version: 66.04
glider: 515
mission: 5
dive: 76
start: 6 4 110 17 57 12
data:
$ID,515
$MISSION,5
$DIVE,76
$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,-5166.2905
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2735
$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,40
$C_ROLL_DIVE,2310
$C_ROLL_CLIMB,2220
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,28
$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,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
$GPS1,175006,2843.351,-8831.695,38,0.9,38,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-67.7
$GPS2,175632,2843.418,-8831.650,8,1.4,8,-0.4
$SPEED_LIMITS,0.117,0.253
$TGT_NAME,NEW0602B
$TGT_LATLONG,2845.000,-8829.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.233,-0.101
$KALMAN_X,-210274.1,660.1,738.4,245575.7,-8928.1
$KALMAN_Y,50872.3,-302.6,444.7,-61984.2,8683.8
$MHEAD_RNG_PITCHd_Wd,51.9,5206,-13.3,-6.735
$D_GRID,1227
$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,-117.5,0.0,0.0,0,87,0.00,0.00,-73.40,0.000,2,0.000,0.000,200,2294,2567
$GC,89,-0.72,-183.4,3.5,-4.2,7,126,10.40,2.33,-22.60,0.000,4,0.265,0.062,2487,3577,3550
$GC,365,-0.72,-183.4,61.5,-15.4,32,374,0.00,2.22,0.00,0.000,6,0.000,0.031,2496,2322,3552
$GC,433,-0.72,-183.4,70.6,-13.6,39,437,0.00,2.30,0.00,0.000,4,0.000,0.050,2487,3569,3552
$GC,572,-0.72,-183.4,91.3,-14.7,52,575,0.00,2.25,0.00,0.000,6,0.000,0.032,2487,2312,3553
$GC,644,-0.72,-183.4,101.9,-15.0,59,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2312,3553
$GC,768,-0.72,-183.4,120.7,-15.4,71,772,0.00,2.33,0.00,0.000,4,0.000,0.050,2476,3569,3553
$GC,789,-0.72,-183.4,124.0,-15.8,73,793,0.00,2.28,0.00,0.000,6,0.000,0.031,2485,2314,3553
$GC,924,-0.72,-183.4,144.9,-15.4,86,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2313,3553
$GC,1048,-0.72,-183.4,163.1,-14.3,98,1052,0.00,2.33,0.00,0.000,4,0.000,0.051,2475,3598,3553
$GC,1101,-0.72,-183.4,171.0,-15.9,103,1105,0.00,2.33,0.00,0.000,6,0.000,0.032,2484,2305,3553
$GC,1236,-0.72,-183.4,189.5,-13.4,116,1237,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2305,3553
$GC,1360,-0.72,-183.4,205.8,-13.1,128,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2304,3553
$GC,1484,-0.72,-183.4,222.2,-13.3,140,1488,0.00,2.33,0.00,0.000,4,0.000,0.050,2474,3566,3553
$GC,1520,-0.72,-183.4,227.3,-14.1,143,1528,0.08,2.28,0.00,0.000,6,0.178,0.032,2496,2310,3553
$GC,1651,-0.72,-183.4,243.8,-13.0,156,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2310,3553
$GC,1775,-0.72,-183.4,259.5,-12.9,168,1778,0.00,2.33,0.00,0.000,4,0.000,0.051,2486,3574,3552
$GC,1838,-0.72,-183.4,268.0,-13.7,174,1842,0.00,2.28,0.00,0.000,6,0.000,0.033,2486,2314,3552
$GC,1973,-0.72,-183.4,286.3,-13.9,187,1977,0.00,2.33,0.00,0.000,4,0.000,0.052,2475,3576,3551
$GC,2009,-0.72,-183.4,291.6,-14.4,190,2017,0.00,2.30,0.00,0.000,6,0.000,0.032,2484,2310,3551
$GC,2139,-0.72,-183.4,309.6,-14.0,203,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2309,3550
$GC,2264,-0.72,-183.4,326.6,-13.3,215,2267,0.00,2.33,0.00,0.000,4,0.000,0.053,2474,3576,3550
$GC,2289,-0.72,-183.4,330.4,-14.8,217,2297,0.00,2.30,0.00,0.000,6,0.000,0.033,2474,2309,3550
$GC,2419,-0.72,-183.4,348.1,-13.5,230,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2308,3549
$GC,2543,-0.72,-183.4,365.0,-13.6,242,2547,0.00,2.33,0.00,0.000,4,0.000,0.053,2463,3576,3548
$GC,2575,-0.72,-183.4,369.4,-14.3,245,2579,0.10,2.30,0.00,0.000,6,0.180,0.035,2493,2310,3548
