version: 66.04
glider: 515
mission: 5
dive: 314
start: 7 28 110 0 3 19
data:
$ID,515
$MISSION,5
$DIVE,314
$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,-25251.295
$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,41
$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
$GPS1,235606,2840.555,-8838.202,38,0.9,38,-0.3
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-72.1
$GPS2,000238,2840.593,-8838.183,13,1.7,13,-0.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.187,0.228
$KALMAN_X,95416.8,-901.9,-751.6,-74341.1,6574.6
$KALMAN_Y,-489717.4,-11.1,-12.5,512412.9,-5383.6
$MHEAD_RNG_PITCHd_Wd,302.0,11569,-14.9,-10.000
$D_GRID,1104
$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,-0.77,-194.6,0.0,0.0,0,77,0.00,0.00,-63.00,0.000,2,0.000,0.000,203,2397,2270
$GC,79,-0.77,-194.6,3.2,-3.6,6,128,10.48,1.38,-33.28,0.000,4,0.256,0.060,2495,1463,3636
$GC,368,-0.77,-194.6,59.5,-15.4,32,375,0.00,1.27,0.00,0.000,6,0.000,0.034,2491,2353,3639
$GC,560,-0.77,-194.6,88.0,-14.6,51,563,0.00,1.25,0.00,0.000,4,0.000,0.033,2495,1470,3640
$GC,805,-0.77,-194.6,122.7,-14.0,74,808,0.00,1.33,0.00,0.000,6,0.000,0.035,2491,2394,3640
$GC,1128,-0.77,-194.6,169.6,-14.6,105,1131,0.00,1.33,0.00,0.000,4,0.000,0.034,2495,1457,3640
$GC,1267,-0.77,-194.6,189.3,-13.9,118,1270,0.00,1.27,0.00,0.000,6,0.000,0.036,2491,2354,3640
$GC,1590,-0.77,-194.6,234.1,-13.7,149,1593,0.00,1.25,0.00,0.000,4,0.000,0.034,2495,1473,3639
$GC,1687,-0.77,-194.6,247.0,-12.6,158,1690,0.00,1.33,0.00,0.000,6,0.000,0.036,2490,2395,3639
$GC,2009,-0.77,-194.6,290.6,-13.4,189,2012,0.00,1.33,0.00,0.000,4,0.000,0.035,2495,1460,3637
$GC,2148,-0.77,-194.6,308.5,-12.5,202,2151,0.00,1.30,0.00,0.000,6,0.000,0.038,2490,2358,3637
$GC,2472,-0.77,-194.6,350.1,-12.9,233,2474,0.00,1.27,0.00,0.000,4,0.000,0.036,2492,1460,3635
$GC,2590,-0.77,-194.6,365.0,-12.2,244,2592,0.00,1.35,0.00,0.000,6,0.000,0.038,2488,2392,3633
$GC,2912,-0.77,-194.6,406.4,-12.5,275,2915,0.00,1.33,0.00,0.000,4,0.000,0.036,2488,1465,3632
$GC,3062,-0.77,-194.6,425.6,-13.0,289,3065,0.00,1.30,0.00,0.000,6,0.000,0.038,2482,2362,3631
$GC,3385,-0.77,-194.6,468.1,-13.3,320,3388,0.00,1.27,0.00,0.000,4,0.000,0.038,2482,1475,3629
$GC,3529,-0.77,-194.6,487.9,-13.6,333,3535,0.00,1.33,0.00,0.000,6,0.000,0.041,2477,2383,3627
$GC,3846,-0.77,-194.6,531.1,-13.7,364,3849,0.00,1.33,0.00,0.000,4,0.000,0.040,2477,1468,3625
$GC,3990,-0.77,-194.6,550.6,-13.4,377,3996,0.00,1.33,0.00,0.000,6,0.000,0.041,2473,2370,3624
$GC,4307,-0.77,-194.6,594.8,-13.8,408,4310,0.00,1.30,0.00,0.000,4,0.000,0.041,2473,1474,3621
$GC,4440,-0.77,-194.6,613.1,-13.3,420,4447,0.08,1.33,0.00,0.000,6,0.169,0.042,2490,2369,3620
$GC,4756,-0.77,-194.6,651.5,-12.1,451,4759,0.00,1.30,0.00,0.000,4,0.000,0.041,2491,1476,3618
$GC,4853,-0.77,-194.6,663.2,-12.9,460,4855,0.00,1.35,0.00,0.000,6,0.000,0.044,2487,2390,3617
