version: 66.04
glider: 515
mission: 5
dive: 62
start: 6 1 110 17 8 48
data:
$ID,515
$MISSION,5
$DIVE,62
$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,-4921.3877
$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,39
$R_STBD_OVSHOOT,22
$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
$GPS1,170006,2842.280,-8833.775,32,0.8,32,-0.3
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-72.2
$GPS2,170808,2842.247,-8833.642,13,1.6,13,-0.3
$SPEED_LIMITS,0.117,0.253
$TGT_NAME,NEW0528D
$TGT_LATLONG,2842.500,-8837.900
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.002,-0.253
$KALMAN_X,-165257.8,208.8,292.6,198249.7,-7071.5
$KALMAN_Y,8925.7,-1404.8,-995.7,-19599.0,18355.4
$MHEAD_RNG_PITCHd_Wd,292.3,6934,-11.4,-6.735
$D_GRID,1199
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.60,-148.5,0.0,0.0,0,92,0.00,0.00,-78.25,0.000,2,0.000,0.000,204,2196,2711
$GC,94,-0.66,-194.6,3.1,-2.8,8,124,10.40,0.00,-18.05,0.000,6,0.268,0.000,2480,2196,3595
$GC,185,-0.66,-194.6,23.5,-20.2,16,188,0.00,1.70,0.00,0.000,4,0.000,0.046,2473,3163,3597
$GC,259,-0.66,-194.6,38.1,-20.4,23,263,0.00,1.45,0.00,0.000,6,0.000,0.031,2478,2272,3597
$GC,332,-0.66,-194.6,49.8,-16.6,30,333,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2270,3597
$GC,394,-0.66,-194.6,58.7,-14.4,36,395,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2270,3598
$GC,456,-0.66,-194.6,67.9,-15.6,42,460,0.00,1.23,0.00,0.000,4,0.000,0.038,2484,1376,3598
$GC,535,-0.66,-194.6,79.6,-15.2,49,543,0.00,1.27,0.00,0.000,6,0.000,0.035,2479,2278,3598
$GC,602,-0.66,-194.6,89.5,-15.1,56,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2279,3598
$GC,665,-0.66,-194.6,99.0,-15.1,62,668,0.00,1.25,0.00,0.000,4,0.000,0.037,2484,1372,3599
$GC,739,-0.66,-194.6,110.2,-15.5,69,743,0.00,1.25,0.00,0.000,6,0.000,0.036,2479,2273,3599
$GC,874,-0.66,-194.6,131.1,-16.0,82,877,0.00,1.23,0.00,0.000,4,0.000,0.038,2479,1364,3599
$GC,1012,-0.66,-194.6,152.4,-15.9,95,1016,0.00,1.27,0.00,0.000,6,0.000,0.037,2473,2278,3599
$GC,1147,-0.66,-194.6,172.5,-14.3,108,1150,0.00,1.23,0.00,0.000,4,0.000,0.037,2474,1365,3599
$GC,1243,-0.66,-194.6,186.0,-13.5,117,1246,0.00,1.25,0.00,0.000,6,0.000,0.037,2468,2272,3598
$GC,1378,-0.66,-194.6,205.5,-14.8,130,1381,0.00,1.20,0.00,0.000,4,0.000,0.038,2468,1377,3598
$GC,1537,-0.66,-194.6,228.8,-14.5,145,1541,0.00,1.23,0.00,0.000,6,0.000,0.037,2464,2269,3597
$GC,1672,-0.66,-194.6,248.2,-14.7,158,1676,0.00,1.20,0.00,0.000,4,0.000,0.037,2464,1370,3597
$GC,1825,-0.66,-194.6,270.4,-14.1,172,1833,0.00,1.27,0.00,0.000,6,0.000,0.037,2459,2277,3596
$GC,1955,-0.66,-194.6,288.8,-14.6,185,1959,0.00,1.23,0.00,0.000,4,0.000,0.038,2459,1366,3596
$GC,2009,-0.66,-194.6,296.6,-14.3,190,2012,0.00,1.25,0.00,0.000,6,0.000,0.038,2453,2272,3595
$GC,2143,-0.66,-194.6,316.6,-14.7,203,2147,0.12,1.23,0.00,0.000,4,0.179,0.038,2484,1371,3595
$GC,2207,-0.66,-194.6,325.1,-12.8,209,2210,0.00,1.25,0.00,0.000,6,0.000,0.038,2480,2272,3594
$GC,2342,-0.66,-194.6,342.3,-12.6,222,2345,0.00,1.20,0.00,0.000,4,0.000,0.040,2480,1380,3593
$GC,2459,-0.66,-194.6,357.4,-12.9,233,2462,0.00,1.25,0.00,0.000,6,0.000,0.041,2473,2277,3592
$GC,2593,-0.66,-194.6,375.3,-13.4,246,2597,0.00,1.23,0.00,0.000,4,0.000,0.041,2474,1374,3591
$GC,2668,-0.66,-194.6,385.5,-13.6,253,2672,0.00,1.25,0.00,0.000,6,0.000,0.041,2468,2273,3591
