version: 66.04
glider: 515
mission: 5
dive: 143
start: 6 19 110 21 3 11
data:
$ID,515
$MISSION,5
$DIVE,143
$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,440
$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,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,-7779.7817
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2747
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3575
$ROLL_DEG,25
$C_ROLL_DIVE,2375
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,250
$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,4
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$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
$GPS1,205506,2837.915,-8841.722,95,1.9,100,-0.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-72.4
$GPS2,210232,2837.816,-8841.769,12,1.9,12,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618A
$TGT_LATLONG,2837.900,-8826.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.126,0.232
$KALMAN_X,-237714.8,-211.3,-1981.8,260231.2,6301.8
$KALMAN_Y,-111909.9,-1048.6,10345.8,81275.1,-35324.6
$MHEAD_RNG_PITCHd_Wd,68.6,25633,-10.8,-7.500
$D_GRID,1293
$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,-0.63,-194.6,0.0,0.0,0,54,0.00,0.00,-40.83,0.000,2,0.000,0.000,200,2373,1781
$GC,56,-0.63,-194.6,3.2,-3.2,4,119,10.38,1.30,-47.38,0.000,4,0.253,0.058,2538,1472,3636
$GC,361,-0.50,-194.6,47.8,-13.4,32,364,0.15,1.23,0.00,0.000,6,0.155,0.035,2578,2355,3637
$GC,558,-0.44,-194.6,69.5,-10.4,51,559,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2355,3638
$GC,744,-0.38,-194.6,88.0,-9.9,69,747,0.15,1.20,0.00,0.000,4,0.147,0.035,2621,1472,3638
$GC,829,-0.38,-194.6,94.5,-6.6,77,832,0.00,1.27,0.00,0.000,6,0.000,0.036,2617,2376,3639
$GC,1026,-0.38,-194.6,108.9,-7.6,96,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2376,3638
$GC,1336,-0.38,-194.6,130.6,-6.7,126,1339,0.00,1.27,0.00,0.000,4,0.000,0.035,2617,1458,3637
$GC,1411,-0.38,-194.6,136.1,-7.4,133,1414,0.00,1.27,0.00,0.000,6,0.000,0.038,2611,2371,3637
$GC,1732,-0.38,-194.6,158.4,-6.8,164,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2372,3635
$GC,2042,-0.38,-194.6,178.3,-6.7,194,2045,0.00,1.25,0.00,0.000,4,0.000,0.035,2611,1466,3633
$GC,2106,-0.38,-194.6,182.5,-7.3,200,2109,0.00,1.27,0.00,0.000,6,0.000,0.038,2605,2374,3633
$GC,2428,-0.38,-194.6,204.5,-6.8,231,2431,0.00,1.25,0.00,0.000,4,0.000,0.036,2605,1476,3631
$GC,2485,-0.38,-194.6,208.6,-6.9,236,2492,0.00,1.30,0.00,0.000,6,0.000,0.037,2600,2381,3631
$GC,2802,-0.38,-194.6,230.2,-7.0,267,2803,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2380,3628
$GC,3111,-0.38,-194.6,251.6,-6.9,297,3115,0.00,1.27,0.00,0.000,4,0.000,0.036,2600,1472,3627
$GC,3175,-0.38,-194.6,256.2,-7.7,303,3178,0.00,1.27,0.00,0.000,6,0.000,0.038,2595,2376,3627
