version: 66.04
glider: 515
mission: 5
dive: 150
start: 6 21 110 23 43 41
data:
$ID,515
$MISSION,5
$DIVE,150
$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,440
$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,597.54108
$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,-7895.3096
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2747
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$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,33
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,250
$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,4
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$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
$GPS1,232801,2838.997,-8833.989,55,1.9,55,-0.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-76.0
$GPS2,234302,2838.968,-8834.131,16,1.9,16,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618E
$TGT_LATLONG,2839.700,-8844.900
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.249,0.089
$KALMAN_X,-228697.0,-1438.3,-1322.5,264186.6,7376.7
$KALMAN_Y,-123391.5,-1047.9,795.1,104447.5,-2421.2
$MHEAD_RNG_PITCHd_Wd,294.2,17553,-10.8,-7.500
$D_GRID,1485
$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,-0.63,-194.6,0.0,0.0,0,47,0.00,0.00,-33.40,0.000,2,0.000,0.000,200,2364,1539
$GC,49,-0.63,-194.6,3.2,-4.8,3,122,10.27,1.58,-59.55,0.000,4,0.250,0.063,2532,3270,3635
$GC,361,-0.50,-194.6,50.7,-13.8,31,370,0.17,1.50,0.00,0.000,6,0.156,0.028,2583,2360,3637
$GC,554,-0.44,-194.6,70.6,-10.1,50,557,0.00,1.23,0.00,0.000,4,0.000,0.035,2589,1462,3638
$GC,618,-0.40,-194.6,76.4,-9.5,56,621,0.08,1.27,0.00,0.000,6,0.140,0.035,2610,2371,3638
$GC,814,-0.38,-194.6,92.0,-8.0,75,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2371,3638
$GC,1001,-0.37,-194.6,106.2,-7.5,93,1004,0.00,1.25,0.00,0.000,4,0.000,0.035,2610,1475,3638
$GC,1097,-0.36,-194.6,113.2,-7.0,102,1100,0.00,1.27,0.00,0.000,6,0.000,0.035,2606,2376,3637
$GC,1419,-0.34,-194.6,136.8,-7.3,133,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2376,3635
$GC,1728,-0.34,-194.6,158.3,-6.8,163,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2376,3633
$GC,2038,-0.34,-194.6,179.6,-6.9,193,2041,0.00,1.27,0.00,0.000,4,0.000,0.035,2606,1466,3631
$GC,2102,-0.34,-194.6,184.2,-7.3,199,2105,0.08,1.27,0.00,0.000,6,0.117,0.037,2630,2374,3631
$GC,2423,-0.37,-194.6,202.1,-5.2,230,2424,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2374,3629
$GC,2734,-0.40,-194.6,218.1,-5.2,260,2735,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2374,3627
$GC,3045,-0.43,-194.6,234.5,-5.2,290,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2374,3625
$GC,3355,-0.46,-194.6,250.7,-5.1,320,3358,0.00,1.27,0.00,0.000,4,0.000,0.038,2630,1466,3623
$GC,3419,-0.48,-194.6,254.2,-5.6,326,3423,0.08,1.30,0.00,0.000,6,0.051,0.040,2569,2376,3623
$GC,3740,-0.45,-194.6,281.5,-8.5,357,3741,0.12,0.00,0.00,0.000,6,0.140,0.000,2603,2377,3620
$GC,4051,-0.45,-194.6,302.2,-6.4,387,4054,0.00,1.27,0.00,0.000,4,0.000,0.038,2603,1477,3618
$GC,4114,-0.45,-194.6,306.9,-7.5,393,4118,0.00,1.27,0.00,0.000,6,0.000,0.040,2598,2374,3618
$GC,4437,-0.45,-194.6,328.3,-6.8,424,4437,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2373,3616
$GC,4746,-0.45,-194.6,349.3,-6.5,454,4749,0.00,1.27,0.00,0.000,4,0.000,0.040,2599,1469,3614
$GC,4814,-0.45,-194.6,354.1,-6.0,460,4821,0.00,1.33,0.00,0.000,6,0.000,0.041,2593,2378,3613
$GC,5132,-0.45,-194.6,375.5,-6.9,491,5133,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2378,3611
$GC,5441,-0.45,-194.6,396.4,-7.1,521,5444,0.00,1.30,0.00,0.000,4,0.000,0.040,2593,1467,3609
$GC,5494,-0.45,-194.6,400.2,-7.5,526,5498,0.00,1.30,0.00,0.000,6,0.000,0.042,2587,2374,3609
$GC,5816,-0.45,-194.6,422.5,-6.9,557,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2374,3607
$GC,6126,-0.45,-194.6,445.4,-7.0,587,6129,0.00,1.27,0.00,0.000,4,0.000,0.041,2587,1482,3605
