version: 66.04
glider: 515
mission: 5
dive: 30
start: 5 25 110 19 56 15
data:
$ID,515
$MISSION,5
$DIVE,30
$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,440
$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,175
$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,-4370.7886
$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,35
$C_ROLL_DIVE,2214
$C_ROLL_CLIMB,2283
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$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,3046
$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
$GPS1,194637,2837.884,-8836.654,27,2.0,27,-0.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-68.1
$GPS2,195536,2837.863,-8836.847,12,1.4,28,-0.3
$SPEED_LIMITS,0.130,0.250
$TGT_NAME,NEW0525
$TGT_LATLONG,2832.200,-8826.700
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.250,0.016
$KALMAN_X,-51228.2,1058.6,1961.3,76442.9,-11699.8
$KALMAN_Y,-78498.3,163.2,13.6,57063.3,-12226.7
$MHEAD_RNG_PITCHd_Wd,81.5,19558,-11.9,-7.500
$D_GRID,1354
$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,-0.65,-170.3,0.0,0.0,0,100,0.00,0.00,-86.15,0.000,2,0.000,0.000,201,2218,3079
$GC,101,-0.65,-170.3,3.2,-2.8,12,130,10.30,1.70,-13.65,0.000,4,0.267,0.058,2491,951,3743
$GC,214,-0.65,-170.3,31.2,-20.4,32,221,0.00,1.67,0.00,0.000,6,0.000,0.038,2484,2222,3743
$GC,284,-0.65,-170.3,43.8,-17.5,45,290,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2222,3744
$GC,353,-0.65,-170.3,55.9,-17.0,58,360,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2222,3744
$GC,423,-0.65,-170.3,67.8,-17.4,71,429,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2222,3745
$GC,492,-0.65,-170.3,79.3,-16.0,84,498,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2222,3746
$GC,561,-0.65,-170.3,90.9,-17.1,97,562,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2222,3746
$GC,625,-0.65,-170.3,101.4,-16.6,109,626,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2222,3746
$GC,753,-0.65,-170.3,122.0,-16.0,133,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2223,3746
$GC,886,-0.65,-170.3,143.0,-15.7,158,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2223,3746
$GC,1021,-0.65,-170.3,162.7,-15.1,183,1027,0.00,2.08,0.00,0.000,4,0.000,0.050,2474,3425,3746
$GC,1053,-0.65,-170.3,167.8,-16.2,189,1060,0.00,2.05,0.00,0.000,6,0.000,0.031,2482,2204,3746
$GC,1187,-0.65,-170.3,187.4,-14.5,214,1194,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2203,3746
$GC,1321,-0.65,-170.3,206.8,-14.1,239,1329,0.00,2.15,0.00,0.000,4,0.000,0.050,2473,3430,3745
$GC,1349,-0.65,-170.3,210.9,-14.5,244,1357,0.00,2.03,0.00,0.000,6,0.000,0.032,2473,2205,3745
$GC,1484,-0.65,-170.3,230.4,-14.4,269,1491,0.00,2.12,0.00,0.000,4,0.000,0.050,2464,3430,3746
$GC,1506,-0.65,-170.3,233.7,-14.4,273,1513,0.00,2.03,0.00,0.000,6,0.000,0.031,2465,2207,3746
$GC,1640,-0.65,-170.3,254.5,-15.9,298,1648,0.00,2.12,0.00,0.000,4,0.000,0.051,2456,3430,3745
$GC,1663,-0.65,-170.3,258.2,-15.9,302,1672,0.10,2.00,0.00,0.000,6,0.173,0.033,2486,2214,3745
$GC,1799,-0.65,-170.3,277.2,-13.7,327,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2214,3744
$GC,1932,-0.65,-170.3,296.0,-14.3,352,1939,0.00,2.10,0.00,0.000,4,0.000,0.051,2477,3432,3743
$GC,1970,-0.65,-170.3,301.5,-15.0,359,1977,0.00,2.00,0.00,0.000,6,0.000,0.033,2482,2213,3743
$GC,2105,-0.65,-170.3,320.6,-13.6,384,2111,0.00,1.60,0.00,0.000,4,0.000,0.044,2482,972,3743
$GC,2164,-0.65,-170.3,328.8,-13.7,395,2171,0.00,1.62,0.00,0.000,6,0.000,0.039,2476,2214,3743
$GC,2298,-0.65,-170.3,347.4,-14.0,420,2304,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2215,3742
