version: 66.04
glider: 515
mission: 5
dive: 15
start: 5 23 110 9 26 5
data:
$ID,515
$MISSION,5
$DIVE,15
$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,658.86505
$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,-4059.4934
$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,37
$R_STBD_OVSHOOT,29
$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
$GPS1,091030,2838.991,-8844.203,38,1.4,44,-0.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-72.8
$GPS2,092526,2839.088,-8843.996,12,1.8,12,-0.2
$SPEED_LIMITS,0.260,0.349
$TGT_NAME,SITE44
$TGT_LATLONG,2841.000,-8829.800
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.200,0.285
$KALMAN_X,-17547.4,998.5,62.1,33197.9,-1167.8
$KALMAN_Y,-32385.4,654.0,-121.2,12883.1,-3538.8
$MHEAD_RNG_PITCHd_Wd,60.6,23335,-20.6,-15.000
$D_GRID,1225
$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,-209.2,0.0,0.0,0,74,0.00,0.00,-60.92,0.000,2,0.000,0.000,202,2063,2530
$GC,75,-1.02,-209.2,3.3,-3.6,9,119,9.73,1.98,-29.80,0.000,4,0.270,0.061,2371,658,3945
$GC,358,-1.02,-209.2,81.0,-26.7,60,365,0.00,1.98,0.00,0.000,6,0.000,0.041,2363,2083,3948
$GC,428,-1.02,-209.2,101.5,-30.0,73,436,0.00,1.98,0.00,0.000,4,0.000,0.043,2368,660,3948
$GC,648,-1.02,-209.2,157.2,-24.2,114,657,0.00,1.95,0.00,0.000,6,0.000,0.042,2361,2080,3948
$GC,784,-1.02,-209.2,193.0,-28.6,139,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2080,3949
$GC,917,-1.02,-209.2,229.2,-26.8,164,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2080,3948
$GC,1050,-1.02,-209.2,263.9,-26.6,189,1056,0.00,2.45,0.00,0.000,4,0.000,0.055,2349,3468,3948
$GC,1077,-1.02,-209.2,271.4,-28.6,194,1085,0.00,2.35,0.00,0.000,6,0.000,0.034,2349,2078,3948
$GC,1212,-1.02,-209.2,308.4,-26.6,219,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2078,3947
$GC,1345,-1.02,-209.2,344.1,-27.0,244,1352,0.00,1.95,0.00,0.000,4,0.000,0.046,2349,654,3946
$GC,1373,-1.02,-209.2,351.4,-26.6,249,1380,0.00,1.95,0.00,0.000,6,0.000,0.044,2341,2078,3945
$GC,1507,-1.02,-209.2,387.7,-27.1,274,1514,0.12,0.00,0.00,0.000,6,0.202,0.000,2368,2079,3945
$GC,1641,-1.02,-209.2,421.6,-24.6,299,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2079,3944
$GC,1774,-1.02,-209.2,453.9,-24.8,324,1781,0.00,2.45,0.00,0.000,4,0.000,0.058,2357,3467,3943
$GC,1801,-1.02,-209.2,460.6,-25.6,329,1808,0.00,2.38,0.00,0.000,6,0.000,0.036,2360,2080,3943
$GC,1936,-1.02,-209.2,493.8,-24.5,354,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2079,3942
$GC,2070,-1.02,-209.2,526.5,-23.9,379,2071,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2079,3941
$GC,2198,-1.02,-209.2,557.0,-23.4,403,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2079,3940
$GC,2326,-1.02,-209.2,588.3,-24.4,427,2333,0.00,2.50,0.00,0.000,4,0.000,0.058,2350,3474,3938
$GC,2348,-1.02,-209.2,593.7,-24.4,431,2355,0.00,2.40,0.00,0.000,6,0.000,0.038,2350,2064,3938
$GC,2482,-1.02,-209.2,626.9,-25.0,456,2489,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2063,3936
$GC,2616,-1.02,-209.2,659.4,-23.6,481,2623,0.00,1.92,0.00,0.000,4,0.000,0.050,2350,658,3935
$GC,2648,-1.02,-209.2,667.5,-25.5,487,2656,0.00,1.92,0.00,0.000,6,0.000,0.045,2342,2065,3934
$GC,2783,-1.02,-209.2,700.5,-24.5,512,2790,0.12,2.47,0.00,0.000,4,0.208,0.058,2358,3467,3932
$GC,2805,-1.02,-209.2,705.9,-25.0,516,2812,0.00,2.40,0.00,0.000,6,0.000,0.038,2360,2073,3932
$GC,2939,-1.02,-209.2,738.1,-24.1,541,2940,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2072,3932
$GC,3067,-1.02,-209.2,767.9,-23.8,565,3068,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2072,3931
