version: 66.04
glider: 515
mission: 5
dive: 17
start: 5 23 110 15 22 7
data:
$ID,515
$MISSION,5
$DIVE,17
$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,-4110.5005
$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,2099
$C_ROLL_CLIMB,2180
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,3080
$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,2
$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
$GPS1,151236,2839.551,-8840.845,13,1.6,24,-0.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-72.0
$GPS2,152128,2839.564,-8840.820,10,2.5,29,-0.2
$SPEED_LIMITS,0.260,0.349
$TGT_NAME,SITE44
$TGT_LATLONG,2841.000,-8829.800
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.322,0.134
$KALMAN_X,-19344.4,1103.4,77.0,40023.0,-3047.2
$KALMAN_Y,-38088.5,1046.9,784.7,18131.4,-6035.9
$MHEAD_RNG_PITCHd_Wd,62.0,18101,-20.6,-15.000
$D_GRID,1226
$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,-209.2,0.0,0.0,0,83,0.00,0.00,-69.80,0.000,2,0.000,0.000,200,2084,2754
$GC,84,-1.02,-209.2,3.3,-3.2,10,125,9.95,2.17,-22.45,0.000,4,0.274,0.063,2357,3347,3937
$GC,365,-1.02,-209.2,92.7,-30.1,61,371,0.00,2.03,0.00,0.000,6,0.000,0.036,2360,2105,3940
$GC,434,-1.02,-209.2,113.6,-29.2,74,442,0.00,2.08,0.00,0.000,4,0.000,0.051,2352,3331,3940
$GC,462,-1.02,-209.2,121.7,-30.3,79,469,0.00,2.03,0.00,0.000,6,0.000,0.035,2359,2098,3940
$GC,596,-1.02,-209.2,158.9,-27.1,104,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2098,3940
$GC,731,-1.02,-209.2,197.1,-27.9,129,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2098,3941
$GC,864,-1.02,-209.2,234.4,-26.9,154,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2097,3940
$GC,997,-1.02,-209.2,270.8,-27.8,179,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2098,3941
$GC,1131,-1.02,-209.2,307.4,-27.4,204,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2098,3940
$GC,1264,-1.02,-209.2,343.4,-26.7,229,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2098,3940
$GC,1392,-1.02,-209.2,378.3,-26.7,253,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2098,3940
$GC,1521,-1.02,-209.2,412.8,-26.6,277,1527,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2098,3938
$GC,1654,-1.02,-209.2,448.1,-26.1,302,1661,0.00,2.08,0.00,0.000,4,0.000,0.052,2352,3329,3937
$GC,1681,-1.02,-209.2,455.5,-27.8,307,1688,0.00,2.00,0.00,0.000,6,0.000,0.038,2359,2098,3937
$GC,1816,-1.02,-209.2,490.4,-25.7,332,1823,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2098,3937
$GC,1950,-1.02,-209.2,524.5,-25.8,357,1957,0.00,2.08,0.00,0.000,4,0.000,0.053,2350,3331,3936
$GC,1972,-1.02,-209.2,530.1,-25.5,361,1979,0.00,2.03,0.00,0.000,6,0.000,0.038,2350,2090,3935
$GC,2107,-1.02,-209.2,564.8,-25.3,386,2113,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2088,3934
$GC,2240,-1.02,-209.2,598.2,-24.2,411,2240,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2088,3934
$GC,2368,-1.02,-209.2,630.8,-24.8,435,2374,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2089,3932
$GC,2501,-1.02,-209.2,664.6,-24.7,460,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2089,3932
$GC,2629,-1.02,-209.2,695.7,-24.9,484,2636,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2089,3930
$GC,2764,-1.02,-209.2,728.5,-25.0,509,2770,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2089,3929
$GC,2897,-1.02,-209.2,760.9,-24.3,534,2904,0.00,2.10,0.00,0.000,4,0.000,0.057,2341,3326,3928
$GC,2924,-1.02,-209.2,767.8,-26.4,539,2932,0.00,2.00,0.00,0.000,6,0.000,0.041,2341,2102,3929
