version: 66.04
glider: 515
mission: 5
dive: 95
start: 6 9 110 1 23 35
data:
$ID,515
$MISSION,5
$DIVE,95
$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,-6852.2466
$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,2272
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$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
$GPS1,011637,2839.142,-8839.562,41,1.7,41,-0.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-74.7
$GPS2,012256,2839.200,-8839.599,13,1.8,13,-0.3
$SPEED_LIMITS,0.115,0.252
$TGT_NAME,NEW0602B
$TGT_LATLONG,2845.000,-8829.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.225,0.114
$KALMAN_X,-190200.8,-1902.5,-1142.0,217143.2,4317.6
$KALMAN_Y,86981.8,-1328.0,-492.9,-103888.1,3490.7
$MHEAD_RNG_PITCHd_Wd,49.0,20287,-9.2,-6.667
$D_GRID,1224
$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,-48.92,0.000,2,0.000,0.000,200,2349,1982
$GC,63,-0.58,-194.6,3.3,-4.5,5,126,10.50,1.60,-46.17,0.000,4,0.261,0.064,2532,3259,3636
$GC,364,-0.58,-194.6,46.9,-15.7,32,372,0.00,1.48,0.00,0.000,6,0.000,0.028,2537,2369,3638
$GC,463,-0.58,-194.6,58.4,-12.0,42,466,0.00,1.52,0.00,0.000,4,0.000,0.044,2532,3264,3638
$GC,638,-0.58,-194.6,79.7,-12.6,58,646,0.00,1.50,0.00,0.000,6,0.000,0.029,2537,2358,3639
$GC,737,-0.58,-194.6,91.6,-12.2,68,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2358,3639
$GC,830,-0.58,-194.6,102.7,-11.9,77,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2358,3640
$GC,1016,-0.58,-194.6,125.4,-12.5,95,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2358,3640
$GC,1203,-0.58,-194.6,146.5,-10.9,113,1206,0.00,1.55,0.00,0.000,4,0.000,0.045,2531,3264,3640
$GC,1239,-0.58,-194.6,150.7,-11.4,116,1246,0.00,1.50,0.00,0.000,6,0.000,0.029,2532,2358,3640
$GC,1431,-0.58,-194.6,172.0,-11.1,135,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2357,3639
$GC,1617,-0.58,-194.6,191.9,-10.7,153,1621,0.00,1.20,0.00,0.000,4,0.000,0.038,2532,1461,3638
$GC,1664,-0.58,-194.6,197.3,-10.9,157,1673,0.00,1.25,0.00,0.000,6,0.000,0.036,2528,2362,3638
$GC,1856,-0.58,-194.6,217.8,-11.1,176,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2363,3637
$GC,2043,-0.58,-194.6,237.8,-10.8,194,2046,0.00,1.52,0.00,0.000,4,0.000,0.048,2520,3257,3636
$GC,2089,-0.58,-194.6,243.0,-10.7,198,2097,0.00,1.50,0.00,0.000,6,0.000,0.030,2520,2354,3636
$GC,2281,-0.58,-194.6,263.8,-11.0,217,2282,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2354,3635
$GC,2468,-0.58,-194.6,284.3,-11.1,235,2469,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2354,3634
$GC,2654,-0.58,-194.6,304.6,-10.5,253,2654,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2354,3633
$GC,2840,-0.58,-194.6,324.4,-10.7,271,2841,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2354,3632
$GC,3027,-0.58,-194.6,344.5,-10.6,289,3030,0.00,1.55,0.00,0.000,4,0.000,0.050,2513,3262,3631
$GC,3069,-0.58,-194.6,349.1,-11.3,293,3072,0.10,1.48,0.00,0.000,6,0.138,0.033,2544,2363,3630
$GC,3265,-0.58,-194.6,367.1,-8.8,312,3266,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2364,3629
$GC,3452,-0.58,-194.6,384.0,-9.2,330,3453,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2364,3628
$GC,3638,-0.58,-194.6,400.9,-9.0,348,3638,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2364,3627
$GC,3824,-0.58,-194.6,417.4,-8.4,366,3827,0.00,1.55,0.00,0.000,4,0.000,0.052,2539,3258,3625
$GC,3860,-0.58,-194.6,421.0,-9.1,369,3869,0.00,1.50,0.00,0.000,6,0.000,0.034,2539,2357,3625
$GC,4052,-0.58,-194.6,438.4,-9.4,388,4053,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2358,3624
$GC,4238,-0.58,-194.6,455.6,-9.3,406,4239,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2357,3623
$GC,4425,-0.58,-194.6,472.6,-9.1,424,4425,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2357,3621
$GC,4611,-0.58,-194.6,490.1,-9.6,442,4611,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2357,3620
