version: 66.04
glider: 515
mission: 5
dive: 39
start: 5 27 110 16 51 28
data:
$ID,515
$MISSION,5
$DIVE,39
$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,455
$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,-4531.252
$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,25
$C_ROLL_DIVE,2265
$C_ROLL_CLIMB,2305
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,2945
$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
$GPS1,164406,2839.528,-8832.173,34,1.0,46,-0.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-67.8
$GPS2,165049,2839.496,-8832.192,12,1.1,17,-0.3
$SPEED_LIMITS,0.126,0.261
$TGT_NAME,NEW0527
$TGT_LATLONG,2842.300,-8826.500
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.237,-0.111
$KALMAN_X,-92555.4,1051.0,1534.0,125773.0,-17808.4
$KALMAN_Y,-82039.1,-758.3,938.9,63646.0,-3323.8
$MHEAD_RNG_PITCHd_Wd,66.1,10605,-10.4,-7.253
$D_GRID,1497
$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,-0.62,-194.6,0.0,0.0,0,97,0.00,0.00,-84.10,0.000,2,0.000,0.000,198,2282,2913
$GC,98,-0.62,-194.6,3.3,-4.8,8,134,10.35,1.25,-18.38,0.000,4,0.267,0.062,2496,1352,3739
$GC,372,-0.62,-194.6,58.9,-16.2,33,380,0.00,1.25,0.00,0.000,6,0.000,0.036,2493,2274,3741
$GC,440,-0.62,-194.6,69.8,-17.1,40,444,0.00,1.23,0.00,0.000,4,0.000,0.037,2496,1350,3742
$GC,540,-0.62,-194.6,86.6,-16.2,49,548,0.00,1.23,0.00,0.000,6,0.000,0.037,2492,2264,3743
$GC,608,-0.62,-194.6,97.3,-16.4,56,608,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2264,3742
$GC,670,-0.62,-194.6,107.4,-16.1,62,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2264,3743
$GC,794,-0.62,-194.6,128.0,-16.5,74,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2265,3743
$GC,918,-0.62,-194.6,148.1,-16.1,86,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2265,3743
$GC,1042,-0.62,-194.6,167.0,-15.2,98,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2265,3743
$GC,1166,-0.62,-194.6,184.7,-13.7,110,1167,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2265,3743
$GC,1291,-0.62,-194.6,201.7,-13.8,122,1291,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2265,3743
$GC,1415,-0.62,-194.6,219.2,-14.3,134,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2265,3743
$GC,1539,-0.62,-194.6,236.3,-13.8,146,1543,0.00,1.58,0.00,0.000,4,0.000,0.049,2484,3164,3743
$GC,1575,-0.62,-194.6,241.4,-14.0,149,1583,0.00,1.55,0.00,0.000,6,0.000,0.033,2484,2264,3742
$GC,1705,-0.62,-194.6,259.5,-14.3,162,1706,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2264,3742
$GC,1829,-0.62,-194.6,276.5,-13.6,174,1830,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2264,3742
$GC,1953,-0.62,-194.6,293.4,-14.3,186,1954,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2264,3742
$GC,2077,-0.62,-194.6,310.0,-13.1,198,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2264,3741
$GC,2202,-0.62,-194.6,326.9,-13.4,210,2205,0.00,1.58,0.00,0.000,4,0.000,0.051,2478,3147,3740
$GC,2259,-0.62,-194.6,335.3,-14.3,215,2267,0.00,1.52,0.00,0.000,6,0.000,0.035,2478,2268,3740
$GC,2389,-0.62,-194.6,354.2,-14.9,228,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2267,3739
$GC,2513,-0.62,-194.6,371.8,-14.0,240,2517,0.00,1.17,0.00,0.000,4,0.000,0.042,2478,1357,3738
$GC,2566,-0.62,-194.6,379.3,-14.0,245,2570,0.00,1.23,0.00,0.000,6,0.000,0.042,2473,2264,3738
$GC,2701,-0.62,-194.6,398.6,-14.3,258,2701,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2264,3737
$GC,2825,-0.62,-194.6,416.3,-14.1,270,2825,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2265,3737
$GC,2949,-0.62,-194.6,433.8,-14.2,282,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2265,3736
$GC,3073,-0.62,-194.6,451.1,-14.3,294,3074,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2265,3735
