version: 66.04
glider: 515
mission: 5
dive: 33
start: 5 26 110 11 14 47
data:
$ID,515
$MISSION,5
$DIVE,33
$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,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,-4417.4077
$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,30
$C_ROLL_DIVE,2265
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,3010
$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
$GPS1,110607,2837.268,-8834.444,36,0.9,36,-0.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-69.0
$GPS2,111408,2837.330,-8834.453,12,2.0,12,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0525
$TGT_LATLONG,2832.200,-8826.700
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.263,0.032
$KALMAN_X,-61753.0,-460.7,-59.8,94406.6,-6756.8
$KALMAN_Y,-81471.8,1460.0,1669.2,56057.4,-11813.4
$MHEAD_RNG_PITCHd_Wd,97.2,15792,-10.8,-7.500
$D_GRID,1496
$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,-0.64,-194.6,0.0,0.0,0,89,0.00,0.00,-75.18,0.000,2,0.000,0.000,198,2279,2745
$GC,90,-0.64,-194.6,3.3,-4.9,11,131,10.48,1.48,-22.92,0.000,4,0.271,0.058,2493,1177,3806
$GC,135,-0.64,-194.6,13.5,-22.6,18,142,0.00,1.45,0.00,0.000,6,0.000,0.039,2488,2261,3807
$GC,205,-0.64,-194.6,31.2,-25.6,31,212,0.00,1.88,0.00,0.000,4,0.000,0.051,2479,3328,3807
$GC,275,-0.64,-194.6,46.1,-20.4,44,283,0.00,1.80,0.00,0.000,6,0.000,0.033,2485,2271,3807
$GC,346,-0.64,-194.6,58.7,-18.5,57,353,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2268,3807
$GC,416,-0.64,-194.6,70.7,-17.2,70,423,0.00,1.42,0.00,0.000,4,0.000,0.038,2485,1179,3807
$GC,448,-0.64,-194.6,76.4,-17.5,76,455,0.00,1.45,0.00,0.000,6,0.000,0.040,2479,2266,3807
$GC,519,-0.64,-194.6,88.7,-18.4,89,525,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2266,3807
$GC,588,-0.64,-194.6,101.4,-17.6,102,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2266,3808
$GC,717,-0.64,-194.6,124.0,-16.8,126,724,0.00,1.85,0.00,0.000,4,0.000,0.051,2471,3327,3808
$GC,739,-0.64,-194.6,127.7,-16.9,130,746,0.00,1.80,0.00,0.000,6,0.000,0.032,2471,2258,3808
$GC,873,-0.64,-194.6,151.1,-17.3,155,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2258,3808
$GC,1006,-0.64,-194.6,173.1,-16.0,180,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2256,3808
$GC,1140,-0.64,-194.6,193.7,-15.8,205,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2256,3808
$GC,1268,-0.64,-194.6,213.9,-15.8,229,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2257,3809
$GC,1396,-0.64,-194.6,233.7,-15.3,253,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2257,3808
$GC,1530,-0.64,-194.6,253.9,-15.1,278,1537,0.00,1.38,0.00,0.000,4,0.000,0.041,2471,1192,3808
$GC,1568,-0.64,-194.6,259.6,-14.7,285,1576,0.00,1.42,0.00,0.000,6,0.000,0.041,2466,2265,3808
$GC,1704,-0.64,-194.6,279.9,-15.3,310,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2265,3808
$GC,1837,-0.64,-194.6,300.1,-15.5,335,1843,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2265,3807
$GC,1970,-0.64,-194.6,320.6,-15.4,360,1976,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2265,3807
$GC,2103,-0.64,-194.6,340.8,-14.7,385,2112,0.00,1.83,0.00,0.000,4,0.000,0.053,2457,3313,3807
$GC,2164,-0.64,-194.6,350.2,-15.7,396,2171,0.10,1.75,0.00,0.000,6,0.164,0.035,2487,2272,3807
$GC,2299,-0.64,-194.6,369.0,-14.1,421,2306,0.00,1.42,0.00,0.000,4,0.000,0.042,2490,1183,3806
$GC,2337,-0.64,-194.6,374.4,-13.8,428,2345,0.00,1.45,0.00,0.000,6,0.000,0.043,2485,2268,3806
