version: 66.04
glider: 515
mission: 5
dive: 60
start: 6 1 110 6 36 24
data:
$ID,515
$MISSION,5
$DIVE,60
$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,-14
$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,-4887.3154
$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,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,27
$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
$GPS1,062330,2842.722,-8827.900,36,1.1,41,-0.4
$_CALLS,2
$_XMS_NAKs,35
$_XMS_TOUTs,1
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-69.5
$GPS2,063444,2842.781,-8827.914,15,1.2,15,-0.4
$SPEED_LIMITS,0.117,0.253
$TGT_NAME,NEW0528C
$TGT_LATLONG,2842.500,-8831.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.001,-0.253
$KALMAN_X,-158775.1,298.4,133.4,201121.7,-5078.9
$KALMAN_Y,-2394.8,-949.3,-944.5,-7782.3,18515.1
$MHEAD_RNG_PITCHd_Wd,282.4,5040,-20.4,-6.735
$D_GRID,1370
$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,13,-0.83,-57.1,0.0,0.0,0,107,0.00,0.00,-93.07,0.000,6,0.000,0.000,195,2200,3032
$GC,109,-0.88,-102.6,2.9,-3.1,9,126,9.88,1.20,-4.45,0.000,4,0.264,0.067,2411,1292,3220
$GC,343,-0.88,-102.6,47.2,-12.5,30,352,0.00,1.23,0.00,0.000,6,0.000,0.033,2407,2214,3223
$GC,411,-0.88,-102.6,54.5,-11.3,37,414,0.00,1.52,0.00,0.000,4,0.000,0.043,2400,3092,3223
$GC,464,-0.88,-102.6,60.5,-10.4,42,468,0.00,1.55,0.00,0.000,6,0.000,0.031,2406,2191,3223
$GC,537,-0.88,-102.6,68.6,-11.0,49,540,0.00,1.10,0.00,0.000,4,0.000,0.036,2411,1296,3223
$GC,622,-0.88,-102.6,78.0,-11.2,57,625,0.00,1.17,0.00,0.000,6,0.000,0.034,2407,2207,3224
$GC,694,-0.88,-102.6,86.3,-11.6,64,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2207,3224
$GC,756,-0.88,-102.6,93.7,-12.1,70,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2208,3225
$GC,818,-0.88,-102.6,102.0,-13.3,76,822,0.00,1.17,0.00,0.000,4,0.000,0.036,2411,1295,3224
$GC,893,-0.88,-102.6,111.9,-13.0,83,896,0.00,1.17,0.00,0.000,6,0.000,0.033,2407,2209,3225
$GC,1027,-0.88,-102.6,130.6,-14.3,96,1031,0.00,1.17,0.00,0.000,4,0.000,0.036,2411,1295,3224
$GC,1149,-0.88,-102.6,147.4,-12.6,107,1156,0.00,1.20,0.00,0.000,6,0.000,0.034,2407,2212,3224
$GC,1279,-0.88,-102.6,163.2,-11.7,120,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2212,3224
$GC,1403,-0.88,-102.6,177.8,-11.7,132,1406,0.00,1.50,0.00,0.000,4,0.000,0.043,2399,3086,3224
$GC,1546,-0.88,-102.6,195.6,-12.7,145,1554,0.00,1.52,0.00,0.000,6,0.000,0.032,2404,2198,3223
$GC,1676,-0.88,-102.6,211.3,-12.5,158,1680,0.00,1.55,0.00,0.000,4,0.000,0.043,2398,3081,3223
$GC,1719,-0.88,-102.6,216.6,-12.7,162,1722,0.00,1.50,0.00,0.000,6,0.000,0.034,2403,2201,3223
$GC,1853,-0.88,-102.6,232.8,-12.3,175,1857,0.00,1.12,0.00,0.000,4,0.000,0.039,2403,1297,3222
$GC,1885,-0.88,-102.6,236.6,-11.3,178,1888,0.00,1.17,0.00,0.000,6,0.000,0.035,2399,2208,3222
$GC,2020,-0.88,-102.6,252.5,-11.6,191,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2209,3222
$GC,2144,-0.88,-102.6,266.2,-10.5,203,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2208,3221
$GC,2268,-0.88,-102.6,280.8,-11.8,215,2271,0.00,1.17,0.00,0.000,4,0.000,0.038,2402,1296,3221
$GC,2396,-0.88,-102.6,295.7,-11.8,227,2399,0.00,1.17,0.00,0.000,6,0.000,0.036,2398,2207,3220
$GC,2530,-0.88,-102.6,311.6,-11.9,240,2534,0.00,1.50,0.00,0.000,4,0.000,0.045,2391,3080,3220
$GC,2594,-0.88,-102.6,319.7,-12.6,246,2598,0.00,1.50,0.00,0.000,6,0.000,0.035,2394,2199,3219
$GC,2729,-0.88,-102.6,336.1,-12.2,259,2732,0.00,1.15,0.00,0.000,4,0.000,0.041,2400,1289,3218
$GC,2782,-0.88,-102.6,342.4,-11.3,264,2785,0.00,1.17,0.00,0.000,6,0.000,0.037,2395,2202,3217
