version: 66.04
glider: 515
mission: 5
dive: 29
start: 5 25 110 14 52 4
data:
$ID,515
$MISSION,5
$DIVE,29
$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,175
$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,-4339.4341
$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,2214
$C_ROLL_CLIMB,2283
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$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,3046
$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
$GPS1,144231,2838.575,-8837.328,40,1.6,40,-0.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-72.6
$GPS2,145125,2838.576,-8837.371,9,1.2,14,-0.3
$SPEED_LIMITS,0.130,0.250
$TGT_NAME,SITE33
$TGT_LATLONG,2843.100,-8824.500
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.031,0.248
$KALMAN_X,-50993.1,174.2,-192.1,78458.2,-10530.6
$KALMAN_Y,-71412.1,193.6,467.3,50824.1,-11114.8
$MHEAD_RNG_PITCHd_Wd,87.0,22522,-11.9,-7.500
$D_GRID,1300
$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,-0.65,-170.3,0.0,0.0,0,81,0.00,0.00,-67.18,0.000,2,0.000,0.000,206,2200,2629
$GC,82,-0.65,-170.3,3.2,-4.5,10,123,10.50,2.30,-23.83,0.000,4,0.272,0.067,2472,3456,3742
$GC,287,-0.65,-170.3,47.7,-16.8,47,294,0.00,2.15,0.00,0.000,6,0.000,0.030,2481,2219,3743
$GC,357,-0.65,-170.3,59.5,-17.3,60,363,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2218,3743
$GC,426,-0.65,-170.3,71.3,-16.8,73,433,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2219,3744
$GC,496,-0.65,-170.3,82.8,-16.3,86,503,0.00,2.25,0.00,0.000,4,0.000,0.051,2472,3449,3744
$GC,518,-0.65,-170.3,86.5,-16.6,90,525,0.00,2.15,0.00,0.000,6,0.000,0.031,2480,2210,3744
$GC,588,-0.65,-170.3,98.1,-16.1,103,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2210,3745
$GC,652,-0.65,-170.3,108.7,-16.5,115,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2211,3745
$GC,786,-0.65,-170.3,130.9,-16.5,140,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2211,3745
$GC,919,-0.65,-170.3,151.8,-15.4,165,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2211,3745
$GC,1053,-0.65,-170.3,171.8,-14.6,190,1060,0.00,2.28,0.00,0.000,4,0.000,0.051,2471,3459,3745
$GC,1080,-0.65,-170.3,175.8,-14.6,195,1088,0.00,2.17,0.00,0.000,6,0.000,0.031,2471,2209,3745
$GC,1215,-0.65,-170.3,195.9,-15.0,220,1222,0.00,2.25,0.00,0.000,4,0.000,0.051,2462,3442,3744
$GC,1253,-0.65,-170.3,202.0,-15.7,227,1260,0.00,2.10,0.00,0.000,6,0.000,0.031,2465,2216,3745
$GC,1387,-0.65,-170.3,222.7,-15.0,252,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2217,3744
$GC,1520,-0.65,-170.3,243.8,-15.8,277,1521,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2217,3743
$GC,1649,-0.65,-170.3,263.5,-15.4,301,1657,0.00,2.22,0.00,0.000,4,0.000,0.053,2456,3439,3743
$GC,1682,-0.65,-170.3,269.2,-16.9,307,1690,0.10,2.10,0.00,0.000,6,0.175,0.032,2486,2217,3743
$GC,1817,-0.65,-170.3,287.9,-13.4,332,1824,0.00,2.20,0.00,0.000,4,0.000,0.052,2477,3432,3742
$GC,1839,-0.65,-170.3,291.0,-13.7,336,1846,0.00,2.08,0.00,0.000,6,0.000,0.032,2478,2214,3742
$GC,1973,-0.65,-170.3,309.7,-14.4,361,1981,0.00,2.10,0.00,0.000,4,0.000,0.051,2470,3421,3742
$GC,2023,-0.65,-170.3,317.1,-15.2,370,2030,0.00,1.98,0.00,0.000,6,0.000,0.034,2470,2218,3742
$GC,2157,-0.65,-170.3,337.4,-14.8,395,2163,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2218,3741
$GC,2290,-0.65,-170.3,357.7,-14.8,420,2291,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2218,3739
$GC,2419,-0.65,-170.3,376.6,-14.7,444,2424,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2218,3739
$GC,2552,-0.65,-170.3,395.8,-14.5,469,2559,0.00,2.17,0.00,0.000,4,0.000,0.054,2460,3430,3738
