version: 66.04
glider: 515
mission: 5
dive: 38
start: 5 27 110 11 48 22
data:
$ID,515
$MISSION,5
$DIVE,38
$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,455
$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,-4511.2607
$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,25
$C_ROLL_DIVE,2265
$C_ROLL_CLIMB,2305
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$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,2960
$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
$GPS1,114125,2838.685,-8833.845,38,2.0,38,-0.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-68.8
$GPS2,114743,2838.732,-8833.859,9,1.5,14,-0.3
$SPEED_LIMITS,0.126,0.261
$TGT_NAME,NEW0527
$TGT_LATLONG,2842.300,-8826.500
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.254,0.061
$KALMAN_X,-87525.4,346.1,298.4,120016.1,-15647.7
$KALMAN_Y,-80284.3,-447.0,-851.9,61953.9,-49.9
$MHEAD_RNG_PITCHd_Wd,67.2,13660,-10.4,-7.253
$D_GRID,1514
$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,-0.62,-194.6,0.0,0.0,0,108,0.00,0.00,-95.03,0.000,2,0.000,0.000,202,2281,3303
$GC,109,-0.62,-194.6,4.3,-5.4,9,134,10.30,1.20,-8.00,0.000,4,0.266,0.064,2495,1350,3755
$GC,372,-0.62,-194.6,65.4,-15.5,33,380,0.00,1.25,0.00,0.000,6,0.000,0.036,2491,2277,3757
$GC,440,-0.62,-194.6,76.6,-17.1,40,444,0.00,1.20,0.00,0.000,4,0.000,0.035,2491,1355,3758
$GC,633,-0.62,-194.6,108.7,-16.3,58,636,0.00,1.20,0.00,0.000,6,0.000,0.038,2486,2266,3758
$GC,767,-0.62,-194.6,130.3,-15.5,71,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2266,3758
$GC,891,-0.62,-194.6,150.3,-16.5,83,895,0.00,1.58,0.00,0.000,4,0.000,0.048,2478,3155,3758
$GC,944,-0.62,-194.6,158.8,-16.2,88,948,0.00,1.52,0.00,0.000,6,0.000,0.031,2478,2266,3758
$GC,1079,-0.62,-194.6,180.5,-15.7,101,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2264,3758
$GC,1203,-0.62,-194.6,199.2,-15.1,113,1204,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2264,3758
$GC,1327,-0.62,-194.6,217.7,-14.6,125,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2264,3758
$GC,1451,-0.62,-194.6,235.9,-14.8,137,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2265,3758
$GC,1575,-0.62,-194.6,254.3,-14.8,149,1576,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2264,3758
$GC,1699,-0.62,-194.6,272.5,-14.4,161,1700,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2264,3758
$GC,1824,-0.62,-194.6,290.5,-14.0,173,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2264,3757
$GC,1948,-0.62,-194.6,308.1,-14.4,185,1951,0.00,1.60,0.00,0.000,4,0.000,0.050,2471,3156,3757
$GC,1973,-0.62,-194.6,311.9,-14.9,187,1981,0.00,1.55,0.00,0.000,6,0.000,0.033,2470,2267,3757
$GC,2103,-0.62,-194.6,330.5,-14.9,200,2104,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2267,3757
$GC,2227,-0.62,-194.6,348.5,-14.5,212,2231,0.00,1.58,0.00,0.000,4,0.000,0.051,2465,3153,3756
$GC,2280,-0.62,-194.6,356.4,-14.6,217,2284,0.08,1.52,0.00,0.000,6,0.171,0.035,2488,2267,3756
$GC,2415,-0.62,-194.6,374.6,-12.9,230,2415,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2265,3755
$GC,2539,-0.62,-194.6,390.8,-13.3,242,2540,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2265,3754
$GC,2663,-0.62,-194.6,407.1,-13.3,254,2664,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2265,3753
$GC,2787,-0.62,-194.6,423.4,-13.0,266,2788,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2265,3753
$GC,2912,-0.62,-194.6,440.0,-13.7,278,2912,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2265,3752
$GC,3036,-0.62,-194.6,456.3,-12.9,290,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2265,3751
$GC,3160,-0.62,-194.6,472.4,-12.8,302,3160,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2265,3750
$GC,3284,-0.62,-194.6,488.4,-12.9,314,3285,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2266,3750
$GC,3408,-0.62,-194.6,504.0,-12.8,326,3409,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2265,3749
