version: 66.04
glider: 515
mission: 5
dive: 49
start: 5 29 110 21 18 17
data:
$ID,515
$MISSION,5
$DIVE,49
$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,-4689.5825
$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,2275
$C_ROLL_CLIMB,2270
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$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,2850
$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
$GPS1,210655,2843.599,-8832.539,41,1.2,41,-0.3
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-67.3
$GPS2,211738,2843.698,-8832.601,12,1.2,12,-0.3
$SPEED_LIMITS,0.117,0.253
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.233,-0.099
$KALMAN_X,-140266.9,3655.1,1046.7,170637.6,-20889.3
$KALMAN_Y,-45209.4,-1810.1,-863.0,37511.5,13295.5
$MHEAD_RNG_PITCHd_Wd,78.6,10721,-9.4,-6.735
$D_GRID,1198
$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,-194.6,0.0,0.0,0,112,0.00,0.00,-98.68,0.000,2,0.000,0.000,204,2273,3285
$GC,114,-0.59,-194.6,3.9,-4.8,10,139,10.40,1.25,-6.88,0.000,4,0.267,0.068,2506,1373,3643
$GC,159,-0.59,-194.6,19.9,-30.9,14,163,0.00,1.25,0.00,0.000,6,0.000,0.035,2502,2275,3644
$GC,231,-0.59,-194.6,35.1,-19.8,21,235,0.00,1.52,0.00,0.000,4,0.000,0.044,2495,3174,3644
$GC,477,-0.59,-194.6,73.6,-14.2,44,481,0.00,1.48,0.00,0.000,6,0.000,0.031,2497,2277,3646
$GC,550,-0.59,-194.6,83.5,-13.8,51,553,0.00,1.52,0.00,0.000,4,0.000,0.045,2491,3169,3646
$GC,795,-0.59,-194.6,118.6,-13.9,74,799,0.00,1.45,0.00,0.000,6,0.000,0.032,2491,2280,3646
$GC,930,-0.59,-194.6,137.8,-14.3,87,933,0.00,1.50,0.00,0.000,4,0.000,0.045,2485,3170,3645
$GC,1068,-0.59,-194.6,157.5,-13.3,100,1072,0.00,1.48,0.00,0.000,6,0.000,0.032,2485,2274,3646
$GC,1204,-0.59,-194.6,175.4,-13.3,113,1204,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2273,3646
$GC,1327,-0.59,-194.6,191.5,-13.2,125,1331,0.00,1.52,0.00,0.000,4,0.000,0.044,2479,3175,3645
$GC,1434,-0.59,-194.6,205.7,-12.5,135,1438,0.08,1.48,0.00,0.000,6,0.163,0.032,2502,2271,3645
$GC,1569,-0.59,-194.6,221.0,-11.2,148,1569,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2270,3644
$GC,1693,-0.59,-194.6,235.3,-11.1,160,1694,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2270,3644
$GC,1817,-0.59,-194.6,249.4,-11.2,172,1820,0.00,1.52,0.00,0.000,4,0.000,0.046,2497,3170,3643
$GC,1863,-0.59,-194.6,255.3,-12.4,176,1871,0.00,1.48,0.00,0.000,6,0.000,0.032,2497,2275,3643
$GC,1993,-0.59,-194.6,270.7,-11.6,189,1994,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2274,3643
$GC,2117,-0.59,-194.6,285.3,-12.1,201,2118,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2274,3641
$GC,2241,-0.59,-194.6,300.0,-11.8,213,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2274,3641
$GC,2366,-0.59,-194.6,314.5,-11.9,225,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2274,3641
$GC,2490,-0.59,-194.6,329.2,-11.9,237,2491,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2274,3640
$GC,2614,-0.59,-194.6,343.8,-12.0,249,2618,0.00,1.52,0.00,0.000,4,0.000,0.048,2491,3168,3639
$GC,2710,-0.59,-194.6,355.5,-12.7,258,2714,0.00,1.45,0.00,0.000,6,0.000,0.035,2491,2281,3638
$GC,2844,-0.59,-194.6,371.3,-11.5,271,2845,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2280,3638
$GC,2969,-0.59,-194.6,385.6,-11.2,283,2969,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2280,3636
$GC,3093,-0.59,-194.6,400.1,-11.5,295,3094,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2280,3636
