version: 66.04
glider: 515
mission: 5
dive: 57
start: 5 31 110 16 19 29
data:
$ID,515
$MISSION,5
$DIVE,57
$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,490
$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,-4837.5142
$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,2275
$C_ROLL_CLIMB,2270
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,2800
$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
$GPS1,161154,2847.173,-8829.978,38,1.7,38,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-68.0
$GPS2,161850,2847.184,-8829.950,14,1.7,14,-0.4
$SPEED_LIMITS,0.117,0.253
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.094,-0.235
$KALMAN_X,-161079.6,1709.4,1229.1,197571.5,-14215.6
$KALMAN_Y,-10091.9,-1132.2,-1085.1,8389.8,18752.2
$MHEAD_RNG_PITCHd_Wd,132.2,9231,-9.4,-6.735
$D_GRID,1166
$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,-0.59,-194.6,0.0,0.0,0,102,0.00,0.00,-89.03,0.000,2,0.000,0.000,194,2271,2929
$GC,104,-0.59,-194.6,3.3,-4.2,9,132,10.48,1.52,-14.80,0.000,4,0.267,0.066,2496,3191,3594
$GC,320,-0.59,-194.6,46.8,-15.0,29,324,0.00,1.48,0.00,0.000,6,0.000,0.031,2498,2274,3596
$GC,393,-0.59,-194.6,57.4,-15.1,36,396,0.00,1.23,0.00,0.000,4,0.000,0.036,2498,1368,3596
$GC,418,-0.59,-194.6,61.5,-15.4,38,426,0.00,1.30,0.00,0.000,6,0.000,0.037,2493,2282,3597
$GC,485,-0.59,-194.6,71.1,-14.3,45,486,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2283,3597
$GC,548,-0.59,-194.6,79.9,-14.3,51,551,0.00,1.23,0.00,0.000,4,0.000,0.037,2493,1377,3598
$GC,594,-0.59,-194.6,87.3,-15.1,55,602,0.00,1.27,0.00,0.000,6,0.000,0.036,2488,2279,3597
$GC,662,-0.59,-194.6,97.1,-14.8,62,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2279,3598
$GC,724,-0.59,-194.6,106.0,-14.4,68,728,0.00,1.23,0.00,0.000,4,0.000,0.038,2489,1376,3597
$GC,767,-0.59,-194.6,112.4,-14.9,72,770,0.00,1.23,0.00,0.000,6,0.000,0.037,2485,2268,3598
$GC,901,-0.59,-194.6,132.6,-14.9,85,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2268,3598
$GC,1025,-0.59,-194.6,151.0,-14.1,97,1029,0.00,1.17,0.00,0.000,4,0.000,0.038,2485,1382,3598
$GC,1136,-0.59,-194.6,167.4,-14.5,107,1144,0.12,1.25,0.00,0.000,6,0.170,0.038,2510,2272,3598
$GC,1266,-0.59,-194.6,183.3,-11.8,120,1270,0.00,1.20,0.00,0.000,4,0.000,0.037,2510,1376,3597
$GC,1291,-0.59,-194.6,186.3,-11.6,122,1300,0.00,1.27,0.00,0.000,6,0.000,0.038,2506,2281,3597
$GC,1421,-0.59,-194.6,201.3,-11.5,135,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2281,3597
$GC,1545,-0.59,-194.6,215.8,-11.7,147,1549,0.00,1.23,0.00,0.000,4,0.000,0.038,2506,1370,3596
$GC,1598,-0.59,-194.6,222.3,-12.5,152,1602,0.00,1.25,0.00,0.000,6,0.000,0.038,2500,2274,3596
$GC,1733,-0.59,-194.6,238.9,-12.6,165,1736,0.00,1.50,0.00,0.000,4,0.000,0.049,2493,3176,3596
$GC,1775,-0.59,-194.6,244.4,-13.3,169,1779,0.00,1.42,0.00,0.000,6,0.000,0.032,2493,2282,3596
$GC,1910,-0.59,-194.6,262.1,-13.3,182,1913,0.00,1.23,0.00,0.000,4,0.000,0.041,2493,1378,3595
$GC,2042,-0.59,-194.6,279.5,-12.9,194,2051,0.00,1.27,0.00,0.000,6,0.000,0.039,2487,2278,3595
$GC,2172,-0.59,-194.6,296.2,-12.6,207,2173,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2278,3595
$GC,2296,-0.59,-194.6,311.8,-12.5,219,2297,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2279,3594
$GC,2420,-0.59,-194.6,326.7,-11.8,231,2421,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2279,3594
$GC,2545,-0.59,-194.6,342.0,-12.2,243,2548,0.00,1.23,0.00,0.000,4,0.000,0.041,2487,1376,3592
$GC,2640,-0.59,-194.6,353.9,-12.8,252,2644,0.00,1.25,0.00,0.000,6,0.000,0.041,2481,2271,3592
$GC,2775,-0.59,-194.6,370.7,-12.7,265,2776,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2272,3592
