version: 66.04
glider: 515
mission: 5
dive: 36
start: 5 27 110 2 2 36
data:
$ID,515
$MISSION,5
$DIVE,36
$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,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,-4481.5405
$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,30
$C_ROLL_DIVE,2265
$C_ROLL_CLIMB,2305
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,2985
$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
$GPS1,015527,2837.637,-8830.776,24,2.8,43,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-70.5
$GPS2,020158,2837.644,-8830.874,15,3.0,34,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,SITE44
$TGT_LATLONG,2841.000,-8829.800
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.236,0.119
$KALMAN_X,-76415.7,1216.6,1157.2,111980.1,-14948.1
$KALMAN_Y,-80085.6,940.8,-218.9,57707.5,-2249.9
$MHEAD_RNG_PITCHd_Wd,36.6,6455,-10.8,-7.500
$D_GRID,1604
$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,-0.64,-194.6,0.0,0.0,0,98,0.00,0.00,-84.28,0.000,2,0.000,0.000,204,2260,2985
$GC,99,-0.64,-194.6,3.4,-4.8,8,131,10.35,1.90,-16.50,0.000,4,0.267,0.067,2478,3348,3781
$GC,162,-0.64,-194.6,19.2,-24.7,14,166,0.00,1.80,0.00,0.000,6,0.000,0.035,2484,2283,3782
$GC,235,-0.64,-194.6,36.0,-22.6,21,235,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2280,3782
$GC,296,-0.64,-194.6,49.0,-19.9,27,300,0.00,1.45,0.00,0.000,4,0.000,0.038,2492,1177,3783
$GC,349,-0.64,-194.6,58.0,-16.2,32,354,0.00,1.45,0.00,0.000,6,0.000,0.037,2486,2275,3783
$GC,422,-0.64,-194.6,69.9,-17.1,39,423,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2275,3783
$GC,484,-0.64,-194.6,80.4,-16.9,45,485,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2275,3783
$GC,546,-0.64,-194.6,91.1,-17.3,51,547,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2275,3784
$GC,608,-0.64,-194.6,101.7,-17.5,57,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2275,3784
$GC,732,-0.64,-194.6,122.6,-16.2,69,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2275,3784
$GC,857,-0.64,-194.6,142.8,-16.1,81,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2276,3785
$GC,981,-0.64,-194.6,162.3,-15.9,93,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2275,3785
$GC,1105,-0.64,-194.6,181.2,-14.8,105,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2276,3785
$GC,1230,-0.64,-194.6,200.1,-15.5,117,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2276,3784
$GC,1353,-0.64,-194.6,218.0,-14.5,129,1354,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2275,3785
$GC,1477,-0.64,-194.6,236.3,-14.6,141,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2276,3785
$GC,1602,-0.64,-194.6,254.3,-14.4,153,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2275,3784
$GC,1726,-0.64,-194.6,271.8,-13.8,165,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2276,3784
$GC,1850,-0.64,-194.6,289.1,-14.2,177,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2276,3783
$GC,1974,-0.64,-194.6,305.9,-13.5,189,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2276,3783
$GC,2098,-0.64,-194.6,323.1,-13.4,201,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2276,3782
$GC,2222,-0.64,-194.6,339.4,-13.4,213,2223,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2276,3781
$GC,2347,-0.64,-194.6,356.1,-13.3,225,2350,0.00,1.80,0.00,0.000,4,0.000,0.052,2477,3316,3780
$GC,2400,-0.64,-194.6,363.8,-14.1,230,2404,0.00,1.77,0.00,0.000,6,0.000,0.034,2482,2256,3780
$GC,2535,-0.64,-194.6,382.6,-14.2,243,2538,0.00,1.85,0.00,0.000,4,0.000,0.053,2475,3312,3779
$GC,2566,-0.64,-194.6,387.3,-14.8,246,2570,0.00,1.75,0.00,0.000,6,0.000,0.035,2478,2268,3779
$GC,2701,-0.64,-194.6,406.5,-14.1,259,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2268,3778
$GC,2825,-0.64,-194.6,424.0,-14.0,271,2826,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2268,3778
