version: 66.04
glider: 515
mission: 5
dive: 144
start: 6 20 110 4 43 48
data:
$ID,515
$MISSION,5
$DIVE,144
$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,440
$T_MISSION,500
$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,-7797.438
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2747
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3575
$ROLL_DEG,25
$C_ROLL_DIVE,2375
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,250
$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,4
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$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
$GPS1,043537,2838.610,-8838.296,109,1.3,109,-0.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-75.8
$GPS2,044308,2838.626,-8838.385,15,1.3,15,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618A
$TGT_LATLONG,2837.900,-8826.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.250,0.087
$KALMAN_X,-239971.4,483.8,1574.0,263730.0,-4894.6
$KALMAN_Y,-107707.1,351.9,1293.8,86194.5,-10022.4
$MHEAD_RNG_PITCHd_Wd,76.7,20177,-10.8,-7.500
$D_GRID,1271
$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,-0.63,-194.6,0.0,0.0,0,42,0.00,0.00,-28.77,0.000,2,0.000,0.000,203,2382,1380
$GC,44,-0.63,-194.6,3.0,-3.4,3,121,10.43,1.48,-63.67,0.000,4,0.254,0.063,2533,3270,3634
$GC,201,-0.47,-194.6,23.4,-16.6,17,208,0.17,1.48,0.00,0.000,6,0.170,0.028,2588,2369,3635
$GC,393,-0.39,-194.6,45.2,-10.7,36,396,0.12,1.23,0.00,0.000,4,0.154,0.035,2628,1486,3636
$GC,451,-0.36,-194.6,50.4,-8.2,41,457,0.00,1.25,0.00,0.000,6,0.000,0.037,2623,2368,3636
$GC,642,-0.34,-194.6,64.6,-6.9,60,645,0.00,1.23,0.00,0.000,4,0.000,0.034,2623,1482,3637
$GC,707,-0.33,-194.6,69.1,-6.9,66,709,0.00,1.25,0.00,0.000,6,0.000,0.037,2617,2369,3637
$GC,903,-0.32,-194.6,83.0,-7.0,85,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2369,3637
$GC,1089,-0.32,-194.6,95.9,-6.7,103,1092,0.00,1.23,0.00,0.000,4,0.000,0.034,2618,1479,3638
$GC,1175,-0.32,-194.6,101.9,-7.0,111,1178,0.08,1.25,0.00,0.000,6,0.115,0.037,2639,2371,3637
$GC,1495,-0.34,-194.6,120.4,-5.8,142,1499,0.00,1.25,0.00,0.000,4,0.000,0.034,2640,1466,3636
$GC,1581,-0.36,-194.6,125.3,-6.1,150,1584,0.00,1.27,0.00,0.000,6,0.000,0.038,2637,2372,3636
$GC,1903,-0.39,-194.6,142.8,-5.2,181,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2372,3634
$GC,2213,-0.41,-194.6,159.5,-5.4,211,2216,0.00,1.25,0.00,0.000,4,0.000,0.035,2637,1471,3633
$GC,2330,-0.44,-194.6,166.1,-5.5,222,2333,0.00,1.27,0.00,0.000,6,0.000,0.039,2633,2375,3632
$GC,2652,-0.46,-194.6,184.0,-5.8,253,2655,0.10,1.25,0.00,0.000,4,0.074,0.035,2574,1481,3630
$GC,2785,-0.43,-194.6,195.4,-9.0,265,2792,0.10,1.25,0.00,0.000,6,0.132,0.038,2602,2371,3629
$GC,3101,-0.43,-194.6,217.5,-7.3,296,3104,0.00,1.25,0.00,0.000,4,0.000,0.036,2602,1471,3627
