version: 66.04
glider: 515
mission: 5
dive: 131
start: 6 17 110 6 36 59
data:
$ID,515
$MISSION,5
$DIVE,131
$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,495
$T_MISSION,520
$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,-7491.4331
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2733
$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,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,159
$ROLL_MAX,3575
$ROLL_DEG,25
$C_ROLL_DIVE,2375
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,2840
$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
$GPS1,062900,2841.904,-8831.402,40,1.5,45,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-74.5
$GPS2,063619,2841.891,-8831.465,8,1.2,13,-0.4
$SPEED_LIMITS,0.115,0.252
$TGT_NAME,NEW0607E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.166,0.190
$KALMAN_X,-242348.7,-339.6,1220.6,278482.7,-581.0
$KALMAN_Y,-54658.9,103.0,4414.5,36289.9,-23343.3
$MHEAD_RNG_PITCHd_Wd,317.9,22006,-9.2,-6.667
$D_GRID,1367
$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,-0.58,-194.6,0.0,0.0,0,67,0.00,0.00,-53.92,0.000,2,0.000,0.000,209,2368,2105
$GC,69,-0.58,-194.6,3.1,-2.8,5,119,10.55,0.00,-38.40,0.000,6,0.262,0.000,2538,2368,3634
$GC,303,-0.43,-194.6,41.4,-14.4,27,306,0.20,1.50,0.00,0.000,4,0.158,0.043,2591,3264,3636
$GC,548,-0.37,-194.6,66.0,-9.5,50,551,0.00,1.45,0.00,0.000,6,0.000,0.028,2591,2371,3639
$GC,744,-0.31,-194.6,83.2,-8.8,69,748,0.15,1.52,0.00,0.000,4,0.135,0.044,2629,3269,3639
$GC,851,-0.31,-194.6,90.2,-6.3,79,854,0.00,1.45,0.00,0.000,6,0.000,0.029,2629,2376,3639
$GC,1048,-0.31,-194.6,102.7,-6.2,98,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2374,3639
$GC,1358,-0.31,-194.6,121.6,-6.1,128,1361,0.00,1.50,0.00,0.000,4,0.000,0.047,2623,3261,3639
$GC,1437,-0.31,-194.6,126.8,-6.7,135,1445,0.00,1.45,0.00,0.000,6,0.000,0.028,2623,2371,3638
$GC,1755,-0.31,-194.6,145.6,-6.1,166,1757,0.00,1.52,0.00,0.000,4,0.000,0.046,2618,3266,3637
$GC,1807,-0.31,-194.6,148.9,-6.1,171,1810,0.00,1.45,0.00,0.000,6,0.000,0.030,2618,2371,3637
$GC,2129,-0.31,-194.6,168.9,-6.2,202,2132,0.00,1.52,0.00,0.000,4,0.000,0.046,2611,3264,3635
$GC,2203,-0.31,-194.6,173.3,-5.9,209,2206,0.00,1.42,0.00,0.000,6,0.000,0.029,2611,2376,3635
$GC,2525,-0.31,-194.6,192.4,-5.8,240,2526,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2375,3633
$GC,2834,-0.31,-194.6,210.8,-6.2,270,2838,0.00,1.50,0.00,0.000,4,0.000,0.048,2604,3260,3632
$GC,2924,-0.31,-194.6,216.5,-6.6,278,2932,0.00,1.42,0.00,0.000,6,0.000,0.030,2604,2374,3632
$GC,3241,-0.30,-194.6,236.3,-6.6,309,3242,0.10,0.00,0.00,0.000,6,0.130,0.000,2633,2374,3631
$GC,3552,-0.32,-194.6,252.6,-5.3,339,3555,0.00,1.52,0.00,0.000,4,0.000,0.049,2627,3266,3629
