version: 66.04
glider: 515
mission: 5
dive: 28
start: 5 25 110 9 28 35
data:
$ID,515
$MISSION,5
$DIVE,28
$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,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,150
$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,-4322.4023
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2700
$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,2214
$C_ROLL_CLIMB,2283
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$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,3046
$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,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
$GPS1,091907,2839.624,-8834.875,41,1.8,41,-0.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-72.9
$GPS2,092756,2839.649,-8834.854,13,1.8,31,-0.3
$SPEED_LIMITS,0.130,0.234
$TGT_NAME,SITE48
$TGT_LATLONG,2838.100,-8837.700
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.167,0.165
$KALMAN_X,-44165.3,920.8,565.5,74190.6,-10079.6
$KALMAN_Y,-64888.2,492.1,-158.4,46614.9,-7878.2
$MHEAD_RNG_PITCHd_Wd,205.1,5443,-26.8,-7.500
$D_GRID,1398
$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,-1.04,-41.0,0.0,0.0,0,82,0.00,0.00,-68.95,0.000,2,0.000,0.000,203,2171,2671
$GC,84,-1.06,-57.9,3.4,-5.4,10,111,9.82,1.55,-12.80,0.000,4,0.272,0.056,2355,944,3283
$GC,351,-1.06,-57.9,63.7,-15.8,59,358,0.00,1.70,0.00,0.000,6,0.000,0.035,2348,2219,3285
$GC,421,-1.06,-57.9,75.1,-16.2,72,429,0.00,1.67,0.00,0.000,4,0.000,0.038,2354,963,3285
$GC,616,-1.06,-57.9,108.7,-18.5,108,623,0.00,1.65,0.00,0.000,6,0.000,0.035,2348,2213,3286
$GC,750,-1.06,-57.9,132.7,-17.1,133,758,0.00,1.65,0.00,0.000,4,0.000,0.038,2355,963,3287
$GC,831,-1.06,-57.9,146.9,-18.0,148,839,0.00,1.65,0.00,0.000,6,0.000,0.035,2349,2211,3287
$GC,967,-1.06,-57.9,169.4,-17.0,173,974,0.00,1.65,0.00,0.000,4,0.000,0.038,2355,959,3287
$GC,1026,-1.06,-57.9,179.0,-15.8,184,1035,0.00,1.65,0.00,0.000,6,0.000,0.035,2348,2212,3287
$GC,1162,-1.06,-57.9,200.2,-16.0,209,1168,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2213,3287
$GC,1296,-1.06,-57.9,221.8,-16.6,234,1302,0.00,1.67,0.00,0.000,4,0.000,0.039,2348,948,3287
$GC,1365,-1.06,-57.9,233.3,-16.1,247,1373,0.00,1.67,0.00,0.000,6,0.000,0.037,2341,2219,3287
$GC,1500,-1.06,-57.9,255.7,-16.2,272,1508,0.00,1.67,0.00,0.000,4,0.000,0.039,2347,952,3287
$GC,1572,-1.06,-57.9,267.7,-16.7,285,1578,0.00,1.65,0.00,0.000,6,0.000,0.037,2340,2206,3287
$GC,1706,-1.06,-57.9,289.7,-16.5,310,1713,0.00,1.65,0.00,0.000,4,0.000,0.038,2347,955,3286
$GC,1910,-1.06,-57.9,322.8,-15.8,348,1918,0.00,1.65,0.00,0.000,6,0.000,0.037,2340,2211,3285
$GC,2046,-1.06,-57.9,344.8,-16.5,373,2052,0.00,2.17,0.00,0.000,4,0.000,0.049,2330,3448,3285
$GC,2088,-1.06,-57.9,352.1,-17.8,381,2095,0.00,2.12,0.00,0.000,6,0.000,0.033,2334,2203,3285
$GC,2222,-1.06,-57.9,374.4,-16.9,406,2228,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2204,3284
$GC,2355,-1.06,-57.9,396.2,-16.3,431,2363,0.00,2.22,0.00,0.000,4,0.000,0.050,2325,3449,3283
$GC,2373,-1.06,-57.9,399.1,-16.2,434,2380,0.00,2.10,0.00,0.000,6,0.000,0.034,2334,2220,3283
$GC,2507,-1.06,-57.9,422.1,-17.1,459,2507,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2220,3282
$GC,2635,-1.06,-57.9,443.9,-17.2,483,2642,0.00,2.20,0.00,0.000,4,0.000,0.051,2325,3444,3281
$GC,2694,-1.06,-57.9,455.1,-18.9,494,2702,0.00,2.12,0.00,0.000,6,0.000,0.035,2333,2208,3280
$GC,2829,-1.06,-57.9,478.1,-16.6,519,2835,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2209,3280
$GC,2962,-1.06,-57.9,500.5,-16.8,544,2970,0.00,1.62,0.00,0.000,4,0.000,0.044,2334,969,3279
