version: 66.04
glider: 515
mission: 5
dive: 19
start: 5 23 110 20 58 5
data:
$ID,515
$MISSION,5
$DIVE,19
$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,-4139.1196
$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,42
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$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
$GPS1,204907,2840.065,-8838.036,31,1.0,32,-0.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-72.0
$GPS2,205726,2840.106,-8838.134,11,1.2,11,-0.3
$SPEED_LIMITS,0.260,0.349
$TGT_NAME,SITE44
$TGT_LATLONG,2841.000,-8829.800
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.311,0.157
$KALMAN_X,-18676.9,-862.2,443.5,45289.6,-637.9
$KALMAN_Y,-41702.3,583.3,135.9,23893.2,-5481.4
$MHEAD_RNG_PITCHd_Wd,70.8,13642,-20.6,-15.000
$D_GRID,1149
$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,-209.2,0.0,0.0,0,68,0.00,0.00,-54.70,0.000,2,0.000,0.000,199,2081,2353
$GC,69,-1.02,-209.2,3.4,-5.9,8,118,10.12,2.28,-33.22,0.000,4,0.276,0.067,2355,3371,3925
$GC,127,-1.02,-209.2,17.5,-32.6,17,135,0.00,1.98,0.00,0.000,6,0.000,0.038,2362,2175,3926
$GC,198,-1.02,-209.2,39.3,-27.5,30,204,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2173,3927
$GC,267,-1.02,-209.2,59.5,-30.0,43,273,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2173,3928
$GC,336,-1.02,-209.2,79.8,-29.6,56,343,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2173,3928
$GC,405,-1.02,-209.2,100.3,-29.1,69,412,0.00,2.03,0.00,0.000,4,0.000,0.051,2354,3370,3928
$GC,428,-1.02,-209.2,106.8,-29.8,73,435,0.00,2.03,0.00,0.000,6,0.000,0.034,2360,2138,3928
$GC,562,-1.02,-209.2,144.6,-27.3,98,570,0.00,2.08,0.00,0.000,4,0.000,0.050,2352,3368,3929
$GC,596,-1.02,-209.2,154.2,-28.8,104,603,0.00,2.00,0.00,0.000,6,0.000,0.033,2360,2143,3929
$GC,730,-1.02,-209.2,192.0,-27.5,129,730,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2141,3929
$GC,858,-1.02,-209.2,226.7,-25.9,153,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2142,3929
$GC,986,-1.02,-209.2,261.6,-26.1,177,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2142,3930
$GC,1114,-1.02,-209.2,295.6,-24.8,201,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2142,3930
$GC,1242,-1.02,-209.2,329.2,-25.2,225,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2142,3929
$GC,1375,-1.02,-209.2,364.2,-25.3,250,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2142,3929
$GC,1503,-1.02,-209.2,397.8,-26.7,274,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2142,3928
$GC,1631,-1.02,-209.2,431.1,-25.5,298,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2143,3927
$GC,1765,-1.02,-209.2,465.7,-26.3,323,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2143,3927
$GC,1898,-1.02,-209.2,500.3,-25.3,348,1906,0.00,1.70,0.00,0.000,4,0.000,0.045,2360,902,3927
$GC,1931,-1.02,-209.2,508.9,-26.5,354,1939,0.00,1.73,0.00,0.000,6,0.000,0.043,2353,2148,3926
$GC,2066,-1.02,-209.2,543.7,-24.7,379,2072,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2149,3924
$GC,2200,-1.02,-209.2,577.6,-25.4,404,2205,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2149,3923
$GC,2333,-1.02,-209.2,611.3,-25.2,429,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2149,3923
$GC,2466,-1.02,-209.2,644.4,-24.7,454,2467,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2149,3922
$GC,2594,-1.02,-209.2,676.1,-24.9,478,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2149,3920
$GC,2722,-1.02,-209.2,707.9,-24.7,502,2723,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2150,3919