$GC,3197,-0.62,-194.6,468.4,-13.9,306,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2265,3734
$GC,3322,-0.62,-194.6,485.9,-13.8,318,3323,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2265,3733
$GC,3446,-0.62,-194.6,503.3,-13.8,330,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2265,3732
$GC,3570,-0.62,-194.6,520.7,-13.8,342,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2265,3732
$GC,3694,-0.62,-194.6,538.2,-14.6,354,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2265,3731
$GC,3818,-0.62,-194.6,554.9,-13.6,366,3822,0.00,1.58,0.00,0.000,4,0.000,0.055,2465,3151,3730
$GC,3850,-0.62,-194.6,559.3,-13.9,369,3854,0.08,1.52,0.00,0.000,6,0.172,0.038,2489,2266,3730
$GC,3984,-0.62,-194.6,576.0,-12.0,382,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2267,3729
$GC,4109,-0.62,-194.6,590.9,-12.2,394,4110,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2267,3727
$GC,4233,-0.62,-194.6,605.7,-11.7,406,4236,0.00,1.58,0.00,0.000,4,0.000,0.056,2482,3165,3726
$GC,4269,-0.62,-194.6,610.4,-12.6,409,4277,0.00,1.58,0.00,0.000,6,0.000,0.038,2482,2261,3726
$GC,4399,-0.62,-194.6,625.8,-12.1,422,4400,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2261,3725
$GC,4523,-0.62,-194.6,641.1,-12.4,434,4524,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2261,3724
$GC,4647,-0.62,-194.6,656.5,-12.4,446,4648,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2261,3723
$GC,4771,-0.62,-194.6,672.2,-13.0,458,4772,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2261,3722
$GC,4896,-0.62,-194.6,688.2,-12.8,470,4899,0.00,1.60,0.00,0.000,4,0.000,0.058,2476,3142,3722
$GC,4927,-0.62,-194.6,692.2,-12.8,473,4931,0.00,1.50,0.00,0.000,6,0.000,0.039,2477,2272,3722
$GC,5062,-0.62,-194.6,709.6,-13.1,486,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2272,3721
$GC,5186,-0.62,-194.6,725.4,-12.6,498,5187,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2272,3720
$GC,5310,-0.62,-194.6,741.2,-12.8,510,5311,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2272,3719
$GC,5435,-0.62,-194.6,757.2,-12.9,522,5435,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2272,3718
$GC,5558,-0.62,-194.6,773.0,-12.5,534,5559,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2272,3717
$GC,5683,-0.62,-194.6,788.8,-12.4,546,5683,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2271,3717
$GC,5807,-0.62,-194.6,804.3,-12.6,558,5808,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2271,3716
$GC,5931,-0.62,-194.6,819.9,-12.2,570,5935,0.00,1.58,0.00,0.000,4,0.000,0.060,2471,3157,3715
$GC,5973,-0.62,-194.6,825.3,-12.3,574,5977,0.00,1.55,0.00,0.000,6,0.000,0.041,2471,2268,3714
$GC,6108,-0.62,-194.6,842.3,-12.5,587,6109,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2266,3714
$GC,6232,-0.62,-194.6,857.6,-12.1,599,6233,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2267,3713
$GC,6356,-0.62,-194.6,873.2,-12.7,611,6357,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2266,3713
$GC,6481,-0.62,-194.6,888.8,-12.6,623,6482,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2266,3712
$GC,6605,-0.62,-194.6,904.4,-12.5,635,6606,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2266,3711
$GC,6729,-0.62,-194.6,920.0,-12.8,647,6730,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2266,3711
$GC,6853,-0.62,-194.6,935.5,-12.4,659,6854,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2266,3710
$GC,6977,-0.62,-194.6,950.9,-12.3,671,6978,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2266,3710
$GC,7101,-0.62,-194.6,966.1,-12.1,683,7105,0.00,1.60,0.00,0.000,4,0.000,0.060,2465,3146,3710
$GC,7137,-0.62,-194.6,970.7,-12.3,686,7146,0.12,1.55,0.00,0.000,6,0.175,0.041,2495,2262,3709
