version: 66.04
glider: 515
mission: 5
dive: 23
start: 5 24 110 9 56 10
data:
$ID,515
$MISSION,5
$DIVE,23
$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,360
$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,150
$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,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4217.2515
$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,27
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,325
$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
$GPS1,094306,2841.098,-8833.852,34,1.0,34,-0.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-72.3
$GPS2,095532,2841.046,-8833.774,13,1.2,13,-0.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SITE44A
$TGT_LATLONG,2841.000,-8829.800
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.236,0.109
$KALMAN_X,-27232.7,811.9,294.8,59420.1,-5810.9
$KALMAN_Y,-50038.7,738.6,141.7,33800.7,-5750.2
$MHEAD_RNG_PITCHd_Wd,80.4,6458,-17.5,-10.000
$D_GRID,1321
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.83,-146.0,0.0,0.0,0,81,0.00,0.00,-66.30,0.000,2,0.000,0.000,197,2167,2607
$GC,82,-0.83,-146.0,3.0,-4.6,10,122,10.05,1.73,-25.38,0.000,4,0.266,0.059,2429,897,3665
$GC,362,-0.83,-146.0,63.7,-21.9,61,369,0.00,1.67,0.00,0.000,6,0.000,0.036,2423,2144,3667
$GC,432,-0.83,-146.0,78.5,-21.2,74,439,0.00,1.70,0.00,0.000,4,0.000,0.041,2429,897,3668
$GC,609,-0.83,-146.0,115.7,-20.6,107,616,0.00,1.67,0.00,0.000,6,0.000,0.037,2423,2146,3669
$GC,743,-0.83,-146.0,143.3,-20.2,132,752,0.00,2.05,0.00,0.000,4,0.000,0.048,2413,3378,3668
$GC,778,-0.83,-146.0,150.4,-21.0,138,784,0.00,2.00,0.00,0.000,6,0.000,0.032,2413,2139,3669
$GC,912,-0.83,-146.0,177.1,-20.0,163,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2139,3669
$GC,1040,-0.83,-146.0,202.3,-19.0,187,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2139,3669
$GC,1168,-0.83,-146.0,227.0,-18.8,211,1168,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2140,3669
$GC,1296,-0.83,-146.0,251.4,-18.2,235,1303,0.00,2.08,0.00,0.000,4,0.000,0.050,2403,3377,3668
$GC,1334,-0.83,-146.0,259.1,-20.0,242,1341,0.00,1.98,0.00,0.000,6,0.000,0.033,2403,2148,3668
$GC,1468,-0.83,-146.0,285.6,-20.3,267,1474,0.12,0.00,0.00,0.000,6,0.189,0.000,2432,2146,3668
$GC,1602,-0.83,-146.0,309.5,-17.0,292,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2146,3667
$GC,1736,-0.83,-146.0,333.2,-18.0,317,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2147,3667
$GC,1864,-0.83,-146.0,356.0,-18.2,341,1871,0.00,2.05,0.00,0.000,4,0.000,0.052,2424,3378,3665
$GC,1902,-0.83,-146.0,363.0,-17.4,348,1910,0.00,1.98,0.00,0.000,6,0.000,0.035,2429,2152,3665
$GC,2037,-0.83,-146.0,387.0,-17.5,373,2044,0.00,1.67,0.00,0.000,4,0.000,0.043,2429,910,3664
$GC,2081,-0.83,-146.0,394.6,-17.4,381,2088,0.00,1.65,0.00,0.000,6,0.000,0.040,2423,2139,3664
$GC,2215,-0.83,-146.0,418.8,-18.4,406,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2140,3663
$GC,2343,-0.83,-146.0,441.4,-17.6,430,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2140,3662
$GC,2476,-0.83,-146.0,464.6,-17.8,455,2482,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2140,3661
$GC,2609,-0.83,-146.0,487.9,-17.3,480,2618,0.00,2.05,0.00,0.000,4,0.000,0.053,2413,3377,3660
$GC,2638,-0.83,-146.0,493.3,-19.6,485,2645,0.00,2.00,0.00,0.000,6,0.000,0.037,2413,2141,3660
$GC,2772,-0.83,-146.0,518.6,-19.0,510,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2141,3659
$GC,2900,-0.83,-146.0,542.8,-18.9,534,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2141,3658
$GC,3029,-0.83,-146.0,566.4,-18.0,558,3034,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2142,3657
$GC,3162,-0.83,-146.0,591.0,-17.9,583,3168,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2141,3655
$GC,3295,-0.83,-146.0,615.3,-17.9,608,3302,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2141,3654