$GC,6168,-0.44,-194.6,448.6,-7.6,591,6171,0.00,1.30,0.00,0.000,6,0.000,0.044,2582,2375,3605
$GC,6490,-0.43,-194.6,473.3,-8.0,622,6493,0.00,1.27,0.00,0.000,4,0.000,0.042,2582,1485,3603
$GC,6543,-0.41,-194.6,477.7,-8.3,627,6546,0.10,1.30,0.00,0.000,6,0.138,0.045,2610,2375,3603
$GC,6864,-0.43,-194.6,497.9,-6.0,658,6865,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2375,3602
$GC,7175,-0.44,-194.6,517.1,-6.2,688,7178,0.00,1.30,0.00,0.000,4,0.000,0.044,2610,1472,3600
$GC,7261,-0.46,-194.6,522.5,-6.7,696,7263,0.00,1.30,0.00,0.000,6,0.000,0.047,2607,2371,3599
$GC,7582,-0.47,-194.6,542.3,-6.2,727,7583,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2371,3598
$GC,7893,-0.48,-194.6,560.9,-5.7,757,7896,0.00,1.27,0.00,0.000,4,0.000,0.044,2607,1484,3596
$GC,7960,-0.48,-194.6,565.5,-6.9,763,7969,0.00,1.33,0.00,0.000,6,0.000,0.047,2601,2375,3596
$GC,8278,-0.48,-194.6,585.4,-6.1,794,8279,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2375,3595
$GC,8588,-0.48,-194.6,604.8,-6.2,824,8591,0.00,1.30,0.00,0.000,4,0.000,0.045,2601,1474,3593
$GC,8651,-0.48,-194.6,609.0,-7.2,830,8655,0.00,1.33,0.00,0.000,6,0.000,0.048,2596,2376,3593
$GC,8973,-0.48,-194.6,628.9,-6.1,861,8976,0.00,1.30,0.00,0.000,4,0.000,0.045,2596,1479,3592
$GC,9015,-0.48,-194.6,631.6,-6.1,865,9019,0.00,1.33,0.00,0.000,6,0.000,0.048,2590,2378,3592
$GC,9337,-0.48,-194.6,651.8,-6.1,896,9341,0.00,1.30,0.00,0.000,4,0.000,0.044,2590,1484,3590
$GC,9390,-0.48,-194.6,655.3,-6.9,901,9393,0.00,1.30,0.00,0.000,6,0.000,0.048,2584,2372,3590
$GC,9712,-0.48,-194.6,676.7,-6.8,932,9713,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2372,3589
$GC,10021,-0.48,-194.6,697.4,-6.4,962,10024,0.00,1.30,0.00,0.000,4,0.000,0.046,2584,1474,3588
$GC,10079,-0.48,-194.6,701.7,-7.5,967,10087,0.00,1.35,0.00,0.000,6,0.000,0.048,2579,2377,3588
$GC,10396,-0.48,-194.6,723.6,-7.1,998,10397,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2377,3587
$GC,10707,-0.48,-194.6,745.4,-6.9,1028,10710,0.00,1.30,0.00,0.000,4,0.000,0.046,2579,1487,3586
$GC,10760,-0.47,-194.6,749.3,-7.8,1033,10763,0.00,1.30,0.00,0.000,6,0.000,0.049,2573,2371,3587
$GC,11082,-0.46,-194.6,773.2,-7.5,1064,11085,0.00,1.30,0.00,0.000,4,0.000,0.046,2573,1474,3585
$GC,11139,-0.44,-194.6,777.9,-7.7,1069,11147,0.10,1.33,0.00,0.000,6,0.145,0.048,2600,2372,3585
$GC,11456,-0.46,-194.6,798.0,-7.0,1100,11457,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2373,3584
$GC,11767,-0.47,-194.6,817.2,-6.4,1130,11768,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2373,3584
$GC,12078,-0.49,-194.6,836.6,-5.9,1160,12078,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2373,3583
$GC,12388,-0.50,-194.6,854.8,-5.8,1190,12389,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2373,3582
$GC,12698,-0.52,-194.6,872.3,-6.1,1220,12699,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2372,3581
$GC,13008,-0.54,-194.6,889.0,-5.3,1250,13012,0.00,1.30,0.00,0.000,4,0.000,0.048,2600,1479,3580
$GC,13055,-0.55,-194.6,891.9,-5.7,1254,13062,0.00,1.33,0.00,0.000,6,0.000,0.050,2596,2375,3580
$GC,13372,-0.57,-194.6,909.9,-5.7,1285,13373,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2375,3579
$GC,13683,-0.58,-194.6,927.6,-5.7,1315,13685,0.12,0.00,0.00,0.000,6,0.074,0.000,2540,2375,3579
$GC,13993,-0.54,-194.6,953.5,-9.0,1345,13996,0.12,1.33,0.00,0.000,4,0.148,0.046,2572,1476,3578
$GC,14046,-0.53,-194.6,957.6,-7.3,1350,14049,0.00,1.33,0.00,0.000,6,0.000,0.051,2568,2372,3578
$GC,14366,-0.52,-194.6,980.1,-6.8,1381,14367,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2372,3577
$STATE,14520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14520,begin apogee
$GC,14525,-0.25,0.0,990.6,6.8,1396,14676,0.32,0.00,148.43,1.262,6,0.131,0.000,2666,2249,2840
$STATE,14676,end apogee,CONTROL_FINISHED_OK
$STATE,14676,begin climb