$GC,3532,-0.62,-194.6,519.7,-12.8,338,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2265,3748
$GC,3657,-0.62,-194.6,535.1,-12.1,350,3660,0.00,1.60,0.00,0.000,4,0.000,0.055,2482,3148,3747
$GC,3681,-0.62,-194.6,538.5,-12.4,352,3689,0.00,1.55,0.00,0.000,6,0.000,0.037,2482,2265,3747
$GC,3812,-0.62,-194.6,554.9,-12.7,365,3812,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2264,3746
$GC,3936,-0.62,-194.6,570.8,-12.6,377,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2265,3745
$GC,4060,-0.62,-194.6,586.5,-12.8,389,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2265,3744
$GC,4184,-0.62,-194.6,601.8,-12.4,401,4185,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2264,3743
$GC,4308,-0.62,-194.6,617.0,-12.5,413,4312,0.00,1.60,0.00,0.000,4,0.000,0.057,2474,3162,3741
$GC,4372,-0.62,-194.6,624.8,-12.8,419,4376,0.00,1.55,0.00,0.000,6,0.000,0.039,2474,2269,3741
$GC,4506,-0.62,-194.6,641.8,-12.3,432,4507,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2268,3740
$GC,4631,-0.62,-194.6,657.5,-12.9,444,4632,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2268,3739
$GC,4755,-0.62,-194.6,673.4,-12.5,456,4759,0.00,1.58,0.00,0.000,4,0.000,0.058,2467,3143,3738
$GC,4787,-0.62,-194.6,677.6,-13.0,459,4791,0.08,1.52,0.00,0.000,6,0.170,0.040,2490,2264,3739
$GC,4921,-0.62,-194.6,693.6,-11.8,472,4922,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2264,3737
$GC,5046,-0.62,-194.6,707.7,-11.5,484,5046,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2265,3737
$GC,5169,-0.62,-194.6,722.5,-12.2,496,5170,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2264,3735
$GC,5294,-0.62,-194.6,736.8,-11.5,508,5294,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2265,3735
$GC,5418,-0.62,-194.6,751.5,-12.0,520,5419,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2265,3734
$GC,5542,-0.62,-194.6,765.8,-11.6,532,5546,0.00,1.60,0.00,0.000,4,0.000,0.059,2484,3145,3733
$GC,5574,-0.62,-194.6,769.6,-11.7,535,5577,0.00,1.52,0.00,0.000,6,0.000,0.040,2484,2270,3733
$GC,5708,-0.62,-194.6,785.7,-12.0,548,5709,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2269,3732
$GC,5833,-0.62,-194.6,800.6,-12.0,560,5834,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2269,3731
$GC,5956,-0.62,-194.6,815.3,-11.8,572,5957,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2269,3731
$GC,6081,-0.62,-194.6,830.0,-11.7,584,6081,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2269,3730
$GC,6205,-0.62,-194.6,844.7,-11.8,596,6206,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2269,3729
$GC,6329,-0.62,-194.6,859.0,-11.5,608,6333,0.00,1.60,0.00,0.000,4,0.000,0.061,2476,3157,3728
$GC,6376,-0.62,-194.6,865.0,-12.5,612,6383,0.00,1.58,0.00,0.000,6,0.000,0.041,2477,2265,3728
$GC,6506,-0.62,-194.6,880.8,-12.1,625,6507,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2265,3727
$GC,6630,-0.62,-194.6,895.7,-12.0,637,6631,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2265,3727
$GC,6754,-0.62,-194.6,910.6,-12.3,649,6755,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2265,3727
$GC,6878,-0.62,-194.6,925.7,-12.3,661,6879,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2264,3726
$GC,7002,-0.62,-194.6,940.3,-11.3,673,7006,0.00,1.62,0.00,0.000,4,0.000,0.060,2469,3152,3725
$GC,7034,-0.62,-194.6,944.3,-13.0,676,7038,0.00,1.55,0.00,0.000,6,0.000,0.041,2469,2267,3725
$GC,7169,-0.62,-194.6,961.0,-12.4,689,7169,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2266,3725
$GC,7293,-0.62,-194.6,975.8,-12.3,701,7294,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2266,3724
$STATE,7416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7416,begin apogee
$GC,7419,-0.26,0.0,990.6,11.8,713,7572,0.47,0.00,150.12,1.257,6,0.155,0.000,2610,2289,2960
$STATE,7572,end apogee,CONTROL_FINISHED_OK
