version: 66.04
glider: 515
mission: 5
dive: 241
start: 7 11 110 15 14 52
data:
$ID,515
$MISSION,5
$DIVE,241
$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,8
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-17857.273
$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,41
$R_STBD_OVSHOOT,22
$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
$GPS1,150725,2843.373,-8827.357,39,1.5,39,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-71.7
$GPS2,151355,2843.317,-8827.355,10,1.3,15,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.039,0.262
$KALMAN_X,-52080.4,26.5,8.9,89051.5,926.2
$KALMAN_Y,-277929.3,113.3,263.3,305256.9,-8191.2
$MHEAD_RNG_PITCHd_Wd,32.0,2263,-26.8,-7.500
$D_GRID,1412
$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,-57.85,0.000,2,0.000,0.000,207,2352,2188
$GC,74,-1.05,-77.9,3.1,-3.0,6,116,9.80,0.00,-30.50,0.000,6,0.252,0.000,2404,2352,3158
$GC,300,-1.05,-77.9,42.9,-16.7,28,303,0.00,1.52,0.00,0.000,4,0.000,0.040,2398,3269,3160
$GC,379,-1.05,-77.9,55.1,-16.1,35,386,0.00,1.48,0.00,0.000,6,0.000,0.025,2404,2352,3160
$GC,572,-1.05,-77.9,78.7,-10.4,54,574,0.00,1.52,0.00,0.000,4,0.000,0.040,2398,3267,3160
$GC,651,-1.05,-77.9,87.0,-11.2,61,658,0.00,1.42,0.00,0.000,6,0.000,0.025,2404,2361,3161
$GC,843,-1.05,-77.9,108.7,-12.0,80,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2360,3161
$GC,1153,-1.05,-77.9,147.4,-12.0,110,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2361,3162
$GC,1464,-1.05,-77.9,185.4,-11.9,140,1465,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2360,3161
$GC,1774,-1.05,-77.9,222.1,-12.0,170,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2360,3160
$GC,2085,-1.05,-77.9,259.0,-12.2,200,2085,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2360,3159
$GC,2395,-1.05,-77.9,296.2,-12.0,230,2395,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2360,3157
$GC,2706,-1.05,-77.9,331.2,-11.4,260,2709,0.00,1.52,0.00,0.000,4,0.000,0.045,2398,3269,3155
$GC,2774,-1.05,-77.9,339.3,-11.8,266,2781,0.00,1.45,0.00,0.000,6,0.000,0.028,2403,2363,3155
$GC,3092,-1.05,-77.9,375.2,-11.4,297,3095,0.00,1.23,0.00,0.000,4,0.000,0.040,2403,1503,3153
$GC,3188,-1.05,-77.9,386.5,-11.7,306,3191,0.00,1.27,0.00,0.000,6,0.000,0.038,2399,2382,3153
$GC,3511,-1.05,-77.9,423.8,-11.8,337,3513,0.00,1.27,0.00,0.000,4,0.000,0.039,2402,1503,3150
$GC,3578,-1.05,-77.9,431.8,-11.2,343,3586,0.00,1.27,0.00,0.000,6,0.000,0.038,2398,2366,3150
$GC,3896,-1.05,-77.9,467.9,-11.8,374,3899,0.00,1.25,0.00,0.000,4,0.000,0.040,2401,1507,3148
$GC,3982,-1.05,-77.9,477.6,-10.9,382,3985,0.00,1.27,0.00,0.000,6,0.000,0.039,2396,2379,3147
$GC,4304,-1.05,-77.9,515.2,-11.7,413,4307,0.00,1.27,0.00,0.000,4,0.000,0.041,2401,1507,3144
$GC,4404,-1.05,-77.9,526.8,-11.3,422,4411,0.00,1.27,0.00,0.000,6,0.000,0.039,2397,2375,3144
$GC,4721,-1.05,-77.9,563.8,-12.0,453,4725,0.00,1.27,0.00,0.000,4,0.000,0.041,2400,1508,3142
$GC,4850,-1.05,-77.9,578.2,-10.8,465,4852,0.00,1.27,0.00,0.000,6,0.000,0.041,2396,2376,3141
