version: 66.04
glider: 515
mission: 5
dive: 64
start: 6 2 110 3 44 18
data:
$ID,515
$MISSION,5
$DIVE,64
$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,-4979.5522
$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,2136
$C_ROLL_CLIMB,2276
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,25
$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
$GPS1,033657,2844.906,-8839.685,36,4.4,55,-0.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-68.0
$GPS2,034337,2844.948,-8839.670,8,1.0,13,-0.3
$SPEED_LIMITS,0.117,0.253
$TGT_NAME,NEW0529E
$TGT_LATLONG,2848.000,-8843.600
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.085,-0.239
$KALMAN_X,-175328.6,646.0,905.4,197468.1,-12578.8
$KALMAN_Y,25459.2,-766.0,-752.1,-32009.2,23227.9
$MHEAD_RNG_PITCHd_Wd,327.0,8523,-10.3,-6.735
$D_GRID,1006
$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,-172.4,0.0,0.0,0,97,0.00,0.00,-83.53,0.000,2,0.000,0.000,204,2275,2846
$GC,98,-0.62,-194.6,3.1,-2.0,8,135,10.35,1.42,-17.35,0.000,4,0.266,0.061,2496,1256,3596
$GC,373,-0.62,-194.6,52.7,-13.8,33,381,0.00,1.20,0.00,0.000,6,0.000,0.035,2493,2176,3597
$GC,441,-0.62,-194.6,62.4,-14.6,40,444,0.00,1.20,0.00,0.000,4,0.000,0.036,2497,1243,3597
$GC,686,-0.62,-194.6,97.6,-14.4,63,690,0.00,1.15,0.00,0.000,6,0.000,0.035,2493,2143,3598
$GC,759,-0.62,-194.6,108.3,-14.7,70,762,0.00,1.15,0.00,0.000,4,0.000,0.036,2496,1240,3598
$GC,1005,-0.62,-194.6,144.7,-14.8,93,1008,0.00,1.15,0.00,0.000,6,0.000,0.036,2493,2141,3598
$GC,1139,-0.62,-194.6,163.5,-13.9,106,1143,0.00,1.12,0.00,0.000,4,0.000,0.036,2496,1252,3598
$GC,1213,-0.62,-194.6,173.6,-13.3,113,1218,0.00,1.12,0.00,0.000,6,0.000,0.036,2492,2135,3598
$GC,1348,-0.62,-194.6,191.8,-13.9,126,1352,0.00,1.12,0.00,0.000,4,0.000,0.036,2493,1245,3598
$GC,1476,-0.62,-194.6,208.8,-13.6,138,1480,0.00,1.15,0.00,0.000,6,0.000,0.036,2488,2147,3598
$GC,1611,-0.62,-194.6,226.5,-12.9,151,1611,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2148,3597
$GC,1735,-0.62,-194.6,242.7,-13.0,163,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2148,3596
$GC,1859,-0.62,-194.6,258.9,-13.4,175,1863,0.00,1.15,0.00,0.000,4,0.000,0.037,2490,1243,3596
$GC,2013,-0.62,-194.6,279.1,-12.9,189,2020,0.00,1.17,0.00,0.000,6,0.000,0.037,2486,2152,3595
$GC,2142,-0.62,-194.6,296.1,-13.3,202,2143,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2152,3595
$GC,2266,-0.62,-194.6,312.8,-13.5,214,2270,0.00,1.15,0.00,0.000,4,0.000,0.038,2486,1246,3594
$GC,2474,-0.62,-194.6,341.0,-12.6,233,2482,0.00,1.17,0.00,0.000,6,0.000,0.038,2480,2150,3593
$GC,2603,-0.62,-194.6,358.0,-13.4,246,2604,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2151,3592
$GC,2728,-0.62,-194.6,374.7,-13.4,258,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2151,3592
$GC,2852,-0.62,-194.6,391.8,-13.9,270,2855,0.00,1.15,0.00,0.000,4,0.000,0.039,2480,1252,3591
$GC,2959,-0.62,-194.6,406.1,-13.5,280,2962,0.00,1.12,0.00,0.000,6,0.000,0.040,2475,2131,3590
$GC,3093,-0.62,-194.6,425.1,-14.3,293,3097,0.00,1.12,0.00,0.000,4,0.000,0.039,2475,1250,3589
$GC,3157,-0.62,-194.6,434.2,-14.3,299,3161,0.00,1.15,0.00,0.000,6,0.000,0.041,2472,2142,3589
$GC,3292,-0.62,-194.6,453.4,-14.2,312,3295,0.00,1.15,0.00,0.000,4,0.000,0.041,2472,1244,3588
$GC,3370,-0.62,-194.6,464.8,-13.8,319,3378,0.12,1.17,0.00,0.000,6,0.178,0.041,2497,2139,3588
$GC,3500,-0.62,-194.6,480.4,-11.9,332,3504,0.00,1.15,0.00,0.000,4,0.000,0.041,2497,1246,3587
