version: 66.04
glider: 515
mission: 5
dive: 20
start: 5 23 110 23 45 25
data:
$ID,515
$MISSION,5
$DIVE,20
$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,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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4171.2803
$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,35
$C_ROLL_DIVE,2146
$C_ROLL_CLIMB,2218
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,3069
$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,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
$GPS1,233616,2840.370,-8836.840,12,2.9,32,-0.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-73.1
$GPS2,234446,2840.466,-8837.008,9,3.4,28,-0.3
$SPEED_LIMITS,0.260,0.337
$TGT_NAME,SITE44
$TGT_LATLONG,2841.000,-8829.800
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.163,0.295
$KALMAN_X,-20514.5,-1170.7,248.0,49493.1,-1533.8
$KALMAN_Y,-42649.6,437.3,43.0,25724.8,-3835.5
$MHEAD_RNG_PITCHd_Wd,74.8,11753,-21.4,-15.000
$D_GRID,1105
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-1.03,-194.6,0.0,0.0,0,67,0.00,0.00,-54.83,0.000,2,0.000,0.000,204,2125,2330
$GC,69,-1.03,-194.6,3.4,-7.2,8,117,9.98,1.65,-32.17,0.000,4,0.275,0.058,2366,907,3863
$GC,148,-1.03,-194.6,24.8,-36.4,21,156,0.00,1.73,0.00,0.000,6,0.000,0.040,2360,2153,3864
$GC,219,-1.03,-194.6,45.5,-27.5,34,227,0.00,2.10,0.00,0.000,4,0.000,0.050,2350,3366,3865
$GC,263,-1.03,-194.6,58.1,-28.8,42,270,0.00,1.98,0.00,0.000,6,0.000,0.034,2356,2158,3865
$GC,333,-1.03,-194.6,79.2,-29.7,55,340,0.00,2.05,0.00,0.000,4,0.000,0.049,2348,3368,3866
$GC,356,-1.03,-194.6,85.8,-29.7,59,362,0.00,2.03,0.00,0.000,6,0.000,0.034,2348,2138,3866
$GC,425,-1.03,-194.6,106.6,-28.3,72,426,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2137,3867
$GC,554,-1.03,-194.6,143.2,-28.6,96,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2137,3867
$GC,687,-1.03,-194.6,180.4,-28.3,121,695,0.00,2.08,0.00,0.000,4,0.000,0.049,2339,3366,3867
$GC,731,-1.03,-194.6,193.0,-28.5,129,739,0.00,1.98,0.00,0.000,6,0.000,0.033,2348,2156,3867
$GC,867,-1.03,-194.6,230.6,-27.9,154,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2155,3867
$GC,1000,-1.03,-194.6,266.5,-26.6,179,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2155,3867
$GC,1133,-1.03,-194.6,302.2,-26.9,204,1134,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2155,3867
$GC,1261,-1.03,-194.6,336.8,-27.5,228,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2155,3867
$GC,1394,-1.03,-194.6,373.0,-27.6,253,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2156,3867
$GC,1528,-1.03,-194.6,409.4,-27.4,278,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2156,3866
$GC,1656,-1.03,-194.6,444.0,-27.3,302,1662,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2156,3865
$GC,1790,-1.03,-194.6,479.7,-26.8,327,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2156,3864
$GC,1918,-1.03,-194.6,512.9,-24.4,351,1925,0.00,1.70,0.00,0.000,4,0.000,0.044,2347,910,3863
$GC,1945,-1.03,-194.6,520.0,-26.2,356,1952,0.00,1.70,0.00,0.000,6,0.000,0.042,2341,2145,3863
$GC,2079,-1.03,-194.6,555.1,-26.6,381,2086,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2146,3861
$GC,2213,-1.03,-194.6,590.4,-26.2,406,2219,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2146,3861
$GC,2346,-1.03,-194.6,625.1,-25.3,431,2354,0.00,2.05,0.00,0.000,4,0.000,0.054,2331,3371,3859
$GC,2369,-1.03,-194.6,630.9,-26.9,435,2376,0.10,2.00,0.00,0.000,6,0.202,0.038,2360,2143,3859
$GC,2503,-1.03,-194.6,663.3,-24.5,460,2509,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2144,3858
$GC,2636,-1.03,-194.6,695.6,-25.2,485,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2144,3857
$GC,2770,-1.03,-194.6,728.0,-24.1,510,2777,0.00,2.08,0.00,0.000,4,0.000,0.057,2352,3364,3855
