version: 66.04
glider: 515
mission: 5
dive: 18
start: 5 23 110 18 10 59
data:
$ID,515
$MISSION,5
$DIVE,18
$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,-4125.0698
$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,29
$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,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
$GPS1,180136,2839.789,-8839.396,25,1.3,26,-0.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-72.2
$GPS2,181020,2839.833,-8839.432,11,1.4,11,-0.3
$SPEED_LIMITS,0.260,0.349
$TGT_NAME,SITE44
$TGT_LATLONG,2841.000,-8829.800
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.100,0.334
$KALMAN_X,-20054.2,-92.3,63.5,44187.6,-2629.2
$KALMAN_Y,-38559.2,833.2,570.1,19532.7,-4590.4
$MHEAD_RNG_PITCHd_Wd,66.3,15798,-20.6,-15.000
$D_GRID,1176
$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,-209.2,0.0,0.0,0,74,0.00,0.00,-60.62,0.000,2,0.000,0.000,199,2084,2500
$GC,75,-1.02,-209.2,3.1,-3.3,9,123,10.23,2.17,-29.42,0.000,4,0.281,0.073,2352,3339,3937
$GC,325,-1.02,-209.2,79.5,-29.5,54,333,0.00,2.03,0.00,0.000,6,0.000,0.037,2360,2108,3940
$GC,396,-1.02,-209.2,100.2,-28.3,67,402,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2108,3940
$GC,530,-1.02,-209.2,139.0,-27.5,92,536,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2108,3941
$GC,663,-1.02,-209.2,176.0,-27.5,117,670,0.00,2.08,0.00,0.000,4,0.000,0.054,2352,3338,3940
$GC,696,-1.02,-209.2,185.5,-28.8,123,704,0.00,2.03,0.00,0.000,6,0.000,0.035,2360,2095,3941
$GC,831,-1.02,-209.2,223.3,-28.4,148,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2093,3940
$GC,964,-1.02,-209.2,260.4,-27.9,173,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2094,3941
$GC,1092,-1.02,-209.2,295.0,-27.2,197,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2094,3940
$GC,1220,-1.02,-209.2,329.6,-27.4,221,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2094,3940
$GC,1348,-1.02,-209.2,363.9,-27.1,245,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2093,3940
$GC,1476,-1.02,-209.2,398.6,-27.0,269,1482,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2094,3939
$GC,1609,-1.02,-209.2,433.9,-26.7,294,1615,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2093,3938
$GC,1742,-1.02,-209.2,468.2,-26.0,319,1751,0.00,2.12,0.00,0.000,4,0.000,0.056,2352,3353,3937
$GC,1777,-1.02,-209.2,477.3,-27.3,325,1783,0.00,2.03,0.00,0.000,6,0.000,0.038,2359,2101,3937
$GC,1911,-1.02,-209.2,512.6,-24.6,350,1911,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2100,3937
$GC,2039,-1.02,-209.2,545.1,-25.6,374,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2100,3935
$GC,2172,-1.02,-209.2,579.0,-25.7,399,2173,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2100,3934
$GC,2300,-1.02,-209.2,611.7,-25.5,423,2308,0.00,2.10,0.00,0.000,4,0.000,0.058,2351,3337,3933
$GC,2323,-1.02,-209.2,617.5,-25.3,427,2332,0.00,2.03,0.00,0.000,6,0.000,0.038,2351,2096,3933
$GC,2459,-1.02,-209.2,652.4,-24.9,452,2465,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2095,3932
$GC,2592,-1.02,-209.2,686.3,-25.9,477,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2095,3930
$GC,2725,-1.02,-209.2,719.9,-26.1,502,2731,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2095,3930
$GC,2858,-1.02,-209.2,753.7,-25.3,527,2867,0.00,2.12,0.00,0.000,4,0.000,0.059,2341,3347,3929
$GC,2897,-1.02,-209.2,763.8,-25.4,534,2905,0.00,2.03,0.00,0.000,6,0.000,0.040,2343,2102,3928
$GC,3032,-1.02,-209.2,798.3,-24.6,559,3039,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2101,3927
