version: 66.04
glider: 515
mission: 5
dive: 97
start: 6 9 110 12 29 59
data:
$ID,515
$MISSION,5
$DIVE,97
$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,-6883.5996
$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,2375
$C_ROLL_CLIMB,2282
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,24
$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
$GPS1,122306,2841.868,-8834.420,37,1.3,43,-0.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-73.9
$GPS2,122920,2841.846,-8834.397,13,1.6,13,-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,-200337.5,557.9,360.7,231720.7,-6247.1
$KALMAN_Y,82173.8,536.0,253.3,-96809.9,-3091.1
$MHEAD_RNG_PITCHd_Wd,47.3,10532,-9.2,-6.667
$D_GRID,1158
$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,-194.6,0.0,0.0,0,57,0.00,0.00,-43.97,0.000,2,0.000,0.000,198,2367,1816
$GC,59,-0.58,-194.6,3.2,-5.3,4,118,10.70,1.60,-39.67,0.000,4,0.266,0.072,2532,3275,3635
$GC,356,-0.58,-194.6,54.0,-13.8,31,364,0.00,1.52,0.00,0.000,6,0.000,0.028,2537,2364,3638
$GC,455,-0.58,-194.6,66.5,-12.6,41,459,0.00,1.55,0.00,0.000,4,0.000,0.044,2532,3266,3638
$GC,476,-0.58,-194.6,69.2,-12.7,43,480,0.00,1.48,0.00,0.000,6,0.000,0.028,2536,2370,3638
$GC,580,-0.58,-194.6,82.3,-12.7,53,581,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2369,3638
$GC,673,-0.58,-194.6,93.9,-12.1,62,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2369,3639
$GC,766,-0.58,-194.6,105.4,-12.4,71,769,0.00,1.52,0.00,0.000,4,0.000,0.044,2531,3266,3639
$GC,798,-0.58,-194.6,109.5,-13.1,74,801,0.00,1.48,0.00,0.000,6,0.000,0.029,2536,2363,3639
$GC,994,-0.58,-194.6,133.7,-12.7,93,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2362,3639
$GC,1181,-0.58,-194.6,156.1,-12.1,111,1182,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2362,3639
$GC,1367,-0.58,-194.6,176.9,-10.6,129,1368,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2362,3639
$GC,1553,-0.58,-194.6,196.7,-10.6,147,1557,0.00,1.55,0.00,0.000,4,0.000,0.047,2531,3271,3639
$GC,1628,-0.58,-194.6,204.8,-10.8,154,1631,0.00,1.48,0.00,0.000,6,0.000,0.030,2533,2367,3638
$GC,1824,-0.58,-194.6,225.8,-10.4,173,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2366,3638
$GC,2011,-0.58,-194.6,245.7,-11.0,191,2012,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2366,3637
$GC,2197,-0.58,-194.6,265.1,-10.1,209,2198,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2366,3636
$GC,2383,-0.58,-194.6,284.1,-10.0,227,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2367,3636
$GC,2569,-0.58,-194.6,303.2,-10.1,245,2570,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2367,3635
$GC,2756,-0.58,-194.6,321.8,-10.1,263,2759,0.00,1.55,0.00,0.000,4,0.000,0.049,2527,3270,3633
$GC,2791,-0.58,-194.6,325.7,-11.0,266,2799,0.00,1.50,0.00,0.000,6,0.000,0.031,2527,2363,3633
$GC,2984,-0.58,-194.6,346.1,-11.0,285,2985,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2362,3632
$GC,3170,-0.58,-194.6,366.5,-10.9,303,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2363,3631
$GC,3356,-0.58,-194.6,387.0,-11.1,321,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2362,3629
$GC,3542,-0.58,-194.6,407.4,-10.9,339,3543,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2362,3629
$GC,3729,-0.58,-194.6,427.6,-10.8,357,3732,0.00,1.55,0.00,0.000,4,0.000,0.053,2520,3256,3627
$GC,3771,-0.58,-194.6,432.2,-10.6,361,3775,0.05,1.48,0.00,0.000,6,0.146,0.034,2537,2365,3626
$GC,3968,-0.58,-194.6,451.3,-9.5,380,3969,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2364,3625
$GC,4154,-0.58,-194.6,469.3,-9.9,398,4155,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2364,3624
$GC,4340,-0.58,-194.6,487.0,-9.7,416,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2364,3623
