version: 66.04
glider: 515
mission: 5
dive: 78
start: 6 5 110 3 59 16
data:
$ID,515
$MISSION,5
$DIVE,78
$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,-5196.0552
$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,58
$R_STBD_OVSHOOT,26
$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
$GPS1,034737,2845.695,-8829.137,36,1.4,36,-0.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-70.3
$GPS2,035837,2845.598,-8829.130,10,1.7,10,-0.4
$SPEED_LIMITS,0.117,0.253
$TGT_NAME,NEW0602B
$TGT_LATLONG,2845.000,-8829.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.253,-0.015
$KALMAN_X,-215682.6,500.2,783.0,255198.2,-10668.2
$KALMAN_Y,63910.3,-729.5,-299.0,-69755.4,15867.6
$MHEAD_RNG_PITCHd_Wd,158.0,1127,-26.6,-6.735
$D_GRID,1353
$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,10146,-1.07,-67.3,856.8,-7.3,972,10147,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2309,3035
$GC,10271,-1.07,-67.3,865.6,-6.9,984,10275,0.00,2.42,0.00,0.000,4,0.000,0.057,2367,3585,3035
$GC,10340,-1.07,-67.3,870.9,-6.8,990,10344,0.00,2.35,0.00,0.000,6,0.000,0.038,2374,2311,3035
$GC,10474,-1.07,-67.3,880.5,-6.9,1003,10478,0.00,1.85,0.00,0.000,4,0.000,0.050,2374,886,3034
$GC,10543,-1.07,-67.3,885.6,-7.1,1009,10551,0.00,1.85,0.00,0.000,6,0.000,0.042,2366,2314,3034
$GC,10673,-1.07,-67.3,894.3,-6.8,1022,10674,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2314,3034
$GC,10797,-1.07,-67.3,902.8,-7.3,1034,10798,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2314,3033
$GC,10921,-1.07,-67.3,911.2,-6.9,1046,10922,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2315,3033
$GC,11046,-1.07,-69.7,919.2,-6.4,1058,11050,0.00,2.42,0.00,0.000,4,0.000,0.057,2355,3588,3033
$GC,11108,-1.07,-69.7,923.7,-7.5,1063,11118,0.08,2.40,0.00,0.000,6,0.228,0.039,2380,2309,3032
$GC,11238,-1.08,-72.7,932.1,-6.4,1076,11239,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2310,3032
$GC,11363,-1.08,-74.3,940.6,-6.5,1088,11364,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2310,3033
$GC,11487,-1.08,-74.6,948.8,-6.7,1100,11491,0.00,2.42,0.00,0.000,4,0.000,0.058,2370,3584,3032
$GC,11545,-1.08,-74.6,953.0,-6.8,1105,11549,0.00,2.40,0.00,0.000,6,0.000,0.041,2374,2311,3031
$GC,11681,-1.09,-83.1,961.2,-5.6,1118,11684,0.00,2.45,0.00,0.000,4,0.000,0.058,2364,3575,3031
$GC,11721,-1.09,-83.1,964.3,-7.3,1121,11729,0.00,2.38,0.00,0.000,6,0.000,0.039,2364,2315,3031
$GC,11851,-1.09,-86.9,972.3,-6.3,1134,11852,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2317,3031
$GC,11976,-1.10,-91.9,979.9,-6.1,1146,11980,0.00,2.42,0.00,0.000,4,0.000,0.057,2353,3591,3030
$GC,12131,-1.11,-98.5,989.8,-5.9,1160,12134,0.00,2.38,0.00,0.000,6,0.000,0.040,2360,2305,3030
$STATE,12140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12140,begin apogee
$GC,12144,-0.26,0.0,990.6,6.5,1161,12194,1.05,0.00,45.72,1.246,6,0.199,0.000,2642,2176,2800
$STATE,12194,end apogee,CONTROL_FINISHED_OK
$STATE,12194,begin climb
$GC,12195,1.11,98.5,991.3,0.0,1166,12284,1.40,0.00,84.53,1.239,6,0.110,0.000,3085,2176,2398
$GC,12406,1.11,98.5,956.5,20.3,1187,12410,0.00,2.75,0.00,0.000,4,0.000,0.059,3084,3570,2391
$GC,12426,1.11,98.5,951.9,23.1,1188,12434,0.00,2.58,0.00,0.000,6,0.000,0.038,3097,2252,2388
$GC,12556,1.11,98.5,924.8,20.6,1201,12557,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2250,2388
$GC,12680,1.11,98.5,899.3,20.8,1213,12681,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2251,2387
