version: 66.04
glider: 515
mission: 5
dive: 25
start: 5 24 110 18 22 34
data:
$ID,515
$MISSION,5
$DIVE,25
$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,360
$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,-4252.9126
$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,2168
$C_ROLL_CLIMB,2258
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,3064
$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
$GPS1,180530,2840.998,-8831.967,41,1.3,41,-0.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-67.8
$GPS2,182156,2840.952,-8832.158,9,1.8,9,-0.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SITE44A
$TGT_LATLONG,2841.000,-8829.800
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.201,0.164
$KALMAN_X,-32218.0,-66.1,111.9,68074.4,-4866.3
$KALMAN_Y,-54784.9,842.3,502.1,37904.9,-6987.1
$MHEAD_RNG_PITCHd_Wd,82.5,3833,-17.5,-10.000
$D_GRID,1406
$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,12,-0.83,-146.0,0.0,0.0,0,96,0.00,0.00,-82.03,0.000,2,0.000,0.000,199,2155,2972
$GC,98,-0.83,-146.0,3.0,-5.3,12,132,10.05,1.65,-15.88,0.000,4,0.267,0.058,2431,919,3662
$GC,350,-0.83,-146.0,62.2,-21.6,58,359,0.00,1.65,0.00,0.000,6,0.000,0.035,2425,2175,3664
$GC,421,-0.83,-146.0,77.1,-21.0,71,422,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2176,3664
$GC,485,-0.83,-146.0,91.0,-21.6,83,491,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2176,3665
$GC,554,-0.83,-146.0,106.0,-21.6,96,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2176,3665
$GC,687,-0.83,-146.0,133.9,-20.4,121,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2176,3665
$GC,815,-0.83,-146.0,159.5,-20.6,145,822,0.00,2.10,0.00,0.000,4,0.000,0.049,2415,3385,3665
$GC,853,-0.83,-146.0,167.0,-19.9,152,860,0.00,2.00,0.00,0.000,6,0.000,0.031,2423,2169,3665
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$GC,1015,-0.83,-146.0,196.6,-19.0,182,1023,0.00,2.00,0.00,0.000,6,0.000,0.032,2416,2161,3665
$GC,1151,-0.83,-146.0,221.8,-18.7,207,1157,0.00,2.08,0.00,0.000,4,0.000,0.048,2408,3387,3665
$GC,1177,-0.83,-146.0,227.2,-19.3,212,1184,0.00,1.98,0.00,0.000,6,0.000,0.032,2410,2168,3665
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$GC,1440,-0.83,-146.0,279.7,-20.2,261,1447,0.00,2.05,0.00,0.000,4,0.000,0.051,2402,3387,3664
$GC,1467,-0.83,-146.0,285.6,-22.0,266,1476,0.08,1.98,0.00,0.000,6,0.186,0.033,2424,2167,3664
$GC,1603,-0.83,-146.0,311.4,-18.4,291,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2167,3663
$GC,1737,-0.83,-146.0,336.4,-19.2,316,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2168,3662
$GC,1870,-0.83,-146.0,360.8,-18.4,341,1877,0.00,1.62,0.00,0.000,4,0.000,0.043,2429,934,3661
$GC,1897,-0.83,-146.0,365.9,-18.8,346,1906,0.00,1.62,0.00,0.000,6,0.000,0.039,2424,2157,3661
$GC,2033,-0.83,-146.0,390.8,-18.7,371,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2158,3660
$GC,2167,-0.83,-146.0,415.1,-18.2,396,2172,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2158,3659
$GC,2300,-0.83,-146.0,439.1,-17.2,421,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2158,3658
$GC,2433,-0.83,-146.0,462.6,-17.6,446,2441,0.00,2.08,0.00,0.000,4,0.000,0.053,2413,3385,3656
$GC,2472,-0.83,-146.0,469.7,-18.0,453,2479,0.00,2.00,0.00,0.000,6,0.000,0.036,2413,2165,3656
$GC,2606,-0.83,-146.0,494.2,-18.4,478,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2166,3655
$GC,2741,-0.83,-146.0,518.9,-18.4,503,2742,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2165,3654
$GC,2869,-0.83,-146.0,542.3,-18.3,527,2875,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2165,3653
$GC,3002,-0.83,-146.0,566.4,-17.7,552,3008,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2166,3652
