version: 66.04
glider: 515
mission: 5
dive: 7
start: 5 22 110 7 30 15
data:
$ID,515
$MISSION,5
$DIVE,7
$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,-3599.2151
$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,53
$R_STBD_OVSHOOT,42
$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
$GPS1,071637,2845.066,-8854.103,31,1.6,31,-0.1
$_CALLS,2
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-68.4
$GPS2,072802,2845.188,-8854.145,12,1.5,12,-0.1
$SPEED_LIMITS,0.173,0.278
$TGT_NAME,SITE44
$TGT_LATLONG,2841.000,-8829.800
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.278,-0.010
$KALMAN_X,-5957.7,-450.8,-351.8,6994.2,-2067.4
$KALMAN_Y,-10506.2,-426.3,364.6,2903.2,-6301.8
$MHEAD_RNG_PITCHd_Wd,101.2,40307,-16.1,-10.000
$D_GRID,717
$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,-0.83,-170.3,0.0,0.0,0,70,0.00,0.00,-56.67,0.000,2,0.000,0.000,204,1990,2372
$GC,71,-0.83,-170.3,3.1,-5.1,8,119,10.25,2.35,-32.88,0.000,4,0.264,0.068,2507,3363,3796
$GC,267,-0.83,-170.3,39.4,-14.3,43,276,0.00,2.20,0.00,0.000,6,0.000,0.032,2507,1990,3798
$GC,339,-0.83,-170.3,49.6,-14.9,56,345,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1987,3798
$GC,408,-0.83,-170.3,59.7,-15.0,69,409,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1987,3798
$GC,472,-0.83,-170.3,69.2,-14.7,81,472,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1988,3798
$GC,535,-0.83,-170.3,78.8,-14.7,93,536,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1988,3798
$GC,599,-0.83,-170.3,88.3,-14.7,105,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1988,3798
$GC,668,-0.83,-170.3,98.5,-15.1,118,676,0.00,2.30,0.00,0.000,4,0.000,0.051,2497,3359,3798
$GC,691,-0.83,-170.3,102.0,-15.6,122,698,0.00,2.20,0.00,0.000,6,0.000,0.033,2496,1971,3798
$GC,825,-0.83,-170.3,122.6,-15.6,147,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1970,3798
$GC,953,-0.83,-170.3,141.4,-14.6,171,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1970,3798
$GC,1087,-0.83,-170.3,160.8,-14.2,196,1094,0.00,2.33,0.00,0.000,4,0.000,0.051,2487,3362,3798
$GC,1104,-0.83,-170.3,163.2,-14.6,199,1113,0.10,2.20,0.00,0.000,6,0.153,0.034,2518,1975,3798
$GC,1240,-0.83,-170.3,178.9,-10.9,224,1247,0.00,2.05,0.00,0.000,4,0.000,0.047,2518,568,3798
$GC,1288,-0.83,-170.3,184.4,-12.0,233,1296,0.00,2.03,0.00,0.000,6,0.000,0.040,2512,1966,3798
$GC,1423,-0.83,-170.3,200.1,-12.3,258,1430,0.00,2.33,0.00,0.000,4,0.000,0.052,2500,3367,3797
$GC,1456,-0.83,-170.3,203.8,-12.5,264,1463,0.00,2.22,0.00,0.000,6,0.000,0.034,2500,1963,3797
$GC,1590,-0.83,-170.3,220.8,-11.7,289,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1963,3797
$GC,1724,-0.83,-170.3,237.2,-13.0,314,1730,0.00,2.35,0.00,0.000,4,0.000,0.054,2489,3366,3796
$GC,1783,-0.83,-170.3,244.7,-12.7,325,1789,0.10,2.20,0.00,0.000,6,0.146,0.035,2522,1975,3796
$GC,1917,-0.83,-170.3,259.5,-11.0,350,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1973,3795
