version: 66.04
glider: 515
mission: 5
dive: 41
start: 5 28 110 2 50 21
data:
$ID,515
$MISSION,5
$DIVE,41
$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,510
$T_MISSION,530
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-14
$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,-4564.6797
$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,2265
$C_ROLL_CLIMB,2305
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,2910
$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
$GPS1,024255,2841.205,-8828.272,38,1.6,38,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-67.5
$GPS2,024925,2841.232,-8828.337,9,1.7,14,-0.4
$SPEED_LIMITS,0.112,0.249
$TGT_NAME,SITE33
$TGT_LATLONG,2843.100,-8824.500
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.245,0.046
$KALMAN_X,-98187.3,2178.2,1500.5,136559.4,-19943.9
$KALMAN_Y,-77269.4,1585.4,38.4,60647.5,-1459.5
$MHEAD_RNG_PITCHd_Wd,62.3,7128,-8.8,-6.471
$D_GRID,1386
$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,-0.57,-194.6,0.0,0.0,0,97,0.00,0.00,-83.03,0.000,2,0.000,0.000,200,2262,2859
$GC,98,-0.57,-194.6,3.1,-4.5,8,135,10.35,1.20,-18.80,0.000,4,0.265,0.065,2517,1362,3706
$GC,373,-0.57,-194.6,56.8,-14.2,33,382,0.00,1.25,0.00,0.000,6,0.000,0.036,2513,2277,3708
$GC,441,-0.57,-194.6,66.1,-14.8,40,444,0.00,1.23,0.00,0.000,4,0.000,0.036,2512,1353,3708
$GC,687,-0.57,-194.6,101.8,-14.4,63,690,0.00,1.20,0.00,0.000,6,0.000,0.037,2508,2264,3709
$GC,821,-0.57,-194.6,122.3,-15.5,76,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2265,3709
$GC,945,-0.57,-194.6,140.6,-14.7,88,949,0.00,1.17,0.00,0.000,4,0.000,0.036,2508,1359,3709
$GC,970,-0.57,-194.6,144.5,-14.3,90,978,0.00,1.23,0.00,0.000,6,0.000,0.036,2502,2272,3709
$GC,1100,-0.57,-194.6,162.8,-14.2,103,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2272,3709
$GC,1224,-0.57,-194.6,180.2,-13.2,115,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2272,3709
$GC,1348,-0.57,-194.6,196.2,-12.9,127,1352,0.00,1.52,0.00,0.000,4,0.000,0.047,2494,3152,3709
$GC,1391,-0.57,-194.6,201.9,-13.1,131,1395,0.00,1.48,0.00,0.000,6,0.000,0.032,2495,2273,3709
$GC,1526,-0.57,-194.6,220.2,-13.8,144,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2271,3709
$GC,1650,-0.57,-194.6,237.0,-13.4,156,1650,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2272,3709
$GC,1774,-0.57,-194.6,253.5,-13.2,168,1774,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2271,3709
$GC,1898,-0.57,-194.6,269.7,-13.2,180,1899,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2272,3708
$GC,2022,-0.57,-194.6,285.6,-13.1,192,2026,0.00,1.52,0.00,0.000,4,0.000,0.048,2487,3161,3708
$GC,2054,-0.57,-194.6,289.7,-12.9,195,2058,0.00,1.50,0.00,0.000,6,0.000,0.034,2487,2271,3708
$GC,2188,-0.57,-194.6,307.8,-13.5,208,2189,0.12,0.00,0.00,0.000,6,0.160,0.000,2519,2267,3707
$GC,2313,-0.57,-194.6,322.1,-11.2,220,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2267,3706
$GC,2437,-0.57,-194.6,335.4,-10.8,232,2440,0.00,1.20,0.00,0.000,4,0.000,0.041,2519,1346,3706
$GC,2500,-0.57,-194.6,342.3,-10.5,238,2504,0.00,1.23,0.00,0.000,6,0.000,0.041,2515,2263,3705
$GC,2635,-0.57,-194.6,357.2,-11.4,251,2636,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2263,3704
$GC,2759,-0.57,-194.6,371.4,-11.5,263,2763,0.00,1.55,0.00,0.000,4,0.000,0.051,2508,3154,3704
$GC,2796,-0.57,-194.6,375.9,-12.4,266,2803,0.00,1.52,0.00,0.000,6,0.000,0.035,2508,2265,3704
