version: 66.04
glider: 515
mission: 5
dive: 100
start: 6 10 110 5 50 48
data:
$ID,515
$MISSION,5
$DIVE,100
$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,495
$T_MISSION,520
$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,-6933.918
$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,2375
$C_ROLL_CLIMB,2282
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$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,2840
$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
$GPS1,054055,2845.524,-8829.103,40,1.1,40,-0.4
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-69.0
$GPS2,055008,2845.672,-8829.178,13,1.2,13,-0.4
$SPEED_LIMITS,0.115,0.252
$TGT_NAME,NEW0602B
$TGT_LATLONG,2845.000,-8829.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.252,-0.002
$KALMAN_X,-211682.9,599.6,-257.3,252078.6,-9660.5
$KALMAN_Y,82742.1,551.7,340.0,-90425.9,-1133.7
$MHEAD_RNG_PITCHd_Wd,160.5,1278,-26.6,-6.667
$D_GRID,1342
$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,-1.03,-34.4,0.0,0.0,0,62,0.00,0.00,-49.05,0.000,2,0.000,0.000,199,2367,1897
$GC,64,-1.05,-51.7,3.4,-4.4,5,104,9.82,1.50,-27.05,0.000,4,0.259,0.059,2385,3272,3050
$GC,344,-1.05,-51.7,40.0,-10.5,30,353,0.00,1.48,0.00,0.000,6,0.000,0.026,2391,2364,3052
$GC,443,-1.05,-56.3,46.8,-6.1,40,446,0.00,1.52,-0.22,0.000,4,0.000,0.061,2385,3267,3076
$GC,688,-1.05,-56.3,64.5,-7.3,63,692,0.00,1.42,0.00,0.000,6,0.000,0.027,2391,2369,3075
$GC,792,-1.05,-56.3,72.0,-7.4,73,795,0.00,1.50,0.00,0.000,4,0.000,0.041,2385,3271,3076
$GC,973,-1.05,-56.3,87.6,-9.5,90,977,0.00,1.42,0.00,0.000,6,0.000,0.028,2391,2372,3075
$GC,1077,-1.05,-56.3,96.9,-9.2,100,1080,0.00,1.50,0.00,0.000,4,0.000,0.042,2384,3272,3075
$GC,1130,-1.05,-56.3,102.3,-10.3,105,1133,0.00,1.42,0.00,0.000,6,0.000,0.027,2390,2374,3075
$GC,1327,-1.05,-56.3,120.2,-9.4,124,1330,0.00,1.48,0.00,0.000,4,0.000,0.043,2385,3261,3076
$GC,1416,-1.05,-56.3,129.9,-11.2,132,1423,0.00,1.42,0.00,0.000,6,0.000,0.028,2390,2373,3075
$GC,1608,-1.05,-56.3,148.7,-8.7,151,1612,0.00,1.48,0.00,0.000,4,0.000,0.043,2384,3265,3074
$GC,1661,-1.05,-56.3,154.1,-10.0,156,1665,0.00,1.42,0.00,0.000,6,0.000,0.028,2390,2373,3074
$GC,1858,-1.05,-56.3,170.6,-7.8,175,1861,0.00,1.50,0.00,0.000,4,0.000,0.044,2384,3273,3073
$GC,2103,-1.05,-56.3,191.3,-7.8,198,2107,0.00,1.42,0.00,0.000,6,0.000,0.028,2389,2374,3072
$GC,2300,-1.05,-56.3,205.5,-7.4,217,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2375,3071
$GC,2487,-1.05,-56.3,220.1,-8.1,235,2490,0.00,1.48,0.00,0.000,4,0.000,0.044,2384,3265,3070
$GC,2640,-1.05,-56.3,232.7,-8.6,249,2648,0.00,1.45,0.00,0.000,6,0.000,0.029,2390,2367,3070
$GC,2832,-1.05,-56.3,247.9,-7.6,268,2836,0.00,1.50,0.00,0.000,4,0.000,0.044,2384,3267,3069
