version: 66.04
glider: 515
mission: 5
dive: 91
start: 6 8 110 2 29 1
data:
$ID,515
$MISSION,5
$DIVE,91
$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,-6767.8145
$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,54
$R_STBD_OVSHOOT,28
$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
$GPS1,022106,2840.653,-8845.607,92,1.6,97,-0.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-76.3
$GPS2,022820,2840.723,-8845.526,14,1.7,14,-0.2
$SPEED_LIMITS,0.115,0.252
$TGT_NAME,NEW0607F
$TGT_LATLONG,2837.000,-8845.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.102,-0.231
$KALMAN_X,-192944.4,-1395.9,-396.3,209009.2,8521.9
$KALMAN_Y,87336.0,-1771.5,-427.8,-101050.7,10460.1
$MHEAD_RNG_PITCHd_Wd,158.0,6947,-9.9,-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,-176.9,0.0,0.0,0,42,0.00,0.00,-28.83,0.000,2,0.000,0.000,207,2293,1319
$GC,43,-0.61,-194.6,3.1,-4.0,3,127,11.20,1.75,-67.80,0.000,4,0.281,0.061,2523,3260,3614
$GC,365,-0.61,-194.6,48.1,-16.4,32,373,0.00,1.48,0.00,0.000,6,0.000,0.028,2528,2377,3615
$GC,465,-0.61,-194.6,61.8,-13.3,42,468,0.00,1.52,0.00,0.000,4,0.000,0.044,2523,3259,3616
$GC,597,-0.61,-194.6,78.2,-12.3,54,606,0.00,1.50,0.00,0.000,6,0.000,0.028,2524,2359,3616
$GC,696,-0.61,-194.6,90.4,-12.4,64,699,0.00,1.20,0.00,0.000,4,0.000,0.036,2524,1463,3616
$GC,721,-0.61,-194.6,93.7,-12.9,66,730,0.00,1.25,0.00,0.000,6,0.000,0.034,2521,2362,3617
$GC,820,-0.61,-194.6,106.4,-12.8,76,823,0.00,1.52,0.00,0.000,4,0.000,0.044,2513,3256,3617
$GC,862,-0.61,-194.6,112.2,-13.4,80,866,0.00,1.48,0.00,0.000,6,0.000,0.029,2513,2361,3617
$GC,1059,-0.61,-194.6,138.6,-13.3,99,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2361,3617
$GC,1245,-0.61,-194.6,162.4,-12.4,117,1246,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2360,3617
$GC,1432,-0.61,-194.6,185.0,-12.8,135,1435,0.00,1.55,0.00,0.000,4,0.000,0.044,2506,3260,3616
$GC,1467,-0.61,-194.6,189.7,-13.1,138,1469,0.12,0.17,0.00,0.000,6,0.153,0.046,2537,3103,3616
$GC,1655,-0.61,-194.6,209.1,-10.1,156,1658,0.00,2.50,0.00,0.000,4,0.000,0.036,2537,1457,3615
$GC,1826,-0.61,-194.6,227.3,-10.6,172,1829,0.00,1.25,0.00,0.000,6,0.000,0.038,2533,2366,3615
$GC,2022,-0.61,-194.6,248.5,-10.7,191,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2366,3614
$GC,2209,-0.61,-194.6,268.1,-10.4,209,2209,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2366,3613
$GC,2395,-0.61,-194.6,287.0,-10.5,227,2398,0.00,1.23,0.00,0.000,4,0.000,0.038,2533,1455,3612
$GC,2415,-0.61,-194.6,289.3,-10.4,229,2419,0.00,1.25,0.00,0.000,6,0.000,0.038,2528,2363,3613
$GC,2612,-0.61,-194.6,310.6,-10.7,248,2613,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2363,3611
$GC,2798,-0.61,-194.6,330.1,-10.2,266,2799,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2363,3609
$GC,2985,-0.61,-194.6,349.4,-10.4,284,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2363,3608
$GC,3171,-0.61,-194.6,368.6,-10.3,302,3175,0.00,1.55,0.00,0.000,4,0.000,0.052,2520,3259,3606
$GC,3196,-0.61,-194.6,371.0,-9.6,304,3204,0.00,1.50,0.00,0.000,6,0.000,0.032,2520,2363,3606
$GC,3388,-0.61,-194.6,390.0,-10.2,323,3392,0.00,1.20,0.00,0.000,4,0.000,0.042,2520,1471,3605
$GC,3414,-0.61,-194.6,392.6,-9.9,325,3422,0.00,1.27,0.00,0.000,6,0.000,0.041,2514,2371,3605
$GC,3606,-0.61,-194.6,412.3,-10.2,344,3606,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2371,3604
$GC,3792,-0.61,-194.6,432.5,-10.7,362,3793,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2371,3602
$GC,3979,-0.61,-194.6,452.3,-10.8,380,3982,0.00,1.25,0.00,0.000,4,0.000,0.044,2514,1459,3600
$GC,4014,-0.61,-194.6,456.4,-10.6,383,4022,0.12,1.30,0.00,0.000,6,0.150,0.043,2540,2370,3600