$STATE,7572,begin climb
$GC,7573,0.62,194.6,996.2,0.0,728,7741,0.93,0.00,161.82,1.221,6,0.118,0.000,2891,2289,2165
$GC,7863,0.62,194.6,971.9,10.8,757,7864,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2290,2158
$GC,7986,0.62,194.6,958.5,11.1,769,7987,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2289,2158
$GC,8111,0.62,194.6,945.3,10.6,781,8111,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2289,2156
$GC,8235,0.62,194.6,932.4,10.8,793,8236,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2290,2155
$GC,8359,0.62,194.6,919.4,10.4,805,8360,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2290,2154
$GC,8483,0.62,194.6,907.1,9.8,817,8484,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2290,2154
$GC,8607,0.62,194.6,895.1,9.8,829,8608,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2290,2153
$GC,8732,0.62,194.6,883.2,9.8,841,8732,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2290,2153
$GC,8856,0.62,194.6,871.0,9.5,853,8856,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2290,2152
$GC,8980,0.62,194.6,859.4,9.4,865,8981,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2290,2151
$GC,9104,0.62,194.6,847.4,10.0,877,9105,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2290,2151
$GC,9228,0.62,194.6,835.2,10.0,889,9229,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2290,2151
$GC,9352,0.62,194.6,822.8,10.1,901,9353,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2289,2151
$GC,9476,0.62,194.6,810.4,9.8,913,9477,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2289,2151
$GC,9601,0.62,194.6,798.6,9.6,925,9602,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2290,2150
$GC,9725,0.62,194.6,786.7,9.8,937,9729,0.00,1.62,0.00,0.000,4,0.000,0.062,2891,3199,2150
$GC,9756,0.62,194.6,783.4,11.3,940,9760,0.00,1.52,0.00,0.000,6,0.000,0.041,2898,2301,2149
$GC,9891,0.62,194.6,769.8,10.0,953,9895,0.00,1.25,0.00,0.000,4,0.000,0.045,2905,1399,2149
$GC,9923,0.62,194.6,766.5,10.5,956,9927,0.00,1.30,0.00,0.000,6,0.000,0.050,2904,2308,2149
$GC,10058,0.62,194.6,752.4,10.5,969,10059,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2308,2149
$GC,10182,0.62,194.6,739.3,10.7,981,10182,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2308,2149
$GC,10306,0.62,194.6,726.2,10.3,993,10307,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2308,2149
$GC,10430,0.62,194.6,713.2,10.4,1005,10431,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2308,2149
$GC,10554,0.62,194.6,700.3,10.6,1017,10555,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2309,2149
$GC,10678,0.62,194.6,687.5,10.2,1029,10682,0.00,1.25,0.00,0.000,4,0.000,0.046,2910,1403,2149
$GC,10710,0.62,194.6,684.3,10.8,1032,10714,0.00,1.27,0.00,0.000,6,0.000,0.049,2910,2304,2149
$GC,10845,0.62,194.6,670.2,10.2,1045,10845,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2304,2149
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$STATE,17542,end climb,SURFACE_DEPTH_REACHED
$STATE,17542,begin surface coast
$FINISH,0.4,1.023232
$STATE,17575,end surface coast,CONTROL_FINISHED_OK
$STATE,17575,begin surface
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$HUMID,1242
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$TCM_TEMP,21.90
$XPDR_PINGS,2
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$10V_AH,10.7,11.562
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.875,85.100,461.425,90.975,0.000,22.395,27.050,233.108,0.500,0.000,0.000,16.614,0.000,11736.688,705.394,5059.648,524.533,33.340,2175.515,0.000,4472.995,0.000,0.848,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1158.974,1258.041,3802.968,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88343,1692
$CAP_FILE_SIZE,204934,0
$CFSIZE,260165632,252731392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$CURRENT,0.100,254.1,1
$GPS,270510,164406,2839.528,-8832.173,34,1.0,46,-0.3