version: 66.04
glider: 515
mission: 5
dive: 47
start: 5 29 110 10 15 11
data:
$ID,515
$MISSION,5
$DIVE,47
$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,-4659.5439
$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,2275
$C_ROLL_CLIMB,2270
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,31
$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
$GPS1,100836,2842.652,-8836.863,36,0.8,36,-0.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-67.2
$GPS2,101432,2842.625,-8836.857,11,1.2,11,-0.3
$SPEED_LIMITS,0.117,0.253
$TGT_NAME,NEW0528B
$TGT_LATLONG,2848.000,-8829.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.246,-0.062
$KALMAN_X,-136174.5,1481.6,631.2,162296.9,-27855.6
$KALMAN_Y,-48487.2,-1349.3,-948.7,38406.9,20217.7
$MHEAD_RNG_PITCHd_Wd,59.0,16177,-9.4,-6.735
$D_GRID,970
$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,-0.59,-194.6,0.0,0.0,0,108,0.00,0.00,-94.95,0.000,2,0.000,0.000,202,2248,3147
$GC,109,-0.59,-194.6,3.5,-3.7,9,135,10.38,1.20,-10.57,0.000,4,0.265,0.064,2508,1355,3687
$GC,373,-0.59,-194.6,59.3,-14.4,33,381,0.00,1.27,0.00,0.000,6,0.000,0.038,2504,2275,3689
$GC,441,-0.59,-194.6,68.9,-14.8,40,444,0.00,1.23,0.00,0.000,4,0.000,0.037,2504,1361,3689
$GC,563,-0.59,-194.6,86.8,-14.5,51,570,0.00,1.27,0.00,0.000,6,0.000,0.038,2499,2280,3691
$GC,630,-0.59,-194.6,96.8,-15.3,58,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2280,3691
$GC,692,-0.59,-194.6,106.3,-15.5,64,693,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2280,3691
$GC,816,-0.59,-194.6,125.1,-14.9,76,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2280,3692
$GC,940,-0.59,-194.6,143.9,-15.2,88,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2280,3691
$GC,1065,-0.59,-194.6,162.0,-14.1,100,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2280,3692
$GC,1189,-0.59,-194.6,178.9,-13.4,112,1190,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2280,3692
$GC,1313,-0.59,-194.6,195.5,-13.3,124,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2280,3691
$GC,1438,-0.59,-194.6,211.7,-13.1,136,1441,0.00,1.23,0.00,0.000,4,0.000,0.038,2499,1366,3692
$GC,1495,-0.59,-194.6,219.2,-12.2,141,1502,0.00,1.25,0.00,0.000,6,0.000,0.039,2494,2276,3691
$GC,1624,-0.59,-194.6,235.3,-12.7,154,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2276,3691
$GC,1748,-0.59,-194.6,250.9,-12.7,166,1749,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2276,3690
$GC,1872,-0.59,-194.6,266.2,-12.2,178,1873,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2276,3690
$GC,1997,-0.59,-194.6,281.8,-12.2,190,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2276,3690
$GC,2121,-0.59,-194.6,297.2,-12.7,202,2125,0.00,1.52,0.00,0.000,4,0.000,0.050,2486,3165,3689
$GC,2146,-0.59,-194.6,300.6,-12.7,204,2154,0.00,1.48,0.00,0.000,6,0.000,0.033,2486,2280,3689
$GC,2276,-0.59,-194.6,316.5,-12.1,217,2277,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2279,3688
$GC,2400,-0.59,-194.6,331.5,-12.1,229,2401,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2278,3688
$GC,2524,-0.59,-194.6,347.4,-13.1,241,2525,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2278,3688
$GC,2648,-0.59,-194.6,363.1,-12.8,253,2652,0.00,1.50,0.00,0.000,4,0.000,0.052,2479,3158,3687
$GC,2695,-0.59,-194.6,369.7,-13.8,257,2703,0.12,1.50,0.00,0.000,6,0.163,0.035,2510,2271,3687
$GC,2825,-0.59,-194.6,384.1,-10.9,270,2826,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2270,3687
$GC,2949,-0.59,-194.6,397.6,-11.0,282,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2270,3686
$GC,3073,-0.59,-194.6,411.4,-11.4,294,3074,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2270,3684
