version: 66.04
glider: 515
mission: 5
dive: 320
start: 7 29 110 1 23 43
data:
$ID,515
$MISSION,5
$DIVE,320
$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,-25364.289
$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,49
$R_STBD_OVSHOOT,20
$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
$GPS1,011407,2842.331,-8840.587,39,0.9,39,-0.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-71.3
$GPS2,012302,2842.389,-8840.660,12,1.4,12,-0.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.266,0.128
$KALMAN_X,93439.8,195.1,672.2,-78950.0,-1538.7
$KALMAN_Y,-515597.4,1364.8,1335.8,538846.2,-9903.6
$MHEAD_RNG_PITCHd_Wd,77.9,23914,-14.9,-10.000
$D_GRID,1022
$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,-0.77,-194.6,0.0,0.0,0,77,0.00,0.00,-62.65,0.000,2,0.000,0.000,201,2351,2260
$GC,80,-0.77,-194.6,3.2,-3.5,6,131,10.30,1.55,-37.28,0.000,4,0.250,0.060,2487,3267,3635
$GC,153,-0.77,-194.6,13.5,-24.7,12,160,0.00,1.45,0.00,0.000,6,0.000,0.038,2492,2367,3636
$GC,346,-0.77,-194.6,53.7,-16.4,31,349,0.00,1.23,0.00,0.000,4,0.000,0.033,2498,1491,3637
$GC,447,-0.77,-194.6,68.5,-14.3,40,453,0.00,1.30,0.00,0.000,6,0.000,0.034,2494,2395,3638
$GC,639,-0.77,-194.6,96.7,-15.9,59,641,0.00,1.30,0.00,0.000,4,0.000,0.033,2498,1479,3639
$GC,686,-0.77,-194.6,103.5,-14.1,63,694,0.00,1.25,0.00,0.000,6,0.000,0.033,2494,2357,3639
$GC,1002,-0.77,-194.6,149.6,-13.9,94,1005,0.00,1.23,0.00,0.000,4,0.000,0.033,2497,1491,3639
$GC,1077,-0.77,-194.6,159.8,-13.2,101,1079,0.00,1.27,0.00,0.000,6,0.000,0.035,2493,2385,3639
$GC,1400,-0.77,-194.6,204.4,-13.6,132,1402,0.00,1.27,0.00,0.000,4,0.000,0.035,2497,1486,3639
$GC,1485,-0.77,-194.6,216.2,-13.1,140,1488,0.00,1.25,0.00,0.000,6,0.000,0.035,2493,2363,3638
$GC,1808,-0.77,-194.6,260.7,-13.9,171,1811,0.00,1.23,0.00,0.000,4,0.000,0.035,2496,1500,3636
$GC,1876,-0.77,-194.6,270.5,-13.8,177,1883,0.00,1.27,0.00,0.000,6,0.000,0.035,2492,2387,3636
$GC,2195,-0.77,-194.6,313.7,-13.1,208,2198,0.00,1.27,0.00,0.000,4,0.000,0.035,2492,1489,3634
$GC,2312,-0.77,-194.6,329.4,-13.1,219,2316,0.00,1.25,0.00,0.000,6,0.000,0.037,2488,2359,3633
$GC,2635,-0.77,-194.6,371.8,-12.8,250,2638,0.00,1.23,0.00,0.000,4,0.000,0.036,2490,1497,3632
$GC,2704,-0.77,-194.6,381.1,-13.1,256,2711,0.00,1.30,0.00,0.000,6,0.000,0.037,2485,2393,3631
$GC,3022,-0.77,-194.6,423.6,-13.8,287,3025,0.00,1.30,0.00,0.000,4,0.000,0.036,2485,1482,3629
$GC,3176,-0.77,-194.6,445.1,-13.8,301,3183,0.00,1.27,0.00,0.000,6,0.000,0.038,2480,2362,3628
$GC,3494,-0.77,-194.6,488.6,-13.7,332,3497,0.00,1.25,0.00,0.000,4,0.000,0.038,2480,1493,3625
$GC,3633,-0.77,-194.6,507.7,-13.4,345,3637,0.00,1.30,0.00,0.000,6,0.000,0.040,2474,2383,3624
$GC,3956,-0.77,-194.6,554.2,-14.6,376,3959,0.00,1.27,0.00,0.000,4,0.000,0.039,2474,1503,3622
