version: 66.04
glider: 515
mission: 5
dive: 52
start: 5 30 110 13 39 34
data:
$ID,515
$MISSION,5
$DIVE,52
$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,490
$T_MISSION,510
$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,-4757.0854
$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,25
$C_ROLL_DIVE,2275
$C_ROLL_CLIMB,2270
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$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,2800
$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
$GPS1,133200,2843.153,-8830.090,38,1.2,43,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-65.1
$GPS2,133813,2843.128,-8830.112,9,1.2,14,-0.4
$SPEED_LIMITS,0.117,0.253
$TGT_NAME,NEW0528D
$TGT_LATLONG,2842.500,-8837.900
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.063,-0.245
$KALMAN_X,-142790.4,243.1,118.4,181648.0,-9943.2
$KALMAN_Y,-38263.6,322.2,-101.4,26572.0,9179.9
$MHEAD_RNG_PITCHd_Wd,270.2,12704,-9.4,-6.735
$D_GRID,1307
$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,-0.59,-194.6,0.0,0.0,0,102,0.00,0.00,-88.65,0.000,2,0.000,0.000,203,2277,2887
$GC,104,-0.59,-194.6,3.3,-4.6,9,133,10.32,1.23,-15.98,0.000,4,0.264,0.061,2509,1365,3592
$GC,340,-0.59,-194.6,47.1,-14.1,30,349,0.00,1.30,0.00,0.000,6,0.000,0.038,2505,2279,3594
$GC,407,-0.59,-194.6,55.9,-13.4,37,408,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2279,3595
$GC,470,-0.59,-194.6,64.4,-13.8,43,471,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2279,3595
$GC,532,-0.59,-194.6,72.8,-13.3,49,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2279,3595
$GC,594,-0.59,-194.6,81.6,-14.2,55,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2279,3596
$GC,656,-0.59,-194.6,90.3,-14.5,61,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2279,3596
$GC,718,-0.59,-194.6,98.8,-13.9,67,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2279,3596
$GC,780,-0.59,-194.6,107.4,-13.7,73,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2279,3596
$GC,905,-0.59,-194.6,124.5,-14.1,85,908,0.00,1.23,0.00,0.000,4,0.000,0.040,2505,1375,3596
$GC,929,-0.59,-194.6,128.1,-14.6,87,937,0.00,1.27,0.00,0.000,6,0.000,0.038,2499,2282,3596
$GC,1059,-0.59,-194.6,146.1,-14.3,100,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2282,3596
$GC,1184,-0.59,-194.6,162.5,-12.5,112,1187,0.00,1.23,0.00,0.000,4,0.000,0.040,2499,1377,3596
$GC,1219,-0.59,-194.6,167.1,-12.2,115,1228,0.00,1.25,0.00,0.000,6,0.000,0.038,2493,2274,3595
$GC,1349,-0.59,-194.6,183.0,-13.0,128,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2274,3596
$GC,1473,-0.59,-194.6,198.8,-12.6,140,1477,0.00,1.20,0.00,0.000,4,0.000,0.039,2493,1375,3595
$GC,1541,-0.59,-194.6,207.7,-13.0,146,1550,0.00,1.25,0.00,0.000,6,0.000,0.039,2488,2275,3596
$GC,1671,-0.59,-194.6,224.3,-12.9,159,1675,0.00,1.23,0.00,0.000,4,0.000,0.039,2488,1369,3595
$GC,1703,-0.59,-194.6,228.4,-13.2,162,1707,0.00,1.23,0.00,0.000,6,0.000,0.039,2482,2269,3595
$GC,1838,-0.59,-194.6,245.8,-13.0,175,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2269,3595
$GC,1962,-0.59,-194.6,261.7,-13.1,187,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2269,3594
$GC,2086,-0.59,-194.6,277.4,-12.7,199,2089,0.00,1.20,0.00,0.000,4,0.000,0.039,2482,1381,3594
$GC,2111,-0.59,-194.6,280.8,-12.6,201,2119,0.12,1.25,0.00,0.000,6,0.168,0.039,2507,2276,3594
$GC,2241,-0.59,-194.6,295.0,-10.8,214,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2276,3593
$GC,2365,-0.59,-194.6,309.0,-11.4,226,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2276,3593
