version: 66.04
glider: 515
mission: 5
dive: 26
start: 5 24 110 22 41 28
data:
$ID,515
$MISSION,5
$DIVE,26
$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,440
$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,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,650.03442
$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,-4270.0996
$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,27
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,3054
$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
$GPS1,221737,2840.975,-8831.341,32,1.0,32,-0.4
$_CALLS,5
$_XMS_NAKs,24
$_XMS_TOUTs,3
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-69.2
$GPS2,224049,2840.894,-8831.779,14,2.0,14,-0.4
$SPEED_LIMITS,0.130,0.234
$TGT_NAME,SITE44A
$TGT_LATLONG,2841.000,-8829.800
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.192,0.135
$KALMAN_X,-35877.5,205.2,248.6,71944.5,-7666.5
$KALMAN_Y,-57028.6,364.7,145.7,40872.9,-7411.5
$MHEAD_RNG_PITCHd_Wd,81.4,3222,-13.1,-7.500
$D_GRID,1418
$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,-0.66,-146.0,0.0,0.0,0,102,0.00,0.00,-88.60,0.000,2,0.000,0.000,202,2190,3177
$GC,104,-0.66,-146.0,3.4,-4.5,12,132,10.18,1.73,-9.88,0.000,4,0.265,0.059,2484,918,3652
$GC,243,-0.66,-146.0,34.6,-18.7,37,250,0.00,1.67,0.00,0.000,6,0.000,0.037,2478,2179,3654
$GC,313,-0.66,-146.0,46.9,-17.2,50,321,0.00,1.67,0.00,0.000,4,0.000,0.039,2484,924,3654
$GC,341,-0.66,-146.0,51.7,-17.4,55,349,0.00,1.65,0.00,0.000,6,0.000,0.036,2478,2177,3654
$GC,411,-0.66,-146.0,63.4,-17.1,68,417,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2177,3653
$GC,480,-0.66,-146.0,75.0,-17.0,81,486,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2177,3654
$GC,549,-0.66,-146.0,86.6,-16.7,94,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2177,3654
$GC,619,-0.66,-146.0,98.3,-16.9,107,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2177,3654
$GC,688,-0.66,-146.0,109.9,-16.9,120,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2178,3654
$GC,821,-0.66,-146.0,132.5,-17.0,145,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2178,3654
$GC,950,-0.66,-146.0,153.7,-16.3,169,957,0.00,2.08,0.00,0.000,4,0.000,0.049,2468,3391,3654
$GC,1009,-0.66,-146.0,163.8,-17.0,180,1017,0.00,2.03,0.00,0.000,6,0.000,0.032,2469,2160,3654
$GC,1144,-0.66,-146.0,184.9,-15.1,205,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2160,3654
$GC,1272,-0.66,-146.0,203.9,-14.3,229,1279,0.00,2.10,0.00,0.000,4,0.000,0.050,2460,3394,3653
$GC,1315,-0.66,-146.0,210.7,-16.4,237,1322,0.00,2.00,0.00,0.000,6,0.000,0.032,2461,2166,3653
$GC,1450,-0.66,-146.0,231.3,-15.2,262,1456,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2166,3653
$GC,1583,-0.66,-146.0,251.7,-15.5,287,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2166,3652
$GC,1711,-0.66,-146.0,271.1,-15.4,311,1712,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2166,3651
$GC,1840,-0.66,-146.0,291.1,-15.5,335,1847,0.00,2.08,0.00,0.000,4,0.000,0.051,2451,3399,3650
$GC,1872,-0.66,-146.0,296.4,-16.6,341,1879,0.10,2.00,0.00,0.000,6,0.177,0.033,2480,2165,3650
$GC,2007,-0.66,-146.0,314.8,-14.1,366,2014,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2165,3649
$GC,2141,-0.66,-146.0,333.1,-13.3,391,2142,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2166,3648
$GC,2269,-0.66,-146.0,349.7,-12.4,415,2276,0.00,2.08,0.00,0.000,4,0.000,0.051,2471,3398,3647
$GC,2291,-0.66,-146.0,352.7,-13.5,419,2298,0.00,2.00,0.00,0.000,6,0.000,0.035,2472,2164,3647