$GC,12805,1.11,98.5,874.1,20.5,1225,12808,0.00,1.85,0.00,0.000,4,0.000,0.047,3106,795,2386
$GC,12836,1.11,98.5,867.8,17.9,1228,12840,0.00,1.85,0.00,0.000,6,0.000,0.044,3106,2241,2386
$GC,12971,1.11,98.5,840.9,19.6,1241,12971,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2242,2384
$GC,13095,1.11,98.5,816.4,19.6,1253,13096,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2242,2384
$GC,13219,1.11,98.5,791.9,19.6,1265,13220,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2242,2384
$GC,13343,1.11,98.5,767.5,19.5,1277,13344,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2242,2383
$GC,13468,1.11,98.5,743.2,19.6,1289,13471,0.00,2.55,0.00,0.000,4,0.000,0.058,3106,3566,2383
$GC,13489,1.11,98.5,738.6,21.9,1291,13493,0.00,2.53,0.00,0.000,6,0.000,0.038,3118,2211,2382
$GC,13618,1.11,98.5,712.3,20.4,1303,13618,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2213,2381
$GC,13742,1.11,98.5,687.3,20.0,1315,13743,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2213,2381
$GC,13866,1.11,98.5,662.6,19.6,1327,13870,0.00,1.77,0.00,0.000,4,0.000,0.047,3127,795,2381
$GC,13898,1.11,98.5,656.4,18.8,1330,13902,0.10,1.80,0.00,0.000,6,0.203,0.044,3098,2221,2381
$GC,14033,1.11,98.5,631.4,18.0,1343,14033,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2222,2380
$GC,14156,1.11,98.5,608.6,18.6,1355,14157,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2222,2380
$GC,14281,1.11,98.5,585.7,18.4,1367,14284,0.00,2.58,0.00,0.000,4,0.000,0.058,3086,3558,2380
$GC,14313,1.11,98.5,579.5,20.6,1370,14316,0.00,2.50,0.00,0.000,6,0.000,0.038,3098,2204,2379
$GC,14447,1.11,98.5,554.5,18.4,1383,14448,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2207,2379
$GC,14572,1.11,98.5,531.4,18.8,1395,14573,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2207,2379
$GC,14695,1.11,98.5,508.9,18.5,1407,14699,0.00,1.73,0.00,0.000,4,0.000,0.045,3107,813,2379
$GC,14732,1.11,98.5,502.1,17.7,1410,14739,0.00,1.80,0.00,0.000,6,0.000,0.042,3099,2243,2379
$GC,14862,1.11,98.5,478.4,17.9,1423,14865,0.00,1.80,0.00,0.000,4,0.000,0.046,3107,814,2379
$GC,14883,1.11,98.5,474.5,19.8,1425,14886,0.00,1.77,0.00,0.000,6,0.000,0.043,3099,2226,2379
$GC,15017,1.11,98.5,449.8,18.4,1438,15018,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2226,2379
$GC,15141,1.11,98.5,426.6,18.8,1450,15142,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2226,2379
$GC,15266,1.11,98.5,403.6,18.5,1462,15269,0.00,1.77,0.00,0.000,4,0.000,0.045,3107,792,2379
$GC,15297,1.11,98.5,397.7,17.4,1465,15301,0.00,1.80,0.00,0.000,6,0.000,0.042,3100,2228,2379
$GC,15432,1.11,98.5,372.9,17.9,1478,15433,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2229,2379
$GC,15556,1.11,98.5,350.8,17.6,1490,15557,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2229,2379
$GC,15680,1.11,98.5,328.7,18.4,1502,15684,0.00,2.55,0.00,0.000,4,0.000,0.058,3096,3560,2379
$GC,15723,1.11,98.5,320.3,20.2,1506,15726,0.00,2.47,0.00,0.000,6,0.000,0.037,3107,2207,2378
$GC,15858,1.11,98.5,294.9,18.4,1519,15858,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2209,2378
$GC,15982,1.11,98.5,271.8,18.6,1531,15986,0.00,2.58,0.00,0.000,4,0.000,0.057,3106,3571,2378
$GC,15997,1.11,98.5,268.7,19.3,1532,16001,0.00,2.47,0.00,0.000,6,0.000,0.036,3117,2220,2378
$GC,16132,1.11,98.5,243.2,18.8,1545,16133,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2221,2378
$GC,16256,1.11,98.5,220.0,18.0,1557,16260,0.00,2.58,0.00,0.000,4,0.000,0.056,3118,3589,2378
