version: 66.04
glider: 515
mission: 5
dive: 35
start: 5 26 110 21 10 53
data:
$ID,515
$MISSION,5
$DIVE,35
$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,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,-4444.1318
$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,30
$C_ROLL_DIVE,2265
$C_ROLL_CLIMB,2305
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,3010
$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
$GPS1,210400,2835.964,-8831.948,37,1.2,37,-0.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-68.6
$GPS2,211014,2835.936,-8831.999,9,1.6,9,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,SITE44
$TGT_LATLONG,2841.000,-8829.800
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.221,0.146
$KALMAN_X,-73592.3,1786.8,713.3,107221.1,-15338.4
$KALMAN_Y,-79659.1,45.5,701.7,54088.2,-3122.2
$MHEAD_RNG_PITCHd_Wd,49.3,10036,-10.8,-7.500
$D_GRID,1605
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.64,-194.6,0.0,0.0,0,96,0.00,0.00,-83.28,0.000,2,0.000,0.000,202,2276,2931
$GC,97,-0.64,-194.6,3.1,-4.1,8,134,10.30,1.48,-19.55,0.000,4,0.266,0.059,2493,1179,3807
$GC,240,-0.64,-194.6,38.3,-21.8,21,244,0.00,1.45,0.00,0.000,6,0.000,0.039,2488,2261,3807
$GC,312,-0.64,-194.6,52.1,-19.7,28,313,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2261,3808
$GC,374,-0.64,-194.6,63.3,-18.2,34,375,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2261,3809
$GC,436,-0.64,-194.6,74.5,-17.5,40,440,0.00,1.85,0.00,0.000,4,0.000,0.050,2478,3320,3809
$GC,462,-0.64,-194.6,79.5,-19.4,42,470,0.00,1.80,0.00,0.000,6,0.000,0.031,2485,2264,3809
$GC,530,-0.64,-194.6,91.4,-17.8,49,530,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2262,3809
$GC,592,-0.64,-194.6,102.4,-17.5,55,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2262,3809
$GC,716,-0.64,-194.6,123.8,-17.2,67,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2262,3810
$GC,840,-0.64,-194.6,145.4,-17.0,79,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2262,3810
$GC,964,-0.64,-194.6,165.9,-16.2,91,968,0.00,1.40,0.00,0.000,4,0.000,0.039,2485,1178,3810
$GC,1007,-0.64,-194.6,172.3,-14.6,95,1010,0.00,1.45,0.00,0.000,6,0.000,0.039,2479,2270,3810
$GC,1141,-0.64,-194.6,194.1,-16.4,108,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2270,3810
$GC,1266,-0.64,-194.6,213.5,-15.2,120,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2270,3810
$GC,1390,-0.64,-194.6,231.5,-14.3,132,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2270,3810
$GC,1514,-0.64,-194.6,249.9,-15.4,144,1518,0.00,1.83,0.00,0.000,4,0.000,0.051,2471,3325,3809
$GC,1567,-0.64,-194.6,258.1,-15.3,149,1571,0.00,1.77,0.00,0.000,6,0.000,0.033,2471,2263,3810
$GC,1701,-0.64,-194.6,278.1,-14.5,162,1702,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2261,3809
$GC,1826,-0.64,-194.6,297.1,-15.4,174,1827,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2261,3808
$GC,1950,-0.64,-194.6,315.7,-14.5,186,1951,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2261,3808
$GC,2074,-0.64,-194.6,334.5,-14.8,198,2075,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2260,3807
$GC,2198,-0.64,-194.6,352.8,-14.8,210,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2260,3807
$GC,2322,-0.64,-194.6,371.2,-14.5,222,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2260,3807
$GC,2447,-0.64,-194.6,388.7,-14.1,234,2447,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2260,3807
$GC,2571,-0.64,-194.6,406.3,-14.3,246,2572,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2260,3806
$GC,2695,-0.64,-194.6,424.6,-15.1,258,2696,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2260,3805
$GC,2819,-0.64,-194.6,442.5,-14.4,270,2823,0.00,1.85,0.00,0.000,4,0.000,0.054,2464,3315,3804
$GC,2844,-0.64,-194.6,446.5,-15.0,272,2853,0.10,1.77,0.00,0.000,6,0.169,0.035,2487,2267,3803
