version: 66.04
glider: 515
mission: 5
dive: 70
start: 6 3 110 9 58 43
data:
$ID,515
$MISSION,5
$DIVE,70
$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,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5067.5791
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2735
$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,1946
$C_ROLL_CLIMB,2409
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$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,4
$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
$GPS1,094525,2840.962,-8844.619,34,1.7,34,-0.2
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-63.3
$GPS2,095802,2841.120,-8844.573,10,1.7,10,-0.2
$SPEED_LIMITS,0.117,0.253
$TGT_NAME,NEW0602F
$TGT_LATLONG,2839.500,-8843.600
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.253,-0.006
$KALMAN_X,-195493.5,828.8,1322.4,209072.9,-14120.8
$KALMAN_Y,45219.7,-1295.0,-1249.8,-57810.4,12843.0
$MHEAD_RNG_PITCHd_Wd,135.2,3392,-17.0,-6.735
$D_GRID,1189
$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,-0.73,-79.1,0.0,0.0,0,102,0.00,0.00,-88.28,0.000,2,0.000,0.000,199,1970,2897
$GC,104,-0.79,-127.9,3.3,-3.9,9,129,10.90,1.60,-9.40,0.000,4,0.281,0.061,2468,2841,3324
$GC,346,-0.79,-127.9,51.9,-13.8,31,354,0.00,1.60,0.00,0.000,6,0.000,0.035,2472,1922,3325
$GC,414,-0.79,-127.9,60.4,-13.0,38,418,0.00,1.08,0.00,0.000,4,0.000,0.041,2477,1065,3326
$GC,429,-0.79,-127.9,62.4,-12.3,39,436,0.00,1.20,0.00,0.000,6,0.000,0.037,2473,1989,3326
$GC,496,-0.79,-127.9,70.3,-12.1,46,500,0.00,1.45,0.00,0.000,4,0.000,0.042,2466,2807,3326
$GC,635,-0.79,-127.9,87.9,-13.5,59,639,0.00,1.50,0.00,0.000,6,0.000,0.035,2469,1938,3326
$GC,708,-0.79,-127.9,97.7,-12.9,66,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1939,3326
$GC,770,-0.79,-127.9,105.7,-12.6,72,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1939,3326
$GC,894,-0.79,-127.9,121.5,-12.6,84,898,0.00,1.52,0.00,0.000,4,0.000,0.042,2463,2804,3326
$GC,1022,-0.79,-127.9,138.6,-12.9,96,1026,0.00,1.48,0.00,0.000,6,0.000,0.035,2468,1946,3326
$GC,1157,-0.79,-127.9,155.8,-13.1,109,1160,0.00,1.52,0.00,0.000,4,0.000,0.042,2463,2808,3326
$GC,1267,-0.79,-127.9,169.8,-12.4,119,1275,0.00,1.50,0.00,0.000,6,0.000,0.035,2468,1942,3326
$GC,1397,-0.79,-127.9,185.3,-11.6,132,1401,0.00,1.52,0.00,0.000,4,0.000,0.042,2462,2809,3326
$GC,1466,-0.79,-127.9,193.6,-12.0,138,1474,0.00,1.50,0.00,0.000,6,0.000,0.035,2468,1942,3326
$GC,1596,-0.79,-127.9,208.6,-11.4,151,1599,0.00,1.52,0.00,0.000,4,0.000,0.043,2462,2810,3325
$GC,1681,-0.79,-127.9,218.7,-11.6,159,1684,0.00,1.48,0.00,0.000,6,0.000,0.035,2467,1948,3325
