version: 66.04
glider: 515
mission: 5
dive: 5
start: 5 22 110 2 54 7
data:
$ID,515
$MISSION,5
$DIVE,5
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$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,200
$T_MISSION,215
$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,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51931
$NAV_MODE,3
$FERRY_MAX,45
$KALMAN_USE,0
$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,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,600
$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,-3566.2292
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2792
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$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,1971
$C_ROLL_CLIMB,1905
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,54
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,3100
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,480
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$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
$GPS1,024824,2847.173,-8854.787,23,1.3,40,-0.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-74.7
$GPS2,025155,2847.159,-8854.822,11,1.5,11,-0.1
$SPEED_LIMITS,0.173,0.278
$TGT_NAME,SITE44
$TGT_LATLONG,2841.000,-8829.800
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.277,0.020
$KALMAN_X,-1434.5,-794.8,-274.8,1658.5,-739.9
$KALMAN_Y,-2407.8,-1231.6,-502.1,133.0,-925.6
$MHEAD_RNG_PITCHd_Wd,105.8,42225,-16.1,-10.000
$D_GRID,581
$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,-0.83,-170.3,0.0,0.0,0,89,0.00,0.00,-75.53,0.000,2,0.000,0.000,206,1999,2719
$GC,90,-0.83,-170.3,3.2,-3.3,11,125,10.25,0.00,-22.62,0.000,6,0.269,0.000,2516,1996,3796
$GC,188,-0.83,-170.3,24.4,-16.1,28,195,0.00,2.10,0.00,0.000,4,0.000,0.043,2517,573,3797
$GC,242,-0.83,-170.3,31.7,-12.9,38,249,0.00,2.03,0.00,0.000,6,0.000,0.041,2508,1944,3798
$GC,312,-0.83,-170.3,40.7,-12.5,51,319,0.00,2.30,0.00,0.000,4,0.000,0.048,2497,3373,3798
$GC,350,-0.83,-170.3,45.7,-13.5,58,357,0.00,2.17,0.00,0.000,6,0.000,0.031,2497,1971,3798
$GC,420,-0.83,-170.3,55.4,-14.5,71,421,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1968,3798
$GC,484,-0.83,-170.3,64.6,-14.8,83,485,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1969,3798
$GC,548,-0.83,-170.3,74.0,-14.9,95,554,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1969,3798
$GC,616,-0.83,-170.3,84.3,-14.5,108,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1969,3798
$GC,686,-0.83,-170.3,94.0,-13.6,121,692,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1969,3798
$GC,755,-0.83,-170.3,103.8,-14.2,134,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1969,3798
$GC,889,-0.83,-170.3,122.1,-13.4,159,896,0.00,2.28,0.00,0.000,4,0.000,0.050,2486,3368,3798
$GC,943,-0.83,-170.3,129.7,-13.2,169,951,0.10,2.17,0.00,0.000,6,0.147,0.032,2519,1970,3798
$GC,1078,-0.83,-170.3,145.5,-10.6,194,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,1968,3797
$GC,1212,-0.83,-170.3,160.6,-10.9,219,1219,0.00,2.28,0.00,0.000,4,0.000,0.050,2509,3368,3796
$GC,1260,-0.83,-170.3,166.2,-10.6,228,1268,0.00,2.17,0.00,0.000,6,0.000,0.032,2509,1970,3796
$GC,1395,-0.83,-170.3,181.2,-10.9,253,1403,0.00,2.05,0.00,0.000,4,0.000,0.044,2510,572,3795
$GC,1471,-0.83,-170.3,190.1,-11.3,267,1479,0.00,2.05,0.00,0.000,6,0.000,0.039,2500,1976,3795
