version: 66.04
glider: 515
mission: 5
dive: 88
start: 6 7 110 10 15 5
data:
$ID,515
$MISSION,5
$DIVE,88
$D_SURF,3
$D_FLARE,3
$D_TGT,950
$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,475
$T_MISSION,500
$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,-6718.8765
$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,26
$R_STBD_OVSHOOT,55
$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
$GPS1,100531,2843.994,-8843.904,53,1.1,53,-0.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-76.7
$GPS2,101425,2843.820,-8843.880,9,2.0,9,-0.2
$SPEED_LIMITS,0.115,0.252
$TGT_NAME,NEW0602E
$TGT_LATLONG,2845.000,-8843.600
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.204,-0.148
$KALMAN_X,-202259.3,-302.6,-122.4,219612.0,6780.3
$KALMAN_Y,77817.8,-1608.4,300.3,-86674.0,9070.9
$MHEAD_RNG_PITCHd_Wd,29.0,2233,-25.6,-6.667
$D_GRID,1047
$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,-0.99,-36.9,0.0,0.0,0,42,0.00,0.00,-29.10,0.000,2,0.000,0.000,204,2330,1331
$GC,43,-1.02,-54.1,3.1,-4.6,3,103,10.02,1.85,-41.47,0.000,4,0.266,0.054,2408,870,3023
$GC,134,-1.02,-56.7,9.6,-6.4,11,137,0.00,1.77,0.00,0.000,6,0.000,0.031,2401,2301,3024
$GC,207,-1.02,-56.7,17.5,-12.3,18,211,0.00,2.40,-0.15,0.000,4,0.000,0.058,2389,3574,3034
$GC,451,-1.05,-81.1,42.5,-3.7,40,461,0.00,2.33,-1.00,0.000,6,0.000,0.028,2399,2302,3133
$GC,519,-1.05,-81.1,46.4,-7.6,47,523,0.00,2.38,0.00,0.000,4,0.000,0.044,2389,3574,3133
$GC,765,-1.05,-81.1,71.7,-9.7,70,768,0.00,2.30,0.00,0.000,6,0.000,0.028,2398,2315,3133
$GC,837,-1.05,-81.1,79.0,-9.6,77,841,0.00,2.33,0.00,0.000,4,0.000,0.045,2388,3568,3134
$GC,1083,-1.05,-81.1,106.1,-12.4,100,1086,0.00,2.28,0.00,0.000,6,0.000,0.028,2397,2316,3134
$GC,1218,-1.05,-81.1,121.6,-11.2,113,1221,0.00,2.28,0.00,0.000,4,0.000,0.046,2388,3570,3134
$GC,1372,-1.05,-81.1,142.3,-12.6,127,1376,0.00,2.30,0.00,0.000,6,0.000,0.029,2397,2310,3134
$GC,1507,-1.05,-81.1,158.3,-11.9,140,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2312,3134
$GC,1631,-1.05,-81.1,171.3,-10.0,152,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2312,3133
$GC,1755,-1.05,-81.1,184.3,-10.1,164,1759,0.00,2.35,0.00,0.000,4,0.000,0.046,2387,3580,3133
$GC,1855,-1.05,-81.1,194.9,-10.7,173,1863,0.00,2.33,0.00,0.000,6,0.000,0.029,2397,2307,3133
$GC,1986,-1.05,-81.1,208.1,-10.0,186,1989,0.00,2.38,0.00,0.000,4,0.000,0.046,2386,3581,3133
$GC,2118,-1.05,-81.1,223.1,-11.3,198,2126,0.00,2.33,0.00,0.000,6,0.000,0.030,2397,2309,3132
$GC,2248,-1.05,-81.1,235.5,-9.4,211,2249,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2311,3132
$GC,2373,-1.05,-81.1,247.5,-10.0,223,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2311,3131
$GC,2496,-1.05,-81.1,259.8,-9.8,235,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2311,3131
$GC,2621,-1.05,-81.1,272.1,-9.7,247,2621,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2311,3130
$GC,2745,-1.05,-81.1,284.1,-9.9,259,2746,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2311,3130
$GC,2869,-1.05,-81.1,295.7,-9.2,271,2870,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2311,3129
$GC,2993,-1.05,-81.1,307.7,-9.7,283,2994,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2311,3128
$GC,3117,-1.05,-81.1,320.1,-10.2,295,3121,0.00,1.77,0.00,0.000,4,0.000,0.043,2403,886,3127
$GC,3153,-1.05,-81.1,323.9,-9.9,298,3162,0.00,1.77,0.00,0.000,6,0.000,0.035,2396,2309,3127
$GC,3283,-1.05,-81.1,336.8,-10.0,311,3284,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2310,3126
$GC,3408,-1.05,-81.1,349.1,-9.6,323,3408,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2310,3125
$GC,3532,-1.05,-81.1,361.5,-10.2,335,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2310,3124
