version: 66.04
glider: 515
mission: 5
dive: 14
start: 5 23 110 6 26 29
data:
$ID,515
$MISSION,5
$DIVE,14
$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,220
$T_MISSION,240
$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,215
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4044.1711
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2700
$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,40
$C_ROLL_DIVE,2071
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,3090
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$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
$GPS1,061130,2838.656,-8845.873,37,1.4,37,-0.2
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-72.8
$GPS2,062550,2838.752,-8845.758,16,1.4,16,-0.2
$SPEED_LIMITS,0.260,0.349
$TGT_NAME,SITE44
$TGT_LATLONG,2841.000,-8829.800
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.253,0.239
$KALMAN_X,-16049.3,69.0,-58.1,29870.6,178.4
$KALMAN_Y,-28615.7,-41.0,-663.1,9723.4,-2591.1
$MHEAD_RNG_PITCHd_Wd,58.9,26259,-20.6,-15.000
$D_GRID,1168
$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,11,-1.02,-209.2,0.0,0.0,0,84,0.00,0.00,-70.53,0.000,2,0.000,0.000,207,2065,2825
$GC,85,-1.02,-209.2,3.6,-3.9,10,120,9.85,2.55,-21.35,0.000,4,0.269,0.062,2353,3483,3945
$GC,124,-1.02,-209.2,16.3,-31.0,16,133,0.00,2.40,0.00,0.000,6,0.000,0.035,2362,2072,3946
$GC,196,-1.02,-209.2,40.6,-30.5,29,203,0.00,2.50,0.00,0.000,4,0.000,0.050,2352,3476,3947
$GC,399,-1.02,-209.2,100.1,-28.7,67,406,0.00,2.38,0.00,0.000,6,0.000,0.034,2360,2077,3948
$GC,534,-1.02,-209.2,137.1,-27.3,92,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2076,3948
$GC,662,-1.02,-209.2,171.5,-26.8,116,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2077,3949
$GC,796,-1.02,-209.2,209.3,-28.7,141,803,0.00,1.98,0.00,0.000,4,0.000,0.045,2360,657,3948
$GC,828,-1.02,-209.2,218.3,-27.4,147,836,0.00,1.95,0.00,0.000,6,0.000,0.039,2352,2069,3949
$GC,963,-1.02,-209.2,254.8,-27.1,172,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2070,3948
$GC,1091,-1.02,-209.2,290.4,-28.2,196,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2070,3948
$GC,1219,-1.02,-209.2,325.3,-27.4,220,1227,0.00,2.45,0.00,0.000,4,0.000,0.053,2341,3471,3947
$GC,1247,-1.02,-209.2,333.4,-29.7,225,1254,0.00,2.35,0.00,0.000,6,0.000,0.035,2343,2075,3947
$GC,1382,-1.02,-209.2,370.5,-28.3,250,1388,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2074,3946
$GC,1515,-1.02,-209.2,407.7,-27.7,275,1515,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2075,3945
$GC,1643,-1.02,-209.2,443.3,-27.3,299,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2075,3944
$GC,1771,-1.02,-209.2,477.6,-25.9,323,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2075,3943
$GC,1904,-1.02,-209.2,513.3,-27.0,348,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2075,3942
$GC,2032,-1.02,-209.2,546.8,-26.5,372,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2075,3941
$GC,2166,-1.02,-209.2,581.7,-26.8,397,2173,0.00,1.98,0.00,0.000,4,0.000,0.049,2343,657,3939
$GC,2188,-1.02,-209.2,587.4,-25.4,401,2195,0.10,1.98,0.00,0.000,6,0.193,0.043,2363,2071,3939
$GC,2323,-1.02,-209.2,620.3,-23.9,426,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2072,3938
$GC,2456,-1.02,-209.2,651.7,-23.7,451,2462,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2073,3936
$GC,2589,-1.02,-209.2,682.9,-23.9,476,2590,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2073,3935
$GC,2717,-1.02,-209.2,711.8,-23.4,500,2718,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2073,3933
$GC,2845,-1.02,-209.2,740.9,-22.5,524,2853,0.00,2.47,0.00,0.000,4,0.000,0.059,2352,3483,3932
$GC,2863,-1.02,-209.2,745.0,-22.8,527,2870,0.00,2.40,0.00,0.000,6,0.000,0.039,2355,2072,3932
