version: 66.04
glider: 515
mission: 5
dive: 319
start: 7 28 110 21 9 5
data:
$ID,515
$MISSION,5
$DIVE,319
$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,-25349.242
$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,30
$R_STBD_OVSHOOT,35
$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
$GPS1,210206,2841.526,-8844.410,37,0.9,37,-0.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-68.7
$GPS2,210826,2841.536,-8844.434,15,1.0,15,-0.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.264,0.132
$KALMAN_X,93667.7,602.3,-838.4,-84215.8,1556.8
$KALMAN_Y,-514104.9,1190.8,374.9,536933.6,-10396.7
$MHEAD_RNG_PITCHd_Wd,75.2,30180,-14.9,-10.000
$D_GRID,1178
$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,-194.6,0.0,0.0,0,79,0.00,0.00,-62.17,0.000,2,0.000,0.000,201,2394,2216
$GC,81,-0.77,-194.6,3.1,-3.0,6,136,10.25,0.00,-40.90,0.000,6,0.249,0.000,2492,2394,3636
$GC,320,-0.77,-194.6,49.6,-17.2,29,323,0.00,1.33,0.00,0.000,4,0.000,0.035,2498,1462,3638
$GC,388,-0.77,-194.6,60.8,-14.7,35,395,0.00,1.30,0.00,0.000,6,0.000,0.035,2494,2365,3639
$GC,580,-0.77,-194.6,89.5,-15.2,54,583,0.00,1.27,0.00,0.000,4,0.000,0.033,2497,1468,3639
$GC,634,-0.77,-194.6,97.7,-14.8,59,637,0.00,1.30,0.00,0.000,6,0.000,0.035,2493,2379,3639
$GC,831,-0.77,-194.6,128.3,-15.7,78,834,0.00,1.30,0.00,0.000,4,0.000,0.033,2497,1460,3640
$GC,867,-0.77,-194.6,133.8,-14.2,81,874,0.00,1.30,0.00,0.000,6,0.000,0.035,2493,2367,3640
$GC,1185,-0.77,-194.6,179.4,-13.9,112,1188,0.00,1.27,0.00,0.000,4,0.000,0.034,2496,1466,3640
$GC,1286,-0.77,-194.6,193.6,-12.8,121,1293,0.00,1.30,0.00,0.000,6,0.000,0.035,2492,2378,3640
$GC,1604,-0.77,-194.6,236.8,-14.6,152,1607,0.00,1.27,0.00,0.000,4,0.000,0.034,2495,1475,3640
$GC,1700,-0.77,-194.6,250.6,-13.6,161,1703,0.00,1.27,0.00,0.000,6,0.000,0.036,2491,2366,3640
$GC,2023,-0.77,-194.6,296.0,-14.1,192,2026,0.00,1.27,0.00,0.000,4,0.000,0.035,2493,1466,3638
$GC,2076,-0.77,-194.6,303.5,-13.8,197,2079,0.00,1.30,0.00,0.000,6,0.000,0.036,2488,2376,3638
$GC,2399,-0.77,-194.6,346.9,-13.4,228,2402,0.00,1.30,0.00,0.000,4,0.000,0.035,2489,1461,3636
$GC,2463,-0.77,-194.6,355.5,-12.9,234,2466,0.00,1.30,0.00,0.000,6,0.000,0.038,2484,2360,3635
$GC,2786,-0.77,-194.6,400.2,-14.3,265,2789,0.00,1.27,0.00,0.000,4,0.000,0.037,2485,1466,3633
$GC,2903,-0.77,-194.6,417.0,-13.7,276,2906,0.00,1.33,0.00,0.000,6,0.000,0.038,2480,2383,3632
$GC,3227,-0.77,-194.6,462.0,-14.2,307,3229,0.00,1.30,0.00,0.000,4,0.000,0.037,2480,1475,3630
$GC,3370,-0.77,-194.6,482.5,-13.9,320,3377,0.00,1.30,0.00,0.000,6,0.000,0.038,2474,2369,3629
$GC,3688,-0.77,-194.6,527.3,-13.8,351,3692,0.00,1.30,0.00,0.000,4,0.000,0.038,2474,1467,3627
$GC,3778,-0.77,-194.6,540.3,-14.0,359,3785,0.00,1.33,0.00,0.000,6,0.000,0.040,2468,2372,3626
$GC,4097,-0.77,-194.6,585.0,-14.2,390,4100,0.12,1.30,0.00,0.000,4,0.174,0.038,2499,1479,3624
$GC,4225,-0.77,-194.6,600.3,-11.1,402,4228,0.00,1.33,0.00,0.000,6,0.000,0.043,2494,2380,3623
$GC,4548,-0.77,-194.6,637.0,-10.9,433,4551,0.00,1.33,0.00,0.000,4,0.000,0.041,2494,1468,3620