$GC,3656,-1.05,-81.1,373.3,-9.3,347,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2310,3123
$GC,3780,-1.05,-81.1,385.6,-9.8,359,3781,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2310,3123
$GC,3905,-1.05,-81.1,397.8,-9.7,371,3905,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2309,3122
$GC,4029,-1.05,-81.1,410.0,-9.6,383,4030,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2310,3121
$GC,4153,-1.05,-81.1,422.3,-9.7,395,4156,0.00,2.40,0.00,0.000,4,0.000,0.050,2384,3583,3120
$GC,4185,-1.05,-81.1,425.6,-10.9,398,4188,0.00,2.33,0.00,0.000,6,0.000,0.035,2389,2308,3120
$GC,4319,-1.05,-81.1,439.3,-10.0,411,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2310,3119
$GC,4444,-1.05,-81.1,451.4,-9.8,423,4445,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2310,3119
$GC,4567,-1.05,-81.1,463.5,-9.4,435,4571,0.00,2.40,0.00,0.000,4,0.000,0.051,2379,3579,3117
$GC,4592,-1.05,-81.1,466.4,-10.5,437,4601,0.00,2.35,0.00,0.000,6,0.000,0.035,2389,2313,3117
$GC,4723,-1.05,-81.1,479.0,-9.7,450,4726,0.00,2.38,0.00,0.000,4,0.000,0.051,2378,3574,3116
$GC,4823,-1.05,-81.1,490.6,-12.0,459,4831,0.00,2.35,0.00,0.000,6,0.000,0.035,2388,2309,3116
$GC,4953,-1.05,-81.1,503.9,-10.0,472,4954,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2311,3115
$GC,5078,-1.05,-81.1,516.5,-10.2,484,5081,0.00,2.40,0.00,0.000,4,0.000,0.052,2378,3574,3114
$GC,5114,-1.05,-81.1,520.6,-10.7,487,5122,0.00,2.35,0.00,0.000,6,0.000,0.035,2387,2315,3114
$GC,5244,-1.05,-81.1,533.6,-9.9,500,5245,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2316,3114
$GC,5368,-1.05,-81.1,546.1,-10.3,512,5372,0.00,2.40,0.00,0.000,4,0.000,0.052,2377,3582,3113
$GC,5400,-1.05,-81.1,549.4,-11.1,515,5404,0.00,2.35,0.00,0.000,6,0.000,0.036,2377,2305,3113
$GC,5535,-1.05,-81.1,563.7,-10.6,528,5536,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2307,3112
$GC,5658,-1.05,-81.1,576.9,-11.0,540,5662,0.00,2.42,0.00,0.000,4,0.000,0.053,2366,3578,3110
$GC,5691,-1.05,-81.1,580.4,-11.4,543,5694,0.00,2.33,0.00,0.000,6,0.000,0.036,2374,2314,3110
$GC,5825,-1.05,-81.1,594.8,-10.2,556,5826,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2316,3110
$GC,5949,-1.05,-81.1,607.4,-9.9,568,5950,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2317,3109
$GC,6073,-1.05,-81.1,620.2,-10.5,580,6074,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2317,3108
$GC,6198,-1.05,-81.1,633.1,-10.1,592,6199,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2317,3107
$GC,6322,-1.05,-81.1,645.7,-10.2,604,6323,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2316,3107
$GC,6446,-1.05,-81.1,658.5,-10.6,616,6446,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2316,3106
$GC,6570,-1.05,-81.1,670.9,-9.8,628,6571,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2316,3106
$GC,6695,-1.05,-81.1,683.3,-10.7,640,6698,0.00,2.40,0.00,0.000,4,0.000,0.054,2363,3574,3105
$GC,6843,-1.05,-81.1,700.1,-11.3,653,6851,0.10,2.38,0.00,0.000,6,0.226,0.038,2390,2310,3105
$GC,6973,-1.05,-81.1,712.2,-9.1,666,6973,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2312,3104
$GC,7097,-1.05,-81.1,723.7,-9.3,678,7101,0.00,2.42,0.00,0.000,4,0.000,0.055,2379,3581,3103
$GC,7138,-1.05,-81.1,728.0,-10.9,681,7146,0.00,2.38,0.00,0.000,6,0.000,0.038,2388,2314,3102
$GC,7268,-1.05,-81.1,740.5,-9.9,694,7272,0.00,2.42,0.00,0.000,4,0.000,0.055,2378,3581,3102
$GC,7311,-1.05,-81.1,745.0,-10.5,698,7315,0.00,2.38,0.00,0.000,6,0.000,0.038,2382,2305,3101
$GC,7446,-1.05,-81.1,758.6,-9.9,711,7447,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2306,3101
$GC,7570,-1.05,-81.1,770.2,-9.3,723,7570,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2306,3100
$GC,7694,-1.05,-81.1,781.6,-9.5,735,7697,0.00,2.45,0.00,0.000,4,0.000,0.056,2371,3581,3100