$GC,5175,-0.77,-194.6,703.0,-12.7,491,5178,0.00,1.33,0.00,0.000,4,0.000,0.042,2487,1484,3616
$GC,5286,-0.77,-194.6,717.5,-12.7,501,5294,0.00,1.30,0.00,0.000,6,0.000,0.044,2481,2361,3615
$GC,5605,-0.77,-194.6,758.3,-12.4,532,5608,0.00,1.30,0.00,0.000,4,0.000,0.042,2480,1474,3614
$GC,5701,-0.77,-194.6,770.9,-12.6,541,5704,0.00,1.35,0.00,0.000,6,0.000,0.044,2475,2384,3612
$GC,6024,-0.77,-194.6,812.3,-13.0,572,6027,0.00,1.33,0.00,0.000,4,0.000,0.043,2475,1483,3609
$GC,6197,-0.77,-194.6,834.4,-13.1,588,6199,0.00,1.30,0.00,0.000,6,0.000,0.046,2469,2357,3608
$GC,6518,-0.77,-194.6,876.6,-13.4,619,6521,0.00,1.30,0.00,0.000,4,0.000,0.044,2469,1474,3607
$GC,6629,-0.77,-194.6,891.4,-12.9,629,6636,0.10,1.38,0.00,0.000,6,0.163,0.045,2493,2393,3606
$GC,6945,-0.77,-194.6,926.2,-10.7,660,6948,0.00,1.35,0.00,0.000,4,0.000,0.044,2494,1473,3604
$GC,7046,-0.77,-194.6,937.1,-10.4,669,7052,0.00,1.33,0.00,0.000,6,0.000,0.046,2490,2361,3604
$GC,7362,-0.77,-194.6,971.9,-11.3,700,7363,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2362,3603
$STATE,7526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7526,begin apogee
$GC,7532,-0.25,0.0,990.4,10.8,716,7691,0.55,0.00,156.30,1.236,6,0.140,0.000,2658,2269,2840
$STATE,7691,end apogee,CONTROL_FINISHED_OK
$STATE,7691,begin climb
$GC,7694,0.77,194.6,995.4,0.0,732,7873,1.05,1.77,170.30,1.206,4,0.100,0.050,2989,3174,2047
$GC,7927,0.77,194.6,969.9,15.6,752,7930,0.00,1.60,0.00,0.000,6,0.000,0.034,2997,2272,2040
$GC,8249,0.77,194.6,918.9,15.6,783,8252,0.00,1.62,0.00,0.000,4,0.000,0.054,2997,3165,2036
$GC,8314,0.77,194.6,908.5,15.8,789,8316,0.00,1.55,0.00,0.000,6,0.000,0.035,3004,2269,2034
$GC,8636,0.77,194.6,855.8,16.4,820,8639,0.00,1.62,0.00,0.000,4,0.000,0.053,3004,3184,2033
$GC,8678,0.77,194.6,848.4,17.4,824,8681,0.00,1.58,0.00,0.000,6,0.000,0.035,3012,2268,2032
$GC,9002,0.77,194.6,795.5,16.8,855,9002,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2269,2032
$GC,9310,0.77,194.6,745.3,16.3,885,9312,0.00,1.62,0.00,0.000,4,0.000,0.053,3012,3185,2031
$GC,9374,0.77,194.6,734.5,17.0,891,9377,0.00,1.55,0.00,0.000,6,0.000,0.035,3019,2276,2030
$GC,9697,0.77,194.6,680.3,17.1,922,9699,0.00,1.60,0.00,0.000,4,0.000,0.054,3019,3183,2030
$GC,9772,0.77,194.6,667.0,17.5,929,9775,0.08,1.55,0.00,0.000,6,0.146,0.036,2994,2276,2029
$GC,10093,0.77,194.6,620.7,14.4,960,10094,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2277,2029
$GC,10403,0.77,194.6,577.0,14.4,990,10406,0.00,1.60,0.00,0.000,4,0.000,0.054,2994,3183,2028
$GC,10450,0.77,194.6,570.0,14.7,994,10457,0.00,1.55,0.00,0.000,6,0.000,0.035,3000,2276,2027
$GC,10769,0.77,194.6,524.6,14.3,1025,10772,0.00,1.62,0.00,0.000,4,0.000,0.054,3000,3195,2028
$GC,10848,0.77,194.6,512.1,15.1,1032,10855,0.00,1.58,0.00,0.000,6,0.000,0.035,3008,2273,2027
$GC,11166,0.77,194.6,464.4,15.5,1063,11169,0.00,1.60,0.00,0.000,4,0.000,0.052,3008,3179,2027
