version: 66.04
glider: 515
mission: 5
dive: 8
start: 5 22 110 9 44 49
data:
$ID,515
$MISSION,5
$DIVE,8
$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,-3630.2288
$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,54
$R_STBD_OVSHOOT,41
$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
$GPS1,093352,2844.054,-8853.579,10,6.2,29,-0.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-73.7
$GPS2,094236,2844.075,-8853.567,12,1.3,28,-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,-0.002
$KALMAN_X,-9683.0,262.3,254.8,10343.0,-4448.5
$KALMAN_Y,-12718.5,263.4,106.6,2597.0,-5355.4
$MHEAD_RNG_PITCHd_Wd,98.5,39034,-16.1,-10.000
$D_GRID,847
$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,-170.3,0.0,0.0,0,65,0.00,0.00,-52.75,0.000,2,0.000,0.000,204,1986,2210
$GC,67,-0.83,-170.3,3.1,-7.1,8,116,10.30,2.35,-34.72,0.000,4,0.265,0.064,2507,3368,3796
$GC,318,-0.83,-170.3,47.4,-13.4,53,327,0.00,2.20,0.00,0.000,6,0.000,0.033,2507,1983,3799
$GC,390,-0.83,-170.3,58.2,-15.5,66,396,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1981,3799
$GC,459,-0.83,-170.3,69.2,-16.2,79,465,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1981,3799
$GC,527,-0.83,-170.3,80.1,-15.2,92,528,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1981,3799
$GC,591,-0.83,-170.3,89.8,-14.6,104,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1982,3799
$GC,655,-0.83,-170.3,99.3,-15.5,116,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,1982,3799
$GC,724,-0.83,-170.3,109.4,-14.1,129,732,0.00,2.30,0.00,0.000,4,0.000,0.051,2496,3370,3799
$GC,752,-0.83,-170.3,113.5,-14.8,134,759,0.00,2.20,0.00,0.000,6,0.000,0.033,2497,1971,3799
$GC,887,-0.83,-170.3,133.1,-15.2,159,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1971,3799
$GC,1020,-0.83,-170.3,152.3,-14.9,184,1027,0.00,2.03,0.00,0.000,4,0.000,0.047,2497,575,3799
$GC,1069,-0.83,-170.3,159.0,-14.0,193,1076,0.10,2.00,0.00,0.000,6,0.156,0.038,2519,1962,3799
$GC,1204,-0.83,-170.3,175.1,-10.7,218,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1963,3799
$GC,1337,-0.83,-170.3,190.4,-11.0,243,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1963,3799
$GC,1470,-0.83,-170.3,205.9,-11.7,268,1477,0.00,2.33,0.00,0.000,4,0.000,0.054,2510,3371,3798
$GC,1524,-0.83,-170.3,212.5,-12.3,278,1532,0.00,2.20,0.00,0.000,6,0.000,0.035,2510,1970,3798
$GC,1659,-0.83,-170.3,228.8,-12.2,303,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1969,3798
$GC,1792,-0.83,-170.3,244.9,-12.5,328,1799,0.00,2.33,0.00,0.000,4,0.000,0.053,2499,3371,3797
$GC,1856,-0.83,-170.3,253.1,-12.0,340,1864,0.00,2.20,0.00,0.000,6,0.000,0.035,2499,1970,3797
$GC,1991,-0.83,-170.3,270.1,-12.2,365,1999,0.00,2.03,0.00,0.000,4,0.000,0.048,2499,573,3796
$GC,2019,-0.83,-170.3,273.8,-13.3,370,2027,0.10,2.03,0.00,0.000,6,0.153,0.041,2521,1973,3796
$GC,2154,-0.83,-170.3,288.4,-10.3,395,2161,0.00,2.33,0.00,0.000,4,0.000,0.055,2512,3372,3795
