version: 66.04
glider: 515
mission: 5
dive: 43
start: 5 28 110 13 51 46
data:
$ID,515
$MISSION,5
$DIVE,43
$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,-4599.1177
$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,32
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,2891
$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
$GPS1,134336,2843.361,-8824.725,36,1.2,48,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-66.8
$GPS2,135007,2843.325,-8824.747,9,1.2,14,-0.4
$SPEED_LIMITS,0.112,0.249
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.132,-0.211
$KALMAN_X,-101949.7,400.7,374.9,149078.8,-11640.4
$KALMAN_Y,-70716.9,-981.7,-299.7,60878.0,8393.6
$MHEAD_RNG_PITCHd_Wd,291.5,2098,-26.6,-6.471
$D_GRID,1501
$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,-1.02,-32.9,0.0,0.0,0,97,0.00,0.00,-83.40,0.000,2,0.000,0.000,193,2305,2829
$GC,98,-1.04,-49.1,3.1,-4.3,8,122,9.65,1.48,-6.88,0.000,4,0.265,0.064,2348,3161,3093
$GC,361,-1.04,-49.1,51.7,-10.9,32,368,0.00,1.52,0.00,0.000,6,0.000,0.030,2354,2269,3096
$GC,428,-1.04,-49.1,58.6,-10.2,39,432,0.00,1.55,0.00,0.000,4,0.000,0.044,2348,3168,3096
$GC,674,-1.04,-49.1,85.3,-11.7,62,678,0.00,1.52,0.00,0.000,6,0.000,0.031,2354,2265,3098
$GC,746,-1.04,-49.1,93.9,-11.5,69,750,0.00,1.55,0.00,0.000,4,0.000,0.044,2348,3169,3098
$GC,992,-1.04,-49.1,124.5,-13.2,92,996,0.00,1.52,0.00,0.000,6,0.000,0.031,2349,2263,3099
$GC,1127,-1.04,-49.1,141.2,-11.9,105,1130,0.00,1.55,0.00,0.000,4,0.000,0.044,2343,3173,3098
$GC,1302,-1.04,-49.1,161.4,-11.4,121,1312,0.00,1.52,0.00,0.000,6,0.000,0.031,2348,2267,3098
$GC,1432,-1.04,-49.1,175.3,-10.5,134,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2268,3098
$GC,1556,-1.04,-49.1,187.9,-10.1,146,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2268,3098
$GC,1681,-1.04,-49.1,200.1,-9.2,158,1682,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2268,3098
$GC,1805,-1.04,-49.1,212.1,-9.7,170,1808,0.00,1.52,0.00,0.000,4,0.000,0.044,2342,3163,3098
$GC,1926,-1.04,-49.1,223.8,-10.0,181,1935,0.00,1.52,0.00,0.000,6,0.000,0.032,2347,2264,3097
$GC,2056,-1.04,-49.1,235.2,-9.0,194,2060,0.00,1.17,0.00,0.000,4,0.000,0.041,2347,1354,3097
$GC,2188,-1.04,-49.1,247.7,-10.0,206,2196,0.00,1.25,0.00,0.000,6,0.000,0.038,2343,2274,3096
$GC,2318,-1.04,-49.1,260.5,-9.8,219,2321,0.00,1.50,0.00,0.000,4,0.000,0.046,2336,3156,3096
$GC,2360,-1.04,-49.1,264.7,-9.8,223,2364,0.00,1.50,0.00,0.000,6,0.000,0.033,2339,2261,3096
$GC,2495,-1.04,-49.1,277.7,-9.7,236,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2261,3096
$GC,2619,-1.04,-49.1,290.2,-10.3,248,2620,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2261,3095
$GC,2743,-1.04,-49.1,302.5,-9.8,260,2747,0.00,1.17,0.00,0.000,4,0.000,0.041,2345,1352,3095
$GC,2832,-1.04,-49.1,311.7,-10.3,268,2840,0.00,1.25,0.00,0.000,6,0.000,0.038,2341,2272,3094
$GC,2962,-1.04,-49.1,324.4,-10.1,281,2963,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2273,3094
$GC,3087,-1.04,-49.1,337.4,-10.7,293,3087,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2273,3093
$GC,3210,-1.04,-49.1,350.1,-10.1,305,3214,0.00,1.23,0.00,0.000,4,0.000,0.040,2345,1351,3092
$GC,3446,-1.04,-49.1,374.1,-10.2,327,3449,0.00,1.23,0.00,0.000,6,0.000,0.041,2341,2267,3091
$GC,3580,-1.04,-49.1,387.9,-10.1,340,3581,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2267,3090