$GC,4206,-0.61,-194.6,473.1,-8.6,402,4210,0.00,1.55,0.00,0.000,4,0.000,0.053,2535,3269,3599
$GC,4232,-0.61,-194.6,475.4,-8.9,404,4240,0.00,1.52,0.00,0.000,6,0.000,0.034,2535,2362,3599
$GC,4424,-0.61,-194.6,492.6,-9.1,423,4425,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2363,3598
$GC,4610,-0.61,-194.6,510.2,-9.7,441,4614,0.00,1.58,0.00,0.000,4,0.000,0.054,2528,3258,3597
$GC,4642,-0.61,-194.6,513.2,-9.5,444,4646,0.00,1.48,0.00,0.000,6,0.000,0.035,2527,2372,3597
$GC,4839,-0.61,-194.6,532.1,-9.7,463,4839,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2370,3595
$GC,5025,-0.61,-194.6,550.0,-9.7,481,5026,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2370,3594
$GC,5211,-0.61,-194.6,567.4,-9.4,499,5215,0.00,1.55,0.00,0.000,4,0.000,0.055,2520,3255,3593
$GC,5253,-0.61,-194.6,571.5,-9.9,503,5257,0.00,1.50,0.00,0.000,6,0.000,0.036,2521,2361,3593
$GC,5450,-0.61,-194.6,590.6,-10.0,522,5454,0.00,1.58,0.00,0.000,4,0.000,0.055,2513,3255,3591
$GC,5482,-0.61,-194.6,593.8,-10.0,525,5486,0.00,1.48,0.00,0.000,6,0.000,0.036,2514,2370,3591
$GC,5679,-0.61,-194.6,614.5,-10.7,544,5680,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2369,3589
$GC,5865,-0.61,-194.6,634.3,-10.9,562,5866,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2369,3588
$GC,6051,-0.61,-194.6,653.6,-10.0,580,6052,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2369,3587
$GC,6238,-0.61,-194.6,672.7,-10.1,598,6238,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2369,3586
$GC,6423,-0.61,-194.6,691.4,-10.6,616,6427,0.00,1.58,0.00,0.000,4,0.000,0.057,2506,3263,3584
$GC,6456,-0.61,-194.6,694.7,-11.0,619,6459,0.08,1.50,0.00,0.000,6,0.152,0.038,2531,2370,3585
$GC,6652,-0.61,-194.6,712.4,-8.7,638,6653,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2369,3583
$GC,6838,-0.61,-194.6,728.6,-8.7,656,6839,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2369,3582
$GC,7025,-0.61,-194.6,744.8,-9.0,674,7025,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2369,3581
$GC,7211,-0.61,-194.6,761.6,-9.0,692,7214,0.00,1.27,0.00,0.000,4,0.000,0.049,2531,1449,3580
$GC,7236,-0.61,-194.6,764.1,-9.8,694,7244,0.00,1.33,0.00,0.000,6,0.000,0.048,2528,2365,3580
$GC,7428,-0.61,-194.6,781.6,-9.5,713,7431,0.00,1.58,0.00,0.000,4,0.000,0.058,2520,3266,3579
$GC,7460,-0.61,-194.6,784.6,-9.7,716,7463,0.00,1.52,0.00,0.000,6,0.000,0.039,2520,2363,3579
$GC,7656,-0.61,-194.6,803.5,-9.4,735,7657,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2362,3578
$GC,7843,-0.61,-194.6,821.2,-9.6,753,7844,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2362,3577
$GC,8029,-0.61,-194.6,838.7,-9.0,771,8030,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2363,3576
$GC,8215,-0.61,-194.6,856.3,-9.5,789,8219,0.00,1.60,0.00,0.000,4,0.000,0.059,2512,3258,3575
$GC,8247,-0.61,-194.6,859.4,-9.7,792,8250,0.00,1.50,0.00,0.000,6,0.000,0.040,2513,2369,3575
$GC,8443,-0.61,-194.6,878.1,-9.5,811,8447,0.00,1.25,0.00,0.000,4,0.000,0.049,2513,1468,3575
$GC,8475,-0.61,-194.6,881.1,-9.3,814,8479,0.08,1.30,0.00,0.000,6,0.157,0.049,2531,2366,3575
$GC,8672,-0.61,-194.6,897.5,-8.5,833,8673,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2366,3574
$GC,8858,-0.61,-194.6,913.4,-8.4,851,8859,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2366,3574
$GC,9044,-0.61,-194.6,929.0,-8.3,869,9045,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2366,3573
$GC,9231,-0.61,-194.6,944.6,-8.3,887,9232,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2366,3573
$GC,9417,-0.61,-194.6,960.3,-8.3,905,9418,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2367,3572
$GC,9603,-0.61,-194.6,976.1,-8.4,923,9604,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2366,3572
