version: 66.04
glider: 515
mission: 5
dive: 42
start: 5 28 110 8 29 36
data:
$ID,515
$MISSION,5
$DIVE,42
$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,510
$T_MISSION,530
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-14
$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,-4582.5376
$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,30
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,2910
$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
$GPS1,082107,2842.188,-8826.079,30,1.2,30,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-62.3
$GPS2,082755,2842.210,-8826.073,9,1.2,15,-0.4
$SPEED_LIMITS,0.112,0.249
$TGT_NAME,SITE33
$TGT_LATLONG,2843.100,-8824.500
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.247,-0.033
$KALMAN_X,-97811.4,508.4,777.9,142236.1,-11546.8
$KALMAN_Y,-74016.8,-1187.9,165.8,61843.4,3569.4
$MHEAD_RNG_PITCHd_Wd,55.9,3040,-16.5,-6.471
$D_GRID,1421
$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,-0.71,-77.5,0.0,0.0,0,104,0.00,0.00,-90.60,0.000,2,0.000,0.000,199,2269,3065
$GC,105,-0.74,-102.6,3.4,-5.1,9,129,10.02,1.25,-5.57,0.000,4,0.264,0.076,2459,1348,3330
$GC,367,-0.74,-102.6,54.1,-14.0,33,374,0.00,1.27,0.00,0.000,6,0.000,0.038,2455,2273,3332
$GC,435,-0.74,-102.6,63.2,-14.2,40,438,0.00,1.23,0.00,0.000,4,0.000,0.038,2455,1361,3332
$GC,680,-0.74,-102.6,98.7,-14.8,63,684,0.00,1.20,0.00,0.000,6,0.000,0.038,2451,2264,3334
$GC,753,-0.74,-102.6,109.4,-14.5,70,756,0.00,1.20,0.00,0.000,4,0.000,0.037,2455,1351,3334
$GC,998,-0.74,-102.6,145.1,-14.4,93,1002,0.00,1.23,0.00,0.000,6,0.000,0.038,2451,2268,3334
$GC,1133,-0.74,-102.6,163.7,-13.9,106,1137,0.00,1.20,0.00,0.000,4,0.000,0.037,2455,1356,3334
$GC,1372,-0.74,-102.6,194.3,-11.8,128,1380,0.00,1.25,0.00,0.000,6,0.000,0.039,2451,2275,3334
$GC,1502,-0.74,-102.6,210.4,-12.4,141,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2275,3334
$GC,1626,-0.74,-102.6,225.9,-12.5,153,1629,0.00,1.23,0.00,0.000,4,0.000,0.038,2450,1349,3333
$GC,1662,-0.74,-102.6,230.5,-12.6,156,1671,0.00,1.25,0.00,0.000,6,0.000,0.038,2446,2272,3333
$GC,1791,-0.74,-102.6,246.7,-12.6,169,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2272,3333
$GC,1915,-0.74,-102.6,262.1,-12.7,181,1919,0.00,1.20,0.00,0.000,4,0.000,0.038,2447,1360,3333
$GC,1983,-0.74,-102.6,271.1,-12.6,187,1991,0.00,1.23,0.00,0.000,6,0.000,0.039,2441,2269,3333
$GC,2113,-0.74,-102.6,288.0,-13.2,200,2114,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2269,3332
$GC,2237,-0.74,-102.6,304.6,-13.4,212,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2269,3332
$GC,2362,-0.74,-102.6,321.1,-12.7,224,2365,0.00,1.20,0.00,0.000,4,0.000,0.039,2442,1354,3331
$GC,2468,-0.74,-102.6,334.9,-12.9,234,2472,0.00,1.20,0.00,0.000,6,0.000,0.041,2438,2262,3331
$GC,2602,-0.74,-102.6,352.0,-12.6,247,2603,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2262,3330
$GC,2727,-0.74,-102.6,367.8,-13.1,259,2728,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2262,3329
$GC,2851,-0.74,-102.6,383.7,-13.0,271,2852,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2262,3329
$GC,2975,-0.74,-102.6,399.4,-12.7,283,2976,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2262,3328
$GC,3100,-0.74,-102.6,414.9,-12.3,295,3100,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2262,3327
$GC,3223,-0.74,-102.6,430.8,-13.2,307,3224,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2262,3326
$GC,3347,-0.74,-102.6,446.6,-12.4,319,3348,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2262,3326
$GC,3472,-0.74,-102.6,462.2,-12.3,331,3473,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2262,3325
$GC,3596,-0.74,-102.6,477.8,-12.9,343,3597,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2262,3323
$GC,3720,-0.74,-102.6,493.2,-12.3,355,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2262,3323
