version: 66.04
glider: 515
mission: 5
dive: 106
start: 6 11 110 14 20 35
data:
$ID,515
$MISSION,5
$DIVE,106
$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,-14
$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,-7030.4951
$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,28
$R_STBD_OVSHOOT,26
$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
$GPS1,140437,2840.636,-8828.747,27,1.4,27,-0.4
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-65.9
$GPS2,141856,2840.647,-8828.500,11,1.9,11,-0.4
$SPEED_LIMITS,0.115,0.252
$TGT_NAME,NEW0607E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.070,0.243
$KALMAN_X,-237191.2,956.4,1371.3,276612.1,-12931.9
$KALMAN_Y,72795.4,-433.5,-240.5,-88190.1,-5386.4
$MHEAD_RNG_PITCHd_Wd,287.7,26998,-9.2,-6.667
$D_GRID,1421
$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,-194.6,0.0,0.0,0,89,0.00,0.00,-75.78,0.000,2,0.000,0.000,195,2389,2664
$GC,91,-0.58,-194.6,3.4,-4.4,7,126,10.60,1.33,-21.33,0.000,4,0.264,0.061,2545,1470,3636
$GC,179,-0.58,-194.6,20.2,-21.1,15,183,0.00,1.30,0.00,0.000,6,0.000,0.039,2542,2371,3637
$GC,376,-0.58,-194.6,52.5,-13.4,34,379,0.00,1.25,0.00,0.000,4,0.000,0.040,2546,1472,3638
$GC,397,-0.58,-194.6,55.3,-13.4,36,400,0.00,1.27,0.00,0.000,6,0.000,0.038,2542,2370,3638
$GC,593,-0.58,-194.6,80.0,-13.3,55,597,0.00,1.25,0.00,0.000,4,0.000,0.039,2542,1466,3639
$GC,646,-0.58,-194.6,86.7,-12.6,60,650,0.00,1.27,0.00,0.000,6,0.000,0.038,2536,2369,3639
$GC,843,-0.58,-194.6,111.6,-12.9,79,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2370,3639
$GC,1153,-0.58,-194.6,150.7,-11.6,109,1157,0.00,1.25,0.00,0.000,4,0.000,0.039,2535,1463,3638
$GC,1243,-0.58,-194.6,161.3,-11.5,117,1251,0.00,1.33,0.00,0.000,6,0.000,0.038,2530,2379,3638
$GC,1560,-0.58,-194.6,198.3,-11.3,148,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2380,3636
$GC,1870,-0.58,-194.6,233.0,-10.9,178,1873,0.00,1.27,0.00,0.000,4,0.000,0.041,2530,1466,3634
$GC,1912,-0.58,-194.6,237.6,-11.1,182,1916,0.00,1.30,0.00,0.000,6,0.000,0.040,2524,2377,3634
$GC,2234,-0.58,-194.6,274.4,-11.7,213,2237,0.00,1.30,0.00,0.000,4,0.000,0.041,2524,1463,3632
$GC,2308,-0.58,-194.6,282.8,-10.8,220,2311,0.00,1.30,0.00,0.000,6,0.000,0.041,2517,2374,3632
$GC,2630,-0.58,-194.6,319.0,-11.4,251,2633,0.12,1.27,0.00,0.000,4,0.146,0.041,2550,1478,3629
$GC,2672,-0.58,-194.6,323.2,-9.1,255,2675,0.00,1.27,0.00,0.000,6,0.000,0.041,2546,2372,3629
$GC,2993,-0.58,-194.6,352.8,-8.9,286,2996,0.00,1.25,0.00,0.000,4,0.000,0.043,2546,1475,3627
$GC,3060,-0.58,-194.6,359.4,-9.7,292,3068,0.00,1.30,0.00,0.000,6,0.000,0.041,2540,2375,3626
$GC,3377,-0.58,-194.6,390.5,-10.1,323,3380,0.00,1.27,0.00,0.000,4,0.000,0.043,2540,1480,3624