$GC,2182,-0.83,-170.3,291.5,-11.1,400,2189,0.00,2.22,0.00,0.000,6,0.000,0.035,2512,1969,3795
$GC,2316,-0.83,-170.3,306.8,-11.5,425,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1968,3794
$GC,2444,-0.83,-170.3,321.6,-11.6,449,2451,0.00,2.35,0.00,0.000,4,0.000,0.054,2501,3370,3793
$GC,2504,-0.83,-170.3,328.4,-11.2,460,2511,0.00,2.22,0.00,0.000,6,0.000,0.035,2501,1969,3793
$GC,2638,-0.83,-170.3,345.0,-12.0,485,2645,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1970,3793
$GC,2772,-0.83,-170.3,361.5,-12.2,510,2780,0.00,2.35,0.00,0.000,4,0.000,0.055,2491,3375,3792
$GC,2794,-0.83,-170.3,364.3,-12.3,514,2802,0.10,2.22,0.00,0.000,6,0.149,0.036,2523,1975,3792
$GC,2929,-0.83,-170.3,378.6,-10.5,539,2935,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,1974,3791
$GC,3062,-0.83,-170.3,392.5,-10.4,564,3063,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,1974,3790
$GC,3191,-0.83,-170.3,405.9,-10.0,588,3198,0.00,2.35,0.00,0.000,4,0.000,0.058,2514,3376,3789
$GC,3234,-0.83,-170.3,410.7,-11.2,596,3240,0.00,2.22,0.00,0.000,6,0.000,0.036,2514,1972,3789
$GC,3367,-0.83,-170.3,425.7,-11.0,621,3375,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1973,3789
$GC,3502,-0.83,-170.3,440.8,-10.8,646,3509,0.00,2.35,0.00,0.000,4,0.000,0.058,2503,3369,3787
$GC,3529,-0.83,-170.3,444.2,-12.1,651,3536,0.00,2.22,0.00,0.000,6,0.000,0.037,2503,1971,3787
$GC,3663,-0.83,-170.3,460.2,-11.7,676,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1971,3786
$GC,3796,-0.83,-170.3,476.3,-12.3,701,3803,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1970,3785
$STATE,3831,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3831,begin apogee
$GC,3834,-0.27,0.0,480.1,12.4,707,3965,0.60,0.00,124.28,0.866,6,0.135,0.000,2695,1898,3101
$STATE,3965,end apogee,CONTROL_FINISHED_OK
$STATE,3965,begin climb
$GC,3967,0.83,170.3,485.1,0.0,727,4106,1.02,2.53,131.15,0.848,4,0.061,0.054,3058,3316,2404
$GC,4122,0.83,170.3,478.3,16.7,750,4129,0.00,2.38,0.00,0.000,6,0.000,0.034,3069,1907,2401
$GC,4256,0.83,170.3,454.4,17.5,775,4257,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1908,2398
$GC,4384,0.83,170.3,432.0,17.7,799,4385,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,1909,2397
$GC,4512,0.83,170.3,409.9,17.3,823,4518,0.00,2.40,0.00,0.000,4,0.000,0.054,3068,3311,2396
$GC,4549,0.83,170.3,402.9,19.1,830,4556,0.00,2.28,0.00,0.000,6,0.000,0.035,3078,1904,2395
$GC,4684,0.83,170.3,378.7,17.9,855,4690,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1905,2394
$GC,4817,0.83,170.3,354.3,18.0,880,4824,0.00,2.40,0.00,0.000,4,0.000,0.054,3078,3319,2393
$GC,4887,0.83,170.3,340.1,20.3,893,4895,0.10,2.28,0.00,0.000,6,0.197,0.035,3062,1901,2392
$GC,5023,0.83,170.3,316.1,17.1,918,5030,0.00,2.40,0.00,0.000,4,0.000,0.054,3062,3315,2392
$GC,5109,0.83,170.3,300.1,18.3,934,5116,0.00,2.25,0.00,0.000,6,0.000,0.035,3072,1906,2390
$GC,5243,0.83,170.3,275.3,18.0,959,5249,0.00,2.38,0.00,0.000,4,0.000,0.054,3071,3314,2390
