version: 66.04
glider: 515
mission: 5
dive: 16
start: 5 23 110 12 28 23
data:
$ID,515
$MISSION,5
$DIVE,16
$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,-4077.6665
$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,41
$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
$GPS1,120837,2839.358,-8842.540,33,1.3,34,-0.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-70.1
$GPS2,122744,2839.315,-8842.288,15,1.9,15,-0.2
$SPEED_LIMITS,0.260,0.349
$TGT_NAME,SITE44
$TGT_LATLONG,2841.000,-8829.800
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.320,0.139
$KALMAN_X,-18080.9,1625.7,116.0,35806.9,-1883.9
$KALMAN_Y,-36893.2,1032.1,667.1,16643.6,-6502.2
$MHEAD_RNG_PITCHd_Wd,60.4,20529,-20.6,-15.000
$D_GRID,1239
$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,12,-1.02,-209.2,0.0,0.0,0,88,0.00,0.00,-74.28,0.000,2,0.000,0.000,195,2057,2579
$GC,89,-1.02,-209.2,3.4,-5.2,11,137,9.93,1.90,-28.88,0.000,4,0.272,0.066,2371,671,3947
$GC,377,-1.02,-209.2,81.5,-25.9,63,384,0.00,1.90,0.00,0.000,6,0.000,0.038,2363,2081,3948
$GC,447,-1.02,-209.2,101.7,-29.4,76,454,0.00,1.92,0.00,0.000,4,0.000,0.044,2367,675,3948
$GC,613,-1.02,-209.2,144.7,-24.9,107,620,0.00,1.88,0.00,0.000,6,0.000,0.038,2360,2070,3949
$GC,748,-1.02,-209.2,180.3,-26.5,132,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2071,3949
$GC,881,-1.02,-209.2,216.8,-26.7,157,888,0.00,2.45,0.00,0.000,4,0.000,0.051,2348,3450,3948
$GC,909,-1.02,-209.2,224.5,-28.4,162,916,0.00,2.35,0.00,0.000,6,0.000,0.035,2348,2080,3948
$GC,1043,-1.02,-209.2,262.1,-28.1,187,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2078,3948
$GC,1171,-1.02,-209.2,297.6,-28.0,211,1172,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2078,3948
$GC,1299,-1.02,-209.2,332.3,-26.6,235,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2079,3947
$GC,1432,-1.02,-209.2,367.5,-25.9,260,1438,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2079,3945
$GC,1565,-1.02,-209.2,403.4,-27.6,285,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2079,3944
$GC,1699,-1.02,-209.2,438.9,-25.8,310,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2079,3944
$GC,1833,-1.02,-209.2,474.0,-25.8,335,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2079,3942
$GC,1966,-1.02,-209.2,508.1,-24.6,360,1973,0.00,2.45,0.00,0.000,4,0.000,0.055,2337,3454,3941
$GC,2004,-1.02,-209.2,518.3,-26.8,367,2011,0.10,2.38,0.00,0.000,6,0.193,0.038,2365,2072,3941
$GC,2139,-1.02,-209.2,550.9,-23.3,392,2145,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2072,3939
$GC,2272,-1.02,-209.2,582.3,-24.0,417,2273,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2072,3937
$GC,2400,-1.02,-209.2,612.5,-23.4,441,2401,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2072,3935
$GC,2528,-1.02,-209.2,641.7,-23.8,465,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2073,3934
$GC,2662,-1.02,-209.2,672.2,-21.3,490,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2073,3933
$GC,2796,-1.02,-209.2,702.6,-24.0,515,2802,0.00,2.50,0.00,0.000,4,0.000,0.059,2354,3464,3931
$GC,2828,-1.02,-209.2,710.2,-24.4,521,2836,0.00,2.42,0.00,0.000,6,0.000,0.041,2357,2071,3931
$GC,2964,-1.02,-209.2,741.7,-23.7,546,2969,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2069,3929
$GC,3097,-1.02,-209.2,772.4,-22.0,571,3104,0.00,2.47,0.00,0.000,4,0.000,0.058,2346,3448,3927
$GC,3130,-1.02,-209.2,780.2,-24.1,577,3138,0.00,2.38,0.00,0.000,6,0.000,0.041,2346,2080,3928
$GC,3265,-1.02,-209.2,812.5,-24.9,602,3272,0.00,2.47,0.00,0.000,4,0.000,0.060,2337,3452,3927
$GC,3298,-1.02,-209.2,820.7,-25.8,608,3305,0.10,2.40,0.00,0.000,6,0.202,0.042,2365,2071,3927
