version: 66.04
glider: 515
mission: 5
dive: 55
start: 5 31 110 5 28 28
data:
$ID,515
$MISSION,5
$DIVE,55
$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,-4804.4331
$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,32
$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,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
$GPS1,051837,2843.738,-8834.515,34,0.8,34,-0.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-68.3
$GPS2,052749,2843.704,-8834.439,9,1.0,14,-0.3
$SPEED_LIMITS,0.117,0.253
$TGT_NAME,NEW0528B
$TGT_LATLONG,2848.000,-8829.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.235,-0.096
$KALMAN_X,-157086.8,942.4,1290.7,187000.2,-15330.1
$KALMAN_Y,-20494.9,-1329.7,-1333.2,12817.2,17767.7
$MHEAD_RNG_PITCHd_Wd,43.5,11884,-9.4,-6.735
$D_GRID,1052
$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,-194.6,0.0,0.0,0,96,0.00,0.00,-83.15,0.000,2,0.000,0.000,196,2285,2780
$GC,97,-0.59,-194.6,3.3,-4.6,8,134,10.43,1.27,-18.48,0.000,4,0.266,0.064,2509,1370,3597
$GC,373,-0.59,-194.6,53.7,-14.7,33,381,0.00,1.27,0.00,0.000,6,0.000,0.037,2505,2278,3598
$GC,440,-0.59,-194.6,62.9,-13.7,40,444,0.00,1.23,0.00,0.000,4,0.000,0.039,2505,1374,3598
$GC,686,-0.59,-194.6,97.8,-14.2,63,690,0.00,1.25,0.00,0.000,6,0.000,0.038,2500,2274,3599
$GC,758,-0.59,-194.6,108.5,-15.1,70,762,0.00,1.20,0.00,0.000,4,0.000,0.041,2500,1380,3599
$GC,822,-0.59,-194.6,117.9,-14.8,76,826,0.00,1.23,0.00,0.000,6,0.000,0.038,2494,2272,3600
$GC,957,-0.59,-194.6,137.8,-14.9,89,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2272,3599
$GC,1081,-0.59,-194.6,154.5,-13.3,101,1084,0.00,1.23,0.00,0.000,4,0.000,0.039,2494,1369,3599
$GC,1134,-0.59,-194.6,161.7,-13.3,106,1138,0.00,1.25,0.00,0.000,6,0.000,0.038,2488,2275,3599
$GC,1268,-0.59,-194.6,180.2,-13.9,119,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2275,3599
$GC,1393,-0.59,-194.6,197.0,-13.5,131,1396,0.00,1.23,0.00,0.000,4,0.000,0.041,2488,1372,3599
$GC,1446,-0.59,-194.6,204.0,-12.9,136,1450,0.00,1.23,0.00,0.000,6,0.000,0.038,2482,2270,3598
$GC,1581,-0.59,-194.6,222.4,-13.2,149,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2271,3598
$GC,1705,-0.59,-194.6,238.8,-13.0,161,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2271,3598
$GC,1829,-0.59,-194.6,255.0,-13.4,173,1830,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2272,3598
$GC,1953,-0.59,-194.6,271.8,-13.2,185,1954,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2271,3597
$GC,2077,-0.59,-194.6,288.4,-13.6,197,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2271,3596
$GC,2201,-0.59,-194.6,305.3,-14.0,209,2202,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2272,3596
$GC,2326,-0.59,-194.6,322.4,-14.1,221,2329,0.00,1.23,0.00,0.000,4,0.000,0.041,2482,1365,3595
$GC,2411,-0.59,-194.6,334.0,-13.2,229,2415,0.08,1.25,0.00,0.000,6,0.163,0.040,2500,2273,3595
$GC,2545,-0.59,-194.6,349.7,-11.4,242,2549,0.00,1.23,0.00,0.000,4,0.000,0.041,2501,1376,3594
$GC,2603,-0.59,-194.6,356.5,-11.2,247,2610,0.00,1.25,0.00,0.000,6,0.000,0.041,2497,2274,3594
$GC,2732,-0.59,-194.6,371.3,-11.9,260,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2274,3592
$GC,2857,-0.59,-194.6,385.8,-11.5,272,2858,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2274,3592
$GC,2980,-0.59,-194.6,400.2,-11.8,284,2981,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2275,3591
$GC,3105,-0.59,-194.6,414.6,-12.2,296,3108,0.00,1.23,0.00,0.000,4,0.000,0.043,2497,1381,3590
$GC,3147,-0.59,-194.6,419.5,-12.1,300,3151,0.00,1.23,0.00,0.000,6,0.000,0.041,2492,2269,3590
