version: 66.04
glider: 515
mission: 5
dive: 96
start: 6 9 110 6 59 23
data:
$ID,515
$MISSION,5
$DIVE,96
$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,495
$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,-6868.019
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2735
$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,2367
$C_ROLL_CLIMB,2272
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$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,2840
$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,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
$GPS1,065237,2840.662,-8837.160,35,0.9,35,-0.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-71.5
$GPS2,065844,2840.698,-8837.141,13,1.7,13,-0.3
$SPEED_LIMITS,0.115,0.252
$TGT_NAME,NEW0602B
$TGT_LATLONG,2845.000,-8829.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.231,0.102
$KALMAN_X,-194927.7,-197.4,-1511.4,224510.9,1441.7
$KALMAN_Y,84902.2,-296.6,-459.2,-100107.2,1972.0
$MHEAD_RNG_PITCHd_Wd,52.7,15433,-9.2,-6.667
$D_GRID,1087
$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,-0.58,-194.6,0.0,0.0,0,67,0.00,0.00,-53.95,0.000,2,0.000,0.000,194,2370,2120
$GC,69,-0.58,-194.6,3.4,-4.7,5,120,10.60,1.30,-36.22,0.000,4,0.263,0.060,2543,1458,3636
$GC,362,-0.58,-194.6,48.7,-13.0,32,365,0.00,1.27,0.00,0.000,6,0.000,0.035,2539,2366,3638
$GC,465,-0.58,-194.6,62.0,-13.0,42,469,0.00,1.25,0.00,0.000,4,0.000,0.036,2539,1451,3639
$GC,566,-0.58,-194.6,74.7,-12.2,51,574,0.00,1.30,0.00,0.000,6,0.000,0.035,2535,2367,3640
$GC,664,-0.58,-194.6,86.4,-11.9,61,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2367,3640
$GC,757,-0.58,-194.6,98.2,-12.4,70,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2367,3640
$GC,851,-0.58,-194.6,109.6,-12.1,79,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2368,3640
$GC,1037,-0.58,-194.6,133.1,-12.7,97,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2367,3640
$GC,1223,-0.58,-194.6,155.4,-11.6,115,1227,0.00,1.50,0.00,0.000,4,0.000,0.046,2528,3258,3640
$GC,1265,-0.58,-194.6,160.2,-11.8,119,1269,0.00,1.48,0.00,0.000,6,0.000,0.031,2528,2358,3640
$GC,1462,-0.58,-194.6,182.9,-11.7,138,1463,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2357,3640
$GC,1649,-0.58,-194.6,203.4,-11.1,156,1652,0.00,1.55,0.00,0.000,4,0.000,0.048,2521,3260,3639
$GC,1685,-0.58,-194.6,207.6,-11.5,159,1693,0.00,1.50,0.00,0.000,6,0.000,0.030,2521,2355,3639
$GC,1877,-0.58,-194.6,229.5,-11.4,178,1877,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2354,3638
$GC,2064,-0.58,-194.6,250.8,-11.0,196,2066,0.00,1.55,0.00,0.000,4,0.000,0.048,2514,3255,3637
$GC,2106,-0.58,-194.6,255.8,-11.8,200,2109,0.00,1.45,0.00,0.000,6,0.000,0.031,2514,2366,3637
$GC,2302,-0.58,-194.6,279.3,-11.8,219,2306,0.12,1.52,0.00,0.000,4,0.148,0.048,2540,3262,3636
$GC,2349,-0.58,-194.6,284.4,-10.1,223,2358,0.00,1.50,0.00,0.000,6,0.000,0.031,2539,2357,3636
$GC,2541,-0.58,-194.6,303.6,-10.1,242,2542,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2357,3635
$GC,2727,-0.58,-194.6,321.6,-9.6,260,2728,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2357,3634
$GC,2914,-0.58,-194.6,340.4,-10.2,278,2917,0.00,1.55,0.00,0.000,4,0.000,0.050,2533,3253,3633
$GC,2945,-0.58,-194.6,343.7,-10.6,281,2949,0.00,1.45,0.00,0.000,6,0.000,0.032,2533,2367,3632
$GC,3142,-0.58,-194.6,364.0,-10.3,300,3143,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2366,3631
$GC,3328,-0.58,-194.6,383.1,-10.2,318,3332,0.00,1.52,0.00,0.000,4,0.000,0.051,2527,3255,3630
$GC,3371,-0.58,-194.6,387.7,-10.8,322,3374,0.00,1.48,0.00,0.000,6,0.000,0.034,2527,2363,3630
$GC,3568,-0.58,-194.6,408.4,-10.4,341,3571,0.00,1.52,0.00,0.000,4,0.000,0.052,2519,3245,3628
$GC,3599,-0.58,-194.6,412.0,-11.1,344,3603,0.00,1.45,0.00,0.000,6,0.000,0.035,2519,2370,3628