$GC,4654,-0.77,-194.6,649.4,-11.2,443,4657,0.00,1.33,0.00,0.000,6,0.000,0.043,2488,2369,3620
$GC,4978,-0.77,-194.6,686.9,-12.3,474,4979,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2369,3617
$GC,5286,-0.77,-194.6,724.6,-11.9,504,5289,0.00,1.30,0.00,0.000,4,0.000,0.043,2488,1481,3616
$GC,5350,-0.77,-194.6,732.4,-12.1,510,5353,0.00,1.33,0.00,0.000,6,0.000,0.044,2482,2378,3615
$GC,5674,-0.77,-194.6,771.4,-12.2,541,5676,0.00,1.33,0.00,0.000,4,0.000,0.042,2482,1472,3614
$GC,5727,-0.77,-194.6,778.0,-11.2,546,5730,0.00,1.33,0.00,0.000,6,0.000,0.044,2476,2369,3613
$GC,6050,-0.77,-194.6,816.9,-12.1,577,6053,0.00,1.30,0.00,0.000,4,0.000,0.043,2476,1481,3611
$GC,6129,-0.77,-194.6,827.1,-12.2,584,6136,0.00,1.33,0.00,0.000,6,0.000,0.044,2472,2372,3610
$GC,6445,-0.77,-194.6,866.6,-12.8,615,6449,0.00,1.33,0.00,0.000,4,0.000,0.043,2471,1471,3607
$GC,6531,-0.77,-194.6,877.6,-12.6,623,6535,0.08,1.35,0.00,0.000,6,0.169,0.045,2488,2379,3607
$GC,6853,-0.77,-194.6,914.7,-11.9,654,6856,0.00,1.33,0.00,0.000,4,0.000,0.043,2489,1478,3605
$GC,6896,-0.77,-194.6,919.4,-11.0,658,6903,0.00,1.33,0.00,0.000,6,0.000,0.045,2485,2368,3605
$GC,7219,-0.77,-194.6,956.1,-11.6,689,7222,0.00,1.33,0.00,0.000,4,0.000,0.044,2485,1469,3603
$GC,7305,-0.77,-194.6,966.1,-11.9,697,7308,0.00,1.35,0.00,0.000,6,0.000,0.046,2479,2377,3603
$STATE,7500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7500,begin apogee
$GC,7506,-0.25,0.0,990.3,12.2,716,7665,0.62,0.00,156.23,1.233,6,0.143,0.000,2663,2268,2840
$STATE,7665,end apogee,CONTROL_FINISHED_OK
$STATE,7665,begin climb
$GC,7668,0.77,194.6,996.4,0.0,732,7845,1.02,1.35,170.77,1.203,4,0.097,0.041,2993,1373,2046
$GC,7872,0.77,194.6,977.5,14.7,750,7880,0.00,1.30,0.00,0.000,6,0.000,0.041,2993,2258,2042
$GC,8191,0.77,194.6,929.0,15.5,781,8194,0.00,1.67,0.00,0.000,4,0.000,0.053,2993,3178,2036
$GC,8266,0.77,194.6,916.3,16.5,788,8269,0.00,1.55,0.00,0.000,6,0.000,0.036,3000,2274,2034
$GC,8589,0.77,194.6,864.8,15.6,819,8592,0.00,1.62,0.00,0.000,4,0.000,0.054,3000,3177,2032
$GC,8631,0.77,194.6,857.5,16.7,823,8634,0.00,1.55,0.00,0.000,6,0.000,0.035,3008,2271,2032
$GC,8954,0.77,194.6,805.7,16.3,854,8957,0.00,1.60,0.00,0.000,4,0.000,0.053,3008,3179,2032
$GC,9018,0.77,194.6,794.7,16.9,860,9021,0.00,1.55,0.00,0.000,6,0.000,0.035,3016,2272,2030
$GC,9341,0.77,194.6,740.4,16.9,891,9341,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2273,2030
$GC,9650,0.77,194.6,688.7,16.7,921,9653,0.00,1.60,0.00,0.000,4,0.000,0.052,3016,3184,2029
$GC,9707,0.77,194.6,678.8,18.1,926,9715,0.00,1.55,0.00,0.000,6,0.000,0.035,3024,2276,2028
$GC,10026,0.77,194.6,625.8,16.7,957,10029,0.00,1.62,0.00,0.000,4,0.000,0.052,3023,3182,2028
$GC,10147,0.77,194.6,603.9,16.6,968,10155,0.10,1.55,0.00,0.000,6,0.166,0.035,3001,2276,2027
$GC,10464,0.77,194.6,557.9,14.9,999,10467,0.00,1.23,0.00,0.000,4,0.000,0.042,3006,1364,2027
$GC,10496,0.77,194.6,553.3,13.6,1002,10499,0.00,1.30,0.00,0.000,6,0.000,0.043,3006,2290,2027
$GC,10817,0.77,194.6,505.9,15.0,1033,10820,0.00,1.55,0.00,0.000,4,0.000,0.052,3006,3174,2027
