version: 66.04
glider: 515
mission: 5
dive: 63
start: 6 1 110 22 9 10
data:
$ID,515
$MISSION,5
$DIVE,63
$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,-4963.2246
$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,40
$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,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,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
$GPS1,215957,2842.458,-8837.157,110,7.8,129,-0.3
$_CALLS,1
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-67.4
$GPS2,220831,2842.408,-8837.240,39,2.0,39,-0.3
$SPEED_LIMITS,0.117,0.253
$TGT_NAME,NEW0529E
$TGT_LATLONG,2848.000,-8843.600
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.003,-0.253
$KALMAN_X,-170989.4,509.6,-44.6,198186.4,-10422.7
$KALMAN_Y,15492.6,-1780.5,-667.4,-25814.5,21090.8
$MHEAD_RNG_PITCHd_Wd,336.8,14621,-9.4,-6.735
$D_GRID,973
$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,11,-0.59,-194.6,0.0,0.0,0,67,0.00,0.00,-54.10,0.000,2,0.000,0.000,202,2271,2107
$GC,68,-0.59,-194.6,3.2,-2.6,5,127,10.25,0.00,-41.53,0.000,6,0.260,0.000,2502,2271,3594
$GC,187,-0.59,-194.6,17.8,-17.6,16,188,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2271,3595
$GC,249,-0.59,-194.6,29.8,-19.4,22,249,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2271,3595
$GC,311,-0.59,-194.6,39.4,-15.6,28,311,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2271,3596
$GC,373,-0.59,-194.6,48.6,-14.8,34,376,0.00,1.23,0.00,0.000,4,0.000,0.035,2507,1375,3595
$GC,511,-0.59,-194.6,66.8,-12.5,47,516,0.00,1.27,0.00,0.000,6,0.000,0.035,2503,2288,3596
$GC,584,-0.59,-194.6,75.8,-12.8,54,588,0.00,1.25,0.00,0.000,4,0.000,0.035,2504,1383,3596
$GC,642,-0.59,-194.6,83.4,-12.4,59,649,0.00,1.25,0.00,0.000,6,0.000,0.034,2500,2272,3597
$GC,709,-0.59,-194.6,92.7,-14.3,66,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2272,3596
$GC,771,-0.59,-194.6,101.6,-14.3,72,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2272,3597
$GC,895,-0.59,-194.6,119.5,-15.0,84,899,0.00,1.20,0.00,0.000,4,0.000,0.035,2500,1379,3597
$GC,1087,-0.59,-194.6,146.2,-13.6,102,1091,0.00,1.23,0.00,0.000,6,0.000,0.035,2493,2267,3596
$GC,1223,-0.59,-194.6,164.2,-13.6,115,1226,0.00,1.20,0.00,0.000,4,0.000,0.036,2494,1368,3597
$GC,1297,-0.59,-194.6,174.0,-12.8,122,1300,0.00,1.25,0.00,0.000,6,0.000,0.035,2488,2274,3596
$GC,1432,-0.59,-194.6,191.9,-13.0,135,1435,0.00,1.20,0.00,0.000,4,0.000,0.037,2489,1375,3595
$GC,1603,-0.59,-194.6,214.2,-12.5,151,1606,0.00,1.25,0.00,0.000,6,0.000,0.036,2485,2280,3595
$GC,1737,-0.59,-194.6,231.7,-13.0,164,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2280,3594
$GC,1861,-0.59,-194.6,248.2,-13.1,176,1864,0.00,1.25,0.00,0.000,4,0.000,0.037,2485,1366,3594
$GC,2033,-0.59,-194.6,270.7,-13.0,192,2036,0.08,1.25,0.00,0.000,6,0.168,0.038,2503,2272,3593
$GC,2166,-0.59,-194.6,286.5,-11.9,205,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2272,3592
$GC,2291,-0.59,-194.6,301.0,-11.7,217,2294,0.00,1.20,0.00,0.000,4,0.000,0.038,2503,1377,3591
$GC,2365,-0.59,-194.6,310.0,-12.2,224,2369,0.00,1.25,0.00,0.000,6,0.000,0.038,2498,2278,3590
$GC,2500,-0.59,-194.6,326.3,-12.0,237,2503,0.00,1.23,0.00,0.000,4,0.000,0.038,2498,1371,3590
$GC,2638,-0.59,-194.6,343.5,-13.2,250,2643,0.00,1.25,0.00,0.000,6,0.000,0.038,2492,2272,3589
$GC,2773,-0.59,-194.6,360.1,-12.3,263,2777,0.00,1.20,0.00,0.000,4,0.000,0.039,2493,1381,3588
$GC,2831,-0.59,-194.6,367.4,-12.3,268,2838,0.00,1.27,0.00,0.000,6,0.000,0.038,2487,2283,3588