$GC,4797,-0.58,-194.6,507.5,-9.2,460,4798,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2357,3619
$GC,4983,-0.58,-194.6,524.4,-9.2,478,4984,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2356,3618
$GC,5169,-0.58,-194.6,541.4,-9.4,496,5170,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2357,3616
$GC,5356,-0.58,-194.6,558.8,-9.2,514,5357,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2357,3616
$GC,5542,-0.58,-194.6,576.3,-9.5,532,5545,0.00,1.58,0.00,0.000,4,0.000,0.056,2532,3255,3614
$GC,5595,-0.58,-194.6,581.4,-9.8,537,5599,0.00,1.48,0.00,0.000,6,0.000,0.036,2532,2369,3613
$GC,5792,-0.58,-194.6,599.7,-9.2,556,5793,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2368,3612
$GC,5978,-0.58,-194.6,616.9,-9.1,574,5979,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2368,3611
$GC,6164,-0.58,-194.6,634.5,-9.5,592,6165,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2368,3611
$GC,6351,-0.58,-194.6,651.9,-9.4,610,6351,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2368,3609
$GC,6537,-0.58,-194.6,668.8,-8.4,628,6537,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2368,3608
$GC,6723,-0.58,-194.6,685.4,-8.4,646,6724,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2368,3606
$GC,6909,-0.58,-194.6,702.0,-8.8,664,6910,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2368,3605
$GC,7095,-0.58,-194.6,718.4,-9.1,682,7096,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2368,3605
$GC,7282,-0.58,-194.6,734.9,-8.8,700,7283,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2368,3604
$GC,7468,-0.58,-194.6,751.8,-9.2,718,7469,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2369,3603
$GC,7654,-0.58,-194.6,768.4,-9.0,736,7655,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2368,3602
$GC,7841,-0.58,-194.6,784.9,-9.1,754,7844,0.00,1.25,0.00,0.000,4,0.000,0.049,2532,1471,3601
$GC,7883,-0.58,-194.6,788.8,-9.3,758,7886,0.00,1.27,0.00,0.000,6,0.000,0.050,2527,2357,3601
$GC,8079,-0.58,-194.6,806.3,-9.3,777,8080,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2358,3600
$GC,8266,-0.58,-194.6,822.8,-8.8,795,8267,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2357,3599
$GC,8452,-0.58,-194.6,839.5,-8.9,813,8453,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2357,3598
$GC,8638,-0.58,-194.6,855.8,-9.1,831,8639,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2358,3598
$GC,8825,-0.58,-194.6,872.2,-8.6,849,8826,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2358,3597
$GC,9011,-0.58,-194.6,888.6,-8.7,867,9012,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2358,3596
$GC,9197,-0.58,-194.6,905.0,-8.8,885,9198,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2358,3596
$GC,9383,-0.58,-194.6,921.5,-9.3,903,9384,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2357,3595
$GC,9570,-0.58,-194.6,938.1,-9.2,921,9570,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2357,3595
$GC,9756,-0.58,-194.6,954.4,-8.7,939,9759,0.00,1.25,0.00,0.000,4,0.000,0.051,2527,1474,3593
$GC,9792,-0.58,-194.6,957.8,-8.9,942,9799,0.00,1.33,0.00,0.000,6,0.000,0.051,2522,2367,3593
$GC,9984,-0.58,-194.6,974.6,-8.8,961,9985,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2366,3593
$STATE,10158,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10158,begin apogee
$GC,10162,-0.26,0.0,990.3,8.8,978,10313,0.43,0.00,149.20,1.259,6,0.141,0.000,2648,2272,2840
$STATE,10314,end apogee,CONTROL_FINISHED_OK
$STATE,10314,begin climb
$GC,10315,0.58,194.6,994.9,0.0,993,10485,0.85,0.00,163.65,1.230,6,0.110,0.000,2911,2271,2046
$GC,10669,0.58,194.6,963.0,10.7,1026,10670,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2272,2037
$GC,10855,0.58,194.6,943.4,10.8,1044,10858,0.00,1.70,0.00,0.000,4,0.000,0.058,2912,3161,2034
