version: 66.04
glider: 515
mission: 5
dive: 22
start: 5 24 110 5 44 51
data:
$ID,515
$MISSION,5
$DIVE,22
$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,330
$T_MISSION,240
$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,150
$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,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4200.9102
$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,35
$C_ROLL_DIVE,2146
$C_ROLL_CLIMB,2218
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,3069
$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
$GPS1,053306,2840.956,-8834.925,9,1.4,25,-0.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-73.6
$GPS2,054413,2841.012,-8834.876,8,1.5,13,-0.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SITE44A
$TGT_LATLONG,2841.000,-8829.800
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.219,0.140
$KALMAN_X,-23490.6,390.2,-426.8,55043.0,-1943.7
$KALMAN_Y,-47512.9,150.1,621.1,31310.3,-6498.4
$MHEAD_RNG_PITCHd_Wd,82.0,8247,-17.5,-10.000
$D_GRID,1248
$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,-0.83,-146.0,0.0,0.0,0,89,0.00,0.00,-75.47,0.000,2,0.000,0.000,209,2134,2875
$GC,91,-0.83,-146.0,3.2,-2.5,11,125,10.10,1.67,-17.65,0.000,4,0.270,0.058,2431,910,3666
$GC,365,-0.83,-146.0,67.1,-21.9,61,372,0.00,1.70,0.00,0.000,6,0.000,0.036,2426,2157,3669
$GC,435,-0.83,-146.0,81.7,-21.0,74,442,0.00,1.70,0.00,0.000,4,0.000,0.040,2429,917,3669
$GC,681,-0.83,-146.0,131.6,-18.9,120,690,0.00,1.65,0.00,0.000,6,0.000,0.037,2423,2142,3669
$GC,817,-0.83,-146.0,158.3,-19.1,145,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2142,3670
$GC,950,-0.83,-146.0,184.1,-18.5,170,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2142,3670
$GC,1078,-0.83,-146.0,208.6,-19.3,194,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2143,3670
$GC,1206,-0.83,-146.0,232.6,-19.1,218,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2142,3670
$GC,1334,-0.83,-146.0,257.0,-19.3,242,1341,0.00,2.08,0.00,0.000,4,0.000,0.050,2413,3371,3669
$GC,1361,-0.83,-146.0,262.5,-20.1,247,1369,0.00,1.95,0.00,0.000,6,0.000,0.033,2413,2159,3670
$GC,1496,-0.83,-146.0,289.2,-19.3,272,1503,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2158,3669
$GC,1630,-0.83,-146.0,315.0,-19.2,297,1636,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2159,3669
$GC,1763,-0.83,-146.0,340.6,-20.0,322,1769,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2158,3669
$GC,1896,-0.83,-146.0,366.7,-19.4,347,1903,0.00,2.05,0.00,0.000,4,0.000,0.052,2404,3371,3668
$GC,1924,-0.83,-146.0,372.2,-20.5,352,1932,0.08,2.00,0.00,0.000,6,0.187,0.035,2426,2141,3668
$GC,2060,-0.83,-146.0,396.8,-18.4,377,2066,0.00,1.65,0.00,0.000,4,0.000,0.044,2429,916,3667
$GC,2113,-0.83,-146.0,406.5,-17.4,387,2121,0.00,1.67,0.00,0.000,6,0.000,0.041,2423,2148,3666
$GC,2248,-0.83,-146.0,430.9,-19.1,412,2249,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2149,3666
$GC,2376,-0.83,-146.0,453.8,-18.3,436,2383,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2149,3665
$GC,2510,-0.83,-146.0,477.6,-17.8,461,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2149,3663
$GC,2643,-0.83,-146.0,501.6,-18.0,486,2649,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2149,3662
$GC,2776,-0.83,-146.0,525.4,-17.4,511,2782,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2149,3661
$GC,2910,-0.83,-146.0,549.3,-18.5,536,2916,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2149,3660
$GC,3044,-0.83,-146.0,573.1,-17.5,561,3050,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2150,3659
$GC,3177,-0.83,-146.0,596.6,-17.6,586,3178,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2150,3658
