version: 66.04
glider: 515
mission: 5
dive: 40
start: 5 27 110 21 48 59
data:
$ID,515
$MISSION,5
$DIVE,40
$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,-4548.0474
$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,31
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,2930
$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
$GPS1,213836,2840.280,-8830.253,36,1.6,41,-0.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-69.2
$GPS2,214820,2840.225,-8830.399,14,1.6,14,-0.4
$SPEED_LIMITS,0.126,0.261
$TGT_NAME,NEW0527
$TGT_LATLONG,2842.300,-8826.500
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.260,0.029
$KALMAN_X,-95278.9,2516.7,694.1,130763.4,-16148.2
$KALMAN_Y,-78108.1,1285.5,80.4,59840.0,1403.0
$MHEAD_RNG_PITCHd_Wd,62.1,7409,-10.4,-7.253
$D_GRID,1473
$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,-194.6,0.0,0.0,0,97,0.00,0.00,-84.22,0.000,2,0.000,0.000,204,2303,2919
$GC,98,-0.62,-194.6,3.2,-4.3,8,135,10.25,1.33,-18.10,0.000,4,0.265,0.063,2495,1342,3726
$GC,288,-0.62,-194.6,44.5,-16.9,25,297,0.00,1.30,0.00,0.000,6,0.000,0.037,2491,2285,3727
$GC,355,-0.62,-194.6,55.4,-16.7,32,356,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2285,3727
$GC,418,-0.62,-194.6,65.6,-16.4,38,421,0.00,1.52,0.00,0.000,4,0.000,0.047,2483,3163,3728
$GC,453,-0.62,-194.6,71.8,-16.7,41,463,0.00,1.55,0.00,0.000,6,0.000,0.031,2484,2267,3728
$GC,521,-0.62,-194.6,82.8,-16.6,48,522,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2266,3728
$GC,583,-0.62,-194.6,93.2,-16.7,54,584,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2266,3728
$GC,646,-0.62,-194.6,103.5,-16.5,60,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2265,3728
$GC,769,-0.62,-194.6,123.9,-15.6,72,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2266,3729
$GC,894,-0.62,-194.6,143.5,-15.5,84,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2266,3728
$GC,1018,-0.62,-194.6,161.6,-14.6,96,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2266,3728
$GC,1142,-0.62,-194.6,180.1,-14.9,108,1146,0.00,1.55,0.00,0.000,4,0.000,0.047,2478,3165,3728
$GC,1174,-0.62,-194.6,184.8,-15.0,111,1178,0.00,1.52,0.00,0.000,6,0.000,0.033,2482,2267,3728
$GC,1308,-0.62,-194.6,203.7,-13.7,124,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2265,3728
$GC,1433,-0.62,-194.6,220.9,-13.8,136,1434,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2265,3728
$GC,1557,-0.62,-194.6,238.3,-14.4,148,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2265,3727
$GC,1681,-0.62,-194.6,255.5,-14.1,160,1682,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2265,3727
$GC,1805,-0.62,-194.6,272.9,-14.1,172,1806,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2265,3727
$GC,1929,-0.62,-194.6,289.5,-13.2,184,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2265,3726
$GC,2053,-0.62,-194.6,306.7,-13.8,196,2057,0.00,1.58,0.00,0.000,4,0.000,0.049,2476,3161,3725
$GC,2107,-0.62,-194.6,314.1,-13.7,201,2110,0.00,1.52,0.00,0.000,6,0.000,0.035,2478,2267,3725
$GC,2241,-0.62,-194.6,333.3,-14.4,214,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2266,3724
$GC,2366,-0.62,-194.6,350.6,-14.0,226,2369,0.00,1.17,0.00,0.000,4,0.000,0.043,2478,1354,3723
$GC,2401,-0.62,-194.6,356.0,-14.4,229,2410,0.00,1.25,0.00,0.000,6,0.000,0.041,2474,2273,3723
$GC,2531,-0.62,-194.6,374.4,-14.6,242,2532,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2273,3723
$GC,2655,-0.62,-194.6,392.7,-14.8,254,2656,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2273,3722
$GC,2779,-0.62,-194.6,411.0,-15.0,266,2780,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2273,3721
$GC,2903,-0.62,-194.6,428.7,-13.5,278,2904,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2273,3720
$GC,3027,-0.62,-194.6,446.4,-14.6,290,3031,0.00,1.55,0.00,0.000,4,0.000,0.052,2466,3164,3719