$GC,3412,-0.58,-194.6,394.3,-10.7,326,3421,0.00,1.30,0.00,0.000,6,0.000,0.042,2535,2374,3624
$GC,3730,-0.58,-194.6,426.1,-10.3,357,3733,0.00,1.27,0.00,0.000,4,0.000,0.044,2535,1480,3621
$GC,3793,-0.58,-194.6,432.6,-10.0,363,3797,0.00,1.27,0.00,0.000,6,0.000,0.044,2529,2370,3621
$GC,4114,-0.58,-194.6,465.8,-10.2,394,4115,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2370,3618
$GC,4424,-0.58,-194.6,497.1,-10.0,424,4428,0.00,1.25,0.00,0.000,4,0.000,0.044,2529,1478,3616
$GC,4471,-0.58,-194.6,502.0,-10.0,428,4479,0.00,1.33,0.00,0.000,6,0.000,0.044,2523,2379,3615
$GC,4788,-0.58,-194.6,534.8,-10.4,459,4789,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2379,3613
$GC,5097,-0.58,-194.6,566.8,-10.3,489,5101,0.00,1.30,0.00,0.000,4,0.000,0.046,2523,1467,3611
$GC,5187,-0.58,-194.6,576.3,-11.1,497,5195,0.00,1.33,0.00,0.000,6,0.000,0.046,2517,2372,3610
$GC,5504,-0.58,-194.6,609.9,-10.6,528,5507,0.12,1.30,0.00,0.000,4,0.150,0.045,2550,1473,3607
$GC,5561,-0.58,-194.6,615.5,-9.5,533,5568,0.00,1.33,0.00,0.000,6,0.000,0.046,2545,2375,3607
$GC,5878,-0.58,-194.6,643.4,-8.9,564,5879,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2375,3605
$GC,6187,-0.58,-194.6,670.2,-8.4,594,6188,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2375,3604
$GC,6498,-0.58,-194.6,696.4,-8.6,624,6501,0.00,1.27,0.00,0.000,4,0.000,0.049,2546,1482,3602
$GC,6615,-0.58,-194.6,706.6,-8.5,635,6619,0.00,1.30,0.00,0.000,6,0.000,0.048,2541,2372,3601
$GC,6937,-0.58,-194.6,734.7,-8.8,666,6940,0.00,1.30,0.00,0.000,4,0.000,0.047,2540,1471,3599
$GC,7000,-0.58,-194.6,740.7,-9.3,672,7004,0.00,1.30,0.00,0.000,6,0.000,0.048,2535,2367,3599
$GC,7322,-0.58,-194.6,770.4,-9.0,703,7323,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2367,3597
$GC,7632,-0.58,-194.6,798.8,-8.9,733,7635,0.00,1.25,0.00,0.000,4,0.000,0.048,2535,1482,3596
$GC,7689,-0.58,-194.6,804.1,-9.6,738,7698,0.00,1.33,0.00,0.000,6,0.000,0.048,2530,2373,3595
$GC,8006,-0.58,-194.6,832.7,-9.2,769,8007,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2374,3593
$GC,8316,-0.58,-194.6,861.4,-9.4,799,8319,0.00,1.27,0.00,0.000,4,0.000,0.049,2530,1483,3592
$GC,8423,-0.58,-194.6,871.2,-8.9,809,8426,0.00,1.30,0.00,0.000,6,0.000,0.050,2525,2371,3592
$GC,8744,-0.58,-194.6,899.9,-8.8,840,8747,0.00,1.27,0.00,0.000,4,0.000,0.049,2525,1476,3591
$GC,8818,-0.58,-194.6,906.6,-8.7,847,8821,0.00,1.33,0.00,0.000,6,0.000,0.051,2519,2375,3591
$GC,9139,-0.58,-194.6,936.1,-9.5,878,9140,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2375,3589
$GC,9450,-0.58,-194.6,965.1,-9.8,908,9450,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2375,3588
$STATE,9717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9717,begin apogee