$GC,2574,-0.65,-170.3,399.1,-14.9,473,2583,0.08,2.08,0.00,0.000,6,0.179,0.035,2482,2209,3737
$GC,2710,-0.65,-170.3,417.7,-12.7,498,2716,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2210,3737
$GC,2843,-0.65,-170.3,435.3,-13.1,523,2849,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2211,3736
$GC,2976,-0.65,-170.3,452.8,-12.8,548,2983,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2211,3735
$GC,3110,-0.65,-170.3,470.4,-13.3,573,3118,0.00,2.20,0.00,0.000,4,0.000,0.055,2473,3432,3733
$GC,3138,-0.65,-170.3,474.3,-13.7,578,3145,0.00,2.08,0.00,0.000,6,0.000,0.035,2474,2214,3734
$GC,3272,-0.65,-170.3,492.9,-13.9,603,3278,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2214,3732
$GC,3405,-0.65,-170.3,511.5,-13.9,628,3406,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2215,3731
$GC,3534,-0.65,-170.3,529.2,-14.0,652,3541,0.00,2.20,0.00,0.000,4,0.000,0.057,2464,3433,3730
$GC,3571,-0.65,-170.3,534.5,-14.2,659,3579,0.00,2.08,0.00,0.000,6,0.000,0.036,2464,2217,3730
$GC,3706,-0.65,-170.3,554.0,-14.5,684,3713,0.00,2.10,0.00,0.000,4,0.000,0.056,2454,3422,3728
$GC,3728,-0.65,-170.3,557.3,-15.0,688,3735,0.10,2.00,0.00,0.000,6,0.176,0.037,2484,2208,3729
$GC,3863,-0.65,-170.3,575.4,-13.1,713,3870,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2209,3727
$GC,3997,-0.65,-170.3,592.8,-12.8,738,4004,0.00,2.10,0.00,0.000,4,0.000,0.057,2475,3425,3726
$GC,4030,-0.65,-170.3,597.1,-13.2,744,4037,0.00,2.00,0.00,0.000,6,0.000,0.037,2478,2211,3726
$GC,4164,-0.65,-170.3,614.6,-13.0,769,4165,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2210,3725
$GC,4292,-0.65,-170.3,631.3,-13.0,793,4293,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2211,3724
$GC,4420,-0.65,-170.3,647.7,-12.7,817,4428,0.00,2.10,0.00,0.000,4,0.000,0.058,2470,3421,3722
$GC,4454,-0.65,-170.3,651.9,-12.6,823,4461,0.00,2.00,0.00,0.000,6,0.000,0.037,2470,2217,3722
$GC,4588,-0.65,-170.3,669.7,-13.2,848,4594,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2216,3722
$GC,4722,-0.65,-170.3,687.5,-13.5,873,4729,0.00,2.20,0.00,0.000,4,0.000,0.059,2460,3434,3721
$GC,4755,-0.65,-170.3,692.0,-13.6,879,4762,0.08,2.10,0.00,0.000,6,0.183,0.038,2481,2207,3720
$GC,4890,-0.65,-170.3,708.8,-12.3,904,4896,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2208,3719
$GC,5023,-0.65,-170.3,725.1,-12.1,929,5031,0.00,2.20,0.00,0.000,4,0.000,0.058,2473,3432,3718
$GC,5062,-0.65,-170.3,730.2,-13.1,936,5070,0.00,2.08,0.00,0.000,6,0.000,0.038,2473,2214,3718
$GC,5197,-0.65,-170.3,747.3,-12.9,961,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2213,3718
$GC,5331,-0.65,-170.3,764.2,-12.3,986,5338,0.00,2.10,0.00,0.000,4,0.000,0.059,2464,3429,3716
$GC,5375,-0.65,-170.3,770.2,-14.0,994,5382,0.00,2.00,0.00,0.000,6,0.000,0.038,2464,2215,3716
$GC,5509,-0.65,-170.3,788.3,-13.7,1019,5515,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2216,3715
$GC,5643,-0.65,-170.3,806.4,-13.7,1044,5648,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2216,3714
$GC,5776,-0.65,-170.3,824.5,-13.7,1069,5784,0.00,2.20,0.00,0.000,4,0.000,0.060,2454,3433,3713
$GC,5826,-0.65,-170.3,831.5,-14.3,1078,5832,0.10,2.08,0.00,0.000,6,0.179,0.038,2483,2220,3712
$GC,5959,-0.65,-170.3,847.4,-11.4,1103,5966,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2220,3712
$GC,6093,-0.65,-170.3,862.9,-11.6,1128,6100,0.00,2.10,0.00,0.000,4,0.000,0.059,2474,3425,3711
$GC,6115,-0.65,-170.3,865.5,-11.8,1132,6122,0.00,2.00,0.00,0.000,6,0.000,0.039,2474,2215,3711
$GC,6249,-0.65,-170.3,881.5,-12.2,1157,6256,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2214,3711