$GC,10891,0.58,194.6,939.2,11.8,1047,10899,0.00,1.67,0.00,0.000,6,0.000,0.039,2920,2269,2033
$GC,11083,0.58,194.6,917.9,11.0,1066,11084,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2269,2033
$GC,11270,0.58,194.6,897.0,11.5,1084,11271,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2268,2032
$GC,11456,0.58,194.6,876.8,10.8,1102,11459,0.00,1.70,0.00,0.000,4,0.000,0.058,2920,3166,2031
$GC,11498,0.58,194.6,871.6,12.6,1106,11502,0.00,1.62,0.00,0.000,6,0.000,0.040,2927,2275,2030
$GC,11696,0.58,194.6,849.2,11.1,1125,11696,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2276,2030
$GC,11881,0.58,194.6,827.5,11.6,1143,11882,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2276,2030
$GC,12067,0.58,194.6,805.6,11.7,1161,12071,0.00,1.67,0.00,0.000,4,0.000,0.058,2928,3164,2029
$GC,12104,0.58,194.6,800.9,13.8,1164,12111,0.00,1.65,0.00,0.000,6,0.000,0.039,2935,2267,2028
$GC,12296,0.58,194.6,777.3,12.0,1183,12297,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2267,2028
$GC,12482,0.58,194.6,754.5,12.5,1201,12483,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2267,2029
$GC,12668,0.58,194.6,731.7,12.1,1219,12672,0.00,1.70,0.00,0.000,4,0.000,0.058,2935,3171,2028
$GC,12700,0.58,194.6,727.5,12.4,1222,12704,0.00,1.62,0.00,0.000,6,0.000,0.040,2943,2275,2028
$GC,12897,0.58,194.6,702.9,12.5,1241,12897,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2275,2028
$GC,13083,0.58,194.6,679.3,12.9,1259,13084,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2275,2028
$GC,13269,0.58,194.6,656.0,12.8,1277,13270,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2275,2028
$GC,13455,0.58,194.6,632.8,12.5,1295,13459,0.00,1.67,0.00,0.000,4,0.000,0.057,2943,3170,2028
$GC,13488,0.58,194.6,628.4,13.9,1298,13491,0.00,1.62,0.00,0.000,6,0.000,0.040,2951,2273,2027
$GC,13684,0.58,194.6,602.4,12.9,1317,13685,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2273,2026
$GC,13870,0.58,194.6,578.6,12.9,1335,13871,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2273,2026
$GC,14057,0.58,194.6,554.6,12.9,1353,14060,0.00,1.67,0.00,0.000,4,0.000,0.057,2950,3173,2027
$GC,14088,0.58,194.6,550.4,13.7,1356,14092,0.10,1.62,0.00,0.000,6,0.157,0.039,2928,2275,2026
$GC,14285,0.58,194.6,528.2,11.3,1375,14286,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2275,2026
$GC,14472,0.58,194.6,507.5,10.7,1393,14473,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2275,2026
$GC,14657,0.58,194.6,487.1,11.0,1411,14658,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2275,2026
$GC,14844,0.58,194.6,466.6,11.0,1429,14847,0.00,1.65,0.00,0.000,4,0.000,0.055,2928,3164,2026
$GC,14879,0.58,194.6,462.3,11.7,1432,14887,0.00,1.62,0.00,0.000,6,0.000,0.038,2934,2268,2026
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$STATE,19480,end climb,SURFACE_DEPTH_REACHED
$STATE,19480,begin surface coast
$FINISH,0.6,1.015407
$STATE,19597,end surface coast,CONTROL_FINISHED_OK
$STATE,19597,begin surface
$SM_CCo,19611,75.57,0.498,0,0,495,575.22
$SM_GC,1.67,0.00,0.00,75.57,0.000,0.000,0.498,194,2369,495,-7.94,0.06,575.22
$IRIDIUM_FIX,2826.10,-8841.49,020999,191944
$TT8_MAMPS,0.050622
$HUMID,1272
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,23.10
$XPDR_PINGS,1
$24V_AH,23.5,19.263
$10V_AH,10.6,24.865
$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,19.925,82.250,501.525,75.575,0.000,28.627,27.764,214.893,0.250,0.000,0.000,15.641,0.000,13248.936,672.185,5570.044,541.464,33.353,2250.821,0.000,4980.232,0.000,0.847,0.000
$DEVICE_MAMPS,260.780,64.428,1259.414,497.783,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1291.259,1388.271,4239.208,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97792,1886
$CAP_FILE_SIZE,192199,0
$CFSIZE,260165632,246886400
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,18,0,0
$CURRENT,0.031,172.5,1
$GPS,090610,065237,2840.662,-8837.160,35,0.9,35,-0.3