$GC,3609,-0.34,-194.6,255.8,-5.8,344,3617,0.00,1.48,0.00,0.000,6,0.000,0.031,2627,2368,3628
$GC,3927,-0.40,-194.6,275.1,-6.0,375,3931,0.00,1.52,0.00,0.000,4,0.000,0.050,2624,3257,3627
$GC,4088,-0.44,-194.6,284.5,-5.5,390,4091,0.08,1.42,0.00,0.000,6,0.056,0.032,2565,2375,3626
$GC,4408,-0.44,-194.6,308.1,-7.5,421,4409,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2374,3624
$GC,4719,-0.44,-194.6,331.7,-7.5,451,4723,0.00,1.52,0.00,0.000,4,0.000,0.050,2557,3265,3623
$GC,4755,-0.41,-194.6,334.6,-8.1,454,4765,0.15,1.48,0.00,0.000,6,0.133,0.031,2600,2370,3623
$GC,5072,-0.44,-194.6,355.6,-6.8,485,5075,0.00,1.52,0.00,0.000,4,0.000,0.051,2593,3258,3621
$GC,5194,-0.44,-194.6,363.4,-6.8,496,5201,0.00,1.45,0.00,0.000,6,0.000,0.032,2594,2371,3621
$GC,5511,-0.46,-194.6,383.9,-6.5,527,5514,0.00,1.52,0.00,0.000,4,0.000,0.051,2587,3257,3619
$GC,5653,-0.46,-194.6,393.2,-6.5,540,5661,0.00,1.45,0.00,0.000,6,0.000,0.032,2587,2371,3618
$GC,5971,-0.48,-194.6,414.2,-6.6,571,5974,0.00,1.52,0.00,0.000,4,0.000,0.051,2580,3255,3617
$GC,6092,-0.47,-194.6,422.7,-6.9,582,6101,0.00,1.48,0.00,0.000,6,0.000,0.033,2580,2368,3617
$GC,6410,-0.49,-194.6,444.7,-6.8,613,6413,0.00,1.55,0.00,0.000,4,0.000,0.052,2573,3263,3615
$GC,6516,-0.47,-194.6,453.0,-7.6,623,6519,0.00,1.48,0.00,0.000,6,0.000,0.033,2573,2369,3615
$GC,6838,-0.44,-194.6,477.0,-7.5,654,6839,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2369,3613
$GC,7148,-0.41,-194.6,501.0,-7.8,684,7151,0.00,1.55,0.00,0.000,4,0.000,0.053,2566,3258,3611
$GC,7291,-0.37,-194.6,512.6,-8.0,697,7298,0.12,1.48,0.00,0.000,6,0.135,0.035,2608,2369,3611
$GC,7607,-0.37,-194.6,531.3,-5.9,728,7608,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2370,3610
$GC,7918,-0.37,-194.6,549.5,-6.1,758,7921,0.00,1.55,0.00,0.000,4,0.000,0.055,2602,3256,3608
$GC,7971,-0.37,-194.6,552.9,-6.7,763,7974,0.00,1.45,0.00,0.000,6,0.000,0.036,2602,2376,3608
$GC,8293,-0.37,-194.6,571.6,-6.4,794,8295,0.00,1.55,0.00,0.000,4,0.000,0.055,2596,3265,3606
$GC,8356,-0.37,-194.6,575.5,-6.1,800,8359,0.00,1.48,0.00,0.000,6,0.000,0.035,2595,2374,3606
$GC,8678,-0.37,-194.6,595.2,-6.4,831,8681,0.00,1.55,0.00,0.000,4,0.000,0.056,2589,3262,3606
$GC,8763,-0.37,-194.6,600.8,-7.2,839,8766,0.00,1.45,0.00,0.000,6,0.000,0.037,2589,2380,3605
$GC,9084,-0.36,-194.6,622.4,-6.7,870,9085,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2379,3604
$GC,9395,-0.34,-194.6,642.6,-6.5,900,9396,0.12,0.00,0.00,0.000,6,0.136,0.000,2625,2379,3603
$GC,9706,-0.41,-194.6,660.4,-6.0,930,9708,0.00,1.52,0.00,0.000,4,0.000,0.057,2623,3251,3601
$GC,9827,-0.46,-194.6,667.6,-5.6,941,9834,0.08,1.45,0.00,0.000,6,0.061,0.037,2572,2377,3601
$GC,10144,-0.48,-194.6,688.7,-6.5,972,10147,0.00,1.55,0.00,0.000,4,0.000,0.059,2565,3257,3600