$GC,3497,-0.38,-194.6,279.4,-7.1,334,3498,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2376,3624
$GC,3807,-0.38,-194.6,301.7,-7.2,364,3810,0.00,1.27,0.00,0.000,4,0.000,0.038,2595,1469,3623
$GC,3853,-0.38,-194.6,305.1,-7.5,368,3861,0.12,1.30,0.00,0.000,6,0.133,0.039,2624,2375,3623
$GC,4171,-0.41,-194.6,322.1,-5.2,399,4174,0.00,1.27,0.00,0.000,4,0.000,0.038,2625,1467,3621
$GC,4214,-0.43,-194.6,324.5,-5.7,403,4216,0.00,1.27,0.00,0.000,6,0.000,0.041,2624,2371,3621
$GC,4535,-0.46,-194.6,342.4,-6.0,434,4536,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2371,3619
$GC,4846,-0.48,-194.6,359.8,-5.5,464,4849,0.00,1.25,0.00,0.000,4,0.000,0.038,2624,1478,3617
$GC,4893,-0.50,-194.6,362.7,-6.0,468,4900,0.08,1.27,0.00,0.000,6,0.053,0.041,2569,2372,3616
$GC,5209,-0.47,-194.6,388.9,-8.5,499,5209,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2372,3614
$GC,5520,-0.44,-194.6,414.9,-8.5,529,5523,0.12,1.25,0.00,0.000,4,0.141,0.039,2602,1480,3613
$GC,5598,-0.44,-194.6,420.6,-6.7,536,5606,0.00,1.30,0.00,0.000,6,0.000,0.041,2598,2376,3612
$GC,5916,-0.44,-194.6,441.9,-6.8,567,5918,0.00,1.27,0.00,0.000,4,0.000,0.040,2598,1478,3610
$GC,5973,-0.44,-194.6,446.1,-7.3,572,5980,0.00,1.30,0.00,0.000,6,0.000,0.041,2592,2375,3610
$GC,6290,-0.44,-194.6,467.8,-7.1,603,6293,0.00,1.27,0.00,0.000,4,0.000,0.041,2592,1471,3609
$GC,6343,-0.44,-194.6,471.7,-7.1,608,6346,0.00,1.30,0.00,0.000,6,0.000,0.043,2586,2377,3609
$GC,6665,-0.44,-194.6,494.2,-6.7,639,6668,0.00,1.27,0.00,0.000,4,0.000,0.041,2586,1482,3607
$GC,6718,-0.43,-194.6,498.1,-7.0,644,6721,0.00,1.30,0.00,0.000,6,0.000,0.044,2581,2379,3607
$GC,7041,-0.41,-194.6,521.3,-7.4,675,7044,0.12,1.30,0.00,0.000,4,0.146,0.041,2615,1473,3605
$GC,7093,-0.43,-194.6,524.7,-6.1,680,7096,0.00,1.30,0.00,0.000,6,0.000,0.044,2611,2375,3605
$GC,7416,-0.45,-194.6,543.4,-5.7,711,7416,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2375,3603
$GC,7725,-0.46,-194.6,561.6,-5.9,741,7728,0.00,1.27,0.00,0.000,4,0.000,0.042,2611,1481,3601
$GC,7800,-0.48,-194.6,566.2,-6.1,748,7803,0.00,1.30,0.00,0.000,6,0.000,0.045,2606,2377,3601
$GC,8121,-0.49,-194.6,585.0,-5.7,779,8124,0.00,1.30,0.00,0.000,4,0.000,0.042,2605,1471,3600
$GC,8238,-0.49,-194.6,592.1,-5.7,790,8241,0.00,1.30,0.00,0.000,6,0.000,0.046,2600,2371,3599
$GC,8560,-0.49,-194.6,611.5,-5.8,821,8561,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2372,3597
$GC,8870,-0.49,-194.6,630.0,-5.6,851,8873,0.00,1.27,0.00,0.000,4,0.000,0.044,2601,1478,3596
$GC,8937,-0.49,-194.6,634.2,-6.0,857,8945,0.00,1.33,0.00,0.000,6,0.000,0.048,2595,2374,3596
$GC,9255,-0.49,-194.6,653.3,-6.3,888,9258,0.00,1.27,0.00,0.000,4,0.000,0.043,2595,1484,3594
$GC,9302,-0.49,-194.6,656.5,-6.7,892,9309,0.00,1.30,0.00,0.000,6,0.000,0.048,2590,2374,3594
$GC,9618,-0.49,-194.6,676.3,-6.6,923,9622,0.00,1.30,0.00,0.000,4,0.000,0.044,2590,1469,3593
