version: 66.04
glider: 515
mission: 5
dive: 316
start: 7 28 110 8 30 52
data:
$ID,515
$MISSION,5
$DIVE,316
$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,330
$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,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-25285.145
$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,2375
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,48
$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
$GPS1,082407,2840.540,-8840.758,32,1.2,32,-0.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-70.5
$GPS2,083013,2840.595,-8840.709,11,1.4,11,-0.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.178,0.235
$KALMAN_X,93642.5,-832.2,-1034.2,-76454.7,2418.5
$KALMAN_Y,-500566.8,488.9,223.8,522522.4,-9132.5
$MHEAD_RNG_PITCHd_Wd,299.1,7730,-14.9,-10.000
$D_GRID,1151
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.77,-194.6,0.0,0.0,0,85,0.00,0.00,-68.18,0.000,2,0.000,0.000,196,2416,2385
$GC,88,-0.77,-194.6,3.1,-3.2,7,136,10.43,1.33,-32.85,0.000,4,0.254,0.054,2496,1471,3634
$GC,317,-0.77,-194.6,51.5,-18.4,28,320,0.00,1.25,0.00,0.000,6,0.000,0.036,2492,2344,3635
$GC,515,-0.77,-194.6,83.2,-15.3,47,518,0.00,1.23,0.00,0.000,4,0.000,0.033,2496,1477,3637
$GC,600,-0.77,-194.6,96.2,-15.1,55,603,0.00,1.33,0.00,0.000,6,0.000,0.035,2492,2400,3638
$GC,797,-0.77,-194.6,126.9,-15.7,74,800,0.00,1.33,0.00,0.000,4,0.000,0.033,2496,1464,3638
$GC,851,-0.77,-194.6,135.2,-15.3,79,854,0.00,1.27,0.00,0.000,6,0.000,0.035,2492,2355,3638
$GC,1173,-0.77,-194.6,181.9,-14.0,110,1176,0.00,1.25,0.00,0.000,4,0.000,0.035,2496,1473,3638
$GC,1248,-0.77,-194.6,191.9,-12.7,117,1251,0.00,1.30,0.00,0.000,6,0.000,0.035,2492,2383,3638
$GC,1571,-0.77,-194.6,234.9,-13.2,148,1573,0.00,1.30,0.00,0.000,4,0.000,0.035,2496,1466,3638
$GC,1656,-0.77,-194.6,246.0,-13.0,156,1659,0.00,1.27,0.00,0.000,6,0.000,0.035,2491,2360,3637
$GC,1979,-0.77,-194.6,289.3,-13.6,187,1982,0.00,1.25,0.00,0.000,4,0.000,0.035,2495,1479,3636
$GC,2064,-0.77,-194.6,300.7,-12.7,195,2067,0.00,1.30,0.00,0.000,6,0.000,0.037,2491,2385,3635
$GC,2387,-0.77,-194.6,345.1,-14.1,226,2390,0.00,1.30,0.00,0.000,4,0.000,0.035,2492,1472,3633
$GC,2466,-0.77,-194.6,356.3,-13.4,233,2473,0.00,1.27,0.00,0.000,6,0.000,0.037,2488,2354,3633
$GC,2784,-0.77,-194.6,399.1,-13.7,264,2788,0.00,1.25,0.00,0.000,4,0.000,0.036,2489,1475,3631
$GC,2848,-0.77,-194.6,407.9,-12.9,270,2851,0.00,1.33,0.00,0.000,6,0.000,0.038,2484,2390,3631
$GC,3171,-0.77,-194.6,450.3,-13.3,301,3174,0.00,1.33,0.00,0.000,4,0.000,0.037,2485,1466,3629
$GC,3288,-0.77,-194.6,466.4,-12.7,312,3291,0.00,1.30,0.00,0.000,6,0.000,0.039,2479,2361,3628
$GC,3612,-0.77,-194.6,510.9,-14.3,343,3614,0.00,1.27,0.00,0.000,4,0.000,0.039,2479,1477,3626
$GC,3701,-0.77,-194.6,524.1,-14.1,351,3708,0.00,1.33,0.00,0.000,6,0.000,0.040,2474,2382,3625
$GC,4020,-0.77,-194.6,569.2,-14.5,382,4023,0.00,1.33,0.00,0.000,4,0.000,0.040,2473,1468,3622
