version: 66.04
glider: 515
mission: 5
dive: 83
start: 6 6 110 6 38 4
data:
$ID,515
$MISSION,5
$DIVE,83
$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,581.5968
$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,-6619.6982
$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,19
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,2775
$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
$GPS1,002726,2841.618,-8829.442,12,1.3,12,-0.4
$_CALLS,5
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-78.3
$GPS2,063725,2841.744,-8832.587,456,1.4,456,-0.3
$SPEED_LIMITS,0.117,0.253
$TGT_NAME,NEW0602E
$TGT_LATLONG,2845.000,-8843.600
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.210,-0.142
$KALMAN_X,-217519.8,782.7,-31.2,251920.4,-391.9
$KALMAN_Y,62807.7,-1286.3,-1369.5,-74178.1,6383.4
$MHEAD_RNG_PITCHd_Wd,243.9,18871,-26.6,-6.735
$D_GRID,1333
$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
$STATE,10,begin dive
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$GC,10197,-1.08,-76.7,823.5,-7.5,973,10205,0.00,1.85,0.00,0.000,6,0.000,0.041,2382,2315,3030
$GC,10327,-1.08,-76.7,832.7,-7.3,986,10328,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2316,3030
$GC,10452,-1.08,-76.7,841.8,-7.2,998,10455,0.00,2.40,0.00,0.000,4,0.000,0.055,2370,3578,3030
$GC,10467,-1.08,-76.7,842.9,-7.4,999,10471,0.00,2.38,0.00,0.000,6,0.000,0.039,2374,2311,3030
$GC,10601,-1.08,-76.7,852.5,-6.9,1012,10605,0.00,2.42,0.00,0.000,4,0.000,0.055,2363,3584,3029
$GC,10648,-1.08,-76.7,856.2,-7.8,1016,10657,0.00,2.40,0.00,0.000,6,0.000,0.038,2366,2304,3029
$GC,10779,-1.08,-76.7,865.6,-7.3,1029,10782,0.00,2.45,0.00,0.000,4,0.000,0.056,2355,3588,3029
$GC,10825,-1.08,-76.7,869.3,-8.3,1033,10833,0.00,2.38,0.00,0.000,6,0.000,0.038,2363,2315,3029
$GC,10956,-1.08,-76.7,878.5,-7.3,1046,10957,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2317,3028
$GC,11080,-1.08,-76.7,887.4,-6.8,1058,11083,0.00,1.85,0.00,0.000,4,0.000,0.051,2363,880,3028
$GC,11122,-1.08,-76.7,890.6,-7.2,1062,11126,0.08,1.83,0.00,0.000,6,0.231,0.042,2375,2310,3028
$GC,11257,-1.08,-77.2,899.7,-6.7,1075,11258,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2311,3028
$GC,11381,-1.08,-77.2,907.9,-6.8,1087,11382,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2311,3028
$GC,11505,-1.08,-79.1,915.9,-6.5,1099,11506,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2312,3028
$GC,11630,-1.08,-80.2,924.0,-6.6,1111,11630,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2312,3027
$GC,11754,-1.09,-81.4,932.3,-6.6,1123,11757,0.00,2.40,0.00,0.000,4,0.000,0.057,2365,3574,3028
$GC,11939,-1.09,-81.4,946.3,-7.5,1140,11947,0.00,2.38,0.00,0.000,6,0.000,0.040,2374,2310,3027
$GC,12069,-1.09,-84.8,954.9,-6.3,1153,12073,0.00,2.45,0.00,0.000,4,0.000,0.058,2363,3581,3027
$GC,12148,-1.09,-84.8,960.4,-7.0,1160,12156,0.00,2.38,0.00,0.000,6,0.000,0.040,2370,2312,3026
$GC,12279,-1.09,-88.0,968.8,-6.3,1173,12280,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2313,3026
$GC,12403,-1.09,-88.0,976.9,-6.8,1185,12406,0.00,1.85,0.00,0.000,4,0.000,0.051,2374,885,3026
$GC,12488,-1.09,-88.0,982.8,-7.2,1193,12491,0.00,1.80,0.00,0.000,6,0.000,0.042,2367,2315,3026
$STATE,12601,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12601,begin apogee
$GC,12604,-0.26,0.0,990.3,6.6,1204,12657,1.05,0.00,49.78,1.254,6,0.206,0.000,2642,2181,2775
$STATE,12657,end apogee,CONTROL_FINISHED_OK
$STATE,12657,begin climb
$GC,12659,1.09,88.0,991.6,0.0,1209,12742,1.38,0.00,75.85,1.241,6,0.116,0.000,3075,2181,2415
$GC,12864,1.09,88.0,961.2,18.7,1229,12865,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2181,2408