$GC,5296,0.83,170.3,264.6,20.8,969,5305,0.00,2.25,0.00,0.000,6,0.000,0.035,3082,1907,2390
$GC,5432,0.83,170.3,240.3,17.6,994,5439,0.00,2.03,0.00,0.000,4,0.000,0.044,3093,493,2390
$GC,5454,0.83,170.3,236.4,17.9,998,5461,0.10,2.05,0.00,0.000,6,0.189,0.039,3064,1915,2390
$GC,5589,0.83,170.3,214.1,15.8,1023,5595,0.00,2.33,0.00,0.000,4,0.000,0.054,3062,3311,2390
$GC,5712,0.83,170.3,191.2,18.3,1046,5719,0.00,2.25,0.00,0.000,6,0.000,0.035,3072,1895,2389
$GC,5846,0.83,170.3,167.6,18.0,1071,5853,0.00,2.38,0.00,0.000,4,0.000,0.054,3072,3315,2389
$GC,5954,0.83,170.3,146.4,19.9,1091,5961,0.00,2.25,0.00,0.000,6,0.000,0.034,3083,1904,2388
$GC,6088,0.83,170.3,123.4,16.0,1116,6096,0.00,2.00,0.00,0.000,4,0.000,0.042,3093,502,2388
$GC,6137,0.83,170.3,115.2,17.0,1125,6146,0.12,2.03,0.00,0.000,6,0.186,0.039,3056,1909,2388
$GC,6273,0.83,170.3,94.3,16.2,1150,6280,0.00,2.33,0.00,0.000,4,0.000,0.052,3055,3317,2388
$GC,6284,0.83,170.3,92.5,15.9,1152,6291,0.00,2.22,0.00,0.000,6,0.000,0.032,3065,1908,2388
$GC,6355,0.83,170.3,81.6,15.7,1165,6362,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1907,2387
$GC,6425,0.83,170.3,71.3,15.3,1178,6432,0.00,2.35,0.00,0.000,4,0.000,0.052,3065,3313,2388
$GC,6511,0.83,170.3,56.9,17.4,1194,6518,0.00,2.22,0.00,0.000,6,0.000,0.032,3075,1902,2387
$GC,6581,0.83,170.3,45.5,16.7,1207,6587,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1903,2387
$GC,6650,0.83,170.3,34.6,15.6,1220,6657,0.00,2.00,0.00,0.000,4,0.000,0.042,3086,496,2387
$GC,6704,0.83,170.3,27.3,11.3,1230,6711,0.00,2.00,0.00,0.000,6,0.000,0.036,3086,1903,2387
$GC,6775,0.93,254.8,20.9,6.7,1243,6842,0.00,2.38,59.88,0.555,4,0.000,0.051,3086,3300,2059
$GC,7076,1.27,529.0,11.8,-0.9,1297,7236,0.25,2.22,154.73,0.525,2,0.056,0.031,3202,1892,1195
$STATE,7237,end climb,SURFACE_DEPTH_REACHED
$STATE,7237,begin surface coast
$FINISH,-0.1,1.018198
$STATE,7299,end surface coast,CONTROL_FINISHED_OK
$STATE,7299,begin surface
$SM_CCo,7312,76.25,0.500,0,0,652,600.24
$SM_GC,1.18,0.00,0.00,76.25,0.000,0.000,0.500,204,1976,652,-8.09,0.14,600.24
$IRIDIUM_FIX,2833.46,-8856.12,160899,070714
$TT8_MAMPS,0.051389
$HUMID,1316
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,21.10
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,480.1,7.4
$24V_AH,23.2,5.465
$10V_AH,10.7,2.929
$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,21.000,107.775,470.025,76.250,0.000,31.770,30.450,340.810,1.500,0.000,0.000,30.385,0.000,2911.262,699.533,3721.661,640.791,33.329,1860.065,0.000,3312.966,0.000,5.443,0.000
$DEVICE_MAMPS,265.382,88.205,865.943,500.084,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,895.289,966.166,2988.201,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66360,1332
$CAP_FILE_SIZE,126560,0
$CFSIZE,260165632,256135168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$CURRENT,0.277,206.6,1
$GPS,220510,114854,2842.923,-8852.970,21,1.0,39,-0.1