$GC,3282,-0.59,-194.6,435.6,-12.3,313,3285,0.00,1.52,0.00,0.000,4,0.000,0.052,2484,3177,3589
$GC,3318,-0.59,-194.6,440.2,-12.8,316,3326,0.00,1.48,0.00,0.000,6,0.000,0.035,2484,2274,3588
$GC,3447,-0.59,-194.6,456.1,-12.6,329,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2274,3587
$GC,3572,-0.59,-194.6,471.6,-12.7,341,3573,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2274,3587
$GC,3696,-0.59,-194.6,486.7,-12.0,353,3697,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2274,3586
$GC,3820,-0.59,-194.6,502.2,-12.6,365,3821,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2273,3585
$GC,3944,-0.59,-194.6,517.5,-12.3,377,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2273,3584
$GC,4069,-0.59,-194.6,532.8,-11.8,389,4070,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2272,3583
$GC,4192,-0.59,-194.6,547.7,-12.1,401,4196,0.00,1.23,0.00,0.000,4,0.000,0.045,2484,1382,3582
$GC,4246,-0.59,-194.6,554.0,-11.3,406,4250,0.08,1.25,0.00,0.000,6,0.167,0.044,2502,2272,3582
$GC,4380,-0.59,-194.6,568.1,-10.5,419,4381,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2272,3581
$GC,4505,-0.59,-194.6,581.0,-10.5,431,4505,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2272,3580
$GC,4629,-0.59,-194.6,594.3,-10.7,443,4629,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2272,3579
$GC,4753,-0.59,-194.6,607.8,-10.9,455,4756,0.00,1.23,0.00,0.000,4,0.000,0.047,2503,1377,3578
$GC,4811,-0.59,-194.6,614.2,-10.8,460,4818,0.00,1.30,0.00,0.000,6,0.000,0.045,2499,2282,3577
$GC,4940,-0.59,-194.6,628.7,-11.5,473,4941,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2282,3576
$GC,5065,-0.59,-194.6,642.8,-11.1,485,5066,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2282,3575
$GC,5189,-0.59,-194.6,656.9,-11.0,497,5190,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2282,3574
$GC,5313,-0.59,-194.6,671.0,-11.3,509,5314,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2282,3574
$GC,5437,-0.59,-194.6,684.8,-11.1,521,5441,0.00,1.25,0.00,0.000,4,0.000,0.048,2499,1378,3573
$GC,5480,-0.59,-194.6,689.5,-11.0,525,5483,0.00,1.25,0.00,0.000,6,0.000,0.046,2493,2268,3573
$GC,5614,-0.59,-194.6,704.5,-11.1,538,5615,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2269,3572
$GC,5738,-0.59,-194.6,718.2,-11.0,550,5742,0.00,1.23,0.00,0.000,4,0.000,0.048,2493,1375,3571
$GC,5785,-0.59,-194.6,723.5,-10.9,554,5793,0.00,1.30,0.00,0.000,6,0.000,0.047,2487,2277,3571
$GC,5915,-0.59,-194.6,737.8,-11.2,567,5916,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2277,3570
$GC,6039,-0.59,-194.6,751.4,-10.8,579,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2277,3569
$GC,6163,-0.59,-194.6,764.9,-10.8,591,6164,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2277,3569
$GC,6287,-0.59,-194.6,778.4,-10.9,603,6288,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2277,3568
$GC,6412,-0.59,-194.6,792.1,-10.8,615,6415,0.00,1.25,0.00,0.000,4,0.000,0.051,2487,1376,3567
$GC,6469,-0.59,-194.6,798.8,-11.4,620,6476,0.00,1.30,0.00,0.000,6,0.000,0.048,2481,2277,3567
$GC,6599,-0.59,-194.6,813.6,-11.5,633,6600,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2277,3566
$GC,6723,-0.59,-194.6,827.7,-11.2,645,6724,0.12,0.00,0.00,0.000,6,0.171,0.000,2512,2278,3565
$GC,6847,-0.59,-194.6,839.7,-9.2,657,6848,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2278,3565
$GC,6971,-0.59,-194.6,851.0,-9.0,669,6972,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2278,3564
$GC,7095,-0.59,-194.6,862.5,-9.3,681,7099,0.00,1.25,0.00,0.000,4,0.000,0.050,2512,1377,3563
