version: 66.04
glider: 515
mission: 5
dive: 317
start: 7 28 110 12 45 47
data:
$ID,515
$MISSION,5
$DIVE,317
$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,-25298.361
$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,32
$R_STBD_OVSHOOT,42
$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
$GPS1,123900,2840.894,-8841.990,35,1.7,35,-0.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-70.7
$GPS2,124508,2840.938,-8841.959,10,1.7,10,-0.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.141,0.259
$KALMAN_X,93837.8,-779.6,103.9,-79917.5,1801.0
$KALMAN_Y,-504977.5,808.8,589.2,526865.4,-9651.4
$MHEAD_RNG_PITCHd_Wd,296.7,5632,-14.9,-10.000
$D_GRID,1150
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.77,-194.6,0.0,0.0,0,79,0.00,0.00,-62.55,0.000,2,0.000,0.000,203,2399,2224
$GC,82,-0.77,-194.6,3.1,-2.7,6,141,10.38,1.48,-40.75,0.000,4,0.255,0.064,2485,3270,3636
$GC,228,-0.77,-194.6,32.8,-25.8,19,231,0.00,1.45,0.00,0.000,6,0.000,0.028,2490,2354,3638
$GC,425,-0.77,-194.6,69.8,-16.8,38,428,0.00,1.20,0.00,0.000,4,0.000,0.034,2496,1493,3638
$GC,543,-0.77,-194.6,86.7,-13.7,49,546,0.00,1.23,0.00,0.000,6,0.000,0.035,2492,2352,3639
$GC,740,-0.77,-194.6,116.6,-15.3,68,742,0.00,1.23,0.00,0.000,4,0.000,0.033,2496,1486,3639
$GC,765,-0.77,-194.6,120.7,-15.6,70,772,0.00,1.30,0.00,0.000,6,0.000,0.035,2492,2393,3639
$GC,1083,-0.77,-194.6,167.2,-14.2,101,1086,0.00,1.27,0.00,0.000,4,0.000,0.034,2496,1493,3639
$GC,1261,-0.77,-194.6,190.6,-13.4,117,1267,0.00,1.25,0.00,0.000,6,0.000,0.035,2492,2367,3639
$GC,1578,-0.77,-194.6,233.8,-13.6,148,1581,0.00,1.25,0.00,0.000,4,0.000,0.035,2496,1485,3639
$GC,1657,-0.77,-194.6,244.8,-12.8,155,1664,0.00,1.27,0.00,0.000,6,0.000,0.035,2492,2374,3639
$GC,1975,-0.77,-194.6,288.2,-14.1,186,1978,0.00,1.25,0.00,0.000,4,0.000,0.035,2495,1488,3637
$GC,2086,-0.77,-194.6,303.6,-13.9,196,2093,0.00,1.27,0.00,0.000,6,0.000,0.036,2491,2374,3637
$GC,2404,-0.77,-194.6,347.6,-14.2,227,2407,0.00,1.25,0.00,0.000,4,0.000,0.035,2491,1492,3635
$GC,2522,-0.77,-194.6,364.4,-13.7,238,2524,0.00,1.27,0.00,0.000,6,0.000,0.038,2486,2373,3634
$GC,2845,-0.77,-194.6,410.0,-14.7,269,2848,0.00,1.25,0.00,0.000,4,0.000,0.036,2487,1491,3632
$GC,2955,-0.77,-194.6,426.0,-13.4,279,2963,0.00,1.27,0.00,0.000,6,0.000,0.037,2480,2373,3632
$GC,3274,-0.77,-194.6,470.1,-13.7,310,3277,0.00,1.27,0.00,0.000,4,0.000,0.037,2480,1481,3629
$GC,3402,-0.77,-194.6,487.9,-12.8,322,3405,0.00,1.30,0.00,0.000,6,0.000,0.040,2475,2376,3629
$GC,3726,-0.77,-194.6,531.7,-13.9,353,3729,0.00,1.27,0.00,0.000,4,0.000,0.038,2477,1489,3626
$GC,3844,-0.77,-194.6,547.7,-13.1,364,3846,0.00,1.30,0.00,0.000,6,0.000,0.041,2472,2378,3625
$GC,4167,-0.77,-194.6,591.8,-13.9,395,4170,0.00,1.27,0.00,0.000,4,0.000,0.040,2472,1496,3623
$GC,4339,-0.77,-194.6,615.7,-13.4,411,4342,0.08,1.27,0.00,0.000,6,0.164,0.042,2489,2361,3622
$GC,4660,-0.77,-194.6,655.5,-12.6,442,4663,0.00,1.25,0.00,0.000,4,0.000,0.041,2490,1501,3619
