version: 66.04
glider: 515
mission: 5
dive: 132
start: 6 17 110 14 32 11
data:
$ID,515
$MISSION,5
$DIVE,132
$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,-7507.2441
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2733
$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,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3575
$ROLL_DEG,25
$C_ROLL_DIVE,2375
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,2840
$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
$GPS1,141537,2843.559,-8833.346,28,1.1,28,-0.3
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-71.5
$GPS2,143132,2843.468,-8833.317,13,1.8,13,-0.3
$SPEED_LIMITS,0.115,0.252
$TGT_NAME,NEW0607E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.241,0.075
$KALMAN_X,-237865.4,71.4,-1648.4,273469.8,7317.7
$KALMAN_Y,-54569.1,-111.6,2432.4,41343.4,-10086.4
$MHEAD_RNG_PITCHd_Wd,297.2,19080,-9.2,-6.667
$D_GRID,1171
$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,-194.6,0.0,0.0,0,69,0.00,0.00,-55.45,0.000,2,0.000,0.000,200,2359,2202
$GC,71,-0.58,-194.6,3.8,-3.7,5,120,10.43,1.58,-35.05,0.000,4,0.256,0.070,2530,3266,3635
$GC,183,-0.41,-194.6,18.5,-17.0,15,187,0.20,1.48,0.00,0.000,6,0.165,0.028,2594,2366,3636
$GC,380,-0.32,-194.6,43.6,-11.5,34,383,0.12,1.50,0.00,0.000,4,0.146,0.042,2623,3265,3637
$GC,427,-0.28,-194.6,47.8,-8.1,38,434,0.00,1.48,0.00,0.000,6,0.000,0.026,2623,2366,3637
$GC,619,-0.25,-194.6,60.8,-6.5,57,622,0.00,1.52,0.00,0.000,4,0.000,0.044,2617,3263,3638
$GC,694,-0.23,-194.6,66.2,-7.2,64,697,0.10,1.42,0.00,0.000,6,0.106,0.027,2653,2371,3638
$GC,890,-0.24,-194.6,76.6,-5.1,83,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2370,3638
$GC,1077,-0.26,-194.6,85.9,-4.9,101,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2371,3638
$GC,1263,-0.32,-194.6,96.9,-6.2,119,1266,0.00,1.52,0.00,0.000,4,0.000,0.045,2649,3266,3637
$GC,1370,-0.37,-194.6,102.8,-5.0,129,1373,0.08,1.42,0.00,0.000,6,0.057,0.028,2588,2371,3636
$GC,1690,-0.37,-194.6,126.0,-7.3,160,1693,0.00,1.20,0.00,0.000,4,0.000,0.035,2587,1490,3633
$GC,1711,-0.37,-194.6,127.9,-8.4,162,1715,0.08,1.23,0.00,0.000,6,0.127,0.035,2609,2372,3634
$GC,2032,-0.39,-194.6,149.5,-6.5,193,2035,0.00,1.50,0.00,0.000,4,0.000,0.048,2603,3263,3632
$GC,2181,-0.39,-194.6,159.3,-6.9,207,2185,0.00,1.42,0.00,0.000,6,0.000,0.028,2604,2372,3631
$GC,2504,-0.42,-194.6,180.7,-6.5,238,2507,0.00,1.23,0.00,0.000,4,0.000,0.036,2604,1475,3630
$GC,2631,-0.42,-194.6,189.1,-6.4,250,2635,0.00,1.25,0.00,0.000,6,0.000,0.036,2598,2374,3629
$GC,2953,-0.44,-194.6,209.7,-6.4,281,2956,0.00,1.50,0.00,0.000,4,0.000,0.048,2591,3266,3627
$GC,3070,-0.43,-194.6,218.0,-6.7,292,3073,0.00,1.42,0.00,0.000,6,0.000,0.028,2591,2375,3626
$GC,3392,-0.44,-194.6,241.1,-7.1,323,3395,0.00,1.50,0.00,0.000,4,0.000,0.047,2584,3263,3624
