version: 66.04
glider: 515
mission: 5
dive: 53
start: 5 30 110 19 16 48
data:
$ID,515
$MISSION,5
$DIVE,53
$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,-4773.1763
$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,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
$GPS1,190924,2842.471,-8833.977,26,0.9,44,-0.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-67.0
$GPS2,191608,2842.487,-8833.916,13,1.0,13,-0.3
$SPEED_LIMITS,0.117,0.253
$TGT_NAME,NEW0528D
$TGT_LATLONG,2842.500,-8837.900
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.086,-0.239
$KALMAN_X,-146968.3,747.9,88.4,179159.3,-10706.6
$KALMAN_Y,-31694.2,-528.7,-142.0,19708.5,11931.0
$MHEAD_RNG_PITCHd_Wd,292.3,6472,-16.8,-6.735
$D_GRID,1161
$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,-0.72,-80.7,0.0,0.0,0,98,0.00,0.00,-84.22,0.000,2,0.000,0.000,199,2277,2792
$GC,99,-0.77,-120.6,3.3,-4.5,8,123,10.05,0.00,-12.45,0.000,6,0.263,0.000,2445,2277,3294
$GC,182,-0.77,-120.6,20.5,-25.6,16,183,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2277,3295
$GC,244,-0.77,-120.6,33.0,-19.3,22,245,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2277,3295
$GC,306,-0.77,-120.6,43.3,-15.2,28,310,0.00,1.52,0.00,0.000,4,0.000,0.045,2440,3179,3296
$GC,374,-0.77,-120.6,53.4,-14.9,34,383,0.00,1.50,0.00,0.000,6,0.000,0.031,2442,2276,3296
$GC,442,-0.77,-120.6,62.3,-13.0,41,443,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2276,3297
$GC,504,-0.77,-120.6,70.3,-13.7,47,505,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2275,3297
$GC,566,-0.77,-120.6,78.2,-12.4,53,570,0.00,1.23,0.00,0.000,4,0.000,0.041,2442,1376,3297
$GC,630,-0.77,-120.6,86.8,-14.0,59,634,0.00,1.25,0.00,0.000,6,0.000,0.037,2438,2277,3297
$GC,703,-0.77,-120.6,96.6,-14.0,66,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2277,3298
$GC,765,-0.77,-120.6,105.4,-14.0,72,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2277,3298
$GC,889,-0.77,-120.6,123.1,-14.1,84,892,0.00,1.23,0.00,0.000,4,0.000,0.041,2442,1375,3298
$GC,1032,-0.77,-120.6,143.3,-13.4,97,1039,0.00,1.25,0.00,0.000,6,0.000,0.038,2438,2275,3298
$GC,1162,-0.77,-120.6,160.5,-13.7,110,1165,0.00,1.20,0.00,0.000,4,0.000,0.040,2442,1374,3298
$GC,1333,-0.77,-120.6,182.9,-13.5,126,1336,0.00,1.23,0.00,0.000,6,0.000,0.038,2438,2273,3298
$GC,1467,-0.77,-120.6,200.0,-12.5,139,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2273,3297
$GC,1591,-0.77,-120.6,215.6,-12.1,151,1595,0.00,1.20,0.00,0.000,4,0.000,0.039,2442,1369,3298
$GC,1687,-0.77,-120.6,227.2,-12.1,160,1690,0.00,1.23,0.00,0.000,6,0.000,0.038,2438,2270,3297
$GC,1821,-0.77,-120.6,243.2,-12.0,173,1822,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2270,3297
$GC,1946,-0.77,-120.6,258.0,-11.4,185,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2270,3297
$GC,2070,-0.77,-120.6,272.9,-11.6,197,2070,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2270,3297
$GC,2194,-0.77,-120.6,288.0,-12.1,209,2195,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2271,3296
$GC,2318,-0.77,-120.6,303.0,-12.2,221,2319,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2270,3296
$GC,2442,-0.77,-120.6,318.8,-13.0,233,2443,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2270,3295
$GC,2566,-0.77,-120.6,333.9,-12.2,245,2570,0.00,1.23,0.00,0.000,4,0.000,0.041,2441,1364,3294
$GC,2705,-0.77,-120.6,350.2,-11.3,258,2709,0.00,1.25,0.00,0.000,6,0.000,0.040,2437,2273,3293
$GC,2840,-0.77,-120.6,366.8,-12.3,271,2841,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2273,3292
$GC,2964,-0.77,-120.6,382.8,-12.8,283,2965,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2273,3292
