version: 66.04
glider: 515
mission: 5
dive: 48
start: 5 29 110 15 46 34
data:
$ID,515
$MISSION,5
$DIVE,48
$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,490
$T_MISSION,510
$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,-4674.5342
$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,2275
$C_ROLL_CLIMB,2270
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,2891
$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
$GPS1,153806,2843.680,-8834.885,34,1.1,39,-0.3
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-68.6
$GPS2,154555,2843.661,-8834.927,12,1.8,12,-0.3
$SPEED_LIMITS,0.117,0.253
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.239,-0.084
$KALMAN_X,-141026.5,2798.0,2909.9,166618.8,-29332.1
$KALMAN_Y,-46796.9,-830.2,-1304.0,38515.2,15284.5
$MHEAD_RNG_PITCHd_Wd,79.7,14498,-9.4,-6.735
$D_GRID,1023
$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,-0.59,-194.6,0.0,0.0,0,102,0.00,0.00,-88.93,0.000,2,0.000,0.000,201,2276,2981
$GC,104,-0.59,-194.6,3.2,-4.4,9,132,10.38,1.23,-15.30,0.000,4,0.265,0.062,2509,1355,3685
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$GC,446,-0.59,-194.6,64.9,-14.3,41,450,0.00,1.23,0.00,0.000,4,0.000,0.037,2505,1354,3687
$GC,692,-0.59,-194.6,99.6,-13.5,64,695,0.00,1.25,0.00,0.000,6,0.000,0.038,2500,2270,3687
$GC,764,-0.59,-194.6,110.8,-15.7,71,768,0.00,1.23,0.00,0.000,4,0.000,0.035,2500,1356,3687
$GC,800,-0.59,-194.6,116.6,-15.6,74,809,0.00,1.27,0.00,0.000,6,0.000,0.037,2494,2278,3686
$GC,930,-0.59,-194.6,135.8,-14.8,87,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2277,3687
$GC,1054,-0.59,-194.6,153.7,-14.6,99,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2278,3687
$GC,1179,-0.59,-194.6,170.8,-13.7,111,1182,0.00,1.23,0.00,0.000,4,0.000,0.037,2494,1360,3687
$GC,1221,-0.59,-194.6,176.4,-13.1,115,1224,0.00,1.25,0.00,0.000,6,0.000,0.037,2488,2278,3686
$GC,1355,-0.59,-194.6,194.7,-14.2,128,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2277,3687
$GC,1480,-0.59,-194.6,211.5,-13.7,140,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2278,3686
$GC,1604,-0.59,-194.6,227.9,-12.9,152,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2278,3685
$GC,1728,-0.59,-194.6,244.3,-13.1,164,1728,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2278,3686
$GC,1852,-0.59,-194.6,260.8,-13.4,176,1856,0.00,1.50,0.00,0.000,4,0.000,0.049,2481,3168,3686
$GC,1888,-0.59,-194.6,266.0,-13.9,179,1896,0.00,1.50,0.00,0.000,6,0.000,0.033,2481,2269,3685
$GC,2018,-0.59,-194.6,284.1,-14.5,192,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2267,3685
$GC,2142,-0.59,-194.6,301.5,-14.0,204,2146,0.12,1.17,0.00,0.000,4,0.168,0.039,2512,1368,3685
$GC,2174,-0.59,-194.6,305.5,-11.5,207,2177,0.00,1.25,0.00,0.000,6,0.000,0.041,2508,2277,3684
$GC,2308,-0.59,-194.6,321.0,-11.3,220,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2276,3684
$GC,2433,-0.59,-194.6,335.1,-11.1,232,2436,0.00,1.50,0.00,0.000,4,0.000,0.051,2501,3163,3682
$GC,2486,-0.59,-194.6,341.2,-11.6,237,2489,0.00,1.48,0.00,0.000,6,0.000,0.035,2501,2273,3682
$GC,2621,-0.59,-194.6,357.0,-11.8,250,2622,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2272,3682
$GC,2744,-0.59,-194.6,371.4,-11.6,262,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2272,3681
$GC,2868,-0.59,-194.6,385.8,-12.1,274,2869,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2272,3680
$GC,2993,-0.59,-194.6,400.6,-12.3,286,2994,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2272,3679
$GC,3117,-0.59,-194.6,415.6,-12.5,298,3118,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2271,3679
