version: 66.04
glider: 515
mission: 5
dive: 307
start: 7 26 110 11 24 31
data:
$ID,515
$MISSION,5
$DIVE,307
$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,-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,597.54108
$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,-25145.086
$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,27
$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,2325
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,25
$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,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,111537,2841.994,-8829.854,41,1.4,41,-0.4
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-69.7
$GPS2,112349,2842.290,-8829.760,11,2.0,17,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.117,0.234
$KALMAN_X,76741.0,321.3,-51.3,-43917.5,3038.8
$KALMAN_Y,-463527.2,95.8,234.9,489005.5,-3746.4
$MHEAD_RNG_PITCHd_Wd,50.4,6570,-24.6,-7.500
$D_GRID,1358
$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,13,-0.97,-48.4,0.0,0.0,0,57,0.00,0.00,-42.67,0.000,2,0.000,0.000,195,2328,1642
$GC,59,-1.01,-85.4,3.0,-3.7,4,120,10.02,1.58,-45.53,0.000,4,0.251,0.058,2410,3240,3190
$GC,359,-1.01,-85.4,55.2,-11.5,31,366,0.00,1.48,0.00,0.000,6,0.000,0.025,2415,2324,3191
$GC,552,-1.01,-85.4,78.7,-12.1,50,554,0.00,1.52,0.00,0.000,4,0.000,0.040,2410,3232,3192
$GC,797,-1.01,-85.4,108.6,-13.2,73,800,0.00,1.48,0.00,0.000,6,0.000,0.026,2415,2316,3194
$GC,1120,-1.01,-85.4,148.6,-12.0,104,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2316,3194
$GC,1429,-1.01,-85.4,187.3,-12.3,134,1432,0.00,1.20,0.00,0.000,4,0.000,0.034,2422,1410,3194
$GC,1540,-1.01,-85.4,200.8,-12.5,144,1547,0.00,1.27,0.00,0.000,6,0.000,0.033,2417,2332,3194
$GC,1858,-1.01,-85.4,239.4,-11.7,175,1861,0.00,1.25,0.00,0.000,4,0.000,0.034,2421,1417,3192
$GC,1980,-1.01,-85.4,254.3,-11.9,186,1988,0.00,1.25,0.00,0.000,6,0.000,0.033,2417,2326,3191
$GC,2298,-1.01,-85.4,291.5,-11.7,217,2302,0.00,1.25,0.00,0.000,4,0.000,0.034,2417,1411,3189
$GC,2544,-1.01,-85.4,321.2,-11.4,240,2547,0.00,1.25,0.00,0.000,6,0.000,0.034,2413,2323,3188
$GC,2867,-1.01,-85.4,360.0,-12.1,271,2870,0.00,1.23,0.00,0.000,4,0.000,0.035,2416,1424,3187
$GC,3106,-1.01,-85.4,389.4,-12.4,293,3114,0.00,1.27,0.00,0.000,6,0.000,0.036,2412,2327,3184
$GC,3425,-1.01,-85.4,428.5,-12.4,324,3426,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2327,3183
$GC,3734,-1.01,-85.4,466.4,-11.7,354,3737,0.00,1.25,0.00,0.000,4,0.000,0.038,2415,1429,3180
$GC,3979,-1.01,-85.4,495.5,-11.6,377,3982,0.00,1.25,0.00,0.000,6,0.000,0.038,2411,2324,3179
$GC,4303,-1.01,-85.4,533.4,-11.4,408,4305,0.00,1.25,0.00,0.000,4,0.000,0.039,2415,1425,3176
$GC,4475,-1.01,-85.4,553.2,-11.5,424,4478,0.00,1.25,0.00,0.000,6,0.000,0.039,2411,2319,3176
$GC,4798,-1.01,-85.4,591.0,-12.4,455,4801,0.00,1.25,0.00,0.000,4,0.000,0.041,2413,1424,3174
$GC,4958,-1.01,-85.4,610.4,-11.1,470,4961,0.00,1.27,0.00,0.000,6,0.000,0.041,2410,2325,3173
$GC,5281,-1.01,-85.4,648.0,-11.7,501,5284,0.00,1.25,0.00,0.000,4,0.000,0.040,2412,1429,3170