$GC,2431,-0.65,-170.3,366.5,-15.0,445,2438,0.00,2.05,0.00,0.000,4,0.000,0.053,2467,3433,3741
$GC,2475,-0.65,-170.3,373.0,-15.2,453,2482,0.00,2.00,0.00,0.000,6,0.000,0.035,2466,2211,3740
$GC,2609,-0.65,-170.3,393.1,-15.2,478,2616,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2211,3740
$GC,2743,-0.65,-170.3,413.5,-15.0,503,2749,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2211,3739
$GC,2877,-0.65,-170.3,433.3,-15.2,528,2877,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2211,3738
$GC,3005,-0.65,-170.3,452.3,-14.9,552,3010,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2211,3737
$GC,3138,-0.65,-170.3,471.9,-14.9,577,3145,0.00,2.10,0.00,0.000,4,0.000,0.054,2457,3428,3736
$GC,3175,-0.65,-170.3,477.8,-15.3,584,3183,0.08,2.00,0.00,0.000,6,0.183,0.037,2479,2217,3736
$GC,3310,-0.65,-170.3,495.8,-13.4,609,3316,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2218,3734
$GC,3444,-0.65,-170.3,513.4,-12.9,634,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2218,3734
$GC,3578,-0.65,-170.3,531.6,-13.5,659,3585,0.00,2.08,0.00,0.000,4,0.000,0.056,2470,3427,3732
$GC,3616,-0.65,-170.3,536.7,-13.6,666,3624,0.00,2.00,0.00,0.000,6,0.000,0.037,2470,2214,3732
$GC,3752,-0.65,-170.3,555.7,-14.2,691,3758,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2215,3731
$GC,3885,-0.65,-170.3,574.6,-14.0,716,3891,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2215,3730
$GC,4018,-0.65,-170.3,593.3,-13.8,741,4019,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2215,3730
$GC,4147,-0.65,-170.3,610.9,-13.7,765,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2215,3728
$GC,4280,-0.65,-170.3,628.9,-13.8,790,4288,0.00,2.10,0.00,0.000,4,0.000,0.057,2461,3429,3727
$GC,4308,-0.65,-170.3,632.9,-14.1,795,4315,0.00,2.00,0.00,0.000,6,0.000,0.038,2462,2221,3727
$GC,4443,-0.65,-170.3,651.4,-13.7,820,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2221,3725
$GC,4576,-0.65,-170.3,670.0,-13.8,845,4577,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2221,3725
$GC,4704,-0.65,-170.3,687.9,-13.9,869,4711,0.00,2.08,0.00,0.000,4,0.000,0.057,2454,3430,3724
$GC,4737,-0.65,-170.3,692.5,-14.6,875,4745,0.10,2.03,0.00,0.000,6,0.176,0.039,2483,2207,3724
$GC,4872,-0.65,-170.3,709.5,-12.2,900,4878,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2207,3722
$GC,5005,-0.65,-170.3,725.5,-11.4,925,5011,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2208,3722
$GC,5138,-0.65,-170.3,741.3,-11.9,950,5147,0.00,2.12,0.00,0.000,4,0.000,0.058,2474,3427,3721
$GC,5172,-0.65,-170.3,745.4,-12.4,956,5179,0.00,2.03,0.00,0.000,6,0.000,0.040,2474,2205,3721
$GC,5307,-0.65,-170.3,762.0,-12.4,981,5313,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2206,3720
$GC,5440,-0.65,-170.3,778.4,-11.8,1006,5441,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2206,3719
$GC,5568,-0.65,-170.3,794.7,-13.1,1030,5576,0.00,2.12,0.00,0.000,4,0.000,0.058,2465,3428,3718
$GC,5618,-0.65,-170.3,801.5,-13.7,1039,5625,0.00,2.03,0.00,0.000,6,0.000,0.040,2465,2211,3718
$GC,5752,-0.65,-170.3,819.4,-13.1,1064,5758,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2211,3717
$GC,5886,-0.65,-170.3,836.9,-13.2,1089,5892,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2212,3716
$GC,6019,-0.65,-170.3,854.4,-13.1,1114,6027,0.00,2.12,0.00,0.000,4,0.000,0.058,2455,3426,3715
$GC,6047,-0.65,-170.3,858.2,-13.4,1119,6055,0.10,2.00,0.00,0.000,6,0.176,0.041,2485,2219,3716
$GC,6183,-0.65,-170.3,873.9,-11.3,1144,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2219,3714
$GC,6317,-0.65,-170.3,889.1,-11.2,1169,6322,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2220,3714
