version: 66.04
glider: 515
mission: 5
dive: 77
start: 6 4 110 22 18 41
data:
$ID,515
$MISSION,5
$DIVE,77
$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,490
$T_MISSION,510
$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,200
$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,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5183.3071
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2735
$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,40
$C_ROLL_DIVE,2310
$C_ROLL_CLIMB,2220
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,2800
$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,4
$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
$GPS1,221201,2844.424,-8829.445,40,1.5,40,-0.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-69.2
$GPS2,221802,2844.409,-8829.358,13,1.6,13,-0.4
$SPEED_LIMITS,0.117,0.253
$TGT_NAME,NEW0602B
$TGT_LATLONG,2845.000,-8829.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.141,-0.211
$KALMAN_X,-212313.6,1005.4,-37.8,251767.3,-9498.1
$KALMAN_Y,56798.4,-639.5,-738.1,-64511.6,16247.7
$MHEAD_RNG_PITCHd_Wd,19.3,1239,-26.6,-6.735
$D_GRID,1350
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
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$GC,10269,-1.07,-65.8,892.6,-7.3,984,10273,0.00,2.42,0.00,0.000,6,0.000,0.040,2378,2306,3042
$GC,10404,-1.07,-65.8,902.4,-7.3,997,10408,0.00,1.83,0.00,0.000,4,0.000,0.051,2387,886,3042
$GC,10457,-1.07,-65.8,906.3,-8.0,1002,10461,0.00,1.83,0.00,0.000,6,0.000,0.043,2380,2315,3042
$GC,10592,-1.07,-65.8,916.0,-7.2,1015,10596,0.00,2.42,0.00,0.000,4,0.000,0.057,2368,3575,3042
$GC,10623,-1.07,-65.8,918.4,-7.4,1018,10627,0.00,2.38,0.00,0.000,6,0.000,0.040,2374,2313,3041
$GC,10759,-1.07,-65.8,928.3,-7.0,1031,10762,0.00,2.42,0.00,0.000,4,0.000,0.058,2363,3589,3041
$GC,10913,-1.07,-65.8,940.6,-8.0,1045,10917,0.00,2.35,0.00,0.000,6,0.000,0.040,2367,2310,3040
$GC,11048,-1.07,-65.8,950.5,-7.1,1058,11051,0.00,1.85,0.00,0.000,4,0.000,0.051,2374,889,3040
$GC,11095,-1.07,-65.8,953.6,-7.4,1062,11102,0.00,1.83,0.00,0.000,6,0.000,0.042,2366,2308,3039
$GC,11224,-1.07,-65.8,962.5,-6.8,1075,11225,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2309,3039
$GC,11349,-1.07,-65.8,971.2,-7.1,1087,11350,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2309,3039
$GC,11473,-1.07,-65.8,979.9,-6.9,1099,11477,0.00,2.40,0.00,0.000,4,0.000,0.057,2355,3582,3039
$STATE,11604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11604,begin apogee
$GC,11610,-0.26,0.0,990.3,7.7,1111,11659,1.05,0.00,47.12,1.253,6,0.212,0.000,2640,2196,2800
$STATE,11660,end apogee,CONTROL_FINISHED_OK
$STATE,11660,begin climb
$GC,11661,1.07,65.8,991.7,0.0,1116,11726,1.35,0.00,56.72,1.231,6,0.116,0.000,3067,2195,2530
$GC,11848,1.07,65.8,967.1,16.1,1134,11852,0.00,2.75,0.00,0.000,4,0.000,0.059,3062,3582,2524
$GC,11874,1.07,65.8,962.7,17.5,1136,11878,0.00,2.62,0.00,0.000,6,0.000,0.038,3073,2205,2524
$GC,12010,1.07,65.8,940.5,16.3,1149,12010,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2206,2523
$GC,12133,1.07,65.8,920.5,16.3,1161,12137,0.00,2.70,0.00,0.000,4,0.000,0.059,3073,3577,2522
$GC,12169,1.07,65.8,914.0,18.8,1164,12179,0.00,2.60,0.00,0.000,6,0.000,0.038,3084,2206,2521
$GC,12300,1.07,65.8,892.1,16.7,1177,12300,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2207,2521
$GC,12424,1.07,65.8,871.1,16.7,1189,12425,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2207,2521
$GC,12548,1.07,65.8,850.6,16.2,1201,12549,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2208,2520