$GC,2792,-1.03,-194.6,733.2,-23.9,514,2799,0.00,2.00,0.00,0.000,6,0.000,0.039,2358,2146,3855
$GC,2926,-1.03,-194.6,764.9,-22.8,539,2927,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2145,3854
$GC,3054,-1.03,-194.6,794.5,-22.7,563,3061,0.00,1.70,0.00,0.000,4,0.000,0.048,2360,903,3853
$GC,3076,-1.03,-194.6,799.6,-24.6,567,3083,0.00,1.70,0.00,0.000,6,0.000,0.045,2354,2142,3852
$GC,3210,-1.03,-194.6,830.1,-22.3,592,3211,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2143,3851
$GC,3339,-1.03,-194.6,859.5,-22.4,616,3345,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2143,3850
$GC,3472,-1.03,-194.6,890.8,-24.2,641,3480,0.00,2.08,0.00,0.000,4,0.000,0.059,2344,3364,3849
$GC,3490,-1.03,-194.6,895.0,-23.8,644,3497,0.00,2.00,0.00,0.000,6,0.000,0.041,2343,2151,3848
$GC,3625,-1.03,-194.6,927.3,-23.8,669,3631,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2150,3848
$GC,3759,-1.03,-194.6,958.8,-22.6,694,3765,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2150,3846
$GC,3892,-1.03,-194.6,989.3,-22.3,719,3898,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2150,3845
$STATE,3901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3901,begin apogee
$GC,3904,-0.26,0.0,991.6,22.6,721,4064,0.93,0.00,152.35,1.236,6,0.189,0.000,2606,2210,3068
$STATE,4065,end apogee,CONTROL_FINISHED_OK
$STATE,4065,begin climb
$GC,4066,1.03,194.6,1000.5,0.0,745,4234,1.35,0.00,161.38,1.205,6,0.111,0.000,3024,2210,2275
$GC,4361,1.03,194.6,959.4,19.7,794,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2211,2269
$GC,4494,1.03,194.6,932.6,19.7,819,4501,0.00,2.30,0.00,0.000,4,0.000,0.067,3024,3445,2267
$GC,4516,1.03,194.6,927.8,21.2,823,4523,0.00,2.15,0.00,0.000,6,0.000,0.038,3034,2223,2266
$GC,4651,1.03,194.6,900.2,20.9,848,4656,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2223,2265
$GC,4784,1.03,194.6,873.0,20.1,873,4792,0.00,2.25,0.00,0.000,4,0.000,0.062,3034,3440,2263
$GC,4807,1.03,194.6,868.1,21.3,877,4815,0.00,2.15,0.00,0.000,6,0.000,0.038,3044,2218,2263
$GC,4943,1.03,194.6,840.1,20.8,902,4948,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2217,2262
$GC,5076,1.03,194.6,813.0,20.0,927,5082,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2217,2262
$GC,5209,1.03,194.6,786.0,21.0,952,5210,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2217,2261
$GC,5337,1.03,194.6,760.4,20.4,976,5343,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2217,2261
$GC,5470,1.03,194.6,734.1,19.8,1001,5477,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2217,2260
$GC,5604,1.03,194.6,707.7,19.7,1026,5610,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2217,2260
$GC,5738,1.03,194.6,682.0,19.0,1051,5743,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2217,2259
$GC,5871,1.03,194.6,656.0,19.3,1076,5877,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2217,2259
$GC,6004,1.03,194.6,630.1,19.3,1101,6011,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2217,2258
$GC,6138,1.03,194.6,604.5,18.9,1126,6139,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2217,2257
$GC,6266,1.03,194.6,580.7,18.5,1150,6273,0.00,2.25,0.00,0.000,4,0.000,0.063,3044,3454,2257
$GC,6299,1.03,194.6,574.0,21.0,1156,6307,0.00,2.15,0.00,0.000,6,0.000,0.038,3054,2221,2256
$GC,6434,1.03,194.6,547.4,19.1,1181,6434,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2221,2256
$GC,6562,1.03,194.6,522.2,19.1,1205,6569,0.00,2.22,0.00,0.000,4,0.000,0.062,3054,3450,2255
$GC,6589,1.03,194.6,516.5,22.1,1210,6596,0.10,2.12,0.00,0.000,6,0.200,0.038,3037,2218,2255
$GC,6724,1.03,194.6,491.4,18.5,1235,6731,0.00,2.22,0.00,0.000,4,0.000,0.062,3037,3448,2255
$GC,6756,1.03,194.6,485.1,19.6,1241,6765,0.00,2.12,0.00,0.000,6,0.000,0.038,3045,2216,2255
$GC,6892,1.03,194.6,459.3,18.3,1266,6899,0.00,1.73,0.00,0.000,4,0.000,0.044,3054,969,2254
