version: 66.04
glider: 515
mission: 5
dive: 93
start: 6 8 110 14 3 28
data:
$ID,515
$MISSION,5
$DIVE,93
$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,495
$T_MISSION,520
$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,-6815.9995
$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,25
$C_ROLL_DIVE,2367
$C_ROLL_CLIMB,2244
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,2820
$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
$GPS1,134855,2836.686,-8844.769,161,1.3,161,-0.2
$_CALLS,2
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-79.1
$GPS2,140249,2836.551,-8844.900,10,1.3,21,-0.2
$SPEED_LIMITS,0.115,0.252
$TGT_NAME,NEW0602B
$TGT_LATLONG,2845.000,-8829.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.228,0.108
$KALMAN_X,-187022.3,310.9,-108.1,202094.6,6612.8
$KALMAN_Y,88429.4,252.4,-558.2,-111744.6,4908.9
$MHEAD_RNG_PITCHd_Wd,63.5,30189,-9.2,-6.667
$D_GRID,1140
$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,12,-0.58,-194.6,0.0,0.0,0,42,0.00,0.00,-28.60,0.000,2,0.000,0.000,207,2349,1347
$GC,43,-0.58,-194.6,3.5,-4.0,3,116,10.60,1.15,-56.20,0.000,4,0.263,0.059,2546,1469,3617
$GC,201,-0.58,-194.6,22.1,-16.3,17,204,0.00,1.23,0.00,0.000,6,0.000,0.034,2542,2360,3618
$GC,305,-0.58,-194.6,36.7,-12.7,27,305,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2361,3617
$GC,397,-0.58,-194.6,48.9,-12.5,36,398,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2360,3618
$GC,491,-0.58,-194.6,59.9,-11.8,45,491,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2360,3618
$GC,584,-0.58,-194.6,71.0,-11.6,54,587,0.00,1.17,0.00,0.000,4,0.000,0.034,2545,1478,3618
$GC,616,-0.58,-194.6,74.5,-11.1,57,619,0.00,1.23,0.00,0.000,6,0.000,0.033,2542,2371,3618
$GC,719,-0.58,-194.6,86.2,-11.4,67,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2370,3618
$GC,812,-0.58,-194.6,96.9,-11.8,76,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2370,3618
$GC,906,-0.58,-194.6,107.3,-11.3,85,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2371,3618
$GC,1092,-0.58,-194.6,128.4,-11.4,103,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2370,3618
$GC,1278,-0.58,-194.6,148.8,-10.2,121,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2370,3617
$GC,1464,-0.58,-194.6,168.0,-10.1,139,1465,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2370,3615
$GC,1651,-0.58,-194.6,186.7,-10.1,157,1652,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2371,3614
$GC,1837,-0.58,-194.6,205.3,-10.0,175,1837,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2371,3613
$GC,2023,-0.58,-194.6,223.5,-9.7,193,2026,0.00,1.17,0.00,0.000,4,0.000,0.036,2540,1487,3611
$GC,2069,-0.58,-194.6,228.4,-10.1,197,2077,0.00,1.23,0.00,0.000,6,0.000,0.035,2536,2369,3611
$GC,2261,-0.58,-194.6,247.1,-10.0,216,2262,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2369,3610
$GC,2448,-0.58,-194.6,265.4,-9.5,234,2449,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2369,3608
$GC,2634,-0.58,-194.6,283.4,-9.6,252,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2369,3607
$GC,2820,-0.58,-194.6,301.8,-9.9,270,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2369,3605
$GC,3007,-0.58,-194.6,320.2,-9.8,288,3010,0.00,1.20,0.00,0.000,4,0.000,0.038,2536,1477,3603
$GC,3053,-0.58,-194.6,324.9,-10.0,292,3062,0.00,1.25,0.00,0.000,6,0.000,0.037,2530,2371,3603
$GC,3245,-0.58,-194.6,343.7,-10.0,311,3246,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2371,3601
$GC,3431,-0.58,-194.6,362.5,-10.2,329,3432,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2371,3600
$GC,3618,-0.58,-194.6,381.2,-10.2,347,3618,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2371,3598
$GC,3804,-0.58,-194.6,399.9,-10.2,365,3807,0.00,1.20,0.00,0.000,4,0.000,0.038,2530,1482,3596
$GC,3893,-0.58,-194.6,409.0,-10.4,373,3901,0.00,1.23,0.00,0.000,6,0.000,0.039,2525,2363,3596
