version: 66.04
glider: 515
mission: 5
dive: 289
start: 7 22 110 12 11 5
data:
$ID,515
$MISSION,5
$DIVE,289
$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,-14
$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,597.54108
$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,-23960.717
$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,27
$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,2325
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,29
$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,850
$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
$GPS1,120400,2843.535,-8828.139,37,1.6,43,-0.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-68.6
$GPS2,121026,2843.665,-8828.113,11,1.8,11,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.034,0.262
$KALMAN_X,25815.6,587.7,227.1,9158.2,2472.7
$KALMAN_Y,-434118.4,5.4,-292.1,462752.4,-7386.4
$MHEAD_RNG_PITCHd_Wd,49.5,3434,-26.8,-7.500
$D_GRID,1407
$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,13,-1.04,-41.0,0.0,0.0,0,58,0.00,0.00,-43.55,0.000,2,0.000,0.000,195,2333,1686
$GC,60,-1.08,-71.1,3.1,-3.8,4,119,9.95,1.55,-40.42,0.000,4,0.254,0.060,2384,3225,3131
$GC,358,-1.08,-71.1,60.6,-12.5,31,366,0.00,1.45,0.00,0.000,6,0.000,0.025,2389,2325,3133
$GC,552,-1.08,-71.1,81.0,-9.6,50,555,0.00,1.50,0.00,0.000,4,0.000,0.041,2383,3218,3133
$GC,797,-1.08,-71.1,107.1,-10.8,73,800,0.00,1.45,0.00,0.000,6,0.000,0.027,2389,2318,3135
$GC,1120,-1.08,-71.1,144.7,-11.3,104,1123,0.00,1.52,0.00,0.000,4,0.000,0.041,2383,3218,3135
$GC,1241,-1.08,-71.1,158.9,-12.1,115,1249,0.00,1.45,0.00,0.000,6,0.000,0.026,2389,2321,3135
$GC,1560,-1.08,-71.1,196.0,-10.9,146,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2322,3135
$GC,1869,-1.08,-71.1,232.4,-11.7,176,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2321,3134
$GC,2179,-1.08,-71.1,269.6,-11.8,206,2182,0.00,1.23,0.00,0.000,4,0.000,0.037,2394,1410,3133
$GC,2425,-1.08,-71.1,298.5,-12.0,229,2428,0.00,1.25,0.00,0.000,6,0.000,0.035,2389,2319,3132
$GC,2748,-1.08,-71.1,336.2,-11.5,260,2751,0.00,1.25,0.00,0.000,4,0.000,0.038,2392,1409,3130
$GC,2993,-1.08,-71.1,364.7,-11.1,283,2996,0.00,1.27,0.00,0.000,6,0.000,0.037,2388,2328,3128
$GC,3316,-1.08,-71.1,401.9,-11.3,314,3317,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2328,3126
$GC,3625,-1.08,-71.1,435.9,-11.0,344,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2328,3124
$GC,3935,-1.08,-71.1,469.8,-11.1,374,3938,0.00,1.50,0.00,0.000,4,0.000,0.046,2380,3213,3122
$GC,4010,-1.08,-71.1,478.8,-11.9,381,4013,0.00,1.45,0.00,0.000,6,0.000,0.031,2387,2327,3122
$GC,4333,-1.08,-71.1,516.5,-12.6,412,4336,0.00,1.25,0.00,0.000,4,0.000,0.041,2390,1422,3120
$GC,4506,-1.08,-71.1,536.0,-11.5,428,4509,0.00,1.25,0.00,0.000,6,0.000,0.039,2386,2312,3119
$GC,4828,-1.08,-71.1,571.6,-10.9,459,4831,0.00,1.55,0.00,0.000,4,0.000,0.048,2378,3215,3116
$GC,4881,-1.08,-71.1,578.1,-12.1,464,4884,0.00,1.48,0.00,0.000,6,0.000,0.032,2378,2325,3116
$GC,5204,-1.08,-71.1,613.9,-11.8,495,5207,0.00,1.25,0.00,0.000,4,0.000,0.041,2378,1421,3114
$GC,5294,-1.08,-71.1,624.3,-10.6,503,5301,0.00,1.30,0.00,0.000,6,0.000,0.040,2372,2327,3113