$GC,1816,-0.79,-127.9,234.0,-11.6,172,1819,0.00,1.52,0.00,0.000,4,0.000,0.042,2461,2815,3324
$GC,1858,-0.79,-127.9,239.0,-11.5,176,1861,0.00,1.50,0.00,0.000,6,0.000,0.035,2463,1935,3324
$GC,1993,-0.79,-127.9,254.9,-11.9,189,1996,0.00,1.52,0.00,0.000,4,0.000,0.044,2458,2802,3324
$GC,2071,-0.79,-127.9,264.4,-12.1,196,2079,0.00,1.50,0.00,0.000,6,0.000,0.035,2458,1932,3324
$GC,2202,-0.79,-127.9,279.5,-11.8,209,2205,0.00,1.52,0.00,0.000,4,0.000,0.043,2452,2805,3323
$GC,2237,-0.79,-127.9,284.2,-12.7,212,2245,0.00,1.50,0.00,0.000,6,0.000,0.035,2452,1934,3322
$GC,2367,-0.79,-127.9,299.8,-12.2,225,2371,0.12,1.52,0.00,0.000,4,0.192,0.044,2474,2808,3321
$GC,2446,-0.79,-127.9,308.9,-11.1,232,2453,0.00,1.50,0.00,0.000,6,0.000,0.036,2478,1939,3321
$GC,2576,-0.79,-127.9,322.5,-10.4,245,2579,0.00,1.52,0.00,0.000,4,0.000,0.044,2472,2806,3320
$GC,2665,-0.79,-127.9,332.5,-11.0,253,2673,0.00,1.50,0.00,0.000,6,0.000,0.036,2473,1937,3320
$GC,2796,-0.79,-127.9,346.5,-11.0,266,2799,0.00,1.52,0.00,0.000,4,0.000,0.044,2466,2806,3319
$GC,2902,-0.79,-127.9,358.6,-11.4,276,2906,0.00,1.48,0.00,0.000,6,0.000,0.036,2468,1944,3318
$GC,3037,-0.79,-127.9,374.0,-11.6,289,3040,0.00,1.52,0.00,0.000,4,0.000,0.045,2462,2812,3317
$GC,3115,-0.79,-127.9,383.3,-11.9,296,3123,0.00,1.52,0.00,0.000,6,0.000,0.037,2463,1927,3317
$GC,3246,-0.79,-127.9,398.1,-11.3,309,3249,0.00,1.55,0.00,0.000,4,0.000,0.046,2456,2812,3317
$GC,3288,-0.79,-127.9,403.1,-11.8,313,3291,0.00,1.50,0.00,0.000,6,0.000,0.038,2458,1936,3316
$GC,3422,-0.79,-127.9,419.2,-11.6,326,3426,0.00,1.52,0.00,0.000,4,0.000,0.046,2453,2804,3316
$GC,3512,-0.79,-127.9,430.5,-13.2,334,3521,0.00,1.50,0.00,0.000,6,0.000,0.038,2452,1938,3314
$GC,3642,-0.79,-127.9,446.2,-12.1,347,3645,0.00,1.52,0.00,0.000,4,0.000,0.047,2445,2804,3314
$GC,3705,-0.79,-127.9,454.1,-12.2,353,3710,0.10,1.48,0.00,0.000,6,0.189,0.038,2473,1946,3313
$GC,3840,-0.79,-127.9,469.3,-11.2,366,3844,0.00,1.52,0.00,0.000,4,0.000,0.046,2468,2810,3313
$GC,3883,-0.79,-127.9,474.1,-11.6,370,3886,0.00,1.50,0.00,0.000,6,0.000,0.038,2468,1938,3312
$GC,4017,-0.79,-127.9,489.0,-10.9,383,4021,0.00,1.52,0.00,0.000,4,0.000,0.048,2463,2802,3311
$GC,4070,-0.79,-127.9,495.0,-11.4,388,4074,0.00,1.48,0.00,0.000,6,0.000,0.038,2463,1947,3311
$GC,4205,-0.79,-127.9,510.2,-11.2,401,4208,0.00,1.52,0.00,0.000,4,0.000,0.048,2458,2811,3310
$GC,4280,-0.79,-127.9,518.9,-11.0,408,4283,0.00,1.50,0.00,0.000,6,0.000,0.038,2457,1940,3309
$GC,4414,-0.79,-127.9,534.1,-11.6,421,4418,0.00,1.52,0.00,0.000,4,0.000,0.048,2452,2804,3308
$GC,4503,-0.79,-127.9,544.6,-11.8,429,4511,0.12,1.50,0.00,0.000,6,0.189,0.038,2479,1944,3307
$GC,4634,-0.79,-127.9,558.0,-10.3,442,4637,0.00,1.52,0.00,0.000,4,0.000,0.048,2474,2804,3307
