version: 66.04
glider: 515
mission: 5
dive: 44
start: 5 28 110 19 54 31
data:
$ID,515
$MISSION,5
$DIVE,44
$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,475
$T_MISSION,510
$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,-4613.0967
$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,38
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,2891
$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
$GPS1,194555,2843.740,-8826.931,39,1.1,39,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-66.3
$GPS2,195250,2843.738,-8826.998,11,1.4,11,-0.4
$SPEED_LIMITS,0.120,0.257
$TGT_NAME,NEW0528C
$TGT_LATLONG,2842.500,-8831.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.164,-0.197
$KALMAN_X,-109189.6,643.4,164.3,152645.6,-13071.5
$KALMAN_Y,-66209.7,1215.6,92.0,54550.8,5610.6
$MHEAD_RNG_PITCHd_Wd,247.5,6893,-16.1,-6.947
$D_GRID,1430
$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,-0.71,-91.0,0.0,0.0,0,116,0.00,0.00,-98.38,0.000,6,0.000,0.000,200,2300,3262
$GC,118,-0.76,-133.6,4.5,-4.7,10,138,10.20,0.00,-3.17,0.000,6,0.268,0.000,2447,2299,3436
$GC,197,-0.76,-133.6,31.8,-25.7,18,200,0.00,1.50,0.00,0.000,4,0.000,0.045,2442,3172,3436
$GC,218,-0.76,-133.6,36.1,-21.0,20,222,0.00,1.50,0.00,0.000,6,0.000,0.030,2443,2275,3436
$GC,290,-0.76,-133.6,50.0,-19.3,27,294,0.00,1.20,0.00,0.000,4,0.000,0.035,2449,1356,3437
$GC,386,-0.76,-133.6,66.1,-16.3,36,390,0.00,1.23,0.00,0.000,6,0.000,0.035,2444,2270,3437
$GC,459,-0.76,-133.6,77.6,-15.9,43,459,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2270,3438
$GC,521,-0.76,-133.6,87.0,-15.0,49,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2270,3438
$GC,583,-0.76,-133.6,98.4,-18.2,55,584,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2270,3438
$GC,645,-0.76,-133.6,108.8,-17.2,61,649,0.00,1.20,0.00,0.000,4,0.000,0.035,2445,1357,3439
$GC,687,-0.76,-133.6,116.0,-16.6,65,691,0.00,1.23,0.00,0.000,6,0.000,0.035,2441,2267,3438
$GC,822,-0.76,-133.6,138.6,-16.2,78,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2267,3438
$GC,946,-0.76,-133.6,158.3,-15.5,90,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2267,3439
$GC,1070,-0.76,-133.6,177.6,-15.6,102,1074,0.00,1.20,0.00,0.000,4,0.000,0.035,2442,1349,3438
$GC,1170,-0.76,-133.6,192.6,-14.6,111,1179,0.00,1.23,0.00,0.000,6,0.000,0.036,2438,2268,3438
$GC,1300,-0.76,-133.6,211.8,-14.8,124,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2268,3437
$GC,1424,-0.76,-133.6,230.7,-15.2,136,1425,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2268,3437
$GC,1548,-0.76,-133.6,249.2,-15.4,148,1549,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2268,3437
$GC,1672,-0.76,-133.6,267.9,-15.3,160,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2268,3437
$GC,1797,-0.76,-133.6,286.8,-15.0,172,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2268,3436
$GC,1921,-0.76,-133.6,305.4,-14.5,184,1924,0.00,1.20,0.00,0.000,4,0.000,0.037,2442,1356,3435
$GC,1974,-0.76,-133.6,313.2,-14.0,189,1978,0.00,1.20,0.00,0.000,6,0.000,0.038,2438,2262,3435
$GC,2108,-0.76,-133.6,332.5,-14.3,202,2109,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2263,3434
$GC,2233,-0.76,-133.6,350.0,-13.9,214,2233,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2263,3433
$GC,2357,-0.76,-133.6,367.3,-13.8,226,2358,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2263,3432
$GC,2481,-0.76,-133.6,385.0,-14.2,238,2482,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2263,3431
$GC,2605,-0.76,-133.6,402.6,-14.4,250,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2262,3431
$GC,2729,-0.76,-133.6,420.3,-14.1,262,2730,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2263,3430
$GC,2853,-0.76,-133.6,437.3,-13.8,274,2854,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2263,3429
$GC,2977,-0.76,-133.6,454.8,-13.9,286,2978,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2263,3428
