version: 66.04
glider: 515
mission: 5
dive: 72
start: 6 3 110 20 14 52
data:
$ID,515
$MISSION,5
$DIVE,72
$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,-5102.1899
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2735
$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,2270
$C_ROLL_CLIMB,2270
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,2800
$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,4
$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
$GPS1,200737,2839.201,-8841.504,25,1.9,25,-0.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-60.0
$GPS2,201413,2839.212,-8841.506,14,1.9,14,-0.2
$SPEED_LIMITS,0.117,0.253
$TGT_NAME,NEW0602B
$TGT_LATLONG,2845.000,-8829.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.244,0.068
$KALMAN_X,-203482.6,888.3,1255.1,222042.4,-14486.8
$KALMAN_Y,36850.1,-1143.0,-153.3,-54258.0,1005.3
$MHEAD_RNG_PITCHd_Wd,59.2,22962,-9.4,-6.735
$D_GRID,1247
$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,-194.6,0.0,0.0,0,107,0.00,0.00,-93.75,0.000,2,0.000,0.000,197,1907,2999
$GC,109,-0.59,-194.6,3.1,-3.5,9,136,10.68,2.10,-13.15,0.000,4,0.268,0.061,2528,3166,3594
$GC,161,-0.59,-194.6,16.5,-25.6,13,169,0.00,1.48,0.00,0.000,6,0.000,0.029,2533,2279,3595
$GC,229,-0.59,-194.6,32.1,-20.7,20,233,0.00,1.25,0.00,0.000,4,0.000,0.041,2536,1369,3595
$GC,475,-0.59,-194.6,65.7,-12.4,43,478,0.00,1.23,0.00,0.000,6,0.000,0.040,2533,2263,3597
$GC,548,-0.59,-194.6,74.4,-12.1,50,551,0.00,1.20,0.00,0.000,4,0.000,0.038,2533,1372,3597
$GC,793,-0.59,-194.6,104.8,-12.3,73,797,0.00,1.23,0.00,0.000,6,0.000,0.040,2527,2268,3598
$GC,928,-0.59,-194.6,121.9,-13.3,86,931,0.00,1.20,0.00,0.000,4,0.000,0.038,2528,1376,3598
$GC,1038,-0.59,-194.6,135.6,-11.6,96,1046,0.00,1.25,0.00,0.000,6,0.000,0.038,2521,2276,3598
$GC,1168,-0.59,-194.6,151.3,-12.5,109,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2276,3598
$GC,1293,-0.59,-194.6,166.1,-11.8,121,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2276,3598
$GC,1416,-0.59,-194.6,179.8,-11.1,133,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2276,3598
$GC,1540,-0.59,-194.6,193.7,-11.3,145,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2276,3598
$GC,1665,-0.59,-194.6,207.4,-10.8,157,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2277,3597
$GC,1789,-0.59,-194.6,221.2,-11.0,169,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2277,3598
$GC,1913,-0.59,-194.6,235.3,-11.3,181,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2276,3597
$GC,2037,-0.59,-194.6,249.1,-11.4,193,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2276,3597
$GC,2161,-0.59,-194.6,262.5,-10.4,205,2165,0.00,1.23,0.00,0.000,4,0.000,0.039,2521,1370,3596
$GC,2214,-0.59,-194.6,268.2,-10.2,210,2218,0.00,1.23,0.00,0.000,6,0.000,0.040,2516,2272,3596
$GC,2349,-0.59,-194.6,282.7,-10.7,223,2353,0.12,1.52,0.00,0.000,4,0.152,0.050,2542,3167,3595
$GC,2391,-0.59,-194.6,286.8,-9.4,227,2395,0.00,1.45,0.00,0.000,6,0.000,0.033,2542,2276,3595
$GC,2526,-0.59,-194.6,299.1,-9.4,240,2527,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2277,3595
$GC,2650,-0.59,-194.6,310.4,-9.4,252,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2277,3594
$GC,2774,-0.59,-194.6,322.1,-9.4,264,2775,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2277,3593
$GC,2899,-0.59,-194.6,333.7,-9.2,276,2900,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2277,3593
$GC,3023,-0.59,-194.6,345.0,-9.1,288,3023,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2277,3592
$GC,3147,-0.59,-194.6,356.4,-9.0,300,3148,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2277,3591
$GC,3271,-0.59,-194.6,368.0,-9.6,312,3272,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2277,3590