$GC,7163,-0.59,-194.6,868.9,-9.4,687,7171,0.00,1.30,0.00,0.000,6,0.000,0.048,2508,2277,3563
$GC,7293,-0.59,-194.6,880.9,-9.5,700,7294,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2278,3562
$GC,7417,-0.59,-194.6,892.7,-9.6,712,7418,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2279,3562
$GC,7542,-0.59,-194.6,904.5,-9.5,724,7545,0.00,1.25,0.00,0.000,4,0.000,0.050,2508,1377,3561
$GC,7584,-0.59,-194.6,908.6,-9.5,728,7587,0.00,1.27,0.00,0.000,6,0.000,0.048,2502,2272,3561
$GC,7719,-0.59,-194.6,921.8,-9.9,741,7719,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2273,3561
$GC,7842,-0.59,-194.6,933.9,-9.6,753,7843,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2272,3560
$GC,7967,-0.59,-194.6,946.0,-9.7,765,7970,0.00,1.23,0.00,0.000,4,0.000,0.050,2502,1385,3559
$GC,8035,-0.59,-194.6,952.7,-9.5,771,8042,0.00,1.30,0.00,0.000,6,0.000,0.048,2496,2281,3559
$GC,8165,-0.59,-194.6,965.5,-9.8,784,8165,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2281,3559
$GC,8289,-0.59,-194.6,978.1,-10.4,796,8290,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2282,3558
$STATE,8412,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8412,begin apogee
$GC,8414,-0.26,0.0,990.2,9.5,808,8566,0.40,0.00,149.18,1.259,6,0.147,0.000,2614,2281,2801
$STATE,8567,end apogee,CONTROL_FINISHED_OK
$STATE,8567,begin climb
$GC,8568,0.59,194.6,995.6,0.0,823,8737,0.90,1.42,163.98,1.226,4,0.117,0.056,2890,1394,2005
$GC,8769,0.59,194.6,981.3,9.3,843,8772,0.00,1.33,0.00,0.000,6,0.000,0.049,2890,2259,2001
$GC,8903,0.59,194.6,967.7,10.0,856,8904,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2259,1997
$GC,9027,0.59,194.6,955.3,9.8,868,9028,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2259,1995
$GC,9151,0.59,194.6,943.3,10.4,880,9155,0.00,1.27,0.00,0.000,4,0.000,0.053,2895,1380,1993
$GC,9183,0.59,194.6,940.1,10.6,883,9186,0.00,1.30,0.00,0.000,6,0.000,0.049,2895,2269,1993
$GC,9317,0.59,194.6,926.2,11.1,896,9318,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2270,1992
$GC,9442,0.59,194.6,913.1,10.5,908,9445,0.00,1.25,0.00,0.000,4,0.000,0.047,2901,1377,1992
$GC,9484,0.59,194.6,908.8,10.8,912,9488,0.00,1.30,0.00,0.000,6,0.000,0.048,2901,2277,1992
$GC,9618,0.59,194.6,894.1,10.6,925,9619,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2277,1992
$GC,9743,0.59,194.6,880.7,11.0,937,9744,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2277,1991
$GC,9867,0.59,194.6,867.6,10.7,949,9870,0.00,1.25,0.00,0.000,4,0.000,0.047,2907,1384,1991
$GC,9903,0.59,194.6,863.7,10.8,952,9910,0.00,1.30,0.00,0.000,6,0.000,0.048,2907,2275,1991
$GC,10033,0.59,194.6,849.3,11.3,965,10033,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2275,1990
$GC,10157,0.59,194.6,835.3,10.8,977,10158,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2275,1989
$GC,10281,0.59,194.6,821.4,11.2,989,10282,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2275,1989
$GC,10405,0.59,194.6,807.5,11.0,1001,10406,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2275,1989
$GC,10529,0.59,194.6,793.6,11.1,1013,10533,0.00,1.25,0.00,0.000,4,0.000,0.046,2912,1377,1989
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$STATE,18859,begin surface coast
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$10V_AH,10.6,15.491
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$DATA_FILE_SIZE,94801,1818
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$CFSIZE,260165632,251002880
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