version: 66.04
glider: 515
mission: 5
dive: 188
start: 6 30 110 9 45 36
data:
$ID,515
$MISSION,5
$DIVE,188
$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,-16874.084
$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,29
$R_STBD_OVSHOOT,47
$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
$GPS1,041344,2836.682,-8829.982,9,1.7,9,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-60.4
$GPS2,094458,2837.033,-8834.134,223,3.1,242,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0607F
$TGT_LATLONG,2837.000,-8845.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.205,0.167
$KALMAN_X,-21151.4,1088.8,-531.8,46567.1,-1928.4
$KALMAN_Y,-104091.7,1935.1,712.0,117460.2,-12856.8
$MHEAD_RNG_PITCHd_Wd,225.1,17666,-26.8,-7.500
$D_GRID,1506
$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,-41.0,0.0,0.0,0,106,0.00,0.00,-91.07,0.000,6,0.000,0.000,193,2421,3008
$GC,108,-1.05,-75.3,3.5,-3.3,9,125,10.23,1.35,-3.20,0.000,4,0.264,0.057,2408,1489,3149
$GC,364,-1.05,-75.3,59.4,-14.3,32,371,0.00,1.30,0.00,0.000,6,0.000,0.032,2404,2391,3151
$GC,556,-1.05,-75.3,80.8,-11.2,51,559,0.00,1.27,0.00,0.000,4,0.000,0.036,2408,1496,3151
$GC,656,-1.05,-75.3,91.0,-9.5,60,664,0.00,1.33,0.00,0.000,6,0.000,0.033,2404,2413,3152
$GC,848,-1.05,-75.3,112.8,-11.5,79,852,0.00,1.33,0.00,0.000,4,0.000,0.036,2408,1483,3152
$GC,1094,-1.05,-75.3,138.7,-10.2,102,1097,0.00,1.27,0.00,0.000,6,0.000,0.035,2404,2385,3152
$GC,1416,-1.05,-75.3,171.8,-10.8,133,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2385,3151
$GC,1726,-1.05,-75.3,205.6,-11.5,163,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2385,3149
$GC,2036,-1.05,-75.3,239.2,-10.1,193,2039,0.00,1.27,0.00,0.000,4,0.000,0.039,2404,1493,3147
$GC,2275,-1.05,-75.3,265.0,-10.7,215,2282,0.00,1.33,0.00,0.000,6,0.000,0.035,2400,2407,3145
$GC,2592,-1.05,-75.3,299.4,-11.2,246,2596,0.00,1.45,0.00,0.000,4,0.000,0.046,2392,3276,3142
$GC,2628,-1.05,-75.3,303.7,-11.7,249,2636,0.00,1.45,0.00,0.000,6,0.000,0.028,2398,2370,3142
$GC,2946,-1.05,-75.3,339.5,-10.6,280,2949,0.00,1.52,0.00,0.000,4,0.000,0.046,2392,3278,3140
$GC,2977,-1.05,-75.3,343.2,-11.3,283,2980,0.00,1.42,0.00,0.000,6,0.000,0.029,2397,2394,3140
$GC,3300,-1.05,-75.3,378.2,-10.8,314,3300,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2393,3137
$GC,3608,-1.05,-75.3,412.3,-11.3,344,3609,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2393,3135
$GC,3919,-1.05,-75.3,445.9,-10.8,374,3922,0.00,1.25,0.00,0.000,4,0.000,0.044,2401,1520,3131
$GC,4004,-1.05,-75.3,455.1,-10.6,382,4007,0.00,1.27,0.00,0.000,6,0.000,0.040,2396,2396,3131
$GC,4327,-1.05,-75.3,490.0,-10.5,413,4330,0.00,1.27,0.00,0.000,4,0.000,0.043,2397,1520,3129
$GC,4373,-1.05,-75.3,495.1,-10.1,417,4381,0.00,1.33,0.00,0.000,6,0.000,0.040,2393,2413,3129
$GC,4691,-1.05,-75.3,529.9,-11.0,448,4692,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2413,3125
$GC,5000,-1.05,-75.3,564.5,-11.4,478,5003,0.00,1.30,0.00,0.000,4,0.000,0.044,2396,1525,3124
$GC,5068,-1.05,-75.3,572.3,-10.6,484,5076,0.00,1.27,0.00,0.000,6,0.000,0.041,2392,2388,3124
$GC,5386,-1.05,-75.3,606.9,-10.8,515,5389,0.00,1.52,0.00,0.000,4,0.000,0.051,2384,3289,3122
$GC,5514,-1.05,-75.3,621.0,-10.7,527,5517,0.00,1.45,0.00,0.000,6,0.000,0.035,2389,2401,3120