$GC,3704,-1.04,-49.1,400.3,-10.1,352,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2267,3089
$GC,3828,-1.04,-49.1,412.8,-10.3,364,3829,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2267,3089
$GC,3953,-1.04,-49.1,425.7,-10.3,376,3953,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2267,3088
$GC,4077,-1.04,-49.1,438.9,-10.8,388,4078,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2267,3088
$GC,4201,-1.04,-49.1,452.6,-11.1,400,4204,0.00,1.52,0.00,0.000,4,0.000,0.050,2333,3149,3087
$GC,4329,-1.04,-49.1,467.4,-11.3,412,4333,0.00,1.48,0.00,0.000,6,0.000,0.036,2334,2271,3085
$GC,4463,-1.04,-49.1,482.4,-10.7,425,4467,0.00,1.50,0.00,0.000,4,0.000,0.050,2328,3148,3085
$GC,4510,-1.04,-49.1,487.7,-11.4,429,4519,0.00,1.50,0.00,0.000,6,0.000,0.035,2334,2267,3084
$GC,4640,-1.04,-49.1,501.7,-10.8,442,4641,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2268,3084
$GC,4764,-1.04,-49.1,514.9,-10.8,454,4765,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2267,3083
$GC,4888,-1.04,-49.1,527.9,-10.5,466,4889,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2267,3082
$GC,5012,-1.04,-49.1,541.1,-10.9,478,5016,0.00,1.20,0.00,0.000,4,0.000,0.044,2334,1354,3082
$GC,5198,-1.04,-49.1,560.3,-10.1,495,5206,0.12,1.25,0.00,0.000,6,0.216,0.042,2356,2267,3081
$GC,5328,-1.04,-49.1,572.7,-9.6,508,5329,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2266,3080
$GC,5453,-1.04,-49.1,584.6,-10.1,520,5454,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2267,3080
$GC,5576,-1.04,-49.1,596.1,-9.5,532,5580,0.00,1.23,0.00,0.000,4,0.000,0.044,2360,1359,3079
$GC,5672,-1.04,-49.1,605.3,-9.9,541,5676,0.00,1.23,0.00,0.000,6,0.000,0.043,2356,2266,3078
$GC,5807,-1.04,-49.1,618.5,-9.9,554,5808,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2266,3077
$GC,5931,-1.04,-49.1,630.8,-10.1,566,5932,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2266,3077
$GC,6055,-1.04,-49.1,643.1,-9.7,578,6056,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2266,3076
$GC,6180,-1.04,-49.1,655.4,-10.6,590,6181,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2266,3075
$GC,6304,-1.04,-49.1,667.9,-9.9,602,6307,0.00,1.55,0.00,0.000,4,0.000,0.054,2348,3158,3074
$GC,6453,-1.04,-49.1,684.0,-10.2,616,6457,0.00,1.50,0.00,0.000,6,0.000,0.039,2348,2270,3074
$GC,6587,-1.04,-49.1,698.0,-10.1,629,6588,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2269,3073
$GC,6712,-1.04,-49.1,710.9,-10.0,641,6713,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2269,3072
$GC,6836,-1.04,-49.1,723.6,-9.8,653,6840,0.00,1.23,0.00,0.000,4,0.000,0.047,2348,1354,3072
$GC,6904,-1.04,-49.1,730.5,-9.9,659,6912,0.00,1.25,0.00,0.000,6,0.000,0.044,2343,2263,3071
$GC,7034,-1.04,-49.1,743.7,-9.9,672,7035,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2263,3071
$GC,7158,-1.04,-49.1,756.0,-9.7,684,7159,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2263,3071
$GC,7282,-1.04,-49.1,768.2,-9.9,696,7286,0.00,1.23,0.00,0.000,4,0.000,0.046,2347,1359,3070
$GC,7394,-1.04,-49.1,779.0,-9.6,706,7401,0.00,1.27,0.00,0.000,6,0.000,0.045,2343,2272,3069
$GC,7524,-1.04,-49.1,790.7,-9.1,719,7527,0.00,1.55,0.00,0.000,4,0.000,0.055,2335,3167,3069
$GC,7630,-1.04,-49.1,801.0,-9.2,729,7634,0.00,1.52,0.00,0.000,6,0.000,0.041,2337,2267,3069
$GC,7765,-1.04,-49.1,813.4,-8.9,742,7768,0.00,1.23,0.00,0.000,4,0.000,0.047,2342,1349,3068