$GC,3217,-0.59,-194.6,414.8,-12.0,307,3218,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2279,3635
$GC,3341,-0.59,-194.6,429.2,-11.7,319,3345,0.00,1.50,0.00,0.000,4,0.000,0.051,2485,3160,3634
$GC,3384,-0.59,-194.6,434.2,-11.3,323,3387,0.00,1.45,0.00,0.000,6,0.000,0.037,2485,2277,3634
$GC,3519,-0.59,-194.6,450.8,-12.3,336,3520,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2276,3633
$GC,3642,-0.59,-194.6,465.9,-11.9,348,3643,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2276,3632
$GC,3767,-0.59,-194.6,481.1,-12.3,360,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2276,3631
$GC,3891,-0.59,-194.6,496.2,-12.0,372,3892,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2276,3629
$GC,4015,-0.59,-194.6,511.2,-12.0,384,4016,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2276,3628
$GC,4139,-0.59,-194.6,525.8,-11.7,396,4140,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2276,3628
$GC,4264,-0.59,-194.6,540.7,-12.2,408,4264,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2276,3627
$GC,4388,-0.59,-194.6,555.4,-11.9,420,4389,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2275,3627
$GC,4512,-0.59,-194.6,570.0,-11.5,432,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2275,3625
$GC,4636,-0.59,-194.6,584.7,-11.6,444,4639,0.00,1.52,0.00,0.000,4,0.000,0.055,2478,3159,3624
$GC,4700,-0.59,-194.6,592.4,-12.1,450,4704,0.08,1.45,0.00,0.000,6,0.172,0.039,2502,2280,3624
$GC,4834,-0.59,-194.6,607.1,-11.0,463,4835,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2280,3622
$GC,4959,-0.59,-194.6,620.1,-10.6,475,4960,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2280,3622
$GC,5082,-0.59,-194.6,633.4,-10.6,487,5083,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2280,3621
$GC,5207,-0.59,-194.6,646.5,-10.3,499,5208,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2280,3620
$GC,5331,-0.59,-194.6,659.6,-10.6,511,5332,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2280,3619
$GC,5455,-0.59,-194.6,672.9,-10.8,523,5456,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2280,3618
$GC,5579,-0.59,-194.6,686.2,-11.0,535,5583,0.00,1.52,0.00,0.000,4,0.000,0.056,2496,3166,3617
$GC,5615,-0.59,-194.6,690.3,-11.3,538,5623,0.00,1.50,0.00,0.000,6,0.000,0.040,2496,2273,3617
$GC,5745,-0.59,-194.6,704.4,-11.1,551,5749,0.00,1.52,0.00,0.000,4,0.000,0.057,2489,3158,3616
$GC,5820,-0.59,-194.6,712.5,-10.3,558,5824,0.00,1.48,0.00,0.000,6,0.000,0.040,2490,2275,3616
$GC,5955,-0.59,-194.6,727.5,-11.4,571,5955,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2274,3615
$GC,6079,-0.59,-194.6,740.9,-10.8,583,6080,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2274,3615
$GC,6203,-0.59,-194.6,754.1,-10.6,595,6203,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2274,3614
$GC,6327,-0.59,-194.6,767.3,-10.8,607,6328,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2274,3614
$GC,6452,-0.59,-194.6,780.6,-10.8,619,6452,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2274,3614
$GC,6575,-0.59,-194.6,794.2,-11.4,631,6576,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2274,3613
$GC,6699,-0.59,-194.6,808.2,-11.6,643,6700,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2274,3611
$GC,6824,-0.59,-194.6,822.2,-11.1,655,6825,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2274,3610
$GC,6948,-0.59,-194.6,836.1,-11.5,667,6948,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2274,3609
