version: 66.04
glider: 515
mission: 5
dive: 46
start: 5 29 110 5 34 54
data:
$ID,515
$MISSION,5
$DIVE,46
$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,490
$T_MISSION,510
$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,-4645.3086
$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,2235
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,29
$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
$GPS1,052754,2841.810,-8833.100,37,1.4,37,-0.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-64.1
$GPS2,053414,2841.845,-8833.093,13,1.4,13,-0.3
$SPEED_LIMITS,0.117,0.253
$TGT_NAME,NEW0528D
$TGT_LATLONG,2842.500,-8837.900
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.186,-0.173
$KALMAN_X,-125307.5,783.2,885.7,157978.1,-21834.5
$KALMAN_Y,-54741.3,-1641.4,-78.0,42619.0,14285.3
$MHEAD_RNG_PITCHd_Wd,297.6,7903,-11.0,-6.735
$D_GRID,1286
$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,-0.60,-157.1,0.0,0.0,0,107,0.00,0.00,-93.45,0.000,2,0.000,0.000,201,2241,3129
$GC,108,-0.65,-194.6,3.9,-5.2,9,132,10.27,1.17,-10.82,0.000,4,0.264,0.069,2487,1345,3686
$GC,185,-0.65,-194.6,27.1,-25.0,16,189,0.00,1.17,0.00,0.000,6,0.000,0.037,2483,2231,3688
$GC,257,-0.65,-194.6,43.5,-21.4,23,261,0.00,1.15,0.00,0.000,4,0.000,0.037,2486,1350,3688
$GC,293,-0.65,-194.6,50.2,-17.5,26,302,0.00,1.20,0.00,0.000,6,0.000,0.037,2482,2242,3689
$GC,361,-0.65,-194.6,61.2,-16.7,33,365,0.00,1.17,0.00,0.000,4,0.000,0.036,2482,1339,3689
$GC,403,-0.65,-194.6,68.3,-16.7,37,407,0.00,1.17,0.00,0.000,6,0.000,0.037,2478,2231,3689
$GC,476,-0.65,-194.6,80.8,-16.9,44,477,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2231,3690
$GC,538,-0.65,-194.6,91.8,-17.7,50,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2232,3691
$GC,600,-0.65,-194.6,102.3,-17.5,56,604,0.00,1.58,0.00,0.000,4,0.000,0.046,2471,3126,3691
$GC,642,-0.65,-194.6,109.9,-17.5,60,646,0.00,1.50,0.00,0.000,6,0.000,0.032,2472,2255,3691
$GC,777,-0.65,-194.6,133.5,-17.5,73,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2256,3692
$GC,901,-0.65,-194.6,154.7,-16.4,85,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2255,3692
$GC,1025,-0.65,-194.6,174.8,-15.8,97,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2255,3692
$GC,1150,-0.65,-194.6,195.1,-15.7,109,1151,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2254,3692
$GC,1274,-0.65,-194.6,214.2,-15.5,121,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2254,3692
$GC,1398,-0.65,-194.6,233.4,-15.1,133,1399,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2254,3692
$GC,1522,-0.65,-194.6,252.7,-15.7,145,1523,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2254,3692
$GC,1646,-0.65,-194.6,272.0,-15.6,157,1650,0.00,1.52,0.00,0.000,4,0.000,0.048,2466,3121,3691
$GC,1688,-0.65,-194.6,278.6,-15.0,161,1692,0.00,1.52,0.00,0.000,6,0.000,0.034,2466,2234,3691
$GC,1823,-0.65,-194.6,299.3,-15.1,174,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2235,3689
$GC,1948,-0.65,-194.6,318.5,-15.4,186,1951,0.00,1.58,0.00,0.000,4,0.000,0.050,2458,3116,3689
$GC,1990,-0.65,-194.6,325.0,-15.1,190,1994,0.08,1.52,0.00,0.000,6,0.174,0.035,2482,2230,3689
$GC,2125,-0.65,-194.6,343.8,-14.1,203,2128,0.00,1.60,0.00,0.000,4,0.000,0.051,2476,3122,3688
$GC,2171,-0.65,-194.6,350.6,-14.6,207,2179,0.00,1.55,0.00,0.000,6,0.000,0.035,2479,2234,3688
$GC,2301,-0.65,-194.6,369.0,-14.5,220,2302,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2235,3687
$GC,2426,-0.65,-194.6,385.9,-13.5,232,2427,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2235,3687
$GC,2550,-0.65,-194.6,402.7,-13.4,244,2553,0.00,1.60,0.00,0.000,4,0.000,0.051,2473,3119,3687
$GC,2586,-0.65,-194.6,407.7,-14.0,247,2594,0.00,1.55,0.00,0.000,6,0.000,0.036,2473,2232,3687