$GC,3241,-0.59,-194.6,430.4,-12.1,310,3242,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2271,3678
$GC,3366,-0.59,-194.6,445.4,-12.1,322,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2271,3678
$GC,3490,-0.59,-194.6,460.1,-11.9,334,3490,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2270,3676
$GC,3613,-0.59,-194.6,475.2,-12.1,346,3614,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2270,3675
$GC,3738,-0.59,-194.6,490.1,-12.3,358,3741,0.00,1.55,0.00,0.000,4,0.000,0.055,2494,3162,3674
$GC,3780,-0.59,-194.6,495.4,-12.5,362,3784,0.00,1.48,0.00,0.000,6,0.000,0.038,2494,2276,3674
$GC,3915,-0.59,-194.6,512.2,-12.5,375,3916,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2274,3673
$GC,4039,-0.59,-194.6,527.5,-12.4,387,4043,0.00,1.55,0.00,0.000,4,0.000,0.055,2486,3166,3672
$GC,4070,-0.59,-194.6,531.4,-12.7,390,4074,0.00,1.48,0.00,0.000,6,0.000,0.038,2487,2278,3671
$GC,4205,-0.59,-194.6,547.9,-12.1,403,4206,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2276,3670
$GC,4330,-0.59,-194.6,563.1,-12.4,415,4330,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2276,3670
$GC,4454,-0.59,-194.6,578.5,-12.3,427,4454,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2276,3669
$GC,4578,-0.59,-194.6,593.6,-12.3,439,4579,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2277,3669
$GC,4702,-0.59,-194.6,608.8,-12.3,451,4703,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2276,3667
$GC,4826,-0.59,-194.6,624.1,-12.4,463,4827,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2276,3666
$GC,4951,-0.59,-194.6,639.1,-12.0,475,4954,0.00,1.55,0.00,0.000,4,0.000,0.058,2479,3168,3664
$GC,4982,-0.59,-194.6,643.0,-12.5,478,4986,0.08,1.48,0.00,0.000,6,0.168,0.039,2502,2280,3665
$GC,5117,-0.59,-194.6,657.5,-10.7,491,5118,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2280,3664
$GC,5241,-0.59,-194.6,671.4,-10.9,503,5241,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2279,3664
$GC,5365,-0.59,-194.6,685.1,-10.9,515,5366,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2280,3663
$GC,5490,-0.59,-194.6,698.3,-10.7,527,5490,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2279,3662
$GC,5613,-0.59,-194.6,711.7,-10.7,539,5617,0.00,1.52,0.00,0.000,4,0.000,0.058,2497,3157,3661
$GC,5645,-0.59,-194.6,715.2,-11.3,542,5649,0.00,1.48,0.00,0.000,6,0.000,0.040,2497,2275,3661
$GC,5779,-0.59,-194.6,730.2,-11.2,555,5780,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2274,3660
$GC,5904,-0.59,-194.6,744.4,-11.5,567,5907,0.00,1.55,0.00,0.000,4,0.000,0.060,2490,3165,3659
$GC,5940,-0.59,-194.6,748.8,-12.3,570,5948,0.00,1.50,0.00,0.000,6,0.000,0.040,2490,2275,3659
$GC,6069,-0.59,-194.6,763.3,-10.7,583,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2276,3658
$GC,6194,-0.59,-194.6,777.2,-11.1,595,6195,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2276,3657
$GC,6318,-0.59,-194.6,791.3,-11.1,607,6319,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2276,3657
$GC,6442,-0.59,-194.6,805.1,-11.2,619,6446,0.00,1.55,0.00,0.000,4,0.000,0.060,2482,3161,3656
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$GC,6608,-0.59,-194.6,824.2,-11.6,635,6609,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2276,3655
$GC,6733,-0.59,-194.6,838.8,-12.4,647,6733,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2276,3654
$GC,6856,-0.59,-194.6,853.6,-11.9,659,6857,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2276,3654
$GC,6980,-0.59,-194.6,868.0,-11.3,671,6984,0.00,1.55,0.00,0.000,4,0.000,0.060,2476,3162,3653
