version: 66.04
glider: 515
mission: 5
dive: 67
start: 6 2 110 18 1 59
data:
$ID,515
$MISSION,5
$DIVE,67
$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,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5024.561
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2719
$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,2004
$C_ROLL_CLIMB,2335
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,40
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,700
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$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
$GPS1,174607,2847.733,-8844.026,70,1.1,70,-0.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-73.3
$GPS2,180119,2847.670,-8844.020,9,1.1,14,-0.2
$SPEED_LIMITS,0.117,0.253
$TGT_NAME,NEW0529F
$TGT_LATLONG,2842.500,-8843.600
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.091,-0.236
$KALMAN_X,-188340.2,1136.7,319.4,203494.0,-15508.3
$KALMAN_Y,48767.5,-3248.6,-1972.2,-46499.1,32341.6
$MHEAD_RNG_PITCHd_Wd,172.6,9599,-9.4,-6.735
$D_GRID,858
$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,-194.6,0.0,0.0,0,52,0.00,0.00,-38.80,0.000,2,0.000,0.000,203,2044,1624
$GC,53,-0.59,-194.6,3.2,-3.7,4,126,10.38,1.48,-52.28,0.000,4,0.262,0.061,2516,2873,3597
$GC,225,-0.59,-194.6,30.7,-17.2,19,233,0.00,1.52,0.00,0.000,6,0.000,0.035,2521,2012,3597
$GC,293,-0.59,-194.6,40.0,-12.8,26,294,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2010,3597
$GC,356,-0.59,-194.6,46.9,-10.5,32,359,0.00,1.12,0.00,0.000,4,0.000,0.038,2523,1108,3597
$GC,516,-0.59,-194.6,62.1,-8.7,47,519,0.00,1.15,0.00,0.000,6,0.000,0.035,2519,2014,3597
$GC,588,-0.59,-194.6,69.1,-9.8,54,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2014,3597
$GC,650,-0.59,-194.6,75.5,-10.6,60,654,0.00,1.15,0.00,0.000,4,0.000,0.038,2519,1110,3597
$GC,686,-0.59,-194.6,79.4,-10.4,63,693,0.00,1.15,0.00,0.000,6,0.000,0.035,2514,2007,3598
$GC,754,-0.59,-194.6,86.5,-11.0,70,754,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2007,3598
$GC,816,-0.59,-194.6,93.7,-11.6,76,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2008,3597
$GC,878,-0.59,-194.6,101.0,-11.9,82,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2007,3597
$GC,1002,-0.59,-194.6,117.3,-13.7,94,1005,0.00,1.15,0.00,0.000,4,0.000,0.038,2513,1093,3597
$GC,1113,-0.59,-194.6,131.9,-12.8,104,1120,0.00,1.17,0.00,0.000,6,0.000,0.035,2508,2014,3597
$GC,1242,-0.59,-194.6,148.7,-12.9,117,1246,0.00,1.15,0.00,0.000,4,0.000,0.038,2509,1103,3597
$GC,1306,-0.59,-194.6,156.5,-12.6,123,1310,0.00,1.12,0.00,0.000,6,0.000,0.035,2503,2000,3597
$GC,1441,-0.59,-194.6,172.7,-11.4,136,1444,0.00,1.12,0.00,0.000,4,0.000,0.038,2503,1108,3596
$GC,1520,-0.59,-194.6,182.5,-12.5,143,1527,0.12,1.15,0.00,0.000,6,0.156,0.035,2529,2012,3596
$GC,1649,-0.59,-194.6,195.7,-9.8,156,1653,0.00,1.15,0.00,0.000,4,0.000,0.039,2530,1097,3596
$GC,1739,-0.59,-194.6,204.9,-10.6,164,1746,0.00,1.17,0.00,0.000,6,0.000,0.035,2526,2015,3595
$GC,1868,-0.59,-194.6,217.6,-9.9,177,1872,0.00,1.15,0.00,0.000,4,0.000,0.038,2526,1105,3595
$GC,1901,-0.59,-194.6,220.7,-9.8,180,1904,0.00,1.15,0.00,0.000,6,0.000,0.035,2521,2013,3595
$GC,2035,-0.59,-194.6,234.0,-10.0,193,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2013,3594
$GC,2159,-0.59,-194.6,246.3,-9.9,205,2163,0.00,1.15,0.00,0.000,4,0.000,0.040,2521,1099,3593
$GC,2202,-0.59,-194.6,250.8,-10.5,209,2205,0.00,1.15,0.00,0.000,6,0.000,0.036,2516,2010,3593
$GC,2336,-0.59,-194.6,264.2,-10.3,222,2340,0.00,1.15,0.00,0.000,4,0.000,0.039,2515,1096,3592