$GC,2425,-0.66,-146.0,371.0,-14.0,444,2431,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2164,3645
$GC,2558,-0.66,-146.0,389.2,-13.5,469,2559,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2165,3646
$GC,2687,-0.66,-146.0,406.4,-13.5,493,2693,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2164,3644
$GC,2820,-0.66,-146.0,424.4,-13.5,518,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2165,3643
$GC,2948,-0.66,-146.0,441.7,-13.6,542,2956,0.00,2.08,0.00,0.000,4,0.000,0.054,2463,3396,3641
$GC,3003,-0.66,-146.0,449.6,-14.5,552,3010,0.00,2.00,0.00,0.000,6,0.000,0.036,2463,2165,3641
$GC,3137,-0.66,-146.0,469.1,-14.8,577,3138,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2166,3640
$GC,3265,-0.66,-146.0,487.6,-14.4,601,3273,0.00,2.10,0.00,0.000,4,0.000,0.054,2455,3399,3639
$GC,3303,-0.66,-146.0,493.2,-15.1,608,3311,0.00,2.03,0.00,0.000,6,0.000,0.037,2456,2165,3639
$GC,3438,-0.66,-146.0,512.6,-14.3,633,3444,0.10,0.00,0.00,0.000,6,0.190,0.000,2478,2165,3637
$GC,3572,-0.66,-146.0,529.5,-12.2,658,3579,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2165,3636
$GC,3706,-0.66,-146.0,545.7,-12.1,683,3713,0.00,2.10,0.00,0.000,4,0.000,0.056,2470,3401,3634
$GC,3739,-0.66,-146.0,549.8,-12.6,689,3746,0.00,2.00,0.00,0.000,6,0.000,0.038,2471,2169,3634
$GC,3873,-0.66,-146.0,567.2,-12.7,714,3874,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2168,3633
$GC,4001,-0.66,-146.0,584.0,-13.2,738,4002,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2169,3632
$GC,4129,-0.66,-146.0,601.0,-13.2,762,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2169,3631
$GC,4263,-0.66,-146.0,619.0,-13.2,787,4270,0.00,2.10,0.00,0.000,4,0.000,0.058,2463,3398,3629
$GC,4290,-0.66,-146.0,622.8,-14.1,792,4297,0.00,2.03,0.00,0.000,6,0.000,0.038,2463,2167,3629
$GC,4425,-0.66,-146.0,641.2,-13.7,817,4431,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2168,3628
$GC,4558,-0.66,-146.0,659.8,-14.0,842,4566,0.00,2.10,0.00,0.000,4,0.000,0.058,2454,3400,3627
$GC,4602,-0.66,-146.0,666.1,-14.7,850,4611,0.08,2.00,0.00,0.000,6,0.187,0.039,2475,2170,3627
$GC,4738,-0.66,-146.0,683.5,-12.5,875,4744,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2171,3627
$GC,4871,-0.66,-146.0,700.5,-12.7,900,4877,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2172,3625
$GC,5004,-0.66,-146.0,717.3,-12.6,925,5011,0.00,2.10,0.00,0.000,4,0.000,0.058,2467,3401,3624
$GC,5037,-0.66,-146.0,721.6,-13.2,931,5044,0.00,2.03,0.00,0.000,6,0.000,0.039,2467,2167,3623
$GC,5172,-0.66,-146.0,739.2,-12.9,956,5178,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2167,3623
$GC,5305,-0.66,-146.0,756.5,-12.5,981,5312,0.00,2.10,0.00,0.000,4,0.000,0.059,2458,3398,3621
$GC,5332,-0.66,-146.0,760.1,-13.6,986,5340,0.00,2.00,0.00,0.000,6,0.000,0.039,2458,2171,3621
$GC,5468,-0.66,-146.0,778.3,-13.4,1011,5474,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2171,3621
$GC,5601,-0.66,-146.0,796.3,-13.4,1036,5607,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2171,3620
$GC,5734,-0.66,-146.0,814.2,-13.7,1061,5741,0.00,2.10,0.00,0.000,4,0.000,0.058,2449,3406,3619
$GC,5804,-0.66,-146.0,824.2,-14.4,1074,5813,0.10,2.03,0.00,0.000,6,0.185,0.040,2478,2165,3618
$GC,5940,-0.66,-146.0,840.9,-11.9,1099,5946,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2166,3618
$GC,6074,-0.66,-146.0,856.5,-11.9,1124,6080,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2166,3617
$GC,6207,-0.66,-146.0,872.0,-11.8,1149,6214,0.00,2.10,0.00,0.000,4,0.000,0.060,2470,3399,3616