$GC,3503,-0.43,-194.6,249.5,-7.2,333,3511,0.00,1.45,0.00,0.000,6,0.000,0.030,2583,2365,3623
$GC,3820,-0.44,-194.6,271.7,-7.1,364,3823,0.00,1.52,0.00,0.000,4,0.000,0.048,2577,3262,3622
$GC,3899,-0.42,-194.6,277.2,-6.9,371,3906,0.00,1.45,0.00,0.000,6,0.000,0.030,2577,2369,3620
$GC,4216,-0.43,-194.6,299.0,-7.1,402,4220,0.00,1.52,0.00,0.000,4,0.000,0.048,2570,3262,3620
$GC,4258,-0.40,-194.6,302.1,-7.6,406,4262,0.08,1.42,0.00,0.000,6,0.134,0.030,2596,2374,3619
$GC,4579,-0.43,-194.6,323.0,-6.6,437,4583,0.00,1.50,0.00,0.000,4,0.000,0.049,2590,3261,3617
$GC,4690,-0.43,-194.6,330.7,-6.8,447,4697,0.00,1.45,0.00,0.000,6,0.000,0.031,2590,2370,3616
$GC,5008,-0.45,-194.6,352.4,-7.1,478,5011,0.00,1.52,0.00,0.000,4,0.000,0.050,2583,3262,3615
$GC,5135,-0.43,-194.6,361.7,-7.5,490,5139,0.00,1.42,0.00,0.000,6,0.000,0.031,2583,2377,3614
$GC,5458,-0.45,-194.6,383.6,-6.7,521,5460,0.00,1.50,0.00,0.000,4,0.000,0.051,2576,3258,3612
$GC,5568,-0.43,-194.6,391.6,-7.2,531,5576,0.00,1.45,0.00,0.000,6,0.000,0.031,2576,2372,3612
$GC,5886,-0.45,-194.6,413.5,-6.9,562,5888,0.00,1.52,0.00,0.000,4,0.000,0.051,2569,3260,3609
$GC,5921,-0.43,-194.6,416.2,-6.9,565,5929,0.00,1.42,0.00,0.000,6,0.000,0.032,2569,2377,3609
$GC,6239,-0.44,-194.6,438.6,-6.9,596,6242,0.00,1.52,0.00,0.000,4,0.000,0.052,2562,3265,3607
$GC,6264,-0.43,-194.6,440.6,-7.6,598,6272,0.08,1.45,0.00,0.000,6,0.140,0.031,2588,2373,3608
$GC,6581,-0.46,-194.6,461.6,-6.5,629,6584,0.00,1.52,0.00,0.000,4,0.000,0.053,2582,3259,3606
$GC,6691,-0.46,-194.6,469.0,-6.6,639,6699,0.00,1.48,0.00,0.000,6,0.000,0.033,2582,2366,3605
$GC,7009,-0.48,-194.6,490.1,-6.8,670,7012,0.00,1.55,0.00,0.000,4,0.000,0.053,2575,3261,3604
$GC,7109,-0.46,-194.6,497.1,-6.8,679,7116,0.00,1.48,0.00,0.000,6,0.000,0.033,2575,2368,3603
$GC,7426,-0.47,-194.6,519.1,-7.2,710,7430,0.00,1.55,0.00,0.000,4,0.000,0.054,2568,3263,3602
$GC,7511,-0.45,-194.6,525.2,-7.1,718,7514,0.00,1.45,0.00,0.000,6,0.000,0.034,2568,2375,3602
$GC,7833,-0.41,-194.6,549.3,-7.7,749,7836,0.12,1.27,0.00,0.000,4,0.146,0.044,2602,1483,3600
$GC,7983,-0.41,-194.6,559.0,-6.2,763,7986,0.00,1.27,0.00,0.000,6,0.000,0.044,2598,2371,3599
$GC,8305,-0.41,-194.6,579.1,-6.1,794,8306,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2371,3597
$GC,8614,-0.41,-194.6,599.0,-6.3,824,8615,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2371,3596
$GC,8925,-0.41,-194.6,619.0,-5.8,854,8925,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2370,3595
$GC,9235,-0.41,-194.6,637.9,-6.2,884,9236,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2371,3593
$GC,9545,-0.41,-194.6,656.7,-5.7,914,9546,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2370,3592
$GC,9855,-0.41,-194.6,675.5,-6.2,944,9856,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2371,3591