$GC,3166,-1.02,-209.2,831.9,-24.9,584,3172,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2101,3926
$GC,3299,-1.02,-209.2,864.7,-24.7,609,3305,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2101,3924
$GC,3432,-1.02,-209.2,897.4,-25.0,634,3438,0.00,2.10,0.00,0.000,4,0.000,0.060,2334,3333,3923
$GC,3459,-1.02,-209.2,904.0,-24.6,639,3467,0.10,2.03,0.00,0.000,6,0.209,0.041,2362,2095,3923
$GC,3594,-1.02,-209.2,934.9,-21.5,664,3600,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2097,3922
$GC,3727,-1.02,-209.2,964.2,-22.3,689,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2097,3921
$STATE,3849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3849,begin apogee
$GC,3852,-0.26,0.0,991.1,21.9,712,4023,0.85,0.00,164.93,1.240,6,0.182,0.000,2608,2185,3082
$STATE,4023,end apogee,CONTROL_FINISHED_OK
$STATE,4024,begin climb
$GC,4025,1.02,209.2,999.9,0.0,738,4207,1.33,1.90,174.18,1.206,4,0.111,0.044,3026,926,2225
$GC,4239,1.02,209.2,975.8,18.9,771,4247,0.00,1.90,0.00,0.000,6,0.000,0.047,3026,2182,2222
$GC,4374,1.02,209.2,948.1,20.5,796,4380,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2182,2219
$GC,4507,1.02,209.2,920.6,19.9,821,4508,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2182,2217
$GC,4636,1.02,209.2,894.8,20.1,845,4643,0.00,2.22,0.00,0.000,4,0.000,0.061,3026,3414,2215
$GC,4679,1.02,209.2,885.3,23.0,853,4686,0.00,2.15,0.00,0.000,6,0.000,0.038,3036,2186,2215
$GC,4813,1.02,209.2,856.9,22.1,878,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2184,2214
$GC,4946,1.02,209.2,829.3,20.5,903,4953,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2185,2214
$GC,5081,1.02,209.2,801.7,19.7,928,5088,0.00,2.22,0.00,0.000,4,0.000,0.060,3036,3416,2213
$GC,5103,1.02,209.2,797.0,22.1,932,5109,0.00,2.12,0.00,0.000,6,0.000,0.039,3046,2185,2212
$GC,5237,1.02,209.2,769.2,20.2,957,5243,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2184,2212
$GC,5370,1.02,209.2,741.6,20.4,982,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2184,2211
$GC,5498,1.02,209.2,715.3,20.1,1006,5505,0.00,2.20,0.00,0.000,4,0.000,0.061,3046,3413,2210
$GC,5541,1.02,209.2,705.8,21.9,1014,5549,0.00,2.12,0.00,0.000,6,0.000,0.038,3056,2175,2209
$GC,5676,1.02,209.2,677.1,20.9,1039,5683,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2176,2209
$GC,5810,1.02,209.2,649.0,20.2,1064,5817,0.00,2.22,0.00,0.000,4,0.000,0.061,3056,3414,2209
$GC,5859,1.02,209.2,637.7,23.6,1073,5865,0.12,2.10,0.00,0.000,6,0.206,0.038,3033,2184,2208
$GC,5993,1.02,209.2,610.6,19.1,1098,6000,0.00,1.75,0.00,0.000,4,0.000,0.046,3041,918,2208
$GC,6020,1.02,209.2,605.3,20.1,1103,6029,0.00,1.77,0.00,0.000,6,0.000,0.046,3040,2184,2208
$GC,6156,1.02,209.2,578.6,20.9,1128,6162,0.00,2.15,0.00,0.000,4,0.000,0.061,3040,3393,2208
$GC,6209,1.02,209.2,567.5,21.8,1138,6216,0.00,2.05,0.00,0.000,6,0.000,0.039,3049,2181,2208
$GC,6343,1.02,209.2,540.0,20.3,1163,6350,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2180,2208
$GC,6477,1.02,209.2,512.9,19.1,1188,6478,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2180,2208
$GC,6606,1.02,209.2,487.5,18.8,1212,6613,0.00,2.17,0.00,0.000,4,0.000,0.059,3049,3399,2207
$GC,6649,1.02,209.2,478.4,21.1,1220,6656,0.08,2.08,0.00,0.000,6,0.202,0.038,3038,2176,2206
$GC,6784,1.02,209.2,453.1,18.7,1245,6790,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2177,2207
$GC,6917,1.02,209.2,428.3,18.9,1270,6924,0.00,2.20,0.00,0.000,4,0.000,0.060,3038,3402,2206