$GC,2050,-0.83,-170.3,274.0,-11.1,375,2058,0.00,2.05,0.00,0.000,4,0.000,0.048,2522,570,3794
$GC,2078,-0.83,-170.3,277.1,-11.5,380,2085,0.00,2.03,0.00,0.000,6,0.000,0.041,2517,1964,3794
$GC,2213,-0.83,-170.3,291.8,-10.3,405,2219,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1964,3793
$GC,2346,-0.83,-170.3,306.5,-11.7,430,2353,0.00,2.33,0.00,0.000,4,0.000,0.054,2506,3363,3793
$GC,2389,-0.83,-170.3,311.3,-11.1,438,2397,0.00,2.22,0.00,0.000,6,0.000,0.035,2506,1962,3792
$GC,2524,-0.83,-170.3,327.4,-12.1,463,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1961,3791
$GC,2658,-0.83,-170.3,343.3,-12.2,488,2665,0.00,2.35,0.00,0.000,4,0.000,0.056,2495,3363,3790
$GC,2685,-0.83,-170.3,346.5,-12.3,493,2692,0.08,2.22,0.00,0.000,6,0.150,0.036,2519,1966,3790
$GC,2820,-0.83,-170.3,360.9,-9.8,518,2826,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1965,3789
$GC,2953,-0.83,-170.3,375.1,-10.3,543,2962,0.00,2.35,0.00,0.000,4,0.000,0.056,2510,3364,3788
$GC,2982,-0.83,-170.3,378.2,-10.7,548,2989,0.00,2.22,0.00,0.000,6,0.000,0.037,2510,1966,3788
$GC,3116,-0.83,-170.3,393.4,-11.2,573,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1965,3787
$GC,3249,-0.83,-170.3,408.9,-11.9,598,3257,0.00,2.35,0.00,0.000,4,0.000,0.057,2499,3362,3786
$GC,3288,-0.83,-170.3,413.4,-12.2,605,3295,0.00,2.22,0.00,0.000,6,0.000,0.037,2499,1967,3785
$GC,3422,-0.83,-170.3,430.3,-13.0,630,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1966,3785
$GC,3555,-0.83,-170.3,446.7,-11.7,655,3562,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1966,3784
$GC,3689,-0.83,-170.3,462.2,-11.2,680,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1966,3784
$GC,3823,-0.83,-170.3,477.7,-11.4,705,3828,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1966,3782
$STATE,3845,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3845,begin apogee
$GC,3848,-0.27,0.0,480.1,11.6,709,3979,0.62,0.00,123.62,0.867,6,0.134,0.000,2699,1893,3101
$STATE,3980,end apogee,CONTROL_FINISHED_OK
$STATE,3980,begin climb
$GC,3981,0.83,170.3,485.1,0.0,729,4121,1.00,2.58,130.90,0.845,4,0.060,0.055,3057,3309,2403
$GC,4130,0.83,170.3,479.6,14.9,751,4139,0.00,2.38,0.00,0.000,6,0.000,0.033,3068,1911,2401
$GC,4266,0.83,170.3,455.1,18.0,776,4267,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1911,2398
$GC,4394,0.83,170.3,431.4,18.4,800,4400,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1911,2397
$GC,4528,0.83,170.3,408.0,17.2,825,4534,0.00,2.42,0.00,0.000,4,0.000,0.054,3063,3316,2395
$GC,4587,0.83,170.3,396.7,18.4,836,4594,0.00,2.30,0.00,0.000,6,0.000,0.035,3073,1898,2394
$GC,4721,0.83,170.3,372.9,17.9,861,4728,0.00,2.42,0.00,0.000,4,0.000,0.054,3073,3317,2393
$GC,4764,0.83,170.3,364.2,19.9,869,4772,0.00,2.28,0.00,0.000,6,0.000,0.035,3085,1910,2392
$GC,4899,0.83,170.3,339.1,18.0,894,4906,0.00,2.40,0.00,0.000,4,0.000,0.054,3085,3314,2392
$GC,4926,0.83,170.3,333.8,19.6,899,4935,0.12,2.28,0.00,0.000,6,0.196,0.035,3062,1907,2392