$GC,2472,-0.64,-194.6,391.8,-12.7,453,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2268,3805
$GC,2606,-0.64,-194.6,409.4,-13.2,478,2612,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2268,3804
$GC,2739,-0.64,-194.6,427.0,-12.9,503,2740,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2268,3803
$GC,2867,-0.64,-194.6,443.6,-13.1,527,2873,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2268,3802
$GC,3000,-0.64,-194.6,461.0,-12.5,552,3007,0.00,1.83,0.00,0.000,4,0.000,0.056,2476,3316,3801
$GC,3033,-0.64,-194.6,465.3,-13.7,558,3040,0.00,1.77,0.00,0.000,6,0.000,0.037,2477,2266,3801
$GC,3168,-0.64,-194.6,483.0,-12.9,583,3175,0.00,1.42,0.00,0.000,4,0.000,0.044,2477,1177,3800
$GC,3206,-0.64,-194.6,488.1,-13.4,590,3213,0.00,1.45,0.00,0.000,6,0.000,0.045,2472,2262,3799
$GC,3340,-0.64,-194.6,506.3,-13.4,615,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2262,3799
$GC,3473,-0.64,-194.6,524.3,-13.0,640,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2262,3799
$GC,3601,-0.64,-194.6,541.3,-13.3,664,3602,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2262,3797
$GC,3729,-0.64,-194.6,558.5,-13.3,688,3736,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2261,3796
$GC,3863,-0.64,-194.6,576.3,-13.4,713,3870,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2262,3795
$GC,3997,-0.64,-194.6,593.9,-12.7,738,4003,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2262,3794
$GC,4130,-0.64,-194.6,611.6,-13.6,763,4131,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2262,3793
$GC,4258,-0.64,-194.6,628.2,-12.9,787,4259,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2262,3792
$GC,4387,-0.64,-194.6,645.3,-13.3,811,4394,0.00,1.85,0.00,0.000,4,0.000,0.059,2463,3316,3791
$GC,4414,-0.64,-194.6,649.2,-13.7,816,4421,0.00,1.77,0.00,0.000,6,0.000,0.039,2463,2267,3791
$GC,4548,-0.64,-194.6,667.7,-13.8,841,4556,0.12,0.00,0.00,0.000,6,0.174,0.000,2493,2263,3790
$GC,4683,-0.64,-194.6,683.9,-11.4,866,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2263,3788
$GC,4816,-0.64,-194.6,699.9,-11.8,891,4822,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2263,3787
$GC,4950,-0.64,-194.6,715.4,-11.5,916,4956,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2263,3787
$GC,5083,-0.64,-194.6,730.9,-11.6,941,5084,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2263,3786
$GC,5211,-0.64,-194.6,745.4,-11.5,965,5218,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2264,3786
$GC,5345,-0.64,-194.6,760.8,-11.5,990,5351,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2264,3785
$GC,5479,-0.64,-194.6,776.2,-11.9,1015,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2264,3784
$GC,5613,-0.64,-194.6,791.4,-10.7,1040,5619,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2264,3783
$GC,5746,-0.64,-194.6,806.6,-11.4,1065,5747,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2264,3782
$GC,5874,-0.64,-194.6,821.1,-11.1,1089,5881,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2264,3782
$GC,6008,-0.64,-194.6,836.1,-11.2,1114,6015,0.00,1.88,0.00,0.000,4,0.000,0.063,2486,3315,3781
$GC,6046,-0.64,-194.6,840.4,-11.6,1121,6055,0.00,1.77,0.00,0.000,6,0.000,0.041,2487,2272,3780
$GC,6182,-0.64,-194.6,855.8,-11.4,1146,6189,0.00,1.45,0.00,0.000,4,0.000,0.049,2486,1190,3780
$GC,6209,-0.64,-194.6,859.0,-11.6,1151,6216,0.00,1.45,0.00,0.000,6,0.000,0.049,2480,2261,3780