$GC,3135,-0.83,-146.0,590.6,-17.3,577,3142,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2166,3650
$GC,3269,-0.83,-146.0,614.4,-16.9,602,3276,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2166,3649
$GC,3403,-0.83,-146.0,637.8,-17.9,627,3409,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2166,3648
$GC,3536,-0.83,-146.0,661.1,-17.1,652,3544,0.00,2.08,0.00,0.000,4,0.000,0.055,2403,3391,3647
$GC,3564,-0.83,-146.0,666.3,-19.1,657,3571,0.00,2.00,0.00,0.000,6,0.000,0.038,2403,2168,3647
$GC,3699,-0.83,-146.0,691.3,-18.3,682,3706,0.12,0.00,0.00,0.000,6,0.187,0.000,2432,2168,3645
$GC,3833,-0.83,-146.0,714.0,-16.5,707,3839,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2168,3644
$GC,3966,-0.83,-146.0,735.6,-15.8,732,3974,0.00,2.10,0.00,0.000,4,0.000,0.057,2424,3397,3642
$GC,3994,-0.83,-146.0,740.3,-17.0,737,4001,0.00,2.03,0.00,0.000,6,0.000,0.039,2429,2166,3643
$GC,4129,-0.83,-146.0,762.4,-15.9,762,4135,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2166,3641
$GC,4263,-0.83,-146.0,784.3,-16.4,787,4269,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2166,3640
$GC,4396,-0.83,-146.0,805.3,-15.8,812,4403,0.00,2.10,0.00,0.000,4,0.000,0.058,2421,3391,3639
$GC,4429,-0.83,-146.0,810.9,-17.2,818,4438,0.00,2.03,0.00,0.000,6,0.000,0.040,2422,2165,3639
$GC,4565,-0.83,-146.0,833.5,-16.8,843,4572,0.00,2.10,0.00,0.000,4,0.000,0.058,2413,3394,3638
$GC,4592,-0.83,-146.0,838.1,-17.3,848,4600,0.00,2.00,0.00,0.000,6,0.000,0.040,2413,2170,3638
$GC,4727,-0.83,-146.0,860.9,-16.6,873,4733,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2171,3636
$GC,4861,-0.83,-146.0,883.4,-17.3,898,4868,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2171,3635
$GC,4995,-0.83,-146.0,905.6,-17.0,923,5001,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2171,3634
$GC,5128,-0.83,-146.0,927.4,-16.5,948,5129,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2172,3633
$GC,5256,-0.83,-146.0,947.9,-16.5,972,5262,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2172,3632
$GC,5390,-0.83,-146.0,968.6,-15.5,997,5397,0.00,1.67,0.00,0.000,4,0.000,0.049,2414,922,3631
$GC,5417,-0.83,-146.0,973.1,-17.2,1002,5425,0.00,1.67,0.00,0.000,6,0.000,0.045,2406,2166,3631
$STATE,5525,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5525,begin apogee
$GC,5528,-0.26,0.0,990.9,16.4,1022,5645,0.70,0.00,110.97,1.247,6,0.174,0.000,2609,2270,3064
$STATE,5645,end apogee,CONTROL_FINISHED_OK
$STATE,5645,begin climb
$GC,5646,0.83,146.0,996.2,0.0,1039,5774,1.12,1.95,121.00,1.219,4,0.110,0.045,2968,1008,2469
$GC,5800,0.83,146.0,985.2,12.3,1063,5807,0.00,1.85,0.00,0.000,6,0.000,0.046,2968,2242,2465
$GC,5934,0.83,146.0,967.3,14.4,1088,5935,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2242,2461
$GC,6062,0.83,146.0,949.8,13.9,1112,6068,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2242,2460
$GC,6196,0.83,146.0,932.1,13.6,1137,6202,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2242,2459
$GC,6329,0.83,146.0,914.7,12.6,1162,6329,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2242,2458
$GC,6457,0.83,146.0,898.4,12.5,1186,6464,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2242,2457
$GC,6591,0.83,146.0,881.5,12.2,1211,6597,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2243,2456
$GC,6724,0.83,146.0,864.6,13.2,1236,6730,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2242,2456
$GC,6858,0.83,146.0,847.8,12.8,1261,6865,0.00,1.73,0.00,0.000,4,0.000,0.046,2976,1013,2455
$GC,6885,0.83,146.0,844.5,12.3,1266,6893,0.00,1.77,0.00,0.000,6,0.000,0.048,2976,2257,2454
$GC,7021,0.83,146.0,827.5,12.3,1291,7026,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2258,2454