$GC,3796,-0.58,-194.6,433.2,-10.9,363,3797,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2369,3626
$GC,3982,-0.58,-194.6,453.5,-11.1,381,3985,0.00,1.52,0.00,0.000,4,0.000,0.053,2512,3254,3625
$GC,4046,-0.58,-194.6,460.6,-11.0,387,4050,0.10,1.48,0.00,0.000,6,0.141,0.035,2543,2369,3625
$GC,4243,-0.58,-194.6,478.6,-8.8,406,4244,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2369,3623
$GC,4429,-0.58,-194.6,495.4,-8.9,424,4432,0.00,1.55,0.00,0.000,4,0.000,0.054,2538,3252,3622
$GC,4471,-0.58,-194.6,499.2,-9.1,428,4475,0.00,1.48,0.00,0.000,6,0.000,0.036,2538,2372,3621
$GC,4668,-0.58,-194.6,517.7,-9.3,447,4669,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2370,3621
$GC,4854,-0.58,-194.6,535.1,-9.2,465,4858,0.00,1.55,0.00,0.000,4,0.000,0.054,2531,3259,3620
$GC,4907,-0.58,-194.6,540.1,-9.1,470,4911,0.00,1.50,0.00,0.000,6,0.000,0.036,2531,2364,3619
$GC,5104,-0.58,-194.6,559.4,-9.8,489,5105,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2362,3617
$GC,5290,-0.58,-194.6,577.7,-9.6,507,5291,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2363,3617
$GC,5477,-0.58,-194.6,595.6,-9.5,525,5480,0.00,1.58,0.00,0.000,4,0.000,0.056,2524,3259,3616
$GC,5566,-0.58,-194.6,604.5,-9.4,533,5573,0.00,1.52,0.00,0.000,6,0.000,0.037,2524,2359,3615
$GC,5758,-0.58,-194.6,623.0,-9.9,552,5759,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2358,3613
$GC,5944,-0.58,-194.6,641.2,-9.7,570,5948,0.00,1.58,0.00,0.000,4,0.000,0.057,2517,3253,3612
$GC,6029,-0.58,-194.6,649.7,-10.7,578,6033,0.00,1.48,0.00,0.000,6,0.000,0.037,2517,2368,3611
$GC,6226,-0.58,-194.6,669.7,-10.2,597,6227,0.12,0.00,0.00,0.000,6,0.149,0.000,2549,2368,3610
$GC,6412,-0.58,-194.6,684.8,-8.0,615,6413,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2368,3610
$GC,6599,-0.58,-194.6,699.7,-7.6,633,6602,0.00,1.55,0.00,0.000,4,0.000,0.058,2543,3250,3608
$GC,6652,-0.58,-194.6,704.2,-8.1,638,6655,0.00,1.50,0.00,0.000,6,0.000,0.038,2544,2362,3607
$GC,6849,-0.58,-194.6,720.7,-8.7,657,6852,0.00,1.58,0.00,0.000,4,0.000,0.058,2538,3250,3606
$GC,6895,-0.58,-194.6,724.8,-9.2,661,6903,0.00,1.52,0.00,0.000,6,0.000,0.038,2539,2355,3606
$GC,7088,-0.58,-194.6,741.1,-8.3,680,7089,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2355,3605
$GC,7274,-0.58,-194.6,756.7,-8.1,698,7277,0.00,1.58,0.00,0.000,4,0.000,0.058,2532,3247,3604
$GC,7327,-0.58,-194.6,761.3,-8.7,703,7330,0.00,1.48,0.00,0.000,6,0.000,0.039,2532,2369,3604
$GC,7524,-0.58,-194.6,778.6,-9.0,722,7525,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2368,3603
$GC,7710,-0.58,-194.6,794.5,-8.6,740,7713,0.00,1.55,0.00,0.000,4,0.000,0.058,2525,3251,3603
$GC,7756,-0.58,-194.6,798.6,-9.0,744,7764,0.00,1.52,0.00,0.000,6,0.000,0.038,2525,2356,3603
$GC,7949,-0.58,-194.6,815.6,-9.1,763,7950,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2356,3602
$GC,8135,-0.58,-194.6,832.2,-9.0,781,8138,0.00,1.58,0.00,0.000,4,0.000,0.058,2518,3250,3600
$GC,8188,-0.58,-194.6,837.2,-8.8,786,8192,0.00,1.50,0.00,0.000,6,0.000,0.039,2518,2362,3600
$GC,8385,-0.58,-194.6,855.9,-9.5,805,8386,0.12,0.00,0.00,0.000,6,0.148,0.000,2550,2362,3600
$GC,8571,-0.58,-194.6,870.3,-7.6,823,8572,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2362,3599
$GC,8757,-0.58,-194.6,884.2,-7.5,841,8761,0.00,1.58,0.00,0.000,4,0.000,0.060,2544,3255,3597
$GC,8832,-0.58,-194.6,890.0,-7.8,848,8835,0.00,1.50,0.00,0.000,6,0.000,0.040,2544,2364,3598
$GC,9028,-0.58,-194.6,905.8,-8.1,867,9032,0.00,1.58,0.00,0.000,4,0.000,0.060,2538,3251,3597
$GC,9064,-0.58,-194.6,908.9,-8.4,870,9072,0.00,1.52,0.00,0.000,6,0.000,0.039,2537,2360,3597
$GC,9257,-0.58,-194.6,924.7,-8.3,889,9258,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2361,3597
$GC,9443,-0.58,-194.6,939.5,-7.7,907,9444,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2361,3596