$GC,5172,-1.05,-77.9,614.5,-10.7,496,5172,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2377,3139
$GC,5481,-1.05,-77.9,648.6,-11.2,526,5484,0.00,1.30,0.00,0.000,4,0.000,0.044,2400,1494,3137
$GC,5602,-1.05,-77.9,662.1,-10.5,537,5610,0.00,1.33,0.00,0.000,6,0.000,0.041,2396,2380,3136
$GC,5920,-1.05,-77.9,696.6,-11.4,568,5921,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2380,3133
$GC,6230,-1.05,-77.9,730.0,-10.3,598,6233,0.00,1.30,0.00,0.000,4,0.000,0.044,2398,1501,3132
$GC,6272,-1.05,-77.9,734.7,-10.2,602,6275,0.00,1.27,0.00,0.000,6,0.000,0.043,2393,2363,3130
$GC,6595,-1.05,-77.9,770.2,-10.8,633,6598,0.00,1.27,0.00,0.000,4,0.000,0.044,2396,1496,3130
$GC,6695,-1.05,-77.9,781.0,-10.0,642,6703,0.00,1.35,0.00,0.000,6,0.000,0.043,2391,2390,3129
$GC,7014,-1.05,-77.9,816.2,-11.2,673,7017,0.00,1.33,0.00,0.000,4,0.000,0.044,2394,1496,3128
$GC,7252,-1.05,-77.9,841.7,-10.3,695,7260,0.00,1.33,0.00,0.000,6,0.000,0.044,2389,2373,3126
$GC,7569,-1.05,-77.9,874.5,-10.7,726,7572,0.00,1.27,0.00,0.000,4,0.000,0.045,2389,1512,3124
$GC,7691,-1.05,-77.9,886.9,-9.7,737,7698,0.00,1.33,0.00,0.000,6,0.000,0.044,2385,2386,3124
$GC,8007,-1.05,-77.9,919.2,-10.5,768,8011,0.00,1.30,0.00,0.000,4,0.000,0.044,2389,1509,3123
$GC,8253,-1.05,-77.9,944.6,-11.1,791,8257,0.00,1.27,0.00,0.000,6,0.000,0.045,2385,2363,3122
$GC,8574,-1.05,-77.9,977.3,-10.5,822,8577,0.00,1.55,0.00,0.000,4,0.000,0.055,2377,3259,3121
$GC,8632,-1.05,-77.9,983.7,-10.9,827,8639,0.08,1.45,0.00,0.000,6,0.216,0.036,2397,2381,3120
$STATE,8699,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8699,begin apogee
$GC,8703,-0.25,0.0,990.6,10.1,834,8764,1.00,0.00,57.88,1.226,6,0.186,0.000,2662,2284,2840
$STATE,8764,end apogee,CONTROL_FINISHED_OK
$STATE,8764,begin climb
$GC,8766,1.05,77.9,993.1,0.0,840,8842,1.27,0.00,67.60,1.216,6,0.105,0.000,3073,2285,2521
$GC,9151,1.05,77.9,941.6,15.0,878,9154,0.00,1.65,0.00,0.000,4,0.000,0.057,3072,3176,2513
$GC,9183,1.05,77.9,936.7,15.9,881,9186,0.00,1.58,0.00,0.000,6,0.000,0.036,3080,2282,2512
$GC,9505,1.05,77.9,888.9,14.7,912,9508,0.00,1.23,0.00,0.000,4,0.000,0.044,3085,1361,2511
$GC,9569,1.05,77.9,879.0,15.2,918,9572,0.00,1.25,0.00,0.000,6,0.000,0.044,3085,2278,2510
$GC,9891,1.05,77.9,830.3,14.9,949,9892,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2279,2508
$GC,10200,1.05,77.9,785.8,14.6,979,10203,0.00,1.23,0.00,0.000,4,0.000,0.042,3091,1371,2507
$GC,10258,1.05,77.9,777.0,15.4,984,10266,0.00,1.23,0.00,0.000,6,0.000,0.044,3091,2276,2507
$GC,10576,1.05,77.9,732.6,13.9,1015,10576,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2277,2507
$GC,10885,1.05,77.9,688.4,13.6,1045,10885,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2276,2506
$GC,11195,1.05,77.9,644.1,14.0,1075,11198,0.00,1.60,0.00,0.000,4,0.000,0.054,3091,3169,2506
$GC,11263,1.05,77.9,633.6,15.7,1081,11270,0.00,1.58,0.00,0.000,6,0.000,0.035,3098,2273,2505
$GC,11582,1.05,77.9,587.9,13.8,1112,11582,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2274,2505