$GC,3305,-0.83,-146.0,619.4,-18.6,610,3311,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2150,3657
$GC,3438,-0.83,-146.0,643.1,-17.7,635,3444,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2150,3656
$GC,3571,-0.83,-146.0,666.6,-17.6,660,3578,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2150,3655
$GC,3705,-0.83,-146.0,689.7,-16.9,685,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2150,3653
$GC,3833,-0.83,-146.0,711.9,-17.3,709,3834,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2150,3652
$GC,3962,-0.83,-146.0,734.0,-16.8,733,3968,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2150,3652
$GC,4095,-0.83,-146.0,756.3,-15.9,758,4102,0.00,1.70,0.00,0.000,4,0.000,0.048,2423,915,3651
$GC,4132,-0.83,-146.0,762.9,-16.6,765,4140,0.00,1.67,0.00,0.000,6,0.000,0.046,2415,2140,3650
$GC,4267,-0.83,-146.0,786.0,-17.6,790,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2141,3650
$GC,4400,-0.83,-146.0,808.8,-17.0,815,4406,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2141,3648
$GC,4533,-0.83,-146.0,831.2,-17.2,840,4541,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2141,3648
$GC,4668,-0.83,-146.0,854.0,-16.9,865,4674,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2141,3646
$GC,4801,-0.83,-146.0,875.8,-16.3,890,4807,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2141,3646
$GC,4934,-0.83,-146.0,898.1,-17.1,915,4940,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2141,3644
$GC,5067,-0.83,-146.0,920.2,-16.2,940,5074,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2141,3643
$GC,5202,-0.83,-146.0,942.2,-15.8,965,5208,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2141,3642
$GC,5335,-0.83,-146.0,963.6,-15.3,990,5335,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2141,3642
$GC,5463,-0.83,-146.0,984.1,-16.4,1014,5469,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2141,3641
$STATE,5504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5504,begin apogee
$GC,5507,-0.26,0.0,990.7,15.5,1022,5627,0.65,0.00,112.45,1.247,6,0.172,0.000,2606,2220,3068
$STATE,5627,end apogee,CONTROL_FINISHED_OK
$STATE,5627,begin climb
$GC,5628,0.83,146.0,996.8,0.0,1040,5757,1.15,1.90,121.93,1.217,4,0.114,0.044,2968,968,2472
$GC,5799,0.83,146.0,984.5,12.5,1067,5806,0.00,1.88,0.00,0.000,6,0.000,0.046,2968,2210,2468
$GC,5933,0.83,146.0,967.2,13.2,1092,5942,0.00,2.30,0.00,0.000,4,0.000,0.062,2968,3441,2465
$GC,5989,0.83,146.0,959.2,14.4,1102,5996,0.00,2.15,0.00,0.000,6,0.000,0.038,2978,2229,2464
$GC,6123,0.83,146.0,940.8,14.1,1127,6129,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2229,2463
$GC,6256,0.83,146.0,922.9,14.1,1152,6257,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2230,2463
$GC,6384,0.83,146.0,905.9,13.3,1176,6393,0.00,2.22,0.00,0.000,4,0.000,0.063,2978,3443,2461
$GC,6435,0.83,146.0,898.7,13.9,1185,6442,0.00,2.15,0.00,0.000,6,0.000,0.038,2989,2216,2461
$GC,6569,0.83,146.0,880.1,13.3,1210,6575,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2216,2460
$GC,6702,0.83,146.0,861.8,14.3,1235,6703,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2216,2459
$GC,6830,0.83,146.0,844.6,14.0,1259,6838,0.00,2.20,0.00,0.000,4,0.000,0.063,2989,3442,2459
$GC,6874,0.83,146.0,838.1,15.2,1267,6881,0.10,2.10,0.00,0.000,6,0.195,0.038,2971,2221,2458
$GC,7009,0.83,146.0,820.5,12.9,1292,7016,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2220,2458
$GC,7143,0.83,146.0,803.3,13.6,1317,7150,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2220,2458
$GC,7277,0.83,146.0,786.6,12.8,1342,7278,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2220,2457
$GC,7405,0.83,146.0,770.7,12.2,1366,7406,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2220,2457