$GC,12672,1.07,65.8,830.2,16.3,1213,12673,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2207,2520
$GC,12797,1.07,65.8,810.1,16.0,1225,12798,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2208,2520
$GC,12920,1.07,65.8,789.8,16.6,1237,12921,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2208,2519
$GC,13045,1.07,65.8,769.9,15.5,1249,13045,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2208,2519
$GC,13169,1.07,65.8,750.2,15.6,1261,13170,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2208,2518
$GC,13293,1.07,65.8,730.9,15.3,1273,13294,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2208,2518
$GC,13417,1.07,65.8,711.3,16.0,1285,13421,0.00,2.65,0.00,0.000,4,0.000,0.058,3084,3585,2518
$GC,13438,1.07,65.8,707.8,16.5,1287,13442,0.00,2.55,0.00,0.000,6,0.000,0.038,3096,2205,2517
$GC,13573,1.07,65.8,686.1,16.2,1300,13574,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2206,2517
$GC,13697,1.07,65.8,666.5,15.6,1312,13698,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2205,2517
$GC,13821,1.07,65.8,647.1,15.6,1324,13822,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2206,2517
$GC,13945,1.07,65.8,627.5,16.2,1336,13949,0.00,2.67,0.00,0.000,4,0.000,0.059,3096,3587,2516
$GC,13977,1.07,65.8,622.2,17.1,1339,13981,0.00,2.53,0.00,0.000,6,0.000,0.038,3108,2216,2516
$GC,14106,1.07,65.8,601.7,16.0,1351,14107,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2218,2515
$GC,14230,1.07,65.8,582.5,15.5,1363,14234,0.00,2.62,0.00,0.000,4,0.000,0.058,3098,3584,2515
$GC,14284,1.07,65.8,573.3,16.6,1368,14288,0.12,2.53,0.00,0.000,6,0.223,0.038,3084,2208,2515
$GC,14413,1.07,65.8,553.5,15.4,1380,14414,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2211,2515
$GC,14537,1.07,65.8,534.9,15.1,1392,14538,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2211,2515
$GC,14662,1.07,65.8,516.8,14.6,1404,14665,0.00,2.62,0.00,0.000,4,0.000,0.058,3072,3584,2515
$GC,14724,1.07,65.8,506.9,16.5,1409,14732,0.00,2.55,0.00,0.000,6,0.000,0.037,3084,2215,2515
$GC,14854,1.07,65.8,488.0,14.5,1422,14855,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2215,2515
$GC,14979,1.07,65.8,469.7,15.0,1434,14979,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2216,2515
$GC,15103,1.07,65.8,451.7,14.7,1446,15106,0.00,2.58,0.00,0.000,4,0.000,0.058,3084,3572,2515
$GC,15134,1.07,65.8,446.5,16.9,1449,15138,0.00,2.50,0.00,0.000,6,0.000,0.037,3096,2215,2514
$GC,15269,1.07,65.8,426.4,14.9,1462,15270,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2217,2515
$GC,15393,1.07,65.8,407.7,14.7,1474,15394,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2217,2515
$GC,15517,1.07,65.8,389.3,15.1,1486,15518,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2218,2515
$GC,15642,1.07,65.8,371.2,14.2,1498,15642,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2218,2514
$GC,15766,1.07,65.8,352.9,14.6,1510,15767,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2218,2514
$GC,15890,1.07,65.8,334.5,15.0,1522,15890,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2217,2515
$GC,16014,1.07,65.8,315.8,14.9,1534,16015,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2217,2515
$GC,16138,1.07,65.8,297.5,15.1,1546,16142,0.00,2.62,0.00,0.000,4,0.000,0.058,3096,3579,2515
$GC,16196,1.07,65.8,288.4,15.6,1551,16203,0.00,2.53,0.00,0.000,6,0.000,0.035,3108,2213,2515
$GC,16326,1.07,65.8,268.3,15.0,1564,16326,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2214,2515
$GC,16450,1.07,65.8,249.9,14.9,1576,16451,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2214,2515
