version: 66.04
glider: 515
mission: 5
dive: 45
start: 5 29 110 0 28 41
data:
$ID,515
$MISSION,5
$DIVE,45
$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,475
$T_MISSION,510
$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,-4629.6406
$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,25
$C_ROLL_DIVE,2235
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,2891
$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
$GPS1,002101,2842.637,-8829.362,38,1.4,38,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-68.3
$GPS2,002720,2842.659,-8829.382,13,1.8,13,-0.4
$SPEED_LIMITS,0.120,0.257
$TGT_NAME,NEW0528D
$TGT_LATLONG,2840.500,-8837.900
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.079,-0.244
$KALMAN_X,-117093.5,443.2,185.3,156853.9,-18066.7
$KALMAN_Y,-61335.7,262.4,-416.3,49145.8,9138.3
$MHEAD_RNG_PITCHd_Wd,260.3,14407,-9.8,-6.947
$D_GRID,1357
$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,-0.60,-194.6,0.0,0.0,0,103,0.00,0.00,-89.38,0.000,2,0.000,0.000,199,2271,3009
$GC,104,-0.60,-194.6,3.3,-4.4,9,133,10.35,1.50,-14.48,0.000,4,0.266,0.066,2493,3124,3686
$GC,271,-0.60,-194.6,43.0,-19.7,24,279,0.00,1.55,0.00,0.000,6,0.000,0.031,2497,2240,3688
$GC,339,-0.60,-194.6,54.3,-16.4,31,343,0.00,1.17,0.00,0.000,4,0.000,0.036,2497,1318,3687
$GC,418,-0.60,-194.6,65.9,-14.0,38,426,0.00,1.23,0.00,0.000,6,0.000,0.037,2494,2237,3688
$GC,486,-0.60,-194.6,75.9,-15.5,45,486,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2237,3689
$GC,547,-0.60,-194.6,86.1,-16.3,51,551,0.00,1.55,0.00,0.000,4,0.000,0.046,2486,3114,3689
$GC,584,-0.60,-194.6,92.5,-17.0,54,592,0.00,1.55,0.00,0.000,6,0.000,0.032,2486,2224,3689
$GC,651,-0.60,-194.6,103.6,-16.8,61,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2224,3689
$GC,776,-0.60,-194.6,124.8,-17.4,73,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2223,3689
$GC,900,-0.60,-194.6,145.2,-16.0,85,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2223,3689
$GC,1024,-0.60,-194.6,164.5,-15.4,97,1028,0.00,1.60,0.00,0.000,4,0.000,0.046,2478,3117,3689
$GC,1071,-0.60,-194.6,172.1,-15.1,101,1079,0.00,1.52,0.00,0.000,6,0.000,0.031,2482,2235,3690
$GC,1201,-0.60,-194.6,191.1,-14.7,114,1201,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2235,3690
$GC,1325,-0.60,-194.6,208.8,-14.2,126,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2235,3689
$GC,1449,-0.60,-194.6,226.0,-13.4,138,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2235,3689
$GC,1573,-0.60,-194.6,243.2,-14.1,150,1574,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2234,3689
$GC,1697,-0.60,-194.6,260.3,-13.4,162,1701,0.00,1.58,0.00,0.000,4,0.000,0.048,2476,3117,3688
$GC,1755,-0.60,-194.6,268.7,-14.1,167,1762,0.00,1.52,0.00,0.000,6,0.000,0.032,2479,2234,3688
$GC,1884,-0.60,-194.6,286.8,-13.9,180,1885,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2232,3688
$GC,2009,-0.60,-194.6,304.0,-13.4,192,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2233,3687
$GC,2133,-0.60,-194.6,321.2,-14.1,204,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2233,3686
$GC,2257,-0.60,-194.6,338.4,-13.9,216,2261,0.00,1.58,0.00,0.000,4,0.000,0.048,2473,3116,3686
$GC,2332,-0.60,-194.6,348.9,-14.1,223,2336,0.08,1.50,0.00,0.000,6,0.172,0.034,2496,2236,3686
$GC,2466,-0.60,-194.6,366.5,-12.9,236,2467,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2237,3685
$GC,2591,-0.60,-194.6,382.4,-13.1,248,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2237,3685
$GC,2715,-0.60,-194.6,398.0,-12.3,260,2718,0.00,1.58,0.00,0.000,4,0.000,0.051,2490,3122,3684
$GC,2751,-0.60,-194.6,402.7,-12.6,263,2758,0.00,1.52,0.00,0.000,6,0.000,0.035,2491,2239,3684