$GC,2997,-1.02,-209.2,776.4,-23.6,552,2998,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2072,3931
$GC,3125,-1.02,-209.2,805.6,-22.6,576,3132,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2072,3929
$GC,3259,-1.02,-209.2,836.1,-22.4,601,3266,0.00,2.50,0.00,0.000,4,0.000,0.059,2345,3486,3928
$GC,3286,-1.02,-209.2,842.6,-24.9,606,3294,0.00,2.40,0.00,0.000,6,0.000,0.040,2345,2068,3927
$GC,3421,-1.02,-209.2,873.9,-23.5,631,3428,0.00,1.95,0.00,0.000,4,0.000,0.052,2347,664,3926
$GC,3459,-1.02,-209.2,882.7,-23.4,638,3467,0.08,1.98,0.00,0.000,6,0.203,0.045,2360,2077,3926
$GC,3594,-1.02,-209.2,912.6,-21.9,663,3600,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2078,3925
$GC,3727,-1.02,-209.2,941.7,-22.6,688,3734,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2078,3924
$GC,3861,-1.02,-209.2,971.2,-22.0,713,3868,0.00,2.50,0.00,0.000,4,0.000,0.061,2350,3489,3923
$GC,3888,-1.02,-209.2,977.6,-22.7,718,3896,0.00,2.42,0.00,0.000,6,0.000,0.041,2350,2072,3922
$STATE,3942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3942,begin apogee
$GC,3944,-0.26,0.0,990.2,23.0,728,4113,0.90,0.00,162.62,1.239,6,0.183,0.000,2609,2072,3090
$STATE,4114,end apogee,CONTROL_FINISHED_OK
$STATE,4114,begin climb
$GC,4115,1.02,209.2,999.6,0.0,753,4295,1.33,0.00,173.00,1.204,6,0.108,0.000,3021,2073,2237
$GC,4423,1.02,209.2,959.5,18.9,804,4431,0.00,2.72,0.00,0.000,4,0.000,0.072,3021,3487,2229
$GC,4467,1.02,209.2,950.5,20.9,812,4475,0.00,2.50,0.00,0.000,6,0.000,0.038,3033,2076,2228
$GC,4602,1.02,209.2,923.8,19.5,837,4608,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2076,2227
$GC,4736,1.02,209.2,897.4,20.2,862,4742,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2076,2225
$GC,4869,1.02,209.2,871.7,19.0,887,4875,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2077,2225
$GC,5002,1.02,209.2,845.2,19.6,912,5003,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2077,2223
$GC,5130,1.02,209.2,820.6,19.5,936,5131,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2077,2223
$GC,5258,1.02,209.2,795.6,19.7,960,5266,0.00,2.58,0.00,0.000,4,0.000,0.064,3033,3491,2222
$GC,5292,1.02,209.2,788.4,21.0,966,5299,0.00,2.45,0.00,0.000,6,0.000,0.038,3045,2073,2221
$GC,5426,1.02,209.2,761.2,20.4,991,5433,0.00,2.55,0.00,0.000,4,0.000,0.063,3045,3482,2221
$GC,5464,1.02,209.2,753.2,22.0,998,5471,0.00,2.42,0.00,0.000,6,0.000,0.039,3055,2080,2221
$GC,5599,1.02,209.2,724.9,20.0,1023,5605,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2081,2220
$GC,5732,1.02,209.2,697.3,21.5,1048,5740,0.00,2.55,0.00,0.000,4,0.000,0.063,3055,3485,2220
$GC,5771,1.02,209.2,688.5,22.6,1055,5778,0.12,2.42,0.00,0.000,6,0.202,0.038,3032,2076,2219
$GC,5906,1.02,209.2,662.1,18.3,1080,5914,0.00,2.55,0.00,0.000,4,0.000,0.062,3031,3487,2219
$GC,5934,1.02,209.2,656.4,20.7,1085,5941,0.00,2.42,0.00,0.000,6,0.000,0.039,3042,2077,2218
$GC,6068,1.02,209.2,630.1,19.8,1110,6069,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2079,2218
$GC,6196,1.02,209.2,605.8,18.8,1134,6202,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2079,2218
$GC,6329,1.02,209.2,580.6,19.7,1159,6336,0.00,2.53,0.00,0.000,4,0.000,0.062,3042,3481,2218
$GC,6356,1.02,209.2,575.0,20.9,1164,6364,0.00,2.42,0.00,0.000,6,0.000,0.039,3053,2075,2217
$GC,6492,1.02,209.2,548.3,19.2,1189,6498,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2076,2217
$GC,6625,1.02,209.2,521.9,19.9,1214,6632,0.00,2.55,0.00,0.000,4,0.000,0.061,3053,3491,2217
$GC,6652,1.02,209.2,516.1,22.8,1219,6660,0.10,2.42,0.00,0.000,6,0.199,0.038,3037,2075,2217
$GC,6788,1.02,209.2,491.4,17.3,1244,6796,0.00,2.55,0.00,0.000,4,0.000,0.061,3036,3494,2217
$GC,6816,1.02,209.2,485.9,20.5,1249,6823,0.00,2.42,0.00,0.000,6,0.000,0.038,3047,2079,2216
$GC,6950,1.02,209.2,460.4,19.3,1274,6956,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2080,2216