$GC,2899,-0.59,-194.6,386.4,-13.2,277,2900,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2272,3591
$GC,3023,-0.59,-194.6,402.5,-13.2,289,3024,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2272,3590
$GC,3147,-0.59,-194.6,418.7,-13.1,301,3148,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2272,3589
$GC,3272,-0.59,-194.6,434.9,-13.2,313,3275,0.00,1.23,0.00,0.000,4,0.000,0.044,2481,1368,3588
$GC,3329,-0.59,-194.6,442.6,-12.7,318,3338,0.12,1.30,0.00,0.000,6,0.167,0.043,2506,2279,3588
$GC,3459,-0.59,-194.6,457.6,-11.5,331,3460,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2279,3587
$GC,3583,-0.59,-194.6,471.5,-11.1,343,3584,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2279,3587
$GC,3707,-0.59,-194.6,485.4,-11.4,355,3711,0.00,1.23,0.00,0.000,4,0.000,0.044,2506,1382,3586
$GC,3749,-0.59,-194.6,490.2,-11.4,359,3753,0.00,1.25,0.00,0.000,6,0.000,0.044,2502,2272,3585
$GC,3884,-0.59,-194.6,505.5,-11.3,372,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2272,3584
$GC,4008,-0.59,-194.6,519.0,-11.1,384,4009,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2272,3583
$GC,4132,-0.59,-194.6,532.6,-11.8,396,4136,0.00,1.23,0.00,0.000,4,0.000,0.044,2502,1371,3582
$GC,4168,-0.59,-194.6,537.0,-11.7,399,4175,0.00,1.30,0.00,0.000,6,0.000,0.045,2496,2279,3582
$GC,4298,-0.59,-194.6,551.7,-11.4,412,4299,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2279,3581
$GC,4422,-0.59,-194.6,565.9,-11.5,424,4426,0.00,1.23,0.00,0.000,4,0.000,0.044,2496,1385,3580
$GC,4469,-0.59,-194.6,571.4,-11.4,428,4476,0.00,1.27,0.00,0.000,6,0.000,0.045,2490,2275,3580
$GC,4598,-0.59,-194.6,586.1,-11.5,441,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2276,3579
$GC,4723,-0.59,-194.6,600.8,-11.9,453,4724,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2275,3577
$GC,4847,-0.59,-194.6,615.2,-11.4,465,4848,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2275,3577
$GC,4971,-0.59,-194.6,630.0,-12.1,477,4975,0.00,1.23,0.00,0.000,4,0.000,0.047,2490,1381,3576
$GC,5014,-0.59,-194.6,635.1,-11.4,481,5018,0.00,1.25,0.00,0.000,6,0.000,0.047,2485,2270,3575
$GC,5148,-0.59,-194.6,651.3,-12.1,494,5149,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2270,3575
$GC,5272,-0.59,-194.6,666.1,-12.0,506,5276,0.00,1.23,0.00,0.000,4,0.000,0.045,2484,1369,3573
$GC,5315,-0.59,-194.6,671.1,-11.1,510,5319,0.08,1.27,0.00,0.000,6,0.173,0.046,2502,2274,3573
$GC,5449,-0.59,-194.6,685.6,-10.4,523,5450,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2274,3573
$GC,5574,-0.59,-194.6,698.1,-10.5,535,5577,0.00,1.23,0.00,0.000,4,0.000,0.046,2502,1377,3572
$GC,5616,-0.59,-194.6,702.4,-10.4,539,5620,0.00,1.27,0.00,0.000,6,0.000,0.047,2498,2276,3572
$GC,5751,-0.59,-194.6,716.4,-10.3,552,5751,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2277,3571
$GC,5875,-0.59,-194.6,729.5,-10.6,564,5876,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2277,3570
$GC,5999,-0.59,-194.6,742.5,-10.4,576,6000,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2277,3569
$GC,6123,-0.59,-194.6,755.5,-10.5,588,6124,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2278,3569
$GC,6247,-0.59,-194.6,768.5,-10.4,600,6248,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2277,3568
$GC,6371,-0.59,-194.6,781.0,-9.8,612,6372,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2276,3567
$GC,6495,-0.59,-194.6,793.6,-10.0,624,6496,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2277,3566
$GC,6620,-0.59,-194.6,805.9,-9.7,636,6621,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2276,3566
$GC,6744,-0.59,-194.6,818.2,-10.3,648,6747,0.00,1.25,0.00,0.000,4,0.000,0.048,2498,1376,3565