$GC,2710,-0.72,-183.4,385.9,-11.9,258,2711,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2309,3548
$GC,2834,-0.72,-183.4,400.1,-10.6,270,2837,0.00,2.33,0.00,0.000,4,0.000,0.054,2483,3571,3547
$GC,2866,-0.72,-183.4,404.4,-12.8,273,2869,0.00,2.28,0.00,0.000,6,0.000,0.035,2483,2306,3546
$GC,3000,-0.72,-183.4,420.2,-11.5,286,3001,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2306,3546
$GC,3124,-0.72,-183.4,435.1,-12.0,298,3128,0.00,2.38,0.00,0.000,4,0.000,0.055,2474,3582,3544
$GC,3156,-0.72,-183.4,439.3,-13.7,301,3160,0.00,2.30,0.00,0.000,6,0.000,0.035,2474,2320,3544
$GC,3291,-0.72,-183.4,455.9,-11.9,314,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2321,3544
$GC,3415,-0.72,-183.4,471.6,-12.6,326,3418,0.00,2.35,0.00,0.000,4,0.000,0.055,2463,3597,3543
$GC,3447,-0.72,-183.4,475.6,-13.0,329,3451,0.12,2.35,0.00,0.000,6,0.182,0.036,2496,2303,3543
$GC,3581,-0.72,-183.4,491.0,-11.4,342,3582,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2303,3543
$GC,3706,-0.72,-183.4,505.3,-11.8,354,3709,0.00,2.40,0.00,0.000,4,0.000,0.055,2486,3580,3541
$GC,3780,-0.72,-183.4,514.5,-12.2,361,3784,0.00,2.33,0.00,0.000,6,0.000,0.037,2486,2312,3541
$GC,3914,-0.72,-183.4,531.0,-12.3,374,3915,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2313,3540
$GC,4039,-0.72,-183.4,546.5,-12.8,386,4042,0.00,2.38,0.00,0.000,4,0.000,0.058,2475,3578,3539
$GC,4070,-0.72,-183.4,550.6,-13.7,389,4074,0.00,2.30,0.00,0.000,6,0.000,0.037,2479,2309,3539
$GC,4205,-0.72,-183.4,568.0,-12.6,402,4206,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2308,3538
$GC,4329,-0.72,-183.4,583.9,-12.7,414,4330,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2309,3537
$GC,4453,-0.72,-183.4,599.7,-12.9,426,4457,0.00,2.40,0.00,0.000,4,0.000,0.057,2469,3579,3536
$GC,4478,-0.72,-183.4,603.0,-13.4,428,4488,0.08,2.35,0.00,0.000,6,0.184,0.037,2492,2310,3536
$GC,4609,-0.72,-183.4,618.2,-11.8,441,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2312,3535
$GC,4733,-0.72,-183.4,632.3,-11.4,453,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2312,3535
$GC,4857,-0.72,-183.4,646.4,-11.5,465,4861,0.00,2.40,0.00,0.000,4,0.000,0.058,2482,3580,3534
$GC,4910,-0.72,-183.4,652.7,-12.1,470,4914,0.00,2.35,0.00,0.000,6,0.000,0.039,2482,2311,3533
$GC,5045,-0.72,-183.4,668.6,-11.4,483,5049,0.00,2.38,0.00,0.000,4,0.000,0.058,2473,3571,3532
$GC,5082,-0.72,-183.4,673.2,-12.8,486,5086,0.08,2.35,0.00,0.000,6,0.183,0.039,2494,2309,3532
$GC,5216,-0.72,-183.4,688.1,-11.0,499,5217,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2310,3531
$GC,5341,-0.72,-183.4,701.4,-10.6,511,5344,0.00,2.40,0.00,0.000,4,0.000,0.058,2484,3573,3530
$GC,5387,-0.72,-183.4,706.7,-11.0,515,5396,0.00,2.35,0.00,0.000,6,0.000,0.038,2484,2310,3529
$GC,5518,-0.72,-183.4,721.1,-11.0,528,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2310,3529
$GC,5642,-0.72,-183.4,734.8,-11.2,540,5645,0.00,2.40,0.00,0.000,4,0.000,0.059,2473,3570,3527
$GC,5678,-0.72,-183.4,739.3,-12.1,543,5686,0.00,2.35,0.00,0.000,6,0.000,0.038,2473,2309,3527
$GC,5808,-0.72,-183.4,754.4,-11.5,556,5812,0.00,2.42,0.00,0.000,4,0.000,0.059,2462,3581,3527
$GC,5833,-0.72,-183.4,757.7,-12.5,558,5842,0.10,2.38,0.00,0.000,6,0.185,0.038,2494,2315,3527
$GC,5964,-0.72,-183.4,771.8,-10.7,571,5965,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2315,3526
$GC,6088,-0.72,-183.4,785.3,-10.9,583,6092,0.00,2.40,0.00,0.000,4,0.000,0.060,2483,3581,3526