$GC,3144,-0.43,-194.6,220.7,-7.8,300,3146,0.00,1.27,0.00,0.000,6,0.000,0.038,2597,2376,3628
$GC,3465,-0.43,-194.6,243.6,-7.1,331,3468,0.00,1.25,0.00,0.000,4,0.000,0.037,2597,1483,3626
$GC,3511,-0.43,-194.6,246.8,-6.9,335,3520,0.00,1.30,0.00,0.000,6,0.000,0.038,2592,2381,3626
$GC,3829,-0.41,-194.6,269.4,-7.3,366,3832,0.00,1.27,0.00,0.000,4,0.000,0.036,2591,1475,3624
$GC,3918,-0.40,-194.6,276.5,-7.7,374,3926,0.12,1.30,0.00,0.000,6,0.137,0.038,2620,2378,3623
$GC,4236,-0.42,-194.6,294.0,-5.1,405,4239,0.00,1.27,0.00,0.000,4,0.000,0.036,2621,1472,3622
$GC,4315,-0.44,-194.6,298.5,-5.2,412,4322,0.00,1.30,0.00,0.000,6,0.000,0.039,2620,2376,3622
$GC,4632,-0.46,-194.6,315.3,-5.5,443,4636,0.00,1.25,0.00,0.000,4,0.000,0.038,2620,1485,3621
$GC,4689,-0.48,-194.6,318.6,-5.6,448,4697,0.00,1.30,0.00,0.000,6,0.000,0.040,2615,2379,3621
$GC,5007,-0.49,-194.6,336.9,-5.8,479,5010,0.00,1.27,0.00,0.000,4,0.000,0.038,2615,1475,3618
$GC,5054,-0.51,-194.6,339.9,-6.2,483,5062,0.00,1.27,0.00,0.000,6,0.000,0.040,2610,2372,3618
$GC,5371,-0.52,-194.6,359.0,-6.0,514,5374,0.00,1.25,0.00,0.000,4,0.000,0.038,2610,1479,3616
$GC,5435,-0.52,-194.6,363.0,-6.0,520,5438,0.00,1.30,0.00,0.000,6,0.000,0.041,2605,2380,3616
$GC,5756,-0.52,-194.6,382.5,-6.0,551,5759,0.00,1.27,0.00,0.000,4,0.000,0.038,2605,1482,3614
$GC,5824,-0.52,-194.6,387.0,-6.4,557,5831,0.00,1.30,0.00,0.000,6,0.000,0.041,2600,2377,3613
$GC,6142,-0.52,-194.6,407.7,-6.6,588,6144,0.00,1.27,0.00,0.000,4,0.000,0.039,2599,1476,3612
$GC,6205,-0.52,-194.6,412.4,-7.4,594,6209,0.00,1.27,0.00,0.000,6,0.000,0.041,2594,2371,3611
$GC,6527,-0.52,-194.6,434.5,-7.2,625,6530,0.00,1.25,0.00,0.000,4,0.000,0.038,2594,1481,3610
$GC,6579,-0.52,-194.6,438.0,-7.0,630,6583,0.00,1.27,0.00,0.000,6,0.000,0.042,2588,2374,3610
$GC,6902,-0.52,-194.6,460.0,-6.8,661,6902,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2374,3609
$GC,7211,-0.52,-194.6,481.7,-7.3,691,7214,0.00,1.25,0.00,0.000,4,0.000,0.040,2588,1489,3607
$GC,7297,-0.51,-194.6,488.3,-8.5,699,7299,0.00,1.27,0.00,0.000,6,0.000,0.044,2583,2373,3607
$GC,7619,-0.49,-194.6,512.1,-7.3,730,7622,0.00,1.27,0.00,0.000,4,0.000,0.041,2583,1476,3605
$GC,7687,-0.47,-194.6,517.6,-8.2,736,7694,0.00,1.30,0.00,0.000,6,0.000,0.043,2577,2374,3604
$GC,8004,-0.45,-194.6,542.4,-7.4,767,8004,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2374,3603
$GC,8314,-0.44,-194.6,566.1,-7.6,797,8315,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2375,3601
$GC,8624,-0.42,-194.6,589.8,-7.9,827,8627,0.12,1.27,0.00,0.000,4,0.151,0.042,2611,1492,3600
$GC,8753,-0.43,-194.6,597.9,-5.5,839,8756,0.00,1.27,0.00,0.000,6,0.000,0.047,2607,2371,3600
$GC,9074,-0.45,-194.6,617.6,-6.0,870,9077,0.00,1.27,0.00,0.000,4,0.000,0.043,2607,1478,3598