$GC,6344,-0.64,-194.6,874.5,-10.8,1176,6350,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2261,3779
$GC,6477,-0.64,-194.6,889.9,-11.6,1201,6485,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2261,3779
$GC,6612,-0.64,-194.6,905.3,-11.1,1226,6619,0.00,1.88,0.00,0.000,4,0.000,0.061,2471,3326,3778
$GC,6644,-0.64,-194.6,909.1,-11.7,1232,6652,0.00,1.80,0.00,0.000,6,0.000,0.042,2471,2269,3778
$GC,6779,-0.64,-194.6,924.9,-11.3,1257,6786,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2270,3777
$GC,6914,-0.64,-194.6,940.7,-11.9,1282,6920,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2270,3776
$GC,7047,-0.64,-194.6,956.3,-12.2,1307,7053,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2270,3776
$GC,7180,-0.64,-194.6,972.0,-11.5,1332,7186,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2271,3775
$GC,7314,-0.64,-194.6,988.1,-12.1,1357,7321,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2271,3774
$STATE,7329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7329,begin apogee
$GC,7332,-0.26,0.0,990.1,11.9,1360,7489,0.45,0.00,150.45,1.253,6,0.154,0.000,2609,2270,3010
$STATE,7490,end apogee,CONTROL_FINISHED_OK
$STATE,7490,begin climb
$GC,7491,0.64,194.6,996.9,0.0,1383,7661,0.93,0.00,162.12,1.221,6,0.115,0.000,2895,2270,2216
$GC,7788,0.64,194.6,973.8,10.3,1432,7794,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2270,2208
$GC,7921,0.64,194.6,959.9,10.4,1457,7922,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2270,2207
$GC,8050,0.64,194.6,946.8,10.4,1481,8057,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2270,2206
$GC,8184,0.64,194.6,933.5,10.1,1506,8191,0.00,1.95,0.00,0.000,4,0.000,0.069,2894,3334,2205
$GC,8216,0.64,194.6,929.9,11.3,1512,8224,0.00,1.83,0.00,0.000,6,0.000,0.040,2903,2273,2204
$GC,8351,0.64,194.6,915.8,10.2,1537,8352,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2274,2204
$GC,8479,0.64,194.6,902.7,10.0,1561,8480,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2274,2203
$GC,8607,0.64,194.6,889.4,10.5,1585,8615,0.00,1.90,0.00,0.000,4,0.000,0.064,2903,3338,2204
$GC,8641,0.64,194.6,885.6,11.1,1591,8649,0.00,1.80,0.00,0.000,6,0.000,0.039,2912,2281,2203
$GC,8776,0.64,194.6,871.0,10.7,1616,8782,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2281,2203
$GC,8909,0.64,194.6,856.4,10.9,1641,8916,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2282,2203
$GC,9043,0.64,194.6,841.6,11.2,1666,9044,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2282,2202
$GC,9172,0.64,194.6,827.8,11.0,1690,9178,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2282,2202
$GC,9305,0.64,194.6,813.9,10.7,1715,9312,0.00,1.88,0.00,0.000,4,0.000,0.064,2912,3341,2202
$GC,9338,0.64,194.6,810.3,11.1,1721,9347,0.00,1.80,0.00,0.000,6,0.000,0.040,2920,2275,2201
$GC,9474,0.64,194.6,795.5,10.7,1746,9480,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2275,2200
$GC,9607,0.64,194.6,781.3,10.8,1771,9613,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2275,2201
$GC,9740,0.64,194.6,767.3,10.6,1796,9748,0.00,1.88,0.00,0.000,4,0.000,0.064,2921,3334,2200
$GC,9768,0.64,194.6,764.0,11.7,1801,9777,0.00,1.80,0.00,0.000,6,0.000,0.039,2929,2274,2199
$GC,9904,0.64,194.6,748.4,11.4,1826,9910,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2274,2199
$GC,10037,0.64,194.6,733.7,11.1,1851,10043,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2275,2199
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