$GC,16574,1.07,65.8,231.6,15.2,1588,16578,0.00,2.60,0.00,0.000,4,0.000,0.056,3100,3584,2515
$GC,16648,1.07,65.8,219.6,16.5,1595,16653,0.12,2.50,0.00,0.000,6,0.212,0.035,3084,2209,2515
$GC,16783,1.07,65.8,200.7,14.4,1608,16784,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2211,2516
$GC,16907,1.07,65.8,183.1,14.1,1620,16911,0.00,1.75,0.00,0.000,4,0.000,0.043,3091,794,2516
$GC,16997,1.07,65.8,170.9,12.3,1628,17006,0.00,1.85,0.00,0.000,6,0.000,0.039,3092,2264,2516
$GC,17127,1.07,65.8,154.1,13.5,1641,17131,0.00,2.42,0.00,0.000,4,0.000,0.055,3092,3560,2517
$GC,17159,1.07,65.8,149.8,15.3,1644,17163,0.00,2.45,0.00,0.000,6,0.000,0.034,3104,2208,2517
$GC,17294,1.07,65.8,132.2,12.6,1657,17297,0.00,2.55,0.00,0.000,4,0.000,0.054,3104,3561,2517
$GC,17379,1.07,65.8,119.9,14.0,1665,17383,0.15,2.45,0.00,0.000,6,0.212,0.033,3082,2203,2517
$GC,17508,1.07,65.8,103.9,11.9,1677,17509,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2205,2518
$GC,17632,1.07,65.8,88.7,12.5,1689,17633,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2205,2518
$GC,17694,1.07,65.8,81.3,11.8,1695,17695,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2205,2518
$GC,17756,1.07,65.8,73.5,12.6,1701,17757,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2205,2519
$GC,17818,1.07,65.8,65.7,12.8,1707,17822,0.00,1.70,0.00,0.000,4,0.000,0.041,3090,814,2519
$GC,17886,1.07,65.8,57.7,11.5,1713,17894,0.00,1.77,0.00,0.000,6,0.000,0.037,3089,2239,2519
$GC,17955,1.07,65.8,50.5,10.6,1720,17955,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2240,2520
$GC,18016,1.07,65.8,43.3,12.4,1726,18017,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2239,2520
$GC,18079,1.07,66.9,38.8,6.6,1732,18082,0.00,2.47,0.00,0.000,4,0.000,0.052,3090,3554,2521
$GC,18324,1.11,103.6,31.8,2.0,1755,18361,0.00,2.42,27.25,0.548,6,0.000,0.031,3101,2207,2377
$GC,18421,1.12,107.2,27.3,6.3,1764,18434,0.00,2.58,4.22,0.380,4,0.000,0.051,3100,3550,2362
$GC,18673,1.19,166.6,14.1,-1.0,1787,18722,0.00,2.40,45.20,0.528,6,0.000,0.029,3112,2235,2119
$GC,18791,1.20,177.1,9.8,5.4,1798,18804,0.00,2.60,8.40,0.446,4,0.000,0.050,3111,3559,2077
$GC,18861,1.20,177.1,4.4,7.3,1804,18871,0.00,2.47,0.00,0.000,6,0.000,0.028,3124,2211,2075
$GC,18929,1.28,237.7,5.2,-1.1,1811,18980,0.00,1.77,45.60,0.507,4,0.000,0.038,3132,818,1829
$GC,19218,1.34,285.3,4.2,0.6,1837,19263,0.00,1.77,34.88,0.492,6,0.000,0.034,3132,2237,1635
$GC,19322,1.40,335.1,3.5,0.3,1847,19362,0.15,1.83,36.22,0.487,4,0.060,0.037,3203,803,1432
$STATE,19372,end climb,SURFACE_DEPTH_REACHED
$STATE,19372,begin surface coast
$FINISH,0.4,1.007375
$STATE,19532,end surface coast,CONTROL_FINISHED_OK
$STATE,19532,begin surface
$SM_CCo,19547,133.45,0.483,0,0,454,575.22
$SM_GC,1.51,0.00,0.00,133.45,0.000,0.000,0.483,200,2295,454,-7.92,-0.42,575.22
$IRIDIUM_FIX,2831.00,-8831.56,290899,181856
$TT8_MAMPS,0.049855
$HUMID,1236
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,25.10
$XPDR_PINGS,2
$24V_AH,24.1,16.417
$10V_AH,10.6,20.510
$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,21.225,220.625,305.625,133.450,0.000,26.077,29.652,208.231,0.500,0.000,0.000,16.388,0.000,12764.939,684.980,6017.583,546.114,33.350,2462.239,0.000,5311.002,0.000,0.848,0.000
$DEVICE_MAMPS,264.615,59.059,1252.511,483.210,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1278.107,1389.421,4194.615,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97832,1866
$CAP_FILE_SIZE,239673,0
$CFSIZE,260165632,248737792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,91,0,0
$CURRENT,0.023,262.4,1
$GPS,050610,034737,2845.695,-8829.137,36,1.4,36,-0.4