$GC,2489,-0.59,-194.6,323.1,-11.4,238,2490,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2277,3592
$GC,2613,-0.59,-194.6,337.3,-11.6,250,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2277,3592
$GC,2738,-0.59,-194.6,351.0,-11.0,262,2741,0.00,1.20,0.00,0.000,4,0.000,0.041,2506,1383,3590
$GC,2801,-0.59,-194.6,357.9,-10.7,268,2805,0.00,1.23,0.00,0.000,6,0.000,0.041,2503,2272,3590
$GC,2936,-0.59,-194.6,373.4,-11.6,281,2936,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2272,3589
$GC,3060,-0.59,-194.6,388.1,-12.1,293,3061,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2272,3588
$GC,3184,-0.59,-194.6,403.0,-12.1,305,3185,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2272,3587
$GC,3308,-0.59,-194.6,418.2,-12.4,317,3309,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2273,3587
$GC,3433,-0.59,-194.6,432.7,-11.5,329,3433,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2272,3586
$GC,3557,-0.59,-194.6,446.8,-11.3,341,3558,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2272,3585
$GC,3681,-0.59,-194.6,460.7,-11.2,353,3684,0.00,1.23,0.00,0.000,4,0.000,0.043,2503,1380,3584
$GC,3713,-0.59,-194.6,464.1,-10.4,356,3716,0.00,1.25,0.00,0.000,6,0.000,0.043,2497,2277,3585
$GC,3847,-0.59,-194.6,479.3,-11.3,369,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2278,3583
$GC,3972,-0.59,-194.6,493.0,-11.1,381,3972,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2278,3582
$GC,4095,-0.59,-194.6,506.4,-10.7,393,4099,0.00,1.23,0.00,0.000,4,0.000,0.045,2497,1376,3581
$GC,4149,-0.59,-194.6,512.1,-11.3,398,4153,0.00,1.25,0.00,0.000,6,0.000,0.044,2491,2274,3580
$GC,4283,-0.59,-194.6,526.6,-11.0,411,4284,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2274,3580
$GC,4408,-0.59,-194.6,540.7,-11.5,423,4409,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2275,3579
$GC,4531,-0.59,-194.6,554.8,-11.2,435,4535,0.00,1.23,0.00,0.000,4,0.000,0.044,2491,1386,3578
$GC,4568,-0.59,-194.6,559.3,-12.0,438,4577,0.00,1.25,0.00,0.000,6,0.000,0.044,2486,2275,3577
$GC,4698,-0.59,-194.6,574.7,-11.9,451,4698,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2275,3577
$GC,4822,-0.59,-194.6,589.7,-12.2,463,4826,0.00,1.23,0.00,0.000,4,0.000,0.044,2486,1388,3576
$GC,4858,-0.59,-194.6,594.3,-12.4,466,4867,0.12,1.25,0.00,0.000,6,0.171,0.044,2511,2275,3575
$GC,4988,-0.59,-194.6,607.7,-10.1,479,4989,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2275,3574
$GC,5112,-0.59,-194.6,620.2,-10.2,491,5112,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2276,3574
$GC,5236,-0.59,-194.6,633.0,-10.3,503,5237,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2276,3573
$GC,5360,-0.59,-194.6,645.8,-10.4,515,5361,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2276,3572
$GC,5484,-0.59,-194.6,658.3,-9.8,527,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2276,3571
$GC,5609,-0.59,-194.6,670.6,-9.8,539,5609,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2275,3570
$GC,5733,-0.59,-194.6,682.9,-9.9,551,5734,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2275,3570
$GC,5857,-0.59,-194.6,695.2,-9.9,563,5857,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2276,3569
$GC,5981,-0.59,-194.6,707.3,-9.6,575,5985,0.00,1.25,0.00,0.000,4,0.000,0.046,2511,1374,3568
$GC,6038,-0.59,-194.6,713.1,-9.7,580,6046,0.00,1.27,0.00,0.000,6,0.000,0.046,2507,2275,3567
$GC,6168,-0.59,-194.6,725.8,-10.1,593,6169,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2275,3567
$GC,6292,-0.59,-194.6,738.2,-9.9,605,6293,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2275,3566
