
$GC,10526,0.63,194.6,862.1,11.9,1014,10529,0.00,1.60,0.00,0.000,6,0.000,0.038,2955,2258,2031
$GC,10847,0.63,194.6,822.0,12.9,1045,10850,0.00,1.17,0.00,0.000,4,0.000,0.046,2961,1349,2031
$GC,10893,0.63,194.6,816.1,13.0,1049,10901,0.00,1.23,0.00,0.000,6,0.000,0.044,2961,2260,2031
$GC,11211,0.63,194.6,775.9,12.9,1080,11212,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2260,2030
$GC,11520,0.63,194.6,737.7,12.4,1110,11521,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2261,2030
$GC,11831,0.63,194.6,699.1,12.1,1140,11834,0.00,1.20,0.00,0.000,4,0.000,0.046,2967,1342,2029
$GC,11899,0.63,194.6,690.6,12.3,1146,11907,0.00,1.23,0.00,0.000,6,0.000,0.044,2967,2258,2029
$GC,12217,0.63,194.6,651.0,12.3,1177,12220,0.00,1.65,0.00,0.000,4,0.000,0.054,2967,3138,2028
$GC,12248,0.63,194.6,646.9,12.6,1180,12251,0.00,1.62,0.00,0.000,6,0.000,0.038,2974,2244,2028
$GC,12569,0.63,194.6,606.6,12.4,1211,12572,0.00,1.12,0.00,0.000,4,0.000,0.045,2980,1356,2027
$GC,12633,0.63,194.6,598.6,12.6,1217,12636,0.08,1.17,0.00,0.000,6,0.150,0.044,2956,2254,2027
$GC,12953,0.63,194.6,560.2,12.3,1248,12957,0.00,1.65,0.00,0.000,4,0.000,0.054,2956,3131,2028
$GC,12975,0.63,194.6,557.5,12.9,1250,12978,0.00,1.60,0.00,0.000,6,0.000,0.038,2962,2252,2027
$GC,13295,0.63,194.6,516.1,12.2,1281,13299,0.00,1.15,0.00,0.000,4,0.000,0.045,2967,1348,2027
$GC,13338,0.63,194.6,510.9,11.7,1285,13341,0.00,1.17,0.00,0.000,6,0.000,0.044,2967,2248,2026
$GC,13659,0.63,194.6,471.3,12.4,1316,13662,0.00,1.67,0.00,0.000,4,0.000,0.053,2967,3164,2027
$GC,13690,0.63,194.6,467.1,13.9,1319,13694,0.00,1.65,0.00,0.000,6,0.000,0.037,2974,2248,2026
$GC,14011,0.63,194.6,426.0,12.8,1350,14014,0.00,1.15,0.00,0.000,4,0.000,0.044,2981,1344,2026
$GC,14079,0.63,194.6,417.1,13.3,1356,14087,0.12,1.23,0.00,0.000,6,0.150,0.042,2949,2262,2026
$GC,14396,0.63,194.6,382.7,10.8,1387,14397,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2262,2026
$GC,14706,0.63,194.6,348.9,10.8,1417,14707,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2262,2027
$GC,15017,0.63,194.6,315.8,11.0,1447,15020,0.00,1.20,0.00,0.000,4,0.000,0.042,2953,1341,2026
$GC,15053,0.63,194.6,311.9,10.8,1450,15061,0.00,1.23,0.00,0.000,6,0.000,0.041,2953,2263,2026
$GC,15370,0.63,194.6,278.1,10.8,1481,15371,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2263,2027
$GC,15680,0.63,194.6,242.5,11.3,1511,15681,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2263,2027
$GC,15990,0.63,194.6,208.1,11.1,1541,15991,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2263,2028
$GC,16301,0.63,194.6,173.0,11.0,1571,16304,0.00,1.62,0.00,0.000,4,0.000,0.049,2953,3164,2028
$GC,16332,0.63,194.6,169.3,10.8,1574,16336,0.00,1.62,0.00,0.000,6,0.000,0.034,2961,2249,2028
$GC,16653,0.63,194.6,133.9,10.0,1605,16654,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2250,2028
$GC,16964,0.63,194.6,100.6,10.3,1635,16967,0.00,1.12,0.00,0.000,4,0.000,0.039,2966,1339,2029
$GC,17028,0.63,194.6,94.2,10.5,1641,17031,0.00,1.17,0.00,0.000,6,0.000,0.038,2966,2257,2030
$GC,17224,0.63,194.6,74.8,10.5,1660,17227,0.00,1.15,0.00,0.000,4,0.000,0.038,2971,1351,2030
$GC,17299,0.63,194.6,67.3,7.9,1667,17302,0.00,1.15,0.00,0.000,6,0.000,0.037,2971,2256,2030
$GC,17496,0.63,194.6,50.2,8.7,1686,17497,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2256,2031
$GC,17682,0.71,261.9,37.9,5.7,1704,17734,0.00,1.20,49.55,0.545,4,0.000,0.037,2976,1339,1771
$GC,17749,0.75,296.4,33.6,6.6,1709,17782,0.00,1.20,27.10,0.525,6,0.000,0.035,2976,2263,1629
$GC,17968,0.89,408.1,20.9,4.6,1730,18056,0.17,1.23,82.80,0.521,4,0.061,0.036,3074,1343,1174
$GC,18111,0.89,408.1,6.9,12.2,1742,18119,0.10,1.20,0.00,0.000,6,0.115,0.034,3041,2265,1171
$STATE,18145,end climb,SURFACE_DEPTH_REACHED
$STATE,18145,begin surface coast
$FINISH,0.7,1.022945
$STATE,18166,end surface coast,CONTROL_FINISHED_OK
$STATE,18166,begin surface
$SM_CCo,18180,83.50,0.495,0,0,494,575.22
$SM_GC,1.43,0.00,0.00,83.50,0.000,0.000,0.495,200,2418,494,-7.96,0.51,575.22
$IRIDIUM_FIX,2826.10,-8826.71,230999,232329
$TT8_MAMPS,0.052156
$HUMID,1336
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,23.00
$XPDR_PINGS,0
$24V_AH,20.5,33.639
$10V_AH,10.6,46.726
$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,20.500,75.200,479.025,83.500,0.000,27.580,28.133,228.791,0.000,0.000,0.000,11.691,0.000,12266.303,642.272,5135.824,628.518,33.336,2085.841,0.000,4617.435,0.000,0.846,0.000
$DEVICE_MAMPS,260.780,59.059,1250.210,494.715,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1196.421,1276.208,3928.685,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91505,1748
$CAP_FILE_SIZE,163536,0
$CFSIZE,260165632,238284800
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,52.797,288.1,1
$GPS,300610,041344,2836.682,-8829.982,9,1.7,9,-0.4