$GC,2881,-0.60,-194.6,419.4,-13.0,276,2881,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2238,3683
$GC,3005,-0.60,-194.6,435.5,-13.1,288,3006,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2238,3682
$GC,3129,-0.60,-194.6,451.4,-12.8,300,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2238,3681
$GC,3253,-0.60,-194.6,467.2,-12.5,312,3254,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2238,3681
$GC,3378,-0.60,-194.6,483.0,-12.5,324,3381,0.00,1.58,0.00,0.000,4,0.000,0.053,2483,3113,3680
$GC,3431,-0.60,-194.6,489.9,-12.5,329,3434,0.00,1.50,0.00,0.000,6,0.000,0.038,2483,2244,3679
$GC,3565,-0.60,-194.6,507.2,-12.6,342,3569,0.00,1.17,0.00,0.000,4,0.000,0.043,2483,1331,3679
$GC,3597,-0.60,-194.6,511.5,-12.6,345,3601,0.00,1.23,0.00,0.000,6,0.000,0.044,2478,2237,3678
$GC,3732,-0.60,-194.6,529.0,-13.3,358,3735,0.00,1.55,0.00,0.000,4,0.000,0.054,2471,3114,3677
$GC,3779,-0.60,-194.6,535.5,-13.5,362,3787,0.12,1.55,0.00,0.000,6,0.170,0.038,2502,2227,3676
$GC,3908,-0.60,-194.6,549.9,-11.1,375,3909,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2226,3676
$GC,4033,-0.60,-194.6,563.7,-11.2,387,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2226,3675
$GC,4157,-0.60,-194.6,577.8,-11.5,399,4160,0.00,1.60,0.00,0.000,4,0.000,0.054,2496,3116,3674
$GC,4189,-0.60,-194.6,581.4,-12.1,402,4192,0.00,1.52,0.00,0.000,6,0.000,0.038,2496,2238,3673
$GC,4323,-0.60,-194.6,597.3,-12.1,415,4324,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2237,3672
$GC,4447,-0.60,-194.6,612.2,-12.1,427,4448,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2237,3671
$GC,4572,-0.60,-194.6,627.2,-12.3,439,4575,0.00,1.60,0.00,0.000,4,0.000,0.055,2491,3124,3671
$GC,4614,-0.60,-194.6,632.4,-13.3,443,4618,0.00,1.55,0.00,0.000,6,0.000,0.039,2490,2233,3670
$GC,4749,-0.60,-194.6,648.8,-12.1,456,4749,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2232,3669
$GC,4873,-0.60,-194.6,663.9,-12.2,468,4876,0.00,1.60,0.00,0.000,4,0.000,0.056,2483,3116,3669
$GC,4915,-0.60,-194.6,669.2,-12.7,472,4919,0.00,1.52,0.00,0.000,6,0.000,0.039,2483,2238,3669
$GC,5050,-0.60,-194.6,686.2,-12.9,485,5051,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2237,3668
$GC,5174,-0.60,-194.6,701.7,-12.5,497,5175,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2237,3667
$GC,5298,-0.60,-194.6,717.1,-12.5,509,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2237,3666
$GC,5422,-0.60,-194.6,732.5,-12.3,521,5426,0.00,1.60,0.00,0.000,4,0.000,0.057,2476,3124,3664
$GC,5465,-0.60,-194.6,738.1,-13.6,525,5468,0.00,1.55,0.00,0.000,6,0.000,0.041,2476,2233,3664
$GC,5599,-0.60,-194.6,755.4,-13.0,538,5600,0.10,0.00,0.00,0.000,6,0.182,0.000,2500,2232,3664
$GC,5724,-0.60,-194.6,769.4,-11.4,550,5727,0.00,1.60,0.00,0.000,4,0.000,0.057,2494,3117,3663
$GC,5759,-0.60,-194.6,773.7,-11.7,553,5767,0.00,1.55,0.00,0.000,6,0.000,0.039,2494,2233,3663
$GC,5889,-0.60,-194.6,788.4,-11.6,566,5893,0.00,1.60,0.00,0.000,4,0.000,0.057,2487,3116,3662
$GC,5921,-0.60,-194.6,792.3,-12.1,569,5925,0.00,1.52,0.00,0.000,6,0.000,0.040,2487,2237,3662
$GC,6055,-0.60,-194.6,808.4,-12.6,582,6056,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2236,3661
$GC,6180,-0.60,-194.6,823.0,-11.8,594,6183,0.00,1.60,0.00,0.000,4,0.000,0.058,2479,3119,3660
$GC,6216,-0.60,-194.6,827.4,-12.2,597,6224,0.00,1.58,0.00,0.000,6,0.000,0.040,2479,2226,3660
$GC,6346,-0.60,-194.6,842.9,-12.0,610,6346,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2226,3659
$GC,6470,-0.60,-194.6,857.8,-12.1,622,6474,0.00,1.62,0.00,0.000,4,0.000,0.058,2472,3117,3659
$GC,6517,-0.60,-194.6,863.8,-12.4,626,6526,0.12,1.55,0.00,0.000,6,0.173,0.040,2502,2237,3658