$GC,2974,-0.64,-194.6,463.1,-12.9,285,2975,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2265,3802
$GC,3099,-0.64,-194.6,479.1,-13.0,297,3100,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2265,3802
$GC,3223,-0.64,-194.6,495.3,-13.1,309,3227,0.00,1.85,0.00,0.000,4,0.000,0.057,2480,3317,3800
$GC,3270,-0.64,-194.6,501.9,-13.3,313,3279,0.00,1.80,0.00,0.000,6,0.000,0.036,2480,2255,3800
$GC,3400,-0.64,-194.6,519.8,-13.5,326,3401,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2256,3800
$GC,3524,-0.64,-194.6,535.9,-12.6,338,3528,0.00,1.40,0.00,0.000,4,0.000,0.044,2479,1183,3799
$GC,3566,-0.64,-194.6,541.5,-13.4,342,3570,0.00,1.45,0.00,0.000,6,0.000,0.044,2473,2265,3798
$GC,3701,-0.64,-194.6,559.8,-14.1,355,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2265,3797
$GC,3825,-0.64,-194.6,576.4,-13.9,367,3826,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2265,3796
$GC,3949,-0.64,-194.6,593.0,-13.6,379,3950,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2265,3795
$GC,4074,-0.64,-194.6,609.4,-13.6,391,4074,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2265,3794
$GC,4197,-0.64,-194.6,625.9,-12.8,403,4201,0.00,1.83,0.00,0.000,4,0.000,0.058,2465,3313,3793
$GC,4230,-0.64,-194.6,630.4,-14.1,406,4233,0.00,1.75,0.00,0.000,6,0.000,0.038,2465,2278,3793
$GC,4364,-0.64,-194.6,649.4,-14.4,419,4365,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2277,3792
$GC,4488,-0.64,-194.6,667.2,-14.6,431,4489,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2277,3791
$GC,4612,-0.64,-194.6,684.9,-14.4,443,4613,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2277,3790
$GC,4736,-0.64,-194.6,702.7,-14.2,455,4737,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2276,3789
$GC,4861,-0.64,-194.6,720.3,-14.3,467,4862,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2276,3788
$GC,4985,-0.64,-194.6,737.9,-13.6,479,4985,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2277,3787
$GC,5109,-0.64,-194.6,755.0,-13.8,491,5110,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2276,3786
$GC,5233,-0.64,-194.6,771.6,-13.5,503,5234,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2276,3786
$GC,5357,-0.64,-194.6,788.7,-13.8,515,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2276,3785
$GC,5481,-0.64,-194.6,805.5,-13.5,527,5482,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2276,3784
$GC,5606,-0.64,-194.6,822.4,-13.6,539,5607,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2276,3783
$GC,5730,-0.64,-194.6,839.3,-13.4,551,5731,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2276,3783
$GC,5854,-0.64,-194.6,856.1,-13.5,563,5855,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2275,3782
$GC,5978,-0.64,-194.6,873.0,-13.7,575,5979,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2276,3781
$GC,6102,-0.64,-194.6,889.3,-13.3,587,6103,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2276,3781
$GC,6226,-0.64,-194.6,905.7,-13.5,599,6230,0.00,1.85,0.00,0.000,4,0.000,0.061,2456,3317,3780
$GC,6269,-0.64,-194.6,911.0,-12.7,603,6273,0.10,1.80,0.00,0.000,6,0.170,0.041,2487,2264,3779
$GC,6404,-0.64,-194.6,926.0,-11.0,616,6404,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2264,3779
$GC,6528,-0.64,-194.6,939.4,-10.6,628,6528,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2264,3778
$GC,6652,-0.64,-194.6,952.6,-10.9,640,6652,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2264,3778
$GC,6776,-0.64,-194.6,966.0,-11.0,652,6777,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2264,3777
$GC,6900,-0.64,-194.6,979.6,-11.4,664,6901,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2264,3776
$STATE,7003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7003,begin apogee
$GC,7006,-0.26,0.0,990.7,10.8,674,7160,0.43,0.00,150.90,1.253,6,0.150,0.000,2614,2291,3010
$STATE,7160,end apogee,CONTROL_FINISHED_OK