$GC,5063,0.83,170.3,310.9,15.7,924,5069,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1905,2390
$GC,5196,0.83,170.3,287.4,17.8,949,5203,0.00,2.40,0.00,0.000,4,0.000,0.054,3061,3323,2390
$GC,5325,0.83,170.3,262.4,19.6,973,5332,0.00,2.28,0.00,0.000,6,0.000,0.035,3072,1902,2390
$GC,5459,0.83,170.3,238.5,18.4,998,5460,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1902,2390
$GC,5587,0.83,170.3,215.9,17.9,1022,5594,0.00,2.40,0.00,0.000,4,0.000,0.054,3072,3317,2389
$GC,5770,0.83,170.3,179.6,19.2,1056,5777,0.00,2.25,0.00,0.000,6,0.000,0.034,3082,1906,2388
$GC,5904,0.83,170.3,154.5,18.8,1081,5911,0.00,2.03,0.00,0.000,4,0.000,0.043,3093,492,2388
$GC,5969,0.83,170.3,143.8,16.2,1093,5976,0.10,2.05,0.00,0.000,6,0.191,0.039,3064,1919,2388
$GC,6104,0.83,170.3,123.3,15.5,1118,6110,0.00,2.33,0.00,0.000,4,0.000,0.054,3062,3306,2388
$GC,6125,0.83,170.3,120.0,15.7,1122,6132,0.00,2.25,0.00,0.000,6,0.000,0.034,3072,1894,2388
$GC,6260,0.83,170.3,98.5,16.7,1147,6268,0.00,2.38,0.00,0.000,4,0.000,0.054,3073,3309,2387
$GC,6309,0.83,170.3,90.0,17.6,1156,6317,0.00,2.22,0.00,0.000,6,0.000,0.033,3083,1909,2387
$GC,6380,0.83,170.3,77.7,16.2,1169,6385,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1908,2387
$GC,6448,0.83,170.3,66.6,16.7,1182,6455,0.00,2.35,0.00,0.000,4,0.000,0.052,3083,3312,2387
$GC,6476,0.83,170.3,62.0,17.9,1187,6484,0.10,2.22,0.00,0.000,6,0.191,0.032,3066,1907,2386
$GC,6547,0.83,170.3,50.4,15.7,1200,6553,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1906,2386
$GC,6616,0.83,170.3,39.5,16.7,1213,6623,0.00,2.35,0.00,0.000,4,0.000,0.052,3062,3310,2386
$GC,6654,0.83,170.3,33.0,17.1,1220,6662,0.00,2.22,0.00,0.000,6,0.000,0.032,3072,1902,2386
$GC,6724,0.83,170.3,24.0,10.5,1233,6731,0.00,2.35,0.00,0.000,4,0.000,0.051,3071,3307,2386
$GC,6970,1.13,413.7,19.2,0.4,1279,7155,0.15,2.20,174.40,0.536,6,0.064,0.031,3151,1892,1412
$STATE,7180,end climb,SURFACE_DEPTH_REACHED
$STATE,7180,begin surface coast
$FINISH,1.8,1.019565
$STATE,7245,end surface coast,CONTROL_FINISHED_OK
$STATE,7245,begin surface
$SM_CCo,7258,111.97,0.504,0,0,653,600.24
$SM_GC,1.12,0.00,0.00,111.97,0.000,0.000,0.504,206,1986,653,-8.08,0.42,600.24
$IRIDIUM_FIX,2835.91,-8851.16,160899,050552
$TT8_MAMPS,0.050622
$HUMID,1314
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,20.90
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,480.1,7.4
$24V_AH,23.2,5.336
$10V_AH,10.8,2.760
$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,21.175,104.625,428.925,111.975,0.000,59.034,61.566,397.893,1.750,0.000,0.000,15.024,0.000,2962.000,714.839,3687.689,750.226,33.310,1864.184,0.000,3290.121,0.000,5.445,0.000
$DEVICE_MAMPS,263.848,90.506,866.710,503.919,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,890.203,958.893,2971.066,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66421,1323
$CAP_FILE_SIZE,127812,0
$CFSIZE,260165632,256204800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$CURRENT,0.275,209.5,1
$GPS,220510,093352,2844.054,-8853.579,10,6.2,29,-0.1