$GC,12988,1.09,88.0,938.3,18.4,1241,12989,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2181,2405
$GC,13112,1.09,88.0,915.5,18.1,1253,13116,0.00,2.70,0.00,0.000,4,0.000,0.059,3072,3581,2403
$GC,13133,1.09,88.0,911.4,20.1,1255,13137,0.00,2.55,0.00,0.000,6,0.000,0.038,3083,2225,2403
$GC,13268,1.09,88.0,885.5,18.4,1268,13271,0.00,1.80,0.00,0.000,4,0.000,0.047,3092,802,2403
$GC,13293,1.09,88.0,880.6,19.4,1270,13302,0.00,1.85,0.00,0.000,6,0.000,0.043,3092,2240,2403
$GC,13424,1.09,88.0,855.2,19.5,1283,13427,0.00,2.58,0.00,0.000,4,0.000,0.059,3092,3590,2402
$GC,13438,1.09,88.0,852.1,19.2,1284,13446,0.00,2.58,0.00,0.000,6,0.000,0.037,3104,2227,2401
$GC,13568,1.09,88.0,826.4,19.1,1297,13569,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2228,2401
$GC,13693,1.09,88.0,802.0,19.6,1309,13696,0.00,1.80,0.00,0.000,4,0.000,0.047,3113,791,2401
$GC,13739,1.09,88.0,792.7,19.2,1313,13747,0.00,1.80,0.00,0.000,6,0.000,0.043,3113,2223,2401
$GC,13869,1.09,88.0,767.7,19.4,1326,13870,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2223,2401
$GC,13994,1.09,88.0,743.7,19.6,1338,13995,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2223,2400
$GC,14118,1.09,88.0,719.9,18.8,1350,14119,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2223,2400
$GC,14242,1.09,88.0,696.0,19.6,1362,14246,0.00,2.58,0.00,0.000,4,0.000,0.058,3113,3575,2400
$GC,14257,1.09,88.0,692.9,19.7,1363,14266,0.10,2.55,0.00,0.000,6,0.219,0.037,3098,2215,2399
$GC,14388,1.09,88.0,668.5,18.6,1376,14391,0.00,1.77,0.00,0.000,4,0.000,0.047,3106,762,2399
$GC,14419,1.09,88.0,662.7,18.4,1379,14422,0.00,1.83,0.00,0.000,6,0.000,0.043,3098,2213,2399
$GC,14554,1.09,88.0,638.2,18.0,1392,14557,0.00,2.58,0.00,0.000,4,0.000,0.058,3085,3571,2399
$GC,14580,1.09,88.0,633.2,19.5,1394,14584,0.00,2.53,0.00,0.000,6,0.000,0.038,3097,2192,2398
$GC,14715,1.09,88.0,608.2,18.2,1407,14715,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2194,2398
$GC,14838,1.09,88.0,585.6,18.1,1419,14839,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2195,2398
$GC,14963,1.09,88.0,563.7,17.2,1431,14966,0.00,1.73,0.00,0.000,4,0.000,0.046,3106,806,2398
$GC,14999,1.09,88.0,556.9,18.4,1434,15007,0.00,1.80,0.00,0.000,6,0.000,0.041,3099,2232,2398
$GC,15129,1.09,88.0,534.1,17.5,1447,15130,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2232,2398
$GC,15253,1.09,88.0,512.2,17.9,1459,15254,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2232,2398
$GC,15377,1.09,88.0,490.2,17.7,1471,15378,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2232,2398
$GC,15501,1.09,88.0,468.5,17.5,1483,15505,0.00,2.55,0.00,0.000,4,0.000,0.057,3086,3561,2397
$GC,15522,1.09,88.0,464.6,19.6,1485,15526,0.00,2.50,0.00,0.000,6,0.000,0.037,3098,2189,2397
$GC,15657,1.09,88.0,440.9,17.2,1498,15658,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2192,2397
$GC,15781,1.09,88.0,419.0,17.5,1510,15782,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2192,2397
$GC,15906,1.09,88.0,397.2,17.5,1522,15906,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2192,2397
$GC,16029,1.09,88.0,375.7,17.7,1534,16030,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2192,2397
$GC,16154,1.09,88.0,353.5,18.1,1546,16155,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2192,2397
$GC,16278,1.09,88.0,331.3,18.0,1558,16279,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2192,2397
$GC,16402,1.09,88.0,309.2,17.9,1570,16403,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2192,2397
$GC,16526,1.09,88.0,287.5,17.8,1582,16530,0.00,2.58,0.00,0.000,4,0.000,0.056,3087,3561,2397
$GC,16547,1.09,88.0,283.7,18.7,1584,16551,0.00,2.45,0.00,0.000,6,0.000,0.035,3097,2220,2397