$GC,4687,-0.79,-127.9,563.7,-10.9,447,4690,0.00,1.50,0.00,0.000,6,0.000,0.038,2474,1933,3306
$GC,4821,-0.79,-127.9,577.9,-10.7,460,4825,0.00,1.55,0.00,0.000,4,0.000,0.048,2468,2808,3305
$GC,4928,-0.79,-127.9,589.9,-11.6,470,4931,0.00,1.50,0.00,0.000,6,0.000,0.040,2468,1936,3305
$GC,5062,-0.79,-127.9,604.6,-11.0,483,5066,0.00,1.52,0.00,0.000,4,0.000,0.049,2461,2800,3303
$GC,5163,-0.79,-127.9,616.4,-11.7,492,5170,0.00,1.50,0.00,0.000,6,0.000,0.039,2462,1941,3302
$GC,5293,-0.79,-127.9,631.2,-10.9,505,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1941,3302
$GC,5417,-0.79,-127.9,645.5,-11.6,517,5420,0.00,1.52,0.00,0.000,4,0.000,0.049,2456,2800,3302
$GC,5491,-0.79,-127.9,654.1,-11.3,524,5495,0.00,1.48,0.00,0.000,6,0.000,0.039,2457,1948,3301
$GC,5627,-0.79,-127.9,670.0,-11.9,537,5630,0.00,1.52,0.00,0.000,4,0.000,0.050,2450,2806,3300
$GC,5737,-0.79,-127.9,683.5,-12.2,547,5745,0.12,1.52,0.00,0.000,6,0.189,0.040,2478,1930,3300
$GC,5867,-0.79,-127.9,696.9,-10.0,560,5870,0.00,1.55,0.00,0.000,4,0.000,0.051,2472,2807,3298
$GC,5909,-0.79,-127.9,701.3,-10.8,564,5913,0.00,1.50,0.00,0.000,6,0.000,0.040,2472,1939,3298
$GC,6044,-0.79,-127.9,715.3,-10.2,577,6048,0.00,1.55,0.00,0.000,4,0.000,0.050,2466,2813,3298
$GC,6187,-0.79,-127.9,730.7,-11.5,590,6196,0.00,1.52,0.00,0.000,6,0.000,0.041,2466,1927,3297
$GC,6317,-0.79,-127.9,744.3,-10.7,603,6321,0.00,1.55,0.00,0.000,4,0.000,0.051,2459,2802,3296
$GC,6349,-0.79,-127.9,747.5,-10.9,606,6353,0.00,1.50,0.00,0.000,6,0.000,0.041,2459,1939,3296
$GC,6484,-0.79,-127.9,762.0,-10.6,619,6487,0.00,1.55,0.00,0.000,4,0.000,0.051,2452,2811,3295
$GC,6569,-0.79,-127.9,771.3,-10.8,627,6572,0.00,1.50,0.00,0.000,6,0.000,0.041,2452,1946,3294
$GC,6704,-0.79,-127.9,785.9,-10.8,640,6707,0.00,1.52,0.00,0.000,4,0.000,0.051,2445,2802,3294
$GC,6789,-0.79,-127.9,795.1,-10.8,648,6792,0.10,1.50,0.00,0.000,6,0.189,0.041,2473,1937,3293
$GC,6923,-0.79,-127.9,807.8,-9.3,661,6924,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1938,3293
$GC,7047,-0.79,-127.9,819.6,-9.9,673,7051,0.00,1.55,0.00,0.000,4,0.000,0.051,2467,2810,3292
$GC,7154,-0.79,-127.9,830.2,-10.3,683,7157,0.00,1.50,0.00,0.000,6,0.000,0.042,2469,1948,3292
$GC,7288,-0.79,-127.9,843.6,-10.0,696,7292,0.00,1.52,0.00,0.000,4,0.000,0.052,2463,2801,3291
$GC,7399,-0.79,-127.9,854.6,-9.9,706,7408,0.00,1.52,0.00,0.000,6,0.000,0.041,2463,1930,3291
$GC,7529,-0.79,-127.9,866.8,-9.2,719,7533,0.00,1.55,0.00,0.000,4,0.000,0.053,2457,2800,3290
$GC,7640,-0.79,-127.9,878.4,-10.6,729,7648,0.00,1.52,0.00,0.000,6,0.000,0.041,2457,1931,3290
$GC,7770,-0.79,-127.9,891.1,-10.0,742,7774,0.00,1.55,0.00,0.000,4,0.000,0.053,2450,2799,3289
