version: 66.04
glider: 515
mission: 5
dive: 99
start: 6 9 110 23 38 5
data:
$ID,515
$MISSION,5
$DIVE,99
$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,-6916.4287
$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,2375
$C_ROLL_CLIMB,2282
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$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,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
$GPS1,233054,2844.419,-8829.812,39,0.8,39,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-72.3
$GPS2,233726,2844.458,-8829.924,13,1.4,13,-0.4
$SPEED_LIMITS,0.115,0.252
$TGT_NAME,NEW0602B
$TGT_LATLONG,2845.000,-8829.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.250,0.033
$KALMAN_X,-206349.7,92.6,920.1,244867.0,-8158.1
$KALMAN_Y,81769.4,-121.5,431.1,-91109.5,-1478.2
$MHEAD_RNG_PITCHd_Wd,37.5,1805,-26.6,-6.667
$D_GRID,1292
$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,-1.03,-34.4,0.0,0.0,0,57,0.00,0.00,-43.62,0.000,2,0.000,0.000,196,2380,1842
$GC,58,-1.03,-36.7,3.6,-6.4,4,98,9.95,1.50,-25.60,0.000,4,0.263,0.062,2388,3262,2990
$GC,322,-1.03,-36.7,29.1,-7.3,28,331,0.00,1.48,0.00,0.000,6,0.000,0.028,2393,2362,2992
$GC,421,-1.03,-36.7,36.3,-7.0,38,425,0.00,1.17,0.00,0.000,4,0.000,0.034,2399,1482,2993
$GC,564,-1.03,-36.7,46.3,-7.3,51,572,0.00,1.27,0.00,0.000,6,0.000,0.032,2395,2378,2993
$GC,664,-1.04,-48.2,51.8,-5.2,61,665,0.00,0.00,-0.43,0.000,6,0.000,0.000,2395,2378,3040
$GC,756,-1.04,-48.2,57.6,-6.9,70,760,0.00,1.23,0.00,0.000,4,0.000,0.035,2399,1481,3041
$GC,878,-1.05,-54.1,65.5,-5.9,81,886,0.00,1.27,-0.20,0.000,6,0.000,0.033,2395,2379,3064
$GC,977,-1.05,-54.1,72.6,-7.7,91,978,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2378,3064
$GC,1070,-1.05,-54.1,79.9,-7.8,100,1074,0.00,1.48,0.00,0.000,4,0.000,0.043,2388,3272,3065
$GC,1316,-1.05,-54.1,103.1,-10.9,123,1319,0.00,1.45,0.00,0.000,6,0.000,0.028,2393,2367,3065
$GC,1513,-1.05,-54.1,122.1,-10.1,142,1516,0.00,1.50,0.00,0.000,4,0.000,0.042,2388,3267,3065
$GC,1555,-1.05,-54.1,126.7,-11.5,146,1559,0.00,1.42,0.00,0.000,6,0.000,0.028,2393,2371,3064
$GC,1752,-1.05,-54.1,146.2,-9.3,165,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2370,3064
$GC,1938,-1.05,-54.1,162.6,-8.4,183,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2371,3064
$GC,2124,-1.05,-54.1,177.7,-7.7,201,2128,0.00,1.50,0.00,0.000,4,0.000,0.043,2387,3271,3063
$GC,2210,-1.05,-54.1,184.3,-7.8,209,2213,0.00,1.42,0.00,0.000,6,0.000,0.029,2392,2376,3063
$GC,2406,-1.05,-54.1,198.6,-7.2,228,2410,0.00,1.23,0.00,0.000,4,0.000,0.036,2399,1478,3063
$GC,2492,-1.05,-54.1,204.4,-7.0,236,2495,0.00,1.23,0.00,0.000,6,0.000,0.035,2394,2369,3063
$GC,2688,-1.05,-54.1,218.5,-7.1,255,2691,0.00,1.50,0.00,0.000,4,0.000,0.044,2387,3273,3062
$GC,2784,-1.05,-54.1,225.7,-7.3,264,2787,0.00,1.42,0.00,0.000,6,0.000,0.029,2392,2377,3061
$GC,2981,-1.05,-54.1,240.4,-7.3,283,2984,0.00,1.23,0.00,0.000,4,0.000,0.038,2398,1487,3060
$GC,3070,-1.05,-54.1,247.4,-8.3,291,3077,0.00,1.25,0.00,0.000,6,0.000,0.035,2394,2373,3060
$GC,3262,-1.05,-54.1,261.3,-7.1,310,3263,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2374,3059
$GC,3448,-1.05,-54.1,275.2,-7.8,328,3452,0.00,1.48,0.00,0.000,4,0.000,0.045,2386,3264,3058
$GC,3548,-1.05,-54.1,283.2,-7.7,337,3556,0.00,1.45,0.00,0.000,6,0.000,0.030,2392,2369,3058
$GC,3740,-1.05,-54.1,297.7,-7.4,356,3744,0.00,1.50,0.00,0.000,4,0.000,0.045,2386,3262,3058
$GC,3857,-1.05,-54.1,307.3,-8.9,367,3861,0.00,1.42,0.00,0.000,6,0.000,0.031,2391,2378,3057
$GC,4054,-1.05,-54.1,323.3,-8.0,386,4058,0.00,1.50,0.00,0.000,4,0.000,0.047,2386,3272,3056
$GC,4204,-1.05,-54.1,336.0,-8.3,400,4207,0.00,1.45,0.00,0.000,6,0.000,0.031,2391,2371,3055