$GC,4703,-0.77,-194.6,660.7,-12.5,446,4706,0.00,1.30,0.00,0.000,6,0.000,0.044,2486,2382,3619
$GC,5026,-0.77,-194.6,701.2,-12.5,477,5030,0.00,1.30,0.00,0.000,4,0.000,0.042,2486,1494,3617
$GC,5080,-0.77,-194.6,708.1,-12.5,482,5083,0.00,1.30,0.00,0.000,6,0.000,0.043,2479,2376,3616
$GC,5403,-0.77,-194.6,747.9,-12.2,513,5406,0.00,1.27,0.00,0.000,4,0.000,0.042,2480,1502,3614
$GC,5525,-0.77,-194.6,763.0,-11.9,524,5533,0.00,1.30,0.00,0.000,6,0.000,0.044,2474,2376,3614
$GC,5844,-0.77,-194.6,803.3,-12.7,555,5847,0.00,1.27,0.00,0.000,4,0.000,0.042,2474,1505,3612
$GC,5933,-0.77,-194.6,815.3,-12.9,563,5941,0.00,1.30,0.00,0.000,6,0.000,0.044,2468,2376,3610
$GC,6252,-0.77,-194.6,856.9,-13.6,594,6256,0.12,1.30,0.00,0.000,4,0.173,0.041,2498,1496,3609
$GC,6395,-0.77,-194.6,873.7,-11.6,607,6402,0.00,1.30,0.00,0.000,6,0.000,0.044,2494,2369,3608
$GC,6713,-0.77,-194.6,909.4,-10.9,638,6717,0.00,1.27,0.00,0.000,4,0.000,0.044,2494,1504,3607
$GC,6798,-0.77,-194.6,919.1,-11.4,646,6801,0.00,1.30,0.00,0.000,6,0.000,0.045,2489,2377,3606
$GC,7120,-0.77,-194.6,955.3,-11.6,677,7123,0.00,1.30,0.00,0.000,4,0.000,0.044,2489,1495,3604
$GC,7312,-0.77,-194.6,976.5,-11.3,695,7315,0.00,1.30,0.00,0.000,6,0.000,0.046,2483,2366,3603
$STATE,7436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7436,begin apogee
$GC,7442,-0.25,0.0,990.5,11.6,707,7601,0.57,0.00,156.20,1.235,6,0.145,0.000,2657,2291,2840
$STATE,7601,end apogee,CONTROL_FINISHED_OK
$STATE,7601,begin climb
$GC,7603,0.77,194.6,996.4,0.0,723,7784,1.05,1.73,170.23,1.205,4,0.100,0.056,2989,3151,2045
$GC,7827,0.77,194.6,972.0,16.0,742,7830,0.00,1.58,0.00,0.000,6,0.000,0.035,2996,2281,2040
$GC,8150,0.77,194.6,920.6,15.8,773,8153,0.00,1.25,0.00,0.000,4,0.000,0.041,3002,1369,2035
$GC,8193,0.77,194.6,913.8,15.7,777,8196,0.00,1.25,0.00,0.000,6,0.000,0.044,3002,2268,2035
$GC,8515,0.77,194.6,863.0,15.7,808,8518,0.00,1.60,0.00,0.000,4,0.000,0.054,3002,3184,2034
$GC,8558,0.77,194.6,855.7,16.4,812,8561,0.00,1.55,0.00,0.000,6,0.000,0.036,3010,2275,2032
$GC,8881,0.77,194.6,802.6,16.6,843,8884,0.00,1.62,0.00,0.000,4,0.000,0.054,3010,3180,2032
$GC,8917,0.77,194.6,795.9,18.2,846,8924,0.00,1.55,0.00,0.000,6,0.000,0.035,3017,2274,2030
$GC,9236,0.77,194.6,742.7,16.6,877,9239,0.00,1.60,0.00,0.000,4,0.000,0.054,3017,3185,2030
$GC,9289,0.77,194.6,732.8,17.5,882,9292,0.00,1.55,0.00,0.000,6,0.000,0.036,3024,2275,2030
$GC,9612,0.77,194.6,681.2,15.9,913,9615,0.00,1.23,0.00,0.000,4,0.000,0.042,3030,1366,2029
$GC,9676,0.77,194.6,670.6,15.4,919,9680,0.10,1.27,0.00,0.000,6,0.155,0.043,3000,2282,2029
$GC,9997,0.77,194.6,622.2,15.1,950,10000,0.00,1.58,0.00,0.000,4,0.000,0.054,3000,3171,2029
$GC,10034,0.77,194.6,616.4,16.5,953,10041,0.00,1.55,0.00,0.000,6,0.000,0.035,3006,2269,2028
$GC,10351,0.77,194.6,568.6,15.0,984,10352,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2271,2027
$GC,10661,0.77,194.6,521.6,15.1,1014,10664,0.00,1.62,0.00,0.000,4,0.000,0.053,3006,3172,2027
