version: 66.04
glider: 515
mission: 5
dive: 323
start: 7 29 110 16 30 12
data:
$ID,515
$MISSION,5
$DIVE,323
$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,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,-25414.045
$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,38
$R_STBD_OVSHOOT,26
$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
$GPS1,162107,2844.004,-8829.033,34,0.9,34,-0.4
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-68.2
$GPS2,162913,2843.995,-8828.905,9,0.9,15,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.092,0.204
$KALMAN_X,98120.9,277.3,-236.6,-63668.3,2301.1
$KALMAN_Y,-520250.0,-57.1,309.5,548951.4,-6094.3
$MHEAD_RNG_PITCHd_Wd,54.2,4775,-26.8,-7.500
$D_GRID,1400
$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,-1.01,-41.0,0.0,0.0,0,72,0.00,0.00,-58.08,0.000,2,0.000,0.000,193,2349,2151
$GC,75,-1.05,-71.8,3.3,-3.7,6,115,10.18,1.25,-25.80,0.000,4,0.258,0.058,2411,1476,3134
$GC,357,-1.05,-71.8,56.4,-12.1,32,360,0.00,1.30,0.00,0.000,6,0.000,0.033,2406,2389,3135
$GC,554,-1.05,-71.8,75.5,-8.6,51,557,0.00,1.30,0.00,0.000,4,0.000,0.032,2411,1462,3137
$GC,800,-1.05,-71.8,101.6,-10.9,74,802,0.00,1.27,0.00,0.000,6,0.000,0.033,2407,2362,3138
$GC,1123,-1.05,-71.8,138.9,-11.7,105,1126,0.00,1.25,0.00,0.000,4,0.000,0.032,2411,1470,3138
$GC,1369,-1.05,-71.8,166.9,-11.0,128,1372,0.00,1.30,0.00,0.000,6,0.000,0.033,2406,2387,3138
$GC,1692,-1.05,-71.8,201.9,-11.5,159,1695,0.00,1.30,0.00,0.000,4,0.000,0.033,2411,1464,3137
$GC,1938,-1.05,-71.8,229.6,-11.7,182,1941,0.00,1.27,0.00,0.000,6,0.000,0.035,2406,2361,3136
$GC,2260,-1.05,-71.8,266.2,-11.0,213,2264,0.00,1.25,0.00,0.000,4,0.000,0.036,2411,1476,3134
$GC,2506,-1.05,-71.8,293.7,-10.9,236,2509,0.00,1.30,0.00,0.000,6,0.000,0.036,2406,2384,3133
$GC,2829,-1.05,-71.8,331.4,-11.7,267,2832,0.00,1.30,0.00,0.000,4,0.000,0.038,2411,1471,3131
$GC,3074,-1.05,-71.8,358.5,-10.5,290,3077,0.00,1.30,0.00,0.000,6,0.000,0.036,2406,2379,3129
$GC,3397,-1.05,-71.8,393.9,-11.3,321,3400,0.00,1.30,0.00,0.000,4,0.000,0.038,2411,1469,3127
$GC,3643,-1.05,-71.8,421.3,-11.1,344,3645,0.00,1.30,0.00,0.000,6,0.000,0.038,2406,2373,3126
$GC,3966,-1.05,-71.8,457.7,-11.6,375,3969,0.00,1.27,0.00,0.000,4,0.000,0.038,2411,1484,3124
$GC,4211,-1.05,-71.8,485.9,-12.2,398,4214,0.00,1.27,0.00,0.000,6,0.000,0.038,2406,2367,3122
$GC,4534,-1.05,-71.8,522.7,-11.8,429,4537,0.00,1.27,0.00,0.000,4,0.000,0.040,2410,1482,3121
$GC,4781,-1.05,-71.8,549.5,-10.7,452,4784,0.00,1.30,0.00,0.000,6,0.000,0.039,2406,2376,3119
$GC,5103,-1.05,-71.8,583.7,-10.6,483,5107,0.00,1.30,0.00,0.000,4,0.000,0.040,2408,1477,3116
$GC,5349,-1.05,-71.8,609.4,-9.9,506,5352,0.00,1.30,0.00,0.000,6,0.000,0.041,2404,2370,3115
$GC,5672,-1.05,-71.8,640.9,-9.9,537,5675,0.00,1.30,0.00,0.000,4,0.000,0.041,2404,1474,3112
$GC,5917,-1.05,-71.8,665.8,-10.1,560,5920,0.00,1.33,0.00,0.000,6,0.000,0.041,2399,2378,3112
$GC,6240,-1.05,-71.8,698.9,-10.1,591,6244,0.00,1.30,0.00,0.000,4,0.000,0.041,2399,1482,3109