$GC,6416,-0.59,-194.6,750.1,-9.4,617,6417,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2275,3566
$GC,6541,-0.59,-194.6,762.0,-9.4,629,6542,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2275,3565
$GC,6664,-0.59,-194.6,774.3,-9.6,641,6665,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2275,3564
$GC,6789,-0.59,-194.6,786.6,-9.7,653,6789,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2274,3564
$GC,6913,-0.59,-194.6,799.2,-10.0,665,6914,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2275,3564
$GC,7037,-0.59,-194.6,811.3,-9.7,677,7041,0.00,1.23,0.00,0.000,4,0.000,0.048,2507,1390,3563
$GC,7084,-0.59,-194.6,816.1,-9.6,681,7091,0.00,1.27,0.00,0.000,6,0.000,0.049,2501,2277,3562
$GC,7213,-0.59,-194.6,828.7,-10.2,694,7214,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2277,3562
$GC,7337,-0.59,-194.6,840.8,-10.0,706,7338,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2277,3561
$GC,7462,-0.59,-194.6,852.7,-9.5,718,7463,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2278,3561
$GC,7586,-0.59,-194.6,864.7,-9.5,730,7589,0.00,1.23,0.00,0.000,4,0.000,0.049,2501,1388,3560
$GC,7639,-0.59,-194.6,869.8,-9.1,735,7643,0.00,1.25,0.00,0.000,6,0.000,0.049,2495,2273,3560
$GC,7774,-0.59,-194.6,882.6,-9.4,748,7775,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2273,3560
$GC,7898,-0.59,-194.6,894.1,-9.0,760,7898,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2273,3559
$GC,8022,-0.59,-194.6,905.5,-8.9,772,8025,0.00,1.23,0.00,0.000,4,0.000,0.048,2496,1392,3559
$GC,8058,-0.59,-194.6,908.9,-9.2,775,8065,0.00,1.27,0.00,0.000,6,0.000,0.049,2490,2279,3559
$GC,8188,-0.59,-194.6,921.3,-9.7,788,8189,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2279,3558
$GC,8312,-0.59,-194.6,933.5,-9.8,800,8315,0.00,1.23,0.00,0.000,4,0.000,0.049,2490,1387,3558
$GC,8347,-0.59,-194.6,937.3,-10.1,803,8355,0.00,1.27,0.00,0.000,6,0.000,0.048,2483,2277,3558
$GC,8477,-0.59,-194.6,950.6,-10.4,816,8478,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2277,3557
$GC,8601,-0.59,-194.6,963.7,-10.8,828,8602,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2277,3556
$GC,8726,-0.59,-194.6,976.9,-10.3,840,8726,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2277,3556
$GC,8849,-0.59,-194.6,990.0,-10.8,852,8850,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2277,3555
$STATE,8859,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8859,begin apogee
$GC,8862,-0.26,0.0,990.9,10.6,853,9013,0.45,0.00,148.95,1.262,6,0.154,0.000,2615,2277,2800
$STATE,9014,end apogee,CONTROL_FINISHED_OK
$STATE,9014,begin climb
$GC,9015,0.59,194.6,996.8,0.0,868,9184,0.90,1.40,163.73,1.230,4,0.117,0.053,2890,1392,2006
$GC,9209,0.59,194.6,984.3,8.1,886,9218,0.00,1.33,0.00,0.000,6,0.000,0.046,2890,2266,2002
$GC,9338,0.59,194.6,973.6,8.7,899,9342,0.00,1.27,0.00,0.000,4,0.000,0.046,2896,1390,1997
$GC,9364,0.59,194.6,971.6,9.3,901,9371,0.00,1.33,0.00,0.000,6,0.000,0.047,2896,2275,1997
$GC,9493,0.59,194.6,960.7,8.3,914,9494,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2275,1995
$GC,9618,0.59,194.6,950.5,8.2,926,9621,0.00,1.25,0.00,0.000,4,0.000,0.046,2901,1384,1993
$GC,9735,0.59,194.6,939.8,9.6,937,9739,0.00,1.27,0.00,0.000,6,0.000,0.048,2901,2273,1993
$GC,9870,0.59,194.6,925.6,10.7,950,9870,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2273,1992
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$STATE,19563,end climb,SURFACE_DEPTH_REACHED
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