version: 66.04
glider: 515
mission: 5
dive: 87
start: 6 7 110 5 0 9
data:
$ID,515
$MISSION,5
$DIVE,87
$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,587.72925
$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,-6707.0791
$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,62
$R_STBD_OVSHOOT,32
$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
$GPS1,043457,2844.684,-8842.202,591,2.3,610,-3.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-77.4
$GPS2,045929,2844.684,-8842.202,15,2.5,34,-0.2
$SPEED_LIMITS,0.115,0.252
$TGT_NAME,NEW0602E
$TGT_LATLONG,2845.000,-8843.600
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.184,-0.173
$KALMAN_X,-204244.6,-49.3,-463.1,224371.0,7789.9
$KALMAN_Y,75342.1,-770.4,-821.3,-82354.9,10046.5
$MHEAD_RNG_PITCHd_Wd,239.7,2343,-26.6,-6.667
$D_GRID,1028
$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
$STATE,10,begin dive
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$GC,10773,-1.07,-70.8,934.0,-6.9,1025,10777,0.00,1.80,0.00,0.000,4,0.000,0.050,2390,884,3045
$GC,10809,-1.07,-70.8,936.6,-6.8,1028,10817,0.00,1.80,0.00,0.000,6,0.000,0.041,2382,2314,3044
$GC,10940,-1.08,-75.5,945.0,-6.1,1041,10941,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2315,3044
$STATE,11021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11021,begin apogee
$GC,11024,-0.26,0.0,950.4,6.2,1049,11075,1.00,0.00,48.22,1.218,6,0.201,0.000,2647,2187,2799
$STATE,11076,end apogee,CONTROL_FINISHED_OK
$STATE,11076,begin climb
$GC,11077,1.08,75.5,951.4,0.0,1054,11145,1.35,0.00,64.32,1.206,6,0.114,0.000,3076,2187,2492
$GC,11265,1.08,75.5,923.8,18.0,1072,11266,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2187,2485
$GC,11389,1.08,75.5,901.7,17.5,1084,11390,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2187,2484
$GC,11513,1.08,75.5,880.7,17.0,1096,11514,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2187,2483
$GC,11638,1.08,75.5,859.2,17.5,1108,11639,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2188,2482
$GC,11761,1.08,75.5,837.9,17.2,1120,11762,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2188,2481
$GC,11885,1.08,75.5,816.7,16.8,1132,11886,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2188,2481
$GC,12010,1.08,75.5,796.1,16.6,1144,12014,0.00,2.70,0.00,0.000,4,0.000,0.058,3075,3580,2479
$GC,12041,1.08,75.5,790.5,16.5,1146,12048,0.00,2.55,0.00,0.000,6,0.000,0.038,3086,2232,2478
$GC,12171,1.08,75.5,768.3,16.3,1159,12172,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2232,2478
$GC,12295,1.08,75.5,747.3,16.9,1171,12295,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2233,2478
$GC,12419,1.08,75.5,725.9,17.5,1183,12422,0.00,1.77,0.00,0.000,4,0.000,0.046,3095,806,2478
$GC,12466,1.08,75.5,717.8,17.3,1187,12475,0.00,1.83,0.00,0.000,6,0.000,0.042,3095,2250,2478
$GC,12596,1.08,75.5,695.7,16.5,1200,12600,0.00,2.55,0.00,0.000,4,0.000,0.058,3096,3566,2478
$GC,12628,1.08,75.5,689.8,19.2,1203,12632,0.00,2.50,0.00,0.000,6,0.000,0.037,3107,2211,2477
$GC,12757,1.08,75.5,666.9,17.8,1215,12760,0.00,1.75,0.00,0.000,4,0.000,0.045,3116,802,2477
$GC,12799,1.08,75.5,659.7,16.7,1219,12803,0.10,1.77,0.00,0.000,6,0.206,0.043,3088,2221,2477
$GC,12935,1.08,75.5,637.5,15.6,1232,12935,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2223,2477
$GC,13058,1.08,75.5,617.3,16.5,1244,13062,0.00,2.58,0.00,0.000,4,0.000,0.057,3086,3577,2477
$GC,13073,1.08,75.5,614.6,17.3,1245,13081,0.00,2.53,0.00,0.000,6,0.000,0.036,3098,2222,2476
$GC,13203,1.08,75.5,593.0,16.9,1258,13204,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2223,2476
$GC,13328,1.08,75.5,572.2,16.8,1270,13329,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2224,2476
$GC,13451,1.08,75.5,551.7,16.1,1282,13455,0.00,1.75,0.00,0.000,4,0.000,0.045,3106,803,2476
$GC,13498,1.08,75.5,543.8,16.8,1286,13506,0.00,1.80,0.00,0.000,6,0.000,0.041,3101,2232,2476
$GC,13629,1.08,75.5,522.8,16.2,1299,13630,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2233,2476
$GC,13752,1.08,75.5,503.1,15.8,1311,13753,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2233,2475
$GC,13877,1.08,75.5,483.3,15.8,1323,13878,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2233,2476
$GC,14001,1.08,75.5,463.4,16.1,1335,14002,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2233,2476
$GC,14125,1.08,75.5,443.7,15.7,1347,14126,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2233,2475
$GC,14249,1.08,75.5,423.5,16.1,1359,14253,0.00,2.58,0.00,0.000,4,0.000,0.057,3088,3580,2475