$GC,9720,-0.26,0.0,990.1,9.2,934,9871,0.43,0.00,148.68,1.264,6,0.140,0.000,2645,2287,2840
$STATE,9872,end apogee,CONTROL_FINISHED_OK
$STATE,9872,begin climb
$GC,9873,0.58,194.6,994.8,0.0,949,10043,0.85,1.83,164.10,1.233,4,0.111,0.056,2910,3174,2046
$GC,10090,0.58,194.6,977.3,11.7,967,10098,0.00,1.73,0.00,0.000,6,0.000,0.038,2917,2280,2040
$GC,10407,0.58,194.6,941.9,11.4,998,10408,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2281,2035
$GC,10717,0.58,194.6,906.8,11.0,1028,10720,0.00,1.67,0.00,0.000,4,0.000,0.058,2918,3174,2034
$GC,10749,0.58,194.6,903.0,11.9,1031,10752,0.00,1.62,0.00,0.000,6,0.000,0.040,2925,2279,2032
$GC,11070,0.58,194.6,864.4,11.5,1062,11073,0.00,1.17,0.00,0.000,4,0.000,0.047,2931,1378,2032
$GC,11105,0.58,194.6,860.2,11.9,1065,11113,0.00,1.25,0.00,0.000,6,0.000,0.047,2931,2289,2032
$GC,11422,0.58,194.6,823.4,11.6,1096,11423,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2289,2031
$GC,11732,0.58,194.6,787.2,11.8,1126,11735,0.00,1.65,0.00,0.000,4,0.000,0.057,2931,3183,2031
$GC,11774,0.58,194.6,781.9,12.0,1130,11778,0.00,1.62,0.00,0.000,6,0.000,0.039,2939,2276,2029
$GC,12095,0.58,194.6,742.2,12.7,1161,12096,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2277,2029
$GC,12406,0.58,194.6,703.8,12.5,1191,12409,0.00,1.67,0.00,0.000,4,0.000,0.057,2939,3181,2029
$GC,12431,0.58,194.6,700.3,13.9,1193,12439,0.00,1.62,0.00,0.000,6,0.000,0.039,2946,2280,2028
$GC,12748,0.58,194.6,660.2,12.8,1224,12749,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2280,2028
$GC,13058,0.58,194.6,621.1,12.4,1254,13059,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2280,2028
$GC,13369,0.58,194.6,582.6,12.4,1284,13372,0.00,1.65,0.00,0.000,4,0.000,0.057,2946,3175,2028
$GC,13411,0.58,194.6,577.0,12.6,1288,13414,0.08,1.58,0.00,0.000,6,0.162,0.039,2931,2287,2027
$GC,13732,0.58,194.6,542.3,11.0,1319,13732,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2287,2027
$GC,14042,0.58,194.6,509.1,10.8,1349,14043,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2287,2027
$GC,14353,0.58,194.6,476.2,9.9,1379,14356,0.00,1.62,0.00,0.000,4,0.000,0.055,2929,3176,2027
$GC,14384,0.58,194.6,472.4,11.3,1382,14388,0.00,1.60,0.00,0.000,6,0.000,0.038,2936,2277,2027
$GC,14705,0.58,194.6,436.8,11.1,1413,14706,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2278,2027
$GC,15016,0.58,194.6,401.8,11.9,1443,15019,0.00,1.62,0.00,0.000,4,0.000,0.055,2936,3179,2027
$GC,15051,0.58,194.6,397.3,12.0,1446,15061,0.00,1.60,0.00,0.000,6,0.000,0.038,2944,2282,2027
$GC,15368,0.58,194.6,359.9,12.0,1477,15369,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2283,2027
$GC,15678,0.58,194.6,322.6,11.5,1507,15682,0.00,1.62,0.00,0.000,4,0.000,0.054,2943,3174,2027