$GC,4110,-0.77,-194.6,576.6,-13.4,390,4117,0.00,1.27,0.00,0.000,6,0.000,0.041,2469,2370,3621
$GC,4428,-0.77,-194.6,622.1,-14.3,421,4431,0.00,1.27,0.00,0.000,4,0.000,0.041,2469,1492,3618
$GC,4589,-0.77,-194.6,644.5,-13.7,436,4592,0.08,1.30,0.00,0.000,6,0.165,0.042,2487,2376,3617
$GC,4910,-0.77,-194.6,685.4,-12.6,467,4911,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2376,3616
$GC,5220,-0.77,-194.6,725.4,-12.5,497,5223,0.00,1.27,0.00,0.000,4,0.000,0.042,2489,1499,3613
$GC,5337,-0.77,-194.6,740.1,-12.8,508,5340,0.00,1.30,0.00,0.000,6,0.000,0.044,2485,2377,3612
$GC,5661,-0.77,-194.6,780.2,-12.7,539,5664,0.00,1.27,0.00,0.000,4,0.000,0.042,2485,1505,3610
$GC,5735,-0.77,-194.6,789.7,-12.8,546,5738,0.00,1.27,0.00,0.000,6,0.000,0.044,2480,2365,3609
$GC,6058,-0.77,-194.6,829.8,-12.2,577,6061,0.00,1.27,0.00,0.000,4,0.000,0.044,2479,1502,3607
$GC,6231,-0.77,-194.6,850.8,-12.9,593,6234,0.00,1.30,0.00,0.000,6,0.000,0.045,2474,2374,3605
$GC,6552,-0.77,-194.6,892.6,-13.0,624,6555,0.00,1.27,0.00,0.000,4,0.000,0.044,2474,1505,3603
$GC,6717,-0.77,-194.6,914.0,-12.5,639,6724,0.00,1.30,0.00,0.000,6,0.000,0.045,2468,2378,3602
$STATE,6958,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6959,begin apogee
$GC,6964,-0.25,0.0,945.6,12.5,663,7123,0.68,0.00,154.80,1.199,6,0.150,0.000,2664,2287,2840
$STATE,7123,end apogee,CONTROL_FINISHED_OK
$STATE,7123,begin climb
$GC,7126,0.77,194.6,950.7,0.0,679,7305,1.00,1.77,168.02,1.173,4,0.098,0.056,2985,3165,2044
$GC,7349,0.77,194.6,928.0,14.9,698,7352,0.00,1.60,0.00,0.000,6,0.000,0.035,2992,2265,2039
$GC,7672,0.77,194.6,878.6,16.2,729,7675,0.00,1.62,0.00,0.000,4,0.000,0.054,2992,3177,2035
$GC,7698,0.77,194.6,874.1,16.7,731,7706,0.00,1.58,0.00,0.000,6,0.000,0.035,3000,2267,2034
$GC,8016,0.77,194.6,824.3,16.2,762,8019,0.00,1.62,0.00,0.000,4,0.000,0.054,3000,3183,2033
$GC,8049,0.77,194.6,818.9,16.6,765,8051,0.00,1.55,0.00,0.000,6,0.000,0.035,3008,2274,2032
$GC,8371,0.77,194.6,765.4,16.5,796,8374,0.00,1.60,0.00,0.000,4,0.000,0.053,3008,3163,2031
$GC,8397,0.77,194.6,760.7,17.8,798,8403,0.00,1.52,0.00,0.000,6,0.000,0.035,3015,2275,2030
$GC,8715,0.77,194.6,708.2,16.1,829,8718,0.00,1.60,0.00,0.000,4,0.000,0.053,3015,3164,2030
$GC,8779,0.77,194.6,697.1,16.9,835,8782,0.00,1.52,0.00,0.000,6,0.000,0.035,3023,2273,2028
$GC,9102,0.77,194.6,644.4,16.8,866,9105,0.00,1.60,0.00,0.000,4,0.000,0.052,3023,3162,2029
$GC,9198,0.77,194.6,627.6,17.4,875,9201,0.10,1.52,0.00,0.000,6,0.166,0.035,3001,2276,2028
$GC,9519,0.77,194.6,579.9,14.3,906,9519,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2276,2027
$GC,9829,0.77,194.6,533.3,15.0,936,9832,0.00,1.60,0.00,0.000,4,0.000,0.052,3000,3164,2027
$GC,9855,0.77,194.6,529.2,15.9,938,9862,0.00,1.52,0.00,0.000,6,0.000,0.035,3006,2274,2026
$GC,10173,0.77,194.6,481.9,15.0,969,10174,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2274,2026