$GC,3564,-0.62,-194.6,487.9,-12.3,338,3568,0.00,1.15,0.00,0.000,6,0.000,0.041,2494,2134,3587
$GC,3698,-0.62,-194.6,504.2,-12.2,351,3699,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2134,3585
$GC,3823,-0.62,-194.6,519.2,-12.2,363,3826,0.00,1.12,0.00,0.000,4,0.000,0.041,2494,1257,3584
$GC,3944,-0.62,-194.6,534.5,-12.8,374,3953,0.00,1.17,0.00,0.000,6,0.000,0.042,2488,2151,3583
$GC,4074,-0.62,-194.6,550.5,-12.4,387,4074,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2151,3582
$GC,4198,-0.62,-194.6,565.9,-12.2,399,4201,0.00,1.15,0.00,0.000,4,0.000,0.044,2488,1259,3582
$GC,4315,-0.62,-194.6,580.7,-13.1,410,4319,0.00,1.15,0.00,0.000,6,0.000,0.044,2483,2140,3580
$GC,4450,-0.62,-194.6,597.4,-12.1,423,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2140,3579
$GC,4574,-0.62,-194.6,613.0,-12.6,435,4577,0.00,1.15,0.00,0.000,4,0.000,0.044,2483,1257,3578
$GC,4695,-0.62,-194.6,628.6,-13.2,446,4703,0.00,1.17,0.00,0.000,6,0.000,0.044,2478,2143,3577
$GC,4825,-0.62,-194.6,645.2,-12.7,459,4828,0.00,1.15,0.00,0.000,4,0.000,0.044,2478,1259,3576
$GC,4985,-0.62,-194.6,665.6,-12.6,474,4989,0.00,1.15,0.00,0.000,6,0.000,0.044,2473,2137,3574
$GC,5119,-0.62,-194.6,683.2,-12.9,487,5120,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2138,3573
$GC,5244,-0.62,-194.6,699.6,-13.0,499,5244,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2138,3573
$GC,5368,-0.62,-194.6,715.5,-12.4,511,5371,0.00,1.15,0.00,0.000,4,0.000,0.046,2473,1254,3572
$GC,5532,-0.62,-194.6,736.8,-13.0,526,5541,0.12,1.20,0.00,0.000,6,0.181,0.047,2497,2155,3572
$GC,5662,-0.62,-194.6,751.0,-10.9,539,5663,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2156,3570
$GC,5786,-0.62,-194.6,764.3,-10.6,551,5787,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2156,3569
$GC,5910,-0.62,-194.6,777.5,-10.6,563,5914,0.00,1.17,0.00,0.000,4,0.000,0.047,2498,1259,3569
$GC,6075,-0.62,-194.6,796.2,-10.2,578,6084,0.00,1.17,0.00,0.000,6,0.000,0.047,2494,2137,3567
$GC,6205,-0.62,-194.6,811.0,-11.4,591,6208,0.00,1.15,0.00,0.000,4,0.000,0.046,2494,1261,3567
$GC,6290,-0.62,-194.6,820.7,-11.6,599,6294,0.00,1.15,0.00,0.000,6,0.000,0.047,2489,2131,3567
$GC,6425,-0.62,-194.6,836.6,-11.8,612,6428,0.00,1.15,0.00,0.000,4,0.000,0.047,2488,1253,3565
$GC,6521,-0.62,-194.6,848.1,-11.9,621,6524,0.00,1.17,0.00,0.000,6,0.000,0.048,2483,2142,3565
$GC,6655,-0.62,-194.6,863.9,-11.3,634,6656,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2142,3564
$GC,6780,-0.62,-194.6,878.7,-11.3,646,6783,0.00,1.17,0.00,0.000,4,0.000,0.048,2483,1248,3564
$GC,6897,-0.62,-194.6,892.3,-11.2,657,6900,0.00,1.17,0.00,0.000,6,0.000,0.048,2478,2137,3563
$GC,7031,-0.62,-194.6,907.9,-11.6,670,7035,0.00,1.15,0.00,0.000,4,0.000,0.046,2478,1261,3562
$GC,7110,-0.62,-194.6,917.2,-11.6,677,7117,0.00,1.20,0.00,0.000,6,0.000,0.047,2472,2157,3562
$GC,7240,-0.62,-194.6,932.6,-12.0,690,7240,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2158,3561
$GC,7364,-0.62,-194.6,947.7,-12.4,702,7368,0.00,1.17,0.00,0.000,4,0.000,0.048,2472,1262,3560
$GC,7486,-0.62,-194.6,962.4,-11.9,713,7494,0.12,1.20,0.00,0.000,6,0.183,0.047,2497,2157,3560
$GC,7616,-0.62,-194.6,976.0,-10.8,726,7619,0.00,1.17,0.00,0.000,4,0.000,0.047,2497,1262,3559
$STATE,7747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7747,begin apogee
$GC,7752,-0.26,0.0,990.3,11.3,738,7908,0.38,0.00,148.65,1.262,6,0.157,0.000,2607,2261,2800
$STATE,7909,end apogee,CONTROL_FINISHED_OK