$GC,4085,-0.58,-194.6,428.7,-10.7,392,4086,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2363,3595
$GC,4272,-0.58,-194.6,447.8,-10.1,410,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2363,3593
$GC,4458,-0.58,-194.6,466.3,-9.8,428,4459,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2363,3592
$GC,4644,-0.58,-194.6,484.8,-10.0,446,4645,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2363,3591
$GC,4831,-0.58,-194.6,503.7,-10.2,464,4832,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2363,3589
$GC,5016,-0.58,-194.6,522.4,-10.1,482,5017,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2363,3587
$GC,5203,-0.58,-194.6,541.1,-9.6,500,5203,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2363,3586
$GC,5389,-0.58,-194.6,559.5,-9.9,518,5390,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2363,3585
$GC,5575,-0.58,-194.6,578.3,-9.9,536,5576,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2363,3583
$GC,5761,-0.58,-194.6,596.7,-9.9,554,5762,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2363,3582
$GC,5948,-0.58,-194.6,614.8,-9.5,572,5949,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2363,3581
$GC,6134,-0.58,-194.6,632.5,-9.5,590,6137,0.00,1.20,0.00,0.000,4,0.000,0.045,2524,1486,3579
$GC,6181,-0.58,-194.6,637.2,-9.9,594,6188,0.00,1.25,0.00,0.000,6,0.000,0.044,2519,2364,3579
$GC,6373,-0.58,-194.6,655.9,-9.9,613,6374,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2364,3577
$GC,6559,-0.58,-194.6,674.1,-9.9,631,6559,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2364,3577
$GC,6745,-0.58,-194.6,692.0,-9.7,649,6746,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2364,3576
$GC,6932,-0.58,-194.6,710.1,-9.8,667,6933,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2364,3575
$GC,7117,-0.58,-194.6,728.5,-9.9,685,7118,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2364,3574
$GC,7304,-0.58,-194.6,746.7,-10.2,703,7304,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2364,3573
$GC,7491,-0.58,-194.6,764.9,-9.6,721,7491,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2364,3572
$GC,7676,-0.58,-194.6,782.9,-9.9,739,7677,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2364,3571
$GC,7862,-0.58,-194.6,800.8,-9.6,757,7863,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2364,3570
$GC,8049,-0.58,-194.6,818.3,-9.4,775,8050,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2364,3569
$GC,8235,-0.58,-194.6,835.4,-9.2,793,8236,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2364,3568
$GC,8421,-0.58,-194.6,853.1,-10.0,811,8422,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2364,3568
$GC,8608,-0.58,-194.6,870.8,-9.3,829,8609,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2364,3567
$GC,8794,-0.58,-194.6,887.6,-9.0,847,8794,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2364,3566
$GC,8980,-0.58,-194.6,904.6,-9.0,865,8981,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2364,3565
$GC,9167,-0.58,-194.6,921.4,-9.1,883,9168,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2364,3564
$GC,9352,-0.58,-194.6,938.0,-9.1,901,9356,0.00,1.23,0.00,0.000,4,0.000,0.049,2519,1485,3563
$GC,9405,-0.58,-194.6,942.8,-9.5,906,9410,0.08,1.25,0.00,0.000,6,0.151,0.051,2540,2361,3563
$GC,9602,-0.58,-194.6,958.1,-8.0,925,9603,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2361,3562
$GC,9789,-0.58,-194.6,972.4,-7.9,943,9789,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2361,3562
$GC,9975,-0.58,-194.6,986.5,-7.7,961,9975,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2361,3561
$STATE,10025,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10025,begin apogee
$GC,10029,-0.26,0.0,990.5,7.5,966,10180,0.35,0.00,146.50,1.259,6,0.134,0.000,2647,2266,2820
$STATE,10180,end apogee,CONTROL_FINISHED_OK
$STATE,10181,begin climb
$GC,10182,0.58,194.6,994.5,0.0,981,10350,0.88,1.77,163.07,1.230,4,0.108,0.054,2916,3134,2027