$GC,2383,-0.59,-194.6,269.2,-10.6,226,2390,0.00,1.17,0.00,0.000,6,0.000,0.036,2510,2016,3592
$GC,2512,-0.59,-194.6,282.6,-10.5,239,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2016,3591
$GC,2637,-0.59,-194.6,295.3,-10.1,251,2637,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2016,3590
$GC,2761,-0.59,-194.6,308.8,-11.0,263,2764,0.00,1.15,0.00,0.000,4,0.000,0.040,2510,1109,3589
$GC,2857,-0.59,-194.6,319.3,-10.8,272,2860,0.00,1.12,0.00,0.000,6,0.000,0.038,2504,2000,3588
$GC,2991,-0.59,-194.6,334.1,-11.0,285,2992,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2001,3587
$GC,3116,-0.59,-194.6,347.9,-11.2,297,3119,0.00,1.12,0.00,0.000,4,0.000,0.040,2504,1110,3586
$GC,3233,-0.59,-194.6,361.3,-11.5,308,3237,0.08,1.15,0.00,0.000,6,0.160,0.038,2522,2016,3584
$GC,3367,-0.59,-194.6,375.1,-10.0,321,3368,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2017,3583
$GC,3492,-0.59,-194.6,387.3,-9.7,333,3495,0.00,1.17,0.00,0.000,4,0.000,0.042,2523,1098,3582
$GC,3523,-0.59,-194.6,390.5,-10.5,336,3527,0.00,1.15,0.00,0.000,6,0.000,0.039,2519,2001,3582
$GC,3658,-0.59,-194.6,404.3,-10.2,349,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2001,3581
$GC,3782,-0.59,-194.6,416.9,-10.3,361,3786,0.00,1.15,0.00,0.000,4,0.000,0.041,2519,1098,3580
$GC,3846,-0.59,-194.6,423.3,-9.5,367,3849,0.00,1.15,0.00,0.000,6,0.000,0.039,2514,2000,3579
$GC,3981,-0.59,-194.6,437.4,-10.6,380,3984,0.00,1.12,0.00,0.000,4,0.000,0.041,2514,1115,3578
$GC,4038,-0.59,-194.6,443.6,-10.4,385,4046,0.00,1.17,0.00,0.000,6,0.000,0.039,2509,2022,3577
$GC,4168,-0.59,-194.6,457.3,-10.9,398,4171,0.00,1.17,0.00,0.000,4,0.000,0.042,2509,1103,3577
$GC,4220,-0.59,-194.6,463.3,-11.3,403,4224,0.00,1.15,0.00,0.000,6,0.000,0.039,2503,2005,3576
$GC,4355,-0.59,-194.6,478.0,-11.4,416,4359,0.00,1.15,0.00,0.000,4,0.000,0.042,2503,1102,3576
$GC,4430,-0.59,-194.6,486.4,-10.7,423,4434,0.08,1.15,0.00,0.000,6,0.159,0.040,2522,2003,3575
$GC,4564,-0.59,-194.6,500.0,-10.2,436,4565,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2003,3574
$GC,4688,-0.59,-194.6,512.0,-10.1,448,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2003,3573
$GC,4813,-0.59,-194.6,524.3,-10.0,460,4813,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2003,3572
$GC,4937,-0.59,-194.6,536.6,-10.2,472,4940,0.00,1.15,0.00,0.000,4,0.000,0.044,2522,1105,3571
$GC,4979,-0.59,-194.6,541.1,-10.7,476,4983,0.00,1.15,0.00,0.000,6,0.000,0.040,2519,2005,3570
$GC,5114,-0.59,-194.6,555.2,-10.2,489,5114,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2006,3569
$GC,5238,-0.59,-194.6,568.2,-10.0,501,5241,0.00,1.15,0.00,0.000,4,0.000,0.043,2519,1111,3569
$GC,5281,-0.59,-194.6,572.6,-10.8,505,5284,0.00,1.15,0.00,0.000,6,0.000,0.041,2514,2004,3569
$GC,5415,-0.59,-194.6,586.3,-10.2,518,5418,0.00,1.15,0.00,0.000,4,0.000,0.043,2514,1106,3568
$GC,5526,-0.59,-194.6,598.9,-11.1,528,5533,0.00,1.17,0.00,0.000,6,0.000,0.041,2508,2006,3567
$GC,5655,-0.59,-194.6,613.0,-10.5,541,5656,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2007,3566
$GC,5780,-0.59,-194.6,626.2,-10.7,553,5783,0.00,1.15,0.00,0.000,4,0.000,0.043,2508,1111,3565
$GC,5812,-0.59,-194.6,629.6,-10.8,556,5815,0.00,1.15,0.00,0.000,6,0.000,0.041,2503,2007,3565
$GC,5946,-0.59,-194.6,644.0,-11.0,569,5950,0.00,1.15,0.00,0.000,4,0.000,0.043,2503,1112,3564
$GC,5982,-0.59,-194.6,648.1,-11.7,572,5990,0.12,1.17,0.00,0.000,6,0.163,0.041,2529,2011,3564
$GC,6112,-0.59,-194.6,660.8,-9.7,585,6113,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2012,3563