$GC,6136,-0.72,-183.4,790.9,-11.8,587,6140,0.00,2.35,0.00,0.000,6,0.000,0.039,2483,2304,3526
$GC,6270,-0.72,-183.4,806.2,-11.5,600,6271,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2305,3525
$GC,6395,-0.72,-183.4,820.3,-11.3,612,6399,0.00,2.40,0.00,0.000,4,0.000,0.060,2473,3578,3524
$GC,6443,-0.72,-183.4,826.1,-12.2,616,6446,0.12,2.33,0.00,0.000,6,0.179,0.039,2502,2311,3523
$GC,6577,-0.72,-183.4,840.2,-9.8,629,6578,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2311,3523
$GC,6702,-0.72,-183.4,852.4,-9.4,641,6702,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2311,3522
$GC,6825,-0.72,-183.4,864.5,-9.7,653,6829,0.00,2.40,0.00,0.000,4,0.000,0.060,2492,3564,3521
$GC,6872,-0.72,-183.4,869.7,-11.7,657,6880,0.00,2.35,0.00,0.000,6,0.000,0.038,2492,2309,3520
$GC,7002,-0.72,-183.4,883.0,-10.2,670,7003,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2310,3520
$GC,7127,-0.72,-183.4,896.2,-10.6,682,7130,0.00,2.42,0.00,0.000,4,0.000,0.061,2481,3576,3519
$GC,7158,-0.72,-183.4,899.7,-11.6,685,7162,0.00,2.35,0.00,0.000,6,0.000,0.040,2481,2306,3519
$GC,7293,-0.72,-183.4,914.6,-11.1,698,7296,0.00,2.42,0.00,0.000,4,0.000,0.061,2470,3570,3519
$GC,7318,-0.72,-183.4,917.7,-12.2,700,7328,0.08,2.35,0.00,0.000,6,0.187,0.039,2492,2313,3519
$GC,7448,-0.72,-183.4,931.1,-10.2,713,7449,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2314,3518
$GC,7573,-0.72,-183.4,944.1,-10.9,725,7576,0.00,2.40,0.00,0.000,4,0.000,0.061,2482,3578,3517
$GC,7604,-0.72,-183.4,947.7,-11.7,728,7608,0.00,2.38,0.00,0.000,6,0.000,0.040,2482,2310,3518
$GC,7739,-0.72,-183.4,962.5,-10.9,741,7740,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2312,3517
$GC,7863,-0.72,-183.4,976.5,-11.7,753,7867,0.00,2.42,0.00,0.000,4,0.000,0.061,2471,3572,3517
$GC,7895,-0.72,-183.4,980.4,-12.2,756,7899,0.12,2.33,0.00,0.000,6,0.179,0.040,2500,2310,3517
$STATE,7987,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7987,begin apogee
$GC,7990,-0.26,0.0,990.4,10.7,765,8134,0.50,0.00,140.95,1.262,6,0.146,0.000,2651,2169,2800
$STATE,8134,end apogee,CONTROL_FINISHED_OK
$STATE,8134,begin climb
$GC,8135,0.72,183.4,995.4,0.0,779,8296,0.98,0.00,154.23,1.229,6,0.109,0.000,2955,2169,2052
$GC,8416,0.72,183.4,965.0,13.4,805,8417,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2169,2044
$GC,8540,0.72,183.4,947.2,14.4,817,8541,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2169,2041
$GC,8664,0.72,183.4,929.2,14.9,829,8665,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2169,2040
$GC,8789,0.72,183.4,911.1,14.6,841,8793,0.00,2.75,0.00,0.000,4,0.000,0.060,2955,3577,2039
$GC,8815,0.72,183.4,907.0,16.6,843,8819,0.00,2.55,0.00,0.000,6,0.000,0.039,2967,2255,2037
$GC,8950,0.72,183.4,886.3,15.6,856,8953,0.00,1.88,0.00,0.000,4,0.000,0.048,2976,791,2037
$GC,8981,0.72,183.4,881.4,15.5,859,8985,0.00,1.85,0.00,0.000,6,0.000,0.045,2976,2228,2038
$GC,9116,0.72,183.4,859.9,16.4,872,9120,0.00,2.60,0.00,0.000,4,0.000,0.061,2976,3567,2038
$GC,9136,0.72,183.4,856.4,18.2,873,9144,0.00,2.58,0.00,0.000,6,0.000,0.039,2988,2211,2036
$GC,9266,0.72,183.4,834.4,17.0,886,9270,0.00,1.77,0.00,0.000,4,0.000,0.050,2997,811,2036
$GC,9298,0.72,183.4,829.1,16.6,889,9301,0.00,1.80,0.00,0.000,6,0.000,0.044,2997,2218,2036
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$STATE,14975,begin surface coast
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