$GC,9661,-0.49,-194.6,679.1,-7.3,927,9664,0.00,1.33,0.00,0.000,6,0.000,0.049,2584,2374,3593
$GC,9982,-0.49,-194.6,700.9,-6.9,958,9983,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2375,3592
$GC,10293,-0.49,-194.6,722.7,-6.8,988,10296,0.00,1.27,0.00,0.000,4,0.000,0.045,2584,1488,3591
$GC,10399,-0.49,-194.6,730.4,-7.0,998,10403,0.00,1.30,0.00,0.000,6,0.000,0.050,2579,2373,3591
$GC,10720,-0.49,-194.6,753.0,-6.9,1029,10723,0.00,1.27,0.00,0.000,4,0.000,0.045,2578,1487,3590
$GC,10767,-0.48,-194.6,756.6,-8.2,1033,10775,0.00,1.35,0.00,0.000,6,0.000,0.049,2573,2384,3590
$GC,11085,-0.46,-194.6,780.0,-7.6,1064,11088,0.00,1.33,0.00,0.000,4,0.000,0.046,2573,1480,3589
$GC,11163,-0.45,-194.6,786.3,-7.0,1071,11172,0.12,1.35,0.00,0.000,6,0.153,0.049,2600,2380,3589
$GC,11480,-0.46,-194.6,805.5,-5.7,1102,11481,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2381,3589
$GC,11791,-0.48,-194.6,823.1,-5.6,1132,11794,0.00,1.33,0.00,0.000,4,0.000,0.046,2600,1472,3587
$GC,11855,-0.48,-194.6,826.9,-6.4,1138,11858,0.00,1.33,0.00,0.000,6,0.000,0.050,2596,2374,3587
$GC,12177,-0.49,-194.6,845.0,-5.7,1169,12178,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2374,3586
$GC,12488,-0.50,-194.6,862.4,-5.6,1199,12491,0.00,1.30,0.00,0.000,4,0.000,0.046,2596,1477,3585
$GC,12551,-0.50,-194.6,866.5,-6.2,1205,12555,0.00,1.33,0.00,0.000,6,0.000,0.050,2590,2373,3585
$GC,12872,-0.50,-194.6,885.7,-5.7,1236,12876,0.00,1.30,0.00,0.000,4,0.000,0.046,2590,1478,3584
$GC,12925,-0.50,-194.6,889.2,-6.9,1241,12929,0.00,1.33,0.00,0.000,6,0.000,0.050,2584,2374,3584
$GC,13247,-0.50,-194.6,909.6,-6.2,1272,13248,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2374,3583
$GC,13558,-0.50,-194.6,929.4,-6.3,1302,13559,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2374,3583
$GC,13868,-0.50,-194.6,949.1,-6.3,1332,13871,0.00,1.30,0.00,0.000,4,0.000,0.047,2585,1477,3582
$GC,13921,-0.50,-194.6,952.6,-6.3,1337,13924,0.00,1.33,0.00,0.000,6,0.000,0.051,2579,2374,3582
$GC,14243,-0.50,-194.6,973.7,-6.7,1368,14243,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2374,3582
$STATE,14498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14498,begin apogee
$GC,14503,-0.25,0.0,990.8,6.6,1393,14654,0.28,0.00,148.93,1.269,6,0.127,0.000,2663,2249,2840
$STATE,14654,end apogee,CONTROL_FINISHED_OK
$STATE,14654,begin climb
$GC,14656,0.63,194.6,995.4,0.0,1408,14829,0.93,1.92,167.65,1.235,4,0.109,0.061,2947,3139,2045
$GC,14859,0.52,194.6,978.0,11.5,1428,14863,0.15,1.73,0.00,0.000,6,0.158,0.038,2921,2252,2041
$GC,15180,0.46,194.6,945.4,9.8,1459,15181,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2253,2034
$GC,15491,0.39,194.6,915.1,9.5,1489,15492,0.17,0.00,0.00,0.000,6,0.143,0.000,2870,2252,2033
$GC,15801,0.44,236.2,894.7,6.4,1519,15838,0.00,1.80,33.22,1.166,4,0.000,0.057,2871,3149,1877