$GC,6486,-1.05,-71.8,724.1,-10.7,614,6489,0.00,1.30,0.00,0.000,6,0.000,0.041,2393,2365,3108
$GC,6809,-1.05,-71.8,757.1,-10.6,645,6813,0.00,1.30,0.00,0.000,4,0.000,0.042,2397,1477,3106
$GC,7056,-1.05,-71.8,782.7,-10.8,668,7058,0.00,1.33,0.00,0.000,6,0.000,0.043,2393,2379,3105
$GC,7379,-1.05,-71.8,815.0,-9.9,699,7382,0.00,1.30,0.00,0.000,4,0.000,0.042,2396,1489,3103
$GC,7625,-1.05,-71.8,839.3,-10.0,722,7628,0.00,1.30,0.00,0.000,6,0.000,0.043,2391,2365,3102
$GC,7946,-1.05,-71.8,871.1,-9.9,753,7949,0.00,1.30,0.00,0.000,4,0.000,0.044,2391,1482,3100
$GC,8191,-1.05,-71.8,895.1,-9.8,776,8194,0.00,1.35,0.00,0.000,6,0.000,0.044,2385,2390,3099
$GC,8513,-1.05,-71.8,924.8,-8.7,807,8516,0.00,1.35,0.00,0.000,4,0.000,0.044,2388,1475,3098
$GC,8675,-1.05,-71.8,939.3,-9.0,822,8679,0.00,1.30,0.00,0.000,6,0.000,0.044,2384,2355,3098
$GC,8996,-1.05,-71.8,969.2,-9.7,853,8999,0.00,1.27,0.00,0.000,4,0.000,0.044,2388,1492,3097
$GC,9075,-1.05,-71.8,976.7,-9.7,860,9082,0.00,1.33,0.00,0.000,6,0.000,0.044,2384,2383,3096
$STATE,9225,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9225,begin apogee
$GC,9231,-0.25,0.0,990.5,9.5,875,9288,1.02,0.00,54.42,1.222,6,0.189,0.000,2656,2272,2840
$STATE,9289,end apogee,CONTROL_FINISHED_OK
$STATE,9289,begin climb
$GC,9291,1.05,71.8,992.6,0.0,881,9360,1.30,0.00,63.40,1.215,6,0.102,0.000,3078,2272,2547
$GC,9668,1.05,71.8,945.1,14.1,918,9670,0.00,1.62,0.00,0.000,4,0.000,0.054,3075,3177,2539
$GC,9779,1.05,71.8,927.8,15.7,928,9786,0.00,1.55,0.00,0.000,6,0.000,0.035,3082,2273,2538
$GC,10097,1.05,71.8,882.4,13.8,959,10100,0.00,1.60,0.00,0.000,4,0.000,0.054,3079,3159,2536
$GC,10161,1.05,71.8,872.8,14.3,965,10165,0.00,1.52,0.00,0.000,6,0.000,0.035,3086,2270,2536
$GC,10484,1.05,71.8,825.9,14.8,996,10487,0.00,1.60,0.00,0.000,4,0.000,0.053,3084,3157,2536
$GC,10617,1.05,71.8,805.5,15.5,1008,10623,0.00,1.52,0.00,0.000,6,0.000,0.035,3091,2268,2535
$GC,10935,1.05,71.8,760.5,14.2,1039,10937,0.00,1.60,0.00,0.000,4,0.000,0.053,3091,3156,2534
$GC,10978,1.05,71.8,754.0,15.5,1043,10981,0.00,1.52,0.00,0.000,6,0.000,0.035,3099,2268,2534
$GC,11301,1.05,71.8,708.2,14.0,1074,11301,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2269,2534
$GC,11611,1.05,71.8,666.0,14.2,1104,11613,0.00,1.60,0.00,0.000,4,0.000,0.052,3099,3170,2533
$GC,11679,1.05,71.8,656.0,12.6,1110,11686,0.00,1.52,0.00,0.000,6,0.000,0.035,3106,2274,2532
$GC,11997,1.05,71.8,613.0,13.5,1141,12000,0.00,1.60,0.00,0.000,4,0.000,0.052,3100,3162,2532
$GC,12055,1.05,71.8,604.6,13.3,1146,12062,0.00,1.52,0.00,0.000,6,0.000,0.035,3107,2273,2532
$GC,12373,1.05,71.8,563.1,13.0,1177,12376,0.00,1.20,0.00,0.000,4,0.000,0.041,3113,1376,2531
$GC,12410,1.05,71.8,558.1,12.3,1180,12417,0.00,1.23,0.00,0.000,6,0.000,0.043,3108,2269,2531
$GC,12727,1.05,71.8,517.4,12.8,1211,12730,0.00,1.60,0.00,0.000,4,0.000,0.052,3101,3186,2531
$GC,12817,1.05,71.8,504.7,13.7,1219,12825,0.00,1.55,0.00,0.000,6,0.000,0.034,3107,2272,2531
$GC,13135,1.05,71.8,463.0,13.2,1250,13139,0.00,1.60,0.00,0.000,4,0.000,0.051,3101,3163,2530