$GC,6966,1.02,209.2,418.5,20.8,1279,6974,0.00,2.08,0.00,0.000,6,0.000,0.038,3046,2182,2206
$GC,7101,1.02,209.2,392.6,19.0,1304,7108,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2183,2206
$GC,7235,1.02,209.2,366.6,18.4,1329,7242,0.00,2.20,0.00,0.000,4,0.000,0.059,3046,3409,2205
$GC,7267,1.02,209.2,359.7,20.9,1335,7276,0.00,2.10,0.00,0.000,6,0.000,0.037,3056,2184,2204
$GC,7403,1.02,209.2,331.4,21.2,1360,7410,0.00,2.17,0.00,0.000,4,0.000,0.058,3056,3399,2205
$GC,7425,1.02,209.2,326.7,21.9,1364,7431,0.12,2.05,0.00,0.000,6,0.202,0.037,3032,2181,2205
$GC,7559,1.02,209.2,300.6,18.8,1389,7565,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2179,2205
$GC,7692,1.02,209.2,274.9,19.9,1414,7698,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2179,2205
$GC,7825,1.02,209.2,249.9,19.4,1439,7832,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2179,2205
$GC,7960,1.02,209.2,224.6,19.6,1464,7967,0.00,2.17,0.00,0.000,4,0.000,0.058,3032,3406,2204
$GC,7993,1.02,209.2,218.0,19.8,1470,8000,0.00,2.08,0.00,0.000,6,0.000,0.037,3040,2177,2204
$GC,8127,1.02,209.2,191.7,18.9,1495,8134,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2176,2204
$GC,8261,1.02,209.2,166.0,20.4,1520,8267,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2176,2204
$GC,8394,1.02,209.2,140.4,20.4,1545,8400,0.00,2.17,0.00,0.000,4,0.000,0.058,3040,3403,2204
$GC,8447,1.02,209.2,129.7,19.7,1555,8456,0.00,2.03,0.00,0.000,6,0.000,0.035,3049,2186,2205
$GC,8583,1.02,209.2,103.8,19.3,1580,8590,0.00,2.15,0.00,0.000,4,0.000,0.056,3049,3402,2204
$GC,8674,1.02,209.2,85.5,19.5,1597,8682,0.10,2.03,0.00,0.000,6,0.192,0.035,3032,2183,2204
$GC,8745,1.02,209.2,72.8,18.2,1610,8752,0.00,2.15,0.00,0.000,4,0.000,0.056,3031,3404,2204
$GC,8766,1.02,209.2,69.0,18.3,1614,8774,0.00,2.03,0.00,0.000,6,0.000,0.035,3040,2180,2204
$GC,8837,1.02,209.2,56.6,17.4,1627,8844,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2179,2204
$GC,8907,1.02,209.2,45.7,15.8,1640,8914,0.00,2.15,0.00,0.000,4,0.000,0.056,3040,3401,2204
$GC,8982,1.02,209.2,33.2,16.6,1654,8989,0.00,2.03,0.00,0.000,6,0.000,0.034,3050,2180,2205
$GC,9052,1.05,237.6,23.0,13.6,1667,9075,0.00,2.17,18.85,0.552,4,0.000,0.054,3050,3407,2110
$GC,9095,1.13,296.5,17.7,12.2,1674,9144,0.00,2.05,44.95,0.557,6,0.000,0.032,3060,2184,1870
$GC,9208,1.44,547.8,11.9,2.9,1693,9318,0.28,0.00,107.12,0.544,2,0.060,0.000,3168,2182,1282
$STATE,9318,end climb,SURFACE_DEPTH_REACHED
$STATE,9318,begin surface coast
$FINISH,0.5,1.019491
$STATE,9343,end surface coast,CONTROL_FINISHED_OK
$STATE,9343,begin surface
$SM_CCo,9356,82.12,0.525,0,0,735,575.22
$SM_GC,1.55,0.00,0.00,82.12,0.000,0.000,0.525,200,2080,735,-7.81,-0.54,575.22
$IRIDIUM_FIX,2831.00,-8846.35,170899,151532
$TT8_MAMPS,0.051389
$HUMID,1286
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,19.80
$XPDR_PINGS,2
$24V_AH,23.6,7.231
$10V_AH,10.6,5.362
$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,21.700,96.300,510.025,82.125,0.000,31.044,27.134,353.545,0.500,0.000,0.000,13.942,0.000,3826.062,769.195,4734.131,593.009,33.327,2209.138,0.000,4260.598,0.000,0.846,0.000
$DEVICE_MAMPS,280.722,72.865,1240.239,525.395,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1163.492,1247.598,3846.652,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88297,1714
$CAP_FILE_SIZE,152028,0
$CFSIZE,260165632,255156224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$CURRENT,0.108,218.6,1
$GPS,230510,204907,2840.065,-8838.036,31,1.0,32,-0.3