$GC,2850,-1.02,-209.2,739.4,-24.4,526,2857,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2150,3917
$GC,2984,-1.02,-209.2,771.8,-23.3,551,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2149,3917
$GC,3118,-1.02,-209.2,803.9,-23.3,576,3123,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2150,3916
$GC,3251,-1.02,-209.2,835.5,-23.3,601,3257,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2150,3914
$GC,3384,-1.02,-209.2,867.2,-24.2,626,3385,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2150,3913
$GC,3512,-1.02,-209.2,898.1,-24.2,650,3520,0.00,1.73,0.00,0.000,4,0.000,0.049,2354,913,3912
$GC,3540,-1.02,-209.2,904.7,-24.1,655,3547,0.00,1.70,0.00,0.000,6,0.000,0.048,2347,2136,3912
$GC,3674,-1.02,-209.2,937.2,-24.2,680,3680,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2136,3911
$GC,3807,-1.02,-209.2,968.6,-23.4,705,3814,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2136,3909
$STATE,3897,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3897,begin apogee
$GC,3900,-0.26,0.0,990.0,23.5,722,4069,0.93,0.00,164.75,1.238,6,0.188,0.000,2609,2228,3069
$STATE,4070,end apogee,CONTROL_FINISHED_OK
$STATE,4070,begin climb
$GC,4071,1.02,209.2,999.4,0.0,747,4251,1.33,0.00,173.85,1.205,6,0.110,0.000,3018,2228,2215
$GC,4379,1.02,209.2,956.7,19.7,798,4387,0.00,1.85,0.00,0.000,4,0.000,0.046,3027,979,2208
$GC,4396,1.02,209.2,953.1,20.8,801,4403,0.00,1.85,0.00,0.000,6,0.000,0.046,3027,2208,2208
$GC,4531,1.02,209.2,925.5,19.4,826,4538,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2209,2205
$GC,4665,1.02,209.2,898.4,20.0,851,4672,0.00,2.22,0.00,0.000,4,0.000,0.061,3027,3446,2204
$GC,4703,1.02,209.2,890.2,22.7,858,4711,0.00,2.12,0.00,0.000,6,0.000,0.038,3036,2226,2203
$GC,4839,1.02,209.2,862.0,20.7,883,4844,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2225,2202
$GC,4972,1.02,209.2,834.5,20.9,908,4978,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2225,2202
$GC,5105,1.02,209.2,806.5,22.0,933,5106,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2226,2201
$GC,5233,1.02,209.2,780.3,19.9,957,5239,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2226,2200
$GC,5366,1.02,209.2,753.3,21.0,982,5374,0.00,1.77,0.00,0.000,4,0.000,0.046,3045,969,2199
$GC,5389,1.02,209.2,748.6,21.1,986,5397,0.00,1.80,0.00,0.000,6,0.000,0.047,3045,2220,2199
$GC,5525,1.02,209.2,720.5,20.6,1011,5531,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2220,2199
$GC,5658,1.02,209.2,693.3,21.6,1036,5665,0.00,2.17,0.00,0.000,4,0.000,0.061,3044,3441,2198
$GC,5680,1.02,209.2,688.6,21.9,1040,5687,0.00,2.10,0.00,0.000,6,0.000,0.039,3053,2219,2198
$GC,5814,1.02,209.2,660.1,21.4,1065,5821,0.00,2.20,0.00,0.000,4,0.000,0.060,3053,3445,2198
$GC,5841,1.02,209.2,653.9,23.1,1070,5850,0.10,2.12,0.00,0.000,6,0.201,0.038,3036,2215,2197
$GC,5977,1.02,209.2,626.5,20.4,1095,5983,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2215,2198
$GC,6111,1.02,209.2,600.0,20.1,1120,6117,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2215,2197
$GC,6244,1.02,209.2,573.9,20.3,1145,6245,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2216,2196
$GC,6372,1.02,209.2,548.9,19.9,1169,6379,0.00,2.22,0.00,0.000,4,0.000,0.061,3036,3451,2196
$GC,6394,1.02,209.2,544.3,21.2,1173,6401,0.00,2.12,0.00,0.000,6,0.000,0.038,3045,2217,2195
$GC,6528,1.02,209.2,516.7,20.8,1198,6529,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2217,2195
$GC,6656,1.02,209.2,490.9,20.2,1222,6663,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2217,2195