$GC,4148,-0.77,-194.6,588.3,-14.7,394,4151,0.00,1.33,0.00,0.000,6,0.000,0.041,2468,2373,3622
$GC,4471,-0.77,-194.6,635.3,-14.4,425,4474,0.12,1.30,0.00,0.000,4,0.171,0.039,2498,1483,3619
$GC,4592,-0.77,-194.6,650.5,-10.8,436,4601,0.00,1.33,0.00,0.000,6,0.000,0.042,2494,2378,3618
$GC,4911,-0.77,-194.6,688.1,-12.1,467,4912,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2378,3616
$GC,5220,-0.77,-194.6,725.5,-11.8,497,5223,0.00,1.33,0.00,0.000,4,0.000,0.043,2494,1470,3615
$GC,5309,-0.77,-194.6,736.6,-12.4,505,5317,0.00,1.33,0.00,0.000,6,0.000,0.044,2488,2367,3614
$GC,5628,-0.77,-194.6,774.5,-12.2,536,5631,0.00,1.30,0.00,0.000,4,0.000,0.043,2488,1478,3611
$GC,5735,-0.77,-194.6,787.3,-11.4,546,5738,0.00,1.35,0.00,0.000,6,0.000,0.045,2482,2387,3611
$GC,6058,-0.77,-194.6,825.3,-11.9,577,6061,0.00,1.33,0.00,0.000,4,0.000,0.044,2482,1488,3608
$GC,6137,-0.77,-194.6,834.6,-11.8,584,6145,0.00,1.30,0.00,0.000,6,0.000,0.044,2476,2362,3608
$GC,6453,-0.77,-194.6,871.4,-12.1,615,6456,0.00,1.30,0.00,0.000,4,0.000,0.044,2476,1474,3606
$GC,6543,-0.77,-194.6,882.0,-11.3,623,6550,0.00,1.38,0.00,0.000,6,0.000,0.045,2470,2393,3605
$GC,6860,-0.77,-194.6,920.4,-12.5,654,6861,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2394,3604
$GC,7170,-0.77,-194.6,958.5,-12.2,684,7173,0.00,1.35,0.00,0.000,4,0.000,0.044,2470,1475,3602
$GC,7341,-0.77,-194.6,979.5,-12.5,700,7345,0.08,1.33,0.00,0.000,6,0.168,0.045,2488,2364,3601
$STATE,7443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7443,begin apogee
$GC,7449,-0.25,0.0,991.0,11.0,710,7607,0.57,0.00,155.82,1.235,6,0.140,0.000,2660,2271,2840
$STATE,7607,end apogee,CONTROL_FINISHED_OK
$STATE,7607,begin climb
$GC,7610,0.77,194.6,996.2,0.0,726,7787,1.02,0.00,171.00,1.204,6,0.098,0.000,2985,2271,2045
$GC,8097,0.77,194.6,935.2,14.8,774,8098,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2271,2036
$GC,8407,0.77,194.6,889.6,14.7,804,8410,0.00,1.62,0.00,0.000,4,0.000,0.057,2985,3161,2034
$GC,8492,0.77,194.6,876.4,15.3,812,8495,0.00,1.52,0.00,0.000,6,0.000,0.036,2993,2272,2032
$GC,8815,0.77,194.6,827.1,15.2,843,8816,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2273,2031
$GC,9123,0.77,194.6,779.2,15.0,873,9126,0.00,1.62,0.00,0.000,4,0.000,0.054,2992,3195,2031
$GC,9156,0.77,194.6,774.1,16.8,876,9159,0.00,1.58,0.00,0.000,6,0.000,0.035,3000,2272,2029
$GC,9478,0.77,194.6,725.4,14.8,907,9479,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2274,2029
$GC,9788,0.77,194.6,680.1,14.6,937,9791,0.00,1.60,0.00,0.000,4,0.000,0.054,3000,3178,2028
$GC,9841,0.77,194.6,671.9,15.1,942,9844,0.00,1.55,0.00,0.000,6,0.000,0.036,3008,2273,2027
$GC,10164,0.77,194.6,623.9,15.1,973,10167,0.00,1.60,0.00,0.000,4,0.000,0.054,3008,3180,2027
$GC,10254,0.77,194.6,609.9,15.6,981,10261,0.00,1.55,0.00,0.000,6,0.000,0.035,3016,2274,2026
$GC,10572,0.77,194.6,563.7,15.5,1012,10573,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2276,2026
$GC,10882,0.77,194.6,514.6,16.1,1042,10885,0.00,1.60,0.00,0.000,4,0.000,0.053,3015,3163,2026