$GC,2716,-0.65,-194.6,425.6,-13.8,260,2717,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2232,3686
$GC,2840,-0.65,-194.6,443.1,-14.2,272,2841,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2233,3685
$GC,2964,-0.65,-194.6,460.5,-14.0,284,2965,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2233,3684
$GC,3088,-0.65,-194.6,477.7,-13.7,296,3089,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2232,3683
$GC,3213,-0.65,-194.6,494.7,-13.2,308,3214,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2232,3682
$GC,3337,-0.65,-194.6,511.1,-13.4,320,3341,0.00,1.60,0.00,0.000,4,0.000,0.054,2466,3117,3681
$GC,3401,-0.65,-194.6,519.7,-13.2,326,3404,0.00,1.52,0.00,0.000,6,0.000,0.038,2466,2239,3681
$GC,3536,-0.65,-194.6,538.5,-14.2,339,3536,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2239,3681
$GC,3659,-0.65,-194.6,556.4,-14.5,351,3660,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2239,3680
$GC,3784,-0.65,-194.6,574.0,-13.9,363,3787,0.00,1.58,0.00,0.000,4,0.000,0.054,2459,3114,3678
$GC,3837,-0.65,-194.6,581.7,-14.4,368,3841,0.08,1.52,0.00,0.000,6,0.177,0.039,2482,2237,3677
$GC,3971,-0.65,-194.6,598.7,-12.3,381,3972,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2237,3676
$GC,4096,-0.65,-194.6,614.2,-12.4,393,4097,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2237,3676
$GC,4220,-0.65,-194.6,629.7,-12.6,405,4223,0.00,1.60,0.00,0.000,4,0.000,0.055,2476,3126,3675
$GC,4262,-0.65,-194.6,635.0,-12.6,409,4266,0.00,1.55,0.00,0.000,6,0.000,0.039,2478,2233,3675
$GC,4397,-0.65,-194.6,651.5,-12.0,422,4398,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2232,3673
$GC,4521,-0.65,-194.6,666.6,-12.1,434,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2232,3672
$GC,4645,-0.65,-194.6,681.9,-12.4,446,4646,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2232,3672
$GC,4769,-0.65,-194.6,697.2,-12.4,458,4773,0.00,1.60,0.00,0.000,4,0.000,0.056,2472,3113,3670
$GC,4805,-0.65,-194.6,701.8,-12.8,461,4813,0.00,1.55,0.00,0.000,6,0.000,0.040,2472,2233,3670
$GC,4935,-0.65,-194.6,718.2,-13.1,474,4936,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2232,3670
$GC,5059,-0.65,-194.6,734.5,-13.1,486,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2232,3669
$GC,5183,-0.65,-194.6,751.0,-13.6,498,5187,0.00,1.60,0.00,0.000,4,0.000,0.057,2465,3116,3668
$GC,5215,-0.65,-194.6,755.2,-13.3,501,5219,0.00,1.52,0.00,0.000,6,0.000,0.040,2466,2241,3668
$GC,5350,-0.65,-194.6,773.4,-13.4,514,5351,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2239,3666
$GC,5474,-0.65,-194.6,789.6,-13.2,526,5477,0.00,1.60,0.00,0.000,4,0.000,0.057,2458,3124,3665
$GC,5516,-0.65,-194.6,795.6,-13.9,530,5520,0.08,1.55,0.00,0.000,6,0.179,0.041,2481,2234,3665
$GC,5651,-0.65,-194.6,812.1,-11.7,543,5652,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2235,3664
$GC,5775,-0.65,-194.6,826.5,-11.6,555,5779,0.00,1.60,0.00,0.000,4,0.000,0.057,2475,3118,3664
$GC,5817,-0.65,-194.6,831.5,-12.1,559,5821,0.00,1.52,0.00,0.000,6,0.000,0.041,2477,2240,3663
$GC,5952,-0.65,-194.6,847.4,-11.9,572,5953,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2239,3663
$GC,6076,-0.65,-194.6,862.0,-11.9,584,6077,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2239,3663
$GC,6200,-0.65,-194.6,876.4,-11.7,596,6201,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2239,3662
$GC,6325,-0.65,-194.6,890.8,-11.2,608,6326,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2239,3661
$GC,6449,-0.65,-194.6,905.3,-12.0,620,6452,0.00,1.60,0.00,0.000,4,0.000,0.058,2471,3124,3660
$GC,6495,-0.65,-194.6,911.0,-11.6,624,6503,0.00,1.58,0.00,0.000,6,0.000,0.041,2471,2231,3659
$GC,6625,-0.65,-194.6,926.6,-12.4,637,6629,0.00,1.62,0.00,0.000,4,0.000,0.058,2465,3125,3659