$GC,10482,0.77,194.6,435.2,15.3,999,10485,0.00,1.60,0.00,0.000,4,0.000,0.052,3006,3161,2026
$GC,10546,0.77,194.6,425.1,16.0,1005,10549,0.00,1.52,0.00,0.000,6,0.000,0.035,3014,2271,2025
$GC,10869,0.77,194.6,374.5,15.3,1036,10870,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2272,2025
$GC,11178,0.77,194.6,326.0,15.8,1066,11181,0.00,1.62,0.00,0.000,4,0.000,0.051,3014,3173,2025
$GC,11242,0.77,194.6,315.6,15.9,1072,11245,0.00,1.52,0.00,0.000,6,0.000,0.034,3021,2274,2025
$GC,11565,0.77,194.6,266.8,15.1,1103,11568,0.00,1.60,0.00,0.000,4,0.000,0.051,3021,3189,2025
$GC,11623,0.77,194.6,257.0,14.7,1108,11630,0.12,1.55,0.00,0.000,6,0.160,0.032,2992,2275,2025
$GC,11940,0.77,194.6,214.8,12.9,1139,11940,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2276,2025
$GC,12250,0.77,194.6,174.7,12.5,1169,12251,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2276,2025
$GC,12561,0.77,194.6,135.8,12.2,1199,12563,0.00,1.60,0.00,0.000,4,0.000,0.048,2991,3196,2025
$GC,12607,0.77,194.6,129.9,12.3,1203,12616,0.00,1.55,0.00,0.000,6,0.000,0.031,2997,2273,2025
$GC,12926,0.77,194.6,92.6,12.1,1234,12929,0.00,1.60,0.00,0.000,4,0.000,0.047,2997,3197,2026
$GC,12958,0.77,194.6,88.3,12.1,1237,12961,0.00,1.55,0.00,0.000,6,0.000,0.030,3004,2270,2026
$GC,13155,0.77,194.6,64.4,10.6,1256,13158,0.00,1.60,0.00,0.000,4,0.000,0.047,3004,3193,2027
$GC,13230,0.78,198.3,55.8,9.9,1263,13233,0.00,1.52,0.00,0.000,6,0.000,0.030,3011,2276,2027
$GC,13428,0.88,287.0,37.1,6.9,1282,13503,0.00,1.23,69.25,0.541,4,0.000,0.035,3016,1367,1669
$GC,13535,1.02,400.1,30.8,6.1,1292,13630,0.12,1.25,85.45,0.525,6,0.047,0.035,3083,2275,1207
$GC,13813,1.12,476.1,7.0,7.4,1318,13873,0.00,1.62,56.08,0.498,4,0.000,0.044,3083,3173,897
$STATE,13876,end climb,SURFACE_DEPTH_REACHED
$STATE,13876,begin surface coast
$FINISH,0.7,1.003285
$STATE,13918,end surface coast,CONTROL_FINISHED_OK
$STATE,13918,begin surface
$SM_CCo,13936,54.30,0.486,0,0,495,575.22
$SM_GC,1.56,0.00,0.00,54.30,0.000,0.000,0.486,204,2349,495,-7.95,-0.74,575.22
$IRIDIUM_FIX,2833.46,-8843.84,221099,212108
$TT8_MAMPS,0.051389
$HUMID,1424
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,910.7,54.8
$24V_AH,22.7,55.836
$10V_AH,10.5,76.602
$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,20.200,87.925,533.600,54.300,0.000,51.798,112.313,183.254,2.250,0.000,0.000,14.418,0.000,9031.079,613.128,4170.416,687.263,33.343,1894.622,0.000,3726.150,0.000,16.685,0.000
$DEVICE_MAMPS,250.042,59.826,1198.821,485.511,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,903.830,967.326,2982.673,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69536,1327
$CAP_FILE_SIZE,136521,0
$CFSIZE,260165632,226615296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.168,113.4,1
$GPS,290710,051755,2842.787,-8837.064,39,1.1,39,-0.3