version: 66.04
glider: 515
mission: 5
dive: 193
start: 7 1 110 11 26 53
data:
$ID,515
$MISSION,5
$DIVE,193
$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,-16970.441
$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,52
$R_STBD_OVSHOOT,27
$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
$GPS1,111407,2837.066,-8842.901,43,1.1,43,-0.2
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-61.2
$GPS2,112613,2837.169,-8843.066,11,1.2,16,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618A
$TGT_LATLONG,2837.900,-8826.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.237,0.118
$KALMAN_X,-28691.6,579.4,385.2,39174.5,-6803.1
$KALMAN_Y,-126674.4,1488.3,1559.7,139898.3,-15723.3
$MHEAD_RNG_PITCHd_Wd,68.2,27775,-10.8,-7.500
$D_GRID,1275
$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,-194.6,0.0,0.0,0,102,0.00,0.00,-88.28,0.000,2,0.000,0.000,196,2372,2921
$GC,104,-0.63,-194.6,3.1,-2.9,9,134,10.68,1.60,-15.77,0.000,4,0.258,0.064,2533,3292,3635
$GC,170,-0.63,-194.6,19.9,-28.2,14,179,0.00,1.48,0.00,0.000,6,0.000,0.027,2537,2382,3636
$GC,362,-0.63,-194.6,58.5,-15.3,33,365,0.00,1.52,0.00,0.000,4,0.000,0.046,2532,3286,3637
$GC,420,-0.63,-194.6,67.4,-15.0,38,428,0.00,1.42,0.00,0.000,6,0.000,0.027,2533,2395,3637
$GC,612,-0.63,-194.6,93.8,-14.3,57,615,0.00,1.25,0.00,0.000,4,0.000,0.035,2533,1504,3638
$GC,637,-0.63,-194.6,97.4,-13.7,59,645,0.00,1.35,0.00,0.000,6,0.000,0.037,2529,2418,3638
$GC,830,-0.63,-194.6,122.9,-13.5,78,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2418,3639
$GC,1140,-0.63,-194.6,160.9,-11.7,108,1143,0.00,1.30,0.00,0.000,4,0.000,0.036,2528,1514,3639
$GC,1197,-0.63,-194.6,167.8,-12.2,113,1205,0.00,1.30,0.00,0.000,6,0.000,0.037,2523,2399,3639
$GC,1515,-0.63,-194.6,205.7,-12.1,144,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2399,3638
$GC,1824,-0.63,-194.6,242.2,-11.0,174,1827,0.00,1.27,0.00,0.000,4,0.000,0.038,2523,1514,3636
$GC,1888,-0.63,-194.6,249.6,-11.3,180,1891,0.00,1.27,0.00,0.000,6,0.000,0.039,2517,2389,3635
$GC,2210,-0.63,-194.6,286.4,-11.2,211,2213,0.00,1.25,0.00,0.000,4,0.000,0.038,2517,1523,3633
$GC,2241,-0.63,-194.6,290.1,-12.1,214,2245,0.08,1.30,0.00,0.000,6,0.145,0.039,2535,2408,3633
$GC,2563,-0.63,-194.6,322.7,-10.2,245,2563,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2408,3631
$GC,2873,-0.63,-194.6,353.9,-9.9,275,2876,0.00,1.30,0.00,0.000,4,0.000,0.039,2536,1516,3629
$GC,2926,-0.63,-194.6,359.1,-9.4,280,2930,0.00,1.27,0.00,0.000,6,0.000,0.041,2532,2386,3628
$GC,3248,-0.63,-194.6,391.9,-10.3,311,3249,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2386,3625
$GC,3558,-0.63,-194.6,424.1,-10.1,341,3561,0.00,1.25,0.00,0.000,4,0.000,0.041,2533,1528,3624
$GC,3610,-0.63,-194.6,430.0,-10.4,346,3614,0.00,1.30,0.00,0.000,6,0.000,0.042,2526,2405,3623
$GC,3933,-0.63,-194.6,464.7,-10.6,377,3933,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2405,3620
$GC,4242,-0.63,-194.6,498.0,-10.6,407,4245,0.00,1.27,0.00,0.000,4,0.000,0.042,2526,1516,3618
$GC,4295,-0.63,-194.6,503.8,-10.9,412,4298,0.00,1.30,0.00,0.000,6,0.000,0.044,2520,2396,3618
$GC,4617,-0.63,-194.6,539.8,-11.3,443,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2396,3616
$GC,4926,-0.63,-194.6,573.9,-10.8,473,4929,0.00,1.27,0.00,0.000,4,0.000,0.043,2520,1530,3614
$GC,4969,-0.63,-194.6,578.5,-10.9,477,4972,0.08,1.30,0.00,0.000,6,0.146,0.045,2538,2400,3614
$GC,5289,-0.63,-194.6,609.0,-9.1,508,5290,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2399,3612