$GC,2917,-0.88,-102.6,358.6,-12.1,277,2918,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2202,3217
$GC,3040,-0.88,-102.6,373.7,-12.5,289,3044,0.00,1.17,0.00,0.000,4,0.000,0.041,2399,1292,3217
$GC,3073,-0.88,-102.6,377.7,-13.5,292,3076,0.00,1.17,0.00,0.000,6,0.000,0.039,2396,2200,3217
$GC,3207,-0.88,-102.6,394.3,-11.8,305,3210,0.00,1.52,0.00,0.000,4,0.000,0.047,2388,3079,3214
$GC,3335,-0.88,-102.6,411.0,-14.2,317,3339,0.00,1.50,0.00,0.000,6,0.000,0.037,2392,2202,3214
$GC,3469,-0.88,-102.6,428.5,-12.8,330,3473,0.00,1.15,0.00,0.000,4,0.000,0.043,2397,1298,3213
$GC,3591,-0.88,-102.6,443.8,-12.7,341,3599,0.00,1.20,0.00,0.000,6,0.000,0.040,2393,2201,3213
$GC,3721,-0.88,-102.6,460.0,-12.4,354,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2202,3212
$GC,3845,-0.88,-102.6,475.4,-12.5,366,3849,0.00,1.17,0.00,0.000,4,0.000,0.042,2397,1301,3211
$GC,3941,-0.88,-102.6,487.5,-12.4,375,3945,0.00,1.17,0.00,0.000,6,0.000,0.041,2393,2199,3211
$GC,4075,-0.88,-102.6,504.6,-12.6,388,4076,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2199,3209
$GC,4200,-0.88,-102.6,519.9,-12.3,400,4200,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2199,3208
$GC,4325,-0.88,-102.6,534.7,-11.8,412,4328,0.00,1.52,0.00,0.000,4,0.000,0.050,2386,3072,3207
$GC,4371,-0.88,-102.6,540.5,-12.3,416,4379,0.00,1.52,0.00,0.000,6,0.000,0.038,2389,2197,3207
$GC,4501,-0.88,-102.6,556.2,-12.1,429,4505,0.00,1.15,0.00,0.000,4,0.000,0.044,2389,1296,3206
$GC,4555,-0.88,-102.6,562.8,-13.1,434,4558,0.00,1.17,0.00,0.000,6,0.000,0.042,2385,2194,3206
$GC,4689,-0.88,-102.6,579.3,-12.2,447,4690,0.12,0.00,0.00,0.000,6,0.217,0.000,2412,2195,3205
$GC,4813,-0.88,-102.6,593.7,-11.3,459,4816,0.00,1.17,0.00,0.000,4,0.000,0.045,2412,1296,3204
$GC,4860,-0.88,-102.6,599.2,-11.4,463,4867,0.00,1.23,0.00,0.000,6,0.000,0.042,2408,2206,3203
$GC,4990,-0.88,-102.6,613.9,-11.3,476,4990,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2206,3202
$GC,5114,-0.88,-102.6,628.1,-11.4,488,5118,0.00,1.52,0.00,0.000,4,0.000,0.051,2401,3083,3202
$GC,5150,-0.88,-102.6,632.4,-11.7,491,5158,0.00,1.55,0.00,0.000,6,0.000,0.039,2402,2196,3202
$GC,5280,-0.88,-102.6,647.1,-11.1,504,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2196,3201
$GC,5404,-0.88,-102.6,661.2,-10.9,516,5405,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2196,3200
$GC,5528,-0.88,-102.6,674.9,-10.7,528,5532,0.00,1.58,0.00,0.000,4,0.000,0.051,2396,3081,3199
$GC,5582,-0.88,-102.6,681.1,-11.6,533,5585,0.00,1.52,0.00,0.000,6,0.000,0.040,2397,2196,3198
$GC,5716,-0.88,-102.6,696.2,-10.9,546,5717,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2196,3198
$GC,5840,-0.88,-102.6,710.1,-11.7,558,5841,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2196,3197
$GC,5964,-0.88,-102.6,723.7,-11.1,570,5965,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2196,3196
$GC,6089,-0.88,-102.6,737.3,-11.3,582,6090,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2196,3196
$GC,6213,-0.88,-102.6,751.0,-11.1,594,6214,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2196,3195
$GC,6337,-0.88,-102.6,764.4,-10.7,606,6337,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2196,3194
$GC,6461,-0.88,-102.6,777.5,-10.5,618,6465,0.00,1.58,0.00,0.000,4,0.000,0.054,2391,3080,3193
$GC,6557,-0.88,-102.6,787.8,-10.9,627,6560,0.00,1.52,0.00,0.000,6,0.000,0.041,2390,2197,3192
$GC,6691,-0.88,-102.6,801.8,-10.1,640,6692,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2197,3192
$GC,6816,-0.88,-102.6,814.6,-10.4,652,6819,0.00,1.58,0.00,0.000,4,0.000,0.054,2384,3081,3191