$GC,6776,-0.59,-194.6,821.6,-10.9,651,6779,0.00,1.27,0.00,0.000,6,0.000,0.049,2492,2272,3565
$GC,6910,-0.59,-194.6,835.4,-10.7,664,6911,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2272,3564
$GC,7035,-0.59,-194.6,848.5,-10.6,676,7038,0.00,1.23,0.00,0.000,4,0.000,0.048,2493,1381,3564
$GC,7077,-0.59,-194.6,853.0,-10.9,680,7081,0.00,1.27,0.00,0.000,6,0.000,0.049,2487,2274,3564
$GC,7211,-0.59,-194.6,867.5,-11.2,693,7215,0.00,1.23,0.00,0.000,4,0.000,0.048,2487,1387,3563
$GC,7254,-0.59,-194.6,872.2,-10.5,697,7257,0.00,1.27,0.00,0.000,6,0.000,0.049,2481,2275,3562
$GC,7389,-0.59,-194.6,887.6,-11.4,710,7389,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2275,3562
$GC,7513,-0.59,-194.6,902.0,-11.9,722,7516,0.00,1.23,0.00,0.000,4,0.000,0.049,2481,1387,3561
$GC,7549,-0.59,-194.6,906.4,-11.7,725,7557,0.12,1.30,0.00,0.000,6,0.169,0.049,2506,2281,3561
$GC,7679,-0.59,-194.6,919.0,-9.7,738,7680,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2280,3560
$GC,7803,-0.59,-194.6,931.2,-9.8,750,7806,0.00,1.25,0.00,0.000,4,0.000,0.048,2506,1381,3560
$GC,7856,-0.59,-194.6,936.4,-10.1,755,7860,0.00,1.27,0.00,0.000,6,0.000,0.048,2502,2276,3560
$GC,7991,-0.59,-194.6,949.6,-9.8,768,7992,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2277,3559
$GC,8115,-0.59,-194.6,961.9,-9.3,780,8115,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2277,3558
$GC,8239,-0.59,-194.6,973.8,-10.0,792,8239,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2277,3558
$GC,8363,-0.59,-194.6,986.0,-10.2,804,8364,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2277,3558
$STATE,8403,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8403,begin apogee
$GC,8406,-0.26,0.0,990.2,10.1,808,8560,0.38,0.00,149.00,1.260,6,0.146,0.000,2612,2277,2800
$STATE,8560,end apogee,CONTROL_FINISHED_OK
$STATE,8560,begin climb
$GC,8561,0.59,194.6,995.9,0.0,823,8733,0.88,1.40,163.48,1.228,4,0.120,0.054,2884,1386,2005
$GC,8765,0.64,237.3,984.0,5.7,843,8805,0.00,1.33,36.50,1.175,6,0.000,0.049,2884,2258,1832
$GC,8929,0.64,237.3,970.7,8.0,858,8932,0.00,1.30,0.00,0.000,4,0.000,0.051,2889,1382,1825
$GC,9014,0.64,237.3,964.0,7.7,866,9017,0.00,1.33,0.00,0.000,6,0.000,0.047,2889,2273,1825
$GC,9148,0.64,237.3,953.3,7.5,879,9152,0.00,1.27,0.00,0.000,4,0.000,0.045,2893,1381,1821
$GC,9216,0.64,237.3,947.8,8.0,885,9224,0.00,1.33,0.00,0.000,6,0.000,0.047,2893,2273,1822
$GC,9346,0.64,237.3,937.1,8.3,898,9350,0.00,1.27,0.00,0.000,4,0.000,0.047,2898,1371,1821
$GC,9410,0.64,237.3,931.5,8.2,904,9414,0.00,1.30,0.00,0.000,6,0.000,0.048,2898,2271,1821
$GC,9544,0.64,237.3,918.5,10.9,917,9548,0.00,1.25,0.00,0.000,4,0.000,0.047,2904,1379,1820
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$GC,9711,0.64,237.3,900.2,10.7,933,9711,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2267,1819
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$STATE,17919,end climb,SURFACE_DEPTH_REACHED
$STATE,17919,begin surface coast
$FINISH,0.7,1.004612
$STATE,17950,end surface coast,CONTROL_FINISHED_OK
$STATE,17950,begin surface
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$TCM_TEMP,22.00
$XPDR_PINGS,2
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$10V_AH,10.6,15.958
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$DEVICE_SECS,20.100,150.025,433.000,114.125,0.000,24.748,36.571,251.740,0.500,0.000,0.000,15.972,0.000,11648.643,809.468,5433.512,565.980,33.349,2469.834,0.000,4750.414,0.000,0.847,0.000
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$DATA_FILE_SIZE,91592,1726
$CAP_FILE_SIZE,235220,0
$CFSIZE,260165632,250798080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,35,0,0
$CURRENT,0.082,243.8,1
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