$GC,7154,0.83,146.0,811.0,12.2,1316,7161,0.00,2.28,0.00,0.000,4,0.000,0.063,2976,3500,2454
$GC,7186,0.83,146.0,806.4,14.9,1322,7195,0.00,2.20,0.00,0.000,6,0.000,0.038,2986,2269,2453
$GC,7322,0.83,146.0,787.9,13.2,1347,7329,0.00,2.28,0.00,0.000,4,0.000,0.063,2986,3501,2453
$GC,7344,0.83,146.0,784.7,15.2,1351,7351,0.00,2.22,0.00,0.000,6,0.000,0.038,2997,2256,2453
$GC,7478,0.83,146.0,766.1,13.5,1376,7479,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2256,2452
$GC,7606,0.83,146.0,748.5,13.8,1400,7613,0.00,2.33,0.00,0.000,4,0.000,0.063,2997,3505,2452
$GC,7628,0.83,146.0,745.3,15.2,1404,7635,0.12,2.22,0.00,0.000,6,0.196,0.038,2972,2261,2451
$GC,7763,0.83,146.0,728.2,12.4,1429,7769,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2260,2451
$GC,7896,0.83,146.0,712.0,12.3,1454,7897,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2260,2450
$GC,8024,0.83,146.0,696.7,12.3,1478,8031,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2260,2451
$GC,8159,0.83,146.0,680.0,12.7,1503,8165,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2261,2450
$GC,8292,0.83,146.0,663.5,11.9,1528,8292,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2260,2450
$GC,8420,0.83,146.0,647.3,12.1,1552,8427,0.00,2.35,0.00,0.000,4,0.000,0.062,2972,3502,2450
$GC,8447,0.83,146.0,643.6,14.2,1557,8455,0.00,2.20,0.00,0.000,6,0.000,0.038,2982,2258,2449
$GC,8582,0.83,146.0,626.1,12.3,1582,8582,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2259,2449
$GC,8710,0.83,146.0,610.0,11.9,1606,8718,0.00,1.70,0.00,0.000,4,0.000,0.045,2990,998,2449
$GC,8759,0.83,146.0,603.9,12.7,1615,8767,0.00,1.75,0.00,0.000,6,0.000,0.047,2990,2264,2449
$GC,8894,0.83,146.0,586.7,13.4,1640,8901,0.00,2.28,0.00,0.000,4,0.000,0.062,2990,3494,2449
$GC,8927,0.83,146.0,582.2,14.5,1646,8936,0.10,2.20,0.00,0.000,6,0.196,0.038,2972,2257,2449
$GC,9063,0.83,146.0,565.8,11.7,1671,9070,0.00,1.70,0.00,0.000,4,0.000,0.045,2979,999,2449
$GC,9095,0.83,146.0,562.1,11.1,1677,9103,0.00,1.73,0.00,0.000,6,0.000,0.046,2979,2258,2449
$GC,9230,0.83,146.0,546.0,12.2,1702,9237,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2259,2449
$GC,9364,0.83,146.0,530.3,11.7,1727,9370,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2259,2448
$GC,9497,0.83,146.0,514.7,12.2,1752,9504,0.00,2.30,0.00,0.000,4,0.000,0.062,2979,3505,2448
$GC,9546,0.83,146.0,508.4,13.1,1761,9552,0.00,2.20,0.00,0.000,6,0.000,0.038,2989,2260,2448
$GC,9679,0.83,146.0,491.8,12.1,1786,9687,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2260,2448
$GC,9814,0.83,146.0,475.0,12.5,1811,9819,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2260,2448
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$GC,10080,0.83,146.0,442.2,11.8,1861,10087,0.00,2.28,0.00,0.000,4,0.000,0.061,2989,3498,2448
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$STATE,13878,end climb,SURFACE_DEPTH_REACHED
$STATE,13878,begin surface coast
$FINISH,0.2,1.009862
$STATE,13910,end surface coast,CONTROL_FINISHED_OK
$STATE,13910,begin surface
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$HUMID,1239
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$TCM_TEMP,21.40
$XPDR_PINGS,2
$24V_AH,23.8,8.363
$10V_AH,10.6,7.296
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$DEVICE_SECS,20.625,141.650,357.750,128.700,0.000,59.476,62.344,643.135,0.500,0.000,0.000,11.861,0.000,5943.394,875.256,7093.205,1054.175,33.334,2910.438,0.000,6400.473,0.000,1.153,0.000
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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,129257,2569
$CAP_FILE_SIZE,233378,0
$CFSIZE,260165632,254324736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
$CURRENT,0.159,258.3,1
$GPS,240510,221737,2840.975,-8831.341,32,1.0,32,-0.4