$GC,6837,-0.88,-102.6,816.8,-10.6,654,6840,0.08,1.52,0.00,0.000,6,0.216,0.041,2405,2197,3191
$GC,6971,-0.88,-102.6,830.2,-10.3,667,6972,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2198,3191
$GC,7096,-0.88,-102.6,842.9,-10.5,679,7099,0.00,1.17,0.00,0.000,4,0.000,0.048,2408,1303,3190
$GC,7131,-0.88,-102.6,846.8,-10.2,682,7140,0.00,1.23,0.00,0.000,6,0.000,0.046,2404,2201,3190
$GC,7261,-0.88,-102.6,859.9,-10.4,695,7265,0.00,1.55,0.00,0.000,4,0.000,0.054,2397,3079,3189
$GC,7314,-0.88,-102.6,865.4,-11.1,700,7318,0.00,1.52,0.00,0.000,6,0.000,0.041,2397,2198,3189
$GC,7449,-0.88,-102.6,879.2,-10.3,713,7450,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2197,3189
$GC,7573,-0.88,-102.6,891.6,-10.5,725,7574,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2197,3189
$GC,7697,-0.88,-102.6,904.3,-10.2,737,7698,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2197,3187
$GC,7821,-0.88,-102.6,916.8,-10.5,749,7825,0.00,1.60,0.00,0.000,4,0.000,0.055,2391,3092,3187
$GC,7868,-0.88,-102.6,921.8,-10.8,753,7876,0.00,1.58,0.00,0.000,6,0.000,0.042,2391,2193,3186
$GC,7998,-0.88,-102.6,934.9,-10.1,766,8002,0.00,1.17,0.00,0.000,4,0.000,0.048,2391,1297,3186
$GC,8051,-0.88,-102.6,940.2,-10.4,771,8055,0.00,1.23,0.00,0.000,6,0.000,0.046,2385,2204,3186
$GC,8186,-0.88,-102.6,953.8,-10.0,784,8187,0.12,0.00,0.00,0.000,6,0.219,0.000,2412,2205,3185
$GC,8310,-0.88,-102.6,965.4,-9.7,796,8311,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2205,3186
$GC,8434,-0.88,-102.6,977.3,-9.7,808,8438,0.00,1.23,0.00,0.000,4,0.000,0.048,2412,1295,3185
$STATE,8561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8561,begin apogee
$GC,8565,-0.26,0.0,990.3,9.7,820,8645,0.73,0.00,75.03,1.259,6,0.185,0.000,2608,2204,2800
$STATE,8645,end apogee,CONTROL_FINISHED_OK
$STATE,8645,begin climb
$GC,8646,0.88,102.6,993.3,0.0,828,8742,1.20,1.70,87.30,1.233,4,0.123,0.059,2975,3081,2381
$GC,8798,0.88,102.6,977.7,13.8,841,8806,0.00,1.62,0.00,0.000,6,0.000,0.039,2982,2197,2374
$GC,8928,0.88,102.6,959.8,13.9,854,8929,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2198,2372
$GC,9053,0.88,102.6,942.4,14.1,866,9056,0.00,1.62,0.00,0.000,4,0.000,0.058,2982,3085,2371
$GC,9142,0.88,102.6,928.7,15.5,874,9151,0.00,1.60,0.00,0.000,6,0.000,0.039,2990,2189,2369
$GC,9272,0.88,102.6,909.8,14.6,887,9276,0.00,1.65,0.00,0.000,4,0.000,0.057,2990,3085,2369
$GC,9336,0.88,102.6,900.1,15.4,893,9340,0.00,1.55,0.00,0.000,6,0.000,0.040,2998,2198,2368
$GC,9471,0.88,102.6,880.2,14.4,906,9474,0.00,1.62,0.00,0.000,4,0.000,0.057,2998,3085,2367
$GC,9506,0.88,102.6,874.5,15.1,909,9515,0.00,1.58,0.00,0.000,6,0.000,0.039,3004,2194,2367
$GC,9636,0.88,102.6,855.0,14.6,922,9640,0.00,1.62,0.00,0.000,4,0.000,0.057,3004,3082,2366
$GC,9711,0.88,102.6,843.4,16.0,929,9715,0.00,1.55,0.00,0.000,6,0.000,0.039,3011,2194,2366
$GC,9846,0.88,102.6,822.8,15.4,942,9849,0.00,1.62,0.00,0.000,4,0.000,0.057,3010,3084,2366
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$STATE,16389,end climb,SURFACE_DEPTH_REACHED
$STATE,16389,begin surface coast
$FINISH,1.4,1.021465
$STATE,16443,end surface coast,CONTROL_FINISHED_OK
$STATE,16443,begin surface
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$HUMID,1253
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$10V_AH,10.7,16.581
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$DATA_FILE_SIZE,85273,1573
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$CFSIZE,260165632,250531840
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,1,0,0
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