version: 66.04
glider: 515
mission: 5
dive: 32
start: 5 26 110 6 7 5
data:
$ID,515
$MISSION,5
$DIVE,32
$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,-4402.4141
$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,2265
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,3025
$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
$GPS1,055436,2837.293,-8835.350,23,1.5,23,-0.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-68.8
$GPS2,060626,2837.454,-8835.470,14,1.6,14,-0.3
$SPEED_LIMITS,0.130,0.250
$TGT_NAME,NEW0525
$TGT_LATLONG,2832.200,-8826.700
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.250,0.014
$KALMAN_X,-60095.7,263.6,1614.8,88744.3,-15190.6
$KALMAN_Y,-81876.4,2753.0,394.6,56660.4,-11364.0
$MHEAD_RNG_PITCHd_Wd,87.5,17271,-11.9,-7.500
$D_GRID,1444
$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,-0.65,-170.3,0.0,0.0,0,96,0.00,0.00,-82.00,0.000,2,0.000,0.000,202,2275,2930
$GC,97,-0.65,-170.3,3.1,-4.1,12,126,10.30,0.00,-17.02,0.000,6,0.268,0.000,2483,2274,3722
$GC,189,-0.65,-170.3,27.6,-26.0,28,195,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2275,3724
$GC,258,-0.65,-170.3,41.0,-19.2,41,265,0.00,2.22,0.00,0.000,4,0.000,0.050,2473,3478,3724
$GC,328,-0.65,-170.3,55.2,-18.8,54,336,0.00,2.10,0.00,0.000,6,0.000,0.031,2481,2276,3725
$GC,400,-0.65,-170.3,67.8,-18.1,67,405,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2274,3725
$GC,468,-0.65,-170.3,79.7,-17.3,80,476,0.00,1.70,0.00,0.000,4,0.000,0.040,2482,994,3725
$GC,501,-0.65,-170.3,85.3,-16.7,86,509,0.00,1.70,0.00,0.000,6,0.000,0.040,2476,2265,3725
$GC,572,-0.65,-170.3,97.3,-16.7,99,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2266,3725
$GC,636,-0.65,-170.3,108.4,-17.5,111,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2267,3726
$GC,764,-0.65,-170.3,129.6,-16.5,135,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2267,3726
$GC,897,-0.65,-170.3,151.2,-15.6,160,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2267,3726
$GC,1026,-0.65,-170.3,170.3,-14.8,184,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2267,3726
$GC,1153,-0.65,-170.3,189.9,-15.0,208,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2267,3726
$GC,1281,-0.65,-170.3,209.3,-15.2,232,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2267,3726
$GC,1410,-0.65,-170.3,228.2,-15.0,256,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2267,3725
$GC,1543,-0.65,-170.3,247.5,-14.3,281,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2267,3725
$GC,1671,-0.65,-170.3,265.7,-14.2,305,1678,0.00,1.67,0.00,0.000,4,0.000,0.041,2477,1004,3724
$GC,1709,-0.65,-170.3,271.0,-14.1,312,1716,0.00,1.67,0.00,0.000,6,0.000,0.041,2471,2264,3724
$GC,1843,-0.65,-170.3,290.6,-14.4,337,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2264,3723
$GC,1971,-0.65,-170.3,309.9,-15.1,361,1979,0.00,1.67,0.00,0.000,4,0.000,0.042,2471,999,3722
$GC,2015,-0.65,-170.3,316.5,-15.2,369,2022,0.00,1.67,0.00,0.000,6,0.000,0.041,2463,2264,3722
$GC,2149,-0.65,-170.3,336.3,-14.8,394,2150,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2264,3722
$GC,2277,-0.65,-170.3,355.0,-14.6,418,2284,0.00,2.20,0.00,0.000,4,0.000,0.056,2452,3474,3721
$GC,2336,-0.65,-170.3,364.1,-15.1,429,2344,0.10,2.12,0.00,0.000,6,0.163,0.035,2483,2261,3721
$GC,2472,-0.65,-170.3,382.0,-12.6,454,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2260,3720
$GC,2605,-0.65,-170.3,399.2,-12.8,479,2612,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2260,3719
$GC,2739,-0.65,-170.3,415.8,-12.5,504,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2260,3718
$GC,2872,-0.65,-170.3,433.0,-13.0,529,2878,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2260,3717