$GC,6450,-0.65,-170.3,903.8,-10.4,1194,6457,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2220,3713
$GC,6584,-0.65,-170.3,919.1,-11.1,1219,6590,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2220,3712
$GC,6717,-0.65,-170.3,934.0,-11.3,1244,6724,0.00,2.10,0.00,0.000,4,0.000,0.060,2476,3426,3712
$GC,6745,-0.65,-170.3,937.2,-11.5,1249,6751,0.00,2.03,0.00,0.000,6,0.000,0.041,2477,2213,3711
$GC,6878,-0.65,-170.3,953.0,-11.9,1274,6879,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2214,3711
$GC,7006,-0.65,-170.3,967.7,-11.4,1298,7007,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2214,3711
$GC,7135,-0.65,-170.3,982.2,-11.5,1322,7143,0.00,2.10,0.00,0.000,4,0.000,0.060,2469,3428,3710
$GC,7169,-0.65,-170.3,986.2,-12.2,1328,7176,0.00,2.03,0.00,0.000,6,0.000,0.041,2469,2213,3710
$STATE,7200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7200,begin apogee
$GC,7203,-0.26,0.0,990.1,12.0,1334,7338,0.47,0.00,130.38,1.253,6,0.158,0.000,2611,2279,3046
$STATE,7339,end apogee,CONTROL_FINISHED_OK
$STATE,7339,begin climb
$GC,7340,0.65,170.3,995.8,0.0,1354,7489,0.93,0.00,141.38,1.220,6,0.111,0.000,2899,2280,2352
$GC,7617,0.65,170.3,975.1,10.2,1400,7623,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2279,2345
$GC,7750,0.65,170.3,961.7,10.3,1425,7756,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2280,2344
$GC,7883,0.65,170.3,948.5,9.8,1450,7891,0.00,1.75,0.00,0.000,4,0.000,0.047,2907,1028,2342
$GC,7911,0.65,170.3,945.7,10.0,1455,7918,0.00,1.77,0.00,0.000,6,0.000,0.048,2907,2274,2342
$GC,8046,0.65,170.3,932.0,10.3,1480,8053,0.00,2.35,0.00,0.000,4,0.000,0.064,2907,3515,2341
$GC,8073,0.65,170.3,929.0,11.3,1485,8080,0.00,2.25,0.00,0.000,6,0.000,0.038,2918,2292,2340
$GC,8207,0.65,170.3,914.7,10.6,1510,8215,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2293,2340
$GC,8342,0.65,170.3,900.4,11.0,1535,8348,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2293,2340
$GC,8475,0.65,170.3,886.3,10.5,1560,8481,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2293,2339
$GC,8608,0.65,170.3,872.3,10.7,1585,8615,0.00,1.70,0.00,0.000,4,0.000,0.047,2926,1031,2338
$GC,8641,0.65,170.3,869.0,9.9,1591,8648,0.00,1.73,0.00,0.000,6,0.000,0.048,2926,2288,2338
$GC,8775,0.65,170.3,854.8,10.4,1616,8781,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2288,2338
$GC,8909,0.65,170.3,840.8,10.5,1641,8909,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2288,2337
$GC,9037,0.65,170.3,827.0,10.9,1665,9043,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2289,2336
$GC,9170,0.65,170.3,812.7,11.2,1690,9177,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2288,2336
$GC,9304,0.65,170.3,797.6,11.3,1715,9310,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2289,2336
$GC,9437,0.65,170.3,783.2,10.7,1740,9443,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2289,2335
$GC,9571,0.65,170.3,768.6,10.8,1765,9577,0.00,2.33,0.00,0.000,4,0.000,0.064,2926,3515,2335
$GC,9608,0.65,170.3,764.2,12.1,1772,9616,0.00,2.22,0.00,0.000,6,0.000,0.039,2936,2283,2335
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$GC,9776,0.65,170.3,744.7,11.5,1803,9783,0.10,1.73,0.00,0.000,6,0.161,0.047,2915,2289,2335
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$STATE,17639,end climb,SURFACE_DEPTH_REACHED
$STATE,17639,begin surface coast
$FINISH,0.4,1.020590
$STATE,17682,end surface coast,CONTROL_FINISHED_OK
$STATE,17682,begin surface
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$CFSIZE,260165632,253526016
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$CURRENT,0.190,250.8,1
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