version: 66.04
glider: 515
mission: 5
dive: 94
start: 6 8 110 19 47 10
data:
$ID,515
$MISSION,5
$DIVE,94
$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,-6835.9775
$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,21
$R_STBD_OVSHOOT,15
$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
$GPS1,194007,2837.654,-8842.096,40,0.9,40,-0.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-71.3
$GPS2,194631,2837.681,-8842.196,12,1.1,17,-0.2
$SPEED_LIMITS,0.115,0.252
$TGT_NAME,NEW0602B
$TGT_LATLONG,2845.000,-8829.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.222,0.120
$KALMAN_X,-187299.8,-1239.0,-1417.2,209636.9,6618.4
$KALMAN_Y,88347.3,-501.9,-1351.5,-108032.6,4781.0
$MHEAD_RNG_PITCHd_Wd,51.6,25354,-9.2,-6.667
$D_GRID,1287
$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,-0.58,-194.6,0.0,0.0,0,62,0.00,0.00,-49.00,0.000,2,0.000,0.000,203,2365,2019
$GC,64,-0.58,-194.6,4.1,-4.6,5,117,10.50,1.58,-39.47,0.000,4,0.261,0.062,2534,3276,3615
$GC,309,-0.58,-194.6,40.6,-13.6,27,318,0.00,1.55,0.00,0.000,6,0.000,0.028,2537,2360,3616
$GC,408,-0.58,-194.6,52.9,-12.0,37,409,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2359,3616
$GC,501,-0.58,-194.6,63.5,-11.6,46,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2359,3616
$GC,595,-0.58,-194.6,74.1,-11.3,55,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2360,3617
$GC,688,-0.58,-194.6,85.4,-12.7,64,691,0.00,1.55,0.00,0.000,4,0.000,0.044,2532,3268,3617
$GC,741,-0.58,-194.6,91.7,-12.0,69,745,0.00,1.50,0.00,0.000,6,0.000,0.029,2537,2360,3617
$GC,844,-0.58,-194.6,104.0,-12.1,79,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2360,3617
$GC,1031,-0.58,-194.6,126.0,-11.3,97,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2360,3616
$GC,1217,-0.58,-194.6,146.7,-10.6,115,1220,0.00,1.20,0.00,0.000,4,0.000,0.037,2537,1454,3616
$GC,1248,-0.58,-194.6,150.1,-10.4,118,1252,0.00,1.25,0.00,0.000,6,0.000,0.035,2533,2370,3617
$GC,1446,-0.58,-194.6,170.7,-10.3,137,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2370,3616
$GC,1631,-0.58,-194.6,189.9,-10.4,155,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2370,3616
$GC,1818,-0.58,-194.6,208.6,-10.0,173,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2370,3614
$GC,2005,-0.58,-194.6,226.7,-9.8,191,2005,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2370,3612
$GC,2190,-0.58,-194.6,245.1,-10.2,209,2191,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2370,3612
$GC,2376,-0.58,-194.6,263.9,-9.7,227,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2370,3610
$GC,2563,-0.58,-194.6,283.0,-10.0,245,2564,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2370,3609
$GC,2749,-0.58,-194.6,301.9,-10.0,263,2750,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2370,3608
$GC,2935,-0.58,-194.6,320.3,-10.3,281,2939,0.00,1.23,0.00,0.000,4,0.000,0.039,2533,1456,3607
$GC,2982,-0.58,-194.6,325.1,-10.6,285,2990,0.00,1.27,0.00,0.000,6,0.000,0.038,2526,2369,3606
$GC,3174,-0.58,-194.6,344.5,-10.1,304,3175,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2369,3605
$GC,3360,-0.58,-194.6,362.8,-10.0,322,3361,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2370,3603
$GC,3547,-0.58,-194.6,380.3,-9.2,340,3548,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2369,3602
$GC,3733,-0.58,-194.6,397.9,-9.6,358,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2370,3600
$GC,3919,-0.58,-194.6,415.9,-9.5,376,3920,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2370,3599
$GC,4106,-0.58,-194.6,434.7,-10.3,394,4106,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2369,3598
$GC,4291,-0.58,-194.6,454.3,-10.8,412,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2370,3595
$GC,4478,-0.58,-194.6,474.0,-10.5,430,4478,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2370,3594
$GC,4664,-0.58,-194.6,493.6,-10.0,448,4665,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2370,3593