$GC,5612,-1.08,-71.1,660.7,-11.3,534,5616,0.00,1.27,0.00,0.000,4,0.000,0.041,2374,1424,3112
$GC,5751,-1.08,-71.1,676.4,-11.0,547,5754,0.00,1.27,0.00,0.000,6,0.000,0.041,2369,2325,3110
$GC,6074,-1.08,-71.1,710.5,-10.8,578,6075,0.12,0.00,0.00,0.000,6,0.213,0.000,2395,2325,3108
$GC,6384,-1.08,-71.1,739.9,-9.7,608,6387,0.00,1.27,0.00,0.000,4,0.000,0.042,2401,1415,3107
$GC,6629,-1.08,-71.1,763.0,-9.1,631,6632,0.00,1.30,0.00,0.000,6,0.000,0.041,2397,2327,3105
$GC,6952,-1.08,-71.1,793.5,-9.2,662,6955,0.00,1.30,0.00,0.000,4,0.000,0.044,2401,1414,3104
$GC,7112,-1.08,-71.1,809.5,-10.0,677,7115,0.00,1.30,0.00,0.000,6,0.000,0.042,2397,2326,3103
$GC,7435,-1.08,-71.1,840.8,-9.9,708,7436,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2326,3101
$GC,7743,-1.08,-71.1,871.1,-9.5,738,7746,0.00,1.27,0.00,0.000,4,0.000,0.044,2401,1426,3099
$GC,7925,-1.08,-71.1,889.1,-10.1,755,7927,0.00,1.27,0.00,0.000,6,0.000,0.044,2397,2318,3098
$GC,8245,-1.08,-71.1,919.6,-9.4,786,8250,0.00,1.27,0.00,0.000,4,0.000,0.044,2400,1419,3098
$GC,8342,-1.08,-71.1,928.7,-8.8,795,8345,0.00,1.30,0.00,0.000,6,0.000,0.044,2396,2325,3097
$GC,8663,-1.08,-71.1,959.3,-9.4,826,8664,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2325,3095
$GC,8973,-1.08,-71.1,989.2,-9.6,856,8974,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2326,3094
$STATE,8983,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8983,begin apogee
$GC,8988,-0.26,0.0,990.2,9.6,857,9046,0.98,0.00,53.78,1.219,6,0.183,0.000,2658,2267,2840
$STATE,9046,end apogee,CONTROL_FINISHED_OK
$STATE,9047,begin climb
$GC,9049,1.08,71.1,992.0,0.0,863,9117,1.33,0.00,62.58,1.213,6,0.101,0.000,3088,2268,2550
$GC,9425,1.08,71.1,941.7,15.1,900,9428,0.00,1.62,0.00,0.000,4,0.000,0.052,3086,3158,2542
$GC,9478,1.08,71.1,933.2,16.6,905,9481,0.00,1.55,0.00,0.000,6,0.000,0.035,3093,2270,2541
$GC,9801,1.08,71.1,886.0,14.6,936,9802,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2267,2540
$GC,10109,1.08,71.1,840.7,14.8,966,10110,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2267,2538
$GC,10421,1.08,71.1,795.7,14.1,996,10423,0.00,1.62,0.00,0.000,4,0.000,0.054,3094,3178,2538
$GC,10538,1.08,71.1,777.0,15.7,1007,10541,0.00,1.55,0.00,0.000,6,0.000,0.036,3102,2274,2537
$GC,10861,1.08,71.1,730.0,14.1,1038,10864,0.00,1.20,0.00,0.000,4,0.000,0.041,3108,1372,2537
$GC,10903,1.08,71.1,723.8,14.5,1042,10906,0.00,1.25,0.00,0.000,6,0.000,0.044,3104,2274,2537
$GC,11224,1.08,71.1,678.2,14.4,1073,11227,0.00,1.23,0.00,0.000,4,0.000,0.041,3108,1375,2536
$GC,11271,1.08,71.1,671.4,14.6,1077,11279,0.00,1.27,0.00,0.000,6,0.000,0.044,3104,2277,2536
$GC,11589,1.08,71.1,628.1,13.7,1108,11590,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2277,2536
$GC,11898,1.08,71.1,584.7,13.6,1138,11899,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2278,2535
$GC,12208,1.08,71.1,542.5,13.3,1168,12209,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2278,2535
$GC,12519,1.08,71.1,501.9,11.8,1198,12522,0.00,1.60,0.00,0.000,4,0.000,0.054,3100,3166,2535
$GC,12555,1.08,71.1,496.9,13.3,1201,12564,0.00,1.55,0.00,0.000,6,0.000,0.035,3106,2269,2534