$GC,7909,-0.79,-127.9,905.7,-10.2,755,7913,0.08,1.50,0.00,0.000,6,0.192,0.041,2471,1933,3288
$GC,8043,-0.79,-127.9,919.0,-10.0,768,8047,0.00,1.55,0.00,0.000,4,0.000,0.053,2466,2804,3287
$GC,8140,-0.79,-127.9,928.7,-10.8,777,8143,0.00,1.50,0.00,0.000,6,0.000,0.042,2468,1941,3287
$GC,8274,-0.79,-127.9,942.3,-9.8,790,8277,0.00,1.55,0.00,0.000,4,0.000,0.052,2463,2805,3287
$GC,8370,-0.79,-127.9,952.1,-10.1,799,8373,0.00,1.50,0.00,0.000,6,0.000,0.041,2463,1940,3286
$GC,8504,-0.79,-127.9,965.9,-10.4,812,8508,0.00,1.55,0.00,0.000,4,0.000,0.052,2456,2807,3286
$GC,8568,-0.79,-127.9,972.7,-11.2,818,8572,0.00,1.50,0.00,0.000,6,0.000,0.041,2456,1946,3285
$GC,8703,-0.79,-127.9,987.0,-10.5,831,8706,0.00,1.52,0.00,0.000,4,0.000,0.053,2450,2801,3285
$STATE,8733,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8733,begin apogee
$GC,8737,-0.26,0.0,990.3,11.4,834,8837,0.70,0.00,95.40,1.257,6,0.180,0.000,2644,2412,2800
$STATE,8837,end apogee,CONTROL_FINISHED_OK
$STATE,8837,begin climb
$GC,8839,0.79,127.9,993.4,0.0,844,8957,1.08,1.42,108.93,1.230,4,0.111,0.044,2986,1532,2276
$GC,9041,0.79,127.9,970.5,14.3,862,9045,0.00,1.35,0.00,0.000,6,0.000,0.048,2986,2387,2270
$GC,9176,0.79,127.9,950.3,15.0,875,9179,0.00,1.33,0.00,0.000,4,0.000,0.044,2992,1519,2266
$GC,9233,0.79,127.9,941.6,15.8,880,9241,0.00,1.42,0.00,0.000,6,0.000,0.048,2992,2423,2265
$GC,9364,0.79,127.9,922.0,15.1,893,9367,0.00,1.38,0.00,0.000,4,0.000,0.044,2998,1516,2264
$GC,9399,0.79,127.9,916.5,15.3,896,9407,0.00,1.40,0.00,0.000,6,0.000,0.048,2998,2411,2264
$GC,9529,0.79,127.9,897.2,15.0,909,9532,0.00,1.35,0.00,0.000,4,0.000,0.043,3003,1515,2264
$GC,9554,0.79,127.9,893.4,15.7,911,9562,0.00,1.40,0.00,0.000,6,0.000,0.048,3003,2417,2263
$GC,9684,0.79,127.9,873.9,15.0,924,9688,0.00,1.35,0.00,0.000,4,0.000,0.044,3009,1513,2263
$GC,9731,0.79,127.9,866.6,14.9,928,9738,0.00,1.38,0.00,0.000,6,0.000,0.047,3009,2407,2263
$GC,9861,0.79,127.9,847.2,15.0,941,9864,0.00,1.33,0.00,0.000,4,0.000,0.042,3015,1520,2262
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$STATE,16239,end climb,SURFACE_DEPTH_REACHED
$STATE,16239,begin surface coast
$FINISH,0.5,1.023027
$STATE,16271,end surface coast,CONTROL_FINISHED_OK
$STATE,16271,begin surface
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$DEVICE_SECS,21.500,215.500,289.550,159.350,0.000,31.066,33.718,532.673,0.250,0.000,0.000,12.005,0.000,10137.522,788.670,5322.881,886.263,33.339,2492.749,0.000,4668.940,0.000,0.848,0.000
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$DATA_FILE_SIZE,82012,1556
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