version: 66.04
glider: 515
mission: 5
dive: 54
start: 5 31 110 0 8 34
data:
$ID,515
$MISSION,5
$DIVE,54
$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,-4788.0234
$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,38
$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,2800
$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
$GPS1,000206,2842.698,-8836.948,29,0.8,29,-0.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-71.2
$GPS2,000755,2842.689,-8836.854,12,1.4,12,-0.3
$SPEED_LIMITS,0.117,0.253
$TGT_NAME,NEW0528B
$TGT_LATLONG,2848.000,-8829.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.244,-0.068
$KALMAN_X,-153711.3,457.4,217.7,181310.4,-14302.1
$KALMAN_Y,-24053.2,-1031.6,-362.2,13174.5,17335.6
$MHEAD_RNG_PITCHd_Wd,54.6,16100,-9.4,-6.735
$D_GRID,967
$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,12,-0.59,-194.6,0.0,0.0,0,87,0.00,0.00,-73.53,0.000,2,0.000,0.000,207,2277,2561
$GC,88,-0.59,-194.6,3.5,-5.1,7,129,10.15,1.25,-25.58,0.000,4,0.259,0.061,2506,1368,3595
$GC,370,-0.59,-194.6,51.8,-14.8,33,374,0.00,1.25,0.00,0.000,6,0.000,0.036,2501,2270,3597
$GC,442,-0.59,-194.6,62.2,-13.8,40,446,0.00,1.20,0.00,0.000,4,0.000,0.035,2503,1378,3598
$GC,639,-0.59,-194.6,89.3,-13.7,58,647,0.00,1.27,0.00,0.000,6,0.000,0.036,2498,2280,3599
$GC,707,-0.59,-194.6,99.2,-15.1,65,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2281,3599
$GC,769,-0.59,-194.6,108.4,-14.9,71,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2281,3599
$GC,893,-0.59,-194.6,126.4,-14.1,83,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2281,3599
$GC,1018,-0.59,-194.6,143.1,-13.6,95,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2281,3599
$GC,1141,-0.59,-194.6,159.2,-12.8,107,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2281,3599
$GC,1266,-0.59,-194.6,174.9,-12.6,119,1269,0.00,1.48,0.00,0.000,4,0.000,0.047,2491,3169,3599
$GC,1308,-0.59,-194.6,180.5,-12.9,123,1312,0.00,1.42,0.00,0.000,6,0.000,0.031,2491,2277,3600
$GC,1443,-0.59,-194.6,198.7,-13.4,136,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2276,3599
$GC,1567,-0.59,-194.6,215.1,-13.4,148,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2275,3599
$GC,1691,-0.59,-194.6,231.5,-13.4,160,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2276,3599
$GC,1816,-0.59,-194.6,247.5,-12.7,172,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2276,3599
$GC,1939,-0.59,-194.6,263.4,-13.0,184,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2276,3598
$GC,2063,-0.59,-194.6,279.3,-12.0,196,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2276,3597
$GC,2188,-0.59,-194.6,295.0,-12.5,208,2189,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2276,3597
$GC,2312,-0.59,-194.6,310.5,-13.0,220,2313,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2276,3596
$GC,2436,-0.59,-194.6,325.9,-12.2,232,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2276,3596
$GC,2560,-0.59,-194.6,341.3,-12.3,244,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2276,3595
$GC,2684,-0.59,-194.6,356.8,-12.4,256,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2276,3595
$GC,2809,-0.59,-194.6,371.8,-12.2,268,2812,0.00,1.23,0.00,0.000,4,0.000,0.041,2491,1376,3594
$GC,2855,-0.59,-194.6,377.5,-11.9,272,2864,0.00,1.27,0.00,0.000,6,0.000,0.041,2485,2278,3594
$GC,2985,-0.59,-194.6,393.4,-12.4,285,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2279,3592
$GC,3109,-0.59,-194.6,408.9,-12.3,297,3110,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2279,3592
$GC,3233,-0.59,-194.6,424.4,-12.5,309,3234,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2278,3591
