version: 66.04
glider: 515
mission: 5
dive: 105
start: 6 11 110 8 44 17
data:
$ID,515
$MISSION,5
$DIVE,105
$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,-14
$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,-7016.4272
$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,34
$R_STBD_OVSHOOT,24
$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
$GPS1,083130,2840.851,-8825.824,40,1.0,40,-0.4
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-66.1
$GPS2,084238,2841.010,-8825.783,11,1.2,11,-0.4
$SPEED_LIMITS,0.115,0.252
$TGT_NAME,NEW0607E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.197,0.158
$KALMAN_X,-237760.7,-26.3,-693.1,284702.7,-18388.2
$KALMAN_Y,78302.0,-382.7,-164.2,-93171.2,-2671.9
$MHEAD_RNG_PITCHd_Wd,274.2,31321,-9.2,-6.667
$D_GRID,1393
$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,-0.58,-194.6,0.0,0.0,0,77,0.00,0.00,-63.85,0.000,2,0.000,0.000,196,2378,2297
$GC,79,-0.58,-194.6,3.0,-3.5,6,130,10.40,1.27,-36.33,0.000,4,0.258,0.060,2542,1478,3636
$GC,201,-0.58,-194.6,21.6,-19.0,17,205,0.00,1.27,0.00,0.000,6,0.000,0.036,2538,2372,3637
$GC,304,-0.58,-194.6,41.2,-16.5,27,305,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2373,3638
$GC,398,-0.58,-194.6,53.8,-12.8,36,399,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2373,3638
$GC,491,-0.58,-194.6,66.3,-13.4,45,492,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2372,3638
$GC,584,-0.58,-194.6,78.7,-13.3,54,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2373,3638
$GC,677,-0.58,-194.6,91.2,-13.7,63,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2372,3638
$GC,771,-0.58,-194.6,103.6,-13.3,72,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2373,3638
$GC,956,-0.58,-194.6,128.0,-13.0,90,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2373,3639
$GC,1143,-0.58,-194.6,150.9,-12.5,108,1146,0.00,1.23,0.00,0.000,4,0.000,0.037,2538,1477,3638
$GC,1179,-0.58,-194.6,155.3,-11.1,111,1187,0.00,1.30,0.00,0.000,6,0.000,0.036,2532,2380,3638
$GC,1371,-0.58,-194.6,177.8,-11.9,130,1372,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2380,3638
$GC,1557,-0.58,-194.6,198.2,-11.1,148,1561,0.00,1.25,0.00,0.000,4,0.000,0.039,2532,1479,3636
$GC,1589,-0.58,-194.6,201.6,-10.6,151,1592,0.00,1.27,0.00,0.000,6,0.000,0.038,2527,2376,3636
$GC,1786,-0.58,-194.6,223.9,-11.8,170,1787,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2376,3635
$GC,1972,-0.58,-194.6,245.3,-11.3,188,1975,0.00,1.25,0.00,0.000,4,0.000,0.039,2527,1479,3634
$GC,2004,-0.58,-194.6,248.9,-11.1,191,2007,0.00,1.27,0.00,0.000,6,0.000,0.039,2520,2377,3634
$GC,2200,-0.58,-194.6,272.1,-11.6,210,2201,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2377,3633
$GC,2387,-0.58,-194.6,293.1,-11.5,228,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2377,3631
$GC,2573,-0.58,-194.6,314.4,-11.4,246,2574,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2377,3630
$GC,2759,-0.58,-194.6,335.3,-11.1,264,2762,0.00,1.25,0.00,0.000,4,0.000,0.041,2521,1481,3628
$GC,2791,-0.58,-194.6,339.0,-11.5,267,2794,0.08,1.27,0.00,0.000,6,0.143,0.041,2540,2373,3628
$GC,2987,-0.58,-194.6,357.8,-9.8,286,2988,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2373,3627
$GC,3174,-0.58,-194.6,375.3,-9.4,304,3175,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2373,3626
$GC,3360,-0.58,-194.6,393.2,-9.7,322,3360,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2373,3624
$GC,3546,-0.58,-194.6,410.9,-9.5,340,3549,0.00,1.25,0.00,0.000,4,0.000,0.043,2541,1476,3622
$GC,3582,-0.58,-194.6,414.4,-9.8,343,3591,0.00,1.33,0.00,0.000,6,0.000,0.042,2537,2382,3622
$GC,3774,-0.58,-194.6,433.3,-9.9,362,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2381,3621
$GC,3961,-0.58,-194.6,452.2,-10.3,380,3962,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2382,3619