$GC,3432,-1.02,-209.2,850.6,-21.0,633,3440,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2070,3925
$GC,3567,-1.02,-209.2,879.8,-21.1,658,3573,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2070,3923
$GC,3700,-1.02,-209.2,908.2,-21.4,683,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2070,3922
$GC,3833,-1.02,-209.2,936.5,-20.1,708,3841,0.00,2.50,0.00,0.000,4,0.000,0.060,2354,3458,3920
$GC,3867,-1.02,-209.2,943.5,-21.4,714,3874,0.00,2.40,0.00,0.000,6,0.000,0.043,2355,2073,3920
$GC,4001,-1.02,-209.2,972.7,-20.8,739,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2071,3920
$STATE,4085,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4085,begin apogee
$GC,4088,-0.26,0.0,991.0,21.0,755,4259,0.88,0.00,163.43,1.234,6,0.178,0.000,2609,2071,3089
$STATE,4260,end apogee,CONTROL_FINISHED_OK
$STATE,4260,begin climb
$GC,4261,1.02,209.2,999.5,0.0,781,4441,1.33,2.15,173.73,1.205,4,0.109,0.057,3030,668,2236
$GC,4510,1.02,209.2,969.0,20.2,820,4517,0.00,2.00,0.00,0.000,6,0.000,0.044,3031,2055,2231
$GC,4645,1.02,209.2,942.4,20.2,845,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2056,2228
$GC,4778,1.02,209.2,916.1,19.6,870,4786,0.00,2.65,0.00,0.000,4,0.000,0.061,3030,3482,2225
$GC,4816,1.02,209.2,908.0,20.3,877,4824,0.00,2.50,0.00,0.000,6,0.000,0.038,3042,2081,2224
$GC,4951,1.02,209.2,881.1,19.4,902,4958,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2079,2223
$GC,5085,1.02,209.2,855.1,19.8,927,5092,0.00,1.95,0.00,0.000,4,0.000,0.048,3051,661,2222
$GC,5128,1.02,209.2,846.5,19.4,935,5136,0.00,1.98,0.00,0.000,6,0.000,0.045,3051,2091,2223
$GC,5263,1.02,209.2,819.6,20.7,960,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2092,2221
$GC,5391,1.02,209.2,793.9,20.5,984,5398,0.00,2.53,0.00,0.000,4,0.000,0.061,3051,3470,2220
$GC,5429,1.02,209.2,785.6,23.4,991,5436,0.10,2.45,0.00,0.000,6,0.208,0.039,3036,2081,2220
$GC,5564,1.02,209.2,759.4,18.4,1016,5570,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2081,2220
$GC,5697,1.02,209.2,734.0,19.0,1041,5698,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2080,2219
$GC,5825,1.02,209.2,709.2,19.2,1065,5826,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2080,2219
$GC,5953,1.02,209.2,684.7,20.3,1089,5959,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2080,2218
$GC,6086,1.02,209.2,659.4,18.7,1114,6087,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2080,2218
$GC,6215,1.02,209.2,635.8,18.1,1138,6222,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2081,2217
$GC,6349,1.02,209.2,610.7,18.8,1163,6356,0.00,2.53,0.00,0.000,4,0.000,0.061,3036,3472,2217
$GC,6376,1.02,209.2,605.2,21.1,1168,6384,0.00,2.45,0.00,0.000,6,0.000,0.039,3046,2071,2216
$GC,6511,1.02,209.2,578.7,19.6,1193,6518,0.00,1.90,0.00,0.000,4,0.000,0.048,3055,659,2216
$GC,6538,1.02,209.2,573.2,21.1,1198,6547,0.00,1.92,0.00,0.000,6,0.000,0.044,3055,2076,2216
$GC,6674,1.02,209.2,546.3,20.7,1223,6680,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2077,2216
$GC,6808,1.02,209.2,520.1,19.7,1248,6814,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2077,2216
$GC,6941,1.02,209.2,493.9,19.6,1273,6947,0.00,2.53,0.00,0.000,4,0.000,0.060,3053,3472,2216
$GC,6989,1.02,209.2,483.5,21.9,1282,6997,0.10,2.42,0.00,0.000,6,0.202,0.039,3037,2080,2215
$GC,7125,1.02,209.2,458.1,18.6,1307,7132,0.00,1.92,0.00,0.000,4,0.000,0.048,3044,650,2215
$GC,7158,1.02,209.2,452.1,17.8,1313,7165,0.00,1.92,0.00,0.000,6,0.000,0.044,3044,2070,2215
$GC,7292,1.02,209.2,427.7,17.6,1338,7300,0.00,2.53,0.00,0.000,4,0.000,0.060,3044,3470,2215