$GC,6647,-0.60,-194.6,878.0,-11.1,639,6647,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2236,3658
$GC,6771,-0.60,-194.6,890.7,-10.5,651,6775,0.00,1.60,0.00,0.000,4,0.000,0.058,2497,3116,3657
$GC,6824,-0.60,-194.6,896.4,-11.1,656,6828,0.00,1.55,0.00,0.000,6,0.000,0.041,2497,2231,3656
$GC,6959,-0.60,-194.6,911.2,-11.1,669,6960,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2230,3655
$GC,7083,-0.60,-194.6,924.5,-10.3,681,7084,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2230,3655
$GC,7207,-0.60,-194.6,937.7,-10.4,693,7211,0.00,1.62,0.00,0.000,4,0.000,0.058,2489,3123,3654
$GC,7260,-0.60,-194.6,943.5,-11.1,698,7264,0.00,1.55,0.00,0.000,6,0.000,0.041,2489,2237,3654
$GC,7395,-0.60,-194.6,958.0,-10.7,711,7395,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2236,3654
$GC,7519,-0.60,-194.6,971.3,-10.8,723,7522,0.00,1.60,0.00,0.000,4,0.000,0.058,2482,3114,3653
$GC,7561,-0.60,-194.6,976.0,-11.2,727,7565,0.00,1.55,0.00,0.000,6,0.000,0.041,2482,2229,3653
$STATE,7695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7695,begin apogee
$GC,7698,-0.26,0.0,990.9,10.9,740,7852,0.45,0.00,150.02,1.256,6,0.151,0.000,2614,2347,2891
$STATE,7852,end apogee,CONTROL_FINISHED_OK
$STATE,7852,begin climb
$GC,7853,0.60,194.6,996.9,0.0,755,8020,0.88,0.00,163.12,1.222,6,0.117,0.000,2882,2347,2097
$GC,8138,0.60,194.6,974.9,9.6,783,8142,0.00,1.35,0.00,0.000,4,0.000,0.046,2888,1466,2089
$GC,8213,0.60,194.6,967.5,10.2,790,8216,0.00,1.35,0.00,0.000,6,0.000,0.048,2888,2341,2088
$GC,8348,0.60,194.6,953.9,10.0,803,8348,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2342,2086
$GC,8471,0.60,194.6,941.4,10.0,815,8475,0.00,1.30,0.00,0.000,4,0.000,0.045,2894,1460,2085
$GC,8529,0.60,194.6,935.6,10.4,820,8536,0.00,1.38,0.00,0.000,6,0.000,0.050,2894,2352,2085
$GC,8658,0.60,194.6,922.7,10.1,833,8662,0.00,1.35,0.00,0.000,4,0.000,0.044,2900,1451,2084
$GC,8690,0.60,194.6,919.3,10.6,836,8694,0.00,1.35,0.00,0.000,6,0.000,0.049,2900,2346,2084
$GC,8825,0.60,194.6,905.5,10.3,849,8828,0.00,1.30,0.00,0.000,4,0.000,0.044,2905,1460,2084
$GC,8867,0.60,194.6,900.9,11.0,853,8871,0.00,1.33,0.00,0.000,6,0.000,0.049,2906,2342,2083
$GC,9002,0.60,194.6,886.3,11.0,866,9005,0.00,1.30,0.00,0.000,4,0.000,0.045,2912,1452,2083
$GC,9038,0.60,194.6,882.2,10.9,869,9045,0.00,1.38,0.00,0.000,6,0.000,0.048,2912,2357,2083
$GC,9167,0.60,194.6,867.7,11.3,882,9168,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2357,2083
$GC,9292,0.60,194.6,853.0,11.9,894,9295,0.00,1.33,0.00,0.000,4,0.000,0.044,2917,1462,2082
$GC,9355,0.60,194.6,845.5,12.9,900,9359,0.00,1.33,0.00,0.000,6,0.000,0.049,2917,2346,2082
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$STATE,17758,end climb,SURFACE_DEPTH_REACHED
$STATE,17758,begin surface coast
$FINISH,0.7,1.023191
$STATE,17785,end surface coast,CONTROL_FINISHED_OK
$STATE,17785,begin surface
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$TT8_MAMPS,0.051389
$HUMID,1242
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$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.7,11.419
$10V_AH,10.6,13.164
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$DEVICE_SECS,20.325,171.950,443.825,98.275,0.000,30.948,42.617,214.347,0.000,0.000,0.000,15.916,0.000,11446.880,829.772,5434.528,578.941,33.341,2510.234,0.000,4764.823,0.000,0.847,0.000
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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,91611,1710
$CAP_FILE_SIZE,235551,0
$CFSIZE,260165632,252010496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,8,0,0
$CURRENT,0.088,222.3,1
$GPS,290510,052754,2841.810,-8833.100,37,1.4,37,-0.3