$GC,6668,-0.65,-194.6,931.9,-12.7,641,6671,0.00,1.55,0.00,0.000,6,0.000,0.041,2465,2238,3658
$GC,6802,-0.65,-194.6,949.0,-13.0,654,6803,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2237,3658
$GC,6927,-0.65,-194.6,964.4,-12.2,666,6927,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2238,3658
$GC,7051,-0.65,-194.6,979.5,-12.0,678,7052,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2238,3657
$STATE,7143,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7143,begin apogee
$GC,7146,-0.26,0.0,991.1,12.6,687,7299,0.50,0.00,150.88,1.255,6,0.158,0.000,2610,2354,2891
$STATE,7299,end apogee,CONTROL_FINISHED_OK
$STATE,7300,begin climb
$GC,7301,0.65,194.6,997.9,0.0,702,7468,0.95,1.45,162.65,1.223,4,0.120,0.045,2904,1462,2097
$GC,7500,0.65,194.6,983.3,10.7,719,7504,0.00,1.40,0.00,0.000,6,0.000,0.048,2905,2343,2093
$GC,7635,0.65,194.6,968.2,11.4,732,7638,0.00,1.35,0.00,0.000,4,0.000,0.044,2911,1452,2088
$GC,7682,0.65,194.6,962.8,11.1,736,7689,0.00,1.40,0.00,0.000,6,0.000,0.048,2911,2353,2087
$GC,7811,0.65,194.6,947.1,12.4,749,7815,0.00,1.35,0.00,0.000,4,0.000,0.044,2917,1458,2086
$GC,7843,0.65,194.6,943.0,13.0,752,7847,0.00,1.35,0.00,0.000,6,0.000,0.048,2917,2344,2086
$GC,7978,0.65,194.6,926.1,12.6,765,7979,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2345,2085
$GC,8102,0.65,194.6,910.6,12.4,777,8103,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2345,2085
$GC,8226,0.65,194.6,895.3,12.4,789,8230,0.00,1.30,0.00,0.000,4,0.000,0.044,2922,1453,2084
$GC,8258,0.65,194.6,891.4,12.0,792,8262,0.00,1.35,0.00,0.000,6,0.000,0.048,2923,2352,2084
$GC,8393,0.65,194.6,874.5,12.3,805,8393,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2353,2083
$GC,8517,0.65,194.6,858.7,12.4,817,8520,0.00,1.33,0.00,0.000,4,0.000,0.044,2928,1454,2082
$GC,8570,0.65,194.6,852.1,12.8,822,8574,0.00,1.33,0.00,0.000,6,0.000,0.048,2928,2346,2082
$GC,8705,0.65,194.6,834.2,13.5,835,8705,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2345,2081
$GC,8829,0.65,194.6,817.9,12.2,847,8832,0.00,1.33,0.00,0.000,4,0.000,0.044,2934,1442,2081
$GC,8871,0.65,194.6,812.7,12.8,851,8875,0.00,1.35,0.00,0.000,6,0.000,0.048,2934,2349,2081
$GC,9006,0.65,194.6,795.1,13.1,864,9007,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2349,2080
$GC,9130,0.65,194.6,778.0,13.9,876,9133,0.00,1.30,0.00,0.000,4,0.000,0.044,2940,1447,2081
$GC,9172,0.65,194.6,772.1,13.7,880,9176,0.08,1.33,0.00,0.000,6,0.163,0.048,2916,2346,2080
$GC,9307,0.65,194.6,755.8,11.7,893,9308,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2346,2080
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$GC,9477,0.65,194.6,735.5,11.8,909,9485,0.00,1.38,0.00,0.000,6,0.000,0.047,2919,2364,2079
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$STATE,16255,end climb,SURFACE_DEPTH_REACHED
$STATE,16255,begin surface coast
$FINISH,2.0,1.023259
$STATE,16258,end surface coast,CONTROL_FINISHED_OK
$STATE,16258,begin surface
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$IRIDIUM_FIX,2831.00,-8836.47,230899,000041
$TT8_MAMPS,0.051389
$HUMID,1241
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$TCM_TEMP,22.30
$XPDR_PINGS,5
$24V_AH,23.7,11.579
$10V_AH,10.7,13.370
$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
$DEVICE_SECS,20.525,130.825,458.500,95.575,0.000,27.842,30.831,222.010,1.250,0.000,0.000,15.039,0.000,10568.226,756.049,4875.221,514.420,33.356,2246.751,0.000,4277.184,0.000,0.847,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1067.617,1153.444,3508.096,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82149,1561
$CAP_FILE_SIZE,209756,0
$CFSIZE,260165632,251944960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$CURRENT,0.142,244.1,1
$GPS,290510,100836,2842.652,-8836.863,36,0.8,36,-0.3