$GC,10393,0.58,194.6,976.4,12.6,1001,10397,0.00,1.73,0.00,0.000,6,0.000,0.038,2924,2247,2019
$GC,10590,0.58,194.6,952.7,12.1,1020,10591,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2247,2015
$GC,10776,0.58,194.6,930.4,11.9,1038,10777,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2247,2014
$GC,10963,0.58,194.6,908.7,11.4,1056,10964,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2247,2013
$GC,11149,0.58,194.6,886.7,12.1,1074,11152,0.00,1.73,0.00,0.000,4,0.000,0.057,2924,3138,2011
$GC,11206,0.58,194.6,879.3,13.1,1079,11214,0.00,1.67,0.00,0.000,6,0.000,0.039,2932,2237,2011
$GC,11398,0.58,194.6,855.5,12.4,1098,11399,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2237,2011
$GC,11585,0.58,194.6,832.5,12.3,1116,11588,0.00,1.73,0.00,0.000,4,0.000,0.057,2932,3138,2011
$GC,11617,0.58,194.6,828.3,13.8,1119,11620,0.00,1.62,0.00,0.000,6,0.000,0.039,2939,2255,2010
$GC,11813,0.58,194.6,803.1,12.7,1138,11814,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2255,2010
$GC,11999,0.58,194.6,779.7,12.5,1156,12003,0.00,1.70,0.00,0.000,4,0.000,0.056,2939,3139,2010
$GC,12036,0.58,194.6,774.8,12.7,1159,12044,0.00,1.67,0.00,0.000,6,0.000,0.039,2947,2223,2008
$GC,12228,0.58,194.6,749.9,12.6,1178,12231,0.00,1.75,0.00,0.000,4,0.000,0.055,2947,3143,2008
$GC,12253,0.58,194.6,746.1,14.5,1180,12263,0.12,1.65,0.00,0.000,6,0.168,0.038,2925,2258,2007
$GC,12446,0.58,194.6,724.5,10.9,1199,12447,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2258,2008
$GC,12632,0.58,194.6,703.5,11.4,1217,12635,0.00,1.70,0.00,0.000,4,0.000,0.056,2925,3143,2008
$GC,12657,0.58,194.6,700.3,12.5,1219,12665,0.00,1.70,0.00,0.000,6,0.000,0.039,2931,2218,2007
$GC,12850,0.58,194.6,678.0,11.6,1238,12850,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2218,2007
$GC,13036,0.58,194.6,656.0,11.6,1256,13039,0.00,1.75,0.00,0.000,4,0.000,0.055,2931,3140,2007
$GC,13067,0.58,194.6,652.1,12.7,1259,13071,0.00,1.62,0.00,0.000,6,0.000,0.038,2938,2257,2007
$GC,13265,0.58,194.6,628.1,12.3,1278,13265,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2257,2007
$GC,13450,0.58,194.6,605.6,12.1,1296,13454,0.00,1.70,0.00,0.000,4,0.000,0.055,2939,3143,2007
$GC,13482,0.58,194.6,601.5,12.7,1299,13486,0.00,1.65,0.00,0.000,6,0.000,0.039,2946,2238,2006
$GC,13679,0.58,194.6,576.9,12.4,1318,13680,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2239,2006
$GC,13865,0.58,194.6,554.1,12.1,1336,13866,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2239,2006
$GC,14051,0.58,194.6,531.2,12.3,1354,14055,0.00,1.73,0.00,0.000,4,0.000,0.054,2946,3143,2006
$GC,14098,0.58,194.6,525.0,13.2,1358,14106,0.12,1.65,0.00,0.000,6,0.169,0.038,2924,2247,2006
$GC,14291,0.58,194.6,505.0,10.0,1377,14291,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2248,2006
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$STATE,19601,end climb,SURFACE_DEPTH_REACHED
$STATE,19602,begin surface coast
$FINISH,1.7,1.014962
$STATE,20066,end surface coast,NO_VERTICAL_VELOCITY
$STATE,20066,begin surface
$SM_CCo,20079,59.60,0.481,0,0,474,575.22
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$IRIDIUM_FIX,2823.64,-8708.26,020999,141449
$TT8_MAMPS,0.050622
$HUMID,1283
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$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,23.6,18.935
$10V_AH,10.6,24.386
$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
$DEVICE_SECS,20.250,87.150,525.950,59.600,0.000,54.172,75.001,506.844,0.000,0.000,0.000,23.450,0.000,13563.251,679.996,5743.256,947.146,33.346,2313.726,0.000,5137.572,0.000,1.159,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100958,1930
$CAP_FILE_SIZE,208153,0
$CFSIZE,260165632,247062528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$CURRENT,0.029,165.8,1
$GPS,080610,194007,2837.654,-8842.096,40,0.9,40,-0.2