version: 66.04
glider: 515
mission: 5
dive: 34
start: 5 26 110 16 16 23
data:
$ID,515
$MISSION,5
$DIVE,34
$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,-4431.7949
$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,24
$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,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
$GPS1,160636,2836.624,-8833.240,40,1.1,40,-0.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-68.5
$GPS2,161544,2836.662,-8833.290,11,1.9,11,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0525
$TGT_LATLONG,2832.200,-8826.700
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.258,-0.060
$KALMAN_X,-68757.3,1061.6,594.8,101168.9,-12635.2
$KALMAN_Y,-79308.7,-262.0,94.1,55960.0,-2788.9
$MHEAD_RNG_PITCHd_Wd,97.2,13537,-10.8,-7.500
$D_GRID,1549
$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,-194.6,0.0,0.0,0,98,0.00,0.00,-84.60,0.000,2,0.000,0.000,200,2278,2969
$GC,99,-0.64,-194.6,3.0,-3.7,8,136,10.35,1.48,-18.65,0.000,4,0.267,0.061,2493,1189,3806
$GC,374,-0.64,-194.6,61.9,-15.5,33,383,0.00,1.48,0.00,0.000,6,0.000,0.041,2488,2273,3807
$GC,442,-0.64,-194.6,73.2,-17.5,40,443,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2273,3808
$GC,504,-0.64,-194.6,84.0,-17.8,46,508,0.00,1.83,0.00,0.000,4,0.000,0.051,2479,3319,3808
$GC,525,-0.64,-194.6,87.7,-17.4,48,529,0.00,1.77,0.00,0.000,6,0.000,0.032,2485,2266,3808
$GC,598,-0.64,-194.6,100.7,-17.6,55,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2265,3808
$GC,721,-0.64,-194.6,122.5,-17.4,67,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2264,3809
$GC,846,-0.64,-194.6,144.5,-17.5,79,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2265,3809
$GC,970,-0.64,-194.6,165.2,-16.3,91,974,0.00,1.40,0.00,0.000,4,0.000,0.039,2485,1181,3809
$GC,1002,-0.64,-194.6,170.2,-15.3,94,1006,0.00,1.42,0.00,0.000,6,0.000,0.040,2480,2260,3809
$GC,1136,-0.64,-194.6,191.4,-15.2,107,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2261,3809
$GC,1260,-0.64,-194.6,210.9,-15.2,119,1264,0.00,1.83,0.00,0.000,4,0.000,0.052,2471,3313,3809
$GC,1286,-0.64,-194.6,215.1,-16.5,121,1295,0.00,1.77,0.00,0.000,6,0.000,0.032,2471,2263,3809
$GC,1416,-0.64,-194.6,235.4,-15.9,134,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2262,3808
$GC,1540,-0.64,-194.6,254.0,-15.1,146,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2262,3808
$GC,1664,-0.64,-194.6,273.4,-15.6,158,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2262,3808
$GC,1788,-0.64,-194.6,291.8,-14.9,170,1792,0.00,1.85,0.00,0.000,4,0.000,0.052,2464,3315,3807
$GC,1820,-0.64,-194.6,296.7,-15.3,173,1824,0.00,1.75,0.00,0.000,6,0.000,0.033,2464,2276,3807
$GC,1955,-0.64,-194.6,317.1,-15.0,186,1955,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2275,3807
$GC,2079,-0.64,-194.6,336.0,-15.7,198,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2276,3807
$GC,2203,-0.64,-194.6,355.3,-15.7,210,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2275,3806
$GC,2327,-0.64,-194.6,374.0,-14.9,222,2328,0.12,0.00,0.00,0.000,6,0.174,0.000,2494,2274,3806
$GC,2452,-0.64,-194.6,389.4,-11.7,234,2455,0.00,1.42,0.00,0.000,4,0.000,0.042,2496,1177,3804
$GC,2494,-0.64,-194.6,394.4,-12.2,238,2498,0.00,1.45,0.00,0.000,6,0.000,0.044,2491,2267,3803
$GC,2628,-0.64,-194.6,410.7,-12.0,251,2632,0.00,1.83,0.00,0.000,4,0.000,0.054,2482,3313,3803