$GC,5836,-1.05,-75.3,654.6,-10.6,558,5837,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2400,3119
$GC,6145,-1.05,-75.3,686.9,-10.4,588,6148,0.00,1.27,0.00,0.000,4,0.000,0.044,2389,1521,3117
$GC,6299,-1.05,-75.3,702.9,-10.6,602,6307,0.00,1.30,0.00,0.000,6,0.000,0.042,2384,2401,3116
$GC,6616,-1.05,-75.3,736.4,-10.0,633,6619,0.00,1.50,0.00,0.000,4,0.000,0.054,2377,3282,3114
$GC,6691,-1.05,-75.3,744.6,-11.2,640,6694,0.08,1.45,0.00,0.000,6,0.222,0.035,2397,2393,3114
$GC,7011,-1.05,-75.3,776.3,-9.9,671,7015,0.00,1.52,0.00,0.000,4,0.000,0.054,2392,3281,3112
$GC,7097,-1.05,-75.3,785.5,-11.7,679,7100,0.00,1.45,0.00,0.000,6,0.000,0.036,2397,2400,3111
$GC,7419,-1.05,-75.3,817.2,-9.9,710,7421,0.00,1.30,0.00,0.000,4,0.000,0.047,2397,1513,3110
$GC,7493,-1.05,-75.3,824.6,-9.8,717,7496,0.00,1.30,0.00,0.000,6,0.000,0.044,2393,2387,3110
$GC,7815,-1.05,-75.3,855.1,-9.3,748,7816,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2388,3108
$GC,8124,-1.05,-75.3,883.7,-9.3,778,8127,0.00,1.27,0.00,0.000,4,0.000,0.046,2395,1522,3107
$GC,8274,-1.05,-75.3,897.8,-9.9,792,8277,0.00,1.33,0.00,0.000,6,0.000,0.046,2390,2406,3106
$GC,8596,-1.05,-75.3,928.7,-9.6,823,8597,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2407,3106
$GC,8905,-1.05,-75.3,959.6,-10.1,853,8905,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2407,3105
$GC,9215,-1.05,-75.3,989.3,-9.4,883,9218,0.00,1.50,0.00,0.000,4,0.000,0.057,2383,3271,3103
$STATE,9224,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9224,begin apogee
$GC,9230,-0.25,0.0,990.2,9.1,884,9288,1.05,0.00,53.60,1.237,6,0.195,0.000,2661,2273,2840
$STATE,9288,end apogee,CONTROL_FINISHED_OK
$STATE,9288,begin climb
$GC,9290,1.05,75.3,992.4,0.0,890,9363,1.30,1.30,64.82,1.221,4,0.107,0.043,3083,1340,2532
$GC,9421,1.05,75.3,978.0,15.9,901,9427,0.00,1.23,0.00,0.000,6,0.000,0.043,3083,2245,2528
$GC,9737,1.05,75.3,929.3,15.5,932,9741,0.00,1.67,0.00,0.000,4,0.000,0.054,3083,3128,2524
$GC,9784,1.05,75.3,921.4,16.8,936,9791,0.00,1.65,0.00,0.000,6,0.000,0.036,3091,2237,2523
$GC,10102,1.05,75.3,871.7,15.3,967,10105,0.00,1.12,0.00,0.000,4,0.000,0.043,3096,1350,2521
$GC,10127,1.05,75.3,867.4,17.0,969,10134,0.00,1.23,0.00,0.000,6,0.000,0.044,3096,2262,2521
$GC,10445,1.05,75.3,818.9,15.1,1000,10445,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2263,2521
$GC,10754,1.05,75.3,773.8,14.3,1030,10757,0.00,1.17,0.00,0.000,4,0.000,0.043,3101,1357,2520
$GC,10785,1.05,75.3,769.2,14.7,1033,10789,0.00,1.17,0.00,0.000,6,0.000,0.044,3100,2258,2519
$GC,11106,1.05,75.3,721.4,14.6,1064,11109,0.00,1.65,0.00,0.000,4,0.000,0.054,3100,3137,2518
$GC,11196,1.05,75.3,707.3,15.8,1072,11203,0.00,1.60,0.00,0.000,6,0.000,0.036,3108,2252,2518
$GC,11514,1.05,75.3,659.2,14.9,1103,11515,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2252,2517
$GC,11823,1.05,75.3,614.0,14.5,1133,11824,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2252,2517
$GC,12134,1.05,75.3,568.7,14.0,1163,12136,0.00,1.65,0.00,0.000,4,0.000,0.054,3106,3141,2516
$GC,12180,1.05,75.3,561.4,14.8,1167,12187,0.00,1.62,0.00,0.000,6,0.000,0.036,3113,2250,2516
$GC,12498,1.05,75.3,515.2,14.1,1198,12501,0.00,1.15,0.00,0.000,4,0.000,0.043,3119,1334,2516