$GC,2949,-0.64,-194.6,441.5,-14.3,283,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2268,3777
$GC,3073,-0.64,-194.6,458.3,-13.3,295,3074,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2268,3776
$GC,3197,-0.64,-194.6,474.7,-13.4,307,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2267,3775
$GC,3321,-0.64,-194.6,491.6,-13.9,319,3325,0.00,1.83,0.00,0.000,4,0.000,0.054,2470,3322,3775
$GC,3347,-0.64,-194.6,495.3,-14.2,321,3356,0.00,1.80,0.00,0.000,6,0.000,0.035,2470,2262,3774
$GC,3477,-0.64,-194.6,513.7,-14.1,334,3478,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2261,3774
$GC,3601,-0.64,-194.6,531.2,-14.2,346,3602,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2261,3773
$GC,3725,-0.64,-194.6,548.6,-14.2,358,3726,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2261,3772
$GC,3849,-0.64,-194.6,565.3,-13.3,370,3850,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2261,3771
$GC,3974,-0.64,-194.6,582.5,-13.7,382,3975,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2261,3771
$GC,4098,-0.64,-194.6,599.4,-13.3,394,4099,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2261,3769
$GC,4222,-0.64,-194.6,616.4,-13.9,406,4223,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2261,3768
$GC,4346,-0.64,-194.6,633.1,-13.5,418,4347,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2261,3767
$GC,4470,-0.64,-194.6,649.6,-13.2,430,4471,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2261,3766
$GC,4595,-0.64,-194.6,666.3,-13.3,442,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2261,3765
$GC,4719,-0.64,-194.6,682.8,-13.2,454,4720,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2261,3764
$GC,4843,-0.64,-194.6,699.3,-13.0,466,4844,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2261,3763
$GC,4967,-0.64,-194.6,715.7,-13.1,478,4968,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2261,3763
$GC,5092,-0.64,-194.6,732.2,-13.3,490,5095,0.00,1.88,0.00,0.000,4,0.000,0.059,2462,3316,3762
$GC,5123,-0.64,-194.6,736.6,-14.5,493,5127,0.08,1.77,0.00,0.000,6,0.167,0.039,2485,2270,3762
$GC,5258,-0.64,-194.6,752.8,-11.7,506,5259,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2271,3761
$GC,5382,-0.64,-194.6,767.3,-12.0,518,5383,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2272,3760
$GC,5506,-0.64,-194.6,782.1,-11.7,530,5506,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2272,3759
$GC,5630,-0.64,-194.6,796.7,-12.2,542,5631,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2272,3758
$GC,5754,-0.64,-194.6,811.4,-11.7,554,5758,0.00,1.83,0.00,0.000,4,0.000,0.061,2478,3311,3757
$GC,5791,-0.64,-194.6,816.1,-12.7,557,5799,0.00,1.77,0.00,0.000,6,0.000,0.040,2478,2266,3757
$GC,5920,-0.64,-194.6,831.8,-12.2,570,5921,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2267,3756
$GC,6045,-0.64,-194.6,847.2,-12.5,582,6046,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2266,3756
$GC,6169,-0.64,-194.6,862.1,-11.6,594,6169,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2266,3755
$GC,6293,-0.64,-194.6,876.6,-11.7,606,6294,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2266,3754
$GC,6417,-0.64,-194.6,890.7,-11.5,618,6418,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2266,3753
$GC,6541,-0.64,-194.6,904.5,-11.5,630,6545,0.00,1.88,0.00,0.000,4,0.000,0.061,2471,3324,3753
$GC,6573,-0.64,-194.6,908.1,-11.7,633,6577,0.00,1.80,0.00,0.000,6,0.000,0.041,2471,2266,3752
$GC,6707,-0.64,-194.6,923.9,-11.8,646,6708,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2265,3752
$GC,6832,-0.64,-194.6,938.5,-12.0,658,6833,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2265,3751
$GC,6956,-0.64,-194.6,952.9,-11.5,670,6957,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2266,3751
$GC,7080,-0.64,-194.6,967.7,-12.0,682,7081,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2266,3750