$GC,7072,-0.59,-194.6,849.4,-10.7,679,7073,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2274,3609
$GC,7196,-0.59,-194.6,862.4,-10.3,691,7197,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2274,3609
$GC,7320,-0.59,-194.6,875.6,-10.6,703,7324,0.00,1.55,0.00,0.000,4,0.000,0.060,2483,3163,3608
$GC,7362,-0.59,-194.6,880.4,-11.9,707,7366,0.00,1.48,0.00,0.000,6,0.000,0.043,2484,2277,3608
$GC,7497,-0.59,-194.6,895.1,-10.9,720,7498,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2277,3608
$GC,7621,-0.59,-194.6,908.6,-10.8,732,7622,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2277,3607
$GC,7746,-0.59,-194.6,922.7,-11.3,744,7747,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2277,3606
$GC,7870,-0.59,-194.6,936.5,-11.0,756,7871,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2277,3606
$GC,7994,-0.59,-194.6,950.4,-11.1,768,7995,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2277,3605
$GC,8118,-0.59,-194.6,963.9,-10.8,780,8122,0.00,1.52,0.00,0.000,4,0.000,0.061,2478,3154,3603
$GC,8182,-0.59,-194.6,970.8,-11.5,786,8186,0.08,1.48,0.00,0.000,6,0.168,0.043,2501,2274,3603
$GC,8317,-0.59,-194.6,983.9,-9.6,799,8317,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2275,3603
$STATE,8388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8388,begin apogee
$GC,8391,-0.26,0.0,990.9,9.4,806,8542,0.38,0.00,148.80,1.259,6,0.148,0.000,2614,2275,2850
$STATE,8543,end apogee,CONTROL_FINISHED_OK
$STATE,8543,begin climb
$GC,8544,0.59,194.6,996.4,0.0,821,8717,0.90,1.40,162.80,1.226,4,0.123,0.054,2885,1383,2056
$GC,8752,0.59,194.6,982.1,10.1,840,8759,0.00,1.35,0.00,0.000,6,0.000,0.047,2885,2263,2051
$GC,8882,0.59,194.6,969.4,9.7,853,8883,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2263,2047
$GC,9006,0.59,194.6,957.0,9.6,865,9007,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2263,2045
$GC,9130,0.59,194.6,944.5,10.1,877,9131,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2263,2043
$GC,9254,0.59,194.6,932.1,10.1,889,9255,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2263,2043
$GC,9378,0.59,194.6,920.1,9.7,901,9379,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2263,2043
$GC,9502,0.59,194.6,908.3,9.5,913,9503,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2263,2042
$GC,9627,0.59,194.6,896.9,9.1,925,9628,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2263,2042
$GC,9751,0.59,194.6,885.3,9.1,937,9751,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2263,2042
$GC,9875,0.59,194.6,873.7,9.4,949,9876,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2264,2041
$GC,9999,0.59,194.6,862.3,9.2,961,10000,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2263,2040
$GC,10123,0.59,194.6,850.9,8.7,973,10124,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2263,2040
$GC,10247,0.59,194.6,839.6,9.2,985,10248,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2264,2040
$GC,10372,0.59,194.6,828.1,9.1,997,10373,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2264,2040
$GC,10496,0.59,194.6,817.1,8.8,1009,10499,0.00,1.23,0.00,0.000,4,0.000,0.046,2891,1373,2039
$GC,10528,0.59,194.6,814.3,8.1,1012,10531,0.00,1.27,0.00,0.000,6,0.000,0.049,2890,2271,2040
$GC,10662,0.59,194.6,802.0,9.4,1025,10663,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2271,2039
$GC,10786,0.59,194.6,790.5,9.3,1037,10787,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2271,2039
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