$GC,15891,0.44,236.2,888.2,8.3,1527,15894,0.00,1.70,0.00,0.000,6,0.000,0.039,2877,2241,1872
$GC,16212,0.46,250.8,866.6,7.1,1558,16227,0.00,1.73,12.55,1.062,4,0.000,0.057,2877,3151,1818
$GC,16254,0.46,252.3,863.5,7.5,1561,16262,0.00,1.70,2.95,0.499,6,0.000,0.038,2884,2247,1811
$GC,16571,0.49,272.2,840.6,7.0,1592,16594,0.00,1.73,18.33,1.096,4,0.000,0.056,2884,3148,1729
$GC,16614,0.49,272.2,837.1,8.4,1596,16618,0.00,1.67,0.00,0.000,6,0.000,0.039,2891,2253,1727
$GC,16935,0.49,272.2,812.5,7.8,1627,16936,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2254,1723
$GC,17247,0.49,273.8,788.8,7.5,1657,17250,0.00,1.67,0.00,0.000,4,0.000,0.058,2891,3146,1722
$GC,17283,0.48,273.8,785.7,8.8,1660,17291,0.00,1.67,0.00,0.000,6,0.000,0.038,2899,2240,1721
$GC,17600,0.48,273.8,760.6,7.8,1691,17601,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2240,1721
$GC,17911,0.46,273.8,736.0,8.4,1721,17914,0.00,1.73,0.00,0.000,4,0.000,0.057,2899,3146,1721
$GC,17974,0.44,273.8,730.1,8.4,1727,17977,0.00,1.62,0.00,0.000,6,0.000,0.040,2906,2254,1720
$GC,18295,0.43,273.8,702.8,8.7,1758,18296,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2255,1720
$GC,18606,0.41,273.8,676.7,8.1,1788,18609,0.00,1.70,0.00,0.000,4,0.000,0.056,2906,3151,1720
$GC,18642,0.38,273.8,673.1,8.2,1791,18651,0.12,1.65,0.00,0.000,6,0.127,0.038,2871,2250,1719
$GC,18958,0.48,273.8,650.6,8.0,1822,18961,0.00,1.12,0.00,0.000,4,0.000,0.046,2871,1350,1719
$GC,19086,0.59,273.8,640.3,8.1,1834,19090,0.15,1.20,0.00,0.000,6,0.073,0.046,2935,2266,1719
$GC,19407,0.62,273.8,612.6,8.3,1865,19410,0.00,1.62,0.00,0.000,4,0.000,0.056,2935,3131,1718
$GC,19525,0.57,273.8,600.3,10.9,1876,19528,0.00,1.60,0.00,0.000,6,0.000,0.040,2943,2252,1719
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$STATE,26919,end climb,SURFACE_DEPTH_REACHED
$STATE,26919,begin surface coast
$FINISH,2.9,1.015327
$STATE,26943,end surface coast,CONTROL_FINISHED_OK
$STATE,26943,begin surface
$SM_CCo,27018,0.00,0.000,0,0,459,584.05
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$IRIDIUM_FIX,2828.55,-8843.89,130999,131354
$TT8_MAMPS,0.050622
$HUMID,1325
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$TCM_TEMP,23.50
$XPDR_PINGS,2
$24V_AH,23.0,26.417
$10V_AH,10.6,36.156
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$DEVICE_SECS,22.750,133.275,626.250,0.000,0.000,28.257,26.510,258.820,0.500,0.000,0.000,15.462,0.000,18278.096,697.151,7737.629,704.110,33.339,2865.017,0.000,6927.602,0.000,0.848,0.000
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$SENSOR_SECS,1774.239,1901.884,5816.784,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132309,2588
$CAP_FILE_SIZE,255870,0
$CFSIZE,260165632,242278400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081,196.9,1
$GPS,200610,043537,2838.610,-8838.296,109,1.3,109,-0.3