$GC,6229,-0.66,-146.0,874.7,-11.8,1153,6236,0.00,2.03,0.00,0.000,6,0.000,0.040,2470,2163,3616
$GC,6364,-0.66,-146.0,891.0,-11.7,1178,6371,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2163,3616
$GC,6498,-0.66,-146.0,906.9,-11.9,1203,6504,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2163,3615
$GC,6631,-0.66,-146.0,922.4,-11.4,1228,6638,0.00,2.12,0.00,0.000,4,0.000,0.060,2461,3405,3614
$GC,6664,-0.66,-146.0,926.4,-12.1,1234,6672,0.00,2.03,0.00,0.000,6,0.000,0.041,2461,2164,3614
$GC,6800,-0.66,-146.0,942.9,-12.3,1259,6800,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2165,3614
$GC,6928,-0.66,-146.0,958.3,-11.5,1283,6935,0.00,2.10,0.00,0.000,4,0.000,0.060,2451,3402,3613
$GC,6966,-0.66,-146.0,963.2,-12.8,1290,6974,0.10,2.03,0.00,0.000,6,0.183,0.041,2480,2163,3613
$GC,7101,-0.66,-146.0,978.0,-11.5,1315,7102,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2165,3613
$STATE,7212,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7212,begin apogee
$GC,7215,-0.26,0.0,990.0,10.8,1336,7327,0.43,0.00,109.22,1.253,6,0.157,0.000,2609,2245,3054
$STATE,7328,end apogee,CONTROL_FINISHED_OK
$STATE,7328,begin climb
$GC,7329,0.66,146.0,994.6,0.0,1352,7458,0.95,0.00,121.88,1.222,6,0.111,0.000,2904,2245,2457
$GC,7585,0.66,146.0,976.6,9.4,1395,7592,0.00,1.80,0.00,0.000,4,0.000,0.046,2912,1005,2451
$GC,7623,0.66,146.0,973.2,9.3,1402,7631,0.00,1.83,0.00,0.000,6,0.000,0.048,2912,2251,2451
$GC,7759,0.66,146.0,959.6,10.0,1427,7765,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2252,2449
$GC,7892,0.66,146.0,946.4,9.6,1452,7898,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2252,2448
$GC,8025,0.66,146.0,933.3,10.2,1477,8032,0.00,2.33,0.00,0.000,4,0.000,0.064,2912,3504,2447
$GC,8052,0.66,146.0,930.3,11.1,1482,8061,0.00,2.22,0.00,0.000,6,0.000,0.038,2923,2267,2447
$GC,8189,0.66,146.0,915.7,10.8,1507,8189,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2267,2447
$GC,8317,0.66,146.0,902.6,10.2,1531,8323,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2267,2446
$GC,8450,0.66,146.0,888.9,10.3,1556,8457,0.00,1.75,0.00,0.000,4,0.000,0.047,2931,994,2446
$GC,8483,0.66,146.0,885.5,10.3,1562,8491,0.00,1.75,0.00,0.000,6,0.000,0.047,2931,2259,2445
$GC,8618,0.66,146.0,871.1,10.9,1587,8624,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2260,2444
$GC,8751,0.66,146.0,857.4,10.1,1612,8759,0.00,2.35,0.00,0.000,4,0.000,0.063,2931,3505,2443
$GC,8790,0.66,146.0,852.8,12.4,1619,8797,0.00,2.22,0.00,0.000,6,0.000,0.038,2942,2262,2444
$GC,8924,0.66,146.0,838.1,10.7,1644,8930,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2262,2444
$GC,9057,0.66,146.0,823.6,10.9,1669,9065,0.00,1.73,0.00,0.000,4,0.000,0.046,2950,995,2443
$GC,9123,0.66,146.0,816.6,11.3,1681,9130,0.10,1.75,0.00,0.000,6,0.166,0.047,2920,2261,2443
$GC,9257,0.66,146.0,803.4,9.4,1706,9265,0.00,2.30,0.00,0.000,4,0.000,0.064,2920,3490,2442
$GC,9296,0.66,146.0,799.0,11.6,1713,9303,0.00,2.20,0.00,0.000,6,0.000,0.038,2929,2256,2442
$GC,9431,0.66,146.0,785.1,9.9,1738,9438,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2257,2442
$GC,9565,0.66,146.0,771.4,10.5,1763,9571,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2257,2442
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$STATE,18074,end climb,SURFACE_DEPTH_REACHED
$STATE,18074,begin surface coast
$FINISH,0.4,1.008364
$STATE,18120,end surface coast,CONTROL_FINISHED_OK
$STATE,18120,begin surface
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