$GC,2960,-0.59,-194.6,384.0,-13.0,281,2964,0.00,1.25,0.00,0.000,4,0.000,0.038,2487,1374,3587
$GC,3061,-0.59,-194.6,397.2,-12.5,290,3069,0.00,1.27,0.00,0.000,6,0.000,0.039,2481,2278,3586
$GC,3190,-0.59,-194.6,414.2,-13.2,303,3194,0.00,1.23,0.00,0.000,4,0.000,0.039,2481,1371,3586
$GC,3258,-0.59,-194.6,423.4,-13.3,309,3266,0.12,1.27,0.00,0.000,6,0.172,0.039,2505,2276,3585
$GC,3389,-0.59,-194.6,437.7,-10.9,322,3390,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2276,3584
$GC,3512,-0.59,-194.6,451.5,-11.2,334,3516,0.00,1.23,0.00,0.000,4,0.000,0.041,2505,1370,3582
$GC,3619,-0.59,-194.6,463.8,-11.3,344,3623,0.00,1.25,0.00,0.000,6,0.000,0.041,2501,2270,3581
$GC,3754,-0.59,-194.6,479.4,-11.5,357,3757,0.00,1.20,0.00,0.000,4,0.000,0.041,2501,1382,3580
$GC,3839,-0.59,-194.6,489.3,-11.1,365,3842,0.00,1.25,0.00,0.000,6,0.000,0.041,2496,2275,3580
$GC,3974,-0.59,-194.6,505.4,-11.9,378,3977,0.00,1.23,0.00,0.000,4,0.000,0.042,2496,1373,3578
$GC,4052,-0.59,-194.6,515.0,-11.9,385,4060,0.00,1.27,0.00,0.000,6,0.000,0.041,2490,2275,3578
$GC,4182,-0.59,-194.6,530.4,-11.9,398,4186,0.00,1.23,0.00,0.000,4,0.000,0.042,2490,1372,3577
$GC,4250,-0.59,-194.6,538.8,-12.2,404,4258,0.00,1.27,0.00,0.000,6,0.000,0.042,2484,2274,3576
$GC,4381,-0.59,-194.6,554.7,-12.6,417,4384,0.00,1.23,0.00,0.000,4,0.000,0.042,2484,1389,3574
$GC,4448,-0.59,-194.6,563.3,-12.1,423,4456,0.12,1.27,0.00,0.000,6,0.174,0.043,2510,2280,3574
$GC,4578,-0.59,-194.6,576.9,-10.2,436,4582,0.00,1.23,0.00,0.000,4,0.000,0.042,2511,1383,3573
$GC,4646,-0.59,-194.6,584.3,-10.7,442,4655,0.00,1.27,0.00,0.000,6,0.000,0.044,2506,2274,3573
$GC,4776,-0.59,-194.6,598.1,-10.9,455,4780,0.00,1.23,0.00,0.000,4,0.000,0.044,2506,1377,3572
$GC,4855,-0.59,-194.6,606.8,-10.7,462,4863,0.00,1.30,0.00,0.000,6,0.000,0.044,2500,2282,3571
$GC,4985,-0.59,-194.6,621.3,-10.9,475,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2283,3570
$GC,5109,-0.59,-194.6,635.1,-11.0,487,5112,0.00,1.25,0.00,0.000,4,0.000,0.044,2500,1390,3570
$GC,5237,-0.59,-194.6,649.2,-10.6,499,5241,0.00,1.25,0.00,0.000,6,0.000,0.046,2494,2274,3569
$GC,5371,-0.59,-194.6,663.9,-11.1,512,5375,0.00,1.23,0.00,0.000,4,0.000,0.045,2494,1383,3567
$GC,5482,-0.59,-194.6,676.4,-11.2,522,5490,0.00,1.27,0.00,0.000,6,0.000,0.046,2489,2275,3566
$GC,5612,-0.59,-194.6,690.7,-11.4,535,5613,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2275,3566
$GC,5737,-0.59,-194.6,704.8,-11.1,547,5737,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2275,3565
$GC,5860,-0.59,-194.6,719.3,-11.6,559,5864,0.00,1.23,0.00,0.000,4,0.000,0.046,2489,1384,3565
$GC,6089,-0.59,-194.6,745.2,-10.3,580,6096,0.00,1.27,0.00,0.000,6,0.000,0.047,2484,2274,3563
$GC,6218,-0.59,-194.6,759.6,-11.3,593,6222,0.00,1.23,0.00,0.000,4,0.000,0.046,2484,1386,3562
$GC,6282,-0.59,-194.6,767.0,-11.5,599,6286,0.00,1.25,0.00,0.000,6,0.000,0.048,2480,2269,3561
$GC,6417,-0.59,-194.6,782.7,-11.5,612,6421,0.12,1.23,0.00,0.000,4,0.183,0.045,2510,1381,3560
$GC,6496,-0.59,-194.6,791.0,-9.8,619,6503,0.00,1.30,0.00,0.000,6,0.000,0.048,2506,2279,3561
$GC,6626,-0.59,-194.6,803.6,-9.9,632,6626,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2280,3560
$GC,6749,-0.59,-194.6,816.0,-10.0,644,6753,0.00,1.23,0.00,0.000,4,0.000,0.046,2506,1394,3558
$GC,6910,-0.59,-194.6,832.2,-10.0,659,6913,0.00,1.25,0.00,0.000,6,0.000,0.048,2500,2272,3558
$GC,7044,-0.59,-194.6,846.9,-11.1,672,7048,0.00,1.23,0.00,0.000,4,0.000,0.047,2500,1382,3557