$GC,3102,-0.76,-133.6,472.2,-14.2,298,3103,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2263,3427
$GC,3226,-0.76,-133.6,489.8,-13.7,310,3227,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2263,3427
$GC,3350,-0.76,-133.6,507.3,-14.1,322,3351,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2263,3425
$GC,3474,-0.76,-133.6,524.8,-14.1,334,3475,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2263,3424
$GC,3598,-0.76,-133.6,542.6,-14.5,346,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2263,3423
$GC,3722,-0.76,-133.6,559.9,-13.7,358,3726,0.00,1.20,0.00,0.000,4,0.000,0.043,2437,1358,3422
$GC,3754,-0.76,-133.6,564.4,-14.3,361,3758,0.00,1.25,0.00,0.000,6,0.000,0.044,2432,2273,3422
$GC,3889,-0.76,-133.6,583.5,-14.1,374,3890,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2273,3421
$GC,4013,-0.76,-133.6,601.1,-14.3,386,4014,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2273,3419
$GC,4137,-0.76,-133.6,618.9,-14.4,398,4138,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2273,3419
$GC,4262,-0.76,-133.6,637.0,-14.4,410,4265,0.00,1.55,0.00,0.000,4,0.000,0.056,2424,3161,3418
$GC,4304,-0.76,-133.6,643.4,-15.2,414,4307,0.00,1.50,0.00,0.000,6,0.000,0.039,2425,2272,3417
$GC,4438,-0.76,-133.6,663.7,-14.9,427,4439,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2271,3416
$GC,4563,-0.76,-133.6,682.0,-14.5,439,4566,0.12,1.23,0.00,0.000,4,0.189,0.044,2455,1347,3415
$GC,4605,-0.76,-133.6,687.6,-13.0,443,4609,0.00,1.25,0.00,0.000,6,0.000,0.048,2451,2265,3415
$GC,4739,-0.76,-133.6,704.4,-11.9,456,4743,0.00,1.23,0.00,0.000,4,0.000,0.044,2451,1353,3414
$GC,4775,-0.76,-133.6,709.0,-12.6,459,4784,0.00,1.27,0.00,0.000,6,0.000,0.046,2446,2269,3414
$GC,4905,-0.76,-133.6,724.9,-12.6,472,4906,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2269,3413
$GC,5030,-0.76,-133.6,740.5,-12.1,484,5030,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2269,3413
$GC,5153,-0.76,-133.6,755.6,-11.8,496,5154,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2269,3412
$GC,5278,-0.76,-133.6,770.5,-12.1,508,5278,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2269,3411
$GC,5402,-0.76,-133.6,785.7,-12.8,520,5403,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2269,3409
$GC,5526,-0.76,-133.6,800.3,-11.6,532,5527,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2269,3408
$GC,5650,-0.76,-133.6,815.0,-11.7,544,5651,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2269,3408
$GC,5775,-0.76,-133.6,829.6,-11.9,556,5775,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2269,3407
$GC,5899,-0.76,-133.6,844.0,-11.5,568,5899,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2269,3406
$GC,6023,-0.76,-133.6,859.0,-12.3,580,6026,0.00,1.55,0.00,0.000,4,0.000,0.058,2438,3152,3405
$GC,6076,-0.76,-133.6,865.7,-12.9,585,6079,0.00,1.50,0.00,0.000,6,0.000,0.041,2438,2269,3405
$GC,6210,-0.76,-133.6,882.5,-12.3,598,6211,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2268,3404
$GC,6335,-0.76,-133.6,898.3,-12.4,610,6338,0.00,1.23,0.00,0.000,4,0.000,0.048,2438,1357,3403
$GC,6377,-0.76,-133.6,903.7,-12.4,614,6381,0.00,1.25,0.00,0.000,6,0.000,0.049,2432,2264,3403
$GC,6512,-0.76,-133.6,920.8,-13.0,627,6512,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2264,3402
$GC,6636,-0.76,-133.6,936.3,-12.2,639,6637,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2264,3402
$GC,6760,-0.76,-133.6,951.7,-12.4,651,6761,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2264,3401
$GC,6884,-0.76,-133.6,967.6,-12.7,663,6885,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2264,3400
$GC,7009,-0.76,-133.6,983.7,-12.7,675,7009,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2264,3400
$STATE,7059,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7059,begin apogee
$GC,7062,-0.26,0.0,990.3,13.1,680,7165,0.62,0.00,99.88,1.256,6,0.174,0.000,2609,2306,2891
