version: 66.04
glider: 515
mission: 5
dive: 80
start: 6 5 110 14 45 11
data:
$ID,515
$MISSION,5
$DIVE,80
$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,-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,-5221.8071
$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,40
$C_ROLL_DIVE,2310
$C_ROLL_CLIMB,2220
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,30
$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
$GPS1,143707,2842.120,-8827.962,25,1.5,25,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-72.0
$GPS2,144413,2842.135,-8827.928,11,1.5,11,-0.4
$SPEED_LIMITS,0.117,0.253
$TGT_NAME,NEW0602A
$TGT_LATLONG,2840.600,-8826.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.200,-0.156
$KALMAN_X,-223945.3,956.6,1358.5,264357.7,-12517.3
$KALMAN_Y,62631.0,-2561.9,64.1,-73381.1,10669.8
$MHEAD_RNG_PITCHd_Wd,113.2,4230,-13.8,-6.735
$D_GRID,1358
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.65,-111.1,0.0,0.0,0,88,0.00,0.00,-73.80,0.000,2,0.000,0.000,191,2313,2568
$GC,89,-0.74,-182.5,3.3,-3.8,7,126,10.27,2.47,-20.48,0.000,4,0.261,0.064,2477,3575,3544
$GC,190,-0.74,-182.5,30.4,-29.6,16,200,0.00,2.30,0.00,0.000,6,0.000,0.031,2486,2343,3546
$GC,259,-0.74,-182.5,42.7,-16.2,23,262,0.00,2.35,0.00,0.000,4,0.000,0.052,2476,3576,3546
$GC,408,-0.74,-182.5,66.5,-14.4,37,412,0.00,2.38,0.00,0.000,6,0.000,0.031,2486,2302,3548
$GC,481,-0.74,-182.5,77.5,-14.9,44,482,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2304,3549
$GC,542,-0.74,-182.5,86.3,-14.5,50,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2304,3549
$GC,605,-0.74,-182.5,95.7,-15.1,56,608,0.00,2.45,0.00,0.000,4,0.000,0.053,2476,3576,3549
$GC,630,-0.74,-182.5,99.8,-16.1,58,638,0.00,2.35,0.00,0.000,6,0.000,0.030,2485,2306,3549
$GC,698,-0.74,-182.5,110.2,-15.9,65,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2306,3549
$GC,823,-0.74,-182.5,130.0,-16.0,77,826,0.00,2.40,0.00,0.000,4,0.000,0.051,2475,3574,3550
$GC,854,-0.74,-182.5,135.3,-17.5,80,858,0.00,2.33,0.00,0.000,6,0.000,0.031,2484,2310,3549
$GC,989,-0.74,-182.5,156.6,-15.4,93,992,0.00,2.38,0.00,0.000,4,0.000,0.051,2474,3571,3549
$GC,1003,-0.74,-182.5,159.1,-15.4,94,1011,0.00,2.33,0.00,0.000,6,0.000,0.031,2480,2314,3550
$GC,1134,-0.74,-182.5,178.2,-14.0,107,1137,0.00,2.38,0.00,0.000,4,0.000,0.051,2471,3570,3549
$GC,1159,-0.74,-182.5,182.1,-15.0,109,1167,0.00,2.33,0.00,0.000,6,0.000,0.031,2472,2305,3549
$GC,1289,-0.74,-182.5,200.8,-14.5,122,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2306,3549
$GC,1414,-0.74,-182.5,218.3,-14.1,134,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2306,3549
$GC,1537,-0.74,-182.5,235.4,-13.9,146,1538,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2306,3549
$GC,1662,-0.74,-182.5,252.5,-13.7,158,1665,0.00,2.40,0.00,0.000,4,0.000,0.053,2462,3576,3548
$GC,1687,-0.74,-182.5,256.5,-15.3,160,1696,0.08,2.33,0.00,0.000,6,0.184,0.031,2488,2310,3548
$GC,1817,-0.74,-182.5,273.9,-13.1,173,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2311,3548
$GC,1942,-0.74,-182.5,290.3,-12.9,185,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2310,3547
$GC,2066,-0.74,-182.5,306.3,-12.8,197,2067,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2311,3546
$GC,2190,-0.74,-182.5,321.9,-12.7,209,2194,0.00,2.40,0.00,0.000,4,0.000,0.054,2478,3578,3546
$GC,2222,-0.74,-182.5,326.2,-13.9,212,2225,0.00,2.30,0.00,0.000,6,0.000,0.032,2482,2307,3546
$GC,2356,-0.74,-182.5,343.5,-12.6,225,2360,0.00,2.40,0.00,0.000,4,0.000,0.054,2472,3575,3544
$GC,2388,-0.74,-182.5,347.7,-13.9,228,2392,0.00,2.30,0.00,0.000,6,0.000,0.032,2472,2309,3545
$GC,2523,-0.74,-182.5,365.7,-13.7,241,2523,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2310,3544