$GC,3357,-0.59,-194.6,439.4,-12.3,321,3358,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2279,3591
$GC,3481,-0.59,-194.6,454.6,-12.3,333,3482,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2279,3590
$GC,3606,-0.59,-194.6,469.7,-12.3,345,3607,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2279,3589
$GC,3730,-0.59,-194.6,484.6,-12.2,357,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2279,3588
$GC,3854,-0.59,-194.6,499.6,-12.0,369,3855,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2279,3587
$GC,3979,-0.59,-194.6,514.6,-12.2,381,3979,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2279,3587
$GC,4102,-0.59,-194.6,529.2,-11.8,393,4103,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2279,3586
$GC,4226,-0.59,-194.6,543.3,-11.7,405,4227,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2279,3585
$GC,4351,-0.59,-194.6,557.4,-11.1,417,4352,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2279,3584
$GC,4475,-0.59,-194.6,571.7,-11.1,429,4476,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2279,3583
$GC,4599,-0.59,-194.6,586.2,-11.8,441,4600,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2279,3582
$GC,4723,-0.59,-194.6,600.2,-11.4,453,4724,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2279,3581
$GC,4847,-0.59,-194.6,614.7,-11.7,465,4851,0.00,1.50,0.00,0.000,4,0.000,0.057,2478,3159,3580
$GC,4890,-0.59,-194.6,619.8,-12.2,469,4894,0.08,1.45,0.00,0.000,6,0.167,0.039,2501,2273,3580
$GC,5025,-0.59,-194.6,634.4,-10.6,482,5025,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2274,3579
$GC,5148,-0.59,-194.6,647.7,-10.6,494,5149,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2274,3578
$GC,5273,-0.59,-194.6,661.2,-10.9,506,5276,0.00,1.25,0.00,0.000,4,0.000,0.047,2502,1377,3577
$GC,5336,-0.59,-194.6,668.2,-9.8,512,5340,0.00,1.27,0.00,0.000,6,0.000,0.048,2497,2271,3576
$GC,5471,-0.59,-194.6,683.0,-11.4,525,5472,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2272,3575
$GC,5595,-0.59,-194.6,696.8,-11.3,537,5599,0.00,1.52,0.00,0.000,4,0.000,0.058,2490,3166,3575
$GC,5631,-0.59,-194.6,701.2,-11.9,540,5640,0.00,1.48,0.00,0.000,6,0.000,0.040,2490,2277,3575
$GC,5761,-0.59,-194.6,716.1,-11.9,553,5762,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2276,3574
$GC,5886,-0.59,-194.6,730.2,-11.3,565,5887,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2277,3573
$GC,6010,-0.59,-194.6,744.0,-11.0,577,6011,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2277,3573
$GC,6134,-0.59,-194.6,758.0,-11.4,589,6135,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2276,3572
$GC,6258,-0.59,-194.6,772.0,-11.5,601,6259,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2277,3571
$GC,6382,-0.59,-194.6,786.0,-11.3,613,6383,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2276,3570
$GC,6507,-0.59,-194.6,799.9,-10.9,625,6507,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2276,3570
$GC,6631,-0.59,-194.6,813.6,-10.7,637,6632,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2276,3569
$GC,6755,-0.59,-194.6,827.1,-10.6,649,6756,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2276,3568
$GC,6879,-0.59,-194.6,840.7,-11.1,661,6880,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2276,3568
$GC,7003,-0.59,-194.6,854.3,-10.8,673,7004,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2276,3567
$GC,7127,-0.59,-194.6,867.6,-10.5,685,7128,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2276,3566
$GC,7251,-0.59,-194.6,880.8,-10.8,697,7252,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2276,3566
$GC,7376,-0.59,-194.6,893.8,-10.3,709,7379,0.00,1.55,0.00,0.000,4,0.000,0.061,2483,3172,3565