$GC,4401,-1.05,-54.1,351.8,-8.2,419,4404,0.00,1.50,0.00,0.000,4,0.000,0.047,2385,3262,3055
$GC,4539,-1.05,-54.1,363.1,-7.9,432,4543,0.00,1.42,0.00,0.000,6,0.000,0.031,2391,2375,3054
$GC,4736,-1.05,-54.1,378.8,-7.8,451,4736,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2374,3052
$GC,4922,-1.05,-54.1,394.5,-7.8,469,4925,0.00,1.50,0.00,0.000,4,0.000,0.048,2385,3266,3051
$GC,5146,-1.05,-54.1,414.2,-9.4,490,5150,0.00,1.42,0.00,0.000,6,0.000,0.032,2390,2379,3050
$GC,5343,-1.05,-54.1,430.2,-7.6,509,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2379,3049
$GC,5529,-1.05,-54.1,445.3,-8.0,527,5533,0.00,1.50,0.00,0.000,4,0.000,0.049,2384,3269,3048
$GC,5608,-1.05,-54.1,452.2,-9.0,534,5615,0.00,1.48,0.00,0.000,6,0.000,0.033,2390,2372,3047
$GC,5800,-1.05,-54.1,468.0,-8.2,553,5801,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2372,3046
$GC,5987,-1.05,-54.1,483.4,-8.4,571,5990,0.00,1.52,0.00,0.000,4,0.000,0.051,2384,3269,3045
$GC,6018,-1.05,-54.1,486.1,-8.6,574,6021,0.00,1.45,0.00,0.000,6,0.000,0.034,2390,2377,3045
$GC,6215,-1.05,-54.1,501.9,-7.8,593,6216,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2377,3045
$GC,6401,-1.05,-54.1,517.1,-8.4,611,6404,0.00,1.50,0.00,0.000,4,0.000,0.051,2384,3258,3043
$GC,6490,-1.05,-54.1,524.9,-8.6,619,6498,0.00,1.48,0.00,0.000,6,0.000,0.035,2389,2371,3043
$GC,6682,-1.05,-54.1,540.8,-8.3,638,6683,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2371,3042
$GC,6869,-1.05,-54.1,555.9,-8.5,656,6870,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2371,3041
$GC,7055,-1.05,-54.1,571.0,-8.0,674,7056,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2371,3041
$GC,7241,-1.05,-54.1,585.8,-8.0,692,7242,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2371,3040
$GC,7428,-1.05,-54.1,600.7,-7.9,710,7428,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2372,3039
$GC,7614,-1.05,-54.1,615.5,-7.8,728,7617,0.00,1.52,0.00,0.000,4,0.000,0.051,2384,3258,3038
$GC,7859,-1.05,-54.1,636.1,-9.3,751,7863,0.00,1.48,0.00,0.000,6,0.000,0.036,2389,2370,3037
$GC,8056,-1.05,-54.1,651.6,-8.1,770,8059,0.00,1.52,0.00,0.000,4,0.000,0.053,2383,3257,3036
$GC,8188,-1.05,-54.1,662.7,-9.0,782,8196,0.00,1.50,0.00,0.000,6,0.000,0.036,2389,2365,3035
$GC,8381,-1.05,-54.1,677.5,-7.6,801,8384,0.00,1.25,0.00,0.000,4,0.000,0.047,2389,1464,3035
$GC,8524,-1.05,-54.1,689.0,-7.5,814,8531,0.00,1.33,0.00,0.000,6,0.000,0.044,2385,2373,3034
$GC,8716,-1.05,-54.1,704.1,-7.8,833,8719,0.00,1.52,0.00,0.000,4,0.000,0.053,2377,3267,3033
$GC,8758,-1.05,-54.1,707.6,-8.4,837,8762,0.00,1.50,0.00,0.000,6,0.000,0.037,2377,2367,3033
$GC,8955,-1.05,-54.1,723.8,-8.2,856,8956,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2367,3032
$GC,9141,-1.05,-54.1,738.6,-7.6,874,9142,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2367,3031
$GC,9327,-1.05,-54.1,752.6,-7.2,892,9331,0.00,1.55,0.00,0.000,4,0.000,0.054,2370,3269,3031
$GC,9370,-1.05,-54.1,755.8,-7.2,896,9373,0.00,1.50,0.00,0.000,6,0.000,0.038,2374,2368,3030
$GC,9567,-1.05,-54.1,770.6,-7.5,915,9568,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2368,3030
$GC,9753,-1.05,-54.1,784.7,-7.1,933,9753,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2368,3030
$GC,9939,-1.05,-54.1,798.8,-7.7,951,9940,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2368,3030
$GC,10126,-1.05,-54.1,812.5,-6.8,969,10126,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2368,3029
$GC,10311,-1.05,-54.1,826.4,-7.3,987,10315,0.00,1.55,0.00,0.000,4,0.000,0.055,2368,3262,3029
$GC,10433,-1.05,-54.5,835.8,-6.6,998,10441,0.00,1.50,0.00,0.000,6,0.000,0.038,2373,2370,3028