$GC,5600,-0.63,-194.6,637.5,-9.1,538,5603,0.00,1.30,0.00,0.000,4,0.000,0.043,2538,1518,3609
$GC,5643,-0.63,-194.6,641.5,-9.7,542,5646,0.00,1.33,0.00,0.000,6,0.000,0.046,2535,2400,3609
$GC,5964,-0.63,-194.6,671.0,-9.6,573,5967,0.00,1.30,0.00,0.000,4,0.000,0.044,2535,1521,3607
$GC,6017,-0.63,-194.6,675.7,-9.3,578,6020,0.00,1.33,0.00,0.000,6,0.000,0.047,2529,2401,3607
$GC,6339,-0.63,-194.6,705.9,-9.6,609,6340,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2401,3605
$GC,6649,-0.63,-194.6,735.4,-9.1,639,6651,0.00,1.30,0.00,0.000,4,0.000,0.045,2529,1525,3603
$GC,6712,-0.63,-194.6,741.6,-9.1,645,6715,0.00,1.33,0.00,0.000,6,0.000,0.047,2524,2402,3603
$GC,7034,-0.63,-194.6,772.4,-9.2,676,7035,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2402,3602
$GC,7344,-0.63,-194.6,801.5,-9.7,706,7347,0.00,1.30,0.00,0.000,4,0.000,0.045,2524,1527,3600
$GC,7418,-0.63,-194.6,808.8,-10.2,713,7421,0.00,1.33,0.00,0.000,6,0.000,0.048,2519,2401,3599
$GC,7740,-0.63,-194.6,839.9,-10.2,744,7741,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2402,3598
$GC,8049,-0.63,-194.6,870.2,-9.7,774,8050,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2402,3596
$GC,8360,-0.63,-194.6,901.0,-9.9,804,8363,0.00,1.30,0.00,0.000,4,0.000,0.045,2519,1534,3595
$GC,8417,-0.63,-194.6,906.8,-10.1,809,8425,0.00,1.35,0.00,0.000,6,0.000,0.050,2519,2405,3594
$GC,8735,-0.63,-194.6,937.2,-9.7,840,8738,0.00,1.33,0.00,0.000,4,0.000,0.046,2519,1519,3593
$GC,8782,-0.63,-194.6,942.0,-10.0,844,8789,0.00,1.33,0.00,0.000,6,0.000,0.049,2517,2391,3593
$GC,9099,-0.63,-194.6,972.7,-9.9,875,9102,0.00,1.30,0.00,0.000,4,0.000,0.046,2517,1518,3593
$GC,9134,-0.63,-194.6,976.6,-9.8,878,9144,0.12,1.38,0.00,0.000,6,0.150,0.049,2542,2409,3593
$STATE,9305,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9305,begin apogee
$GC,9309,-0.25,0.0,990.7,8.0,895,9469,0.40,0.00,151.82,1.246,6,0.133,0.000,2664,2275,2839
$STATE,9470,end apogee,CONTROL_FINISHED_OK
$STATE,9470,begin climb
$GC,9471,0.63,194.6,995.8,0.0,911,9648,0.90,0.00,168.35,1.215,6,0.102,0.000,2942,2275,2045
$GC,9956,0.63,194.6,946.5,11.3,958,9957,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2275,2035
$GC,10267,0.63,194.6,910.7,11.9,988,10268,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2276,2033
$GC,10577,0.63,194.6,875.5,10.9,1018,10578,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2275,2032
$GC,10888,0.63,194.6,840.3,11.7,1048,10891,0.00,1.62,0.00,0.000,4,0.000,0.060,2942,3142,2031
$GC,10941,0.63,194.6,833.9,12.7,1053,10944,0.00,1.62,0.00,0.000,6,0.000,0.038,2949,2251,2030
$GC,11263,0.63,194.6,794.9,12.2,1084,11264,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2251,2030
$GC,11572,0.63,194.6,756.8,11.8,1114,11573,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2251,2029
$GC,11883,0.63,194.6,718.5,12.4,1144,11886,0.00,1.67,0.00,0.000,4,0.000,0.055,2949,3128,2029
$GC,11914,0.63,194.6,714.4,12.6,1147,11917,0.00,1.60,0.00,0.000,6,0.000,0.039,2956,2254,2027
$GC,12235,0.63,194.6,673.2,12.3,1178,12238,0.00,1.67,0.00,0.000,4,0.000,0.055,2956,3129,2027
$GC,12278,0.63,194.6,667.6,13.7,1182,12281,0.00,1.60,0.00,0.000,6,0.000,0.039,2964,2235,2028
$GC,12598,0.63,194.6,626.4,12.5,1213,12599,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2235,2027
$GC,12909,0.63,194.6,586.9,12.9,1243,12912,0.00,1.67,0.00,0.000,4,0.000,0.054,2963,3131,2027
$GC,12952,0.63,194.6,581.3,13.0,1247,12955,0.00,1.60,0.00,0.000,6,0.000,0.038,2971,2256,2026
