version: 66.04
glider: 515
mission: 5
dive: 13
start: 5 23 110 2 25 5
data:
$ID,515
$MISSION,5
$DIVE,13
$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,330
$T_MISSION,360
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4025.4124
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2725
$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,35
$C_ROLL_DIVE,2071
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,3090
$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,1
$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
$GPS1,020925,2838.010,-8847.505,38,1.4,38,-0.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-72.6
$GPS2,022426,2838.101,-8847.491,11,1.5,11,-0.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SITE44
$TGT_LATLONG,2841.000,-8829.800
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.096,0.279
$KALMAN_X,-16766.4,-641.1,486.0,27951.3,-3638.2
$KALMAN_Y,-25056.7,-620.1,665.2,4200.1,-5843.0
$MHEAD_RNG_PITCHd_Wd,45.9,29241,-14.9,-10.000
$D_GRID,1122
$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,-0.79,-194.6,0.0,0.0,0,68,0.00,0.00,-55.03,0.000,2,0.000,0.000,201,2062,2383
$GC,69,-0.79,-194.6,3.0,-4.3,8,119,10.15,2.12,-35.40,0.000,4,0.263,0.065,2456,3307,3885
$GC,348,-0.79,-194.6,61.4,-20.3,58,355,0.00,2.00,0.00,0.000,6,0.000,0.032,2456,2074,3887
$GC,418,-0.79,-194.6,75.1,-19.0,71,425,0.00,1.73,0.00,0.000,4,0.000,0.042,2456,850,3887
$GC,445,-0.79,-194.6,80.6,-19.8,76,452,0.00,1.73,0.00,0.000,6,0.000,0.038,2449,2076,3887
$GC,515,-0.79,-194.6,94.9,-20.5,89,516,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2077,3887
$GC,579,-0.79,-194.6,108.1,-20.7,101,587,0.00,1.75,0.00,0.000,4,0.000,0.041,2450,844,3887
$GC,607,-0.79,-194.6,113.9,-20.6,106,615,0.00,1.73,0.00,0.000,6,0.000,0.038,2443,2073,3887
$GC,742,-0.79,-194.6,140.4,-20.0,131,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2073,3888
$GC,870,-0.79,-194.6,166.0,-18.9,155,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2073,3888
$GC,998,-0.79,-194.6,189.5,-18.8,179,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2073,3887
$GC,1131,-0.79,-194.6,214.9,-18.2,204,1138,0.00,1.75,0.00,0.000,4,0.000,0.042,2443,833,3887
$GC,1169,-0.79,-194.6,222.0,-18.6,211,1177,0.08,1.73,0.00,0.000,6,0.166,0.040,2457,2064,3886
$GC,1304,-0.79,-194.6,244.9,-16.5,236,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2064,3886
$GC,1432,-0.79,-194.6,266.6,-16.5,260,1438,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2064,3885
$GC,1565,-0.79,-194.6,288.2,-15.5,285,1573,0.00,2.05,0.00,0.000,4,0.000,0.054,2449,3308,3885
$GC,1630,-0.79,-194.6,299.2,-16.1,297,1639,0.00,1.98,0.00,0.000,6,0.000,0.035,2449,2076,3884
$GC,1766,-0.79,-194.6,321.8,-16.0,322,1772,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2075,3883
$GC,1899,-0.79,-194.6,344.5,-17.5,347,1906,0.00,2.05,0.00,0.000,4,0.000,0.054,2440,3301,3882
$GC,1926,-0.79,-194.6,349.3,-17.8,352,1934,0.00,1.98,0.00,0.000,6,0.000,0.035,2440,2069,3882
$GC,2061,-0.79,-194.6,372.8,-17.6,377,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2068,3881
$GC,2195,-0.79,-194.6,396.6,-18.0,402,2202,0.00,2.08,0.00,0.000,4,0.000,0.055,2431,3311,3879
$GC,2222,-0.79,-194.6,401.5,-18.3,407,2229,0.10,2.00,0.00,0.000,6,0.178,0.037,2460,2065,3879
$GC,2357,-0.79,-194.6,423.3,-15.3,432,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2065,3878
$GC,2490,-0.79,-194.6,444.7,-16.0,457,2491,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2065,3877
$GC,2618,-0.79,-194.6,465.2,-15.8,481,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2065,3876
$GC,2746,-0.79,-194.6,485.2,-15.5,505,2747,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2065,3875
$GC,2874,-0.79,-194.6,505.0,-15.1,529,2875,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2065,3873