$GC,3059,-0.62,-194.6,450.9,-14.7,293,3063,0.08,1.52,0.00,0.000,6,0.165,0.038,2490,2269,3719
$GC,3194,-0.62,-194.6,467.8,-12.2,306,3194,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2268,3718
$GC,3318,-0.62,-194.6,483.1,-12.7,318,3319,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2269,3717
$GC,3442,-0.62,-194.6,498.0,-12.3,330,3443,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2269,3716
$GC,3566,-0.62,-194.6,513.2,-12.4,342,3567,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2269,3715
$GC,3691,-0.62,-194.6,528.7,-12.6,354,3692,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2269,3714
$GC,3814,-0.62,-194.6,544.1,-12.5,366,3815,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2269,3713
$GC,3939,-0.62,-194.6,559.5,-12.4,378,3939,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2269,3712
$GC,4063,-0.62,-194.6,575.2,-12.6,390,4064,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2269,3711
$GC,4187,-0.62,-194.6,590.8,-12.9,402,4191,0.00,1.58,0.00,0.000,4,0.000,0.055,2484,3155,3710
$GC,4229,-0.62,-194.6,596.1,-12.6,406,4233,0.00,1.52,0.00,0.000,6,0.000,0.039,2484,2267,3709
$GC,4364,-0.62,-194.6,613.3,-12.8,419,4365,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2267,3709
$GC,4488,-0.62,-194.6,629.1,-12.6,431,4489,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2267,3708
$GC,4612,-0.62,-194.6,645.0,-12.5,443,4613,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2266,3707
$GC,4737,-0.62,-194.6,660.9,-13.1,455,4738,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2266,3706
$GC,4861,-0.62,-194.6,676.8,-12.6,467,4861,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2266,3705
$GC,4985,-0.62,-194.6,692.5,-12.8,479,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2265,3704
$GC,5109,-0.62,-194.6,707.9,-12.5,491,5110,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2265,3704
$GC,5233,-0.62,-194.6,723.2,-12.3,503,5234,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2265,3702
$GC,5357,-0.62,-194.6,738.3,-12.1,515,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2265,3702
$GC,5482,-0.62,-194.6,753.4,-12.0,527,5483,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2265,3701
$GC,5606,-0.62,-194.6,768.3,-12.1,539,5606,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2265,3699
$GC,5730,-0.62,-194.6,783.2,-12.1,551,5734,0.00,1.60,0.00,0.000,4,0.000,0.058,2476,3158,3699
$GC,5777,-0.62,-194.6,789.1,-11.8,555,5785,0.00,1.58,0.00,0.000,6,0.000,0.041,2477,2259,3698
$GC,5907,-0.62,-194.6,804.7,-11.8,568,5907,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2258,3697
$GC,6031,-0.62,-194.6,820.0,-12.5,580,6032,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2258,3697
$GC,6155,-0.62,-194.6,835.5,-12.7,592,6159,0.00,1.60,0.00,0.000,4,0.000,0.060,2470,3145,3696
$GC,6198,-0.62,-194.6,840.8,-12.7,596,6201,0.00,1.52,0.00,0.000,6,0.000,0.043,2470,2269,3696
$GC,6332,-0.62,-194.6,857.8,-12.5,609,6333,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2269,3696
$GC,6457,-0.62,-194.6,873.5,-12.7,621,6457,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2269,3695
$GC,6581,-0.62,-194.6,888.9,-12.4,633,6581,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2269,3695
$GC,6704,-0.62,-194.6,904.0,-11.8,645,6705,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2269,3694
$GC,6829,-0.62,-194.6,919.0,-11.7,657,6830,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2269,3694
$GC,6953,-0.62,-194.6,933.8,-11.9,669,6954,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2269,3693
$GC,7077,-0.62,-194.6,948.6,-12.3,681,7078,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2268,3692
$GC,7201,-0.62,-194.6,963.7,-12.4,693,7202,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2268,3691