$GC,4146,-0.58,-194.6,471.1,-10.3,398,4147,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2382,3618
$GC,4333,-0.58,-194.6,489.9,-10.3,416,4336,0.00,1.27,0.00,0.000,4,0.000,0.044,2537,1483,3616
$GC,4379,-0.58,-194.6,494.7,-10.1,420,4387,0.00,1.30,0.00,0.000,6,0.000,0.044,2531,2374,3616
$GC,4571,-0.58,-194.6,514.0,-9.9,439,4572,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2374,3615
$GC,4758,-0.58,-194.6,533.8,-12.7,457,4761,0.00,1.25,0.00,0.000,4,0.000,0.044,2531,1484,3613
$GC,4822,-0.58,-194.6,540.8,-10.9,463,4825,0.00,1.27,0.00,0.000,6,0.000,0.046,2525,2370,3613
$GC,5018,-0.58,-194.6,560.7,-10.0,482,5019,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2370,3611
$GC,5204,-0.58,-194.6,579.6,-10.0,500,5205,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2370,3610
$GC,5391,-0.58,-194.6,597.7,-9.9,518,5395,0.00,1.25,0.00,0.000,4,0.000,0.045,2525,1482,3608
$GC,5433,-0.58,-194.6,601.9,-10.3,522,5437,0.00,1.27,0.00,0.000,6,0.000,0.046,2520,2369,3608
$GC,5630,-0.58,-194.6,622.1,-10.2,541,5630,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2369,3607
$GC,5817,-0.58,-194.6,641.7,-10.6,559,5817,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2369,3606
$GC,6002,-0.58,-194.6,660.8,-10.4,577,6003,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2369,3605
$GC,6188,-0.58,-194.6,679.7,-10.5,595,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2369,3603
$GC,6375,-0.58,-194.6,699.3,-10.7,613,6376,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2369,3603
$GC,6561,-0.58,-194.6,718.6,-10.4,631,6564,0.00,1.25,0.00,0.000,4,0.000,0.047,2520,1479,3602
$GC,6608,-0.58,-194.6,723.5,-10.4,635,6617,0.12,1.33,0.00,0.000,6,0.153,0.048,2546,2374,3601
$GC,6800,-0.58,-194.6,739.8,-8.4,654,6801,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2374,3599
$GC,6986,-0.58,-194.6,755.6,-8.3,672,6987,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2374,3599
$GC,7172,-0.58,-194.6,771.3,-8.7,690,7173,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2374,3597
$GC,7359,-0.58,-194.6,786.9,-8.1,708,7360,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2374,3597
$GC,7545,-0.58,-194.6,802.5,-8.3,726,7545,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2374,3596
$GC,7731,-0.58,-194.6,817.5,-8.0,744,7732,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2374,3595
$GC,7918,-0.58,-194.6,832.5,-8.0,762,7921,0.00,1.27,0.00,0.000,4,0.000,0.049,2545,1479,3593
$GC,7960,-0.58,-194.6,836.0,-8.8,766,7963,0.00,1.33,0.00,0.000,6,0.000,0.050,2542,2378,3594
$GC,8156,-0.58,-194.6,852.2,-8.4,785,8157,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2378,3593
$GC,8343,-0.58,-194.6,868.0,-8.7,803,8346,0.00,1.52,0.00,0.000,4,0.000,0.064,2535,3255,3592
$GC,8378,-0.58,-194.6,871.2,-8.2,806,8386,0.00,1.48,0.00,0.000,6,0.000,0.040,2535,2371,3592
$GC,8571,-0.58,-194.6,887.8,-8.7,825,8571,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2371,3591
$GC,8757,-0.58,-194.6,904.3,-8.8,843,8758,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2372,3591
$GC,8943,-0.58,-194.6,920.7,-9.0,861,8947,0.00,1.25,0.00,0.000,4,0.000,0.050,2535,1489,3590
$GC,8979,-0.58,-194.6,924.1,-9.0,864,8987,0.00,1.33,0.00,0.000,6,0.000,0.052,2530,2374,3589
$GC,9171,-0.58,-194.6,940.9,-8.5,883,9172,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2374,3589
$GC,9357,-0.58,-194.6,957.5,-9.6,901,9358,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2374,3589
$GC,9544,-0.58,-194.6,973.8,-8.9,919,9545,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2374,3588
$GC,9730,-0.58,-194.6,989.8,-8.9,937,9731,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2374,3587
$STATE,9739,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9739,begin apogee
$GC,9742,-0.26,0.0,990.6,8.9,938,9893,0.40,0.00,148.88,1.261,6,0.139,0.000,2649,2289,2841