$GC,14677,0.63,194.6,995.0,0.0,1411,14848,0.88,0.00,167.73,1.235,6,0.106,0.000,2939,2249,2046
$GC,15153,0.54,194.6,946.9,11.2,1458,15156,0.00,1.75,0.00,0.000,4,0.000,0.061,2938,3156,2035
$GC,15210,0.45,194.6,939.7,13.6,1463,15220,0.15,1.67,0.00,0.000,6,0.143,0.038,2900,2258,2034
$GC,15527,0.41,194.6,911.5,8.8,1494,15528,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2259,2033
$GC,15839,0.37,194.6,884.8,8.5,1524,15840,0.12,0.00,0.00,0.000,6,0.145,0.000,2865,2258,2032
$GC,16149,0.43,236.7,865.4,6.4,1554,16185,0.00,0.00,33.95,1.154,6,0.000,0.000,2864,2258,1874
$GC,16494,0.53,305.5,844.3,5.7,1587,16557,0.15,1.83,57.88,1.147,4,0.067,0.057,2930,3148,1594
$GC,16588,0.48,305.5,834.4,12.6,1595,16592,0.10,1.73,0.00,0.000,6,0.133,0.039,2906,2242,1590
$GC,16909,0.48,305.5,806.4,8.1,1626,16912,0.00,1.15,0.00,0.000,4,0.000,0.046,2910,1343,1583
$GC,16951,0.48,305.5,802.7,9.3,1630,16955,0.00,1.23,0.00,0.000,6,0.000,0.046,2909,2267,1583
$GC,17272,0.46,305.5,774.1,9.0,1661,17276,0.00,1.65,0.00,0.000,4,0.000,0.057,2909,3134,1581
$GC,17298,0.44,305.5,771.6,9.3,1663,17307,0.00,1.62,0.00,0.000,6,0.000,0.039,2917,2252,1579
$GC,17615,0.42,305.5,741.7,9.3,1694,17616,0.12,0.00,0.00,0.000,6,0.138,0.000,2883,2251,1579
$GC,17926,0.49,345.5,721.1,6.4,1724,17959,0.00,0.00,32.33,1.066,6,0.000,0.000,2884,2251,1431
$GC,18265,0.58,393.4,700.1,6.2,1757,18310,0.15,1.77,40.47,1.049,4,0.069,0.056,2950,3139,1236
$GC,18328,0.55,393.4,693.8,13.1,1763,18331,0.10,1.70,0.00,0.000,6,0.130,0.039,2926,2248,1233
$GC,18648,0.55,393.4,663.5,9.3,1794,18652,0.00,1.15,0.00,0.000,4,0.000,0.046,2930,1353,1228
$GC,18691,0.55,393.4,659.6,9.4,1798,18694,0.00,1.20,0.00,0.000,6,0.000,0.044,2930,2262,1228
$GC,19012,0.55,393.4,627.9,9.8,1829,19013,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2262,1226
$GC,19322,0.55,393.4,597.2,9.2,1859,19323,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2262,1225
$GC,19633,0.55,393.4,568.1,9.4,1889,19634,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2262,1225
$GC,19943,0.55,393.4,539.3,9.0,1919,19944,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2262,1224
$GC,20254,0.55,393.4,510.1,9.5,1949,20257,0.00,1.17,0.00,0.000,4,0.000,0.045,2933,1355,1224
$GC,20278,0.55,393.4,507.7,10.3,1951,20287,0.00,1.20,0.00,0.000,6,0.000,0.043,2933,2265,1224
$GC,20595,0.55,393.4,476.8,10.2,1982,20596,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2265,1224
$GC,20905,0.55,393.4,446.5,9.4,2012,20906,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2265,1223
$GC,21216,0.55,393.4,416.9,9.4,2042,21217,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2265,1223
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$GC,25492,0.75,458.5,44.3,7.0,2454,25513,0.00,1.17,15.32,0.520,6,0.000,0.034,2956,2261,969
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$STATE,26126,end climb,SURFACE_DEPTH_REACHED
$STATE,26127,begin surface coast
$FINISH,0.5,1.004995
$STATE,26355,end surface coast,NO_VERTICAL_VELOCITY
$STATE,26355,begin surface
$SM_CCo,26429,0.00,0.000,0,0,399,598.77
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$TT8_MAMPS,0.050622
$HUMID,1370
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,22.10
$XPDR_PINGS,1
$24V_AH,21.1,27.733
$10V_AH,10.6,38.303
$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,21.825,87.900,633.475,0.000,0.000,143.762,375.797,0.000,0.250,0.000,0.000,18.025,0.000,18292.395,670.407,7415.781,905.107,33.347,2690.690,0.000,6659.583,0.000,0.543,0.000
$DEVICE_MAMPS,250.042,62.894,1262.482,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1739.167,1861.468,5700.215,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129450,2536
$CAP_FILE_SIZE,231907,0
$CFSIZE,260165632,241438720
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.077,197.1,1
$GPS,220610,070621,2839.170,-8838.701,93,2.8,112,-0.3