$GC,2647,-0.74,-182.5,382.1,-13.4,253,2650,0.00,2.40,0.00,0.000,4,0.000,0.054,2462,3578,3543
$GC,2683,-0.74,-182.5,387.3,-13.7,256,2693,0.10,2.33,0.00,0.000,6,0.179,0.032,2492,2313,3542
$GC,2813,-0.74,-182.5,403.1,-12.2,269,2814,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2313,3542
$GC,2937,-0.74,-182.5,418.1,-12.2,281,2941,0.00,2.40,0.00,0.000,4,0.000,0.055,2482,3579,3541
$GC,2962,-0.74,-182.5,421.5,-13.8,283,2971,0.00,2.35,0.00,0.000,6,0.000,0.033,2485,2308,3541
$GC,3093,-0.74,-182.5,437.7,-12.5,296,3097,0.00,2.40,0.00,0.000,4,0.000,0.055,2475,3569,3540
$GC,3125,-0.74,-182.5,441.8,-13.3,299,3128,0.00,2.30,0.00,0.000,6,0.000,0.034,2479,2312,3540
$GC,3259,-0.74,-182.5,459.2,-12.9,312,3260,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2312,3540
$GC,3384,-0.74,-182.5,475.3,-12.8,324,3387,0.00,2.40,0.00,0.000,4,0.000,0.056,2469,3578,3538
$GC,3415,-0.74,-182.5,479.6,-13.6,327,3419,0.00,2.33,0.00,0.000,6,0.000,0.035,2469,2304,3538
$GC,3550,-0.74,-182.5,498.6,-14.1,340,3551,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2305,3537
$GC,3674,-0.74,-182.5,515.6,-13.5,352,3677,0.00,2.42,0.00,0.000,4,0.000,0.057,2459,3574,3536
$GC,3721,-0.74,-182.5,522.5,-14.1,356,3730,0.10,2.35,0.00,0.000,6,0.188,0.035,2488,2310,3536
$GC,3851,-0.74,-182.5,538.7,-12.1,369,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2311,3535
$GC,3975,-0.74,-182.5,553.9,-12.2,381,3979,0.00,2.40,0.00,0.000,4,0.000,0.057,2478,3566,3534
$GC,4028,-0.74,-182.5,560.6,-14.2,386,4032,0.00,2.33,0.00,0.000,6,0.000,0.035,2478,2312,3533
$GC,4163,-0.74,-182.5,577.6,-12.6,399,4164,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2314,3533
$GC,4287,-0.74,-182.5,593.2,-12.5,411,4291,0.00,2.40,0.00,0.000,4,0.000,0.058,2467,3571,3532
$GC,4330,-0.74,-182.5,598.9,-13.4,415,4333,0.12,2.33,0.00,0.000,6,0.183,0.036,2496,2304,3531
$GC,4464,-0.74,-182.5,614.5,-11.6,428,4468,0.00,2.42,0.00,0.000,4,0.000,0.058,2485,3582,3530
$GC,4485,-0.74,-182.5,616.8,-10.7,430,4489,0.00,2.33,0.00,0.000,6,0.000,0.036,2485,2310,3530
$GC,4620,-0.74,-182.5,632.0,-11.3,443,4620,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2311,3529
$GC,4744,-0.74,-182.5,645.9,-11.2,455,4745,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2311,3527
$GC,4868,-0.74,-182.5,659.8,-11.2,467,4872,0.00,2.42,0.00,0.000,4,0.000,0.058,2474,3575,3527
$GC,4910,-0.74,-182.5,664.7,-11.4,471,4914,0.00,2.35,0.00,0.000,6,0.000,0.037,2475,2314,3527
$GC,5045,-0.74,-182.5,680.6,-12.2,484,5046,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2315,3526
$GC,5169,-0.74,-182.5,695.4,-11.9,496,5170,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2315,3526
$GC,5293,-0.74,-182.5,710.4,-12.3,508,5297,0.00,2.42,0.00,0.000,4,0.000,0.059,2463,3579,3524
$GC,5347,-0.74,-182.5,717.1,-12.8,513,5351,0.12,2.33,0.00,0.000,6,0.179,0.037,2492,2309,3524
$GC,5481,-0.74,-182.5,731.7,-10.2,526,5482,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2310,3523
$GC,5605,-0.74,-182.5,745.2,-10.7,538,5609,0.00,2.42,0.00,0.000,4,0.000,0.059,2483,3579,3523
$GC,5626,-0.74,-182.5,747.6,-11.0,540,5630,0.00,2.35,0.00,0.000,6,0.000,0.037,2484,2304,3521
$GC,5761,-0.74,-182.5,762.6,-10.5,553,5762,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2306,3521
$GC,5885,-0.74,-182.5,776.0,-10.7,565,5889,0.00,2.42,0.00,0.000,4,0.000,0.059,2475,3566,3520
$GC,5928,-0.74,-182.5,780.8,-11.7,569,5931,0.00,2.33,0.00,0.000,6,0.000,0.038,2474,2308,3520
$GC,6062,-0.74,-182.5,796.2,-11.6,582,6063,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2308,3519
$GC,6187,-0.74,-182.5,810.3,-11.3,594,6190,0.00,2.42,0.00,0.000,4,0.000,0.060,2464,3564,3518
$GC,6227,-0.74,-182.5,815.4,-12.2,597,6236,0.08,2.35,0.00,0.000,6,0.183,0.037,2485,2312,3518