$GC,11210,0.77,194.6,457.3,16.5,1067,11213,0.00,1.55,0.00,0.000,6,0.000,0.035,3015,2273,2027
$GC,11532,0.77,194.6,406.6,15.6,1098,11535,0.00,1.60,0.00,0.000,4,0.000,0.051,3015,3164,2027
$GC,11586,0.77,194.6,397.7,16.5,1103,11589,0.00,1.52,0.00,0.000,6,0.000,0.035,3023,2272,2026
$GC,11909,0.77,194.6,345.9,16.2,1134,11912,0.00,1.62,0.00,0.000,4,0.000,0.051,3023,3195,2027
$GC,11973,0.77,194.6,334.8,16.8,1140,11976,0.15,1.58,0.00,0.000,6,0.165,0.034,2993,2270,2026
$GC,12294,0.77,194.6,289.8,14.2,1171,12295,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2271,2026
$GC,12604,0.77,194.6,246.8,14.1,1201,12607,0.00,1.60,0.00,0.000,4,0.000,0.050,2993,3179,2026
$GC,12641,0.77,194.6,241.5,14.2,1204,12647,0.00,1.55,0.00,0.000,6,0.000,0.032,2999,2270,2027
$GC,12959,0.77,194.6,196.8,14.3,1235,12962,0.00,1.60,0.00,0.000,4,0.000,0.049,2998,3163,2026
$GC,13017,0.77,194.6,187.9,14.5,1240,13024,0.00,1.52,0.00,0.000,6,0.000,0.031,3004,2268,2026
$GC,13335,0.77,194.6,143.4,13.6,1271,13338,0.00,1.60,0.00,0.000,4,0.000,0.048,3004,3183,2027
$GC,13410,0.77,194.6,132.3,14.1,1278,13413,0.00,1.52,0.00,0.000,6,0.000,0.031,3011,2274,2027
$GC,13730,0.77,194.6,90.4,12.6,1309,13733,0.00,1.60,0.00,0.000,4,0.000,0.048,3011,3196,2029
$GC,13751,0.77,194.6,87.6,13.0,1311,13754,0.00,1.55,0.00,0.000,6,0.000,0.030,3019,2270,2029
$GC,13949,0.77,194.6,62.7,12.8,1330,13952,0.00,1.60,0.00,0.000,4,0.000,0.047,3018,3193,2029
$GC,13981,0.77,194.6,58.5,11.8,1333,13984,0.08,1.52,0.00,0.000,6,0.153,0.029,3002,2278,2029
$GC,14178,0.82,234.0,39.6,8.6,1352,14213,0.00,1.62,29.85,0.533,4,0.000,0.046,3001,3170,1885
$GC,14267,0.88,284.2,32.7,8.3,1360,14314,0.00,1.52,38.95,0.531,6,0.000,0.029,3007,2270,1682
$GC,14499,1.09,454.7,20.1,4.1,1382,14636,0.22,1.25,126.78,0.515,4,0.051,0.034,3118,1359,985
$STATE,14691,end climb,SURFACE_DEPTH_REACHED
$STATE,14691,begin surface coast
$FINISH,1.1,1.021537
$STATE,14712,end surface coast,CONTROL_FINISHED_OK
$STATE,14712,begin surface
$SM_CCo,14729,66.12,0.488,0,0,494,575.22
$SM_GC,1.57,0.00,0.00,66.12,0.000,0.000,0.488,204,2395,494,-7.95,0.59,575.22
$IRIDIUM_FIX,2831.00,-8834.07,211099,191948
$TT8_MAMPS,0.051389
$HUMID,1414
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.60
$XPDR_PINGS,2
$24V_AH,22.6,54.858
$10V_AH,10.5,75.499
$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,20.625,95.750,522.175,66.125,0.000,27.611,28.852,210.325,4.250,0.000,0.000,15.652,0.000,9444.870,601.637,4489.815,629.036,33.344,1970.435,0.000,4013.848,0.000,28.329,0.000
$DEVICE_MAMPS,256.178,59.826,1236.404,487.812,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,956.273,1026.457,3148.600,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75790,1401
$CAP_FILE_SIZE,147754,0
$CFSIZE,260165632,227069952
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.159,128.3,1
$GPS,280710,041100,2840.455,-8839.494,40,1.9,40,-0.3