$GC,3012,-1.06,-57.9,508.9,-16.8,553,3019,0.00,1.65,0.00,0.000,6,0.000,0.040,2327,2214,3278
$GC,3146,-1.06,-57.9,531.1,-16.4,578,3153,0.12,1.65,0.00,0.000,4,0.213,0.043,2360,966,3278
$GC,3216,-1.06,-57.9,542.0,-15.4,591,3224,0.00,1.65,0.00,0.000,6,0.000,0.041,2354,2210,3277
$GC,3351,-1.06,-57.9,563.0,-15.6,616,3359,0.00,1.65,0.00,0.000,4,0.000,0.043,2360,968,3275
$GC,3379,-1.06,-57.9,567.3,-15.5,621,3386,0.00,1.65,0.00,0.000,6,0.000,0.041,2354,2212,3275
$GC,3514,-1.06,-57.9,588.5,-15.9,646,3519,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2212,3275
$GC,3647,-1.06,-57.9,609.8,-15.8,671,3654,0.00,1.65,0.00,0.000,4,0.000,0.044,2360,968,3274
$GC,3706,-1.06,-57.9,619.1,-15.7,682,3714,0.00,1.65,0.00,0.000,6,0.000,0.041,2353,2213,3274
$GC,3841,-1.06,-57.9,640.1,-15.6,707,3848,0.00,2.22,0.00,0.000,4,0.000,0.054,2343,3454,3272
$GC,3884,-1.06,-57.9,647.1,-16.9,715,3891,0.00,2.12,0.00,0.000,6,0.000,0.037,2349,2220,3272
$GC,4019,-1.06,-57.9,667.9,-15.8,740,4026,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2221,3271
$GC,4153,-1.06,-57.9,688.4,-15.5,765,4160,0.00,1.67,0.00,0.000,4,0.000,0.045,2348,957,3270
$GC,4212,-1.06,-57.9,697.7,-15.7,776,4221,0.00,1.70,0.00,0.000,6,0.000,0.042,2343,2226,3270
$GC,4348,-1.06,-57.9,718.6,-15.6,801,4349,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2226,3269
$GC,4476,-1.06,-57.9,738.0,-15.1,825,4483,0.00,1.70,0.00,0.000,4,0.000,0.045,2346,960,3268
$GC,4498,-1.06,-57.9,741.3,-15.4,829,4505,0.00,1.67,0.00,0.000,6,0.000,0.043,2340,2211,3268
$GC,4632,-1.06,-57.9,762.1,-15.6,854,4640,0.00,1.67,0.00,0.000,4,0.000,0.045,2343,961,3267
$GC,4666,-1.06,-57.9,767.1,-15.6,860,4674,0.00,1.67,0.00,0.000,6,0.000,0.042,2337,2216,3266
$GC,4801,-1.06,-57.9,788.2,-15.7,885,4808,0.00,2.20,0.00,0.000,4,0.000,0.055,2326,3439,3265
$GC,4844,-1.06,-57.9,795.6,-17.0,893,4852,0.00,2.12,0.00,0.000,6,0.000,0.038,2334,2210,3265
$GC,4979,-1.06,-57.9,816.7,-14.7,918,4986,0.00,1.65,0.00,0.000,4,0.000,0.047,2334,962,3264
$GC,5065,-1.06,-57.9,830.3,-15.5,934,5073,0.00,1.67,0.00,0.000,6,0.000,0.043,2327,2218,3264
$GC,5200,-1.06,-57.9,851.2,-15.3,959,5207,0.12,0.00,0.00,0.000,6,0.217,0.000,2353,2218,3263
$GC,5334,-1.06,-57.9,870.7,-14.5,984,5342,0.00,2.17,0.00,0.000,4,0.000,0.055,2344,3430,3262
$GC,5367,-1.06,-57.9,875.8,-15.1,990,5375,0.00,2.10,0.00,0.000,6,0.000,0.038,2347,2220,3262
$GC,5502,-1.06,-57.9,895.7,-14.7,1015,5508,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2221,3261
$GC,5636,-1.06,-57.9,915.6,-14.9,1040,5644,0.00,1.67,0.00,0.000,4,0.000,0.048,2347,960,3260
$GC,5664,-1.06,-57.9,920.0,-15.5,1045,5671,0.00,1.65,0.00,0.000,6,0.000,0.044,2341,2205,3260
$GC,5799,-1.06,-57.9,940.4,-14.9,1070,5805,0.00,2.22,0.00,0.000,4,0.000,0.057,2330,3441,3259
$GC,5809,-1.06,-57.9,941.9,-14.8,1072,5818,0.00,2.12,0.00,0.000,6,0.000,0.039,2334,2213,3259
$GC,5945,-1.06,-57.9,962.7,-15.4,1097,5952,0.00,2.22,0.00,0.000,4,0.000,0.056,2325,3438,3258
$GC,6010,-1.06,-57.9,972.9,-15.8,1109,6017,0.00,2.10,0.00,0.000,6,0.000,0.038,2332,2218,3258
$STATE,6127,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6127,begin apogee
$GC,6130,-0.26,0.0,990.7,15.0,1131,6178,1.00,0.00,42.22,1.236,6,0.206,0.000,2606,2284,3045
$STATE,6179,end apogee,CONTROL_FINISHED_OK
$STATE,6179,begin climb
$GC,6180,1.06,57.9,993.7,0.0,1138,6235,1.33,2.45,47.92,1.213,4,0.114,0.069,3030,3521,2807
$GC,6266,1.06,57.9,988.7,7.7,1152,6275,0.00,2.28,0.00,0.000,6,0.000,0.037,3041,2286,2806
$GC,6402,1.06,57.9,976.6,9.7,1177,6408,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2288,2804
$GC,6535,1.06,57.9,964.5,8.9,1202,6543,0.00,2.35,0.00,0.000,4,0.000,0.064,3041,3515,2804