$GC,7418,-0.59,-194.6,898.4,-11.0,713,7422,0.00,1.48,0.00,0.000,6,0.000,0.042,2483,2278,3564
$GC,7553,-0.59,-194.6,912.7,-10.4,726,7553,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2277,3564
$GC,7677,-0.59,-194.6,925.9,-10.5,738,7678,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2277,3564
$GC,7801,-0.59,-194.6,939.1,-10.7,750,7805,0.00,1.52,0.00,0.000,4,0.000,0.061,2476,3163,3563
$GC,7837,-0.59,-194.6,943.2,-11.2,753,7845,0.12,1.50,0.00,0.000,6,0.171,0.042,2507,2270,3563
$GC,7967,-0.59,-194.6,954.9,-8.8,766,7968,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2271,3563
$GC,8092,-0.59,-194.6,966.1,-9.6,778,8095,0.00,1.55,0.00,0.000,4,0.000,0.061,2501,3164,3562
$STATE,8105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8105,begin apogee
$GC,8109,-0.26,0.0,967.6,9.2,779,8266,0.35,0.00,149.35,1.243,6,0.149,0.000,2610,2271,2799
$STATE,8266,end apogee,CONTROL_FINISHED_OK
$STATE,8266,begin climb
$GC,8267,0.59,194.6,973.0,0.0,795,8435,0.93,1.40,163.02,1.211,4,0.119,0.057,2893,1390,2006
$GC,8461,0.59,194.6,959.1,9.2,813,8468,0.00,1.35,0.00,0.000,6,0.000,0.046,2893,2266,2002
$GC,8590,0.59,194.6,946.0,10.1,826,8591,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2267,1997
$GC,8715,0.59,194.6,933.3,10.5,838,8718,0.00,1.27,0.00,0.000,4,0.000,0.046,2899,1379,1996
$GC,8757,0.59,194.6,928.8,10.5,842,8760,0.00,1.33,0.00,0.000,6,0.000,0.048,2898,2275,1995
$GC,8891,0.59,194.6,914.3,10.9,855,8892,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2275,1993
$GC,9016,0.59,194.6,900.7,10.9,867,9019,0.00,1.27,0.00,0.000,4,0.000,0.046,2904,1379,1993
$GC,9062,0.59,194.6,895.5,10.9,871,9070,0.00,1.30,0.00,0.000,6,0.000,0.047,2904,2270,1993
$GC,9192,0.59,194.6,881.1,11.2,884,9193,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2271,1992
$GC,9317,0.59,194.6,867.3,11.1,896,9320,0.00,1.25,0.00,0.000,4,0.000,0.046,2910,1380,1992
$GC,9359,0.59,194.6,862.4,11.0,900,9362,0.00,1.27,0.00,0.000,6,0.000,0.048,2910,2269,1992
$GC,9493,0.59,194.6,846.7,11.8,913,9494,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2269,1991
$GC,9618,0.59,194.6,832.4,11.5,925,9621,0.00,1.25,0.00,0.000,4,0.000,0.046,2915,1373,1991
$GC,9653,0.59,194.6,828.2,11.4,928,9662,0.00,1.30,0.00,0.000,6,0.000,0.046,2915,2270,1990
$GC,9783,0.59,194.6,812.6,12.3,941,9787,0.00,1.25,0.00,0.000,4,0.000,0.046,2921,1376,1990
$GC,9825,0.59,194.6,807.6,11.5,945,9829,0.08,1.27,0.00,0.000,6,0.144,0.047,2896,2270,1990
$GC,9960,0.59,194.6,793.4,10.3,958,9961,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2269,1989
$GC,10084,0.59,194.6,781.0,9.9,970,10088,0.00,1.25,0.00,0.000,4,0.000,0.045,2901,1381,1989
$GC,10137,0.59,194.6,775.6,9.8,975,10141,0.00,1.25,0.00,0.000,6,0.000,0.047,2900,2265,1989
$GC,10272,0.59,194.6,761.8,10.3,988,10276,0.00,1.23,0.00,0.000,4,0.000,0.045,2906,1378,1988
$GC,10308,0.59,194.6,758.1,10.6,991,10315,0.00,1.30,0.00,0.000,6,0.000,0.047,2906,2277,1989
$GC,10438,0.59,194.6,744.7,10.7,1004,10439,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2277,1988
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$STATE,18411,end climb,SURFACE_DEPTH_REACHED
$STATE,18411,begin surface coast
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$STATE,18444,end surface coast,CONTROL_FINISHED_OK
$STATE,18444,begin surface
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$DATA_FILE_SIZE,94552,1775
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$CFSIZE,260165632,251105280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,0,0
$CURRENT,0.045,200.2,1
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