$GC,3002,-0.79,-194.6,524.2,-15.3,553,3010,0.00,2.08,0.00,0.000,4,0.000,0.057,2452,3301,3872
$GC,3030,-0.79,-194.6,528.5,-15.6,558,3037,0.00,1.98,0.00,0.000,6,0.000,0.038,2452,2070,3871
$GC,3165,-0.79,-194.6,548.9,-15.3,583,3171,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2069,3870
$GC,3298,-0.79,-194.6,569.4,-16.1,608,3305,0.00,2.08,0.00,0.000,4,0.000,0.058,2443,3308,3869
$GC,3325,-0.79,-194.6,574.0,-16.7,613,3334,0.00,2.00,0.00,0.000,6,0.000,0.038,2443,2065,3869
$GC,3461,-0.79,-194.6,595.6,-16.7,638,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2064,3868
$GC,3594,-0.79,-194.6,617.3,-16.4,663,3600,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2064,3867
$GC,3727,-0.79,-194.6,639.2,-16.6,688,3728,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2065,3865
$GC,3855,-0.79,-194.6,659.8,-16.1,712,3862,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2065,3864
$GC,3989,-0.79,-194.6,680.8,-16.0,737,3997,0.00,2.10,0.00,0.000,4,0.000,0.059,2434,3309,3863
$GC,4017,-0.79,-194.6,685.5,-17.4,742,4024,0.10,2.00,0.00,0.000,6,0.173,0.039,2463,2064,3862
$GC,4152,-0.79,-194.6,704.6,-13.9,767,4158,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2065,3862
$GC,4285,-0.79,-194.6,722.8,-14.1,792,4285,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2065,3862
$GC,4413,-0.79,-194.6,740.3,-14.0,816,4419,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2065,3861
$GC,4546,-0.79,-194.6,758.3,-13.9,841,4554,0.00,2.10,0.00,0.000,4,0.000,0.061,2455,3310,3859
$GC,4580,-0.79,-194.6,762.8,-14.0,847,4587,0.00,2.00,0.00,0.000,6,0.000,0.040,2455,2076,3859
$GC,4714,-0.79,-194.6,782.6,-15.2,872,4720,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2075,3857
$GC,4848,-0.79,-194.6,801.5,-13.9,897,4855,0.00,2.08,0.00,0.000,4,0.000,0.060,2445,3306,3856
$GC,4881,-0.79,-194.6,806.4,-15.8,903,4888,0.00,2.00,0.00,0.000,6,0.000,0.041,2445,2069,3856
$GC,5016,-0.79,-194.6,826.2,-14.0,928,5021,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2068,3855
$GC,5149,-0.79,-194.6,845.9,-14.5,953,5157,0.00,2.08,0.00,0.000,4,0.000,0.061,2436,3302,3854
$GC,5194,-0.79,-194.6,852.7,-14.8,961,5202,0.08,2.00,0.00,0.000,6,0.179,0.041,2459,2066,3854
$GC,5329,-0.79,-194.6,871.1,-13.2,986,5335,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2066,3853
$GC,5463,-0.79,-194.6,888.7,-13.4,1011,5469,0.00,1.73,0.00,0.000,4,0.000,0.051,2461,852,3852
$GC,5490,-0.79,-194.6,892.1,-13.5,1016,5497,0.00,1.73,0.00,0.000,6,0.000,0.048,2456,2073,3852
$GC,5624,-0.79,-194.6,910.2,-14.0,1041,5632,0.00,2.08,0.00,0.000,4,0.000,0.061,2446,3309,3851
$GC,5658,-0.79,-194.6,915.0,-15.1,1047,5665,0.00,2.00,0.00,0.000,6,0.000,0.041,2446,2073,3851
$GC,5792,-0.79,-194.6,934.4,-14.9,1072,5798,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2072,3851
$GC,5925,-0.79,-194.6,953.9,-14.6,1097,5934,0.00,2.08,0.00,0.000,4,0.000,0.061,2436,3303,3850
$GC,5959,-0.79,-194.6,959.1,-15.9,1103,5967,0.08,2.00,0.00,0.000,6,0.176,0.041,2460,2067,3849
$GC,6094,-0.79,-194.6,977.0,-13.4,1128,6100,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2069,3849
$STATE,6194,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6194,begin apogee
$GC,6197,-0.26,0.0,990.5,14.0,1147,6349,0.57,0.00,148.98,1.249,6,0.155,0.000,2636,2068,3090
$STATE,6349,end apogee,CONTROL_FINISHED_OK
$STATE,6350,begin climb
$GC,6351,0.79,194.6,996.5,0.0,1170,6520,1.05,1.85,161.65,1.217,4,0.098,0.047,2977,847,2296
$GC,6562,0.79,194.6,980.0,15.0,1203,6570,0.00,1.85,0.00,0.000,6,0.000,0.047,2978,2069,2292
$GC,6697,0.79,194.6,959.5,14.9,1228,6697,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2070,2288
$GC,6825,0.79,194.6,940.2,14.8,1252,6832,0.00,2.15,0.00,0.000,4,0.000,0.061,2977,3303,2287
$GC,6868,0.79,194.6,933.0,17.3,1260,6875,0.00,2.05,0.00,0.000,6,0.000,0.039,2987,2070,2286