$GC,2802,-0.66,-194.6,404.1,-13.9,266,2806,0.00,1.23,0.00,0.000,4,0.000,0.041,2468,1367,3589
$GC,2881,-0.66,-194.6,415.4,-14.2,273,2890,0.00,1.27,0.00,0.000,6,0.000,0.041,2464,2274,3589
$GC,3011,-0.66,-194.6,433.7,-14.0,286,3015,0.00,1.23,0.00,0.000,4,0.000,0.041,2464,1387,3588
$GC,3096,-0.66,-194.6,445.8,-14.9,294,3100,0.00,1.25,0.00,0.000,6,0.000,0.043,2459,2274,3588
$GC,3231,-0.66,-194.6,464.8,-14.0,307,3234,0.00,1.23,0.00,0.000,4,0.000,0.043,2458,1375,3586
$GC,3305,-0.66,-194.6,475.7,-14.6,314,3309,0.08,1.25,0.00,0.000,6,0.183,0.043,2475,2269,3587
$GC,3440,-0.66,-194.6,494.3,-13.5,327,3443,0.00,1.23,0.00,0.000,4,0.000,0.043,2477,1384,3584
$GC,3519,-0.66,-194.6,505.1,-12.9,334,3526,0.00,1.27,0.00,0.000,6,0.000,0.043,2473,2278,3584
$GC,3649,-0.66,-194.6,522.3,-13.2,347,3652,0.00,1.23,0.00,0.000,4,0.000,0.044,2473,1381,3583
$GC,3727,-0.66,-194.6,533.1,-13.6,354,3735,0.00,1.27,0.00,0.000,6,0.000,0.044,2467,2276,3582
$GC,3857,-0.66,-194.6,550.4,-13.7,367,3861,0.00,1.23,0.00,0.000,4,0.000,0.044,2467,1383,3581
$GC,3914,-0.66,-194.6,558.3,-13.6,372,3922,0.00,1.27,0.00,0.000,6,0.000,0.044,2462,2275,3581
$GC,4044,-0.66,-194.6,576.1,-14.2,385,4048,0.00,1.25,0.00,0.000,4,0.000,0.044,2462,1379,3579
$GC,4119,-0.66,-194.6,586.6,-14.4,392,4122,0.00,1.25,0.00,0.000,6,0.000,0.044,2457,2271,3579
$GC,4253,-0.66,-194.6,605.3,-14.2,405,4257,0.00,1.23,0.00,0.000,4,0.000,0.044,2457,1386,3578
$GC,4342,-0.66,-194.6,617.9,-13.3,413,4351,0.12,1.27,0.00,0.000,6,0.183,0.044,2481,2277,3576
$GC,4472,-0.66,-194.6,633.0,-11.5,426,4476,0.00,1.23,0.00,0.000,4,0.000,0.045,2483,1384,3575
$GC,4557,-0.66,-194.6,643.1,-11.3,434,4561,0.00,1.25,0.00,0.000,6,0.000,0.045,2480,2271,3575
$GC,4692,-0.66,-194.6,659.3,-12.3,447,4696,0.00,1.23,0.00,0.000,4,0.000,0.044,2480,1389,3574
$GC,4771,-0.66,-194.6,669.2,-12.6,454,4778,0.00,1.27,0.00,0.000,6,0.000,0.046,2474,2276,3573
$GC,4901,-0.66,-194.6,684.8,-12.2,467,4904,0.00,1.25,0.00,0.000,4,0.000,0.045,2474,1386,3572
$GC,4975,-0.66,-194.6,694.1,-12.9,474,4979,0.00,1.25,0.00,0.000,6,0.000,0.046,2468,2271,3572
$GC,5110,-0.66,-194.6,711.3,-12.7,487,5113,0.00,1.25,0.00,0.000,4,0.000,0.045,2468,1374,3570
$GC,5206,-0.66,-194.6,723.5,-12.3,496,5210,0.00,1.25,0.00,0.000,6,0.000,0.046,2463,2268,3570
$GC,5340,-0.66,-194.6,740.9,-12.9,509,5344,0.00,1.23,0.00,0.000,4,0.000,0.044,2462,1383,3569
$GC,5408,-0.66,-194.6,750.1,-12.7,515,5416,0.00,1.30,0.00,0.000,6,0.000,0.046,2458,2284,3568
$GC,5538,-0.66,-194.6,767.2,-13.2,528,5542,0.00,1.25,0.00,0.000,4,0.000,0.046,2457,1377,3567
$GC,5623,-0.66,-194.6,778.7,-13.4,536,5627,0.08,1.25,0.00,0.000,6,0.180,0.047,2474,2267,3567
$GC,5758,-0.66,-194.6,795.1,-11.8,549,5762,0.00,1.23,0.00,0.000,4,0.000,0.046,2477,1386,3566
$GC,5822,-0.66,-194.6,803.0,-11.6,555,5825,0.00,1.25,0.00,0.000,6,0.000,0.047,2473,2270,3566
$GC,5957,-0.66,-194.6,819.1,-11.9,568,5960,0.00,1.23,0.00,0.000,4,0.000,0.046,2473,1390,3565
$GC,6010,-0.66,-194.6,825.9,-12.4,573,6013,0.00,1.25,0.00,0.000,6,0.000,0.048,2467,2272,3564
$GC,6144,-0.66,-194.6,842.7,-12.7,586,6148,0.00,1.25,0.00,0.000,4,0.000,0.047,2467,1380,3564
$GC,6223,-0.66,-194.6,852.8,-12.4,593,6231,0.00,1.30,0.00,0.000,6,0.000,0.048,2461,2281,3563
$GC,6353,-0.66,-194.6,868.8,-12.2,606,6356,0.00,1.23,0.00,0.000,4,0.000,0.048,2462,1391,3563