$GC,12540,1.05,75.3,508.9,14.2,1202,12544,0.10,1.20,0.00,0.000,6,0.193,0.044,3090,2259,2516
$GC,12861,1.05,75.3,465.6,13.5,1233,12864,0.00,1.17,0.00,0.000,4,0.000,0.041,3095,1341,2515
$GC,12886,1.05,75.3,462.2,13.0,1235,12894,0.00,1.23,0.00,0.000,6,0.000,0.043,3091,2265,2515
$GC,13203,1.05,75.3,418.6,13.8,1266,13207,0.00,1.62,0.00,0.000,4,0.000,0.052,3086,3137,2516
$GC,13293,1.05,75.3,405.8,14.7,1274,13302,0.00,1.60,0.00,0.000,6,0.000,0.035,3093,2246,2516
$GC,13610,1.05,75.3,364.5,13.4,1305,13613,0.00,1.65,0.00,0.000,4,0.000,0.052,3092,3136,2516
$GC,13706,1.05,75.3,351.2,13.2,1314,13709,0.00,1.58,0.00,0.000,6,0.000,0.035,3099,2257,2516
$GC,14027,1.05,75.3,306.2,13.7,1345,14030,0.00,1.65,0.00,0.000,4,0.000,0.051,3097,3130,2516
$GC,14070,1.05,75.3,300.0,13.8,1349,14073,0.00,1.58,0.00,0.000,6,0.000,0.035,3105,2249,2516
$GC,14390,1.05,75.3,253.3,14.9,1380,14393,0.00,1.12,0.00,0.000,4,0.000,0.040,3110,1349,2516
$GC,14454,1.05,75.3,244.6,13.0,1386,14457,0.00,1.17,0.00,0.000,6,0.000,0.041,3110,2258,2516
$GC,14775,1.05,75.3,199.1,13.7,1417,14778,0.00,1.17,0.00,0.000,4,0.000,0.039,3115,1333,2516
$GC,14886,1.05,75.3,183.5,14.1,1427,14893,0.00,1.20,0.00,0.000,6,0.000,0.039,3113,2259,2517
$GC,15203,1.05,75.3,140.4,12.8,1458,15207,0.00,1.60,0.00,0.000,4,0.000,0.049,3113,3121,2518
$GC,15299,1.05,75.3,127.3,14.5,1467,15303,0.10,1.55,0.00,0.000,6,0.193,0.032,3092,2251,2518
$GC,15620,1.05,75.3,91.5,11.7,1498,15623,0.00,1.12,0.00,0.000,4,0.000,0.038,3097,1338,2518
$GC,15662,1.05,75.3,86.6,11.7,1502,15666,0.00,1.17,0.00,0.000,6,0.000,0.039,3096,2258,2518
$GC,15860,1.05,75.3,66.9,9.8,1521,15863,0.00,1.15,0.00,0.000,4,0.000,0.037,3101,1343,2519
$GC,16105,1.09,108.7,49.6,3.4,1544,16132,0.00,1.15,24.45,0.555,6,0.000,0.037,3097,2250,2396
$GC,16321,1.12,131.0,37.4,4.8,1564,16342,0.00,0.00,18.12,0.531,6,0.000,0.000,3098,2250,2304
$GC,16527,1.16,167.2,26.9,3.1,1584,16563,0.00,1.65,28.05,0.527,4,0.000,0.044,3097,3138,2157
$GC,16595,1.16,167.2,22.5,9.4,1590,16598,0.00,1.60,0.00,0.000,6,0.000,0.029,3105,2241,2156
$GC,16791,1.18,181.0,10.2,5.8,1609,16806,0.00,1.10,11.45,0.471,4,0.000,0.034,3110,1344,2101
$STATE,16901,end climb,SURFACE_DEPTH_REACHED
$STATE,16901,begin surface coast
$FINISH,0.8,1.022865
$STATE,16944,end surface coast,CONTROL_FINISHED_OK
$STATE,16944,begin surface
$SM_CCo,16959,198.32,0.494,0,0,495,575.22
$SM_GC,1.47,0.00,0.00,198.32,0.000,0.000,0.494,203,2401,495,-7.95,0.03,575.22
$IRIDIUM_FIX,2823.64,-8829.23,240999,040451
$TT8_MAMPS,0.050622
$HUMID,1308
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,24.20
$XPDR_PINGS,2
$24V_AH,23.8,33.735
$10V_AH,10.6,46.964
$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,20.800,93.800,200.500,198.325,0.000,24.566,38.934,199.481,0.500,0.000,0.000,245.698,0.000,11350.628,555.657,5275.914,556.715,33.343,1973.449,0.000,4517.694,0.000,0.851,0.000
$DEVICE_MAMPS,263.848,56.758,1237.171,493.948,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1112.005,1193.374,3647.857,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85112,1623
$CAP_FILE_SIZE,163367,0
$CFSIZE,260165632,238202880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.062,259.8,1
$GPS,300610,143237,2835.879,-8835.834,40,1.1,40,-0.3