$GC,7204,-0.64,-194.6,982.6,-12.0,694,7205,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2266,3750
$STATE,7265,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7265,begin apogee
$GC,7268,-0.26,0.0,990.2,12.0,700,7421,0.47,0.00,150.52,1.253,6,0.155,0.000,2611,2266,2985
$STATE,7421,end apogee,CONTROL_FINISHED_OK
$STATE,7421,begin climb
$GC,7423,0.64,194.6,996.6,0.0,715,7590,0.93,0.00,162.07,1.221,6,0.114,0.000,2894,2266,2191
$GC,7712,0.64,194.6,974.3,10.1,744,7715,0.00,2.03,0.00,0.000,4,0.000,0.064,2893,3363,2185
$GC,7743,0.64,194.6,970.8,11.1,747,7747,0.00,1.83,0.00,0.000,6,0.000,0.039,2902,2310,2183
$GC,7878,0.64,194.6,955.7,11.2,760,7882,0.00,1.52,0.00,0.000,4,0.000,0.046,2909,1229,2182
$GC,7925,0.64,194.6,950.3,11.6,764,7933,0.00,1.52,0.00,0.000,6,0.000,0.048,2909,2293,2182
$GC,8055,0.64,194.6,935.1,11.5,777,8058,0.00,1.92,0.00,0.000,4,0.000,0.062,2909,3371,2180
$GC,8087,0.64,194.6,931.2,12.4,780,8090,0.00,1.80,0.00,0.000,6,0.000,0.039,2918,2307,2179
$GC,8221,0.64,194.6,914.7,12.3,793,8222,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2307,2180
$GC,8345,0.64,194.6,899.5,12.6,805,8346,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2307,2179
$GC,8469,0.64,194.6,884.2,12.1,817,8470,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2307,2179
$GC,8594,0.64,194.6,869.4,11.9,829,8594,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2307,2178
$GC,8718,0.64,194.6,854.5,12.1,841,8719,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2307,2177
$GC,8842,0.64,194.6,839.9,11.8,853,8843,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2307,2177
$GC,8966,0.64,194.6,825.9,11.1,865,8967,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2307,2176
$GC,9090,0.64,194.6,812.0,11.2,877,9091,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2307,2177
$GC,9214,0.64,194.6,798.3,11.1,889,9215,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2307,2176
$GC,9338,0.64,194.6,784.8,10.8,901,9339,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2307,2176
$GC,9463,0.64,194.6,771.2,10.8,913,9464,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2306,2176
$GC,9587,0.64,194.6,757.4,11.1,925,9588,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2306,2175
$GC,9711,0.64,194.6,743.2,11.6,937,9715,0.00,1.85,0.00,0.000,4,0.000,0.062,2918,3373,2175
$GC,9743,0.64,194.6,739.5,12.6,940,9747,0.00,1.77,0.00,0.000,6,0.000,0.039,2926,2304,2174
$GC,9877,0.64,194.6,723.4,12.0,953,9878,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2304,2174
$GC,10002,0.64,194.6,708.5,12.0,965,10003,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2303,2174
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$GC,10151,0.64,194.6,691.0,12.1,979,10159,0.00,1.52,0.00,0.000,6,0.000,0.048,2933,2306,2174
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$STATE,17040,end climb,SURFACE_DEPTH_REACHED
$STATE,17040,begin surface coast
$FINISH,0.4,1.009692
$STATE,17082,end surface coast,CONTROL_FINISHED_OK
$STATE,17082,begin surface
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$HUMID,1241
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$TCM_TEMP,21.90
$XPDR_PINGS,2
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$10V_AH,10.7,11.132
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$DEVICE_SECS,19.875,92.775,437.250,104.975,0.000,31.759,27.686,219.112,0.500,0.000,0.000,36.779,0.000,11469.112,699.902,4891.913,498.859,33.342,2103.407,0.000,4289.257,0.000,0.847,0.000
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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,85321,1646
$CAP_FILE_SIZE,199474,0
$CFSIZE,260165632,252936192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$CURRENT,0.105,285.5,1
$GPS,270510,065007,2840.031,-8830.192,33,0.9,33,-0.4