$GC,10626,-1.05,-54.5,849.7,-7.4,1017,10629,0.00,1.25,0.00,0.000,4,0.000,0.049,2374,1486,3028
$GC,10764,-1.05,-54.5,859.4,-7.6,1030,10768,0.00,1.27,0.00,0.000,6,0.000,0.047,2369,2366,3027
$GC,10961,-1.05,-54.5,873.0,-7.0,1049,10962,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2366,3027
$GC,11147,-1.05,-54.5,885.4,-6.9,1067,11148,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2366,3027
$GC,11334,-1.05,-54.5,898.1,-7.1,1085,11334,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2366,3026
$GC,11519,-1.05,-54.8,911.1,-6.6,1103,11520,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2366,3026
$GC,11706,-1.05,-54.8,924.0,-6.9,1121,11707,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2366,3025
$GC,11892,-1.05,-55.5,936.6,-6.6,1139,11893,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2366,3024
$GC,12078,-1.06,-58.6,948.8,-6.3,1157,12082,0.00,1.27,0.00,0.000,4,0.000,0.049,2373,1473,3024
$GC,12274,-1.06,-58.6,962.2,-7.0,1175,12282,0.00,1.33,0.00,0.000,6,0.000,0.047,2368,2373,3023
$GC,12466,-1.06,-58.6,974.8,-6.7,1194,12470,0.00,1.27,0.00,0.000,4,0.000,0.048,2373,1483,3023
$GC,12520,-1.06,-64.5,978.3,-5.9,1199,12523,0.00,1.30,0.00,0.000,6,0.000,0.048,2368,2372,3023
$STATE,12705,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12705,begin apogee
$GC,12708,-0.26,0.0,990.3,6.4,1217,12750,1.05,0.00,36.92,1.232,6,0.199,0.000,2646,2286,2840
$STATE,12751,end apogee,CONTROL_FINISHED_OK
$STATE,12751,begin climb
$GC,12752,1.06,64.5,991.3,0.0,1221,12812,1.30,0.00,54.97,1.230,6,0.112,0.000,3067,2286,2577
$GC,12996,1.06,64.5,959.6,15.1,1244,12997,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2287,2571
$GC,13181,1.06,64.5,932.0,14.7,1262,13182,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2286,2570
$GC,13368,1.06,64.5,904.2,14.6,1280,13371,0.00,1.17,0.00,0.000,4,0.000,0.045,3073,1388,2569
$GC,13446,1.06,64.5,892.7,14.4,1287,13454,0.00,1.23,0.00,0.000,6,0.000,0.047,3072,2286,2569
$GC,13638,1.06,64.5,864.6,14.7,1306,13639,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2286,2568
$GC,13825,1.06,64.5,837.9,14.2,1324,13828,0.00,1.20,0.00,0.000,4,0.000,0.045,3076,1374,2568
$GC,13946,1.06,64.5,820.7,14.2,1335,13953,0.00,1.23,0.00,0.000,6,0.000,0.046,3073,2283,2567
$GC,14138,1.06,64.5,794.1,13.8,1354,14139,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2283,2566
$GC,14324,1.06,64.5,767.6,14.0,1372,14325,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2283,2566
$GC,14510,1.06,64.5,741.2,13.8,1390,14514,0.00,1.17,0.00,0.000,4,0.000,0.044,3077,1382,2566
$GC,14596,1.06,64.5,729.2,13.9,1398,14599,0.00,1.20,0.00,0.000,6,0.000,0.047,3076,2289,2565
$GC,14793,1.06,64.5,701.4,14.1,1417,14793,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2288,2565
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$STATE,21382,end climb,NO_VERTICAL_VELOCITY
$STATE,21382,begin surface
$SM_CCo,21384,177.20,0.453,9,0,403,597.54
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$TT8_MAMPS,0.049855
$HUMID,1252
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$TCM_TEMP,24.90
$XPDR_PINGS,2
$24V_AH,24.0,19.845
$10V_AH,10.7,25.853
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$DEVICE_SECS,20.850,119.775,287.300,177.200,0.000,27.913,42.510,211.106,0.500,0.000,0.000,15.635,0.000,14220.369,692.334,6547.628,607.998,33.351,2574.177,0.000,5875.115,0.000,0.848,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1401.940,1523.223,4599.313,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107191,2046
$CAP_FILE_SIZE,226410,0
$CFSIZE,260165632,246448128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,9,0
$CURRENT,0.014,270.4,1
$GPS,100610,054055,2845.524,-8829.103,40,1.1,40,-0.4