$GC,6791,1.02,209.2,464.0,19.6,1247,6791,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2217,2195
$GC,6919,1.02,209.2,438.7,19.7,1271,6919,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2217,2194
$GC,7047,1.02,209.2,413.4,19.9,1295,7053,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2216,2195
$GC,7180,1.02,209.2,386.8,20.3,1320,7186,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2216,2195
$GC,7313,1.02,209.2,360.0,20.5,1345,7319,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2217,2195
$GC,7446,1.02,209.2,332.7,20.5,1370,7447,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2217,2195
$GC,7575,1.02,209.2,306.5,20.5,1394,7583,0.00,2.20,0.00,0.000,4,0.000,0.059,3045,3448,2194
$GC,7603,1.02,209.2,300.5,22.2,1399,7610,0.00,2.10,0.00,0.000,6,0.000,0.037,3054,2216,2193
$GC,7737,1.02,209.2,272.4,20.6,1424,7744,0.00,2.20,0.00,0.000,4,0.000,0.059,3054,3453,2193
$GC,7781,1.02,209.2,262.8,22.7,1432,7788,0.10,2.10,0.00,0.000,6,0.198,0.037,3037,2219,2194
$GC,7915,1.02,209.2,235.8,20.4,1457,7921,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2219,2194
$GC,8048,1.02,209.2,210.2,19.2,1482,8049,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2220,2193
$GC,8177,1.02,209.2,185.5,19.8,1506,8184,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2220,2193
$GC,8311,1.02,209.2,159.2,19.3,1531,8317,0.00,2.17,0.00,0.000,4,0.000,0.058,3036,3444,2193
$GC,8375,1.02,209.2,145.8,21.4,1543,8382,0.00,2.08,0.00,0.000,6,0.000,0.036,3045,2220,2194
$GC,8509,1.02,209.2,119.7,19.8,1568,8515,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2218,2193
$GC,8642,1.02,209.2,93.3,20.4,1593,8650,0.00,2.17,0.00,0.000,4,0.000,0.057,3045,3449,2194
$GC,8670,1.02,209.2,87.9,20.7,1598,8678,0.00,2.10,0.00,0.000,6,0.000,0.035,3054,2216,2193
$GC,8741,1.02,209.2,74.2,18.4,1611,8747,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2214,2193
$GC,8810,1.02,209.2,61.9,17.5,1624,8816,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2214,2194
$GC,8879,1.02,209.2,49.7,18.2,1637,8887,0.00,2.17,0.00,0.000,4,0.000,0.057,3054,3441,2194
$GC,8950,1.02,209.2,36.1,18.5,1650,8958,0.10,2.05,0.00,0.000,6,0.187,0.034,3035,2223,2194
$GC,9021,1.07,246.2,25.4,13.2,1663,9050,0.00,2.22,25.08,0.559,4,0.000,0.055,3035,3450,2065
$GC,9097,1.20,354.2,17.1,9.8,1676,9185,0.08,2.12,80.97,0.554,6,0.067,0.034,3083,2215,1623
$GC,9248,1.38,504.6,5.3,7.8,1701,9284,0.17,0.00,33.72,0.524,2,0.067,0.000,3153,2214,1442
$STATE,9284,end climb,SURFACE_DEPTH_REACHED
$STATE,9284,begin surface coast
$FINISH,1.1,1.019792
$STATE,9320,end surface coast,CONTROL_FINISHED_OK
$STATE,9320,begin surface
$SM_CCo,9333,108.03,0.524,0,0,723,575.22
$SM_GC,1.39,0.00,0.00,108.03,0.000,0.000,0.524,205,2124,723,-7.80,-0.62,575.22
$IRIDIUM_FIX,2828.55,-8841.44,170899,181821
$TT8_MAMPS,0.050622
$HUMID,1290
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,19.90
$XPDR_PINGS,3
$24V_AH,23.6,7.407
$10V_AH,10.6,5.573
$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,21.650,69.800,478.375,108.025,0.000,30.244,31.260,325.591,0.750,0.000,0.000,13.424,0.000,3862.640,743.233,4733.473,559.759,33.328,2156.648,0.000,4256.708,0.000,0.845,0.000
$DEVICE_MAMPS,276.120,73.632,1237.938,523.861,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1164.346,1246.680,3847.249,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88313,1713
$CAP_FILE_SIZE,149262,0
$CFSIZE,260165632,255074304
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,12,0,0
$CURRENT,0.116,232.3,1
$GPS,230510,233616,2840.370,-8836.840,12,2.9,32,-0.3