$GC,7736,-1.05,-81.1,785.8,-10.3,739,7740,0.00,2.38,0.00,0.000,6,0.000,0.038,2374,2309,3099
$GC,7871,-1.05,-81.1,798.6,-9.1,752,7872,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2310,3099
$GC,7995,-1.05,-81.1,810.6,-9.6,764,7996,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2310,3098
$GC,8119,-1.05,-81.1,822.0,-9.2,776,8123,0.00,2.42,0.00,0.000,4,0.000,0.056,2363,3601,3098
$GC,8166,-1.05,-81.1,826.8,-10.7,780,8175,0.08,2.42,0.00,0.000,6,0.234,0.038,2383,2311,3098
$GC,8296,-1.05,-81.1,838.9,-8.9,793,8297,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2312,3097
$GC,8421,-1.05,-81.1,850.1,-8.7,805,8421,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2313,3097
$GC,8545,-1.05,-81.1,861.2,-8.8,817,8546,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2313,3096
$GC,8669,-1.05,-81.1,872.3,-9.3,829,8672,0.00,2.45,0.00,0.000,4,0.000,0.058,2373,3582,3096
$GC,8737,-1.05,-81.1,879.3,-10.4,835,8745,0.00,2.40,0.00,0.000,6,0.000,0.039,2374,2310,3096
$GC,8868,-1.05,-81.1,891.4,-9.2,848,8871,0.00,2.42,0.00,0.000,4,0.000,0.058,2364,3579,3095
$GC,8926,-1.05,-81.1,897.2,-9.9,853,8929,0.00,2.40,0.00,0.000,6,0.000,0.039,2368,2299,3094
$GC,9061,-1.05,-81.1,910.1,-9.0,866,9061,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2300,3094
$GC,9185,-1.05,-81.1,921.4,-9.6,878,9188,0.00,1.80,0.00,0.000,4,0.000,0.051,2374,879,3094
$GC,9345,-1.05,-81.1,936.1,-8.7,893,9348,0.08,1.80,0.00,0.000,6,0.233,0.044,2385,2309,3093
$GC,9479,-1.05,-81.1,947.4,-7.9,906,9480,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2309,3093
$STATE,9509,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9509,begin apogee
$GC,9513,-0.26,0.0,950.2,8.8,909,9573,0.95,0.00,57.92,1.221,6,0.195,0.000,2642,2179,2800
$STATE,9573,end apogee,CONTROL_FINISHED_OK
$STATE,9574,begin climb
$GC,9575,1.05,81.1,951.7,0.0,915,9652,1.35,0.00,69.22,1.206,6,0.114,0.000,3067,2179,2468
$GC,9774,1.05,81.1,922.8,17.7,935,9775,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2179,2462
$GC,9899,1.05,81.1,900.8,18.1,947,9899,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2179,2460
$GC,10023,1.05,81.1,879.6,16.7,959,10023,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2179,2459
$GC,10147,1.05,81.1,858.8,16.5,971,10151,0.00,2.72,0.00,0.000,4,0.000,0.058,3064,3581,2458
$GC,10184,1.05,81.1,852.1,17.8,974,10188,0.00,2.55,0.00,0.000,6,0.000,0.038,3075,2214,2456
$GC,10318,1.05,81.1,828.9,17.1,987,10319,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2216,2456
$GC,10443,1.05,81.1,807.9,16.6,999,10443,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2216,2456
$GC,10567,1.05,81.1,787.0,16.9,1011,10568,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2217,2455
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$STATE,16204,end climb,NO_VERTICAL_VELOCITY
$STATE,16204,begin surface
$SM_CCo,16205,317.62,0.434,31,0,403,587.73
$SM_GC,1.60,7.97,0.00,0.00,0.041,0.000,0.000,197,2319,399,-7.88,0.25,588.71
$IRIDIUM_FIX,2831.00,-8841.38,010999,050559
$TT8_MAMPS,0.050622
$HUMID,1250
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,22.7,18.113
$10V_AH,10.7,23.125
$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,20.950,169.525,229.125,317.625,0.000,29.249,29.907,367.354,0.000,0.000,0.000,11.168,0.000,10759.261,906.810,4921.082,691.600,33.353,2344.995,0.000,4354.042,0.000,0.849,0.000
$DEVICE_MAMPS,266.149,69.030,1221.064,434.122,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1061.177,1161.952,3484.079,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,81888,1550
$CAP_FILE_SIZE,202663,0
$CFSIZE,260165632,247619584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,92,31,0
$CURRENT,0.052,263.9,1
$GPS,070610,145536,2844.942,-8843.615,30,1.1,30,-0.2