$GC,5506,-1.01,-85.4,673.3,-11.1,522,5508,0.00,1.27,0.00,0.000,6,0.000,0.041,2408,2327,3169
$GC,5829,-1.01,-85.4,710.0,-11.1,553,5832,0.00,1.25,0.00,0.000,4,0.000,0.041,2409,1433,3166
$GC,5882,-1.01,-85.4,716.2,-11.2,558,5885,0.00,1.27,0.00,0.000,6,0.000,0.042,2405,2327,3166
$GC,6205,-1.01,-85.4,751.9,-11.6,589,6208,0.00,1.27,0.00,0.000,4,0.000,0.041,2405,1422,3165
$GC,6284,-1.01,-85.4,761.1,-11.1,596,6291,0.00,1.27,0.00,0.000,6,0.000,0.041,2399,2322,3164
$GC,6603,-1.01,-85.4,795.5,-10.6,627,6605,0.00,1.25,0.00,0.000,4,0.000,0.041,2399,1433,3162
$GC,6699,-1.01,-85.4,806.2,-10.6,636,6702,0.00,1.27,0.00,0.000,6,0.000,0.041,2393,2326,3161
$GC,7022,-1.01,-85.4,841.8,-10.5,667,7025,0.00,1.27,0.00,0.000,4,0.000,0.042,2394,1421,3160
$GC,7129,-1.01,-85.4,853.5,-11.3,677,7132,0.08,1.30,0.00,0.000,6,0.202,0.043,2410,2328,3160
$GC,7450,-1.01,-85.4,885.5,-9.6,708,7452,0.00,1.27,0.00,0.000,4,0.000,0.043,2416,1430,3159
$GC,7600,-1.01,-85.4,900.8,-10.3,722,7603,0.00,1.27,0.00,0.000,6,0.000,0.043,2412,2325,3158
$GC,7922,-1.01,-85.4,933.1,-10.1,753,7923,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2325,3156
$GC,8232,-1.01,-85.4,964.3,-9.8,783,8232,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2325,3155
$STATE,8498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8498,begin apogee
$GC,8503,-0.26,0.0,990.9,9.8,809,8572,0.90,0.00,65.60,1.229,6,0.176,0.000,2653,2283,2839
$STATE,8573,end apogee,CONTROL_FINISHED_OK
$STATE,8573,begin climb
$GC,8575,1.01,85.4,993.0,0.0,816,8659,1.27,1.67,75.18,1.213,4,0.101,0.056,3067,3166,2490
$GC,8724,1.01,85.4,976.6,16.5,829,8727,0.00,1.58,0.00,0.000,6,0.000,0.035,3074,2272,2485
$GC,9047,1.01,85.4,927.5,15.0,860,9050,0.00,1.62,0.00,0.000,4,0.000,0.054,3074,3189,2481
$GC,9112,1.01,85.4,916.8,16.0,866,9114,0.00,1.58,0.00,0.000,6,0.000,0.035,3081,2270,2479
$GC,9434,1.01,85.4,867.0,15.7,897,9438,0.00,1.62,0.00,0.000,4,0.000,0.054,3079,3166,2478
$GC,9535,1.01,85.4,850.4,16.8,906,9543,0.00,1.52,0.00,0.000,6,0.000,0.035,3086,2274,2477
$GC,9853,1.01,85.4,802.2,14.9,937,9856,0.00,1.60,0.00,0.000,4,0.000,0.054,3085,3159,2476
$GC,9896,1.01,85.4,795.4,16.0,941,9899,0.00,1.52,0.00,0.000,6,0.000,0.035,3092,2269,2476
$GC,10218,1.01,85.4,747.5,14.8,972,10221,0.00,1.62,0.00,0.000,4,0.000,0.054,3092,3184,2475
$GC,10293,1.01,85.4,735.7,14.6,979,10296,0.00,1.55,0.00,0.000,6,0.000,0.035,3099,2275,2475
$GC,10615,1.01,85.4,687.5,14.0,1010,10616,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2276,2474
$GC,10925,1.01,85.4,643.1,14.6,1040,10928,0.00,1.60,0.00,0.000,4,0.000,0.054,3100,3159,2474
$GC,11031,1.01,85.4,626.9,15.5,1050,11034,0.10,1.52,0.00,0.000,6,0.199,0.035,3079,2273,2472
$GC,11352,1.01,85.4,584.3,12.6,1081,11353,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2274,2472
$GC,11663,1.01,85.4,542.4,13.6,1111,11666,0.00,1.60,0.00,0.000,4,0.000,0.052,3072,3158,2471
$GC,11748,1.01,85.4,529.9,15.5,1119,11751,0.00,1.52,0.00,0.000,6,0.000,0.035,3078,2270,2471