$STATE,7165,end apogee,CONTROL_FINISHED_OK
$STATE,7165,begin climb
$GC,7166,0.76,133.6,995.1,0.0,690,7282,1.08,0.00,112.50,1.223,6,0.119,0.000,2938,2306,2346
$GC,7402,0.76,133.6,972.8,12.4,713,7403,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2306,2337
$GC,7526,0.76,133.6,957.4,11.8,725,7526,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2306,2335
$GC,7650,0.76,133.6,941.9,12.5,737,7651,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2306,2334
$GC,7775,0.76,133.6,926.0,13.3,749,7778,0.00,1.30,0.00,0.000,4,0.000,0.046,2944,1396,2334
$GC,7806,0.76,133.6,922.0,13.1,752,7810,0.00,1.33,0.00,0.000,6,0.000,0.049,2944,2302,2333
$GC,7941,0.76,133.6,904.5,13.1,765,7941,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2302,2332
$GC,8065,0.76,133.6,888.5,12.9,777,8066,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2302,2331
$GC,8189,0.76,133.6,873.0,12.5,789,8189,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2302,2330
$GC,8313,0.76,133.6,857.6,12.3,801,8314,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2302,2329
$GC,8437,0.76,133.6,842.3,12.3,813,8441,0.00,1.55,0.00,0.000,4,0.000,0.058,2944,3200,2329
$GC,8469,0.76,133.6,838.1,13.4,816,8473,0.00,1.50,0.00,0.000,6,0.000,0.039,2951,2295,2328
$GC,8603,0.76,133.6,820.9,12.5,829,8604,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2295,2328
$GC,8728,0.76,133.6,805.4,12.4,841,8729,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2295,2328
$GC,8852,0.76,133.6,789.9,12.8,853,8852,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2295,2328
$GC,8976,0.76,133.6,774.5,12.4,865,8977,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2295,2327
$GC,9100,0.76,133.6,759.3,12.4,877,9101,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2295,2326
$GC,9224,0.76,133.6,744.2,12.1,889,9225,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2295,2326
$GC,9349,0.76,133.6,729.2,11.8,901,9349,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2295,2326
$GC,9473,0.76,133.6,714.7,11.7,913,9474,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2295,2326
$GC,9597,0.76,133.6,700.2,12.1,925,9597,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2295,2326
$GC,9721,0.76,133.6,686.1,11.3,937,9725,0.00,1.23,0.00,0.000,4,0.000,0.044,2957,1397,2325
$GC,9763,0.76,133.6,681.0,12.4,941,9767,0.00,1.33,0.00,0.000,6,0.000,0.048,2957,2314,2325
$GC,9898,0.76,133.6,664.7,12.8,954,9899,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2314,2325
$GC,10022,0.76,133.6,649.2,12.8,966,10026,0.00,1.50,0.00,0.000,4,0.000,0.058,2957,3194,2325
$GC,10075,0.76,133.6,642.3,13.0,971,10079,0.00,1.45,0.00,0.000,6,0.000,0.039,2964,2309,2325
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$GC,15461,0.80,163.1,19.0,6.2,1490,15476,0.00,1.20,12.40,0.500,4,0.000,0.035,2981,1387,2227
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$STATE,15757,end climb,SURFACE_DEPTH_REACHED
$STATE,15757,begin surface coast
$FINISH,2.4,1.023329
$STATE,15761,end surface coast,CONTROL_FINISHED_OK
$STATE,15761,begin surface
$SM_CCo,15775,157.38,0.505,0,0,545,575.22
$SM_GC,1.25,0.00,0.00,157.38,0.000,0.000,0.505,199,2270,545,-7.82,0.14,575.22
$IRIDIUM_FIX,2833.46,-8824.19,220899,131304
$TT8_MAMPS,0.051389
$HUMID,1235
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.9,11.259
$10V_AH,10.7,12.937
$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
$DEVICE_SECS,20.200,77.325,309.400,157.375,0.000,26.223,24.504,260.237,0.000,0.000,0.000,13.350,0.000,10568.895,635.628,4580.770,583.199,33.347,1944.858,0.000,4020.502,0.000,0.849,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1040.887,1129.660,3411.886,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78825,1518
$CAP_FILE_SIZE,191954,0
$CFSIZE,260165632,252157952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.039,209.6,1
$GPS,290510,002101,2842.637,-8829.362,38,1.4,38,-0.4