$GC,7267,-0.62,-194.6,984.2,-10.2,699,7268,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2261,3709
$STATE,7328,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7329,begin apogee
$GC,7332,-0.26,0.0,990.5,10.2,705,7484,0.40,0.00,149.73,1.256,6,0.148,0.000,2615,2289,2945
$STATE,7484,end apogee,CONTROL_FINISHED_OK
$STATE,7484,begin climb
$GC,7485,0.62,194.6,996.3,0.0,720,7658,0.90,1.38,162.27,1.222,4,0.116,0.048,2896,1407,2150
$GC,7683,0.62,194.6,982.3,10.5,739,7690,0.00,1.40,0.00,0.000,6,0.000,0.048,2896,2300,2146
$GC,7812,0.62,194.6,968.3,10.7,752,7813,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2300,2141
$GC,7937,0.62,194.6,955.1,10.6,764,7937,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2301,2140
$GC,8061,0.62,194.6,941.8,11.2,776,8061,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2301,2139
$GC,8185,0.62,194.6,928.8,10.7,788,8186,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2301,2139
$GC,8309,0.62,194.6,915.6,10.4,800,8310,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2301,2138
$GC,8433,0.62,194.6,902.5,10.7,812,8434,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2301,2138
$GC,8557,0.62,194.6,889.5,10.5,824,8558,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2301,2137
$GC,8682,0.62,194.6,876.7,10.3,836,8682,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2301,2137
$GC,8806,0.62,194.6,864.0,10.4,848,8809,0.00,1.25,0.00,0.000,4,0.000,0.047,2902,1410,2136
$GC,8852,0.62,194.6,859.3,9.3,852,8860,0.00,1.35,0.00,0.000,6,0.000,0.051,2902,2319,2136
$GC,8982,0.62,194.6,845.7,10.8,865,8983,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2320,2135
$GC,9106,0.62,194.6,832.5,10.4,877,9107,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2319,2135
$GC,9230,0.62,194.6,819.5,10.6,889,9234,0.00,1.30,0.00,0.000,4,0.000,0.047,2908,1400,2135
$GC,9273,0.62,194.6,814.9,10.7,893,9276,0.00,1.30,0.00,0.000,6,0.000,0.050,2908,2302,2134
$GC,9408,0.62,194.6,800.6,11.1,906,9408,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2303,2134
$GC,9531,0.62,194.6,786.8,11.0,918,9532,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2303,2134
$GC,9656,0.62,194.6,772.9,11.1,930,9656,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2303,2134
$GC,9780,0.62,194.6,759.1,10.7,942,9781,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2303,2134
$GC,9904,0.62,194.6,745.7,10.7,954,9908,0.00,1.25,0.00,0.000,4,0.000,0.046,2913,1404,2133
$GC,9957,0.62,194.6,740.2,10.5,959,9961,0.00,1.30,0.00,0.000,6,0.000,0.050,2913,2305,2133
$GC,10092,0.62,194.6,725.5,11.2,972,10093,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2305,2133
$GC,10216,0.62,194.6,712.0,11.0,984,10217,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2305,2133
$GC,10340,0.62,194.6,698.0,11.0,996,10341,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2305,2133
$GC,10464,0.62,194.6,684.2,11.1,1008,10465,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2305,2132
$GC,10589,0.62,194.6,670.3,11.3,1020,10590,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2305,2133
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$STATE,17031,end climb,SURFACE_DEPTH_REACHED
$STATE,17031,begin surface coast
$FINISH,0.5,1.022513
$STATE,17063,end surface coast,CONTROL_FINISHED_OK
$STATE,17063,begin surface
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$10V_AH,10.7,11.775
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$DEVICE_SECS,19.775,74.625,455.150,93.650,0.000,30.886,30.198,241.769,0.000,0.000,0.000,19.364,0.000,11400.022,707.218,4919.260,514.370,33.341,2140.514,0.000,4324.713,0.000,0.846,0.000
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$DATA_FILE_SIZE,85090,1643
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