$GC,10929,0.77,194.6,506.6,16.6,1046,10936,0.00,1.52,0.00,0.000,6,0.000,0.035,3023,2273,2026
$GC,11247,0.77,194.6,455.0,16.4,1077,11251,0.00,1.60,0.00,0.000,4,0.000,0.052,3023,3163,2026
$GC,11290,0.77,194.6,447.4,18.0,1081,11293,0.10,1.52,0.00,0.000,6,0.161,0.035,3001,2271,2025
$GC,11611,0.77,194.6,400.5,14.3,1112,11612,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2272,2025
$GC,11921,0.77,194.6,354.1,14.7,1142,11924,0.00,1.60,0.00,0.000,4,0.000,0.051,3001,3182,2025
$GC,11979,0.77,194.6,345.3,15.3,1147,11986,0.00,1.55,0.00,0.000,6,0.000,0.033,3006,2273,2025
$GC,12297,0.77,194.6,297.7,14.5,1178,12300,0.00,1.60,0.00,0.000,4,0.000,0.051,3006,3165,2025
$GC,12323,0.77,194.6,293.4,16.0,1180,12331,0.00,1.52,0.00,0.000,6,0.000,0.033,3014,2271,2025
$GC,12641,0.77,194.6,245.4,15.1,1211,12644,0.00,1.60,0.00,0.000,4,0.000,0.049,3013,3165,2026
$GC,12673,0.77,194.6,240.1,15.1,1214,12676,0.00,1.52,0.00,0.000,6,0.000,0.032,3021,2269,2025
$GC,12995,0.77,194.6,190.9,15.2,1245,12998,0.00,1.60,0.00,0.000,4,0.000,0.049,3022,3187,2026
$GC,13052,0.77,194.6,181.7,15.0,1250,13060,0.10,1.55,0.00,0.000,6,0.159,0.031,2999,2272,2025
$GC,13369,0.77,194.6,139.3,12.8,1281,13370,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2273,2026
$GC,13680,0.77,194.6,99.8,12.3,1311,13683,0.00,1.60,0.00,0.000,4,0.000,0.048,2996,3172,2027
$GC,13733,0.77,194.6,92.7,12.6,1316,13736,0.00,1.52,0.00,0.000,6,0.000,0.031,3002,2266,2027
$GC,13931,0.77,194.6,67.5,12.5,1335,13931,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2267,2028
$GC,14116,0.82,231.9,48.5,8.7,1353,14149,0.00,0.00,28.05,0.538,6,0.000,0.000,3002,2268,1893
$GC,14335,0.94,332.2,31.2,6.5,1374,14419,0.15,1.67,76.80,0.530,4,0.063,0.044,3071,3174,1483
$GC,14493,0.98,366.4,17.9,8.8,1388,14523,0.00,1.52,26.40,0.499,6,0.000,0.028,3079,2273,1345
$STATE,14677,end climb,SURFACE_DEPTH_REACHED
$STATE,14677,begin surface coast
$FINISH,0.8,0.998027
$STATE,14708,end surface coast,CONTROL_FINISHED_OK
$STATE,14708,begin surface
$SM_CCo,14723,106.15,0.490,0,0,494,575.22
$SM_GC,1.64,0.00,0.00,106.15,0.000,0.000,0.490,202,2398,494,-7.95,0.65,575.22
$IRIDIUM_FIX,2831.00,-8836.53,221099,040454
$TT8_MAMPS,0.051389
$HUMID,1403
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,22.70
$XPDR_PINGS,0
$24V_AH,22.6,55.181
$10V_AH,10.5,75.870
$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,20.350,82.550,458.075,106.150,0.000,28.633,28.945,184.465,3.750,0.000,0.000,13.214,0.000,9615.348,625.500,4345.952,582.914,33.352,1903.299,0.000,3874.436,0.000,28.353,0.000
$DEVICE_MAMPS,253.877,56.758,1234.870,490.113,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,961.857,1032.166,3164.161,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75785,1408
$CAP_FILE_SIZE,141998,0
$CFSIZE,260165632,226914304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.144,114.2,1
$GPS,280710,123900,2840.894,-8841.990,35,1.7,35,-0.2