$GC,10725,0.77,194.6,511.5,15.2,1020,10727,0.00,1.55,0.00,0.000,6,0.000,0.035,3014,2267,2027
$GC,11048,0.77,194.6,462.2,15.3,1051,11050,0.00,1.60,0.00,0.000,4,0.000,0.052,3014,3173,2027
$GC,11094,0.77,194.6,454.6,15.4,1055,11101,0.00,1.55,0.00,0.000,6,0.000,0.034,3021,2268,2027
$GC,11413,0.77,194.6,405.1,15.8,1086,11416,0.00,1.62,0.00,0.000,4,0.000,0.051,3022,3189,2027
$GC,11471,0.77,194.6,395.0,16.4,1091,11478,0.10,1.55,0.00,0.000,6,0.160,0.034,2999,2278,2027
$GC,11787,0.77,194.6,350.8,14.4,1122,11790,0.00,1.60,0.00,0.000,4,0.000,0.051,2997,3167,2027
$GC,11819,0.77,194.6,346.1,15.0,1125,11822,0.00,1.52,0.00,0.000,6,0.000,0.034,3001,2274,2026
$GC,12142,0.77,194.6,297.9,15.2,1156,12145,0.00,1.60,0.00,0.000,4,0.000,0.050,3003,3169,2027
$GC,12195,0.77,194.6,289.3,16.1,1161,12198,0.00,1.52,0.00,0.000,6,0.000,0.033,3010,2270,2027
$GC,12516,0.77,194.6,240.2,15.8,1192,12519,0.00,1.60,0.00,0.000,4,0.000,0.050,3010,3163,2027
$GC,12569,0.77,194.6,231.7,15.2,1197,12572,0.00,1.50,0.00,0.000,6,0.000,0.032,3017,2275,2027
$GC,12890,0.77,194.6,183.3,14.6,1228,12893,0.00,1.60,0.00,0.000,4,0.000,0.049,3016,3197,2026
$GC,12969,0.77,194.6,171.1,14.3,1235,12976,0.00,1.55,0.00,0.000,6,0.000,0.031,3025,2274,2026
$GC,13288,0.77,194.6,123.9,15.2,1266,13291,0.00,1.60,0.00,0.000,4,0.000,0.048,3025,3173,2028
$GC,13313,0.77,194.6,119.5,15.8,1268,13321,0.10,1.52,0.00,0.000,6,0.153,0.031,3001,2272,2028
$GC,13630,0.77,194.6,80.0,13.3,1299,13633,0.00,1.60,0.00,0.000,4,0.000,0.047,3001,3195,2029
$GC,13698,0.77,194.6,71.2,12.9,1305,13705,0.00,1.55,0.00,0.000,6,0.000,0.028,3008,2270,2029
$GC,13890,0.77,194.6,49.2,10.2,1324,13891,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2271,2029
$GC,14078,0.90,298.6,33.6,6.4,1342,14162,0.00,0.00,78.40,0.535,6,0.000,0.000,3007,2271,1621
$GC,14349,1.07,437.0,20.1,5.2,1368,14458,0.20,1.67,102.65,0.512,4,0.051,0.044,3105,3173,1057
$STATE,14514,end climb,SURFACE_DEPTH_REACHED
$STATE,14514,begin surface coast
$FINISH,2.2,1.022152
$STATE,14521,end surface coast,CONTROL_FINISHED_OK
$STATE,14521,begin surface
$SM_CCo,14538,75.62,0.487,0,0,493,575.22
$SM_GC,1.64,0.00,0.00,75.62,0.000,0.000,0.487,204,2344,493,-7.95,-0.88,575.22
$IRIDIUM_FIX,2831.00,-8841.44,221099,080801
$TT8_MAMPS,0.051389
$HUMID,1425
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,22.60
$XPDR_PINGS,4
$24V_AH,22.6,55.345
$10V_AH,10.5,76.055
$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,20.975,98.650,507.475,75.625,0.000,30.610,24.445,189.495,4.750,0.000,0.000,12.588,0.000,9320.992,630.829,4387.479,617.340,33.355,1976.954,0.000,3913.821,0.000,28.360,0.000
$DEVICE_MAMPS,254.644,64.428,1234.870,487.045,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,943.759,1015.022,3108.436,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72569,1383
$CAP_FILE_SIZE,146817,0
$CFSIZE,260165632,226836480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.150,104.7,1
$GPS,280710,165006,2841.236,-8843.163,22,1.6,22,-0.2