$GC,10853,0.77,194.6,500.1,15.8,1036,10861,0.00,1.55,0.00,0.000,6,0.000,0.035,3013,2268,2026
$GC,11172,0.77,194.6,450.3,15.7,1067,11175,0.00,1.62,0.00,0.000,4,0.000,0.051,3013,3171,2027
$GC,11204,0.77,194.6,444.9,17.5,1070,11207,0.00,1.52,0.00,0.000,6,0.000,0.035,3021,2275,2026
$GC,11526,0.77,194.6,394.5,15.7,1101,11529,0.00,1.60,0.00,0.000,4,0.000,0.051,3021,3189,2026
$GC,11552,0.77,194.6,389.8,17.4,1103,11559,0.10,1.55,0.00,0.000,6,0.163,0.034,2998,2277,2026
$GC,11869,0.77,194.6,344.0,14.9,1134,11869,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2278,2026
$GC,12179,0.77,194.6,299.5,14.3,1164,12182,0.00,1.60,0.00,0.000,4,0.000,0.051,2997,3170,2026
$GC,12232,0.77,194.6,291.9,14.4,1169,12236,0.00,1.52,0.00,0.000,6,0.000,0.034,3003,2271,2026
$GC,12553,0.77,194.6,246.3,14.5,1200,12556,0.00,1.60,0.00,0.000,4,0.000,0.050,3003,3168,2026
$GC,12601,0.77,194.6,239.0,15.5,1204,12607,0.00,1.52,0.00,0.000,6,0.000,0.032,3010,2269,2026
$GC,12919,0.77,194.6,191.6,14.5,1235,12921,0.00,1.60,0.00,0.000,4,0.000,0.048,3010,3187,2026
$GC,12950,0.77,194.6,186.2,16.0,1238,12953,0.00,1.55,0.00,0.000,6,0.000,0.032,3018,2270,2026
$GC,13274,0.77,194.6,137.7,15.5,1269,13276,0.00,1.60,0.00,0.000,4,0.000,0.048,3018,3190,2027
$GC,13305,0.77,194.6,132.7,15.5,1272,13308,0.00,1.55,0.00,0.000,6,0.000,0.031,3026,2272,2027
$GC,13626,0.77,194.6,86.2,13.8,1303,13629,0.12,1.58,0.00,0.000,4,0.158,0.045,2993,3176,2028
$GC,13669,0.77,194.6,80.8,12.3,1307,13672,0.00,1.52,0.00,0.000,6,0.000,0.030,3000,2268,2028
$GC,13866,0.77,194.6,58.2,11.4,1326,13869,0.00,1.60,0.00,0.000,4,0.000,0.047,3000,3191,2028
$GC,13898,0.77,194.6,54.6,10.6,1329,13901,0.00,1.52,0.00,0.000,6,0.000,0.029,3007,2273,2028
$GC,14095,0.82,234.8,35.9,8.6,1348,14131,0.00,1.23,30.33,0.532,4,0.000,0.035,3012,1369,1881
$GC,14153,0.90,300.2,31.2,7.7,1353,14211,0.00,1.25,50.72,0.532,6,0.000,0.036,3013,2280,1614
$GC,14399,1.11,468.1,19.1,4.2,1376,14533,0.25,1.60,124.30,0.512,4,0.048,0.044,3124,3168,929
$STATE,14543,end climb,SURFACE_DEPTH_REACHED
$STATE,14544,begin surface coast
$FINISH,0.6,1.005336
$STATE,14563,end surface coast,CONTROL_FINISHED_OK
$STATE,14563,begin surface
$SM_CCo,14580,59.67,0.486,0,0,494,575.22
$SM_GC,1.71,0.00,0.00,59.67,0.000,0.000,0.486,201,2350,494,-7.96,-0.71,575.22
$IRIDIUM_FIX,2831.00,-8841.44,221099,171705
$TT8_MAMPS,0.052156
$HUMID,1438
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,22.40
$XPDR_PINGS,2
$24V_AH,22.6,55.672
$10V_AH,10.5,76.424
$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,20.675,102.000,532.350,59.675,0.000,30.577,34.770,185.818,4.250,0.000,0.000,17.121,0.000,9416.646,633.954,4336.132,607.027,33.345,1956.395,0.000,3849.738,0.000,28.354,0.000
$DEVICE_MAMPS,249.275,53.690,1233.336,485.511,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,949.080,1014.708,3126.481,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72478,1391
$CAP_FILE_SIZE,145792,0
$CFSIZE,260165632,226680832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.160, 97.5,1
$GPS,290710,011407,2842.331,-8840.587,39,0.9,39,-0.3