$GC,7013,-0.59,-194.6,871.8,-11.9,674,7016,0.08,1.50,0.00,0.000,6,0.172,0.042,2501,2274,3653
$GC,7147,-0.59,-194.6,886.0,-10.5,687,7151,0.00,1.25,0.00,0.000,4,0.000,0.049,2501,1368,3653
$GC,7183,-0.59,-194.6,890.1,-10.7,690,7191,0.00,1.30,0.00,0.000,6,0.000,0.051,2496,2275,3652
$GC,7313,-0.59,-194.6,903.7,-10.5,703,7314,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2275,3652
$GC,7437,-0.59,-194.6,916.9,-10.6,715,7440,0.00,1.55,0.00,0.000,4,0.000,0.061,2490,3166,3651
$GC,7472,-0.59,-194.6,921.1,-11.3,718,7481,0.00,1.52,0.00,0.000,6,0.000,0.042,2490,2270,3650
$GC,7602,-0.59,-194.6,935.3,-11.0,731,7603,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2270,3650
$GC,7727,-0.59,-194.6,948.9,-11.0,743,7728,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2270,3649
$GC,7851,-0.59,-194.6,962.8,-11.2,755,7854,0.00,1.23,0.00,0.000,4,0.000,0.049,2490,1378,3649
$GC,7893,-0.59,-194.6,967.4,-11.5,759,7897,0.00,1.25,0.00,0.000,6,0.000,0.051,2484,2269,3648
$GC,8028,-0.59,-194.6,982.2,-10.8,772,8029,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2269,3648
$STATE,8099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8099,begin apogee
$GC,8102,-0.26,0.0,990.0,10.7,779,8254,0.45,0.00,149.07,1.259,6,0.153,0.000,2617,2269,2891
$STATE,8254,end apogee,CONTROL_FINISHED_OK
$STATE,8254,begin climb
$GC,8255,0.59,194.6,995.9,0.0,794,8427,0.85,0.00,162.95,1.224,6,0.117,0.000,2876,2269,2096
$GC,8549,0.59,194.6,974.3,9.0,822,8552,0.00,1.33,0.00,0.000,4,0.000,0.054,2882,1360,2089
$GC,8584,0.59,194.6,971.1,9.0,825,8592,0.00,1.35,0.00,0.000,6,0.000,0.047,2882,2268,2088
$GC,8714,0.59,194.6,958.8,9.9,838,8715,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2268,2086
$GC,8838,0.59,194.6,946.8,9.6,850,8842,0.00,1.25,0.00,0.000,4,0.000,0.047,2888,1375,2085
$GC,8892,0.59,194.6,941.8,9.2,855,8895,0.00,1.27,0.00,0.000,6,0.000,0.048,2888,2266,2085
$GC,9026,0.59,194.6,928.3,10.2,868,9027,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2266,2085
$GC,9151,0.59,194.6,915.9,10.3,880,9151,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2266,2084
$GC,9274,0.59,194.6,903.6,9.8,892,9275,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2266,2083
$GC,9398,0.59,194.6,891.0,10.1,904,9399,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2266,2083
$GC,9523,0.59,194.6,878.6,9.7,916,9524,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2266,2082
$GC,9647,0.59,194.6,866.2,9.7,928,9651,0.00,1.23,0.00,0.000,4,0.000,0.046,2893,1374,2082
$GC,9679,0.59,194.6,863.0,10.1,931,9682,0.00,1.27,0.00,0.000,6,0.000,0.049,2894,2270,2082
$GC,9813,0.59,194.6,849.1,10.3,944,9814,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2269,2081
$GC,9938,0.59,194.6,836.7,10.0,956,9939,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2270,2081
$GC,10061,0.59,194.6,824.1,10.1,968,10062,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2270,2081
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$STATE,19023,end climb,SURFACE_DEPTH_REACHED
$STATE,19023,begin surface coast
$FINISH,1.4,1.023027
$STATE,19045,end surface coast,CONTROL_FINISHED_OK
$STATE,19045,begin surface
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$TCM_TEMP,23.10
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$10V_AH,10.6,13.845
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$DATA_FILE_SIZE,97561,1834
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$CFSIZE,260165632,251723776
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,8,0,0
$CURRENT,0.080,226.5,1
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