$GC,2664,-0.64,-194.6,415.3,-12.5,254,2672,0.00,1.80,0.00,0.000,6,0.000,0.035,2482,2257,3803
$GC,2794,-0.64,-194.6,432.7,-13.1,267,2795,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2256,3801
$GC,2919,-0.64,-194.6,449.3,-13.5,279,2922,0.00,1.38,0.00,0.000,4,0.000,0.043,2482,1195,3800
$GC,2950,-0.64,-194.6,453.9,-14.5,282,2954,0.00,1.42,0.00,0.000,6,0.000,0.044,2475,2264,3800
$GC,3085,-0.64,-194.6,472.6,-13.7,295,3086,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2265,3799
$GC,3209,-0.64,-194.6,489.8,-14.0,307,3210,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2265,3798
$GC,3333,-0.64,-194.6,507.2,-14.0,319,3334,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2265,3798
$GC,3458,-0.64,-194.6,524.5,-13.5,331,3458,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2265,3796
$GC,3582,-0.64,-194.6,541.4,-13.6,343,3585,0.00,1.85,0.00,0.000,4,0.000,0.058,2467,3319,3795
$GC,3628,-0.64,-194.6,548.0,-14.2,347,3636,0.00,1.80,0.00,0.000,6,0.000,0.037,2466,2267,3795
$GC,3759,-0.64,-194.6,566.0,-13.8,360,3759,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2267,3794
$GC,3882,-0.64,-194.6,583.3,-13.6,372,3883,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2267,3793
$GC,4007,-0.64,-194.6,600.2,-13.4,384,4008,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2267,3792
$GC,4131,-0.64,-194.6,616.7,-13.3,396,4132,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2267,3791
$GC,4255,-0.64,-194.6,633.7,-13.9,408,4256,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2267,3790
$GC,4379,-0.64,-194.6,650.7,-13.8,420,4380,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2266,3789
$GC,4504,-0.64,-194.6,667.8,-13.8,432,4507,0.00,1.85,0.00,0.000,4,0.000,0.060,2458,3309,3788
$GC,4539,-0.64,-194.6,673.1,-14.5,435,4548,0.12,1.80,0.00,0.000,6,0.174,0.039,2488,2261,3787
$GC,4669,-0.64,-194.6,688.8,-11.6,448,4670,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2259,3786
$GC,4794,-0.64,-194.6,703.3,-11.6,460,4795,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2259,3786
$GC,4918,-0.64,-194.6,718.0,-11.5,472,4919,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2259,3785
$GC,5042,-0.64,-194.6,732.6,-11.8,484,5046,0.00,1.88,0.00,0.000,4,0.000,0.060,2481,3313,3784
$GC,5067,-0.64,-194.6,735.7,-12.2,486,5075,0.00,1.80,0.00,0.000,6,0.000,0.039,2481,2265,3784
$GC,5197,-0.64,-194.6,751.5,-12.2,499,5198,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2263,3783
$GC,5321,-0.64,-194.6,766.4,-11.5,511,5322,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2263,3782
$GC,5446,-0.64,-194.6,781.1,-11.6,523,5447,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2263,3781
$GC,5570,-0.64,-194.6,795.6,-11.8,535,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2263,3781
$GC,5694,-0.64,-194.6,810.1,-11.6,547,5695,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2264,3780
$GC,5818,-0.64,-194.6,824.8,-11.9,559,5819,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2264,3780
$GC,5942,-0.64,-194.6,839.6,-12.2,571,5946,0.00,1.88,0.00,0.000,4,0.000,0.061,2473,3315,3778
$GC,5979,-0.64,-194.6,844.2,-12.3,574,5986,0.00,1.83,0.00,0.000,6,0.000,0.041,2473,2257,3777
$GC,6108,-0.64,-194.6,860.6,-12.4,587,6109,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2258,3777
$GC,6233,-0.64,-194.6,876.4,-12.7,599,6234,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2258,3777