$STATE,7909,begin climb
$GC,7910,0.62,194.6,996.4,0.0,754,8079,0.95,0.00,162.43,1.229,6,0.129,0.000,2892,2261,2005
$GC,8199,0.62,194.6,974.9,8.5,780,8203,0.00,1.27,0.00,0.000,4,0.000,0.053,2897,1411,1997
$GC,8263,0.62,194.6,969.4,8.5,786,8267,0.00,1.30,0.00,0.000,6,0.000,0.046,2897,2276,1996
$GC,8397,0.62,194.6,958.0,8.6,799,8401,0.00,1.25,0.00,0.000,4,0.000,0.045,2904,1405,1994
$GC,8444,0.62,194.6,953.6,9.6,803,8454,0.00,1.30,0.00,0.000,6,0.000,0.046,2903,2273,1994
$GC,8574,0.62,194.6,942.3,8.2,816,8575,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2273,1993
$GC,8698,0.62,194.6,932.1,8.3,828,8702,0.00,1.25,0.00,0.000,4,0.000,0.046,2907,1391,1992
$GC,8784,0.62,194.6,924.8,9.0,836,8787,0.00,1.30,0.00,0.000,6,0.000,0.048,2908,2280,1992
$GC,8918,0.62,194.6,911.3,10.1,849,8921,0.00,1.55,0.00,0.000,4,0.000,0.059,2907,3178,1991
$GC,8954,0.62,194.6,907.3,11.0,852,8962,0.00,1.48,0.00,0.000,6,0.000,0.039,2914,2289,1990
$GC,9084,0.62,194.6,893.0,10.8,865,9084,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2288,1990
$GC,9208,0.62,194.6,879.0,10.8,877,9211,0.00,1.52,0.00,0.000,4,0.000,0.058,2915,3169,1990
$GC,9250,0.62,194.6,874.1,12.3,881,9254,0.00,1.48,0.00,0.000,6,0.000,0.039,2922,2269,1989
$GC,9385,0.62,194.6,858.6,11.4,894,9386,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2269,1989
$GC,9509,0.62,194.6,844.5,11.5,906,9513,0.00,1.55,0.00,0.000,4,0.000,0.058,2922,3167,1989
$GC,9551,0.62,194.6,839.3,12.4,910,9555,0.00,1.45,0.00,0.000,6,0.000,0.039,2929,2281,1988
$GC,9686,0.62,194.6,822.6,12.4,923,9687,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2280,1988
$GC,9810,0.62,194.6,807.7,11.8,935,9814,0.00,1.52,0.00,0.000,4,0.000,0.059,2929,3164,1987
$GC,9846,0.62,194.6,802.8,13.0,938,9854,0.12,1.48,0.00,0.000,6,0.162,0.039,2904,2272,1987
$GC,9976,0.62,194.6,789.4,10.3,951,9977,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2271,1987
$GC,10101,0.62,194.6,777.1,10.0,963,10101,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2271,1987
$GC,10225,0.62,194.6,764.2,10.5,975,10228,0.00,1.55,0.00,0.000,4,0.000,0.058,2904,3176,1987
$GC,10278,0.62,194.6,758.2,11.1,980,10282,0.00,1.48,0.00,0.000,6,0.000,0.039,2910,2266,1986
$GC,10412,0.62,194.6,744.4,10.3,993,10413,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2266,1987
$GC,10537,0.62,194.6,731.5,10.2,1005,10540,0.00,1.55,0.00,0.000,4,0.000,0.058,2910,3171,1986
$GC,10590,0.62,194.6,725.6,11.5,1010,10593,0.00,1.45,0.00,0.000,6,0.000,0.039,2917,2277,1986
$GC,10724,0.62,194.6,711.0,10.7,1023,10725,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2275,1986
$GC,10849,0.62,194.6,698.0,10.6,1035,10852,0.00,1.52,0.00,0.000,4,0.000,0.058,2917,3166,1986
$GC,10891,0.62,194.6,693.2,11.2,1039,10895,0.00,1.45,0.00,0.000,6,0.000,0.039,2924,2278,1986
$GC,11025,0.62,194.6,678.4,10.9,1052,11026,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2276,1985
$GC,11150,0.62,194.6,665.2,10.3,1064,11153,0.00,1.52,0.00,0.000,4,0.000,0.058,2924,3170,1985
$GC,11224,0.62,194.6,656.5,11.9,1071,11228,0.08,1.45,0.00,0.000,6,0.153,0.039,2907,2277,1985
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$STATE,18499,end climb,SURFACE_DEPTH_REACHED
$STATE,18499,begin surface coast
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$STATE,18551,end surface coast,CONTROL_FINISHED_OK
$STATE,18551,begin surface
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