$GC,3844,-0.74,-102.6,508.9,-12.4,367,3845,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2262,3322
$GC,3968,-0.74,-102.6,524.5,-12.8,379,3969,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2263,3322
$GC,4093,-0.74,-102.6,540.3,-12.6,391,4093,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2263,3320
$GC,4217,-0.74,-102.6,556.7,-13.3,403,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2263,3319
$GC,4341,-0.74,-102.6,572.7,-12.9,415,4342,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2263,3318
$GC,4465,-0.74,-102.6,588.4,-12.2,427,4466,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2263,3318
$GC,4590,-0.74,-102.6,604.0,-12.7,439,4591,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2263,3317
$GC,4713,-0.74,-102.6,619.6,-12.6,451,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2263,3316
$GC,4837,-0.74,-102.6,634.9,-12.2,463,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2263,3316
$GC,4962,-0.74,-102.6,649.9,-12.0,475,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2263,3315
$GC,5086,-0.74,-102.6,664.9,-12.2,487,5087,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2263,3314
$GC,5210,-0.74,-102.6,679.5,-12.3,499,5214,0.00,1.20,0.00,0.000,4,0.000,0.044,2438,1356,3313
$GC,5278,-0.74,-102.6,688.0,-12.4,505,5286,0.12,1.25,0.00,0.000,6,0.182,0.046,2461,2268,3312
$GC,5408,-0.74,-102.6,701.4,-10.3,518,5409,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2268,3311
$GC,5532,-0.74,-102.6,714.4,-10.6,530,5533,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2268,3311
$GC,5656,-0.74,-102.6,727.1,-10.3,542,5657,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2267,3310
$GC,5781,-0.74,-102.6,740.0,-10.4,554,5782,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2268,3309
$GC,5904,-0.74,-102.6,752.7,-10.2,566,5905,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2268,3309
$GC,6029,-0.74,-102.6,765.4,-10.3,578,6029,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2268,3309
$GC,6153,-0.74,-102.6,778.5,-10.6,590,6156,0.00,1.58,0.00,0.000,4,0.000,0.059,2455,3156,3307
$GC,6206,-0.74,-102.6,784.0,-10.9,595,6210,0.00,1.50,0.00,0.000,6,0.000,0.040,2455,2274,3307
$GC,6341,-0.74,-102.6,799.1,-11.1,608,6344,0.00,1.23,0.00,0.000,4,0.000,0.048,2455,1361,3305
$GC,6387,-0.74,-102.6,804.2,-10.8,612,6396,0.00,1.25,0.00,0.000,6,0.000,0.048,2451,2262,3305
$GC,6517,-0.74,-102.6,818.4,-11.3,625,6518,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2263,3305
$GC,6642,-0.74,-102.6,832.0,-11.3,637,6642,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2263,3304
$GC,6765,-0.74,-102.6,845.6,-10.7,649,6766,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2263,3304
$GC,6889,-0.74,-102.6,859.0,-10.5,661,6890,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2263,3303
$GC,7014,-0.74,-102.6,872.4,-11.0,673,7017,0.00,1.58,0.00,0.000,4,0.000,0.060,2444,3153,3302
$GC,7099,-0.74,-102.6,882.3,-11.6,681,7103,0.00,1.52,0.00,0.000,6,0.000,0.041,2444,2264,3302
$GC,7233,-0.74,-102.6,897.4,-11.1,694,7234,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2265,3301
$GC,7358,-0.74,-102.6,910.9,-10.8,706,7359,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2265,3301
$GC,7482,-0.74,-102.6,924.4,-10.5,718,7483,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2265,3301
$GC,7606,-0.74,-102.6,937.4,-10.4,730,7607,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2264,3300
$GC,7730,-0.74,-102.6,950.7,-10.6,742,7731,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2265,3300
$GC,7855,-0.74,-102.6,963.7,-10.4,754,7856,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2265,3299
$GC,7978,-0.74,-102.6,977.1,-10.7,766,7979,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2265,3299
$STATE,8102,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8102,begin apogee