$GC,4850,-0.58,-194.6,512.9,-10.4,466,4851,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2369,3592
$GC,5036,-0.58,-194.6,531.6,-9.5,484,5040,0.00,1.25,0.00,0.000,4,0.000,0.044,2527,1458,3591
$GC,5073,-0.58,-194.6,535.4,-10.0,487,5081,0.00,1.27,0.00,0.000,6,0.000,0.044,2521,2363,3590
$GC,5265,-0.58,-194.6,554.3,-10.2,506,5266,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2363,3589
$GC,5451,-0.58,-194.6,572.8,-10.0,524,5452,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2363,3588
$GC,5637,-0.58,-194.6,591.2,-9.7,542,5638,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2363,3587
$GC,5824,-0.58,-194.6,609.3,-9.8,560,5824,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2363,3585
$GC,6009,-0.58,-194.6,627.8,-10.1,578,6010,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2363,3584
$GC,6196,-0.58,-194.6,645.7,-9.9,596,6197,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2363,3583
$GC,6382,-0.58,-194.6,663.7,-9.5,614,6383,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2363,3582
$GC,6568,-0.58,-194.6,682.2,-10.0,632,6569,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2363,3580
$GC,6755,-0.58,-194.6,700.4,-9.7,650,6756,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2363,3579
$GC,6941,-0.58,-194.6,718.6,-9.8,668,6942,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2363,3578
$GC,7127,-0.58,-194.6,736.1,-9.4,686,7128,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2363,3577
$GC,7314,-0.58,-194.6,754.3,-10.0,704,7314,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2363,3577
$GC,7500,-0.58,-194.6,771.9,-9.5,722,7501,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2363,3576
$GC,7686,-0.58,-194.6,789.4,-9.6,740,7687,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2363,3575
$GC,7872,-0.58,-194.6,806.4,-8.6,758,7873,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2363,3573
$GC,8058,-0.58,-194.6,823.5,-9.5,776,8062,0.00,1.25,0.00,0.000,4,0.000,0.049,2521,1462,3572
$GC,8101,-0.58,-194.6,827.5,-9.6,780,8104,0.00,1.27,0.00,0.000,6,0.000,0.050,2518,2360,3572
$GC,8298,-0.58,-194.6,845.9,-9.3,799,8298,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2360,3571
$GC,8484,-0.58,-194.6,863.3,-9.4,817,8485,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2359,3570
$GC,8670,-0.58,-194.6,880.3,-9.2,835,8673,0.00,1.60,0.00,0.000,4,0.000,0.062,2512,3252,3571
$GC,8702,-0.58,-194.6,883.2,-10.1,838,8705,0.10,1.48,0.00,0.000,6,0.139,0.040,2544,2373,3570
$GC,8898,-0.58,-194.6,897.9,-7.4,857,8899,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2373,3569
$GC,9085,-0.58,-194.6,911.5,-7.3,875,9086,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2373,3569
$GC,9271,-0.58,-194.6,925.0,-7.2,893,9271,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2373,3568
$GC,9457,-0.58,-194.6,938.9,-7.1,911,9461,0.00,1.27,0.00,0.000,4,0.000,0.051,2544,1472,3568
$GC,9499,-0.58,-194.6,942.2,-7.9,915,9503,0.00,1.30,0.00,0.000,6,0.000,0.055,2540,2363,3568
$GC,9697,-0.58,-194.6,957.3,-8.0,934,9697,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2363,3567
$GC,9882,-0.58,-194.6,971.9,-8.1,952,9883,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2363,3566
$GC,10069,-0.58,-194.6,986.3,-7.3,970,10070,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2363,3565
$STATE,10119,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10119,begin apogee
$GC,10122,-0.26,0.0,990.3,7.6,975,10273,0.38,0.00,147.45,1.261,6,0.137,0.000,2653,2220,2820
$STATE,10274,end apogee,CONTROL_FINISHED_OK
$STATE,10274,begin climb
$GC,10275,0.58,194.6,994.3,0.0,990,10444,0.85,0.00,164.07,1.230,6,0.107,0.000,2914,2220,2026
$GC,10628,0.58,194.6,960.0,11.8,1025,10631,0.00,1.80,0.00,0.000,4,0.000,0.057,2914,3133,2015
$GC,10664,0.58,194.6,955.5,12.2,1028,10672,0.00,1.67,0.00,0.000,6,0.000,0.038,2922,2261,2014
$GC,10856,0.58,194.6,932.7,11.4,1047,10857,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2262,2013