$GC,1606,-0.83,-170.3,206.7,-12.0,292,1613,0.00,2.25,0.00,0.000,4,0.000,0.051,2489,3361,3794
$GC,1644,-0.83,-170.3,211.6,-12.7,299,1651,0.10,2.17,0.00,0.000,6,0.143,0.033,2521,1970,3794
$GC,1778,-0.83,-170.3,226.1,-10.1,324,1786,0.00,2.08,0.00,0.000,4,0.000,0.045,2521,560,3793
$GC,1811,-0.83,-170.3,229.6,-10.9,330,1818,0.00,2.05,0.00,0.000,6,0.000,0.040,2515,1963,3792
$GC,1946,-0.83,-170.3,244.0,-10.3,355,1953,0.00,2.30,0.00,0.000,4,0.000,0.053,2504,3373,3791
$GC,1989,-0.83,-170.3,248.8,-11.2,363,1996,0.00,2.20,0.00,0.000,6,0.000,0.033,2504,1965,3791
$GC,2123,-0.83,-170.3,264.3,-11.9,388,2129,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1963,3790
$GC,2256,-0.83,-170.3,279.8,-11.5,413,2263,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1964,3789
$GC,2391,-0.83,-170.3,295.4,-11.5,438,2398,0.00,2.05,0.00,0.000,4,0.000,0.048,2504,575,3788
$GC,2418,-0.83,-170.3,298.7,-12.1,443,2425,0.08,2.05,0.00,0.000,6,0.152,0.041,2519,1968,3787
$GC,2553,-0.83,-170.3,313.0,-10.8,468,2559,0.00,2.30,0.00,0.000,4,0.000,0.055,2510,3372,3786
$GC,2590,-0.83,-170.3,317.2,-11.4,475,2598,0.00,2.20,0.00,0.000,6,0.000,0.035,2510,1970,3786
$GC,2725,-0.83,-170.3,332.2,-11.6,500,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1971,3785
$GC,2853,-0.83,-170.3,347.1,-11.6,524,2860,0.00,2.30,0.00,0.000,4,0.000,0.056,2499,3365,3784
$GC,2885,-0.83,-170.3,351.1,-12.5,530,2893,0.00,2.20,0.00,0.000,6,0.000,0.036,2499,1963,3784
$GC,3020,-0.83,-170.3,367.9,-12.2,555,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1962,3782
$GC,3148,-0.83,-170.3,383.6,-12.5,579,3154,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1962,3782
$GC,3281,-0.83,-170.3,399.4,-11.7,604,3287,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1962,3781
$GC,3414,-0.83,-170.3,415.0,-11.5,629,3415,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1962,3780
$GC,3542,-0.83,-170.3,429.7,-11.5,653,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1962,3779
$GC,3676,-0.83,-170.3,445.5,-11.6,678,3683,0.00,2.33,0.00,0.000,4,0.000,0.057,2488,3362,3776
$GC,3698,-0.83,-170.3,448.1,-12.3,682,3705,0.10,2.20,0.00,0.000,6,0.147,0.038,2521,1980,3776
$GC,3832,-0.83,-170.3,461.7,-10.2,707,3838,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1978,3775
$GC,3966,-0.83,-170.3,474.9,-9.2,732,3971,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,1978,3774
$STATE,4025,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4025,begin apogee
$GC,4028,-0.27,0.0,480.5,9.4,743,4154,0.52,0.00,121.15,0.862,6,0.128,0.000,2694,1886,3100
$STATE,4155,end apogee,CONTROL_FINISHED_OK
$STATE,4155,begin climb
$GC,4156,0.83,170.3,485.0,0.0,762,4295,1.00,2.12,129.10,0.841,4,0.057,0.041,3069,509,2404
$GC,4332,0.83,170.3,474.4,16.7,789,4340,0.00,2.12,0.00,0.000,6,0.000,0.039,3066,1897,2401
$GC,4467,0.83,170.3,449.7,18.1,814,4474,0.00,2.38,0.00,0.000,4,0.000,0.053,3066,3313,2397
$GC,4511,0.83,170.3,441.2,19.8,822,4517,0.00,2.22,0.00,0.000,6,0.000,0.033,3076,1917,2396
$GC,4644,0.83,170.3,416.2,19.2,847,4651,0.00,2.33,0.00,0.000,4,0.000,0.052,3076,3315,2395
$GC,4677,0.83,170.3,409.5,21.1,853,4685,0.08,2.22,0.00,0.000,6,0.200,0.033,3066,1911,2395
$GC,4812,0.83,170.3,384.8,18.2,878,4818,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1910,2394
$GC,4945,0.83,170.3,360.9,18.3,903,4952,0.00,2.35,0.00,0.000,4,0.000,0.053,3063,3316,2393