$GC,6438,-0.66,-194.6,879.4,-12.3,614,6442,0.00,1.25,0.00,0.000,6,0.000,0.047,2457,2274,3562
$GC,6572,-0.66,-194.6,896.4,-12.8,627,6576,0.00,1.25,0.00,0.000,4,0.000,0.046,2457,1378,3562
$GC,6658,-0.66,-194.6,907.5,-13.3,635,6661,0.10,1.27,0.00,0.000,6,0.179,0.048,2480,2276,3561
$GC,6792,-0.66,-194.6,922.6,-11.3,648,6793,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2277,3560
$GC,6917,-0.66,-194.6,936.5,-11.2,660,6920,0.00,1.23,0.00,0.000,4,0.000,0.048,2482,1391,3559
$GC,7006,-0.66,-194.6,946.7,-11.6,668,7013,0.00,1.27,0.00,0.000,6,0.000,0.048,2478,2276,3559
$GC,7136,-0.66,-194.6,960.9,-11.1,681,7136,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2276,3558
$GC,7260,-0.66,-194.6,974.5,-11.0,693,7263,0.00,1.23,0.00,0.000,4,0.000,0.048,2477,1391,3557
$GC,7356,-0.66,-194.6,985.0,-10.5,702,7359,0.00,1.25,0.00,0.000,6,0.000,0.048,2472,2270,3557
$STATE,7407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7407,begin apogee
$GC,7410,-0.26,0.0,990.6,11.2,707,7563,0.47,0.00,148.02,1.257,6,0.161,0.000,2609,2270,2800
$STATE,7563,end apogee,CONTROL_FINISHED_OK
$STATE,7564,begin climb
$GC,7565,0.66,194.6,996.3,0.0,722,7731,0.98,0.00,162.60,1.224,6,0.125,0.000,2903,2271,2006
$GC,7850,0.66,194.6,969.2,12.0,749,7851,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2271,1997
$GC,7974,0.66,194.6,955.0,11.3,761,7975,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2271,1996
$GC,8099,0.66,194.6,941.0,11.1,773,8099,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2271,1994
$GC,8223,0.66,194.6,927.3,10.9,785,8224,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2271,1992
$GC,8347,0.66,194.6,913.9,11.2,797,8348,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2271,1993
$GC,8471,0.66,194.6,900.6,10.5,809,8475,0.00,1.58,0.00,0.000,4,0.000,0.062,2903,3159,1991
$GC,8503,0.66,194.6,897.1,11.0,812,8507,0.00,1.48,0.00,0.000,6,0.000,0.041,2910,2273,1990
$GC,8638,0.66,194.6,882.0,11.1,825,8641,0.00,1.27,0.00,0.000,4,0.000,0.046,2916,1376,1990
$GC,8680,0.66,194.6,876.7,13.4,829,8684,0.00,1.30,0.00,0.000,6,0.000,0.048,2916,2266,1990
$GC,8815,0.66,194.6,861.4,11.5,842,8818,0.00,1.55,0.00,0.000,4,0.000,0.060,2916,3166,1991
$GC,8846,0.66,194.6,857.5,13.2,845,8850,0.00,1.48,0.00,0.000,6,0.000,0.039,2923,2271,1990
$GC,8981,0.66,194.6,841.2,11.9,858,8982,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2270,1989
$GC,9105,0.66,194.6,826.9,11.4,870,9106,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2270,1989
$GC,9229,0.66,194.6,812.3,12.1,882,9230,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2270,1989
$GC,9354,0.66,194.6,797.9,11.9,894,9354,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2271,1988
$GC,9477,0.66,194.6,783.2,11.8,906,9478,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2271,1987
$GC,9602,0.66,194.6,768.5,11.9,918,9605,0.00,1.55,0.00,0.000,4,0.000,0.059,2923,3170,1987
$GC,9634,0.66,194.6,764.5,13.1,921,9637,0.00,1.48,0.00,0.000,6,0.000,0.039,2930,2270,1987
$GC,9768,0.66,194.6,747.7,12.5,934,9772,0.00,1.25,0.00,0.000,4,0.000,0.045,2936,1375,1987
$GC,9800,0.66,194.6,744.0,11.8,937,9803,0.00,1.30,0.00,0.000,6,0.000,0.048,2936,2277,1987
$GC,9934,0.66,194.6,727.5,12.8,950,9938,0.00,1.50,0.00,0.000,4,0.000,0.058,2935,3155,1987
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