$GC,3198,-0.59,-194.6,425.1,-10.9,306,3199,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2270,3683
$GC,3322,-0.59,-194.6,439.0,-11.1,318,3322,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2270,3682
$GC,3446,-0.59,-194.6,452.6,-11.0,330,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2270,3682
$GC,3570,-0.59,-194.6,466.3,-10.8,342,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2270,3681
$GC,3694,-0.59,-194.6,479.9,-11.2,354,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2270,3681
$GC,3818,-0.59,-194.6,493.1,-10.8,366,3819,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2270,3680
$GC,3943,-0.59,-194.6,506.3,-10.6,378,3944,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2270,3679
$GC,4067,-0.59,-194.6,519.3,-10.4,390,4070,0.00,1.55,0.00,0.000,4,0.000,0.055,2505,3157,3678
$GC,4099,-0.59,-194.6,522.6,-10.4,393,4102,0.00,1.48,0.00,0.000,6,0.000,0.037,2505,2275,3677
$GC,4233,-0.59,-194.6,537.3,-11.0,406,4234,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2273,3677
$GC,4357,-0.59,-194.6,550.8,-10.9,418,4358,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2274,3676
$GC,4481,-0.59,-194.6,564.3,-10.9,430,4482,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2273,3675
$GC,4605,-0.59,-194.6,577.8,-10.7,442,4606,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2273,3674
$GC,4730,-0.59,-194.6,591.2,-10.3,454,4731,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2273,3673
$GC,4854,-0.59,-194.6,604.4,-10.1,466,4855,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2273,3672
$GC,4978,-0.59,-194.6,617.3,-10.2,478,4982,0.00,1.55,0.00,0.000,4,0.000,0.057,2498,3155,3671
$GC,5032,-0.59,-194.6,623.0,-10.2,483,5035,0.00,1.48,0.00,0.000,6,0.000,0.038,2498,2277,3671
$GC,5166,-0.59,-194.6,637.7,-11.2,496,5166,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2276,3670
$GC,5290,-0.59,-194.6,651.4,-11.0,508,5291,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2276,3669
$GC,5414,-0.59,-194.6,665.2,-11.1,520,5415,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2276,3669
$GC,5538,-0.59,-194.6,678.9,-11.1,532,5539,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2276,3668
$GC,5663,-0.59,-194.6,692.8,-11.3,544,5663,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2275,3668
$GC,5786,-0.59,-194.6,707.0,-11.2,556,5787,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2275,3666
$GC,5911,-0.59,-194.6,721.2,-11.7,568,5911,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2275,3665
$GC,6035,-0.59,-194.6,735.5,-11.2,580,6036,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2274,3665
$GC,6159,-0.59,-194.6,749.9,-11.7,592,6163,0.00,1.55,0.00,0.000,4,0.000,0.058,2490,3159,3664
$GC,6191,-0.59,-194.6,753.7,-12.1,595,6194,0.00,1.48,0.00,0.000,6,0.000,0.040,2490,2279,3664
$GC,6325,-0.59,-194.6,769.4,-11.8,608,6326,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2277,3663
$GC,6450,-0.59,-194.6,783.8,-11.5,620,6451,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2277,3663
$GC,6573,-0.59,-194.6,798.2,-11.6,632,6574,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2277,3663
$GC,6698,-0.59,-194.6,812.5,-11.7,644,6698,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2278,3662
$GC,6822,-0.59,-194.6,826.5,-11.2,656,6826,0.00,1.55,0.00,0.000,4,0.000,0.059,2483,3163,3660
$GC,6854,-0.59,-194.6,830.3,-11.4,659,6858,0.08,1.50,0.00,0.000,6,0.169,0.041,2506,2272,3661
$GC,6989,-0.59,-194.6,844.3,-10.2,672,6989,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2271,3660
$GC,7113,-0.59,-194.6,856.7,-9.9,684,7113,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2271,3659
$GC,7237,-0.59,-194.6,868.8,-9.7,696,7237,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2271,3659