$GC,3005,-0.65,-170.3,450.2,-12.8,554,3006,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2260,3716
$GC,3133,-0.65,-170.3,466.5,-13.0,578,3140,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2260,3715
$GC,3267,-0.65,-170.3,484.1,-13.3,603,3273,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2261,3714
$GC,3400,-0.65,-170.3,502.0,-13.7,628,3407,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2260,3713
$GC,3534,-0.65,-170.3,519.9,-13.3,653,3540,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2260,3712
$GC,3667,-0.65,-170.3,537.4,-12.9,678,3674,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2261,3711
$GC,3802,-0.65,-170.3,554.6,-12.7,703,3808,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2260,3710
$GC,3935,-0.65,-170.3,571.6,-12.7,728,3942,0.00,1.65,0.00,0.000,4,0.000,0.047,2484,1006,3709
$GC,3962,-0.65,-170.3,575.1,-12.8,733,3970,0.00,1.70,0.00,0.000,6,0.000,0.046,2478,2266,3709
$GC,4097,-0.65,-170.3,592.2,-12.6,758,4104,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2266,3708
$GC,4231,-0.65,-170.3,609.1,-12.7,783,4237,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2267,3707
$GC,4364,-0.65,-170.3,625.7,-12.4,808,4371,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2267,3705
$GC,4498,-0.65,-170.3,642.2,-12.3,833,4498,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2267,3705
$GC,4626,-0.65,-170.3,658.0,-12.6,857,4626,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2267,3704
$GC,4754,-0.65,-170.3,673.7,-12.1,881,4760,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2267,3703
$GC,4887,-0.65,-170.3,690.0,-12.5,906,4894,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2267,3702
$GC,5021,-0.65,-170.3,706.4,-12.1,931,5027,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2267,3701
$GC,5154,-0.65,-170.3,722.5,-12.5,956,5161,0.00,1.70,0.00,0.000,4,0.000,0.048,2478,1001,3700
$GC,5187,-0.65,-170.3,726.6,-12.7,962,5195,0.00,1.73,0.00,0.000,6,0.000,0.048,2470,2270,3699
$GC,5323,-0.65,-170.3,743.7,-12.8,987,5329,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2271,3698
$GC,5456,-0.65,-170.3,760.6,-13.5,1012,5463,0.00,1.70,0.00,0.000,4,0.000,0.048,2470,1010,3697
$GC,5499,-0.65,-170.3,766.2,-13.2,1020,5506,0.00,1.70,0.00,0.000,6,0.000,0.048,2462,2266,3697
$GC,5634,-0.65,-170.3,783.6,-13.0,1045,5640,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2266,3697
$GC,5767,-0.65,-170.3,801.2,-13.1,1070,5768,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2266,3695
$GC,5895,-0.65,-170.3,818.0,-13.3,1094,5902,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2266,3696
$GC,6030,-0.65,-170.3,835.2,-12.9,1119,6036,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2266,3696
$GC,6163,-0.65,-170.3,851.9,-12.4,1144,6163,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2266,3695
$GC,6291,-0.65,-170.3,868.1,-12.9,1168,6297,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2266,3694
$GC,6424,-0.65,-170.3,885.1,-12.6,1193,6425,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2266,3694
$GC,6552,-0.65,-170.3,901.1,-12.1,1217,6558,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2266,3692
$GC,6686,-0.65,-170.3,917.9,-13.0,1242,6693,0.00,1.70,0.00,0.000,4,0.000,0.050,2463,1008,3691
$GC,6714,-0.65,-170.3,921.2,-12.1,1247,6721,0.10,1.70,0.00,0.000,6,0.173,0.049,2485,2262,3691
$GC,6849,-0.65,-170.3,935.9,-10.6,1272,6855,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2263,3690
$GC,6982,-0.65,-170.3,950.0,-10.5,1297,6983,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2263,3690
$GC,7110,-0.65,-170.3,963.7,-10.8,1321,7116,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2263,3690