$STATE,7160,begin climb
$GC,7161,0.64,194.6,997.0,0.0,689,7329,0.93,0.00,162.23,1.221,6,0.113,0.000,2898,2291,2215
$GC,7451,0.64,194.6,973.9,10.7,718,7451,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2291,2209
$GC,7574,0.64,194.6,960.7,10.9,730,7575,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2291,2207
$GC,7698,0.64,194.6,947.4,10.8,742,7699,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2292,2207
$GC,7823,0.64,194.6,933.6,10.9,754,7826,0.00,1.48,0.00,0.000,4,0.000,0.047,2905,1222,2205
$GC,7858,0.64,194.6,929.7,10.6,757,7867,0.00,1.58,0.00,0.000,6,0.000,0.048,2905,2308,2205
$GC,7988,0.64,194.6,915.4,11.0,770,7992,0.00,1.88,0.00,0.000,4,0.000,0.061,2906,3391,2204
$GC,8013,0.64,194.6,912.4,12.5,772,8022,0.00,1.85,0.00,0.000,6,0.000,0.039,2914,2299,2204
$GC,8144,0.64,194.6,897.7,11.0,785,8147,0.00,1.48,0.00,0.000,4,0.000,0.046,2921,1222,2204
$GC,8186,0.64,194.6,892.9,11.3,789,8190,0.00,1.52,0.00,0.000,6,0.000,0.048,2921,2305,2203
$GC,8321,0.64,194.6,877.3,12.2,802,8324,0.00,1.88,0.00,0.000,4,0.000,0.061,2921,3381,2203
$GC,8357,0.64,194.6,872.8,12.8,805,8366,0.00,1.83,0.00,0.000,6,0.000,0.038,2930,2301,2202
$GC,8487,0.64,194.6,857.1,12.1,818,8488,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2301,2202
$GC,8611,0.64,194.6,842.4,11.8,830,8612,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2302,2202
$GC,8735,0.64,194.6,827.9,11.7,842,8736,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2301,2201
$GC,8859,0.64,194.6,813.0,12.4,854,8860,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2302,2201
$GC,8983,0.64,194.6,798.0,12.2,866,8984,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2302,2200
$GC,9108,0.64,194.6,783.2,12.0,878,9109,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2302,2200
$GC,9232,0.64,194.6,768.2,12.1,890,9233,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2302,2200
$GC,9356,0.64,194.6,753.4,11.8,902,9357,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2302,2200
$GC,9480,0.64,194.6,738.6,12.0,914,9481,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2301,2199
$GC,9604,0.64,194.6,724.0,11.7,926,9605,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2301,2199
$GC,9729,0.64,194.6,709.6,11.4,938,9729,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2301,2199
$GC,9853,0.64,194.6,695.2,11.8,950,9854,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2301,2198
$GC,9977,0.64,194.6,681.2,11.4,962,9978,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2300,2198
$GC,10101,0.64,194.6,667.1,11.3,974,10102,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2300,2198
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$GC,10349,0.64,194.6,639.1,11.4,998,10353,0.00,1.88,0.00,0.000,4,0.000,0.061,2930,3393,2198
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$STATE,16885,end climb,SURFACE_DEPTH_REACHED
$STATE,16885,begin surface coast
$FINISH,0.4,0.997202
$STATE,16916,end surface coast,CONTROL_FINISHED_OK
$STATE,16916,begin surface
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$IRIDIUM_FIX,2816.29,-8710.95,200899,161630
$TT8_MAMPS,0.052156
$HUMID,1230
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$TCM_TEMP,22.30
$XPDR_PINGS,1
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$10V_AH,10.7,10.919
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$DEVICE_SECS,19.900,94.875,473.450,82.550,0.000,24.692,28.917,227.363,0.250,0.000,0.000,11.709,0.000,11277.326,710.193,4854.530,511.628,33.339,2133.452,0.000,4288.405,0.000,0.846,0.000
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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,85254,1629
$CAP_FILE_SIZE,198389,0
$CFSIZE,260165632,253026304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$CURRENT,0.096,270.0,1
$GPS,270510,015527,2837.637,-8830.776,24,2.8,43,-0.4