$GC,14264,1.08,75.5,421.0,15.7,1360,14272,0.00,2.55,0.00,0.000,6,0.000,0.036,3100,2212,2475
$GC,14395,1.08,75.5,400.3,15.7,1373,14396,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2214,2475
$GC,14518,1.08,75.5,380.7,15.8,1385,14519,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2214,2475
$GC,14642,1.08,75.5,360.8,15.9,1397,14643,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2215,2474
$GC,14767,1.08,75.5,340.8,15.8,1409,14768,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2215,2475
$GC,14891,1.08,75.5,321.0,15.9,1421,14892,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2214,2475
$GC,15015,1.08,75.5,301.2,15.6,1433,15019,0.00,1.73,0.00,0.000,4,0.000,0.044,3109,808,2475
$GC,15047,1.08,75.5,296.2,14.9,1436,15050,0.00,1.75,0.00,0.000,6,0.000,0.040,3102,2220,2475
$GC,15182,1.08,75.5,275.0,15.7,1449,15185,0.00,2.55,0.00,0.000,4,0.000,0.055,3099,3568,2475
$GC,15202,1.08,75.5,271.3,18.2,1451,15206,0.00,2.50,0.00,0.000,6,0.000,0.035,3111,2192,2475
$GC,15337,1.08,75.5,249.5,16.2,1464,15338,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2194,2475
$GC,15461,1.08,75.5,229.1,16.2,1476,15462,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2195,2474
$GC,15586,1.08,75.5,209.1,16.0,1488,15587,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2194,2475
$GC,15709,1.08,75.5,189.3,15.8,1500,15710,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2195,2475
$GC,15834,1.08,75.5,170.1,14.9,1512,15837,0.00,1.70,0.00,0.000,4,0.000,0.042,3120,804,2476
$GC,15859,1.08,75.5,166.1,15.3,1514,15867,0.08,1.77,0.00,0.000,6,0.206,0.038,3090,2249,2475
$GC,15989,1.08,75.5,147.9,14.0,1527,15993,0.00,1.77,0.00,0.000,4,0.000,0.041,3098,811,2476
$GC,16004,1.08,75.5,145.8,13.4,1528,16012,0.00,1.75,0.00,0.000,6,0.000,0.038,3092,2219,2476
$GC,16134,1.08,75.5,128.3,13.7,1541,16135,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2220,2476
$GC,16258,1.08,75.5,110.9,14.1,1553,16262,0.00,1.75,0.00,0.000,4,0.000,0.041,3100,799,2476
$GC,16290,1.08,75.5,106.2,14.4,1556,16293,0.00,1.75,0.00,0.000,6,0.000,0.038,3099,2226,2477
$GC,16424,1.08,75.5,87.4,13.8,1569,16425,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2227,2477
$GC,16487,1.08,75.5,79.6,12.9,1575,16488,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2227,2477
$GC,16549,1.08,75.5,71.0,13.6,1581,16552,0.00,2.53,0.00,0.000,4,0.000,0.052,3099,3563,2477
$GC,16595,1.08,75.5,63.8,15.3,1585,16603,0.00,2.47,0.00,0.000,6,0.000,0.031,3111,2213,2478
$GC,16664,1.08,75.5,54.4,13.2,1592,16665,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2214,2478
$GC,16726,1.08,75.5,47.4,11.0,1598,16729,0.00,2.55,0.00,0.000,4,0.000,0.051,3110,3573,2478
$GC,16772,1.08,75.5,41.6,11.2,1602,16781,0.12,2.47,0.00,0.000,6,0.195,0.031,3087,2213,2478
$GC,16841,1.08,75.5,34.5,9.9,1609,16844,0.00,1.70,0.00,0.000,4,0.000,0.039,3095,808,2479
$GC,17087,1.14,124.1,29.2,0.4,1632,17125,0.00,1.73,34.90,0.550,6,0.000,0.035,3089,2221,2294
$GC,17188,1.14,125.9,25.4,6.4,1641,17191,0.00,1.75,0.00,0.000,4,0.000,0.038,3097,803,2292
$GC,17433,1.18,159.2,14.0,2.3,1664,17468,0.00,1.75,27.30,0.519,6,0.000,0.034,3097,2242,2149
$GC,17528,1.20,173.5,10.2,4.8,1673,17544,0.00,1.77,11.98,0.481,4,0.000,0.037,3105,791,2091
$GC,17556,1.21,183.4,8.8,5.4,1675,17569,0.00,1.77,8.88,0.454,6,0.000,0.034,3104,2234,2051
$GC,17628,1.26,222.2,6.9,1.6,1682,17664,0.10,2.55,29.70,0.505,4,0.080,0.048,3149,3553,1893
$STATE,17794,end climb,NO_VERTICAL_VELOCITY
$STATE,17794,begin surface
$SM_CCo,17796,288.48,0.471,12,0,405,587.73
$SM_GC,2.37,8.23,0.00,0.00,0.051,0.000,0.000,204,2328,400,-7.86,0.51,588.71
$IRIDIUM_FIX,2833.46,-8843.84,010999,050549
$TT8_MAMPS,0.050622
$HUMID,1265
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,24.10
$XPDR_PINGS,2
$24V_AH,24.1,17.990
$10V_AH,10.7,22.916
$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,20.950,247.000,225.300,288.475,0.000,140.966,172.804,754.022,0.500,0.000,0.000,36.943,0.000,11740.221,843.381,5673.006,1432.262,33.352,2548.645,0.000,5008.836,0.000,2.081,0.000
$DEVICE_MAMPS,249.275,64.428,1217.996,470.938,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1161.839,1275.429,3814.586,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88289,1697
$CAP_FILE_SIZE,249409,0
$CFSIZE,260165632,247644160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,105,12,0
$CURRENT,0.051,235.8,1
$GPS,070610,100531,2843.994,-8843.904,53,1.1,53,-0.2