$GC,10167,-0.41,-194.6,694.0,-5.7,974,10168,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2371,3590
$GC,10477,-0.41,-194.6,711.2,-5.9,1004,10478,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2371,3589
$GC,10788,-0.41,-194.6,729.2,-6.1,1034,10789,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2371,3588
$GC,11098,-0.41,-194.6,746.8,-5.6,1064,11101,0.00,1.27,0.00,0.000,4,0.000,0.050,2598,1483,3587
$GC,11140,-0.41,-194.6,749.3,-5.3,1068,11143,0.00,1.30,0.00,0.000,6,0.000,0.048,2592,2373,3587
$GC,11461,-0.41,-194.6,768.4,-6.3,1099,11462,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2373,3586
$GC,11773,-0.41,-194.6,788.2,-6.4,1129,11774,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2373,3586
$GC,12082,-0.41,-194.6,808.0,-6.1,1159,12083,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2373,3584
$GC,12393,-0.41,-194.6,827.6,-6.2,1189,12394,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2373,3584
$GC,12704,-0.41,-194.6,847.2,-6.2,1219,12705,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2373,3583
$GC,13014,-0.41,-194.6,865.7,-6.2,1249,13015,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2373,3582
$GC,13324,-0.41,-194.6,885.2,-6.5,1279,13325,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2373,3582
$GC,13635,-0.41,-194.6,904.0,-5.2,1309,13636,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2373,3581
$GC,13945,-0.41,-194.6,921.3,-5.5,1339,13946,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2373,3580
$GC,14256,-0.41,-194.6,938.3,-5.9,1369,14257,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2373,3580
$GC,14566,-0.41,-194.6,956.2,-6.2,1399,14567,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2373,3579
$GC,14876,-0.41,-194.6,973.5,-5.5,1429,14877,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2373,3578
$STATE,15164,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15164,begin apogee
$GC,15168,-0.26,0.0,990.1,5.7,1457,15318,0.17,0.00,147.98,1.267,6,0.123,0.000,2645,2253,2840
$STATE,15319,end apogee,CONTROL_FINISHED_OK
$STATE,15319,begin climb
$GC,15320,0.58,194.6,995.0,0.0,1472,15492,0.85,0.00,166.55,1.237,6,0.113,0.000,2907,2253,2045
$GC,15801,0.58,194.6,959.7,7.7,1517,15804,0.00,1.73,0.00,0.000,4,0.000,0.057,2907,3147,2035
$GC,15975,0.50,194.6,942.8,9.9,1533,15983,0.00,1.67,0.00,0.000,6,0.000,0.039,2915,2255,2033
$GC,16293,0.42,194.6,912.0,10.0,1564,16296,0.17,1.73,0.00,0.000,4,0.142,0.057,2861,3144,2033
$GC,16324,0.38,194.6,909.2,7.7,1567,16327,0.00,1.65,0.00,0.000,6,0.000,0.040,2867,2250,2032
$GC,16645,0.38,212.4,887.7,6.2,1598,16660,0.00,0.00,13.65,1.096,6,0.000,0.000,2867,2251,1974
$GC,16966,0.41,251.2,867.9,5.8,1629,17003,0.00,1.77,33.40,1.156,4,0.000,0.058,2867,3145,1816
$GC,17036,0.39,251.2,863.2,7.4,1635,17043,0.00,1.70,0.00,0.000,6,0.000,0.038,2875,2246,1813