$GC,9149,-0.46,-194.6,622.3,-6.5,877,9152,0.00,1.30,0.00,0.000,6,0.000,0.046,2601,2373,3598
$GC,9470,-0.47,-194.6,641.8,-6.2,908,9471,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2374,3597
$GC,9781,-0.48,-194.6,660.7,-5.6,938,9784,0.00,1.27,0.00,0.000,4,0.000,0.044,2602,1486,3595
$GC,9856,-0.49,-194.6,665.1,-5.8,945,9859,0.00,1.30,0.00,0.000,6,0.000,0.048,2596,2375,3594
$GC,10178,-0.49,-194.6,684.1,-6.0,976,10181,0.00,1.27,0.00,0.000,4,0.000,0.043,2596,1490,3594
$GC,10252,-0.49,-194.6,688.9,-7.4,983,10255,0.00,1.30,0.00,0.000,6,0.000,0.048,2590,2375,3593
$GC,10575,-0.49,-194.6,709.8,-6.4,1014,10577,0.00,1.27,0.00,0.000,4,0.000,0.044,2590,1490,3593
$GC,10621,-0.49,-194.6,713.3,-7.2,1018,10628,0.00,1.33,0.00,0.000,6,0.000,0.048,2585,2378,3592
$GC,10939,-0.49,-194.6,735.2,-6.8,1049,10942,0.00,1.27,0.00,0.000,4,0.000,0.044,2584,1497,3591
$GC,10985,-0.49,-194.6,738.8,-7.2,1053,10992,0.00,1.30,0.00,0.000,6,0.000,0.048,2579,2374,3591
$GC,11303,-0.49,-194.6,760.5,-6.8,1084,11303,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2374,3590
$GC,11613,-0.49,-194.6,782.3,-7.0,1114,11616,0.00,1.27,0.00,0.000,4,0.000,0.045,2579,1493,3590
$GC,11691,-0.48,-194.6,788.3,-7.3,1121,11699,0.00,1.33,0.00,0.000,6,0.000,0.048,2574,2378,3589
$GC,12010,-0.47,-194.6,811.1,-7.3,1152,12013,0.00,1.30,0.00,0.000,4,0.000,0.045,2574,1485,3589
$GC,12073,-0.45,-194.6,816.1,-7.5,1158,12077,0.08,1.30,0.00,0.000,6,0.151,0.049,2594,2372,3589
$GC,12394,-0.45,-194.6,834.9,-5.4,1189,12395,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2372,3588
$GC,12706,-0.46,-194.6,852.9,-5.8,1219,12709,0.00,1.27,0.00,0.000,4,0.000,0.045,2594,1488,3587
$GC,12774,-0.46,-194.6,857.3,-6.3,1225,12781,0.00,1.33,0.00,0.000,6,0.000,0.048,2589,2375,3587
$GC,13091,-0.46,-194.6,877.0,-6.2,1256,13095,0.00,1.27,0.00,0.000,4,0.000,0.045,2589,1493,3586
$GC,13148,-0.46,-194.6,881.1,-7.0,1261,13156,0.00,1.33,0.00,0.000,6,0.000,0.048,2584,2377,3586
$GC,13466,-0.46,-194.6,901.8,-6.4,1292,13469,0.00,1.27,0.00,0.000,4,0.000,0.045,2584,1497,3585
$GC,13529,-0.46,-194.6,906.2,-6.9,1298,13533,0.00,1.30,0.00,0.000,6,0.000,0.050,2578,2376,3585
$GC,13850,-0.46,-194.6,927.2,-6.2,1329,13851,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2376,3584
$GC,14162,-0.46,-194.6,946.6,-6.1,1359,14165,0.00,1.27,0.00,0.000,4,0.000,0.046,2578,1496,3584
$GC,14247,-0.46,-194.6,952.2,-6.7,1367,14250,0.00,1.30,0.00,0.000,6,0.000,0.049,2573,2375,3583
$GC,14569,-0.46,-194.6,973.6,-6.9,1398,14570,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2375,3583
$STATE,14814,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14814,begin apogee
$GC,14818,-0.25,0.0,990.5,6.9,1422,14970,0.30,0.00,148.88,1.266,6,0.129,0.000,2664,2264,2840
$STATE,14970,end apogee,CONTROL_FINISHED_OK
$STATE,14970,begin climb