$GC,7361,-0.59,-194.6,881.3,-10.0,708,7364,0.00,1.58,0.00,0.000,4,0.000,0.060,2500,3166,3658
$GC,7392,-0.59,-194.6,884.6,-10.7,711,7396,0.00,1.50,0.00,0.000,6,0.000,0.041,2500,2275,3658
$GC,7528,-0.59,-194.6,898.4,-10.1,724,7528,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2272,3657
$GC,7651,-0.59,-194.6,910.6,-9.9,736,7652,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2272,3656
$GC,7775,-0.59,-194.6,923.0,-10.4,748,7776,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2272,3656
$GC,7900,-0.59,-194.6,936.0,-10.7,760,7901,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2272,3656
$GC,8024,-0.59,-194.6,948.9,-10.2,772,8025,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2273,3655
$GC,8148,-0.59,-194.6,961.4,-9.9,784,8152,0.00,1.58,0.00,0.000,4,0.000,0.061,2493,3164,3654
$GC,8194,-0.59,-194.6,966.4,-10.2,788,8202,0.00,1.52,0.00,0.000,6,0.000,0.041,2493,2269,3654
$STATE,8231,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8231,begin apogee
$GC,8233,-0.26,0.0,970.3,11.0,792,8387,0.40,0.00,150.20,1.246,6,0.146,0.000,2612,2268,2891
$STATE,8388,end apogee,CONTROL_FINISHED_OK
$STATE,8388,begin climb
$GC,8389,0.59,194.6,976.7,0.0,807,8556,0.88,0.00,162.77,1.213,6,0.119,0.000,2878,2268,2097
$GC,8678,0.59,194.6,955.9,9.4,836,8679,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2268,2089
$GC,8802,0.59,194.6,944.7,8.9,848,8803,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2268,2087
$GC,8926,0.59,194.6,933.4,9.4,860,8927,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2267,2086
$GC,9050,0.59,194.6,921.9,9.7,872,9051,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2268,2085
$GC,9174,0.59,194.6,910.4,10.1,884,9178,0.00,1.27,0.00,0.000,4,0.000,0.054,2884,1375,2084
$GC,9206,0.59,194.6,907.8,9.2,887,9210,0.00,1.25,0.00,0.000,6,0.000,0.048,2885,2258,2084
$GC,9341,0.59,194.6,895.3,9.1,900,9341,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2259,2084
$GC,9465,0.59,194.6,883.8,9.4,912,9466,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2259,2083
$GC,9589,0.59,194.6,872.2,9.3,924,9590,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2259,2083
$GC,9713,0.59,194.6,860.7,9.0,936,9714,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2259,2082
$GC,9837,0.59,194.6,849.4,9.1,948,9838,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2259,2082
$GC,9962,0.59,194.6,837.9,9.2,960,9962,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2259,2082
$GC,10086,0.59,194.6,826.5,8.9,972,10090,0.00,1.23,0.00,0.000,4,0.000,0.048,2890,1360,2081
$GC,10122,0.59,194.6,823.2,9.2,975,10129,0.00,1.30,0.00,0.000,6,0.000,0.049,2890,2268,2081
$GC,10251,0.59,194.6,810.9,9.7,988,10252,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2268,2081
$GC,10375,0.59,194.6,799.2,9.3,1000,10376,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2268,2081
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$STATE,19176,end climb,SURFACE_DEPTH_REACHED
$STATE,19176,begin surface coast
$FINISH,0.5,1.011509
$STATE,19202,end surface coast,CONTROL_FINISHED_OK
$STATE,19202,begin surface
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$HUMID,1246
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$TCM_TEMP,23.00
$XPDR_PINGS,0
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$10V_AH,10.6,13.607
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
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$DATA_FILE_SIZE,97743,1850
$CAP_FILE_SIZE,222670,0
$CFSIZE,260165632,251826176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,7,0,0
$CURRENT,0.089,237.0,1
$GPS,290510,153806,2843.680,-8834.885,34,1.1,39,-0.3