$GC,8105,-0.26,0.0,990.2,9.7,778,8185,0.60,0.00,76.43,1.256,6,0.176,0.000,2613,2297,2910
$STATE,8186,end apogee,CONTROL_FINISHED_OK
$STATE,8186,begin climb
$GC,8187,0.74,102.6,993.6,0.0,786,8283,1.00,1.35,86.50,1.228,4,0.117,0.045,2931,1411,2490
$GC,8325,0.74,102.6,983.9,10.1,798,8328,0.00,1.35,0.00,0.000,6,0.000,0.048,2931,2300,2486
$GC,8459,0.74,102.6,970.1,10.3,811,8460,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2300,2482
$GC,8583,0.74,102.6,957.0,10.7,823,8584,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2301,2481
$GC,8708,0.74,102.6,944.2,9.8,835,8708,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2301,2480
$GC,8831,0.74,102.6,931.1,10.8,847,8832,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2301,2479
$GC,8956,0.74,102.6,918.2,9.9,859,8957,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2301,2478
$GC,9080,0.74,102.6,904.9,11.0,871,9081,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2301,2478
$GC,9204,0.74,102.6,892.1,10.3,883,9205,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2301,2477
$GC,9328,0.74,102.6,879.2,10.1,895,9329,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2301,2477
$GC,9453,0.74,102.6,866.5,10.1,907,9453,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2300,2476
$GC,9577,0.74,102.6,853.9,10.4,919,9580,0.00,1.55,0.00,0.000,4,0.000,0.059,2931,3197,2476
$GC,9623,0.74,102.6,848.7,11.0,923,9631,0.00,1.52,0.00,0.000,6,0.000,0.039,2938,2291,2476
$GC,9753,0.74,102.6,835.0,10.8,936,9754,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2291,2476
$GC,9877,0.74,102.6,821.8,10.9,948,9878,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2292,2475
$GC,10001,0.74,102.6,808.5,10.7,960,10002,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2291,2475
$GC,10126,0.74,102.6,795.2,10.4,972,10127,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2291,2475
$GC,10250,0.74,102.6,782.3,10.3,984,10253,0.00,1.23,0.00,0.000,4,0.000,0.044,2944,1409,2475
$GC,10303,0.74,102.6,776.9,10.6,989,10307,0.00,1.27,0.00,0.000,6,0.000,0.048,2943,2298,2474
$GC,10437,0.74,102.6,763.0,10.2,1002,10438,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2298,2474
$GC,10562,0.74,102.6,750.5,10.2,1014,10565,0.00,1.58,0.00,0.000,4,0.000,0.060,2943,3208,2473
$GC,10593,0.74,102.6,747.2,10.6,1017,10597,0.00,1.50,0.00,0.000,6,0.000,0.039,2950,2302,2473
$GC,10728,0.74,102.6,733.2,10.2,1030,10729,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2301,2473
$GC,10852,0.74,102.6,720.3,10.6,1042,10856,0.00,1.23,0.00,0.000,4,0.000,0.045,2956,1405,2473
$GC,10894,0.74,102.6,715.9,10.5,1046,10898,0.00,1.30,0.00,0.000,6,0.000,0.048,2956,2307,2473
$GC,11029,0.74,102.6,701.8,10.7,1059,11033,0.00,1.55,0.00,0.000,4,0.000,0.059,2956,3206,2472
$GC,11097,0.74,102.6,693.7,12.5,1065,11105,0.00,1.50,0.00,0.000,6,0.000,0.038,2962,2304,2472
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$STATE,18584,end climb,SURFACE_DEPTH_REACHED
$STATE,18584,begin surface coast
$FINISH,0.4,1.022355
$STATE,18615,end surface coast,CONTROL_FINISHED_OK
$STATE,18615,begin surface
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$HUMID,1223
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$TCM_TEMP,22.50
$XPDR_PINGS,2
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$10V_AH,10.7,12.472
$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
$DEVICE_SECS,19.700,90.275,291.700,145.725,0.000,33.075,25.433,248.167,0.500,0.000,0.000,17.230,0.000,12418.736,638.407,5536.692,613.611,33.342,2222.995,0.000,4893.241,0.000,0.848,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1226.063,1334.634,4018.710,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94634,1788
$CAP_FILE_SIZE,218075,0
$CFSIZE,260165632,252325888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.033,259.1,1
$GPS,280510,134336,2843.361,-8824.725,36,1.2,48,-0.4