$GC,7083,1.02,209.2,435.7,17.9,1299,7090,0.00,2.53,0.00,0.000,4,0.000,0.061,3047,3484,2216
$GC,7110,1.02,209.2,430.1,22.4,1304,7119,0.08,2.42,0.00,0.000,6,0.199,0.038,3037,2074,2216
$GC,7246,1.02,209.2,404.9,18.1,1329,7253,0.00,2.55,0.00,0.000,4,0.000,0.061,3037,3491,2216
$GC,7269,1.02,209.2,400.6,19.8,1333,7275,0.00,2.45,0.00,0.000,6,0.000,0.038,3047,2067,2215
$GC,7402,1.02,209.2,375.0,19.1,1358,7410,0.00,2.55,0.00,0.000,4,0.000,0.061,3047,3487,2215
$GC,7441,1.02,209.2,367.2,21.5,1365,7448,0.10,2.42,0.00,0.000,6,0.194,0.038,3032,2069,2216
$GC,7576,1.02,209.2,342.2,17.4,1390,7582,0.00,1.92,0.00,0.000,4,0.000,0.048,3039,657,2215
$GC,7597,1.02,209.2,338.2,19.9,1394,7605,0.00,1.98,0.00,0.000,6,0.000,0.044,3039,2088,2215
$GC,7732,1.02,209.2,313.9,18.0,1419,7738,0.00,2.47,0.00,0.000,4,0.000,0.061,3038,3480,2215
$GC,7774,1.02,209.2,305.8,20.0,1427,7782,0.00,2.40,0.00,0.000,6,0.000,0.037,3048,2080,2215
$GC,7909,1.02,209.2,281.4,18.3,1452,7916,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2082,2215
$GC,8043,1.02,209.2,257.0,19.0,1477,8050,0.00,2.50,0.00,0.000,4,0.000,0.059,3048,3478,2215
$GC,8097,1.02,209.2,245.7,22.2,1487,8105,0.10,2.40,0.00,0.000,6,0.196,0.037,3033,2072,2215
$GC,8232,1.02,209.2,220.2,19.2,1512,8240,0.00,2.53,0.00,0.000,4,0.000,0.059,3031,3482,2215
$GC,8265,1.02,209.2,213.5,20.0,1518,8272,0.00,2.40,0.00,0.000,6,0.000,0.036,3041,2076,2215
$GC,8400,1.02,209.2,188.3,18.8,1543,8406,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2078,2215
$GC,8533,1.02,209.2,163.1,19.2,1568,8541,0.00,2.50,0.00,0.000,4,0.000,0.058,3041,3475,2215
$GC,8588,1.02,209.2,151.3,21.8,1578,8595,0.00,2.38,0.00,0.000,6,0.000,0.035,3053,2072,2215
$GC,8722,1.02,209.2,124.3,20.7,1603,8728,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2073,2215
$GC,8855,1.02,209.2,99.1,18.5,1628,8863,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2073,2215
$GC,8926,1.02,209.2,86.3,17.7,1641,8931,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2074,2215
$GC,8995,1.02,209.2,73.7,18.0,1654,9001,0.00,2.50,0.00,0.000,4,0.000,0.057,3053,3478,2215
$GC,9016,1.02,209.2,69.7,20.1,1658,9024,0.10,2.38,0.00,0.000,6,0.193,0.035,3036,2079,2215
$GC,9087,1.02,209.2,57.2,16.9,1671,9093,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2081,2215
$GC,9156,1.02,209.2,45.6,18.2,1684,9163,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2081,2214
$GC,9226,1.03,218.3,34.8,14.6,1697,9234,0.00,0.00,4.93,0.446,6,0.000,0.000,3036,2081,2199
$GC,9297,1.07,250.7,24.5,13.4,1710,9331,0.00,2.55,25.62,0.562,4,0.000,0.056,3035,3486,2066
$GC,9517,1.48,586.9,13.9,-1.2,1750,9676,0.32,2.40,153.98,0.545,2,0.054,0.033,3182,2064,1217
$STATE,9677,end climb,SURFACE_DEPTH_REACHED
$STATE,9677,begin surface coast
$FINISH,0.8,1.019811
$STATE,9697,end surface coast,CONTROL_FINISHED_OK
$STATE,9697,begin surface
$SM_CCo,9710,69.40,0.517,0,0,745,575.22
$SM_GC,1.34,0.00,0.00,69.40,0.000,0.000,0.517,202,2062,745,-7.81,-0.25,575.22
$IRIDIUM_FIX,2828.55,-8846.35,170899,060632
$TT8_MAMPS,0.051389
$HUMID,1314
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,20.30
$XPDR_PINGS,5
$24V_AH,23.7,6.478
$10V_AH,10.7,4.488
$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,22.075,129.425,520.150,69.400,0.000,59.202,111.090,493.512,1.250,0.000,0.000,18.130,0.000,4016.092,791.747,4922.895,852.785,33.336,2288.211,0.000,4420.566,0.000,0.541,0.000
$DEVICE_MAMPS,269.217,72.098,1239.472,516.958,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1206.520,1292.079,3990.215,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91458,1777
$CAP_FILE_SIZE,163471,0
$CFSIZE,260165632,255492096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.129,186.2,1
$GPS,230510,091030,2838.991,-8844.203,38,1.4,44,-0.2