$GC,6574,1.06,57.9,960.7,10.2,1209,6581,0.00,2.20,0.00,0.000,6,0.000,0.037,3051,2285,2803
$GC,6708,1.06,57.9,948.3,9.3,1234,6715,0.00,2.33,0.00,0.000,4,0.000,0.064,3050,3514,2803
$GC,6789,1.06,57.9,940.4,10.0,1249,6796,0.00,2.20,0.00,0.000,6,0.000,0.037,3060,2283,2803
$GC,6923,1.06,57.9,927.8,9.6,1274,6931,0.00,2.33,0.00,0.000,4,0.000,0.064,3059,3517,2802
$GC,6962,1.06,57.9,924.0,10.2,1281,6969,0.00,2.17,0.00,0.000,6,0.000,0.037,3068,2289,2802
$GC,7096,1.06,57.9,911.7,9.0,1306,7102,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2290,2801
$GC,7229,1.06,57.9,899.7,8.7,1331,7236,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2290,2801
$GC,7363,1.06,57.9,888.1,8.7,1356,7364,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2291,2801
$GC,7491,1.06,57.9,876.7,8.7,1380,7499,0.00,2.28,0.00,0.000,4,0.000,0.063,3062,3511,2800
$GC,7530,1.06,57.9,873.2,9.4,1387,7537,0.00,2.20,0.00,0.000,6,0.000,0.037,3071,2280,2800
$GC,7664,1.06,57.9,861.4,8.6,1412,7672,0.00,2.30,0.00,0.000,4,0.000,0.063,3071,3514,2799
$GC,7868,1.06,57.9,841.8,10.2,1450,7876,0.12,2.17,0.00,0.000,6,0.220,0.037,3049,2288,2799
$GC,8003,1.06,57.9,830.9,7.7,1475,8010,0.00,2.28,0.00,0.000,4,0.000,0.062,3045,3513,2799
$GC,8031,1.06,57.9,828.4,8.8,1480,8039,0.00,2.17,0.00,0.000,6,0.000,0.037,3054,2282,2798
$GC,8167,1.06,57.9,817.9,8.0,1505,8172,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2283,2798
$GC,8300,1.06,57.9,807.2,8.1,1530,8307,0.00,1.70,0.00,0.000,4,0.000,0.044,3062,1021,2798
$GC,8376,1.06,57.9,801.4,7.7,1544,8384,0.00,1.73,0.00,0.000,6,0.000,0.047,3062,2283,2797
$GC,8511,1.06,57.9,790.6,8.1,1569,8517,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2283,2797
$GC,8645,1.07,60.9,780.5,7.1,1594,8651,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2283,2797
$GC,8778,1.07,60.9,770.6,7.6,1619,8779,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2283,2796
$GC,8906,1.07,63.4,761.1,7.2,1643,8913,0.00,0.00,3.65,0.639,6,0.000,0.000,3061,2284,2787
$GC,9041,1.07,65.8,751.3,7.2,1668,9049,0.00,0.00,3.78,0.652,6,0.000,0.000,3062,2284,2777
$GC,9176,1.07,65.8,741.2,7.9,1693,9182,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2283,2777
$GC,9309,1.07,65.8,730.6,7.7,1718,9316,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2284,2776
$GC,9443,1.07,65.8,720.3,7.7,1743,9443,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2283,2776
$GC,9571,1.07,65.8,710.6,7.7,1767,9578,0.00,1.70,0.00,0.000,4,0.000,0.045,3069,1033,2776
$GC,9625,1.07,65.8,706.8,7.5,1777,9632,0.00,1.70,0.00,0.000,6,0.000,0.046,3062,2280,2776
$GC,9759,1.07,65.8,696.9,7.7,1802,9760,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2280,2776
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$GC,10022,1.08,69.3,676.9,7.6,1851,10028,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2280,2762
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$STATE,18520,end climb,SURFACE_DEPTH_REACHED
$STATE,18520,begin surface coast
$FINISH,3.0,1.021589
$STATE,18580,end surface coast,CONTROL_FINISHED_OK
$STATE,18580,begin surface
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$HUMID,1231
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$TCM_TEMP,22.10
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$10V_AH,10.6,8.539
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
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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,176209,3433
$CAP_FILE_SIZE,301528,0
$CFSIZE,260165632,253788160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,69,0,0
$CURRENT,0.172,275.6,1
$GPS,250510,144231,2838.575,-8837.328,40,1.6,40,-0.3