$GC,12874,1.08,71.1,455.0,13.3,1232,12877,0.00,1.62,0.00,0.000,4,0.000,0.053,3100,3180,2534
$GC,12948,1.08,71.1,444.5,15.0,1239,12951,0.00,1.55,0.00,0.000,6,0.000,0.035,3107,2275,2534
$GC,13269,1.08,71.1,401.7,12.8,1270,13272,0.00,1.62,0.00,0.000,4,0.000,0.052,3103,3166,2534
$GC,13466,1.08,71.1,374.5,13.4,1288,13473,0.00,1.52,0.00,0.000,6,0.000,0.033,3111,2277,2534
$GC,13784,1.08,71.1,332.6,13.6,1319,13785,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2278,2534
$GC,14093,1.08,71.1,291.2,13.5,1349,14093,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2277,2534
$GC,14404,1.08,71.1,250.5,13.3,1379,14407,0.00,1.20,0.00,0.000,4,0.000,0.039,3117,1369,2535
$GC,14472,1.08,71.1,241.4,13.2,1385,14480,0.00,1.27,0.00,0.000,6,0.000,0.041,3114,2281,2535
$GC,14790,1.08,71.1,199.7,13.2,1416,14793,0.00,1.58,0.00,0.000,4,0.000,0.050,3114,3169,2535
$GC,14868,1.08,71.1,188.8,12.7,1423,14876,0.00,1.52,0.00,0.000,6,0.000,0.031,3120,2272,2535
$GC,15186,1.08,71.1,147.1,12.8,1454,15187,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2273,2535
$GC,15496,1.08,71.1,112.1,10.8,1484,15499,0.00,1.60,0.00,0.000,4,0.000,0.048,3119,3184,2537
$GC,15570,1.08,71.1,103.4,11.5,1491,15574,0.10,1.55,0.00,0.000,6,0.187,0.031,3097,2272,2537
$GC,15891,1.08,71.1,73.7,7.5,1522,15894,0.00,1.62,0.00,0.000,4,0.000,0.048,3090,3176,2538
$GC,16138,1.10,84.3,59.1,5.9,1545,16152,0.00,1.52,10.20,0.501,6,0.000,0.029,3097,2268,2496
$GC,16334,1.15,125.1,51.2,2.5,1564,16371,0.00,1.67,32.58,0.540,4,0.000,0.045,3090,3183,2329
$GC,16403,1.16,139.2,49.1,5.8,1570,16419,0.00,1.55,12.40,0.498,6,0.000,0.029,3097,2272,2271
$GC,16608,1.25,206.4,40.0,-0.8,1589,16670,0.15,1.67,51.38,0.530,4,0.071,0.044,3158,3179,1996
$GC,16910,1.25,206.4,13.5,9.9,1616,16917,0.00,1.52,0.00,0.000,6,0.000,0.027,3165,2270,1989
$GC,17102,1.31,260.7,11.3,0.8,1635,17152,0.00,1.23,40.47,0.491,4,0.000,0.032,3170,1354,1777
$GC,17316,1.36,302.1,6.4,2.4,1654,17351,0.00,1.25,31.60,0.476,6,0.000,0.032,3171,2281,1607
$GC,17540,1.45,369.6,5.5,-0.8,1675,17594,0.12,1.60,50.40,0.476,4,0.067,0.041,3233,3178,1332
$STATE,17669,end climb,SURFACE_DEPTH_REACHED
$STATE,17669,begin surface coast
$FINISH,0.8,1.006705
$STATE,17752,end surface coast,CONTROL_FINISHED_OK
$STATE,17752,begin surface
$SM_CCo,17769,133.52,0.470,0,0,403,597.54
$SM_GC,1.83,0.00,0.00,133.52,0.000,0.000,0.470,197,2312,403,-7.97,-0.37,597.54
$IRIDIUM_FIX,2848.21,-8836.29,161099,060608
$TT8_MAMPS,0.051389
$HUMID,1333
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,26.30
$XPDR_PINGS,1
$24V_AH,23.5,50.680
$10V_AH,10.6,69.799
$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,20.975,82.500,345.375,133.525,0.000,28.423,25.586,201.484,4.000,0.000,0.000,12.830,0.000,11705.625,555.349,5366.088,630.296,33.337,2088.414,0.000,4813.952,0.000,30.319,0.000
$DEVICE_MAMPS,253.877,69.797,1218.763,470.171,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1158.566,1248.562,3807.620,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88143,1694
$CAP_FILE_SIZE,164756,0
$CFSIZE,260165632,229310464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.124,119.9,1
$GPS,220710,171031,2844.085,-8825.774,40,0.9,40,-0.4