$GC,3395,-0.59,-194.6,379.8,-9.7,324,3396,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2277,3589
$GC,3519,-0.59,-194.6,391.5,-9.5,336,3520,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2277,3589
$GC,3644,-0.59,-194.6,403.3,-9.5,348,3645,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2276,3588
$GC,3768,-0.59,-194.6,415.1,-9.4,360,3769,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2276,3588
$GC,3892,-0.59,-194.6,426.6,-9.2,372,3895,0.00,1.23,0.00,0.000,4,0.000,0.044,2542,1374,3587
$GC,3924,-0.59,-194.6,429.7,-9.4,375,3927,0.00,1.25,0.00,0.000,6,0.000,0.045,2537,2269,3586
$GC,4058,-0.59,-194.6,442.4,-9.2,388,4062,0.00,1.52,0.00,0.000,4,0.000,0.054,2529,3159,3586
$GC,4084,-0.59,-194.6,445.0,-9.4,390,4091,0.00,1.48,0.00,0.000,6,0.000,0.036,2529,2274,3585
$GC,4213,-0.59,-194.6,457.5,-9.8,403,4214,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2274,3585
$GC,4338,-0.59,-194.6,469.7,-9.6,415,4339,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2274,3584
$GC,4462,-0.59,-194.6,482.1,-9.8,427,4463,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2274,3582
$GC,4586,-0.59,-194.6,494.5,-9.9,439,4587,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2275,3582
$GC,4710,-0.59,-194.6,506.8,-9.7,451,4711,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2275,3581
$GC,4834,-0.59,-194.6,518.9,-9.8,463,4835,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2275,3581
$GC,4959,-0.59,-194.6,530.9,-9.8,475,4959,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2274,3580
$GC,5083,-0.59,-194.6,542.7,-9.5,487,5086,0.00,1.55,0.00,0.000,4,0.000,0.057,2523,3163,3579
$GC,5114,-0.59,-194.6,545.9,-9.8,490,5118,0.00,1.48,0.00,0.000,6,0.000,0.038,2522,2271,3578
$GC,5249,-0.59,-194.6,559.0,-9.9,503,5250,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2270,3577
$GC,5373,-0.59,-194.6,571.1,-9.8,515,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2270,3577
$GC,5497,-0.59,-194.6,582.9,-9.4,527,5498,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2271,3576
$GC,5622,-0.59,-194.6,594.4,-9.2,539,5623,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2270,3575
$GC,5746,-0.59,-194.6,605.9,-9.2,551,5746,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2270,3574
$GC,5870,-0.59,-194.6,617.1,-9.1,563,5871,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2270,3574
$GC,5994,-0.59,-194.6,628.6,-9.8,575,5995,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2270,3573
$GC,6118,-0.59,-194.6,640.3,-9.7,587,6119,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2270,3572
$GC,6242,-0.59,-194.6,652.3,-9.6,599,6243,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2270,3571
$GC,6367,-0.59,-194.6,664.5,-10.1,611,6370,0.00,1.55,0.00,0.000,4,0.000,0.057,2515,3166,3571
$GC,6441,-0.59,-194.6,672.1,-10.7,618,6445,0.08,1.48,0.00,0.000,6,0.144,0.039,2538,2273,3570
$GC,6576,-0.59,-194.6,684.4,-9.1,631,6577,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2273,3570
$GC,6700,-0.59,-194.6,695.5,-8.9,643,6700,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2273,3569
$GC,6824,-0.59,-194.6,706.4,-8.9,655,6827,0.00,1.55,0.00,0.000,4,0.000,0.058,2533,3168,3569
$GC,6860,-0.59,-194.6,709.8,-9.8,658,6867,0.00,1.52,0.00,0.000,6,0.000,0.039,2533,2267,3569
$GC,6990,-0.59,-194.6,721.6,-9.1,671,6991,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2266,3568
$GC,7114,-0.59,-194.6,733.0,-8.9,683,7115,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2265,3568
$GC,7238,-0.59,-194.6,744.6,-9.3,695,7239,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2266,3567
$GC,7362,-0.59,-194.6,756.0,-9.3,707,7366,0.00,1.58,0.00,0.000,4,0.000,0.059,2525,3161,3566
$GC,7409,-0.59,-194.6,760.5,-9.5,711,7418,0.00,1.52,0.00,0.000,6,0.000,0.040,2526,2264,3565