$GC,16270,1.11,98.5,216.8,20.3,1558,16279,0.12,2.55,0.00,0.000,6,0.212,0.035,3097,2213,2378
$GC,16401,1.11,98.5,193.3,18.5,1571,16402,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2212,2378
$GC,16525,1.11,98.5,171.8,17.2,1583,16529,0.00,1.75,0.00,0.000,4,0.000,0.043,3104,788,2378
$GC,16557,1.11,98.5,166.3,16.4,1586,16560,0.00,1.77,0.00,0.000,6,0.000,0.040,3097,2217,2378
$GC,16692,1.11,98.5,143.8,15.4,1599,16692,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2218,2378
$GC,16815,1.11,98.5,124.1,15.8,1611,16816,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2218,2379
$GC,16940,1.11,98.5,104.0,16.7,1623,16941,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2218,2379
$GC,17064,1.11,98.5,83.4,15.5,1635,17065,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2217,2380
$GC,17126,1.11,98.5,73.5,16.1,1641,17127,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2218,2380
$GC,17188,1.11,98.5,63.9,15.5,1647,17189,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2218,2380
$GC,17251,1.11,98.5,54.4,14.8,1653,17254,0.00,2.55,0.00,0.000,4,0.000,0.054,3084,3566,2381
$GC,17266,1.11,98.5,51.8,16.3,1654,17270,0.00,2.50,0.00,0.000,6,0.000,0.033,3096,2199,2381
$GC,17338,1.11,98.5,41.7,13.1,1661,17342,0.00,1.70,0.00,0.000,4,0.000,0.040,3105,807,2381
$GC,17385,1.11,98.5,36.3,12.0,1665,17393,0.00,1.77,0.00,0.000,6,0.000,0.037,3098,2235,2381
$GC,17453,1.11,98.5,29.9,8.8,1672,17454,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2235,2382
$GC,17515,1.11,98.5,25.3,6.8,1678,17519,0.00,1.77,0.00,0.000,4,0.000,0.039,3106,797,2381
$GC,17568,1.14,122.0,22.7,3.7,1683,17593,0.00,1.75,16.52,0.535,6,0.000,0.036,3105,2224,2301
$GC,17653,1.16,137.4,18.9,4.7,1691,17670,0.00,2.53,12.93,0.512,4,0.000,0.051,3106,3555,2238
$GC,17688,1.16,137.4,16.7,7.2,1694,17691,0.00,2.45,0.00,0.000,6,0.000,0.031,3117,2202,2237
$GC,17760,1.17,148.7,12.6,5.3,1701,17774,0.00,2.65,9.93,0.487,4,0.000,0.050,3117,3561,2192
$GC,17959,1.23,199.2,7.8,0.2,1719,18004,0.00,2.45,38.53,0.519,6,0.000,0.028,3130,2213,1986
$GC,18064,1.29,245.1,6.1,0.8,1729,18102,0.00,1.77,34.60,0.507,4,0.000,0.038,3138,823,1799
$GC,18341,1.35,292.1,5.5,0.7,1754,18379,0.00,1.75,34.88,0.495,6,0.000,0.031,3137,2229,1609
$GC,18448,1.43,357.3,6.1,-1.7,1764,18500,0.15,1.75,48.88,0.493,4,0.061,0.035,3209,821,1341
$STATE,18563,end climb,SURFACE_DEPTH_REACHED
$STATE,18563,begin surface coast
$FINISH,0.6,1.018511
$STATE,18627,end surface coast,CONTROL_FINISHED_OK
$STATE,18627,begin surface
$SM_CCo,18642,128.40,0.487,0,0,455,575.22
$SM_GC,1.51,0.00,0.00,128.40,0.000,0.000,0.487,199,2299,455,-7.92,-0.28,575.22
$IRIDIUM_FIX,2833.46,-8826.65,300899,030317
$TT8_MAMPS,0.050622
$HUMID,1241
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,23.4,16.538
$10V_AH,10.6,20.747
$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,21.425,246.775,326.500,128.400,0.000,54.336,61.541,371.769,0.250,0.000,0.000,12.117,0.000,12138.341,699.112,5749.627,805.458,33.351,2426.402,0.000,5077.287,0.000,1.158,0.000
$DEVICE_MAMPS,266.916,67.496,1246.375,487.045,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1218.435,1325.671,4001.468,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94640,1780
$CAP_FILE_SIZE,245542,0
$CFSIZE,260165632,248623104
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,94,0,0
$CURRENT,0.046,267.4,1
$GPS,050610,091306,2844.352,-8829.085,36,0.9,41,-0.4