$STATE,9768,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9768,begin apogee
$GC,9771,-0.26,0.0,990.3,8.5,939,9922,0.38,0.00,148.15,1.262,6,0.137,0.000,2646,2216,2820
$STATE,9922,end apogee,CONTROL_FINISHED_OK
$STATE,9922,begin climb
$GC,9924,0.61,194.6,994.9,0.0,954,10091,0.88,0.00,163.48,1.230,6,0.109,0.000,2919,2216,2026
$GC,10271,0.61,194.6,962.0,11.8,986,10275,0.00,1.83,0.00,0.000,4,0.000,0.057,2919,3137,2016
$GC,10296,0.61,194.6,958.8,13.4,988,10304,0.00,1.67,0.00,0.000,6,0.000,0.038,2927,2268,2015
$GC,10489,0.61,194.6,935.3,12.1,1007,10490,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2268,2013
$GC,10675,0.61,194.6,912.5,12.0,1025,10678,0.00,1.67,0.00,0.000,4,0.000,0.058,2927,3130,2012
$GC,10696,0.61,194.6,909.8,13.3,1027,10700,0.00,1.67,0.00,0.000,6,0.000,0.040,2935,2229,2011
$GC,10893,0.61,194.6,885.5,12.2,1046,10894,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2230,2011
$GC,11079,0.61,194.6,862.3,12.8,1064,11080,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2230,2010
$GC,11265,0.61,194.6,839.0,12.9,1082,11269,0.00,1.75,0.00,0.000,4,0.000,0.058,2935,3135,2010
$GC,11297,0.61,194.6,834.6,14.5,1085,11300,0.00,1.65,0.00,0.000,6,0.000,0.040,2943,2248,2010
$GC,11493,0.61,194.6,808.8,13.2,1104,11494,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2248,2010
$GC,11680,0.61,194.6,785.2,12.9,1122,11681,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2248,2010
$GC,11866,0.61,194.6,761.7,12.7,1140,11870,0.00,1.73,0.00,0.000,4,0.000,0.058,2943,3137,2009
$GC,11898,0.61,194.6,757.5,13.1,1143,11901,0.00,1.65,0.00,0.000,6,0.000,0.039,2951,2244,2007
$GC,12094,0.61,194.6,732.0,13.0,1162,12098,0.00,1.12,0.00,0.000,4,0.000,0.046,2956,1338,2007
$GC,12126,0.61,194.6,728.0,12.4,1165,12130,0.00,1.20,0.00,0.000,6,0.000,0.046,2955,2266,2008
$GC,12323,0.61,194.6,702.3,12.8,1184,12326,0.00,1.65,0.00,0.000,4,0.000,0.056,2956,3125,2007
$GC,12344,0.61,194.6,699.3,15.3,1186,12348,0.10,1.62,0.00,0.000,6,0.158,0.039,2934,2243,2007
$GC,12541,0.61,194.6,676.8,11.8,1205,12544,0.00,1.70,0.00,0.000,4,0.000,0.056,2934,3127,2007
$GC,12566,0.61,194.6,673.6,11.9,1207,12574,0.00,1.65,0.00,0.000,6,0.000,0.038,2939,2238,2006
$GC,12758,0.61,194.6,650.0,12.0,1226,12759,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2239,2006
$GC,12944,0.61,194.6,626.9,12.3,1244,12945,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2238,2007
$GC,13131,0.61,194.6,604.3,12.2,1262,13134,0.00,1.70,0.00,0.000,4,0.000,0.056,2940,3122,2007
$GC,13166,0.61,194.6,599.6,13.4,1265,13175,0.00,1.62,0.00,0.000,6,0.000,0.038,2947,2246,2006
$GC,13359,0.61,194.6,575.9,11.9,1284,13362,0.00,1.67,0.00,0.000,4,0.000,0.055,2947,3128,2006
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$STATE,18636,end climb,NO_VERTICAL_VELOCITY
$STATE,18637,begin surface
$SM_CCo,18638,68.40,0.444,5,0,403,592.64
$SM_GC,3.09,8.30,0.00,0.00,0.061,0.000,0.000,203,2353,401,-7.87,-0.40,593.37
$IRIDIUM_FIX,2833.46,-8846.29,010999,202005
$TT8_MAMPS,0.051389
$HUMID,1268
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,23.5,18.636
$10V_AH,10.6,23.868
$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,22.125,126.575,549.700,68.400,0.000,29.734,29.108,254.894,0.000,0.000,0.000,16.641,0.000,12464.958,782.012,5402.807,577.433,33.345,2389.389,0.000,4792.661,0.000,0.847,0.000
$DEVICE_MAMPS,281.489,61.360,1262.482,444.093,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1223.876,1317.356,4023.476,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94660,1790
$CAP_FILE_SIZE,203216,0
$CFSIZE,260165632,247279616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,5,0
$CURRENT,0.056,248.3,1
$GPS,080610,074607,2838.081,-8845.010,172,1.2,172,-0.2