$GC,17353,0.42,285.5,843.4,5.9,1666,17386,0.00,0.00,29.42,1.129,6,0.000,0.000,2874,2247,1676
$GC,17693,0.45,308.5,821.2,6.1,1699,17716,0.00,0.00,19.85,1.091,6,0.000,0.000,2875,2247,1583
$GC,18024,0.46,319.9,799.0,6.4,1731,18036,0.00,0.00,10.32,0.999,6,0.000,0.000,2875,2246,1535
$GC,18344,0.46,321.0,777.7,6.6,1762,18345,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2246,1531
$GC,18655,0.57,321.0,752.1,9.2,1792,18658,0.12,1.12,0.00,0.000,4,0.102,0.044,2919,1359,1529
$GC,18900,0.69,321.0,729.2,8.2,1815,18904,0.08,1.17,0.00,0.000,6,0.123,0.044,2946,2262,1529
$GC,19221,0.72,321.0,699.4,8.8,1846,19224,0.00,1.62,0.00,0.000,4,0.000,0.055,2946,3122,1529
$GC,19322,0.64,321.0,688.8,11.7,1855,19330,0.00,1.60,0.00,0.000,6,0.000,0.039,2954,2255,1528
$GC,19639,0.55,321.0,646.8,13.2,1886,19640,0.15,0.00,0.00,0.000,6,0.145,0.000,2914,2255,1529
$GC,19949,0.52,321.0,619.0,8.5,1916,19950,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2255,1528
$GC,20260,0.50,321.0,593.0,8.3,1946,20263,0.00,1.12,0.00,0.000,4,0.000,0.046,2918,1357,1528
$GC,20306,0.47,321.0,588.6,9.0,1950,20314,0.08,1.17,0.00,0.000,6,0.120,0.045,2889,2263,1527
$GC,20622,0.47,321.0,565.4,7.1,1981,20623,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2263,1528
$GC,20933,0.47,321.0,543.9,6.9,2011,20936,0.00,1.17,0.00,0.000,4,0.000,0.046,2892,1342,1527
$GC,20976,0.47,321.0,540.9,7.3,2015,20979,0.00,1.17,0.00,0.000,6,0.000,0.044,2893,2257,1528
$GC,21296,0.48,325.3,519.0,6.6,2046,21307,0.00,0.00,4.88,0.680,6,0.000,0.000,2892,2257,1512
$GC,21617,0.49,334.4,498.3,6.5,2077,21629,0.00,1.20,9.12,0.815,4,0.000,0.044,2897,1339,1476
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$GC,27825,1.23,537.9,4.0,2.6,2675,27922,0.30,0.00,94.03,0.517,2,0.098,0.000,3127,2257,827
$STATE,27922,end climb,SURFACE_DEPTH_REACHED
$STATE,27922,begin surface coast
$FINISH,1.6,1.016194
$STATE,28093,end surface coast,CONTROL_FINISHED_OK
$STATE,28093,begin surface
$SM_CCo,28106,53.67,0.495,0,0,494,575.22
$SM_GC,2.40,0.00,0.00,53.67,0.000,0.000,0.495,206,2354,494,-7.90,-0.59,575.22
$IRIDIUM_FIX,2833.46,-8831.56,110999,141428
$TT8_MAMPS,0.051389
$HUMID,1310
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,22.50
$XPDR_PINGS,2
$24V_AH,23.1,24.729
$10V_AH,10.6,33.831
$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,22.075,104.525,560.900,53.675,0.000,89.551,92.194,501.886,0.500,0.000,0.000,15.182,0.000,19195.311,707.863,8055.590,1105.835,33.340,2919.688,0.000,7241.281,0.000,1.458,0.000
$DEVICE_MAMPS,256.178,69.797,1267.084,495.482,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1851.948,1982.809,6067.733,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,138795,2700
$CAP_FILE_SIZE,268756,0
$CFSIZE,260165632,243179520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.140,167.9,1
$GPS,170610,222236,2843.747,-8836.621,45,1.1,45,-0.3