$GC,3429,-0.83,-146.0,639.4,-18.2,633,3435,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2141,3653
$GC,3562,-0.83,-146.0,662.9,-18.2,658,3568,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2142,3652
$GC,3695,-0.83,-146.0,686.2,-17.4,683,3701,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2141,3651
$GC,3829,-0.83,-146.0,709.7,-16.5,708,3837,0.00,2.10,0.00,0.000,4,0.000,0.057,2403,3378,3650
$GC,3852,-0.83,-146.0,713.8,-18.5,712,3860,0.00,2.00,0.00,0.000,6,0.000,0.039,2403,2147,3650
$GC,3987,-0.83,-146.0,738.6,-18.3,737,3995,0.12,1.67,0.00,0.000,4,0.191,0.048,2432,906,3648
$GC,4025,-0.83,-146.0,745.2,-15.8,744,4034,0.00,1.67,0.00,0.000,6,0.000,0.044,2426,2140,3648
$GC,4162,-0.83,-146.0,767.3,-16.7,769,4167,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2140,3647
$GC,4294,-0.83,-146.0,788.9,-15.7,794,4302,0.00,2.08,0.00,0.000,4,0.000,0.058,2416,3382,3646
$GC,4322,-0.83,-146.0,793.4,-17.5,799,4330,0.00,2.00,0.00,0.000,6,0.000,0.040,2416,2146,3646
$GC,4457,-0.83,-146.0,815.6,-16.3,824,4463,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2146,3645
$GC,4591,-0.83,-146.0,837.6,-16.1,849,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2146,3643
$GC,4724,-0.83,-146.0,859.2,-17.1,874,4725,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2147,3642
$GC,4852,-0.83,-146.0,880.2,-16.6,898,4858,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2147,3641
$GC,4985,-0.83,-146.0,901.9,-16.1,923,4991,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2147,3641
$GC,5119,-0.83,-146.0,923.2,-16.0,948,5126,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2147,3640
$GC,5253,-0.83,-146.0,945.1,-15.9,973,5259,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2147,3639
$GC,5386,-0.83,-146.0,966.9,-16.8,998,5392,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2147,3638
$GC,5520,-0.83,-146.0,988.1,-16.3,1023,5526,0.00,2.10,0.00,0.000,4,0.000,0.061,2406,3378,3637
$STATE,5535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5535,begin apogee
$GC,5539,-0.26,0.0,990.5,15.2,1026,5653,0.70,0.00,111.43,1.246,6,0.172,0.000,2612,2221,3069
$STATE,5654,end apogee,CONTROL_FINISHED_OK
$STATE,5654,begin climb
$GC,5655,0.83,146.0,996.7,0.0,1043,5784,1.10,0.00,121.60,1.219,6,0.109,0.000,2955,2222,2473
$GC,5912,0.83,146.0,974.2,12.9,1086,5919,0.00,2.30,0.00,0.000,4,0.000,0.068,2955,3441,2466
$GC,5950,0.83,146.0,969.1,13.6,1093,5957,0.00,2.15,0.00,0.000,6,0.000,0.038,2965,2217,2466
$GC,6084,0.83,146.0,951.8,13.0,1118,6085,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2218,2465
$GC,6212,0.83,146.0,935.5,13.3,1142,6213,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2218,2464
$GC,6340,0.83,146.0,919.3,13.2,1166,6346,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2218,2463
$GC,6473,0.83,146.0,902.2,13.2,1191,6480,0.00,2.22,0.00,0.000,4,0.000,0.064,2965,3443,2462
$GC,6517,0.83,146.0,896.0,14.5,1199,6523,0.00,2.10,0.00,0.000,6,0.000,0.038,2975,2221,2461
$GC,6650,0.83,146.0,877.9,14.1,1224,6651,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2222,2461
$GC,6778,0.83,146.0,861.5,12.9,1248,6786,0.00,2.20,0.00,0.000,4,0.000,0.064,2975,3446,2460
$GC,6828,0.83,146.0,854.5,14.5,1257,6835,0.00,2.10,0.00,0.000,6,0.000,0.038,2985,2215,2459
$GC,6962,0.83,146.0,836.1,14.2,1282,6968,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2216,2459
$GC,7096,0.83,146.0,818.2,12.7,1307,7102,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2217,2459
$GC,7229,0.83,146.0,800.3,13.6,1332,7236,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2217,2458
$GC,7363,0.83,146.0,782.2,13.9,1357,7370,0.00,2.20,0.00,0.000,4,0.000,0.064,2985,3446,2458
$GC,7396,0.83,146.0,777.3,14.8,1363,7402,0.00,2.08,0.00,0.000,6,0.000,0.038,2996,2224,2457
$GC,7529,0.83,146.0,758.3,14.6,1388,7538,0.00,2.17,0.00,0.000,4,0.000,0.064,2996,3448,2457