$GC,4527,-0.58,-194.6,504.3,-9.6,434,4530,0.00,1.58,0.00,0.000,4,0.000,0.055,2532,3268,3622
$GC,4562,-0.58,-194.6,507.8,-9.6,437,4571,0.00,1.50,0.00,0.000,6,0.000,0.035,2532,2374,3622
$GC,4754,-0.58,-194.6,526.4,-10.0,456,4755,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2373,3620
$GC,4941,-0.58,-194.6,544.7,-10.2,474,4944,0.00,1.55,0.00,0.000,4,0.000,0.054,2525,3264,3619
$GC,4973,-0.58,-194.6,547.9,-10.4,477,4976,0.00,1.48,0.00,0.000,6,0.000,0.036,2525,2374,3619
$GC,5169,-0.58,-194.6,568.4,-10.7,496,5170,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2373,3618
$GC,5356,-0.58,-194.6,587.7,-10.3,514,5359,0.00,1.55,0.00,0.000,4,0.000,0.055,2519,3265,3617
$GC,5398,-0.58,-194.6,592.3,-10.8,518,5401,0.00,1.48,0.00,0.000,6,0.000,0.036,2518,2374,3616
$GC,5594,-0.58,-194.6,613.8,-10.9,537,5595,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2373,3615
$GC,5781,-0.58,-194.6,634.2,-11.2,555,5784,0.00,1.55,0.00,0.000,4,0.000,0.056,2512,3264,3613
$GC,5823,-0.58,-194.6,639.1,-12.0,559,5827,0.10,1.50,0.00,0.000,6,0.145,0.037,2542,2365,3613
$GC,6020,-0.58,-194.6,657.5,-9.3,578,6020,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2365,3612
$GC,6206,-0.58,-194.6,674.3,-8.7,596,6207,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2365,3611
$GC,6392,-0.58,-194.6,690.4,-8.6,614,6393,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2366,3611
$GC,6578,-0.58,-194.6,706.3,-8.6,632,6582,0.00,1.58,0.00,0.000,4,0.000,0.058,2537,3258,3609
$GC,6621,-0.58,-194.6,710.0,-8.5,636,6624,0.00,1.50,0.00,0.000,6,0.000,0.038,2537,2368,3609
$GC,6818,-0.58,-194.6,727.4,-9.1,655,6821,0.00,1.58,0.00,0.000,4,0.000,0.058,2530,3261,3608
$GC,6853,-0.58,-194.6,730.9,-9.1,658,6861,0.00,1.52,0.00,0.000,6,0.000,0.038,2530,2366,3607
$GC,7046,-0.58,-194.6,748.4,-8.8,677,7047,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2366,3607
$GC,7232,-0.58,-194.6,765.1,-9.0,695,7235,0.00,1.58,0.00,0.000,4,0.000,0.058,2523,3257,3606
$GC,7278,-0.58,-194.6,769.7,-9.6,699,7286,0.00,1.52,0.00,0.000,6,0.000,0.038,2523,2363,3605
$GC,7471,-0.58,-194.6,787.5,-9.2,718,7472,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2363,3605
$GC,7657,-0.58,-194.6,805.3,-9.2,736,7658,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2362,3605
$GC,7843,-0.58,-194.6,823.1,-9.7,754,7847,0.00,1.58,0.00,0.000,4,0.000,0.059,2516,3253,3603
$GC,7896,-0.58,-194.6,828.3,-10.1,759,7900,0.08,1.48,0.00,0.000,6,0.146,0.039,2540,2370,3603
$GC,8093,-0.58,-194.6,844.8,-8.0,778,8094,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2370,3602
$GC,8279,-0.58,-194.6,859.9,-8.2,796,8283,0.00,1.55,0.00,0.000,4,0.000,0.058,2534,3256,3601
$GC,8316,-0.58,-194.6,863.1,-8.9,799,8323,0.00,1.50,0.00,0.000,6,0.000,0.038,2534,2370,3601
$GC,8508,-0.58,-194.6,879.3,-8.6,818,8508,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2370,3600
$GC,8694,-0.58,-194.6,895.6,-8.7,836,8697,0.00,1.55,0.00,0.000,4,0.000,0.059,2528,3254,3599
$GC,8741,-0.58,-194.6,899.8,-8.3,840,8749,0.00,1.50,0.00,0.000,6,0.000,0.038,2527,2364,3599
$GC,8933,-0.58,-194.6,916.7,-8.7,859,8934,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2364,3599
$GC,9119,-0.58,-194.6,933.1,-9.0,877,9120,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2364,3598
$GC,9306,-0.58,-194.6,949.6,-8.9,895,9309,0.00,1.58,0.00,0.000,4,0.000,0.060,2521,3254,3597
$GC,9352,-0.58,-194.6,953.8,-9.0,899,9360,0.00,1.52,0.00,0.000,6,0.000,0.039,2520,2364,3597
$GC,9544,-0.58,-194.6,970.8,-9.0,918,9545,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2364,3597
$GC,9731,-0.58,-194.6,987.1,-8.9,936,9734,0.00,1.58,0.00,0.000,4,0.000,0.060,2514,3253,3596
$STATE,9765,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9766,begin apogee
$GC,9770,-0.26,0.0,990.3,8.0,939,9927,0.43,0.00,150.15,1.261,6,0.144,0.000,2645,2277,2839