$GC,13242,1.05,71.8,448.4,12.6,1260,13245,0.00,1.52,0.00,0.000,6,0.000,0.035,3107,2268,2530
$GC,13563,1.05,71.8,406.8,12.5,1291,13566,0.00,1.60,0.00,0.000,4,0.000,0.051,3101,3178,2531
$GC,13691,1.05,71.8,390.0,13.7,1303,13694,0.00,1.55,0.00,0.000,6,0.000,0.034,3108,2268,2530
$GC,14012,1.05,71.8,347.5,13.4,1334,14015,0.00,1.62,0.00,0.000,4,0.000,0.051,3101,3191,2530
$GC,14236,1.05,71.8,316.0,14.1,1355,14239,0.00,1.55,0.00,0.000,6,0.000,0.034,3108,2273,2530
$GC,14557,1.05,71.8,275.1,11.9,1386,14560,0.00,1.60,0.00,0.000,4,0.000,0.050,3102,3165,2531
$GC,14701,1.05,71.8,257.5,11.1,1399,14708,0.00,1.52,0.00,0.000,6,0.000,0.032,3109,2269,2531
$GC,15018,1.05,71.8,219.9,11.7,1430,15021,0.00,1.60,0.00,0.000,4,0.000,0.049,3107,3165,2532
$GC,15264,1.05,71.8,187.5,12.3,1453,15267,0.08,1.50,0.00,0.000,6,0.199,0.031,3084,2274,2533
$GC,15585,1.05,71.8,147.9,11.7,1484,15588,0.00,1.60,0.00,0.000,4,0.000,0.048,3079,3175,2533
$GC,15654,1.05,71.8,139.5,12.3,1490,15660,0.00,1.52,0.00,0.000,6,0.000,0.030,3085,2268,2533
$GC,15971,1.05,71.8,107.4,10.2,1521,15972,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2269,2534
$GC,16281,1.05,71.8,76.7,9.0,1551,16284,0.00,1.60,0.00,0.000,4,0.000,0.047,3084,3166,2534
$GC,16528,1.05,79.1,57.3,6.6,1574,16539,0.00,1.50,5.47,0.427,6,0.000,0.029,3092,2269,2518
$GC,16725,1.08,102.7,46.1,4.6,1593,16748,0.00,1.65,20.33,0.525,4,0.000,0.045,3092,3176,2421
$GC,16845,1.10,117.0,39.8,5.7,1604,16860,0.00,1.50,12.43,0.498,6,0.000,0.028,3099,2273,2361
$GC,17050,1.16,167.6,32.3,1.3,1623,17098,0.00,1.62,39.72,0.523,4,0.000,0.044,3099,3172,2155
$GC,17338,1.21,205.6,20.0,2.8,1649,17370,0.00,1.50,29.45,0.499,6,0.000,0.027,3107,2270,2000
$GC,17553,1.25,237.0,10.9,3.6,1670,17581,0.12,1.58,24.65,0.481,4,0.071,0.042,3160,3174,1872
$GC,17813,1.33,301.8,3.6,-0.4,1694,17864,0.00,1.50,47.62,0.478,6,0.000,0.026,3168,2266,1608
$STATE,17870,end climb,SURFACE_DEPTH_REACHED
$STATE,17870,begin surface coast
$FINISH,0.8,1.004832
$STATE,18036,end surface coast,CONTROL_FINISHED_OK
$STATE,18036,begin surface
$SM_CCo,18052,149.15,0.470,0,0,493,575.22
$SM_GC,1.81,0.00,0.00,149.15,0.000,0.000,0.470,194,2398,493,-7.98,0.62,575.22
$IRIDIUM_FIX,2833.46,-8831.56,231099,101052
$TT8_MAMPS,0.050622
$HUMID,1355
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,25.80
$XPDR_PINGS,2
$24V_AH,23.3,56.274
$10V_AH,10.6,77.311
$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,20.700,100.200,297.500,149.150,0.000,27.908,41.452,272.964,4.250,0.000,0.000,18.296,0.000,11564.917,520.804,5765.448,821.440,33.335,2200.375,0.000,5188.153,0.000,28.361,0.000
$DEVICE_MAMPS,257.712,58.292,1221.831,470.171,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1173.911,1272.473,3854.953,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91417,1715
$CAP_FILE_SIZE,179215,0
$CFSIZE,260165632,226291712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.099,149.1,1
$GPS,290710,213436,2844.332,-8828.145,39,1.0,39,-0.4