$GC,9629,-0.58,-194.6,954.6,-8.2,925,9633,0.00,1.60,0.00,0.000,4,0.000,0.061,2531,3257,3595
$GC,9682,-0.58,-194.6,958.9,-7.9,930,9686,0.00,1.50,0.00,0.000,6,0.000,0.041,2531,2367,3595
$GC,9879,-0.58,-194.6,975.7,-8.2,949,9882,0.00,1.58,0.00,0.000,4,0.000,0.060,2523,3258,3594
$GC,9925,-0.58,-194.6,979.9,-9.1,953,9934,0.00,1.52,0.00,0.000,6,0.000,0.040,2524,2363,3594
$STATE,10044,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10044,begin apogee
$GC,10048,-0.26,0.0,990.3,8.7,965,10201,0.43,0.00,149.90,1.259,6,0.140,0.000,2650,2271,2840
$STATE,10201,end apogee,CONTROL_FINISHED_OK
$STATE,10201,begin climb
$GC,10202,0.58,194.6,994.7,0.0,980,10373,0.85,1.25,164.15,1.229,4,0.109,0.045,2920,1381,2046
$GC,10400,0.58,194.6,979.2,10.8,997,10403,0.00,1.25,0.00,0.000,6,0.000,0.046,2920,2268,2042
$GC,10596,0.58,194.6,956.2,11.9,1016,10600,0.00,1.75,0.00,0.000,4,0.000,0.057,2920,3164,2036
$GC,10628,0.58,194.6,952.1,12.9,1019,10631,0.00,1.67,0.00,0.000,6,0.000,0.039,2927,2276,2034
$GC,10824,0.58,194.6,927.7,12.4,1038,10828,0.00,1.17,0.00,0.000,4,0.000,0.046,2933,1370,2033
$GC,10867,0.58,194.6,922.5,13.0,1042,10871,0.00,1.20,0.00,0.000,6,0.000,0.047,2933,2272,2033
$GC,11064,0.58,194.6,898.0,12.5,1061,11065,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2273,2032
$GC,11250,0.58,194.6,874.7,12.6,1079,11251,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2273,2031
$GC,11436,0.58,194.6,851.6,12.1,1097,11440,0.00,1.70,0.00,0.000,4,0.000,0.057,2933,3174,2031
$GC,11462,0.58,194.6,848.1,14.6,1099,11471,0.00,1.67,0.00,0.000,6,0.000,0.039,2941,2269,2030
$GC,11654,0.58,194.6,822.7,13.0,1118,11657,0.00,1.15,0.00,0.000,4,0.000,0.046,2946,1367,2029
$GC,11686,0.58,194.6,818.6,13.6,1121,11689,0.00,1.20,0.00,0.000,6,0.000,0.046,2946,2277,2029
$GC,11882,0.58,194.6,792.7,13.3,1140,11883,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2277,2029
$GC,12069,0.58,194.6,768.2,13.6,1158,12070,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2278,2029
$GC,12255,0.58,194.6,744.0,12.9,1176,12256,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2278,2029
$GC,12441,0.58,194.6,719.6,13.0,1194,12442,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2278,2029
$GC,12628,0.58,194.6,695.2,13.3,1212,12628,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2278,2028
$GC,12813,0.58,194.6,671.3,13.0,1230,12814,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2278,2028
$GC,13000,0.58,194.6,647.3,12.8,1248,13001,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2278,2028
$GC,13186,0.58,194.6,624.7,12.2,1266,13187,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2278,2028
$GC,13372,0.58,194.6,601.4,12.7,1284,13373,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2278,2028
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$STATE,19279,end climb,SURFACE_DEPTH_REACHED
$STATE,19279,begin surface coast
$FINISH,0.7,1.018267
$STATE,19326,end surface coast,CONTROL_FINISHED_OK
$STATE,19326,begin surface
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$HUMID,1305
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$TCM_TEMP,22.90
$XPDR_PINGS,0
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$10V_AH,10.6,25.103
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$DEVICE_SECS,20.925,123.450,574.125,20.725,0.000,30.305,29.729,200.225,0.000,0.000,0.000,15.144,0.000,12839.427,687.951,5634.611,532.126,33.347,2357.081,0.000,5011.761,0.000,0.847,0.000
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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,97926,1855
$CAP_FILE_SIZE,205204,0
$CFSIZE,260165632,246775808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$CURRENT,0.045,171.1,1
$GPS,090610,122306,2841.868,-8834.420,37,1.3,43,-0.3