$GC,3195,-1.02,-209.2,797.7,-23.8,589,3203,0.00,2.50,0.00,0.000,4,0.000,0.059,2350,3466,3929
$GC,3223,-1.02,-209.2,804.3,-24.7,594,3231,0.00,2.42,0.00,0.000,6,0.000,0.040,2350,2065,3929
$GC,3359,-1.02,-209.2,837.2,-24.6,619,3364,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2064,3927
$GC,3492,-1.02,-209.2,869.2,-23.7,644,3498,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2064,3926
$GC,3625,-1.02,-209.2,900.4,-21.9,669,3631,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2064,3925
$GC,3758,-1.02,-209.2,931.4,-24.0,694,3759,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2064,3924
$GC,3886,-1.02,-209.2,961.2,-23.5,718,3887,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2064,3923
$STATE,4013,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4013,begin apogee
$GC,4016,-0.26,0.0,990.2,23.2,742,4185,0.90,0.00,163.07,1.235,6,0.184,0.000,2608,2064,3091
$STATE,4185,end apogee,CONTROL_FINISHED_OK
$STATE,4185,begin climb
$GC,4186,1.02,209.2,999.5,0.0,767,4368,1.33,2.12,173.55,1.204,4,0.108,0.059,3029,651,2235
$GC,4388,1.02,209.2,979.8,18.2,798,4397,0.00,2.10,0.00,0.000,6,0.000,0.046,3030,2071,2233
$GC,4524,1.02,209.2,953.6,19.7,823,4531,0.00,2.65,0.00,0.000,4,0.000,0.061,3029,3480,2228
$GC,4599,1.02,209.2,937.2,22.9,837,4606,0.00,2.50,0.00,0.000,6,0.000,0.038,3041,2083,2226
$GC,4733,1.02,209.2,909.6,20.9,862,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2082,2225
$GC,4862,1.02,209.2,884.0,20.0,886,4869,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2083,2223
$GC,4996,1.02,209.2,857.8,19.8,911,4997,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2083,2223
$GC,5124,1.02,209.2,832.2,19.8,935,5131,0.00,2.55,0.00,0.000,4,0.000,0.061,3040,3478,2221
$GC,5157,1.02,209.2,825.2,21.7,941,5164,0.00,2.45,0.00,0.000,6,0.000,0.038,3053,2074,2221
$GC,5291,1.02,209.2,797.1,20.7,966,5298,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2073,2221
$GC,5426,1.02,209.2,769.7,20.9,991,5432,0.00,2.58,0.00,0.000,4,0.000,0.062,3053,3479,2220
$GC,5479,1.02,209.2,757.4,23.4,1001,5487,0.10,2.45,0.00,0.000,6,0.202,0.038,3037,2074,2219
$GC,5614,1.02,209.2,731.2,18.4,1026,5622,0.00,2.58,0.00,0.000,4,0.000,0.061,3037,3481,2219
$GC,5642,1.02,209.2,725.5,20.6,1031,5650,0.00,2.45,0.00,0.000,6,0.000,0.038,3047,2080,2219
$GC,5777,1.02,209.2,699.2,19.7,1056,5783,0.00,2.55,0.00,0.000,4,0.000,0.061,3047,3479,2218
$GC,5809,1.02,209.2,692.4,21.4,1062,5818,0.10,2.45,0.00,0.000,6,0.196,0.038,3032,2066,2218
$GC,5946,1.02,209.2,667.0,18.4,1087,5952,0.00,2.58,0.00,0.000,4,0.000,0.061,3031,3485,2218
$GC,5988,1.02,209.2,658.2,21.0,1095,5995,0.00,2.45,0.00,0.000,6,0.000,0.038,3041,2082,2217
$GC,6122,1.02,209.2,632.4,18.9,1120,6129,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2081,2217
$GC,6256,1.02,209.2,607.0,18.9,1145,6263,0.00,2.55,0.00,0.000,4,0.000,0.061,3041,3481,2217
$GC,6278,1.02,209.2,602.4,20.9,1149,6284,0.00,2.45,0.00,0.000,6,0.000,0.038,3053,2059,2217
$GC,6411,1.02,209.2,575.8,20.5,1174,6418,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2062,2216
$GC,6545,1.02,209.2,549.3,19.0,1199,6551,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2062,2216
$GC,6679,1.02,209.2,523.1,20.1,1224,6685,0.00,2.58,0.00,0.000,4,0.000,0.061,3053,3485,2216
$GC,6727,1.02,209.2,512.6,22.6,1233,6733,0.10,2.42,0.00,0.000,6,0.201,0.038,3038,2082,2215
$GC,6861,1.02,209.2,486.8,18.5,1258,6869,0.00,2.55,0.00,0.000,4,0.000,0.061,3038,3480,2215
$GC,6900,1.02,209.2,478.9,20.6,1265,6907,0.00,2.42,0.00,0.000,6,0.000,0.038,3048,2084,2215
$GC,7034,1.02,209.2,452.7,19.0,1290,7035,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2084,2215