$GC,7850,-1.04,-49.1,821.1,-9.2,750,7853,0.00,1.27,0.00,0.000,6,0.000,0.047,2338,2271,3068
$GC,7984,-1.04,-49.1,833.4,-9.3,763,7988,0.00,1.55,0.00,0.000,4,0.000,0.054,2330,3166,3068
$GC,8042,-1.04,-49.1,838.7,-8.8,768,8049,0.00,1.55,0.00,0.000,6,0.000,0.040,2336,2266,3068
$GC,8172,-1.04,-49.1,850.4,-8.6,781,8175,0.00,1.20,0.00,0.000,4,0.000,0.048,2342,1362,3067
$GC,8289,-1.04,-49.1,860.7,-8.9,792,8293,0.00,1.25,0.00,0.000,6,0.000,0.046,2338,2271,3067
$GC,8424,-1.04,-49.1,872.4,-8.7,805,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2272,3066
$GC,8548,-1.04,-49.1,883.4,-8.5,817,8551,0.00,1.55,0.00,0.000,4,0.000,0.055,2330,3166,3066
$GC,8584,-1.04,-49.1,886.9,-9.1,820,8592,0.00,1.55,0.00,0.000,6,0.000,0.040,2336,2263,3066
$GC,8714,-1.04,-49.1,898.7,-8.8,833,8717,0.00,1.60,0.00,0.000,4,0.000,0.055,2330,3173,3066
$GC,8767,-1.04,-49.1,903.8,-9.7,838,8771,0.00,1.55,0.00,0.000,6,0.000,0.041,2336,2272,3065
$GC,8901,-1.04,-49.1,916.0,-9.0,851,8905,0.00,1.23,0.00,0.000,4,0.000,0.048,2336,1348,3065
$GC,8965,-1.04,-49.1,921.8,-9.4,857,8969,0.08,1.27,0.00,0.000,6,0.216,0.046,2351,2278,3065
$GC,9100,-1.04,-49.1,933.4,-8.3,870,9103,0.00,1.25,0.00,0.000,4,0.000,0.048,2357,1356,3064
$GC,9281,-1.04,-49.1,948.9,-9.0,887,9285,0.00,1.25,0.00,0.000,6,0.000,0.047,2353,2274,3064
$GC,9416,-1.04,-49.1,959.7,-8.1,900,9419,0.00,1.55,0.00,0.000,4,0.000,0.055,2346,3150,3064
$GC,9463,-1.04,-49.1,963.7,-7.9,904,9470,0.00,1.52,0.00,0.000,6,0.000,0.041,2349,2264,3064
$GC,9592,-1.04,-49.1,974.0,-8.0,917,9596,0.00,1.20,0.00,0.000,4,0.000,0.048,2349,1363,3063
$GC,9682,-1.04,-49.1,981.3,-8.1,925,9690,0.00,1.25,0.00,0.000,6,0.000,0.047,2345,2265,3062
$STATE,9800,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9800,begin apogee
$GC,9803,-0.26,0.0,990.4,7.6,937,9844,1.00,0.00,34.40,1.236,6,0.208,0.000,2611,2296,2891
$STATE,9844,end apogee,CONTROL_FINISHED_OK
$STATE,9844,begin climb
$GC,9845,1.04,49.1,991.7,0.0,941,9895,1.35,0.00,41.17,1.219,6,0.120,0.000,3035,2296,2690
$GC,10017,1.04,49.1,974.3,12.2,958,10020,0.00,1.62,0.00,0.000,4,0.000,0.061,3034,3194,2686
$GC,10059,1.04,49.1,969.0,12.3,962,10062,0.00,1.52,0.00,0.000,6,0.000,0.039,3041,2297,2686
$GC,10193,1.04,49.1,952.6,12.3,975,10194,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2297,2685
$GC,10318,1.04,49.1,937.8,11.9,987,10319,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2297,2684
$GC,10441,1.04,49.1,923.1,11.8,999,10442,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2297,2684
$GC,10565,1.04,49.1,908.4,12.0,1011,10566,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2297,2684
$GC,10690,1.04,49.1,894.1,11.4,1023,10691,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2297,2685
$GC,10814,1.04,49.1,879.6,11.4,1035,10815,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2297,2684
$GC,10938,1.04,49.1,865.4,11.2,1047,10942,0.00,1.58,0.00,0.000,4,0.000,0.059,3041,3201,2684
$GC,11103,1.04,49.1,845.2,12.0,1062,11111,0.00,1.50,0.00,0.000,6,0.000,0.038,3046,2302,2683
$GC,11233,1.04,49.1,830.8,10.9,1075,11234,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2303,2683
$GC,11357,1.04,49.1,817.4,10.5,1087,11361,0.00,1.55,0.00,0.000,4,0.000,0.059,3045,3197,2683
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$CAP_FILE_SIZE,255524,0
$CFSIZE,260165632,252174336
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