$GC,4962,0.83,170.3,357.8,18.3,906,4969,0.00,2.22,0.00,0.000,6,0.000,0.032,3073,1907,2392
$GC,5097,0.83,170.3,333.2,18.3,931,5103,0.00,2.35,0.00,0.000,4,0.000,0.052,3072,3317,2392
$GC,5203,0.83,170.3,311.4,20.8,951,5210,0.00,2.22,0.00,0.000,6,0.000,0.032,3082,1907,2391
$GC,5338,0.83,170.3,286.0,19.4,976,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1906,2391
$GC,5471,0.83,170.3,261.6,17.3,1001,5471,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1906,2390
$GC,5599,0.83,170.3,239.7,17.2,1025,5607,0.00,2.35,0.00,0.000,4,0.000,0.052,3079,3313,2389
$GC,5686,0.83,170.3,222.2,20.6,1041,5694,0.10,2.22,0.00,0.000,6,0.196,0.033,3061,1903,2389
$GC,5822,0.83,170.3,199.4,16.6,1066,5829,0.00,2.35,0.00,0.000,4,0.000,0.052,3061,3313,2389
$GC,5854,0.83,170.3,193.5,18.3,1072,5861,0.00,2.22,0.00,0.000,6,0.000,0.032,3071,1901,2388
$GC,5989,0.83,170.3,170.4,17.2,1097,5997,0.00,2.03,0.00,0.000,4,0.000,0.041,3082,493,2388
$GC,6054,0.83,170.3,159.3,16.8,1109,6062,0.00,2.08,0.00,0.000,6,0.000,0.039,3081,1922,2388
$GC,6190,0.83,170.3,138.2,16.0,1134,6197,0.00,2.30,0.00,0.000,4,0.000,0.053,3082,3312,2388
$GC,6249,0.83,170.3,127.1,19.0,1145,6256,0.10,2.22,0.00,0.000,6,0.196,0.033,3064,1901,2387
$GC,6384,0.83,170.3,106.3,14.0,1170,6391,0.00,2.35,0.00,0.000,4,0.000,0.051,3063,3312,2387
$GC,6481,0.83,170.3,89.3,18.2,1188,6488,0.00,2.20,0.00,0.000,6,0.000,0.032,3073,1908,2386
$GC,6551,0.83,170.3,77.8,15.8,1201,6558,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1908,2385
$GC,6621,0.83,170.3,66.8,15.5,1214,6628,0.00,2.33,0.00,0.000,4,0.000,0.051,3071,3310,2386
$GC,6643,0.83,170.3,63.2,17.4,1218,6650,0.00,2.20,0.00,0.000,6,0.000,0.032,3082,1902,2385
$GC,6713,0.83,170.3,51.8,16.5,1231,6721,0.00,2.33,0.00,0.000,4,0.000,0.051,3082,3307,2386
$GC,6746,0.83,170.3,46.3,17.1,1237,6754,0.10,2.20,0.00,0.000,6,0.194,0.031,3064,1901,2385
$GC,6817,0.83,170.3,35.1,13.5,1250,6824,0.00,2.00,0.00,0.000,4,0.000,0.039,3073,497,2385
$GC,6828,0.83,170.3,33.7,12.5,1252,6836,0.00,2.03,0.00,0.000,6,0.000,0.038,3074,1899,2386
$GC,6899,0.83,170.3,25.2,11.4,1265,6907,0.00,2.30,0.00,0.000,4,0.000,0.051,3074,3302,2385
$GC,7078,1.13,418.1,20.4,0.2,1298,7261,0.15,2.17,176.45,0.538,6,0.064,0.031,3154,1893,1395
$STATE,7291,end climb,SURFACE_DEPTH_REACHED
$STATE,7291,begin surface coast
$FINISH,1.4,1.017813
$STATE,7312,end surface coast,CONTROL_FINISHED_OK
$STATE,7312,begin surface
$SM_CCo,7325,123.78,0.507,0,0,652,600.24
$SM_GC,1.28,0.00,0.00,123.78,0.000,0.000,0.507,206,1983,652,-8.08,0.34,600.24
$IRIDIUM_FIX,2838.37,-8856.07,160899,020212
$TT8_MAMPS,0.050622
$HUMID,1350
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,20.50
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,480.5,7.5
$24V_AH,24.6,5.066
$10V_AH,10.8,2.418
$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,21.075,114.925,426.700,123.775,0.000,0.000,0.000,0.000,3.250,0.000,0.000,13.371,0.000,2911.184,749.315,3721.123,202.644,33.298,1915.528,0.000,3313.915,0.000,5.451,0.000
$DEVICE_MAMPS,269.217,76.700,862.108,506.987,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,898.396,969.306,2994.440,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69224,1335
$CAP_FILE_SIZE,141799,0
$CFSIZE,260165632,256327680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$CURRENT,0.254,221.5,1
$GPS,220510,045904,2846.103,-8854.437,10,2.3,29,-0.1