$GC,3088,-0.77,-120.6,399.0,-13.1,295,3089,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2273,3291
$GC,3213,-0.77,-120.6,415.0,-13.2,307,3216,0.00,1.20,0.00,0.000,4,0.000,0.042,2441,1377,3291
$GC,3291,-0.77,-120.6,425.2,-12.9,314,3299,0.00,1.27,0.00,0.000,6,0.000,0.041,2437,2281,3289
$GC,3421,-0.77,-120.6,441.6,-12.8,327,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2281,3288
$GC,3545,-0.77,-120.6,457.5,-12.5,339,3548,0.00,1.50,0.00,0.000,4,0.000,0.051,2430,3174,3288
$GC,3581,-0.77,-120.6,462.3,-13.0,342,3590,0.00,1.48,0.00,0.000,6,0.000,0.035,2430,2275,3288
$GC,3711,-0.77,-120.6,478.9,-12.6,355,3714,0.00,1.23,0.00,0.000,4,0.000,0.045,2430,1375,3287
$GC,3811,-0.77,-120.6,491.8,-13.0,364,3818,0.00,1.27,0.00,0.000,6,0.000,0.042,2425,2276,3286
$GC,3940,-0.77,-120.6,508.2,-12.3,377,3941,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2276,3285
$GC,4065,-0.77,-120.6,523.8,-12.5,389,4066,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2276,3285
$GC,4189,-0.77,-120.6,539.0,-12.6,401,4193,0.00,1.23,0.00,0.000,4,0.000,0.045,2425,1381,3284
$GC,4296,-0.77,-120.6,552.2,-11.9,411,4300,0.08,1.25,0.00,0.000,6,0.189,0.044,2441,2272,3282
$GC,4430,-0.77,-120.6,567.4,-11.5,424,4431,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2272,3282
$GC,4555,-0.77,-120.6,581.6,-11.5,436,4558,0.00,1.23,0.00,0.000,4,0.000,0.046,2442,1372,3281
$GC,4612,-0.77,-120.6,588.5,-11.5,441,4619,0.00,1.30,0.00,0.000,6,0.000,0.043,2438,2283,3280
$GC,4742,-0.77,-120.6,603.4,-11.7,454,4745,0.00,1.25,0.00,0.000,4,0.000,0.045,2437,1376,3279
$GC,4810,-0.77,-120.6,611.7,-11.5,460,4817,0.00,1.27,0.00,0.000,6,0.000,0.044,2432,2275,3279
$GC,4939,-0.77,-120.6,627.4,-12.6,473,4940,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2275,3278
$GC,5064,-0.77,-120.6,642.5,-12.4,485,5064,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2275,3277
$GC,5187,-0.77,-120.6,657.7,-12.1,497,5191,0.00,1.23,0.00,0.000,4,0.000,0.045,2432,1372,3277
$GC,5234,-0.77,-120.6,663.6,-11.7,501,5242,0.00,1.27,0.00,0.000,6,0.000,0.044,2427,2275,3277
$GC,5364,-0.77,-120.6,679.7,-12.6,514,5365,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2275,3276
$GC,5488,-0.77,-120.6,694.7,-12.2,526,5489,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2275,3275
$GC,5612,-0.77,-120.6,709.5,-11.8,538,5613,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2275,3274
$GC,5737,-0.77,-120.6,724.2,-11.7,550,5738,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2275,3274
$GC,5861,-0.77,-120.6,738.4,-11.0,562,5864,0.00,1.23,0.00,0.000,4,0.000,0.047,2426,1377,3272
$GC,5929,-0.77,-120.6,746.3,-11.0,568,5936,0.12,1.27,0.00,0.000,6,0.189,0.045,2448,2274,3272
$GC,6059,-0.77,-120.6,759.7,-10.4,581,6060,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2274,3272
$GC,6183,-0.77,-120.6,772.3,-10.1,593,6183,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2274,3271
$GC,6307,-0.77,-120.6,784.6,-10.0,605,6308,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2274,3270
$GC,6431,-0.77,-120.6,797.2,-10.1,617,6432,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2274,3270
$GC,6555,-0.77,-120.6,810.0,-10.3,629,6559,0.00,1.23,0.00,0.000,4,0.000,0.048,2451,1382,3269
$GC,6630,-0.77,-120.6,817.7,-10.7,636,6633,0.00,1.25,0.00,0.000,6,0.000,0.046,2447,2272,3268
$GC,6764,-0.77,-120.6,831.1,-9.6,649,6765,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2272,3269
$GC,6888,-0.77,-120.6,843.0,-9.7,661,6892,0.00,1.23,0.00,0.000,4,0.000,0.047,2448,1376,3267
$GC,6946,-0.77,-120.6,849.0,-10.7,666,6954,0.00,1.27,0.00,0.000,6,0.000,0.047,2444,2272,3267