$GC,6924,1.03,194.6,453.1,19.0,1272,6931,0.00,1.75,0.00,0.000,6,0.000,0.046,3054,2214,2255
$GC,7059,1.03,194.6,427.2,19.5,1297,7066,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2214,2254
$GC,7193,1.03,194.6,402.1,19.9,1322,7200,0.00,2.20,0.00,0.000,4,0.000,0.062,3054,3445,2254
$GC,7215,1.03,194.6,397.7,20.3,1326,7223,0.10,2.10,0.00,0.000,6,0.199,0.038,3037,2225,2254
$GC,7350,1.03,194.6,372.7,18.2,1351,7356,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2224,2253
$GC,7483,1.03,194.6,348.5,18.9,1376,7484,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2224,2254
$GC,7611,1.03,194.6,325.5,18.4,1400,7619,0.00,2.17,0.00,0.000,4,0.000,0.061,3036,3440,2254
$GC,7644,1.03,194.6,318.8,20.7,1406,7651,0.00,2.08,0.00,0.000,6,0.000,0.037,3045,2223,2253
$GC,7778,1.03,194.6,293.0,19.6,1431,7784,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2222,2253
$GC,7912,1.03,194.6,267.6,18.7,1456,7918,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2223,2253
$GC,8045,1.03,194.6,241.8,20.5,1481,8053,0.00,2.17,0.00,0.000,4,0.000,0.059,3045,3442,2253
$GC,8074,1.03,194.6,235.8,21.5,1486,8081,0.00,2.10,0.00,0.000,6,0.000,0.037,3055,2216,2253
$GC,8208,1.03,194.6,209.3,19.5,1511,8214,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2215,2253
$GC,8341,1.03,194.6,182.9,19.7,1536,8342,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2215,2253
$GC,8469,1.03,194.6,158.3,19.5,1560,8476,0.00,2.20,0.00,0.000,4,0.000,0.058,3054,3445,2253
$GC,8491,1.03,194.6,154.1,19.8,1564,8498,0.10,2.08,0.00,0.000,6,0.195,0.036,3036,2223,2253
$GC,8625,1.03,194.6,129.2,17.7,1589,8634,0.00,2.15,0.00,0.000,4,0.000,0.057,3036,3442,2254
$GC,8649,1.03,194.6,125.1,18.4,1593,8657,0.00,2.08,0.00,0.000,6,0.000,0.035,3045,2215,2253
$GC,8785,1.03,194.6,100.7,17.6,1618,8792,0.00,2.20,0.00,0.000,4,0.000,0.058,3045,3447,2253
$GC,8838,1.03,194.6,90.9,18.2,1628,8846,0.00,2.08,0.00,0.000,6,0.000,0.035,3055,2222,2253
$GC,8910,1.03,194.6,78.7,17.5,1641,8916,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2221,2253
$GC,8980,1.03,194.6,66.6,17.1,1654,8985,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2221,2253
$GC,9048,1.03,194.6,55.2,16.7,1667,9056,0.00,2.15,0.00,0.000,4,0.000,0.056,3055,3439,2253
$GC,9098,1.03,194.6,46.4,19.3,1676,9105,0.10,2.05,0.00,0.000,6,0.192,0.034,3037,2220,2253
$GC,9168,1.06,221.2,35.5,13.6,1689,9191,0.00,2.12,17.88,0.556,4,0.000,0.054,3037,3442,2166
$GC,9211,1.10,251.0,29.7,13.5,1696,9239,0.00,2.08,23.60,0.554,6,0.000,0.033,3046,2217,2044
$GC,9303,1.13,272.3,17.5,13.9,1712,9323,0.00,0.00,17.08,0.530,6,0.000,0.000,3045,2218,1957
$GC,9387,1.36,460.7,11.1,5.3,1727,9490,0.25,0.00,100.82,0.541,2,0.060,0.000,3145,2216,1403
$STATE,9491,end climb,SURFACE_DEPTH_REACHED
$STATE,9491,begin surface coast
$FINISH,0.2,1.000991
$STATE,9521,end surface coast,CONTROL_FINISHED_OK
$STATE,9521,begin surface
$SM_CCo,9534,95.85,0.522,0,0,724,575.22
$SM_GC,1.05,0.00,0.00,95.85,0.000,0.000,0.522,199,2130,724,-7.81,-0.48,575.22
$IRIDIUM_FIX,2831.00,-8846.29,170899,212154
$TT8_MAMPS,0.051389
$HUMID,1278
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,19.60
$XPDR_PINGS,0
$24V_AH,23.7,7.575
$10V_AH,10.6,5.789
$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,21.325,94.250,473.100,95.850,0.000,31.382,27.759,318.303,0.000,0.000,0.000,31.533,0.000,3900.494,775.714,4855.353,568.423,33.337,2243.573,0.000,4351.451,0.000,0.846,0.000
$DEVICE_MAMPS,274.586,80.535,1235.637,521.560,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1186.943,1272.657,3926.527,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91233,1748
$CAP_FILE_SIZE,156987,0
$CFSIZE,260165632,254976000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$CURRENT,0.127,241.2,1
$GPS,240510,022654,2840.607,-8835.829,23,1.7,41,-0.3