$GC,7539,-0.59,-194.6,772.3,-9.1,724,7540,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2263,3565
$GC,7663,-0.59,-194.6,783.7,-8.9,736,7664,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2263,3564
$GC,7788,-0.59,-194.6,795.1,-9.1,748,7789,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2263,3564
$GC,7912,-0.59,-194.6,806.5,-9.4,760,7912,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2263,3564
$GC,8036,-0.59,-194.6,817.9,-9.2,772,8037,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2264,3563
$GC,8160,-0.59,-194.6,829.1,-8.7,784,8164,0.00,1.58,0.00,0.000,4,0.000,0.061,2519,3157,3562
$GC,8203,-0.59,-194.6,833.0,-9.4,788,8206,0.00,1.50,0.00,0.000,6,0.000,0.041,2519,2269,3562
$GC,8337,-0.59,-194.6,845.2,-9.2,801,8338,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2269,3562
$GC,8461,-0.59,-194.6,855.9,-8.6,813,8462,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2270,3561
$GC,8586,-0.59,-194.6,867.2,-9.0,825,8589,0.00,1.55,0.00,0.000,4,0.000,0.061,2513,3154,3560
$GC,8628,-0.59,-194.6,871.3,-10.2,829,8632,0.08,1.48,0.00,0.000,6,0.150,0.041,2537,2272,3561
$GC,8763,-0.59,-194.6,882.1,-8.1,842,8763,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2273,3560
$GC,8886,-0.59,-194.6,892.0,-8.2,854,8887,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2273,3559
$GC,9011,-0.59,-194.6,902.2,-8.1,866,9012,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2274,3559
$GC,9135,-0.59,-194.6,912.4,-8.5,878,9136,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2273,3559
$GC,9259,-0.59,-194.6,922.0,-7.9,890,9260,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2274,3558
$GC,9383,-0.59,-194.6,931.8,-8.3,902,9387,0.00,1.55,0.00,0.000,4,0.000,0.060,2532,3157,3558
$GC,9430,-0.59,-194.6,935.7,-8.1,906,9438,0.00,1.50,0.00,0.000,6,0.000,0.041,2532,2272,3558
$GC,9560,-0.59,-194.6,945.9,-8.1,919,9560,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2273,3557
$GC,9684,-0.59,-194.6,955.4,-7.6,931,9685,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2273,3557
$GC,9809,-0.59,-194.6,964.9,-8.2,943,9810,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2273,3557
$GC,9932,-0.59,-194.6,974.7,-8.1,955,9933,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2273,3556
$GC,10056,-0.59,-194.6,984.7,-7.8,967,10057,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2273,3556
$STATE,10128,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10128,begin apogee
$GC,10131,-0.26,0.0,990.2,7.3,974,10283,0.40,0.00,149.32,1.261,6,0.140,0.000,2651,2272,2800
$STATE,10283,end apogee,CONTROL_FINISHED_OK
$STATE,10283,begin climb
$GC,10284,0.59,194.6,993.2,0.0,989,10453,0.88,1.42,164.70,1.226,4,0.110,0.058,2923,1382,2005
$GC,10485,0.59,194.6,975.5,11.7,1009,10488,0.00,1.35,0.00,0.000,6,0.000,0.048,2923,2260,2001
$GC,10619,0.59,194.6,959.2,11.9,1022,10620,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2260,1996
$GC,10743,0.59,194.6,944.6,12.0,1034,10747,0.00,1.27,0.00,0.000,4,0.000,0.048,2929,1364,1994
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$STATE,18948,end climb,SURFACE_DEPTH_REACHED
$STATE,18948,begin surface coast
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$STATE,18981,end surface coast,CONTROL_FINISHED_OK
$STATE,18981,begin surface
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$TCM_TEMP,23.50
$XPDR_PINGS,3
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$10V_AH,10.6,19.364
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
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$DATA_FILE_SIZE,94630,1826
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$CFSIZE,260165632,249253888
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