$STATE,9894,end apogee,CONTROL_FINISHED_OK
$STATE,9894,begin climb
$GC,9895,0.58,194.6,995.1,0.0,953,10068,0.88,0.00,165.02,1.230,6,0.107,0.000,2918,2290,2046
$GC,10252,0.58,194.6,961.7,11.2,988,10253,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2289,2037
$GC,10438,0.58,194.6,940.8,11.4,1006,10439,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2289,2035
$GC,10624,0.58,194.6,920.5,10.7,1024,10625,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2289,2034
$GC,10811,0.58,194.6,900.0,10.6,1042,10812,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2289,2033
$GC,10997,0.58,194.6,879.4,11.1,1060,11000,0.00,1.23,0.00,0.000,4,0.000,0.058,2923,1377,2033
$GC,11029,0.58,194.6,875.9,10.6,1063,11032,0.00,1.23,0.00,0.000,6,0.000,0.048,2923,2285,2032
$GC,11225,0.58,194.6,853.5,11.8,1082,11229,0.00,1.65,0.00,0.000,4,0.000,0.058,2923,3174,2032
$GC,11257,0.58,194.6,849.4,13.6,1085,11261,0.00,1.60,0.00,0.000,6,0.000,0.040,2931,2283,2031
$GC,11454,0.58,194.6,826.3,12.1,1104,11455,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2283,2030
$GC,11640,0.58,194.6,804.2,11.9,1122,11641,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2283,2031
$GC,11827,0.58,194.6,782.5,12.1,1140,11827,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2283,2031
$GC,12013,0.58,194.6,760.6,11.8,1158,12016,0.00,1.65,0.00,0.000,4,0.000,0.058,2931,3176,2030
$GC,12038,0.58,194.6,757.3,12.0,1160,12046,0.00,1.62,0.00,0.000,6,0.000,0.039,2938,2278,2029
$GC,12230,0.58,194.6,733.8,12.1,1179,12231,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2278,2029
$GC,12417,0.58,194.6,711.0,12.1,1197,12420,0.00,1.17,0.00,0.000,4,0.000,0.047,2943,1368,2029
$GC,12452,0.58,194.6,706.7,12.3,1200,12460,0.00,1.25,0.00,0.000,6,0.000,0.045,2943,2289,2029
$GC,12644,0.58,194.6,683.2,12.4,1219,12648,0.00,1.20,0.00,0.000,4,0.000,0.046,2948,1380,2029
$GC,12676,0.58,194.6,679.5,11.2,1222,12680,0.00,1.20,0.00,0.000,6,0.000,0.046,2949,2283,2029
$GC,12873,0.58,194.6,654.4,12.6,1241,12873,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2283,2029
$GC,13059,0.58,194.6,631.0,12.2,1259,13060,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2282,2029
$GC,13245,0.58,194.6,607.5,12.8,1277,13249,0.00,1.65,0.00,0.000,4,0.000,0.057,2948,3178,2029
$GC,13270,0.58,194.6,603.9,13.9,1279,13280,0.12,1.62,0.00,0.000,6,0.164,0.039,2925,2278,2028
$GC,13463,0.58,194.6,583.1,10.4,1298,13464,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2278,2028
$GC,13649,0.58,194.6,563.7,10.7,1316,13653,0.00,1.15,0.00,0.000,4,0.000,0.046,2929,1380,2027
$GC,13717,0.58,194.6,556.7,10.5,1322,13724,0.00,1.23,0.00,0.000,6,0.000,0.046,2929,2287,2028
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$STATE,18945,end climb,SURFACE_DEPTH_REACHED
$STATE,18945,begin surface coast
$FINISH,0.5,1.014893
$STATE,19054,end surface coast,CONTROL_FINISHED_OK
$STATE,19054,begin surface
$SM_CCo,19067,106.05,0.503,0,0,495,575.22
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$IRIDIUM_FIX,2828.55,-8824.26,050999,080804
$TT8_MAMPS,0.050622
$HUMID,1305
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$TCM_TEMP,23.00
$XPDR_PINGS,2
$24V_AH,23.5,20.639
$10V_AH,10.6,27.258
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$DEVICE_SECS,20.125,79.200,442.275,106.050,0.000,56.985,53.286,387.282,0.500,0.000,0.000,13.862,0.000,12971.138,689.156,5375.217,835.678,33.351,2196.194,0.000,4786.917,0.000,1.155,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1258.366,1356.069,4128.832,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94710,1837
$CAP_FILE_SIZE,198888,0
$CFSIZE,260165632,245882880
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,22,0,0
$CURRENT,0.050,161.4,1
$GPS,110610,140437,2840.636,-8828.747,27,1.4,27,-0.4