$GC,7076,-0.77,-120.6,862.3,-10.3,679,7079,0.00,1.52,0.00,0.000,4,0.000,0.057,2437,3165,3266
$GC,7107,-0.77,-120.6,865.5,-10.7,682,7111,0.00,1.45,0.00,0.000,6,0.000,0.041,2438,2282,3266
$GC,7242,-0.77,-120.6,879.1,-9.8,695,7245,0.00,1.25,0.00,0.000,4,0.000,0.049,2438,1383,3266
$GC,7289,-0.77,-120.6,884.0,-9.8,699,7296,0.00,1.30,0.00,0.000,6,0.000,0.048,2434,2280,3265
$GC,7418,-0.77,-120.6,897.6,-10.4,712,7422,0.00,1.25,0.00,0.000,4,0.000,0.048,2434,1380,3265
$GC,7472,-0.77,-120.6,903.4,-11.5,717,7475,0.00,1.27,0.00,0.000,6,0.000,0.048,2431,2277,3265
$GC,7606,-0.77,-120.6,918.1,-10.7,730,7607,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2277,3264
$GC,7730,-0.77,-120.6,931.6,-11.2,742,7734,0.00,1.25,0.00,0.000,4,0.000,0.048,2431,1371,3264
$GC,7798,-0.77,-120.6,939.4,-11.2,748,7806,0.00,1.30,0.00,0.000,6,0.000,0.048,2424,2275,3264
$GC,7928,-0.77,-120.6,953.2,-10.6,761,7932,0.00,1.52,0.00,0.000,4,0.000,0.058,2417,3167,3263
$GC,7975,-0.77,-120.6,958.6,-11.4,765,7983,0.12,1.50,0.00,0.000,6,0.199,0.041,2445,2271,3263
$GC,8105,-0.77,-120.6,970.9,-9.6,778,8108,0.00,1.25,0.00,0.000,4,0.000,0.048,2445,1369,3262
$GC,8200,-0.77,-120.6,980.7,-10.1,787,8204,0.00,1.27,0.00,0.000,6,0.000,0.048,2440,2269,3262
$STATE,8303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8303,begin apogee
$GC,8306,-0.26,0.0,990.6,9.5,797,8399,0.60,0.00,90.62,1.261,6,0.178,0.000,2608,2270,2800
$STATE,8399,end apogee,CONTROL_FINISHED_OK
$STATE,8399,begin climb
$GC,8401,0.77,120.6,993.5,0.0,806,8508,1.08,0.00,102.45,1.229,6,0.121,0.000,2937,2270,2308
$GC,8629,0.77,120.6,969.8,12.9,827,8630,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2270,2300
$GC,8752,0.77,120.6,954.1,12.6,839,8753,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2270,2298
$GC,8876,0.77,120.6,938.5,12.5,851,8877,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2270,2297
$GC,9001,0.77,120.6,923.0,12.3,863,9002,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2271,2295
$GC,9125,0.77,120.6,907.1,12.2,875,9126,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2270,2295
$GC,9249,0.77,120.6,891.9,12.5,887,9250,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2270,2294
$GC,9374,0.77,120.6,877.2,12.0,899,9375,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2271,2293
$GC,9497,0.77,120.6,862.1,11.9,911,9498,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2270,2293
$GC,9622,0.77,120.6,847.6,11.4,923,9622,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2271,2292
$GC,9746,0.77,120.6,833.1,11.1,935,9749,0.00,1.55,0.00,0.000,4,0.000,0.060,2937,3157,2292
$GC,9767,0.77,120.6,830.6,12.4,937,9770,0.00,1.48,0.00,0.000,6,0.000,0.041,2945,2270,2292
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$GC,10026,0.77,120.6,799.1,12.3,962,10027,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2269,2291
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$STATE,16864,end climb,SURFACE_DEPTH_REACHED
$STATE,16864,begin surface coast
$FINISH,1.6,1.020990
$STATE,16885,end surface coast,CONTROL_FINISHED_OK
$STATE,16885,begin surface
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$TCM_TEMP,21.90
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$10V_AH,10.7,15.023
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$DEVICE_SECS,20.500,111.425,303.700,172.025,0.000,25.871,26.239,247.199,0.250,0.000,0.000,15.461,0.000,11139.599,708.181,5063.932,525.135,33.348,2204.414,0.000,4439.457,0.000,0.847,0.000
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$DATA_FILE_SIZE,85175,1622
$CAP_FILE_SIZE,212152,0
$CFSIZE,260165632,251240448
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