$GC,13272,0.63,194.6,538.8,12.8,1278,13273,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2255,2026
$GC,13583,0.63,194.6,496.2,15.1,1308,13586,0.00,1.65,0.00,0.000,4,0.000,0.054,2971,3140,2027
$GC,13672,0.63,194.6,482.8,13.9,1316,13680,0.00,1.65,0.00,0.000,6,0.000,0.037,2979,2240,2026
$GC,13991,0.63,194.6,440.5,12.8,1347,13991,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2240,2025
$GC,14300,0.63,194.6,398.9,13.4,1377,14301,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2240,2026
$GC,14610,0.63,194.6,357.3,13.3,1407,14611,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2241,2025
$GC,14920,0.63,194.6,316.0,13.3,1437,14924,0.00,1.70,0.00,0.000,4,0.000,0.051,2979,3138,2026
$GC,14978,0.63,194.6,307.7,15.0,1442,14987,0.10,1.60,0.00,0.000,6,0.148,0.035,2955,2254,2026
$GC,15295,0.63,194.6,270.9,11.4,1473,15297,0.00,1.15,0.00,0.000,4,0.000,0.043,2958,1346,2026
$GC,15342,0.63,194.6,265.5,11.7,1477,15349,0.00,1.17,0.00,0.000,6,0.000,0.041,2959,2251,2026
$GC,15659,0.63,194.6,229.0,11.4,1508,15662,0.00,1.65,0.00,0.000,4,0.000,0.051,2959,3137,2026
$GC,15705,0.63,194.6,223.1,12.2,1512,15712,0.00,1.62,0.00,0.000,6,0.000,0.035,2966,2243,2026
$GC,16023,0.63,194.6,184.3,12.1,1543,16026,0.00,1.67,0.00,0.000,4,0.000,0.049,2965,3131,2026
$GC,16054,0.63,194.6,180.1,13.6,1546,16057,0.00,1.58,0.00,0.000,6,0.000,0.034,2973,2253,2027
$GC,16377,0.63,194.6,139.2,11.9,1577,16380,0.00,1.12,0.00,0.000,4,0.000,0.040,2979,1351,2027
$GC,16440,0.63,194.6,131.4,13.3,1583,16444,0.08,1.17,0.00,0.000,6,0.142,0.039,2954,2260,2027
$GC,16761,0.63,194.6,99.3,10.0,1614,16764,0.00,1.60,0.00,0.000,4,0.000,0.048,2954,3128,2028
$GC,16814,0.63,194.6,94.1,9.1,1619,16817,0.00,1.58,0.00,0.000,6,0.000,0.033,2961,2246,2028
$GC,17011,0.63,194.6,74.7,9.0,1638,17012,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2246,2029
$GC,17198,0.63,194.6,58.3,8.3,1656,17198,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2247,2029
$GC,17383,0.66,223.0,44.6,6.8,1674,17409,0.00,1.62,20.70,0.535,4,0.000,0.044,2961,3142,1930
$GC,17472,0.66,223.0,38.3,8.6,1682,17475,0.00,1.58,0.00,0.000,6,0.000,0.031,2968,2253,1928
$GC,17670,0.78,321.1,28.2,4.9,1701,17747,0.00,1.73,73.90,0.530,4,0.000,0.045,2968,3145,1530
$GC,17806,0.96,468.7,21.7,3.6,1712,17920,0.20,1.60,108.88,0.515,6,0.041,0.029,3076,2253,928
$STATE,17980,end climb,SURFACE_DEPTH_REACHED
$STATE,17980,begin surface coast
$FINISH,0.8,1.023143
$STATE,17999,end surface coast,CONTROL_FINISHED_OK
$STATE,17999,begin surface
$SM_CCo,18014,53.25,0.488,0,0,494,575.22
$SM_GC,1.46,0.00,0.00,53.25,0.000,0.000,0.488,200,2409,494,-7.96,0.23,575.22
$IRIDIUM_FIX,2826.10,-8846.35,250999,111137
$TT8_MAMPS,0.051389
$HUMID,1361
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.00
$XPDR_PINGS,3
$24V_AH,23.0,34.493
$10V_AH,10.6,48.074
$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,20.525,86.275,523.650,53.250,0.000,84.652,177.256,220.235,0.750,0.000,0.000,18.939,0.000,12223.322,632.421,5126.148,784.409,33.338,2100.970,0.000,4592.441,0.000,0.848,0.000
$DEVICE_MAMPS,257.712,64.428,1245.608,487.812,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1183.668,1260.880,3888.258,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91522,1730
$CAP_FILE_SIZE,163446,0
$CFSIZE,260165632,237752320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.082,212.1,1
$GPS,010710,162901,2837.654,-8840.812,40,1.7,40,-0.2