$GC,6358,-0.74,-182.5,829.7,-11.0,610,6359,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2313,3518
$GC,6483,-0.74,-182.5,843.5,-11.1,622,6483,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2313,3517
$GC,6606,-0.74,-182.5,856.9,-10.6,634,6607,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2313,3516
$GC,6730,-0.74,-182.5,870.2,-10.8,646,6734,0.00,2.42,0.00,0.000,4,0.000,0.061,2475,3573,3516
$GC,6773,-0.74,-182.5,875.3,-12.0,650,6776,0.00,2.38,0.00,0.000,6,0.000,0.038,2479,2307,3516
$GC,6908,-0.74,-182.5,890.8,-11.5,663,6909,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2309,3515
$GC,7031,-0.74,-182.5,904.7,-11.3,675,7035,0.00,2.45,0.00,0.000,4,0.000,0.061,2469,3581,3514
$GC,7068,-0.74,-182.5,909.2,-11.8,678,7075,0.00,2.38,0.00,0.000,6,0.000,0.038,2469,2311,3514
$GC,7198,-0.74,-182.5,924.5,-12.3,691,7202,0.00,2.42,0.00,0.000,4,0.000,0.060,2458,3572,3514
$GC,7223,-0.74,-182.5,927.8,-12.9,693,7231,0.10,2.38,0.00,0.000,6,0.188,0.038,2487,2308,3514
$GC,7353,-0.74,-182.5,942.3,-10.9,706,7357,0.00,2.45,0.00,0.000,4,0.000,0.061,2477,3578,3513
$GC,7389,-0.74,-182.5,946.6,-11.8,709,7398,0.00,2.38,0.00,0.000,6,0.000,0.038,2477,2308,3513
$GC,7520,-0.74,-182.5,961.2,-11.2,722,7524,0.00,2.45,0.00,0.000,4,0.000,0.061,2466,3579,3512
$GC,7545,-0.74,-182.5,964.5,-13.0,724,7555,0.08,2.38,0.00,0.000,6,0.189,0.038,2488,2306,3512
$GC,7675,-0.74,-182.5,978.3,-10.6,737,7676,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2308,3512
$STATE,7788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7788,begin apogee
$GC,7792,-0.26,0.0,990.3,10.8,748,7934,0.55,0.00,139.52,1.262,6,0.156,0.000,2651,2178,2800
$STATE,7934,end apogee,CONTROL_FINISHED_OK
$STATE,7934,begin climb
$GC,7935,0.74,182.5,994.5,0.0,762,8093,1.00,0.00,152.73,1.225,6,0.112,0.000,2961,2178,2056
$GC,8215,0.74,182.5,961.5,14.7,788,8216,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2179,2047
$GC,8339,0.74,182.5,943.2,14.6,800,8343,0.00,2.72,0.00,0.000,4,0.000,0.061,2961,3578,2045
$GC,8365,0.74,182.5,939.2,16.6,802,8373,0.00,2.58,0.00,0.000,6,0.000,0.038,2973,2248,2044
$GC,8495,0.74,182.5,918.7,16.0,815,8496,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2249,2044
$GC,8619,0.74,182.5,899.4,15.9,827,8620,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2249,2042
$GC,8744,0.74,182.5,879.8,15.8,839,8745,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2249,2042
$GC,8868,0.74,182.5,860.5,15.4,851,8868,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2249,2041
$GC,8992,0.74,182.5,840.4,16.1,863,8993,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2249,2041
$GC,9116,0.74,182.5,820.8,15.9,875,9120,0.00,1.83,0.00,0.000,4,0.000,0.048,2982,798,2041
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$STATE,14701,end climb,SURFACE_DEPTH_REACHED
$STATE,14702,begin surface coast
$FINISH,0.5,1.021105
$STATE,14743,end surface coast,CONTROL_FINISHED_OK
$STATE,14743,begin surface
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$HUMID,1277
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$TCM_TEMP,22.20
$XPDR_PINGS,4
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$10V_AH,10.6,21.173
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$DEVICE_SECS,20.725,215.975,404.700,120.100,0.000,27.455,31.347,260.228,1.000,0.000,0.000,13.285,0.000,9577.553,741.807,4388.659,573.614,33.346,2092.338,0.000,3834.698,0.000,0.846,0.000
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$DATA_FILE_SIZE,75832,1416
$CAP_FILE_SIZE,196548,0
$CFSIZE,260165632,248479744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,115,0,0
$CURRENT,0.083,235.0,1
$GPS,050610,185407,2840.791,-8826.231,41,1.0,41,-0.4