$GC,11042,0.58,194.6,910.9,12.1,1065,11043,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2262,2011
$GC,11229,0.58,194.6,888.6,11.8,1083,11232,0.00,1.67,0.00,0.000,4,0.000,0.058,2922,3135,2011
$GC,11286,0.58,194.6,881.4,12.7,1088,11294,0.00,1.67,0.00,0.000,6,0.000,0.039,2930,2237,2011
$GC,11479,0.58,194.6,858.2,12.2,1107,11482,0.00,1.73,0.00,0.000,4,0.000,0.057,2930,3134,2011
$GC,11510,0.58,194.6,854.1,13.3,1110,11514,0.00,1.62,0.00,0.000,6,0.000,0.039,2938,2254,2009
$GC,11707,0.58,194.6,828.9,12.7,1129,11708,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2254,2009
$GC,11893,0.58,194.6,805.2,12.8,1147,11894,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2255,2009
$GC,12079,0.58,194.6,781.8,12.6,1165,12083,0.00,1.67,0.00,0.000,4,0.000,0.057,2938,3135,2009
$GC,12105,0.58,194.6,778.4,13.6,1167,12114,0.00,1.67,0.00,0.000,6,0.000,0.039,2946,2229,2008
$GC,12297,0.58,194.6,752.9,13.0,1186,12298,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2229,2008
$GC,12484,0.58,194.6,728.3,13.6,1204,12484,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2229,2008
$GC,12670,0.58,194.6,703.4,13.7,1222,12673,0.00,1.73,0.00,0.000,4,0.000,0.056,2946,3136,2007
$GC,12716,0.58,194.6,696.7,15.1,1226,12724,0.12,1.65,0.00,0.000,6,0.166,0.038,2923,2245,2007
$GC,12909,0.58,194.6,675.0,11.3,1245,12910,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2245,2007
$GC,13095,0.58,194.6,654.6,10.8,1263,13096,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2246,2006
$GC,13281,0.58,194.6,634.1,11.1,1281,13282,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2246,2007
$GC,13468,0.58,194.6,614.0,10.7,1299,13469,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2246,2007
$GC,13653,0.58,194.6,593.9,11.1,1317,13654,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2246,2006
$GC,13840,0.58,194.6,573.8,10.9,1335,13841,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2246,2006
$GC,14027,0.58,194.6,554.5,10.5,1353,14027,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2245,2006
$GC,14212,0.58,194.6,534.9,10.8,1371,14213,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2246,2006
$GC,14398,0.58,194.6,516.2,10.1,1389,14402,0.00,1.12,0.00,0.000,4,0.000,0.046,2927,1342,2006
$GC,14435,0.58,194.6,512.3,10.4,1392,14442,0.00,1.20,0.00,0.000,6,0.000,0.044,2927,2265,2006
$GC,14627,0.58,194.6,492.3,10.7,1411,14627,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2265,2006
$GC,14813,0.58,194.6,472.7,10.7,1429,14816,0.00,1.62,0.00,0.000,4,0.000,0.054,2927,3123,2006
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$GC,18662,0.58,194.6,56.5,9.0,1800,18665,0.00,1.62,0.00,0.000,4,0.000,0.046,2938,3112,2009
$GC,18694,0.58,194.6,53.7,7.4,1803,18697,0.00,1.55,0.00,0.000,6,0.000,0.031,2946,2246,2008
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$STATE,19530,end climb,SURFACE_DEPTH_REACHED
$STATE,19530,begin surface coast
$FINISH,2.8,1.017611
$STATE,19592,end surface coast,CONTROL_FINISHED_OK
$STATE,19592,begin surface
$SM_CCo,19605,100.80,0.499,0,0,474,575.22
$SM_GC,2.27,0.00,0.00,100.80,0.000,0.000,0.499,200,2347,474,-7.92,-0.57,575.22
$IRIDIUM_FIX,2828.55,-8841.44,020999,141453
$TT8_MAMPS,0.051389
$HUMID,1284
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,23.5,19.100
$10V_AH,10.6,24.625
$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,20.325,83.675,489.350,100.800,0.000,25.020,26.763,216.485,0.000,0.000,0.000,19.350,0.000,13267.463,686.448,5564.651,537.214,33.348,2253.450,0.000,4957.680,0.000,0.848,0.000
$DEVICE_MAMPS,260.780,62.127,1260.948,499.317,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1291.869,1392.668,4239.129,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97784,1886
$CAP_FILE_SIZE,195821,0
$CFSIZE,260165632,246976512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$CURRENT,0.045,171.4,1
$GPS,090610,011637,2839.142,-8839.562,41,1.7,41,-0.3