$GC,16682,1.09,88.0,259.9,16.8,1597,16683,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2222,2396
$GC,16806,1.09,88.0,238.1,17.3,1609,16810,0.00,1.75,0.00,0.000,4,0.000,0.044,3107,800,2397
$GC,16827,1.09,88.0,234.5,17.2,1611,16831,0.00,1.77,0.00,0.000,6,0.000,0.040,3099,2230,2397
$GC,16962,1.09,88.0,211.1,17.2,1624,16962,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2231,2397
$GC,17086,1.09,88.0,189.2,17.5,1636,17089,0.00,2.53,0.00,0.000,4,0.000,0.056,3095,3555,2398
$GC,17111,1.09,88.0,184.6,18.1,1638,17119,0.00,2.47,0.00,0.000,6,0.000,0.035,3107,2221,2397
$GC,17242,1.09,88.0,163.0,16.2,1651,17245,0.00,1.75,0.00,0.000,4,0.000,0.043,3116,794,2397
$GC,17273,1.09,88.0,157.6,16.4,1654,17277,0.00,1.77,0.00,0.000,6,0.000,0.039,3115,2231,2397
$GC,17408,1.09,88.0,135.7,16.6,1667,17409,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2232,2397
$GC,17532,1.09,88.0,115.2,16.6,1679,17533,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2232,2398
$GC,17656,1.09,88.0,94.8,16.6,1691,17657,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2232,2397
$GC,17718,1.09,88.0,84.6,16.6,1697,17719,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2232,2397
$GC,17780,1.09,88.0,74.0,16.9,1703,17781,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2232,2398
$GC,17843,1.09,88.0,64.2,15.5,1709,17846,0.00,2.53,0.00,0.000,4,0.000,0.054,3113,3559,2398
$GC,17874,1.09,88.0,59.1,15.6,1712,17878,0.15,2.45,0.00,0.000,6,0.208,0.032,3090,2198,2398
$GC,17947,1.09,88.0,48.8,13.4,1719,17950,0.00,1.70,0.00,0.000,4,0.000,0.041,3098,800,2399
$GC,17968,1.09,88.0,46.2,11.3,1721,17971,0.00,1.75,0.00,0.000,6,0.000,0.037,3094,2225,2399
$GC,18040,1.09,88.0,36.9,13.1,1728,18041,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2226,2399
$GC,18102,1.09,88.0,31.3,7.9,1734,18106,0.00,2.53,0.00,0.000,4,0.000,0.052,3091,3565,2398
$GC,18348,1.14,128.1,23.4,1.6,1757,18385,0.00,2.42,28.15,0.546,6,0.000,0.031,3103,2193,2254
$GC,18443,1.14,128.1,18.3,6.9,1766,18447,0.00,2.58,0.00,0.000,4,0.000,0.051,3099,3574,2251
$GC,18624,1.19,165.5,8.2,1.9,1782,18659,0.00,2.45,29.08,0.521,6,0.000,0.029,3111,2229,2099
$GC,18719,1.25,218.1,7.8,-0.1,1791,18762,0.00,1.75,39.65,0.518,4,0.000,0.036,3120,804,1885
$GC,19001,1.31,264.9,6.5,0.7,1816,19045,0.08,1.75,34.75,0.500,6,0.062,0.033,3163,2220,1694
$GC,19104,1.39,326.9,6.3,-1.3,1826,19153,0.00,1.83,46.20,0.499,4,0.000,0.037,3171,805,1441
$GC,19392,1.45,380.0,5.3,-0.1,1852,19437,0.00,1.77,39.25,0.486,6,0.000,0.031,3170,2238,1225
$GC,19495,1.53,440.1,5.1,-1.0,1862,19548,0.15,2.58,44.78,0.482,4,0.061,0.045,3248,3550,980
$GC,19787,1.59,488.9,4.3,0.4,1889,19827,0.00,2.42,36.08,0.472,6,0.000,0.027,3260,2221,782
$STATE,19836,end climb,NO_VERTICAL_VELOCITY
$STATE,19836,begin surface
$SM_CCo,19838,71.32,0.446,3,0,404,581.60
$SM_GC,2.96,8.30,0.00,0.00,0.041,0.000,0.000,202,2296,401,-7.86,-0.40,582.33
$IRIDIUM_FIX,2833.46,-8831.56,310899,060611
$TT8_MAMPS,0.049855
$HUMID,1232
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,26.10
$XPDR_PINGS,1
$24V_AH,24.0,17.347
$10V_AH,10.7,21.949
$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,20.900,259.625,423.550,71.325,0.000,150.323,204.971,447.740,0.250,0.000,0.000,459.150,0.000,13038.827,747.129,6656.530,1168.548,33.342,2650.239,0.000,5493.191,0.000,1.466,0.000
$DEVICE_MAMPS,248.508,66.729,1254.045,446.394,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1293.742,1413.101,4256.102,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,101106,1893
$CAP_FILE_SIZE,264390,0
$CFSIZE,260165632,248045568
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,105,3,0
$CURRENT,0.060,247.5,1
$GPS,060610,121331,2840.954,-8834.734,80,2.0,80,-0.3