$GC,14972,0.63,194.6,995.5,0.0,1437,15151,0.90,1.90,166.70,1.236,4,0.110,0.060,2942,3146,2044
$GC,15187,0.52,194.6,977.6,13.2,1455,15196,0.10,1.75,0.00,0.000,6,0.155,0.037,2922,2254,2039
$GC,15503,0.46,194.6,944.7,10.2,1486,15506,0.00,1.73,0.00,0.000,4,0.000,0.058,2922,3154,2034
$GC,15561,0.38,194.6,938.4,10.8,1491,15570,0.17,1.67,0.00,0.000,6,0.137,0.038,2874,2247,2033
$GC,15878,0.39,218.3,916.1,6.9,1522,15902,0.00,1.80,18.92,1.132,4,0.000,0.058,2874,3153,1949
$GC,15934,0.38,218.3,911.9,8.3,1527,15937,0.00,1.67,0.00,0.000,6,0.000,0.039,2881,2255,1946
$GC,16255,0.37,223.1,888.2,7.4,1558,16266,0.00,1.73,4.65,0.792,4,0.000,0.058,2880,3139,1930
$GC,16287,0.36,223.1,885.7,7.6,1561,16291,0.00,1.65,0.00,0.000,6,0.000,0.040,2888,2247,1930
$GC,16608,0.34,223.1,860.7,7.6,1592,16612,0.12,1.73,0.00,0.000,4,0.137,0.058,2854,3150,1929
$GC,16654,0.37,246.8,857.3,6.9,1596,16679,0.00,1.67,21.15,1.122,6,0.000,0.038,2859,2241,1833
$GC,16989,0.44,289.3,836.6,6.4,1628,17036,0.00,1.83,36.58,1.138,4,0.000,0.056,2859,3145,1659
$GC,17057,0.52,333.7,832.2,6.3,1634,17104,0.10,1.67,38.65,1.119,6,0.061,0.038,2920,2257,1478
$GC,17413,0.58,333.7,801.9,8.4,1668,17414,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2257,1469
$GC,17724,0.65,333.7,775.4,8.9,1698,17727,0.12,1.67,0.00,0.000,4,0.081,0.055,2971,3146,1467
$GC,17755,0.65,333.7,772.3,9.7,1701,17759,0.00,1.65,0.00,0.000,6,0.000,0.039,2979,2248,1467
$GC,18077,0.55,333.7,719.1,18.2,1732,18080,0.20,1.73,0.00,0.000,4,0.155,0.056,2925,3150,1467
$GC,18112,0.49,333.7,713.7,14.5,1735,18122,0.00,1.67,0.00,0.000,6,0.000,0.038,2932,2229,1465
$GC,18430,0.46,333.7,679.6,10.6,1766,18433,0.12,1.73,0.00,0.000,4,0.138,0.055,2897,3157,1465
$GC,18472,0.46,333.7,675.5,9.5,1770,18475,0.00,1.62,0.00,0.000,6,0.000,0.039,2903,2262,1464
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$STATE,25808,end climb,SURFACE_DEPTH_REACHED
$STATE,25808,begin surface coast
$FINISH,0.7,1.001256
$STATE,25934,end surface coast,CONTROL_FINISHED_OK
$STATE,25934,begin surface
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$HUMID,1357
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$XPDR_PINGS,0
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$10V_AH,10.6,36.475
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$DEVICE_SECS,22.725,153.850,550.250,60.075,0.000,25.442,33.711,253.063,0.000,0.000,0.000,17.025,0.000,17396.477,735.799,7533.210,746.521,33.338,2880.276,0.000,6751.343,0.000,0.847,0.000
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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,129198,2489
$CAP_FILE_SIZE,260346,0
$CFSIZE,260165632,242151424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.085,213.8,1
$GPS,200610,115807,2839.203,-8834.761,31,1.1,31,-0.3