$GC,10201,-0.47,-194.6,692.9,-7.3,977,10208,0.00,1.50,0.00,0.000,6,0.000,0.038,2565,2372,3599
$GC,10518,-0.43,-194.6,714.7,-7.1,1008,10521,0.00,1.55,0.00,0.000,4,0.000,0.058,2558,3253,3598
$GC,10565,-0.39,-194.6,718.5,-8.0,1012,10572,0.12,1.48,0.00,0.000,6,0.137,0.038,2598,2374,3598
$GC,10881,-0.39,-194.6,736.7,-5.6,1043,10882,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2374,3597
$GC,11193,-0.39,-194.6,755.0,-5.7,1073,11196,0.00,1.55,0.00,0.000,4,0.000,0.058,2593,3253,3597
$GC,11261,-0.39,-194.6,759.3,-6.0,1079,11268,0.00,1.48,0.00,0.000,6,0.000,0.038,2593,2372,3596
$GC,11577,-0.39,-194.6,776.9,-5.7,1110,11578,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2373,3595
$GC,11889,-0.39,-194.6,793.8,-5.1,1140,11891,0.00,1.55,0.00,0.000,4,0.000,0.059,2586,3252,3594
$GC,11974,-0.39,-194.6,798.8,-6.4,1148,11977,0.00,1.48,0.00,0.000,6,0.000,0.039,2586,2374,3594
$GC,12295,-0.39,-194.6,817.6,-6.0,1179,12296,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2374,3593
$GC,12606,-0.39,-194.6,836.5,-5.8,1209,12609,0.00,1.55,0.00,0.000,4,0.000,0.060,2579,3250,3592
$GC,12695,-0.38,-194.6,842.2,-6.3,1217,12703,0.00,1.50,0.00,0.000,6,0.000,0.039,2579,2371,3592
$GC,13011,-0.37,-194.6,860.6,-5.7,1248,13015,0.12,1.55,0.00,0.000,4,0.145,0.060,2608,3249,3592
$GC,13054,-0.39,-194.6,862.7,-4.7,1252,13057,0.00,1.48,0.00,0.000,6,0.000,0.040,2608,2374,3591
$GC,13376,-0.44,-194.6,880.4,-5.6,1283,13379,0.00,1.55,0.00,0.000,4,0.000,0.061,2609,3249,3591
$GC,13537,-0.49,-194.6,889.7,-5.2,1298,13541,0.00,1.48,0.00,0.000,6,0.000,0.041,2608,2372,3591
$GC,13858,-0.54,-194.6,908.4,-5.8,1329,13862,0.15,1.55,0.00,0.000,4,0.071,0.060,2542,3248,3590
$GC,13987,-0.50,-194.6,917.7,-7.4,1341,13990,0.00,1.48,0.00,0.000,6,0.000,0.040,2542,2373,3589
$GC,14308,-0.44,-194.6,942.5,-7.5,1372,14311,0.17,1.55,0.00,0.000,4,0.143,0.059,2585,3261,3588
$GC,14376,-0.44,-194.6,946.7,-6.2,1378,14385,0.00,1.50,0.00,0.000,6,0.000,0.039,2585,2373,3588
$GC,14693,-0.44,-194.6,963.6,-5.3,1409,14694,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2373,3588
$GC,15004,-0.44,-194.6,980.4,-5.8,1439,15007,0.00,1.58,0.00,0.000,4,0.000,0.062,2578,3259,3588
$GC,15061,-0.44,-194.6,984.2,-6.8,1444,15069,0.00,1.52,0.00,0.000,6,0.000,0.040,2578,2370,3587
$STATE,15169,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15169,begin apogee
$GC,15173,-0.26,0.0,990.4,6.1,1455,15325,0.22,0.00,150.07,1.264,6,0.129,0.000,2646,2234,2841
$STATE,15326,end apogee,CONTROL_FINISHED_OK
$STATE,15326,begin climb
$GC,15328,0.58,194.6,994.9,0.0,1470,15511,0.88,1.23,169.00,1.223,4,0.113,0.046,2920,1366,2044
$GC,15548,0.50,194.6,978.5,9.9,1490,15556,0.00,1.27,0.00,0.000,6,0.000,0.044,2920,2261,2040
