version: 66.04
glider: 515
mission: 5
dive: 56
start: 5 31 110 10 52 18
data:
$ID,515
$MISSION,5
$DIVE,56
$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,-4820.9131
$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,36
$R_STBD_OVSHOOT,19
$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
$GPS1,104537,2845.680,-8832.532,35,1.2,35,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-67.2
$GPS2,105138,2845.699,-8832.556,14,1.7,14,-0.4
$SPEED_LIMITS,0.117,0.253
$TGT_NAME,NEW0528B
$TGT_LATLONG,2848.000,-8829.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.214,-0.136
$KALMAN_X,-159660.9,1702.2,553.2,192613.2,-13482.9
$KALMAN_Y,-15907.6,-1429.4,-589.1,11260.6,16504.1
$MHEAD_RNG_PITCHd_Wd,53.8,7174,-9.4,-6.735
$D_GRID,1141
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.59,-192.6,0.0,0.0,0,98,0.00,0.00,-84.07,0.000,2,0.000,0.000,199,2279,2755
$GC,99,-0.59,-194.6,3.0,-4.1,8,136,10.40,1.52,-19.98,0.000,4,0.265,0.064,2496,3177,3594
$GC,327,-0.59,-194.6,48.0,-18.2,29,331,0.00,1.48,0.00,0.000,6,0.000,0.032,2498,2275,3596
$GC,400,-0.59,-194.6,59.6,-15.1,36,404,0.00,1.23,0.00,0.000,4,0.000,0.038,2498,1380,3596
$GC,485,-0.59,-194.6,72.4,-15.0,44,489,0.00,1.25,0.00,0.000,6,0.000,0.036,2493,2277,3596
$GC,558,-0.59,-194.6,82.3,-13.3,51,561,0.00,1.23,0.00,0.000,4,0.000,0.038,2494,1377,3597
$GC,626,-0.59,-194.6,92.1,-15.0,57,634,0.00,1.27,0.00,0.000,6,0.000,0.036,2488,2280,3598
$GC,693,-0.59,-194.6,101.8,-14.9,64,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2280,3598
$GC,817,-0.59,-194.6,120.9,-15.2,76,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2280,3598
$GC,942,-0.59,-194.6,139.8,-15.4,88,945,0.00,1.23,0.00,0.000,4,0.000,0.038,2490,1374,3598
$GC,1005,-0.59,-194.6,149.1,-14.3,94,1009,0.00,1.23,0.00,0.000,6,0.000,0.036,2486,2269,3598
$GC,1140,-0.59,-194.6,167.7,-13.3,107,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2269,3598
$GC,1264,-0.59,-194.6,185.0,-13.9,119,1268,0.00,1.20,0.00,0.000,4,0.000,0.038,2486,1366,3598
$GC,1343,-0.59,-194.6,195.7,-13.4,126,1350,0.00,1.27,0.00,0.000,6,0.000,0.038,2480,2275,3598
$GC,1473,-0.59,-194.6,213.4,-14.1,139,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2275,3598
$GC,1597,-0.59,-194.6,230.5,-13.4,151,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2275,3597
$GC,1721,-0.59,-194.6,247.6,-13.5,163,1722,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2275,3598
$GC,1846,-0.59,-194.6,264.4,-13.4,175,1846,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2276,3597
$GC,1970,-0.59,-194.6,281.0,-13.5,187,1970,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2276,3596
$GC,2094,-0.59,-194.6,297.2,-12.9,199,2095,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2275,3596
$GC,2218,-0.59,-194.6,313.1,-12.9,211,2218,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2276,3596
$GC,2342,-0.59,-194.6,329.6,-13.2,223,2346,0.12,1.23,0.00,0.000,4,0.174,0.042,2511,1378,3595
$GC,2395,-0.59,-194.6,335.8,-11.3,228,2399,0.00,1.23,0.00,0.000,6,0.000,0.040,2507,2269,3595
$GC,2530,-0.59,-194.6,350.8,-10.9,241,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2269,3594
$GC,2654,-0.59,-194.6,364.8,-10.9,253,2655,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2270,3593
$GC,2778,-0.59,-194.6,378.3,-11.0,265,2782,0.00,1.20,0.00,0.000,4,0.000,0.041,2507,1378,3593
$GC,2836,-0.59,-194.6,384.9,-10.9,270,2843,0.00,1.27,0.00,0.000,6,0.000,0.041,2502,2278,3592
$GC,2965,-0.59,-194.6,399.2,-11.0,283,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2278,3592