$GC,12071,1.01,85.4,485.2,14.3,1150,12074,0.00,1.62,0.00,0.000,4,0.000,0.052,3078,3167,2471
$GC,12139,1.01,85.4,475.2,14.9,1156,12146,0.00,1.52,0.00,0.000,6,0.000,0.034,3085,2275,2471
$GC,12458,1.01,85.4,431.4,13.9,1187,12461,0.00,1.60,0.00,0.000,4,0.000,0.052,3085,3159,2471
$GC,12543,1.01,85.4,418.8,14.5,1195,12546,0.00,1.52,0.00,0.000,6,0.000,0.035,3092,2269,2471
$GC,12866,1.01,85.4,374.6,13.8,1226,12869,0.00,1.62,0.00,0.000,4,0.000,0.051,3092,3189,2471
$GC,13106,1.01,85.4,337.9,15.2,1248,13113,0.00,1.55,0.00,0.000,6,0.000,0.033,3099,2275,2471
$GC,13424,1.01,85.4,292.5,14.5,1279,13427,0.00,1.60,0.00,0.000,4,0.000,0.051,3099,3161,2471
$GC,13492,1.01,85.4,281.7,14.5,1285,13500,0.10,1.52,0.00,0.000,6,0.190,0.032,3078,2271,2471
$GC,13809,1.01,85.4,240.7,12.3,1316,13812,0.00,1.60,0.00,0.000,4,0.000,0.051,3075,3177,2471
$GC,14006,1.01,85.4,214.3,14.1,1334,14014,0.00,1.55,0.00,0.000,6,0.000,0.031,3082,2269,2471
$GC,14324,1.01,85.4,172.7,13.1,1365,14327,0.00,1.60,0.00,0.000,4,0.000,0.048,3076,3160,2472
$GC,14371,1.01,85.4,165.8,14.7,1369,14378,0.00,1.50,0.00,0.000,6,0.000,0.031,3082,2273,2472
$GC,14689,1.01,85.4,127.1,11.9,1400,14693,0.00,1.60,0.00,0.000,4,0.000,0.048,3076,3164,2473
$GC,14936,1.01,85.4,96.9,11.4,1423,14939,0.00,1.50,0.00,0.000,6,0.000,0.030,3083,2272,2474
$GC,15132,1.01,85.4,75.8,10.2,1442,15135,0.00,1.60,0.00,0.000,4,0.000,0.047,3077,3192,2475
$GC,15378,1.01,85.4,54.4,8.1,1465,15381,0.00,1.55,0.00,0.000,6,0.000,0.029,3084,2268,2475
$GC,15575,1.08,138.3,45.2,2.0,1484,15622,0.00,1.23,39.45,0.540,4,0.000,0.035,3090,1358,2275
$GC,15776,1.12,170.0,35.0,4.2,1502,15808,0.00,1.23,25.35,0.518,6,0.000,0.036,3090,2269,2145
$GC,15995,1.16,201.6,25.1,4.2,1523,16028,0.00,1.62,24.67,0.502,4,0.000,0.045,3090,3169,2016
$GC,16181,1.18,221.1,15.4,5.5,1540,16201,0.00,1.50,15.95,0.476,6,0.000,0.027,3097,2271,1937
$GC,16385,1.25,275.8,8.6,1.8,1560,16429,0.15,0.00,41.92,0.487,6,0.065,0.000,3164,2272,1714
$STATE,16589,end climb,SURFACE_DEPTH_REACHED
$STATE,16589,begin surface coast
$FINISH,0.8,1.018973
$STATE,16724,end surface coast,CONTROL_FINISHED_OK
$STATE,16724,begin surface
$SM_CCo,16739,172.62,0.476,0,0,403,597.54
$SM_GC,1.81,0.00,0.00,172.62,0.000,0.000,0.476,192,2349,403,-7.98,0.68,597.54
$IRIDIUM_FIX,2828.55,-8831.62,201099,060650
$TT8_MAMPS,0.051389
$HUMID,1339
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,23.3,53.667
$10V_AH,10.6,73.926
$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,20.625,91.825,288.125,172.625,0.000,26.595,28.833,291.073,0.000,0.000,0.000,21.262,0.000,10915.387,554.385,5172.532,732.398,33.341,2052.798,0.000,4641.412,0.000,0.543,0.000
$DEVICE_MAMPS,250.809,80.535,1228.734,475.540,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1089.643,1172.432,3580.565,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85245,1593
$CAP_FILE_SIZE,159957,0
$CFSIZE,260165632,227688448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.119, 80.9,1
$GPS,260710,160725,2843.619,-8827.409,38,1.2,38,-0.4