$GC,7003,0.79,194.6,911.5,16.4,1285,7009,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2070,2286
$GC,7137,0.79,194.6,890.3,15.6,1310,7144,0.00,2.12,0.00,0.000,4,0.000,0.061,2987,3297,2285
$GC,7191,0.79,194.6,880.7,17.8,1320,7198,0.00,2.03,0.00,0.000,6,0.000,0.039,2996,2072,2284
$GC,7325,0.79,194.6,859.1,16.6,1345,7333,0.00,1.75,0.00,0.000,4,0.000,0.048,3005,844,2284
$GC,7359,0.79,194.6,853.9,15.6,1351,7366,0.00,1.77,0.00,0.000,6,0.000,0.047,3005,2074,2284
$GC,7493,0.79,194.6,832.2,17.0,1376,7500,0.00,2.10,0.00,0.000,4,0.000,0.061,3006,3308,2283
$GC,7541,0.79,194.6,823.8,17.7,1385,7550,0.10,2.03,0.00,0.000,6,0.189,0.039,2987,2068,2282
$GC,7677,0.79,194.6,803.4,14.7,1410,7683,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2068,2282
$GC,7810,0.79,194.6,783.6,14.7,1435,7818,0.00,2.12,0.00,0.000,4,0.000,0.061,2987,3313,2281
$GC,7848,0.79,194.6,777.7,16.1,1442,7856,0.00,2.03,0.00,0.000,6,0.000,0.039,2995,2071,2281
$GC,7983,0.79,194.6,757.1,15.7,1467,7989,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2071,2281
$GC,8116,0.79,194.6,736.6,16.2,1492,8123,0.00,2.12,0.00,0.000,4,0.000,0.061,2995,3312,2281
$GC,8181,0.79,194.6,725.7,17.2,1504,8188,0.00,2.03,0.00,0.000,6,0.000,0.039,3005,2067,2280
$GC,8315,0.79,194.6,703.9,15.6,1529,8316,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2068,2279
$GC,8443,0.79,194.6,684.0,14.7,1553,8444,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2068,2279
$GC,8571,0.79,194.6,663.6,16.3,1577,8578,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2068,2279
$GC,8705,0.79,194.6,642.1,16.0,1602,8711,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2069,2279
$GC,8839,0.79,194.6,620.3,17.1,1627,8844,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2068,2279
$GC,8972,0.79,194.6,598.8,15.2,1652,8972,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2068,2279
$GC,9100,0.79,194.6,578.5,15.5,1676,9107,0.00,2.10,0.00,0.000,4,0.000,0.060,3006,3306,2279
$GC,9122,0.79,194.6,574.7,17.8,1680,9129,0.12,2.00,0.00,0.000,6,0.187,0.038,2979,2071,2278
$GC,9256,0.79,194.6,555.2,14.4,1705,9263,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2071,2278
$GC,9391,0.79,194.6,536.8,13.4,1730,9398,0.00,2.10,0.00,0.000,4,0.000,0.060,2979,3308,2278
$GC,9434,0.79,194.6,530.3,15.2,1738,9442,0.00,2.00,0.00,0.000,6,0.000,0.038,2988,2072,2278
$GC,9569,0.79,194.6,510.9,13.7,1763,9570,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2074,2278
$GC,9697,0.79,194.6,492.6,14.3,1787,9704,0.00,2.10,0.00,0.000,4,0.000,0.059,2987,3309,2278
$GC,9724,0.79,194.6,488.5,16.6,1792,9731,0.00,2.00,0.00,0.000,6,0.000,0.038,2998,2068,2278
$GC,9859,0.79,194.6,468.3,15.0,1817,9866,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2069,2278
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$STATE,13451,end climb,SURFACE_DEPTH_REACHED
$STATE,13451,begin surface coast
$FINISH,1.4,1.020215
$STATE,13460,end surface coast,CONTROL_FINISHED_OK
$STATE,13460,begin surface
$SM_CCo,13472,56.50,0.509,0,0,745,575.22
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$IRIDIUM_FIX,2831.00,-8848.80,170899,020231
$TT8_MAMPS,0.051389
$HUMID,1309
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$TCM_TEMP,21.30
$XPDR_PINGS,6
$24V_AH,23.1,6.286
$10V_AH,10.7,4.264
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$DEVICE_SECS,21.625,149.775,516.000,56.500,0.000,52.924,62.882,579.634,1.500,0.000,0.000,13.141,0.000,5688.646,896.694,6843.228,938.815,33.334,2906.860,0.000,6151.223,0.000,0.544,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1685.595,1801.712,5565.432,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126008,2477
$CAP_FILE_SIZE,221743,0
$CFSIZE,260165632,255504384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.139,190.1,1
$GPS,230510,061130,2838.656,-8845.873,37,1.4,37,-0.2