version: 66.04
glider: 515
mission: 5
dive: 27
start: 5 25 110 4 10 52
data:
$ID,515
$MISSION,5
$DIVE,27
$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,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,150
$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,-4288.8403
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2700
$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,35
$C_ROLL_DIVE,2168
$C_ROLL_CLIMB,2258
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,3054
$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,3
$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
$GPS1,034655,2840.948,-8831.019,40,1.7,40,-0.4
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-67.1
$GPS2,041013,2841.155,-8831.348,12,1.6,16,-0.4
$SPEED_LIMITS,0.130,0.234
$TGT_NAME,SITE48
$TGT_LATLONG,2838.100,-8837.700
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.079,0.103
$KALMAN_X,-40530.4,768.1,255.1,76722.7,-9037.8
$KALMAN_Y,-59997.0,302.3,493.6,44040.6,-7271.9
$MHEAD_RNG_PITCHd_Wd,227.6,11774,-13.1,-7.500
$D_GRID,1413
$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,-0.66,-146.0,0.0,0.0,0,107,0.00,0.00,-92.60,0.000,2,0.000,0.000,197,2144,2955
$GC,108,-0.66,-146.0,3.1,-4.3,13,142,10.35,2.20,-15.75,0.000,4,0.268,0.058,2470,3397,3653
$GC,302,-0.66,-146.0,46.6,-18.1,48,309,0.00,2.03,0.00,0.000,6,0.000,0.030,2470,2181,3653
$GC,372,-0.66,-146.0,59.0,-16.5,61,378,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2181,3654
$GC,441,-0.66,-146.0,71.3,-17.6,74,448,0.00,2.10,0.00,0.000,4,0.000,0.048,2461,3400,3653
$GC,473,-0.66,-146.0,77.2,-18.1,80,481,0.00,2.05,0.00,0.000,6,0.000,0.031,2468,2167,3654
$GC,544,-0.66,-146.0,89.7,-17.6,93,550,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2167,3654
$GC,613,-0.66,-146.0,101.8,-18.1,106,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2167,3654
$GC,746,-0.66,-146.0,125.0,-17.5,131,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2166,3654
$GC,874,-0.66,-146.0,146.4,-15.7,155,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2166,3654
$GC,1008,-0.66,-146.0,167.4,-14.9,180,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2167,3654
$GC,1142,-0.66,-146.0,188.1,-15.5,205,1148,0.00,2.10,0.00,0.000,4,0.000,0.049,2460,3407,3653
$GC,1169,-0.66,-146.0,192.5,-16.5,210,1176,0.00,2.03,0.00,0.000,6,0.000,0.031,2460,2161,3653
$GC,1303,-0.66,-146.0,213.4,-15.8,235,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2162,3652
$GC,1431,-0.66,-146.0,233.5,-15.8,259,1439,0.00,1.60,0.00,0.000,4,0.000,0.041,2460,923,3651
$GC,1470,-0.66,-146.0,239.4,-15.3,266,1478,0.08,1.65,0.00,0.000,6,0.177,0.037,2475,2182,3652
$GC,1606,-0.66,-146.0,258.7,-14.2,291,1613,0.00,2.05,0.00,0.000,4,0.000,0.051,2466,3404,3650
$GC,1638,-0.66,-146.0,263.7,-14.7,297,1646,0.00,2.03,0.00,0.000,6,0.000,0.032,2466,2166,3650
$GC,1773,-0.66,-146.0,283.8,-15.1,322,1780,0.00,2.10,0.00,0.000,4,0.000,0.050,2457,3409,3649
$GC,1800,-0.66,-146.0,288.0,-15.5,327,1808,0.00,2.00,0.00,0.000,6,0.000,0.033,2458,2172,3649
$GC,1935,-0.66,-146.0,309.1,-15.3,352,1943,0.00,1.62,0.00,0.000,4,0.000,0.042,2457,920,3648
$GC,1958,-0.66,-146.0,312.6,-15.4,356,1965,0.10,1.65,0.00,0.000,6,0.174,0.038,2479,2180,3648
$GC,2092,-0.66,-146.0,331.5,-13.6,381,2098,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2181,3647
$GC,2225,-0.66,-146.0,349.3,-12.3,406,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2181,3646
$GC,2359,-0.66,-146.0,367.1,-13.0,431,2360,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2181,3645
$GC,2487,-0.66,-146.0,384.0,-12.8,455,2494,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2181,3644
$GC,2621,-0.66,-146.0,402.1,-13.7,480,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2181,3643