$GC,3059,-1.02,-209.2,801.1,-25.4,564,3066,0.12,0.00,0.00,0.000,6,0.203,0.000,2370,2101,3926
$GC,3193,-1.02,-209.2,831.8,-22.7,589,3199,0.00,2.08,0.00,0.000,4,0.000,0.058,2362,3326,3924
$GC,3220,-1.02,-209.2,837.9,-23.3,594,3227,0.00,2.00,0.00,0.000,6,0.000,0.041,2362,2101,3925
$GC,3354,-1.02,-209.2,868.1,-21.8,619,3360,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2101,3924
$GC,3487,-1.02,-209.2,898.1,-23.1,644,3494,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2101,3923
$GC,3622,-1.02,-209.2,927.9,-22.3,669,3628,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2101,3922
$GC,3755,-1.02,-209.2,957.2,-21.0,694,3755,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2101,3921
$GC,3883,-1.02,-209.2,984.8,-20.7,718,3889,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2101,3920
$STATE,3908,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3908,begin apogee
$GC,3911,-0.26,0.0,990.7,22.6,723,4086,0.85,0.00,164.80,1.240,6,0.179,0.000,2608,2182,3080
$STATE,4086,end apogee,CONTROL_FINISHED_OK
$STATE,4086,begin climb
$GC,4087,1.02,209.2,999.5,0.0,749,4267,1.33,0.00,173.32,1.208,6,0.110,0.000,3020,2182,2226
$GC,4395,1.02,209.2,956.8,19.8,800,4402,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2182,2219
$GC,4529,1.02,209.2,930.1,19.3,825,4536,0.00,2.28,0.00,0.000,4,0.000,0.071,3019,3401,2217
$GC,4556,1.02,209.2,924.5,20.9,830,4564,0.00,2.12,0.00,0.000,6,0.000,0.038,3029,2182,2216
$GC,4691,1.02,209.2,897.3,20.6,855,4692,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2180,2216
$GC,4819,1.02,209.2,872.1,20.4,879,4826,0.00,1.75,0.00,0.000,4,0.000,0.045,3038,933,2215
$GC,4857,1.02,209.2,864.6,20.0,886,4864,0.00,1.77,0.00,0.000,6,0.000,0.048,3038,2177,2215
$GC,4991,1.02,209.2,837.5,19.5,911,4999,0.00,2.22,0.00,0.000,4,0.000,0.063,3038,3406,2214
$GC,5019,1.02,209.2,831.7,22.3,916,5028,0.00,2.12,0.00,0.000,6,0.000,0.038,3047,2182,2214
$GC,5155,1.02,209.2,803.1,21.0,941,5156,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2180,2213
$GC,5283,1.02,209.2,777.3,20.3,965,5289,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2180,2212
$GC,5416,1.02,209.2,750.0,21.6,990,5422,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2180,2211
$GC,5549,1.02,209.2,722.1,20.2,1015,5557,0.00,2.22,0.00,0.000,4,0.000,0.062,3047,3410,2210
$GC,5599,1.02,209.2,711.3,22.5,1024,5606,0.00,2.12,0.00,0.000,6,0.000,0.038,3057,2174,2210
$GC,5734,1.02,209.2,682.9,20.4,1049,5740,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2171,2209
$GC,5867,1.02,209.2,654.9,21.2,1074,5873,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2171,2209
$GC,6000,1.02,209.2,627.6,20.8,1099,6006,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2172,2209
$GC,6133,1.02,209.2,600.2,20.5,1124,6134,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2171,2208
$GC,6262,1.02,209.2,573.8,21.0,1148,6270,0.00,2.22,0.00,0.000,4,0.000,0.062,3057,3411,2208
$GC,6312,1.02,209.2,562.8,22.2,1157,6319,0.12,2.10,0.00,0.000,6,0.204,0.039,3033,2180,2207
$GC,6447,1.02,209.2,537.6,18.1,1182,6453,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2180,2207
$GC,6580,1.02,209.2,512.4,19.1,1207,6581,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2179,2208
$GC,6708,1.02,209.2,488.3,19.6,1231,6709,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2179,2207
$GC,6836,1.02,209.2,464.3,18.6,1255,6842,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2179,2207