$GC,15865,0.42,194.6,943.7,10.7,1521,15868,0.20,1.20,0.00,0.000,4,0.140,0.045,2864,1352,2034
$GC,15918,0.40,194.6,939.2,7.7,1526,15921,0.00,1.20,0.00,0.000,6,0.000,0.047,2864,2258,2034
$GC,16239,0.37,194.6,915.7,7.4,1557,16240,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2258,2032
$GC,16550,0.35,194.6,893.8,6.8,1587,16553,0.00,1.17,0.00,0.000,4,0.000,0.047,2869,1355,2032
$GC,16624,0.37,227.2,888.3,5.9,1594,16653,0.00,1.17,26.10,1.150,6,0.000,0.046,2869,2256,1913
$GC,16965,0.35,229.1,865.0,6.6,1626,16968,0.00,1.17,0.00,0.000,4,0.000,0.047,2874,1354,1906
$GC,17012,0.35,241.7,861.6,6.4,1630,17033,0.00,1.20,12.85,1.067,6,0.000,0.044,2874,2259,1854
$GC,17341,0.33,241.7,835.8,7.7,1662,17345,0.12,1.15,0.00,0.000,4,0.129,0.046,2842,1363,1850
$GC,17399,0.39,271.4,832.5,6.0,1667,17429,0.00,1.20,25.75,1.115,6,0.000,0.044,2842,2265,1733
$GC,17738,0.50,271.4,802.7,8.8,1700,17739,0.15,0.00,0.00,0.000,6,0.096,0.000,2893,2265,1725
$GC,18049,0.56,271.4,778.2,8.0,1730,18052,0.00,1.62,0.00,0.000,4,0.000,0.056,2893,3128,1725
$GC,18123,0.56,271.4,772.1,7.1,1737,18126,0.00,1.60,0.00,0.000,6,0.000,0.040,2899,2264,1724
$GC,18444,0.60,271.4,746.9,8.0,1768,18447,0.00,1.17,0.00,0.000,4,0.000,0.047,2903,1341,1724
$GC,18540,0.60,271.4,739.2,7.7,1777,18543,0.00,1.17,0.00,0.000,6,0.000,0.045,2903,2252,1723
$GC,18861,0.63,271.4,713.9,7.9,1808,18864,0.00,1.17,0.00,0.000,4,0.000,0.047,2903,1336,1722
$GC,18908,0.63,271.4,710.2,8.6,1812,18915,0.00,1.20,0.00,0.000,6,0.000,0.044,2903,2254,1722
$GC,19224,0.66,271.4,685.1,7.8,1843,19228,0.12,1.15,0.00,0.000,4,0.081,0.044,2964,1353,1722
$GC,19250,0.63,271.4,682.7,9.8,1845,19257,0.00,1.17,0.00,0.000,6,0.000,0.044,2964,2253,1723
$GC,19567,0.52,271.4,639.9,14.1,1876,19570,0.20,1.15,0.00,0.000,4,0.153,0.044,2908,1354,1723
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$STATE,27285,end climb,SURFACE_DEPTH_REACHED
$STATE,27285,begin surface coast
$FINISH,2.8,1.017012
$STATE,27358,end surface coast,CONTROL_FINISHED_OK
$STATE,27358,begin surface
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$HUMID,1305
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$TCM_TEMP,21.70
$XPDR_PINGS,1
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$10V_AH,10.6,33.486
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$DEVICE_SECS,23.300,154.925,525.150,92.450,0.000,30.612,27.858,250.065,0.250,0.000,0.000,15.664,0.000,18248.324,784.170,8105.388,725.951,33.340,3091.350,0.000,7255.001,0.000,0.847,0.000
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,135450,2623
$CAP_FILE_SIZE,277699,0
$CFSIZE,260165632,243302400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.137,168.0,1
$GPS,170610,141537,2843.559,-8833.346,28,1.1,28,-0.3