$GC,11890,1.05,77.9,544.4,14.3,1142,11891,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2274,2505
$GC,12201,1.05,77.9,501.4,13.8,1172,12202,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2273,2504
$GC,12511,1.05,77.9,457.7,14.2,1202,12512,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2273,2503
$GC,12822,1.05,77.9,414.4,14.0,1232,12822,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2273,2504
$GC,13132,1.05,77.9,371.3,13.7,1262,13132,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2273,2504
$GC,13443,1.05,77.9,328.9,13.2,1292,13444,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2273,2504
$GC,13752,1.05,77.9,287.4,13.0,1322,13755,0.00,1.65,0.00,0.000,4,0.000,0.051,3093,3169,2504
$GC,13806,1.05,77.9,279.8,14.7,1327,13809,0.00,1.58,0.00,0.000,6,0.000,0.035,3100,2269,2504
$GC,14126,1.05,77.9,236.2,13.7,1358,14130,0.00,1.65,0.00,0.000,4,0.000,0.051,3094,3166,2504
$GC,14238,1.05,77.9,219.9,14.7,1368,14246,0.00,1.55,0.00,0.000,6,0.000,0.033,3101,2276,2505
$GC,14556,1.05,77.9,177.5,13.2,1399,14558,0.00,1.62,0.00,0.000,4,0.000,0.049,3099,3188,2506
$GC,14598,1.05,77.9,171.5,13.9,1403,14601,0.00,1.58,0.00,0.000,6,0.000,0.032,3107,2274,2506
$GC,14920,1.05,77.9,129.3,12.6,1434,14921,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2275,2506
$GC,15229,1.05,77.9,92.2,11.6,1464,15232,0.00,1.60,0.00,0.000,4,0.000,0.047,3100,3176,2507
$GC,15474,1.05,77.9,64.7,9.7,1487,15478,0.00,1.55,0.00,0.000,6,0.000,0.030,3107,2270,2508
$GC,15672,1.08,101.8,51.4,4.6,1506,15694,0.00,1.12,17.77,0.532,4,0.000,0.035,3113,1360,2423
$GC,15752,1.08,101.8,46.5,8.0,1513,15759,0.00,1.23,0.00,0.000,6,0.000,0.037,3113,2280,2422
$GC,15944,1.12,131.0,34.7,3.9,1532,15969,0.00,0.00,23.25,0.522,6,0.000,0.000,3113,2281,2304
$GC,16151,1.20,198.5,28.0,-0.8,1552,16205,0.00,1.25,51.28,0.522,4,0.000,0.034,3118,1365,2029
$GC,16445,1.20,201.0,6.8,7.2,1578,16452,0.00,1.20,0.00,0.000,6,0.000,0.035,3118,2278,2024
$STATE,16501,end climb,SURFACE_DEPTH_REACHED
$STATE,16501,begin surface coast
$FINISH,3.9,1.019480
$STATE,16542,end surface coast,CONTROL_FINISHED_OK
$STATE,16542,begin surface
$SM_CCo,16545,258.83,0.489,0,0,403,597.54
$SM_GC,1.97,7.93,0.00,0.00,0.040,0.000,0.000,194,2392,401,-7.92,0.48,598.52
$IRIDIUM_FIX,2831.00,-8831.62,051099,090903
$TT8_MAMPS,0.050622
$HUMID,1341
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,23.60
$XPDR_PINGS,2
$24V_AH,23.7,42.098
$10V_AH,10.6,58.476
$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,20.075,69.575,217.775,258.825,0.000,25.785,26.943,210.561,4.250,0.000,0.000,17.020,0.000,11233.609,609.404,4859.707,582.869,33.337,1946.258,0.000,4344.699,0.000,29.816,0.000
$DEVICE_MAMPS,251.576,61.360,1226.433,488.579,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1086.865,1168.250,3569.384,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85373,1588
$CAP_FILE_SIZE,152223,0
$CFSIZE,260165632,233668608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068,161.0,1
$GPS,110710,195736,2844.064,-8826.253,34,1.6,34,-0.4