$GC,2885,-1.05,-56.3,252.1,-7.7,273,2889,0.00,1.42,0.00,0.000,6,0.000,0.030,2389,2373,3069
$GC,3082,-1.05,-56.3,267.1,-7.6,292,3083,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2373,3068
$GC,3268,-1.05,-56.3,281.7,-8.0,310,3272,0.00,1.50,0.00,0.000,4,0.000,0.046,2384,3270,3066
$GC,3451,-1.05,-56.3,297.2,-8.1,327,3453,0.00,1.42,0.00,0.000,6,0.000,0.031,2389,2375,3065
$GC,3647,-1.05,-56.3,313.0,-7.8,346,3648,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2376,3064
$GC,3833,-1.05,-56.3,328.3,-8.0,364,3836,0.00,1.50,0.00,0.000,4,0.000,0.046,2383,3272,3063
$GC,4079,-1.05,-56.3,350.3,-9.1,387,4082,0.00,1.42,0.00,0.000,6,0.000,0.031,2389,2377,3062
$GC,4275,-1.05,-56.3,366.5,-8.1,406,4279,0.00,1.48,0.00,0.000,4,0.000,0.046,2383,3259,3060
$GC,4375,-1.05,-56.3,375.2,-8.4,415,4383,0.00,1.45,0.00,0.000,6,0.000,0.031,2389,2368,3060
$GC,4567,-1.05,-56.3,391.3,-8.8,434,4571,0.00,1.50,0.00,0.000,4,0.000,0.048,2383,3259,3059
$GC,4791,-1.05,-56.3,411.6,-9.3,455,4795,0.00,1.42,0.00,0.000,6,0.000,0.032,2388,2375,3057
$GC,4988,-1.05,-56.3,428.4,-8.4,474,4989,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2375,3057
$GC,5174,-1.05,-56.3,444.6,-8.4,492,5178,0.00,1.50,0.00,0.000,4,0.000,0.048,2383,3269,3056
$GC,5366,-1.05,-56.3,462.6,-9.4,510,5370,0.00,1.45,0.00,0.000,6,0.000,0.033,2388,2371,3055
$GC,5563,-1.05,-56.3,479.7,-8.6,529,5567,0.00,1.50,0.00,0.000,4,0.000,0.050,2382,3258,3053
$GC,5691,-1.05,-56.3,491.4,-8.8,541,5695,0.00,1.42,0.00,0.000,6,0.000,0.034,2388,2376,3053
$GC,5888,-1.05,-56.3,508.5,-8.6,560,5891,0.00,1.50,0.00,0.000,4,0.000,0.050,2382,3267,3052
$GC,5920,-1.05,-56.3,511.4,-9.2,563,5923,0.00,1.45,0.00,0.000,6,0.000,0.034,2388,2374,3051
$GC,6116,-1.05,-56.3,527.9,-8.0,582,6117,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2374,3051
$GC,6303,-1.05,-56.3,543.3,-8.4,600,6306,0.00,1.50,0.00,0.000,4,0.000,0.051,2382,3258,3050
$GC,6371,-1.05,-56.3,549.5,-9.0,606,6379,0.00,1.45,0.00,0.000,6,0.000,0.034,2387,2375,3049
$GC,6563,-1.05,-56.3,565.4,-8.4,625,6566,0.00,1.25,0.00,0.000,4,0.000,0.046,2393,1492,3048
$GC,6637,-1.05,-56.3,571.6,-8.1,632,6641,0.00,1.25,0.00,0.000,6,0.000,0.042,2389,2368,3048
$GC,6834,-1.05,-56.3,587.9,-8.1,651,6837,0.00,1.23,0.00,0.000,4,0.000,0.045,2393,1493,3047
$GC,6934,-1.05,-56.3,596.2,-8.0,660,6942,0.00,1.30,0.00,0.000,6,0.000,0.042,2389,2377,3046
$GC,7127,-1.05,-56.3,612.3,-8.7,679,7130,0.00,1.50,0.00,0.000,4,0.000,0.052,2381,3270,3045
$GC,7254,-1.05,-56.3,623.3,-8.9,691,7258,0.00,1.45,0.00,0.000,6,0.000,0.035,2386,2378,3044
$GC,7452,-1.05,-56.3,640.3,-9.0,710,7455,0.00,1.50,0.00,0.000,4,0.000,0.053,2381,3263,3044