$GC,2754,-0.66,-146.0,420.0,-13.1,505,2761,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2182,3642
$GC,2888,-0.66,-146.0,438.3,-14.1,530,2895,0.00,2.05,0.00,0.000,4,0.000,0.053,2471,3408,3640
$GC,2931,-0.66,-146.0,444.5,-14.2,538,2938,0.00,2.03,0.00,0.000,6,0.000,0.035,2472,2167,3640
$GC,3066,-0.66,-146.0,463.1,-14.0,563,3073,0.00,2.10,0.00,0.000,4,0.000,0.054,2464,3408,3639
$GC,3094,-0.66,-146.0,467.0,-13.6,568,3100,0.00,2.00,0.00,0.000,6,0.000,0.036,2464,2172,3639
$GC,3228,-0.66,-146.0,485.7,-13.9,593,3228,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2173,3637
$GC,3356,-0.66,-146.0,503.6,-13.9,617,3362,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2173,3636
$GC,3489,-0.66,-146.0,522.2,-13.7,642,3496,0.00,2.10,0.00,0.000,4,0.000,0.055,2454,3411,3634
$GC,3516,-0.66,-146.0,526.2,-14.5,647,3525,0.08,2.03,0.00,0.000,6,0.186,0.037,2476,2164,3634
$GC,3653,-0.66,-146.0,543.5,-12.4,672,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2166,3633
$GC,3786,-0.66,-146.0,560.5,-12.7,697,3787,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2166,3632
$GC,3914,-0.66,-146.0,577.1,-12.9,721,3920,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2166,3631
$GC,4047,-0.66,-146.0,594.4,-13.2,746,4054,0.00,2.10,0.00,0.000,4,0.000,0.055,2468,3405,3629
$GC,4074,-0.66,-146.0,598.2,-13.6,751,4083,0.00,2.03,0.00,0.000,6,0.000,0.038,2468,2167,3629
$GC,4211,-0.66,-146.0,616.5,-13.6,776,4217,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2168,3628
$GC,4344,-0.66,-146.0,634.2,-13.3,801,4344,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2168,3627
$GC,4472,-0.66,-146.0,651.3,-13.4,825,4479,0.00,2.12,0.00,0.000,4,0.000,0.057,2458,3410,3626
$GC,4505,-0.66,-146.0,655.9,-14.0,831,4513,0.00,2.03,0.00,0.000,6,0.000,0.038,2458,2172,3626
$GC,4640,-0.66,-146.0,674.9,-13.5,856,4647,0.00,2.10,0.00,0.000,4,0.000,0.058,2449,3404,3624
$GC,4668,-0.66,-146.0,679.1,-14.7,861,4675,0.10,2.03,0.00,0.000,6,0.183,0.038,2478,2165,3624
$GC,4803,-0.66,-146.0,696.1,-12.0,886,4809,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2166,3623
$GC,4936,-0.66,-146.0,712.2,-11.8,911,4944,0.00,2.12,0.00,0.000,4,0.000,0.057,2470,3415,3622
$GC,4969,-0.66,-146.0,716.6,-12.9,917,4977,0.00,2.03,0.00,0.000,6,0.000,0.038,2470,2170,3621
$GC,5104,-0.66,-146.0,733.7,-12.8,942,5111,0.00,2.10,0.00,0.000,4,0.000,0.058,2461,3402,3620
$GC,5132,-0.66,-146.0,737.4,-13.2,947,5140,0.00,2.03,0.00,0.000,6,0.000,0.038,2461,2169,3620
$GC,5267,-0.66,-146.0,755.3,-13.4,972,5273,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2168,3620
$GC,5400,-0.66,-146.0,772.9,-13.2,997,5408,0.00,2.12,0.00,0.000,4,0.000,0.058,2451,3411,3618
$GC,5439,-0.66,-146.0,778.2,-14.0,1004,5446,0.10,2.03,0.00,0.000,6,0.183,0.039,2480,2169,3618
$GC,5573,-0.66,-146.0,794.2,-11.1,1029,5574,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2170,3618
$GC,5701,-0.66,-146.0,809.0,-11.7,1053,5708,0.00,2.12,0.00,0.000,4,0.000,0.058,2471,3412,3617
$GC,5755,-0.66,-146.0,815.7,-12.4,1063,5763,0.00,2.03,0.00,0.000,6,0.000,0.039,2472,2171,3617
$GC,5891,-0.66,-146.0,832.6,-12.5,1088,5898,0.00,1.65,0.00,0.000,4,0.000,0.049,2472,924,3616
$GC,5929,-0.66,-146.0,837.3,-12.6,1095,5937,0.00,1.65,0.00,0.000,6,0.000,0.044,2465,2170,3615
$GC,6064,-0.66,-146.0,854.5,-12.6,1120,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2171,3615
$GC,6198,-0.66,-146.0,871.1,-12.3,1145,6204,0.00,2.08,0.00,0.000,4,0.000,0.058,2455,3403,3614
$GC,6225,-0.66,-146.0,874.6,-12.8,1150,6232,0.00,2.03,0.00,0.000,6,0.000,0.041,2455,2168,3614
$GC,6359,-0.66,-146.0,892.1,-13.1,1175,6367,0.12,0.00,0.00,0.000,6,0.186,0.000,2484,2167,3614