$GC,3090,-0.59,-194.6,412.9,-10.8,295,3091,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2278,3591
$GC,3214,-0.59,-194.6,426.8,-10.9,307,3218,0.00,1.23,0.00,0.000,4,0.000,0.044,2501,1381,3590
$GC,3261,-0.59,-194.6,432.1,-10.9,311,3268,0.00,1.27,0.00,0.000,6,0.000,0.043,2495,2278,3590
$GC,3391,-0.59,-194.6,446.5,-11.3,324,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2278,3589
$GC,3514,-0.59,-194.6,460.9,-11.3,336,3518,0.00,1.23,0.00,0.000,4,0.000,0.044,2495,1382,3588
$GC,3583,-0.59,-194.6,469.0,-11.3,342,3590,0.00,1.27,0.00,0.000,6,0.000,0.044,2490,2279,3587
$GC,3713,-0.59,-194.6,484.6,-12.4,355,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2278,3587
$GC,3836,-0.59,-194.6,500.0,-12.4,367,3840,0.00,1.23,0.00,0.000,4,0.000,0.044,2489,1380,3587
$GC,3901,-0.59,-194.6,507.8,-12.2,373,3904,0.00,1.25,0.00,0.000,6,0.000,0.044,2485,2272,3586
$GC,4035,-0.59,-194.6,524.6,-12.7,386,4036,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2272,3585
$GC,4159,-0.59,-194.6,540.1,-12.6,398,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2272,3584
$GC,4283,-0.59,-194.6,556.0,-12.7,410,4287,0.00,1.23,0.00,0.000,4,0.000,0.045,2485,1369,3583
$GC,4341,-0.59,-194.6,563.6,-13.2,415,4349,0.12,1.30,0.00,0.000,6,0.171,0.045,2510,2279,3582
$GC,4471,-0.59,-194.6,577.6,-10.6,428,4472,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2279,3582
$GC,4595,-0.59,-194.6,591.0,-10.3,440,4596,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2279,3581
$GC,4719,-0.59,-194.6,604.1,-10.8,452,4720,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2279,3581
$GC,4843,-0.59,-194.6,617.4,-10.6,464,4847,0.00,1.23,0.00,0.000,4,0.000,0.046,2510,1383,3579
$GC,4897,-0.59,-194.6,623.0,-10.4,469,4900,0.00,1.25,0.00,0.000,6,0.000,0.046,2506,2273,3579
$GC,5031,-0.59,-194.6,637.3,-10.7,482,5032,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2273,3578
$GC,5156,-0.59,-194.6,650.6,-10.3,494,5159,0.00,1.23,0.00,0.000,4,0.000,0.047,2506,1373,3577
$GC,5219,-0.59,-194.6,657.7,-10.5,500,5223,0.00,1.27,0.00,0.000,6,0.000,0.046,2500,2277,3577
$GC,5354,-0.59,-194.6,672.8,-11.3,513,5357,0.00,1.23,0.00,0.000,4,0.000,0.047,2500,1382,3576
$GC,5418,-0.59,-194.6,679.9,-10.3,519,5421,0.00,1.25,0.00,0.000,6,0.000,0.047,2495,2273,3575
$GC,5552,-0.59,-194.6,695.1,-11.4,532,5553,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2273,3574
$GC,5676,-0.59,-194.6,709.2,-11.3,544,5680,0.00,1.23,0.00,0.000,4,0.000,0.047,2494,1378,3573
$GC,5723,-0.59,-194.6,714.4,-11.2,548,5730,0.00,1.30,0.00,0.000,6,0.000,0.047,2489,2281,3573
$GC,5853,-0.59,-194.6,728.9,-11.1,561,5854,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2281,3573
$GC,5977,-0.59,-194.6,743.3,-11.8,573,5978,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2282,3572
$GC,6101,-0.59,-194.6,758.0,-11.9,585,6105,0.00,1.25,0.00,0.000,4,0.000,0.048,2489,1375,3571
$GC,6137,-0.59,-194.6,762.2,-11.7,588,6145,0.00,1.30,0.00,0.000,6,0.000,0.048,2482,2279,3571
$GC,6267,-0.59,-194.6,777.3,-11.0,601,6268,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2279,3570
$GC,6391,-0.59,-194.6,792.2,-12.0,613,6392,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2280,3570
$GC,6515,-0.59,-194.6,807.0,-11.6,625,6516,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2280,3569
$GC,6639,-0.59,-194.6,821.7,-12.1,637,6640,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2279,3569
$GC,6764,-0.59,-194.6,836.5,-11.6,649,6767,0.00,1.25,0.00,0.000,4,0.000,0.049,2482,1375,3568
$GC,6810,-0.59,-194.6,842.2,-12.0,653,6819,0.12,1.30,0.00,0.000,6,0.173,0.048,2507,2279,3568