$GC,15736,0.58,194.6,315.0,13.6,1512,15743,0.00,1.60,0.00,0.000,6,0.000,0.037,2951,2277,2027
$GC,16053,0.58,194.6,274.9,12.6,1543,16054,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2277,2026
$GC,16363,0.58,194.6,235.4,12.7,1573,16366,0.00,1.65,0.00,0.000,4,0.000,0.054,2951,3186,2027
$GC,16430,0.58,194.6,226.0,14.3,1579,16439,0.15,1.60,0.00,0.000,6,0.158,0.035,2920,2282,2027
$GC,16747,0.58,194.6,194.0,10.0,1610,16751,0.00,1.15,0.00,0.000,4,0.000,0.041,2924,1374,2028
$GC,16790,0.58,194.6,189.5,10.4,1614,16793,0.00,1.20,0.00,0.000,6,0.000,0.041,2924,2289,2028
$GC,17111,0.58,194.6,157.8,9.7,1645,17114,0.00,1.60,0.00,0.000,4,0.000,0.051,2925,3175,2028
$GC,17164,0.58,194.6,152.3,9.9,1650,17167,0.00,1.58,0.00,0.000,6,0.000,0.035,2932,2276,2028
$GC,17485,0.58,194.6,120.3,10.0,1681,17485,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2277,2029
$GC,17795,0.58,194.6,90.2,9.9,1711,17796,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2277,2030
$GC,17981,0.58,194.6,72.2,9.1,1729,17985,0.00,1.62,0.00,0.000,4,0.000,0.048,2932,3181,2031
$GC,18045,0.58,194.6,65.7,9.3,1735,18048,0.00,1.58,0.00,0.000,6,0.000,0.032,2939,2274,2031
$GC,18242,0.58,194.6,48.0,8.3,1754,18243,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2275,2031
$GC,18428,0.62,228.5,35.8,5.9,1772,18455,0.00,1.62,24.50,0.542,4,0.000,0.046,2940,3184,1908
$GC,18476,0.62,228.5,32.6,7.7,1776,18480,0.00,1.58,0.00,0.000,6,0.000,0.032,2947,2281,1907
$GC,18674,0.69,282.7,19.8,5.4,1795,18722,0.00,1.10,41.17,0.532,4,0.000,0.036,2952,1377,1685
$GC,18768,0.83,398.7,15.4,3.9,1803,18860,0.15,1.20,85.65,0.523,6,0.060,0.035,3029,2285,1212
$STATE,19010,end climb,SURFACE_DEPTH_REACHED
$STATE,19010,begin surface coast
$FINISH,0.6,1.016603
$STATE,19082,end surface coast,CONTROL_FINISHED_OK
$STATE,19082,begin surface
$SM_CCo,19095,100.10,0.501,0,0,494,575.22
$SM_GC,1.57,0.00,0.00,100.10,0.000,0.000,0.501,198,2399,494,-7.93,0.68,575.22
$IRIDIUM_FIX,2833.46,-8829.10,050999,141428
$TT8_MAMPS,0.051389
$HUMID,1277
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,23.00
$XPDR_PINGS,0
$24V_AH,23.4,20.819
$10V_AH,10.6,27.497
$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,20.150,93.000,464.100,100.100,0.000,77.934,175.683,369.053,0.000,0.000,0.000,13.439,0.000,13036.524,653.984,5461.992,929.760,33.352,2197.032,0.000,4888.419,0.000,1.154,0.000
$DEVICE_MAMPS,263.848,66.729,1264.016,500.851,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1255.502,1341.083,4119.550,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94611,1833
$CAP_FILE_SIZE,180377,0
$CFSIZE,260165632,245809152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
$CURRENT,0.066,169.1,1
$GPS,110610,194131,2840.330,-8831.405,40,2.0,40,-0.4