$GC,6969,1.02,209.2,439.3,18.4,1280,6977,0.00,2.20,0.00,0.000,4,0.000,0.061,3032,3409,2207
$GC,7014,1.02,209.2,430.5,20.1,1288,7022,0.00,2.10,0.00,0.000,6,0.000,0.038,3041,2180,2206
$GC,7149,1.02,209.2,404.4,19.2,1313,7150,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2178,2206
$GC,7277,1.02,209.2,380.2,18.4,1337,7283,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2179,2206
$GC,7410,1.02,209.2,354.7,19.6,1362,7416,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2179,2206
$GC,7544,1.02,209.2,329.1,19.1,1387,7550,0.00,2.20,0.00,0.000,4,0.000,0.060,3040,3414,2206
$GC,7565,1.02,209.2,324.8,19.8,1391,7573,0.00,2.10,0.00,0.000,6,0.000,0.038,3050,2178,2206
$GC,7700,1.02,209.2,298.3,20.4,1416,7707,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2177,2205
$GC,7834,1.02,209.2,271.3,20.7,1441,7840,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2177,2205
$GC,7967,1.02,209.2,244.6,21.2,1466,7974,0.00,2.17,0.00,0.000,4,0.000,0.059,3050,3399,2206
$GC,8004,1.02,209.2,236.5,22.7,1473,8012,0.10,2.05,0.00,0.000,6,0.197,0.037,3033,2179,2205
$GC,8139,1.02,209.2,211.0,18.1,1498,8145,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2178,2205
$GC,8272,1.02,209.2,186.1,19.5,1523,8279,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2179,2205
$GC,8406,1.02,209.2,161.5,18.7,1548,8406,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2178,2205
$GC,8534,1.02,209.2,137.7,17.5,1572,8541,0.00,2.17,0.00,0.000,4,0.000,0.057,3032,3406,2205
$GC,8598,1.02,209.2,124.5,20.3,1584,8607,0.00,2.08,0.00,0.000,6,0.000,0.035,3040,2179,2205
$GC,8734,1.02,209.2,99.3,19.0,1609,8740,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2178,2205
$GC,8804,1.02,209.2,86.8,18.2,1622,8810,0.00,2.17,0.00,0.000,4,0.000,0.058,3041,3409,2205
$GC,8820,1.02,209.2,83.8,18.3,1625,8827,0.00,2.05,0.00,0.000,6,0.000,0.035,3049,2185,2205
$GC,8890,1.02,209.2,71.0,18.7,1638,8896,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2184,2205
$GC,8959,1.02,209.2,58.5,17.1,1651,8960,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2183,2205
$GC,9023,1.02,209.2,48.0,16.2,1663,9029,0.00,2.15,0.00,0.000,4,0.000,0.056,3049,3403,2205
$GC,9103,1.02,209.2,33.0,19.8,1678,9109,0.10,2.05,0.00,0.000,6,0.186,0.034,3031,2178,2205
$GC,9172,1.10,274.6,23.4,11.9,1691,9222,0.00,0.00,46.05,0.568,6,0.000,0.000,3031,2178,1959
$GC,9285,1.38,502.2,14.4,4.0,1710,9416,0.32,0.00,127.28,0.548,2,0.055,0.000,3158,2176,1258
$STATE,9416,end climb,SURFACE_DEPTH_REACHED
$STATE,9416,begin surface coast
$FINISH,0.2,1.019650
$STATE,9436,end surface coast,CONTROL_FINISHED_OK
$STATE,9436,begin surface
$SM_CCo,9448,77.12,0.526,0,0,734,575.22
$SM_GC,1.61,0.00,0.00,77.12,0.000,0.000,0.526,200,2083,734,-7.81,-0.45,575.22
$IRIDIUM_FIX,2831.00,-8846.35,170899,151514
$TT8_MAMPS,0.052156
$HUMID,1292
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,19.50
$XPDR_PINGS,2
$24V_AH,23.6,7.051
$10V_AH,10.6,5.149
$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,21.275,71.375,511.450,77.125,0.000,33.208,36.847,327.840,0.500,0.000,0.000,32.206,0.000,3877.817,740.921,4796.761,597.904,33.321,2182.968,0.000,4325.770,0.000,0.845,0.000
$DEVICE_MAMPS,273.819,73.632,1240.239,526.162,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1177.741,1263.002,3889.147,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88234,1733
$CAP_FILE_SIZE,148981,0
$CFSIZE,260165632,255246336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.116,205.3,1
$GPS,230510,180136,2839.789,-8839.396,25,1.3,26,-0.3