$GC,6236,-0.59,-194.6,672.6,-9.6,597,6237,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2012,3562
$GC,6360,-0.59,-194.6,684.6,-9.8,609,6364,0.00,1.17,0.00,0.000,4,0.000,0.045,2529,1100,3561
$GC,6385,-0.59,-194.6,687.2,-10.3,611,6393,0.00,1.20,0.00,0.000,6,0.000,0.041,2526,2017,3560
$GC,6515,-0.59,-194.6,699.7,-9.9,624,6523,0.00,1.17,0.00,0.000,4,0.000,0.044,2526,1107,3560
$GC,6538,-0.59,-194.6,702.0,-10.5,626,6541,0.00,1.17,0.00,0.000,6,0.000,0.041,2521,2014,3560
$GC,6672,-0.59,-194.6,714.9,-9.3,639,6676,0.00,1.17,0.00,0.000,4,0.000,0.044,2521,1103,3559
$GC,6704,-0.59,-194.6,718.0,-9.9,642,6708,0.00,1.17,0.00,0.000,6,0.000,0.042,2516,2011,3559
$GC,6839,-0.59,-194.6,731.9,-10.1,655,6840,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2011,3558
$GC,6963,-0.59,-194.6,744.5,-10.1,667,6964,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2011,3557
$GC,7087,-0.59,-194.6,757.0,-10.1,679,7091,0.00,1.17,0.00,0.000,4,0.000,0.044,2516,1103,3557
$GC,7112,-0.59,-194.6,759.9,-10.9,681,7121,0.00,1.20,0.00,0.000,6,0.000,0.042,2510,2018,3557
$GC,7242,-0.59,-194.6,773.8,-11.0,694,7243,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2018,3556
$GC,7366,-0.59,-194.6,787.0,-10.7,706,7367,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2018,3555
$GC,7491,-0.59,-194.6,799.6,-10.0,718,7492,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2019,3554
$GC,7615,-0.59,-194.6,813.0,-10.9,730,7615,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2019,3554
$GC,7740,-0.59,-194.6,825.5,-9.2,742,7741,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2018,3553
$GC,7863,-0.59,-194.6,838.3,-10.2,754,7864,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2019,3553
$GC,7989,-0.59,-194.6,850.7,-10.1,766,7991,0.00,1.50,0.00,0.000,4,0.000,0.053,2503,2873,3552
$GC,8019,-0.59,-194.6,854.1,-10.9,769,8023,0.00,1.52,0.00,0.000,6,0.000,0.044,2503,1998,3552
$STATE,8060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8060,begin apogee
$GC,8063,-0.26,0.0,858.4,10.4,773,8213,0.45,0.00,144.12,1.167,6,0.148,0.000,2633,2316,2800
$STATE,8213,end apogee,CONTROL_FINISHED_OK
$STATE,8213,begin climb
$GC,8214,0.59,194.6,863.9,0.0,788,8381,0.85,1.35,158.93,1.136,4,0.116,0.043,2902,1452,2005
$GC,8395,0.59,194.6,851.6,9.8,804,8403,0.00,1.42,0.00,0.000,6,0.000,0.044,2903,2346,2002
$GC,8525,0.59,194.6,838.6,10.2,817,8528,0.00,1.50,0.00,0.000,4,0.000,0.055,2902,3217,1996
$GC,8568,0.59,194.6,834.0,11.2,821,8571,0.00,1.45,0.00,0.000,6,0.000,0.036,2909,2327,1994
$GC,8702,0.59,194.6,819.6,10.9,834,8706,0.00,1.52,0.00,0.000,4,0.000,0.055,2909,3219,1993
$GC,8738,0.59,194.6,815.4,12.9,837,8747,0.00,1.45,0.00,0.000,6,0.000,0.036,2916,2332,1992
$GC,8868,0.59,194.6,801.2,11.0,850,8869,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2331,1992
$GC,8992,0.59,194.6,787.6,10.8,862,8995,0.00,1.50,0.00,0.000,4,0.000,0.056,2916,3217,1992
$GC,9013,0.59,194.6,785.2,11.9,864,9017,0.00,1.40,0.00,0.000,6,0.000,0.037,2923,2341,1991
$GC,9148,0.59,194.6,769.9,11.2,877,9148,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2338,1991
$GC,9272,0.59,194.6,756.1,11.2,889,9275,0.00,1.48,0.00,0.000,4,0.000,0.057,2923,3214,1991
$GC,9303,0.59,194.6,752.3,12.1,892,9307,0.00,1.40,0.00,0.000,6,0.000,0.037,2930,2336,1990
$GC,9438,0.59,194.6,736.2,12.2,905,9439,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2335,1990
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$CFSIZE,260165632,249782272
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