$GC,6940,-0.59,-194.6,855.0,-9.8,666,6941,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2279,3567
$GC,7065,-0.59,-194.6,867.0,-9.6,678,7068,0.00,1.25,0.00,0.000,4,0.000,0.049,2507,1374,3566
$GC,7128,-0.59,-194.6,873.3,-9.7,684,7132,0.00,1.27,0.00,0.000,6,0.000,0.049,2504,2274,3566
$GC,7263,-0.59,-194.6,886.8,-10.3,697,7264,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2274,3565
$GC,7387,-0.59,-194.6,899.2,-9.8,709,7388,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2274,3565
$GC,7511,-0.59,-194.6,911.9,-10.3,721,7512,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2274,3564
$GC,7635,-0.59,-194.6,924.2,-10.2,733,7636,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2274,3564
$GC,7760,-0.59,-194.6,936.4,-9.7,745,7763,0.00,1.23,0.00,0.000,4,0.000,0.049,2503,1385,3563
$GC,7838,-0.59,-194.6,944.7,-10.2,752,7846,0.00,1.27,0.00,0.000,6,0.000,0.048,2498,2274,3563
$GC,7968,-0.59,-194.6,958.2,-10.8,765,7969,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2274,3562
$GC,8092,-0.59,-194.6,970.8,-10.2,777,8093,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2274,3561
$GC,8216,-0.59,-194.6,983.5,-10.4,789,8220,0.00,1.23,0.00,0.000,4,0.000,0.048,2497,1387,3561
$GC,8274,-0.59,-194.6,989.5,-9.9,794,8281,0.00,1.27,0.00,0.000,6,0.000,0.049,2492,2274,3561
$STATE,8289,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8289,begin apogee
$GC,8292,-0.26,0.0,991.0,10.1,796,8444,0.40,0.00,149.80,1.259,6,0.149,0.000,2609,2274,2801
$STATE,8445,end apogee,CONTROL_FINISHED_OK
$STATE,8445,begin climb
$GC,8446,0.59,194.6,996.9,0.0,811,8614,0.90,0.00,164.02,1.226,6,0.120,0.000,2882,2274,2006
$GC,8736,0.59,194.6,974.2,9.3,840,8739,0.00,1.30,0.00,0.000,4,0.000,0.051,2887,1384,1997
$GC,8788,0.59,194.6,969.3,10.0,845,8792,0.00,1.30,0.00,0.000,6,0.000,0.048,2887,2265,1997
$GC,8923,0.59,194.6,955.9,10.0,858,8924,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2265,1995
$GC,9047,0.59,194.6,944.0,10.0,870,9048,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2265,1994
$GC,9171,0.59,194.6,931.9,9.7,882,9175,0.00,1.25,0.00,0.000,4,0.000,0.046,2893,1386,1993
$GC,9203,0.59,194.6,928.7,10.4,885,9207,0.00,1.30,0.00,0.000,6,0.000,0.049,2893,2277,1993
$GC,9338,0.59,194.6,914.5,10.6,898,9338,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2277,1992
$GC,9462,0.59,194.6,901.2,10.9,910,9465,0.00,1.25,0.00,0.000,4,0.000,0.047,2898,1386,1992
$GC,9509,0.59,194.6,896.2,10.8,914,9516,0.00,1.30,0.00,0.000,6,0.000,0.048,2898,2277,1992
$GC,9639,0.59,194.6,881.9,11.2,927,9639,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2277,1991
$GC,9763,0.59,194.6,868.7,10.5,939,9764,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2277,1991
$GC,9887,0.59,194.6,855.5,10.6,951,9891,0.00,1.25,0.00,0.000,4,0.000,0.046,2904,1382,1990
$GC,9929,0.59,194.6,850.9,11.4,955,9933,0.00,1.25,0.00,0.000,6,0.000,0.048,2904,2267,1990
$GC,10064,0.59,194.6,835.9,11.5,968,10065,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2267,1989
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$STATE,18951,end climb,SURFACE_DEPTH_REACHED
$STATE,18951,begin surface coast
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$STATE,18994,end surface coast,CONTROL_FINISHED_OK
$STATE,18994,begin surface
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$TCM_TEMP,23.20
$XPDR_PINGS,0
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$10V_AH,10.6,15.730
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$CFSIZE,260165632,250900480
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