$GC,2925,-0.57,-194.6,391.5,-12.0,279,2926,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2264,3703
$GC,3050,-0.57,-194.6,406.6,-12.3,291,3051,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2264,3703
$GC,3174,-0.57,-194.6,421.3,-11.5,303,3175,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2264,3702
$GC,3298,-0.57,-194.6,435.8,-11.5,315,3299,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2265,3701
$GC,3422,-0.57,-194.6,450.0,-11.1,327,3426,0.00,1.55,0.00,0.000,4,0.000,0.054,2500,3152,3700
$GC,3458,-0.57,-194.6,454.5,-12.0,330,3466,0.00,1.52,0.00,0.000,6,0.000,0.036,2500,2267,3699
$GC,3588,-0.57,-194.6,469.8,-11.8,343,3589,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2267,3699
$GC,3712,-0.57,-194.6,484.4,-11.9,355,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2267,3697
$GC,3836,-0.57,-194.6,499.0,-11.5,367,3840,0.00,1.55,0.00,0.000,4,0.000,0.054,2492,3150,3697
$GC,3868,-0.57,-194.6,502.9,-12.9,370,3872,0.00,1.52,0.00,0.000,6,0.000,0.038,2493,2261,3697
$GC,4003,-0.57,-194.6,519.2,-12.5,383,4004,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2261,3696
$GC,4127,-0.57,-194.6,534.3,-11.9,395,4127,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2261,3696
$GC,4251,-0.57,-194.6,549.5,-12.3,407,4252,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2262,3696
$GC,4376,-0.57,-194.6,564.6,-12.3,419,4377,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2261,3695
$GC,4499,-0.57,-194.6,579.5,-12.2,431,4500,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2261,3694
$GC,4623,-0.57,-194.6,594.8,-12.2,443,4627,0.00,1.58,0.00,0.000,4,0.000,0.056,2485,3153,3692
$GC,4655,-0.57,-194.6,598.9,-13.4,446,4659,0.08,1.52,0.00,0.000,6,0.164,0.039,2510,2266,3692
$GC,4790,-0.57,-194.6,613.5,-10.8,459,4791,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2267,3691
$GC,4914,-0.57,-194.6,626.9,-11.1,471,4915,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2267,3690
$GC,5038,-0.57,-194.6,639.9,-10.5,483,5039,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2267,3690
$GC,5162,-0.57,-194.6,652.7,-9.8,495,5163,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2267,3689
$GC,5287,-0.57,-194.6,665.0,-9.6,507,5287,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2267,3688
$GC,5410,-0.57,-194.6,677.1,-9.7,519,5411,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2268,3687
$GC,5535,-0.57,-194.6,689.4,-9.6,531,5538,0.00,1.55,0.00,0.000,4,0.000,0.057,2504,3150,3686
$GC,5588,-0.57,-194.6,694.6,-9.8,536,5592,0.00,1.50,0.00,0.000,6,0.000,0.040,2504,2272,3686
$GC,5722,-0.57,-194.6,708.2,-10.1,549,5723,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2271,3685
$GC,5847,-0.57,-194.6,721.1,-10.5,561,5848,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2271,3684
$GC,5971,-0.57,-194.6,734.1,-10.6,573,5972,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2271,3684
$GC,6095,-0.57,-194.6,747.3,-10.7,585,6096,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2271,3684
$GC,6219,-0.57,-194.6,760.4,-10.5,597,6220,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2270,3683
$GC,6343,-0.57,-194.6,773.6,-10.9,609,6347,0.00,1.58,0.00,0.000,4,0.000,0.058,2497,3149,3682
$GC,6369,-0.57,-194.6,776.3,-10.3,611,6377,0.00,1.55,0.00,0.000,6,0.000,0.041,2496,2262,3682
$GC,6499,-0.57,-194.6,790.0,-10.7,624,6499,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2263,3682
$GC,6623,-0.57,-194.6,803.1,-10.3,636,6624,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2263,3681