$GC,6357,-0.64,-194.6,891.9,-13.3,611,6358,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2259,3776
$GC,6481,-0.64,-194.6,907.5,-12.5,623,6485,0.00,1.90,0.00,0.000,4,0.000,0.061,2465,3320,3775
$GC,6523,-0.64,-194.6,913.0,-12.8,627,6527,0.00,1.80,0.00,0.000,6,0.000,0.041,2464,2268,3775
$GC,6658,-0.64,-194.6,930.3,-12.5,640,6659,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2267,3774
$GC,6782,-0.64,-194.6,946.1,-12.8,652,6786,0.00,1.85,0.00,0.000,4,0.000,0.063,2457,3313,3774
$GC,6807,-0.64,-194.6,949.6,-13.7,654,6816,0.15,1.83,0.00,0.000,6,0.175,0.041,2494,2257,3774
$GC,6938,-0.64,-194.6,963.4,-10.6,667,6938,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2258,3774
$GC,7062,-0.64,-194.6,975.9,-10.2,679,7063,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2258,3773
$GC,7186,-0.64,-194.6,988.6,-10.4,691,7187,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2259,3773
$STATE,7206,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7206,begin apogee
$GC,7208,-0.26,0.0,990.7,9.9,693,7361,0.40,0.00,150.18,1.252,6,0.144,0.000,2615,2258,3010
$STATE,7361,end apogee,CONTROL_FINISHED_OK
$STATE,7361,begin climb
$GC,7363,0.64,194.6,996.2,0.0,708,7530,0.93,0.00,162.52,1.218,6,0.110,0.000,2900,2259,2215
$GC,7653,0.64,194.6,972.6,11.2,737,7653,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2258,2208
$GC,7776,0.64,194.6,959.5,10.3,749,7780,0.00,1.98,0.00,0.000,4,0.000,0.065,2900,3323,2206
$GC,7802,0.64,194.6,956.4,12.2,751,7810,0.00,1.85,0.00,0.000,6,0.000,0.038,2909,2279,2205
$GC,7932,0.64,194.6,942.2,10.7,764,7935,0.00,1.48,0.00,0.000,4,0.000,0.046,2916,1204,2205
$GC,7978,0.64,194.6,937.1,10.2,768,7986,0.00,1.50,0.00,0.000,6,0.000,0.049,2916,2271,2205
$GC,8108,0.64,194.6,923.0,10.9,781,8112,0.00,1.92,0.00,0.000,4,0.000,0.062,2916,3327,2204
$GC,8144,0.64,194.6,918.6,12.0,784,8153,0.00,1.85,0.00,0.000,6,0.000,0.038,2924,2270,2203
$GC,8274,0.64,194.6,903.4,11.6,797,8275,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2271,2203
$GC,8399,0.64,194.6,889.2,11.7,809,8399,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2271,2203
$GC,8523,0.64,194.6,874.8,11.3,821,8527,0.00,1.90,0.00,0.000,4,0.000,0.063,2924,3328,2203
$GC,8554,0.64,194.6,870.9,12.4,824,8558,0.00,1.80,0.00,0.000,6,0.000,0.039,2933,2280,2202
$GC,8689,0.64,194.6,854.5,12.5,837,8690,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2280,2201
$GC,8813,0.64,194.6,839.9,11.7,849,8817,0.00,1.88,0.00,0.000,4,0.000,0.061,2933,3331,2201
$GC,8834,0.64,194.6,837.3,11.7,851,8838,0.10,1.80,0.00,0.000,6,0.166,0.039,2912,2277,2201
$GC,8969,0.64,194.6,823.2,10.3,864,8970,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2277,2200
$GC,9093,0.64,194.6,810.2,10.6,876,9097,0.00,1.45,0.00,0.000,4,0.000,0.045,2917,1195,2200
$GC,9125,0.64,194.6,806.9,10.4,879,9129,0.00,1.48,0.00,0.000,6,0.000,0.048,2917,2275,2201
$GC,9259,0.64,194.6,792.1,11.2,892,9260,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2275,2200
$GC,9384,0.64,194.6,778.5,10.5,904,9385,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2275,2200
$GC,9508,0.64,194.6,764.7,11.1,916,9508,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2275,2199
$GC,9632,0.64,194.6,751.4,11.2,928,9636,0.00,1.88,0.00,0.000,4,0.000,0.061,2917,3332,2199
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