$GC,7551,-1.05,-56.3,649.1,-8.8,719,7559,0.00,1.48,0.00,0.000,6,0.000,0.035,2386,2369,3044
$GC,7744,-1.05,-56.3,665.1,-8.1,738,7744,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2370,3043
$GC,7930,-1.05,-56.3,680.4,-8.2,756,7933,0.00,1.52,0.00,0.000,4,0.000,0.054,2381,3262,3042
$GC,8019,-1.05,-56.3,688.0,-8.7,764,8027,0.00,1.48,0.00,0.000,6,0.000,0.036,2386,2371,3041
$GC,8211,-1.05,-56.3,702.9,-7.9,783,8212,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2372,3041
$GC,8398,-1.05,-56.3,718.1,-8.4,801,8398,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2372,3040
$GC,8584,-1.05,-56.3,732.7,-7.8,819,8587,0.00,1.52,0.00,0.000,4,0.000,0.054,2381,3262,3039
$GC,8620,-1.05,-56.3,735.8,-8.2,822,8629,0.00,1.45,0.00,0.000,6,0.000,0.037,2386,2377,3039
$GC,8812,-1.05,-56.3,750.8,-7.6,841,8813,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2377,3038
$GC,8999,-1.05,-56.3,765.1,-7.7,859,8999,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2377,3038
$GC,9185,-1.05,-56.3,779.1,-7.6,877,9188,0.00,1.52,0.00,0.000,4,0.000,0.054,2381,3268,3037
$GC,9274,-1.05,-56.3,786.1,-7.7,885,9282,0.00,1.50,0.00,0.000,6,0.000,0.038,2386,2370,3037
$GC,9466,-1.05,-56.3,800.2,-7.1,904,9469,0.00,1.55,0.00,0.000,4,0.000,0.055,2380,3271,3036
$GC,9712,-1.05,-56.3,819.2,-7.4,927,9715,0.00,1.50,0.00,0.000,6,0.000,0.038,2386,2369,3035
$GC,9909,-1.05,-56.3,833.1,-7.2,946,9909,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2369,3035
$GC,10094,-1.05,-56.3,846.6,-7.1,964,10095,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2369,3034
$GC,10281,-1.05,-56.3,860.8,-7.5,982,10284,0.00,1.55,0.00,0.000,4,0.000,0.056,2380,3264,3033
$GC,10424,-1.05,-56.3,871.7,-8.6,995,10432,0.00,1.48,0.00,0.000,6,0.000,0.038,2385,2371,3033
$GC,10616,-1.05,-56.3,885.8,-7.6,1014,10620,0.00,1.55,0.00,0.000,4,0.000,0.056,2380,3270,3033
$GC,10862,-1.06,-56.6,904.0,-6.6,1037,10866,0.00,1.48,0.00,0.000,6,0.000,0.039,2385,2376,3032
$GC,11058,-1.06,-56.6,917.8,-7.1,1056,11062,0.00,1.27,0.00,0.000,4,0.000,0.050,2389,1480,3031
$GC,11137,-1.06,-56.6,923.4,-7.7,1063,11145,0.00,1.33,0.00,0.000,6,0.000,0.046,2385,2375,3031
$GC,11329,-1.06,-56.6,936.6,-7.3,1082,11333,0.00,1.52,0.00,0.000,4,0.000,0.056,2377,3270,3031
$GC,11372,-1.06,-56.6,939.7,-6.9,1086,11376,0.00,1.50,0.00,0.000,6,0.000,0.039,2377,2372,3031
$GC,11569,-1.06,-56.6,953.9,-6.8,1105,11572,0.00,1.25,0.00,0.000,4,0.000,0.050,2376,1485,3030
$GC,11590,-1.06,-56.6,955.6,-7.9,1107,11593,0.00,1.30,0.00,0.000,6,0.000,0.047,2372,2372,3030
$GC,11786,-1.06,-56.6,969.5,-7.2,1126,11790,0.00,1.55,0.00,0.000,4,0.000,0.056,2364,3275,3030
$GC,12004,-1.06,-56.6,985.7,-7.7,1146,12014,0.12,1.52,0.00,0.000,6,0.219,0.039,2390,2371,3029