$GC,7326,1.02,209.2,421.1,19.4,1344,7333,0.00,2.42,0.00,0.000,6,0.000,0.038,3055,2074,2215
$GC,7460,1.02,209.2,394.8,19.7,1369,7468,0.00,2.55,0.00,0.000,4,0.000,0.060,3054,3484,2215
$GC,7488,1.02,209.2,389.0,21.6,1374,7496,0.12,2.45,0.00,0.000,6,0.204,0.038,3031,2071,2214
$GC,7624,1.02,209.2,364.0,18.2,1399,7630,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2073,2214
$GC,7757,1.02,209.2,339.0,18.4,1424,7764,0.00,2.53,0.00,0.000,4,0.000,0.059,3031,3472,2214
$GC,7817,1.02,209.2,327.0,21.2,1435,7823,0.00,2.42,0.00,0.000,6,0.000,0.038,3041,2071,2214
$GC,7950,1.02,209.2,301.2,19.0,1460,7951,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2073,2214
$GC,8078,1.02,209.2,276.8,19.2,1484,8086,0.00,2.53,0.00,0.000,4,0.000,0.059,3041,3477,2214
$GC,8106,1.02,209.2,271.2,21.0,1489,8113,0.00,2.42,0.00,0.000,6,0.000,0.037,3051,2074,2214
$GC,8240,1.02,209.2,245.0,19.3,1514,8241,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2074,2214
$GC,8369,1.02,209.2,220.3,19.4,1538,8377,0.00,2.53,0.00,0.000,4,0.000,0.059,3051,3481,2214
$GC,8402,1.02,209.2,213.2,21.1,1544,8410,0.10,2.42,0.00,0.000,6,0.205,0.036,3035,2080,2213
$GC,8537,1.02,209.2,187.9,18.6,1569,8544,0.00,2.53,0.00,0.000,4,0.000,0.058,3035,3474,2213
$GC,8581,1.02,209.2,179.4,21.0,1577,8588,0.00,2.42,0.00,0.000,6,0.000,0.036,3045,2068,2214
$GC,8715,1.02,209.2,153.5,18.8,1602,8723,0.00,2.50,0.00,0.000,4,0.000,0.058,3045,3464,2214
$GC,8753,1.02,209.2,145.3,22.3,1609,8761,0.00,2.38,0.00,0.000,6,0.000,0.035,3055,2083,2213
$GC,8888,1.02,209.2,117.7,20.1,1634,8896,0.00,2.50,0.00,0.000,4,0.000,0.057,3055,3471,2214
$GC,8933,1.02,209.2,108.1,22.5,1642,8941,0.10,2.40,0.00,0.000,6,0.200,0.035,3038,2062,2213
$GC,9069,1.02,209.2,83.7,17.0,1667,9075,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2062,2213
$GC,9138,1.02,209.2,72.3,16.3,1680,9145,0.00,2.53,0.00,0.000,4,0.000,0.056,3037,3474,2214
$GC,9165,1.02,209.2,67.3,18.4,1685,9173,0.00,2.40,0.00,0.000,6,0.000,0.035,3048,2082,2214
$GC,9236,1.02,209.2,54.8,17.6,1698,9244,0.00,2.53,0.00,0.000,4,0.000,0.057,3048,3485,2214
$GC,9275,1.02,209.2,47.5,20.0,1705,9282,0.10,2.42,0.00,0.000,6,0.196,0.035,3032,2066,2213
$GC,9345,1.02,209.2,35.1,17.0,1718,9354,0.00,2.53,0.00,0.000,4,0.000,0.055,3031,3474,2213
$GC,9379,1.02,209.2,29.6,15.6,1724,9386,0.00,2.38,0.00,0.000,6,0.000,0.034,3041,2086,2214
$GC,9450,1.14,306.2,22.1,10.3,1737,9525,0.00,0.00,69.28,0.567,6,0.000,0.000,3042,2086,1839
$GC,9589,1.39,511.0,13.9,5.1,1760,9698,0.30,0.00,106.85,0.545,2,0.056,0.000,3159,2084,1251
$STATE,9699,end climb,SURFACE_DEPTH_REACHED
$STATE,9699,begin surface coast
$FINISH,0.5,1.019892
$STATE,9723,end surface coast,CONTROL_FINISHED_OK
$STATE,9723,begin surface
$SM_CCo,9736,74.55,0.525,0,0,744,575.22
$SM_GC,1.48,0.00,0.00,74.55,0.000,0.000,0.525,200,2084,744,-7.81,0.34,575.22
$IRIDIUM_FIX,2826.10,-8843.89,170899,121221
$TT8_MAMPS,0.052156
$HUMID,1313
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,19.60
$XPDR_PINGS,7
$24V_AH,23.7,6.873
$10V_AH,10.6,4.935
$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,21.750,126.875,513.275,74.550,0.000,56.190,60.215,848.204,1.750,0.000,0.000,17.546,0.000,4009.353,795.878,4929.432,1181.920,33.326,2298.138,0.000,4453.161,0.000,0.541,0.000
$DEVICE_MAMPS,271.518,65.962,1234.103,525.395,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1209.486,1295.831,3999.291,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91457,1781
$CAP_FILE_SIZE,174329,0
$CFSIZE,260165632,255307776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$CURRENT,0.128,194.8,1
$GPS,230510,151236,2839.551,-8840.845,13,1.6,24,-0.2