$GC,7162,1.02,209.2,428.2,20.2,1314,7170,0.00,2.55,0.00,0.000,4,0.000,0.061,3048,3486,2215
$GC,7212,1.02,209.2,417.8,20.9,1323,7219,0.10,2.45,0.00,0.000,6,0.199,0.038,3033,2063,2214
$GC,7347,1.02,209.2,393.2,17.9,1348,7354,0.00,2.55,0.00,0.000,4,0.000,0.060,3031,3478,2214
$GC,7379,1.02,209.2,387.0,19.6,1354,7388,0.00,2.40,0.00,0.000,6,0.000,0.037,3042,2095,2214
$GC,7515,1.02,209.2,361.5,19.3,1379,7521,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2096,2214
$GC,7648,1.02,209.2,335.6,20.2,1404,7655,0.00,2.53,0.00,0.000,4,0.000,0.059,3042,3482,2214
$GC,7708,1.02,209.2,323.1,21.5,1415,7715,0.00,2.42,0.00,0.000,6,0.000,0.037,3053,2064,2214
$GC,7842,1.02,209.2,296.6,19.9,1440,7843,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2066,2214
$GC,7970,1.02,209.2,271.4,19.8,1464,7977,0.00,2.55,0.00,0.000,4,0.000,0.059,3053,3481,2214
$GC,7997,1.02,209.2,265.4,21.9,1469,8004,0.10,2.42,0.00,0.000,6,0.199,0.036,3037,2072,2214
$GC,8131,1.02,209.2,240.2,18.7,1494,8139,0.00,2.55,0.00,0.000,4,0.000,0.058,3037,3481,2213
$GC,8175,1.02,209.2,231.2,21.6,1502,8183,0.00,2.42,0.00,0.000,6,0.000,0.037,3047,2070,2214
$GC,8311,1.02,209.2,204.6,19.4,1527,8317,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2070,2213
$GC,8444,1.02,209.2,179.4,19.2,1552,8451,0.00,2.55,0.00,0.000,4,0.000,0.058,3047,3488,2214
$GC,8477,1.02,209.2,172.7,21.0,1558,8485,0.08,2.42,0.00,0.000,6,0.199,0.036,3038,2071,2213
$GC,8613,1.02,209.2,147.0,20.1,1583,8620,0.00,2.53,0.00,0.000,4,0.000,0.058,3038,3474,2214
$GC,8678,1.02,209.2,133.1,21.5,1595,8684,0.00,2.38,0.00,0.000,6,0.000,0.035,3047,2090,2214
$GC,8811,1.02,209.2,106.5,18.9,1620,8817,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2091,2213
$GC,8944,1.02,209.2,82.7,17.9,1645,8951,0.00,2.50,0.00,0.000,4,0.000,0.058,3047,3478,2214
$GC,8971,1.02,209.2,77.7,18.9,1650,8980,0.08,2.42,0.00,0.000,6,0.200,0.035,3038,2062,2213
$GC,9044,1.02,209.2,64.8,18.5,1663,9049,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2063,2213
$GC,9112,1.02,209.2,52.9,17.0,1676,9120,0.00,2.55,0.00,0.000,4,0.000,0.056,3038,3482,2213
$GC,9134,1.02,209.2,48.8,19.1,1680,9142,0.00,2.38,0.00,0.000,6,0.000,0.034,3048,2099,2214
$GC,9205,1.02,209.2,36.3,18.7,1693,9211,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2097,2214
$GC,9274,1.13,302.0,26.9,10.5,1706,9344,0.00,2.60,65.88,0.568,4,0.000,0.054,3049,3490,1859
$GC,9429,1.34,465.6,13.5,7.1,1732,9552,0.15,2.50,117.40,0.542,2,0.058,0.033,3130,2060,1214
$STATE,9552,end climb,SURFACE_DEPTH_REACHED
$STATE,9552,begin surface coast
$FINISH,0.7,1.020232
$STATE,9572,end surface coast,CONTROL_FINISHED_OK
$STATE,9572,begin surface
$SM_CCo,9584,115.60,0.521,0,0,403,658.87
$SM_GC,1.02,0.00,0.00,115.60,0.000,0.000,0.521,197,2055,403,-7.82,-0.45,658.87
$IRIDIUM_FIX,2828.55,-8841.44,170899,090914
$TT8_MAMPS,0.052156
$HUMID,1298
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,19.60
$XPDR_PINGS,4
$24V_AH,23.7,6.661
$10V_AH,10.7,4.707
$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,21.600,139.050,519.900,115.600,0.000,149.685,388.336,0.000,1.000,0.000,0.000,14.695,0.000,4147.237,830.758,4853.215,722.094,33.325,2306.683,0.000,4357.509,0.000,0.541,0.000
$DEVICE_MAMPS,269.984,62.127,1234.870,520.793,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1191.085,1274.990,3935.939,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91371,1754
$CAP_FILE_SIZE,151428,0
$CFSIZE,260165632,255348736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.131,186.9,1
$GPS,230510,120837,2839.358,-8842.540,33,1.3,34,-0.2