$STATE,12071,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12071,begin apogee
$GC,12074,-0.26,0.0,990.2,6.7,1153,12115,0.95,0.00,38.33,1.230,6,0.192,0.000,2647,2278,2840
$STATE,12116,end apogee,CONTROL_FINISHED_OK
$STATE,12116,begin climb
$GC,12117,1.06,56.6,991.2,0.0,1157,12175,1.30,0.00,48.65,1.223,6,0.111,0.000,3067,2278,2608
$GC,12358,1.06,56.6,962.2,14.1,1181,12362,0.00,1.17,0.00,0.000,4,0.000,0.046,3072,1378,2605
$GC,12379,1.06,56.6,959.1,14.9,1183,12383,0.00,1.25,0.00,0.000,6,0.000,0.046,3071,2289,2604
$GC,12576,1.06,56.6,931.5,14.1,1202,12579,0.00,1.20,0.00,0.000,4,0.000,0.044,3076,1384,2603
$GC,12644,1.06,56.6,921.7,13.9,1208,12651,0.00,1.23,0.00,0.000,6,0.000,0.046,3072,2284,2603
$GC,12836,1.06,56.6,895.3,13.5,1227,12839,0.00,1.17,0.00,0.000,4,0.000,0.044,3076,1384,2602
$GC,12889,1.06,56.6,888.0,13.5,1232,12892,0.00,1.20,0.00,0.000,6,0.000,0.047,3075,2285,2602
$GC,13086,1.06,56.6,860.9,14.0,1251,13087,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2285,2601
$GC,13272,1.06,56.6,836.2,13.1,1269,13275,0.00,1.17,0.00,0.000,4,0.000,0.044,3079,1381,2600
$GC,13372,1.06,56.6,822.4,14.5,1278,13381,0.00,1.23,0.00,0.000,6,0.000,0.046,3078,2290,2600
$GC,13564,1.06,56.6,796.5,13.8,1297,13565,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2290,2600
$GC,13750,1.06,56.6,772.1,12.6,1315,13751,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2290,2599
$GC,13937,1.06,56.6,747.9,12.6,1333,13940,0.00,1.20,0.00,0.000,4,0.000,0.044,3082,1377,2599
$GC,14065,1.06,56.6,731.6,13.2,1345,14068,0.00,1.20,0.00,0.000,6,0.000,0.046,3078,2286,2599
$GC,14261,1.06,56.6,707.1,12.3,1364,14264,0.00,1.17,0.00,0.000,4,0.000,0.044,3083,1377,2598
$GC,14372,1.06,56.6,693.2,11.5,1374,14381,0.00,1.23,0.00,0.000,6,0.000,0.045,3081,2292,2598
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$STATE,21304,end climb,SURFACE_DEPTH_REACHED
$STATE,21304,begin surface coast
$FINISH,0.5,1.020290
$STATE,21368,end surface coast,CONTROL_FINISHED_OK
$STATE,21368,begin surface
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$HUMID,1244
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$TCM_TEMP,24.70
$XPDR_PINGS,1
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$10V_AH,10.7,26.124
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$DEVICE_SECS,20.550,157.875,252.750,161.350,0.000,49.784,104.000,223.260,0.250,0.000,0.000,16.861,0.000,13885.567,659.059,6788.612,727.287,33.347,2656.932,0.000,6091.553,0.000,0.850,0.000
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107122,2042
$CAP_FILE_SIZE,240214,0
$CFSIZE,260165632,246325248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$CURRENT,0.022,299.7,1
$GPS,100610,115055,2844.447,-8829.130,42,1.1,42,-0.4