$GC,6747,-0.57,-194.6,816.0,-10.6,648,6748,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2263,3680
$GC,6871,-0.57,-194.6,829.2,-10.6,660,6872,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2263,3679
$GC,6995,-0.57,-194.6,842.3,-10.5,672,6996,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2263,3678
$GC,7120,-0.57,-194.6,855.2,-10.2,684,7121,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2263,3678
$GC,7244,-0.57,-194.6,867.9,-10.2,696,7247,0.00,1.60,0.00,0.000,4,0.000,0.060,2489,3156,3677
$GC,7276,-0.57,-194.6,871.5,-11.1,699,7279,0.00,1.52,0.00,0.000,6,0.000,0.041,2489,2269,3676
$GC,7410,-0.57,-194.6,886.1,-11.0,712,7411,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2268,3676
$GC,7534,-0.57,-194.6,899.5,-11.0,724,7535,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2269,3675
$GC,7658,-0.57,-194.6,913.0,-10.9,736,7659,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2269,3675
$GC,7782,-0.57,-194.6,926.6,-10.9,748,7783,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2269,3675
$GC,7907,-0.57,-194.6,940.4,-11.3,760,7908,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2268,3674
$GC,8031,-0.57,-194.6,953.8,-10.6,772,8032,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2268,3674
$GC,8155,-0.57,-194.6,967.2,-10.7,784,8159,0.00,1.58,0.00,0.000,4,0.000,0.061,2482,3145,3673
$GC,8208,-0.57,-194.6,973.0,-10.8,789,8212,0.10,1.52,0.00,0.000,6,0.161,0.042,2513,2261,3673
$GC,8343,-0.57,-194.6,985.4,-8.9,802,8343,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2262,3672
$STATE,8404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8404,begin apogee
$GC,8407,-0.26,0.0,990.8,8.8,808,8559,0.32,0.00,149.77,1.261,6,0.140,0.000,2611,2295,2910
$STATE,8560,end apogee,CONTROL_FINISHED_OK
$STATE,8560,begin climb
$GC,8561,0.57,194.6,995.9,0.0,823,8728,0.82,0.00,162.95,1.225,6,0.117,0.000,2865,2296,2116
$GC,8850,0.57,194.6,975.5,9.0,851,8853,0.00,1.30,0.00,0.000,4,0.000,0.048,2871,1408,2107
$GC,8882,0.57,194.6,972.8,8.7,854,8885,0.00,1.35,0.00,0.000,6,0.000,0.049,2871,2301,2106
$GC,9016,0.57,194.6,960.6,9.3,867,9017,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2302,2105
$GC,9140,0.57,194.6,949.4,9.2,879,9141,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2302,2104
$GC,9264,0.57,194.6,938.3,8.9,891,9268,0.00,1.27,0.00,0.000,4,0.000,0.046,2876,1404,2102
$GC,9307,0.57,194.6,934.6,8.8,895,9311,0.00,1.33,0.00,0.000,6,0.000,0.049,2876,2305,2102
$GC,9442,0.57,194.6,922.2,9.2,908,9442,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2305,2102
$GC,9566,0.57,194.6,910.7,9.1,920,9566,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2305,2102
$GC,9690,0.57,194.6,899.1,9.3,932,9693,0.00,1.27,0.00,0.000,4,0.000,0.046,2882,1402,2102
$GC,9732,0.57,194.6,895.1,10.1,936,9736,0.00,1.30,0.00,0.000,6,0.000,0.049,2882,2300,2102
$GC,9867,0.57,194.6,882.2,9.5,949,9868,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2300,2101
$GC,9991,0.57,194.6,870.2,9.5,961,9992,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2300,2100
$GC,10115,0.57,194.6,858.2,10.0,973,10116,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2300,2100
$GC,10239,0.57,194.6,845.9,10.1,985,10243,0.00,1.27,0.00,0.000,4,0.000,0.046,2888,1390,2100
$GC,10275,0.57,194.6,842.3,9.8,988,10283,0.00,1.35,0.00,0.000,6,0.000,0.048,2888,2312,2100
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