$GC,6384,-0.65,-170.3,897.7,-12.4,1182,6389,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2215,3711
$GC,6517,-0.65,-170.3,913.6,-12.1,1207,6524,0.00,2.10,0.00,0.000,4,0.000,0.059,2465,3421,3710
$GC,6560,-0.65,-170.3,919.1,-13.1,1215,6567,0.00,2.00,0.00,0.000,6,0.000,0.040,2465,2212,3710
$GC,6694,-0.65,-170.3,936.1,-12.7,1240,6695,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2213,3709
$GC,6822,-0.65,-170.3,952.6,-12.8,1264,6829,0.00,2.20,0.00,0.000,4,0.000,0.060,2455,3431,3708
$GC,6849,-0.65,-170.3,956.1,-13.0,1269,6858,0.10,2.10,0.00,0.000,6,0.181,0.039,2484,2208,3708
$GC,6985,-0.65,-170.3,971.7,-11.1,1294,6991,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2210,3708
$GC,7118,-0.65,-170.3,986.6,-11.2,1319,7125,0.00,2.12,0.00,0.000,4,0.000,0.061,2475,3425,3706
$GC,7145,-0.65,-170.3,989.8,-11.6,1324,7152,0.00,2.03,0.00,0.000,6,0.000,0.040,2475,2209,3706
$STATE,7156,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7156,begin apogee
$GC,7159,-0.26,0.0,991.1,12.0,1326,7292,0.45,0.00,129.75,1.253,6,0.156,0.000,2612,2286,3046
$STATE,7292,end apogee,CONTROL_FINISHED_OK
$STATE,7292,begin climb
$GC,7293,0.65,170.3,996.8,0.0,1346,7442,0.93,0.00,141.68,1.223,6,0.114,0.000,2896,2287,2350
$GC,7569,0.65,170.3,976.8,9.7,1392,7575,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2287,2343
$GC,7702,0.65,170.3,963.9,10.0,1417,7711,0.00,1.77,0.00,0.000,4,0.000,0.046,2905,1037,2342
$GC,7736,0.65,170.3,960.6,9.8,1423,7743,0.00,1.80,0.00,0.000,6,0.000,0.048,2904,2279,2342
$GC,7870,0.65,170.3,946.7,10.4,1448,7877,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2279,2340
$GC,8004,0.65,170.3,932.9,10.4,1473,8012,0.00,1.75,0.00,0.000,4,0.000,0.046,2913,1030,2339
$GC,8027,0.65,170.3,930.4,10.3,1477,8035,0.00,1.80,0.00,0.000,6,0.000,0.048,2913,2283,2339
$GC,8162,0.65,170.3,915.9,11.2,1502,8168,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2283,2338
$GC,8295,0.65,170.3,901.7,10.9,1527,8296,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2283,2338
$GC,8423,0.65,170.3,887.8,10.9,1551,8424,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2283,2337
$GC,8552,0.65,170.3,874.1,10.7,1575,8559,0.00,1.73,0.00,0.000,4,0.000,0.047,2921,1042,2337
$GC,8584,0.65,170.3,870.6,10.9,1581,8593,0.00,1.75,0.00,0.000,6,0.000,0.048,2921,2277,2337
$GC,8720,0.65,170.3,855.4,11.0,1606,8726,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2277,2336
$GC,8853,0.65,170.3,841.1,10.6,1631,8859,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2277,2336
$GC,8986,0.65,170.3,826.7,11.0,1656,8992,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2277,2335
$GC,9120,0.65,170.3,812.5,10.5,1681,9127,0.00,1.70,0.00,0.000,4,0.000,0.046,2929,1044,2335
$GC,9143,0.65,170.3,810.0,11.0,1685,9150,0.00,1.75,0.00,0.000,6,0.000,0.048,2928,2283,2335
$GC,9278,0.65,170.3,795.0,11.3,1710,9284,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2283,2335
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$GC,9433,0.65,170.3,777.2,11.9,1739,9439,0.08,2.20,0.00,0.000,6,0.179,0.039,2917,2295,2335
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$STATE,17482,end climb,SURFACE_DEPTH_REACHED
$STATE,17482,begin surface coast
$FINISH,0.4,1.018398
$STATE,17520,end surface coast,CONTROL_FINISHED_OK
$STATE,17520,begin surface
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$10V_AH,10.6,8.929
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$DATA_FILE_SIZE,163764,3236
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$CFSIZE,260165632,253665280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,44,0,0
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