$GC,7533,0.83,146.0,755.0,12.6,1390,7539,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2221,2456
$GC,7666,0.83,146.0,738.7,12.4,1415,7672,0.00,2.20,0.00,0.000,4,0.000,0.062,2970,3445,2456
$GC,7709,0.83,146.0,732.9,13.7,1423,7716,0.00,2.12,0.00,0.000,6,0.000,0.039,2979,2215,2455
$GC,7843,0.83,146.0,716.1,12.3,1448,7850,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2215,2456
$GC,7978,0.83,146.0,699.7,11.5,1473,7985,0.00,1.73,0.00,0.000,4,0.000,0.045,2987,973,2455
$GC,8005,0.83,146.0,696.3,13.1,1478,8012,0.00,1.75,0.00,0.000,6,0.000,0.047,2987,2218,2455
$GC,8139,0.83,146.0,679.2,12.7,1503,8145,0.00,2.20,0.00,0.000,4,0.000,0.063,2987,3445,2455
$GC,8176,0.83,146.0,673.8,14.6,1510,8184,0.10,2.10,0.00,0.000,6,0.189,0.038,2970,2224,2455
$GC,8311,0.83,146.0,657.0,12.3,1535,8317,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2224,2454
$GC,8444,0.83,146.0,641.1,12.3,1560,8451,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2224,2454
$GC,8579,0.83,146.0,625.4,11.4,1585,8585,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2224,2454
$GC,8712,0.83,146.0,610.3,10.6,1610,8713,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2224,2453
$GC,8840,0.83,146.0,595.4,12.0,1634,8841,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2223,2453
$GC,8968,0.83,146.0,580.5,11.8,1658,8974,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2224,2453
$GC,9102,0.83,146.0,565.0,11.9,1683,9108,0.00,2.20,0.00,0.000,4,0.000,0.062,2970,3448,2454
$GC,9134,0.83,146.0,560.9,12.9,1689,9141,0.00,2.10,0.00,0.000,6,0.000,0.038,2978,2217,2453
$GC,9269,0.83,146.0,544.6,12.5,1714,9275,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2218,2453
$GC,9402,0.83,146.0,529.1,11.8,1739,9409,0.00,2.20,0.00,0.000,4,0.000,0.062,2978,3447,2453
$GC,9430,0.83,146.0,525.6,13.2,1744,9438,0.00,2.10,0.00,0.000,6,0.000,0.038,2989,2218,2452
$GC,9565,0.83,146.0,509.1,12.8,1769,9572,0.00,2.17,0.00,0.000,4,0.000,0.062,2989,3441,2453
$GC,9598,0.83,146.0,504.6,13.7,1775,9606,0.10,2.05,0.00,0.000,6,0.189,0.038,2971,2221,2453
$GC,9733,0.83,146.0,488.7,11.9,1800,9740,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2222,2452
$GC,9868,0.83,146.0,473.4,12.0,1825,9875,0.00,2.15,0.00,0.000,4,0.000,0.061,2970,3446,2452
$GC,9889,0.83,146.0,470.7,13.1,1829,9897,0.00,2.05,0.00,0.000,6,0.000,0.038,2978,2221,2452
$GC,10024,0.83,146.0,454.1,12.3,1854,10030,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2221,2452
$GC,10157,0.83,146.0,437.9,12.1,1879,10164,0.00,2.17,0.00,0.000,4,0.000,0.061,2978,3447,2452
$GC,10227,0.83,146.0,428.4,13.8,1892,10236,0.00,2.10,0.00,0.000,6,0.000,0.038,2989,2217,2452
$GC,10363,0.83,146.0,411.6,12.7,1917,10370,0.00,2.20,0.00,0.000,4,0.000,0.061,2989,3449,2452
$GC,10395,0.83,146.0,407.1,14.4,1923,10403,0.10,2.08,0.00,0.000,6,0.185,0.038,2971,2221,2452
$GC,10531,0.83,146.0,391.6,10.8,1948,10539,0.00,1.73,0.00,0.000,4,0.000,0.044,2977,969,2452
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$GC,10694,0.83,146.0,372.7,11.8,1978,10699,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2222,2452
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$STATE,14031,end climb,SURFACE_DEPTH_REACHED
$STATE,14031,begin surface coast
$FINISH,0.3,1.020954
$STATE,14101,end surface coast,CONTROL_FINISHED_OK
$STATE,14101,begin surface
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$XPDR_PINGS,1
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$10V_AH,10.6,6.342
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$DATA_FILE_SIZE,132323,2605
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$CFSIZE,260165632,254681088
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,37,0,0
$CURRENT,0.128,248.8,1
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