$GC,7574,0.83,146.0,751.6,16.0,1396,7582,0.12,2.08,0.00,0.000,6,0.194,0.038,2971,2222,2457
$GC,7710,0.83,146.0,734.2,12.4,1421,7716,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2222,2457
$GC,7843,0.83,146.0,717.2,13.4,1446,7849,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2222,2456
$GC,7976,0.83,146.0,700.5,13.4,1471,7982,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2222,2455
$GC,8110,0.83,146.0,684.2,11.6,1496,8110,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2223,2456
$GC,8238,0.83,146.0,668.8,11.8,1520,8245,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2222,2455
$GC,8372,0.83,146.0,652.3,12.4,1545,8378,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2222,2456
$GC,8505,0.83,146.0,636.1,12.1,1570,8506,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2222,2455
$GC,8633,0.83,146.0,620.8,12.8,1594,8640,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2221,2455
$GC,8767,0.83,146.0,604.9,11.7,1619,8767,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2221,2454
$GC,8895,0.83,146.0,589.7,12.3,1643,8901,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2221,2454
$GC,9028,0.83,146.0,574.2,11.5,1668,9035,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2222,2454
$GC,9162,0.83,146.0,558.6,12.0,1693,9168,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2221,2454
$GC,9295,0.83,146.0,543.1,11.8,1718,9301,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2221,2453
$GC,9429,0.83,146.0,527.4,12.2,1743,9434,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2222,2453
$GC,9562,0.83,146.0,512.2,11.3,1768,9569,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2222,2453
$GC,9696,0.83,146.0,496.9,12.2,1793,9697,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2221,2453
$GC,9824,0.83,146.0,482.4,11.5,1817,9830,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2222,2453
$GC,9958,0.83,146.0,467.4,10.9,1842,9964,0.00,2.20,0.00,0.000,4,0.000,0.063,2970,3449,2453
$GC,10027,0.83,146.0,458.5,13.6,1855,10035,0.00,2.08,0.00,0.000,6,0.000,0.038,2979,2218,2452
$GC,10162,0.83,146.0,442.8,11.2,1880,10170,0.00,2.17,0.00,0.000,4,0.000,0.062,2979,3448,2453
$GC,10217,0.83,146.0,435.7,13.1,1890,10224,0.00,2.08,0.00,0.000,6,0.000,0.038,2989,2216,2453
$GC,10351,0.83,146.0,419.2,12.0,1915,10358,0.00,2.17,0.00,0.000,4,0.000,0.061,2989,3444,2453
$GC,10368,0.83,146.0,417.0,13.0,1918,10375,0.10,2.08,0.00,0.000,6,0.191,0.038,2971,2218,2453
$GC,10503,0.83,146.0,402.0,10.5,1943,10510,0.00,1.73,0.00,0.000,4,0.000,0.044,2978,962,2452
$GC,10530,0.83,146.0,399.1,10.7,1948,10539,0.00,1.75,0.00,0.000,6,0.000,0.045,2978,2218,2453
$GC,10666,0.83,146.0,383.8,11.1,1973,10672,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2218,2453
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$STATE,14124,end climb,SURFACE_DEPTH_REACHED
$STATE,14124,begin surface coast
$FINISH,0.6,1.022323
$STATE,14151,end surface coast,CONTROL_FINISHED_OK
$STATE,14151,begin surface
$SM_CCo,14164,119.60,0.513,0,0,723,575.22
$SM_GC,1.23,0.00,0.00,119.60,0.000,0.000,0.513,202,2138,723,-7.81,-0.23,575.22
$IRIDIUM_FIX,2828.55,-8836.53,180899,050548
$TT8_MAMPS,0.051389
$HUMID,1238
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.7,8.040
$10V_AH,10.6,6.662
$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,20.900,137.200,383.700,119.600,0.000,29.004,23.907,535.034,0.000,0.000,0.000,15.713,0.000,5991.362,865.976,7211.756,888.296,33.332,2925.119,0.000,6523.296,0.000,0.847,0.000
$DEVICE_MAMPS,266.149,68.263,1246.375,513.123,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1780.770,1904.888,5868.420,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132310,2613
$CAP_FILE_SIZE,229886,0
$CFSIZE,260165632,254558208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,52,0,0
$CURRENT,0.137,254.0,1
$GPS,240510,135507,2841.184,-8832.827,35,1.2,35,-0.3