$GC,7325,-0.62,-194.6,978.8,-11.9,705,7326,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2268,3690
$STATE,7428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7428,begin apogee
$GC,7431,-0.26,0.0,990.7,11.5,715,7585,0.47,0.00,149.00,1.259,6,0.156,0.000,2610,2291,2929
$STATE,7585,end apogee,CONTROL_FINISHED_OK
$STATE,7585,begin climb
$GC,7586,0.62,194.6,997.0,0.0,730,7752,0.93,0.00,161.43,1.225,6,0.118,0.000,2893,2291,2136
$GC,7873,0.62,194.6,974.2,9.8,756,7874,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2291,2128
$GC,7997,0.62,194.6,961.7,10.2,768,8001,0.00,1.25,0.00,0.000,4,0.000,0.045,2899,1413,2126
$GC,8039,0.62,194.6,957.4,10.7,772,8043,0.00,1.33,0.00,0.000,6,0.000,0.048,2898,2302,2126
$GC,8174,0.62,194.6,943.4,10.7,785,8175,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2303,2124
$GC,8298,0.62,194.6,929.7,11.4,797,8299,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2303,2123
$GC,8422,0.62,194.6,916.3,10.8,809,8423,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2303,2123
$GC,8547,0.62,194.6,903.0,10.6,821,8547,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2303,2123
$GC,8671,0.62,194.6,890.1,9.8,833,8671,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2303,2122
$GC,8795,0.62,194.6,877.0,10.2,845,8799,0.00,1.27,0.00,0.000,4,0.000,0.045,2904,1395,2122
$GC,8841,0.62,194.6,872.3,10.5,849,8850,0.00,1.35,0.00,0.000,6,0.000,0.049,2904,2312,2122
$GC,8971,0.62,194.6,858.9,10.5,862,8972,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2312,2121
$GC,9095,0.62,194.6,846.0,10.6,874,9096,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2313,2121
$GC,9220,0.62,194.6,833.1,10.5,886,9220,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2312,2120
$GC,9344,0.62,194.6,819.9,10.7,898,9347,0.00,1.30,0.00,0.000,4,0.000,0.046,2910,1390,2120
$GC,9380,0.62,194.6,816.2,9.9,901,9389,0.00,1.33,0.00,0.000,6,0.000,0.048,2910,2303,2120
$GC,9510,0.62,194.6,802.1,11.0,914,9510,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2303,2120
$GC,9634,0.62,194.6,788.3,10.7,926,9635,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2303,2119
$GC,9758,0.62,194.6,774.3,11.4,938,9759,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2303,2119
$GC,9882,0.62,194.6,760.3,11.5,950,9883,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2303,2118
$GC,10007,0.62,194.6,746.4,11.1,962,10007,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2303,2118
$GC,10130,0.62,194.6,732.5,11.1,974,10131,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2303,2118
$GC,10255,0.62,194.6,718.6,11.0,986,10255,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2303,2118
$GC,10379,0.62,194.6,704.9,11.1,998,10382,0.00,1.25,0.00,0.000,4,0.000,0.045,2916,1401,2118
$GC,10415,0.62,194.6,700.8,11.8,1001,10424,0.00,1.33,0.00,0.000,6,0.000,0.049,2916,2311,2118
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$STATE,17423,end climb,SURFACE_DEPTH_REACHED
$STATE,17423,begin surface coast
$FINISH,0.6,1.023097
$STATE,17455,end surface coast,CONTROL_FINISHED_OK
$STATE,17455,begin surface
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$HUMID,1237
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$10V_AH,10.7,11.994
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$DEVICE_SECS,19.600,66.525,424.575,112.800,0.000,59.893,63.098,300.503,0.000,0.000,0.000,16.167,0.000,11809.051,690.202,4971.766,663.555,33.341,2120.168,0.000,4385.371,0.000,1.151,0.000
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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,88265,1681
$CAP_FILE_SIZE,204176,0
$CFSIZE,260165632,252547072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$CURRENT,0.058,245.1,1
$GPS,280510,024255,2841.205,-8828.272,38,1.6,38,-0.4