$GC,7243,-0.65,-170.3,978.3,-10.8,1346,7250,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2263,3689
$STATE,7355,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7355,begin apogee
$GC,7358,-0.26,0.0,990.4,10.4,1367,7493,0.40,0.00,130.45,1.255,6,0.153,0.000,2609,2263,3025
$STATE,7494,end apogee,CONTROL_FINISHED_OK
$STATE,7494,begin climb
$GC,7495,0.65,170.3,996.0,0.0,1387,7644,0.95,0.00,142.05,1.222,6,0.114,0.000,2901,2263,2329
$GC,7771,0.65,170.3,975.3,10.0,1433,7777,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2264,2323
$GC,7904,0.65,170.3,961.8,9.8,1458,7905,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2263,2321
$GC,8032,0.65,170.3,948.8,10.3,1482,8033,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2263,2320
$GC,8160,0.65,170.3,935.8,10.1,1506,8168,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2263,2319
$GC,8295,0.65,170.3,922.6,9.7,1531,8295,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2264,2319
$GC,8423,0.65,170.3,909.9,9.9,1555,8430,0.00,2.40,0.00,0.000,4,0.000,0.072,2901,3509,2317
$GC,8445,0.65,170.3,907.5,10.8,1559,8452,0.00,2.28,0.00,0.000,6,0.000,0.041,2913,2270,2317
$GC,8579,0.65,170.3,893.0,10.5,1584,8580,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2270,2317
$GC,8707,0.65,170.3,879.5,10.3,1608,8713,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2271,2316
$GC,8840,0.65,170.3,865.7,10.5,1633,8847,0.00,2.38,0.00,0.000,4,0.000,0.067,2912,3518,2316
$GC,8884,0.65,170.3,860.4,12.0,1641,8891,0.00,2.28,0.00,0.000,6,0.000,0.040,2923,2277,2315
$GC,9018,0.65,170.3,845.5,10.7,1666,9025,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2276,2315
$GC,9152,0.65,170.3,830.7,11.2,1691,9160,0.00,1.67,0.00,0.000,4,0.000,0.048,2931,1017,2315
$GC,9180,0.65,170.3,827.6,11.2,1696,9188,0.00,1.70,0.00,0.000,6,0.000,0.049,2931,2272,2315
$GC,9315,0.65,170.3,812.3,11.2,1721,9316,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2273,2315
$GC,9443,0.65,170.3,798.0,11.1,1745,9450,0.00,2.33,0.00,0.000,4,0.000,0.065,2931,3496,2314
$GC,9476,0.65,170.3,794.0,12.2,1751,9482,0.10,2.17,0.00,0.000,6,0.171,0.040,2913,2279,2313
$GC,9610,0.65,170.3,780.2,10.2,1776,9616,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2279,2313
$GC,9743,0.65,170.3,767.0,9.8,1801,9749,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2279,2312
$GC,9876,0.65,170.3,753.4,10.3,1826,9877,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2279,2313
$GC,10004,0.65,170.3,740.3,10.1,1850,10011,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2279,2312
$GC,10139,0.65,170.3,726.9,9.8,1875,10146,0.00,1.70,0.00,0.000,4,0.000,0.048,2919,1006,2312
$GC,10171,0.65,170.3,723.8,9.9,1881,10179,0.00,1.73,0.00,0.000,6,0.000,0.048,2919,2276,2312
$GC,10306,0.65,170.3,709.9,10.3,1906,10315,0.00,2.33,0.00,0.000,4,0.000,0.065,2919,3510,2312
$GC,10340,0.65,170.3,705.9,11.5,1912,10348,0.00,2.28,0.00,0.000,6,0.000,0.040,2929,2265,2311
$GC,10475,0.65,170.3,691.3,10.7,1937,10476,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2264,2311
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$STATE,17745,end climb,SURFACE_DEPTH_REACHED
$STATE,17745,begin surface coast
$FINISH,0.6,1.022936
$STATE,17783,end surface coast,CONTROL_FINISHED_OK
$STATE,17783,begin surface
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$DEVICE_SECS,20.250,131.025,436.825,93.350,0.000,48.032,56.178,414.794,0.250,0.000,0.000,16.014,0.000,7638.156,952.334,9068.148,885.229,33.332,3505.431,0.000,8221.716,0.000,1.153,0.000
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$CURRENT,0.172,256.4,1
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