$GC,7134,-0.59,-194.6,856.7,-10.6,680,7141,0.00,1.30,0.00,0.000,6,0.000,0.048,2494,2282,3557
$GC,7264,-0.59,-194.6,869.7,-9.9,693,7265,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2282,3556
$GC,7388,-0.59,-194.6,882.2,-10.4,705,7391,0.00,1.23,0.00,0.000,4,0.000,0.047,2494,1395,3555
$GC,7467,-0.59,-194.6,891.7,-11.3,712,7474,0.00,1.27,0.00,0.000,6,0.000,0.048,2488,2277,3555
$GC,7596,-0.59,-194.6,905.3,-9.2,725,7600,0.00,1.23,0.00,0.000,4,0.000,0.046,2488,1390,3555
$GC,7643,-0.59,-194.6,909.6,-9.7,729,7651,0.00,1.27,0.00,0.000,6,0.000,0.048,2482,2274,3555
$GC,7773,-0.59,-194.6,920.1,-6.8,742,7776,0.00,1.23,0.00,0.000,4,0.000,0.048,2482,1387,3554
$GC,7933,-0.59,-194.6,939.8,-15.5,757,7937,0.08,1.25,0.00,0.000,6,0.171,0.047,2500,2271,3553
$GC,8067,-0.59,-194.6,955.2,-9.7,770,8071,0.00,1.23,0.00,0.000,4,0.000,0.048,2500,1384,3554
$STATE,8216,end dive,NO_VERTICAL_VELOCITY
$STATE,8217,begin apogee
$GC,8220,-0.26,0.0,955.6,0.0,784,8371,0.38,0.00,146.62,1.234,6,0.107,0.000,2619,2272,2800
$STATE,8371,end apogee,CONTROL_FINISHED_OK
$STATE,8371,begin climb
$GC,8372,0.59,194.6,955.4,0.0,799,8541,0.85,0.00,162.18,1.200,6,0.126,0.000,2876,2272,2005
$GC,8663,0.59,194.6,936.3,8.4,826,8664,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2272,1997
$GC,8787,0.61,215.0,927.0,6.3,838,8807,0.00,1.35,16.65,1.095,4,0.000,0.054,2881,1378,1923
$GC,8870,0.61,215.0,922.1,8.5,845,8874,0.00,1.33,0.00,0.000,6,0.000,0.048,2881,2270,1920
$GC,9005,0.61,215.0,910.6,8.3,858,9006,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2270,1917
$GC,9129,0.61,215.0,900.6,8.4,870,9129,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2270,1917
$GC,9253,0.61,215.0,890.4,8.5,882,9256,0.00,1.58,0.00,0.000,4,0.000,0.061,2882,3173,1916
$GC,9289,0.61,215.0,887.0,9.9,885,9296,0.00,1.50,0.00,0.000,6,0.000,0.039,2889,2276,1915
$GC,9419,0.61,215.0,875.9,8.2,898,9419,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2274,1915
$GC,9543,0.61,215.0,865.7,8.1,910,9544,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2274,1914
$GC,9667,0.61,215.0,855.4,8.1,922,9668,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2274,1914
$GC,9791,0.61,215.0,845.7,7.9,934,9792,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2274,1914
$GC,9916,0.61,215.0,835.7,8.2,946,9919,0.00,1.55,0.00,0.000,4,0.000,0.061,2888,3169,1913
$GC,9947,0.61,215.0,832.8,9.8,949,9951,0.00,1.48,0.00,0.000,6,0.000,0.039,2896,2269,1912
$GC,10082,0.61,215.0,821.2,8.7,962,10083,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2268,1912
$GC,10206,0.61,215.0,810.3,8.8,974,10207,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2268,1912
$GC,10330,0.61,215.0,799.6,8.9,986,10331,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2268,1912
$GC,10455,0.61,215.0,788.3,9.2,998,10455,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2268,1911
$GC,10579,0.61,215.0,777.2,8.8,1010,10582,0.00,1.55,0.00,0.000,4,0.000,0.061,2896,3166,1911
$GC,10621,0.61,215.0,773.1,10.1,1014,10624,0.00,1.48,0.00,0.000,6,0.000,0.039,2903,2266,1911
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$STATE,19420,end climb,SURFACE_DEPTH_REACHED
$STATE,19420,begin surface coast
$FINISH,1.8,1.019746
$STATE,19461,end surface coast,CONTROL_FINISHED_OK
$STATE,19462,begin surface
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$CFSIZE,260165632,250171392
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$CURRENT,0.084,263.9,1
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