$GC,6494,-0.66,-146.0,907.7,-11.6,1200,6501,0.00,2.12,0.00,0.000,4,0.000,0.060,2476,3412,3613
$GC,6521,-0.66,-146.0,911.2,-12.3,1205,6528,0.00,2.03,0.00,0.000,6,0.000,0.040,2477,2170,3613
$GC,6656,-0.66,-146.0,926.8,-11.7,1230,6661,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2170,3612
$GC,6789,-0.66,-146.0,942.0,-11.3,1255,6797,0.00,2.12,0.00,0.000,4,0.000,0.060,2469,3412,3611
$GC,6833,-0.66,-146.0,947.4,-12.6,1263,6842,0.00,2.03,0.00,0.000,6,0.000,0.041,2469,2172,3611
$GC,6969,-0.66,-146.0,963.5,-12.0,1288,6975,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2174,3610
$GC,7102,-0.66,-146.0,979.3,-12.0,1313,7108,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2174,3609
$STATE,7191,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7192,begin apogee
$GC,7195,-0.26,0.0,990.1,11.7,1330,7307,0.45,0.00,108.68,1.251,6,0.160,0.000,2604,2254,3054
$STATE,7307,end apogee,CONTROL_FINISHED_OK
$STATE,7307,begin climb
$GC,7309,0.66,146.0,995.7,0.0,1346,7438,0.98,1.85,121.97,1.222,4,0.116,0.045,2913,1003,2457
$GC,7464,0.66,146.0,987.7,8.7,1370,7471,0.00,1.85,0.00,0.000,6,0.000,0.047,2912,2250,2453
$GC,7598,0.66,146.0,974.8,9.8,1395,7606,0.00,2.38,0.00,0.000,4,0.000,0.063,2913,3494,2450
$GC,7622,0.66,146.0,972.4,10.2,1399,7630,0.00,2.28,0.00,0.000,6,0.000,0.038,2924,2265,2448
$GC,7757,0.66,146.0,958.2,10.3,1424,7764,0.00,1.75,0.00,0.000,4,0.000,0.046,2932,994,2448
$GC,7785,0.66,146.0,955.3,10.8,1429,7792,0.00,1.77,0.00,0.000,6,0.000,0.046,2932,2263,2448
$GC,7919,0.66,146.0,940.7,11.0,1454,7920,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2263,2447
$GC,8047,0.66,146.0,927.3,10.4,1478,8054,0.00,2.35,0.00,0.000,4,0.000,0.062,2932,3496,2446
$GC,8096,0.66,146.0,921.5,12.4,1487,8105,0.00,2.28,0.00,0.000,6,0.000,0.038,2942,2256,2445
$GC,8232,0.66,146.0,906.6,11.3,1512,8239,0.00,1.70,0.00,0.000,4,0.000,0.045,2950,1003,2445
$GC,8264,0.66,146.0,903.0,11.2,1518,8272,0.10,1.73,0.00,0.000,6,0.166,0.046,2921,2259,2445
$GC,8400,0.66,146.0,889.4,10.0,1543,8407,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2259,2443
$GC,8534,0.66,146.0,876.3,9.4,1568,8540,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2259,2443
$GC,8667,0.66,146.0,862.9,10.1,1593,8673,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2259,2443
$GC,8800,0.66,146.0,849.5,10.5,1618,8806,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2259,2442
$GC,8934,0.66,146.0,836.4,9.9,1643,8942,0.00,1.73,0.00,0.000,4,0.000,0.047,2928,992,2442
$GC,8978,0.66,146.0,832.0,9.6,1651,8986,0.00,1.73,0.00,0.000,6,0.000,0.046,2928,2257,2442
$GC,9113,0.66,146.0,818.3,10.3,1676,9121,0.00,1.70,0.00,0.000,4,0.000,0.046,2936,1004,2442
$GC,9152,0.66,146.0,814.4,10.3,1683,9160,0.00,1.70,0.00,0.000,6,0.000,0.046,2935,2256,2442
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$STATE,18274,end climb,SURFACE_DEPTH_REACHED
$STATE,18274,begin surface coast
$FINISH,0.4,1.008757
$STATE,18322,end surface coast,CONTROL_FINISHED_OK
$STATE,18322,begin surface
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$HUMID,1230
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$TCM_TEMP,22.40
$XPDR_PINGS,4
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$10V_AH,10.6,8.125
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$DEVICE_SECS,21.325,248.600,413.625,98.725,0.000,55.683,64.151,1034.701,1.000,0.000,0.000,18.112,0.000,7717.583,1139.926,9361.095,1528.689,33.359,3843.360,0.000,8412.820,0.000,1.155,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,169940,3378
$CAP_FILE_SIZE,325331,0
$CFSIZE,260165632,253919232
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,28,0,0
$CURRENT,0.142,268.5,1
$GPS,250510,091907,2839.624,-8834.875,41,1.8,41,-0.3