$STATE,9928,end apogee,CONTROL_FINISHED_OK
$STATE,9928,begin climb
$GC,9929,0.58,194.6,994.8,0.0,955,10100,0.85,0.00,164.20,1.230,6,0.110,0.000,2911,2276,2045
$GC,10284,0.58,194.6,962.5,10.6,989,10285,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2277,2036
$GC,10471,0.58,194.6,943.3,10.4,1007,10471,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2277,2035
$GC,10657,0.58,194.6,923.6,10.5,1025,10660,0.00,1.75,0.00,0.000,4,0.000,0.070,2911,3166,2033
$GC,10689,0.58,194.6,919.9,11.5,1028,10692,0.00,1.62,0.00,0.000,6,0.000,0.041,2919,2285,2032
$GC,10885,0.58,194.6,897.9,11.1,1047,10886,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2286,2031
$GC,11072,0.58,194.6,877.6,11.0,1065,11072,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2286,2031
$GC,11258,0.58,194.6,856.9,11.3,1083,11258,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2286,2030
$GC,11444,0.58,194.6,836.4,10.3,1101,11445,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2286,2030
$GC,11630,0.58,194.6,816.5,10.4,1119,11634,0.00,1.67,0.00,0.000,4,0.000,0.061,2919,3172,2030
$GC,11662,0.58,194.6,812.8,12.2,1122,11665,0.00,1.62,0.00,0.000,6,0.000,0.040,2927,2281,2029
$GC,11859,0.58,194.6,790.5,11.6,1141,11860,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2282,2029
$GC,12045,0.58,194.6,769.7,10.7,1159,12046,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2282,2029
$GC,12231,0.58,194.6,748.8,11.1,1177,12235,0.00,1.67,0.00,0.000,4,0.000,0.060,2926,3169,2028
$GC,12256,0.58,194.6,745.8,12.0,1179,12264,0.00,1.62,0.00,0.000,6,0.000,0.040,2934,2281,2028
$GC,12449,0.58,194.6,723.9,11.1,1198,12450,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2281,2028
$GC,12635,0.58,194.6,702.4,11.9,1216,12636,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2281,2028
$GC,12821,0.58,194.6,680.8,11.7,1234,12825,0.00,1.65,0.00,0.000,4,0.000,0.058,2934,3160,2028
$GC,12874,0.58,194.6,674.2,13.4,1239,12878,0.00,1.60,0.00,0.000,6,0.000,0.040,2942,2280,2027
$GC,13071,0.58,194.6,650.0,12.1,1258,13072,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2281,2027
$GC,13258,0.58,194.6,627.5,11.8,1276,13259,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2281,2027
$GC,13444,0.58,194.6,604.5,12.5,1294,13444,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2281,2027
$GC,13630,0.58,194.6,581.6,12.2,1312,13631,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2281,2027
$GC,13816,0.58,194.6,558.9,12.0,1330,13817,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2281,2027
$GC,14002,0.58,194.6,536.2,12.5,1348,14006,0.00,1.65,0.00,0.000,4,0.000,0.057,2942,3164,2027
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$STATE,19431,end climb,SURFACE_DEPTH_REACHED
$STATE,19431,begin surface coast
$FINISH,0.8,1.005235
$STATE,19471,end surface coast,CONTROL_FINISHED_OK
$STATE,19471,begin surface
$SM_CCo,19484,7.30,0.408,0,0,494,575.22
$SM_GC,2.55,0.00,0.00,7.30,0.000,0.000,0.408,198,2376,494,-7.93,0.03,575.22
$IRIDIUM_FIX,2831.00,-8838.98,030999,070713
$TT8_MAMPS,0.049088
$HUMID,1278
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,24.10
$XPDR_PINGS,2
$24V_AH,23.4,19.595
$10V_AH,10.6,25.342
$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,20.525,108.775,586.575,7.300,0.000,27.912,25.059,214.225,0.500,0.000,0.000,14.952,0.000,13020.183,672.804,5617.791,521.584,33.346,2312.702,0.000,4996.921,0.000,0.847,0.000
$DEVICE_MAMPS,266.149,72.098,1260.948,408.044,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1280.174,1370.885,4205.640,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97633,1871
$CAP_FILE_SIZE,198594,0
$CFSIZE,260165632,246685696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$CURRENT,0.053,149.3,1
$GPS,090610,175537,2843.288,-8831.728,27,1.9,27,-0.4