version: 66.04
glider: 515
mission: 5
dive: 65
start: 6 2 110 9 3 47
data:
$ID,515
$MISSION,5
$DIVE,65
$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,-4994.0049
$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,2136
$C_ROLL_CLIMB,2276
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,27
$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,800
$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
$GPS1,085655,2846.769,-8842.126,41,1.0,41,-0.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-71.8
$GPS2,090308,2846.826,-8842.052,12,1.5,12,-0.2
$SPEED_LIMITS,0.117,0.253
$TGT_NAME,NEW0529E
$TGT_LATLONG,2848.000,-8843.600
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.103,-0.232
$KALMAN_X,-180372.8,780.7,152.2,199265.7,-12496.5
$KALMAN_Y,34854.2,-765.3,-1025.9,-37629.6,24606.3
$MHEAD_RNG_PITCHd_Wd,335.7,3323,-26.6,-6.735
$D_GRID,985
$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,-1.03,-34.9,0.0,0.0,0,97,0.00,0.00,-83.35,0.000,2,0.000,0.000,206,2122,2889
$GC,98,-1.07,-64.6,3.4,-2.9,8,115,9.80,1.08,-4.32,0.000,4,0.269,0.064,2353,1257,3064
$GC,356,-1.07,-64.6,38.6,-8.5,32,360,0.00,1.20,0.00,0.000,6,0.000,0.033,2348,2186,3066
$GC,429,-1.07,-64.6,44.2,-7.1,39,433,0.00,1.20,0.00,0.000,4,0.000,0.036,2353,1254,3067
$GC,675,-1.07,-64.6,59.5,-7.1,62,678,0.00,1.15,0.00,0.000,6,0.000,0.032,2349,2151,3067
$GC,748,-1.07,-64.6,65.2,-7.6,69,751,0.00,1.12,0.00,0.000,4,0.000,0.035,2352,1261,3068
$GC,940,-1.07,-64.6,80.7,-8.3,87,943,0.00,1.10,0.00,0.000,6,0.000,0.033,2349,2135,3068
$GC,1012,-1.07,-64.6,87.3,-9.0,94,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2135,3068
$GC,1074,-1.07,-64.6,92.9,-9.5,100,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2135,3068
$GC,1136,-1.07,-64.6,99.1,-9.8,106,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2135,3068
$GC,1198,-1.07,-64.6,105.5,-10.4,112,1199,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2135,3068
$GC,1323,-1.07,-64.6,118.7,-10.7,124,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2135,3068
$GC,1446,-1.07,-64.6,131.4,-9.6,136,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2135,3068
$GC,1571,-1.07,-64.6,144.5,-10.4,148,1574,0.00,1.10,0.00,0.000,4,0.000,0.036,2352,1262,3068
$GC,1816,-1.07,-64.6,169.3,-9.5,171,1820,0.00,1.12,0.00,0.000,6,0.000,0.033,2349,2143,3068
$GC,1951,-1.07,-64.6,180.3,-7.9,184,1952,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2143,3068
$GC,2075,-1.07,-64.6,189.7,-7.5,196,2076,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2143,3068
$GC,2200,-1.07,-64.6,199.0,-7.7,208,2201,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2143,3068
$GC,2323,-1.07,-64.6,208.8,-7.9,220,2327,0.00,1.48,0.00,0.000,4,0.000,0.042,2341,3003,3067
$GC,2402,-1.07,-64.6,215.1,-7.7,227,2410,0.00,1.48,0.00,0.000,6,0.000,0.033,2347,2144,3067
$GC,2532,-1.07,-64.6,225.4,-8.3,240,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2145,3067
$GC,2656,-1.07,-64.6,235.5,-8.7,252,2660,0.00,1.50,0.00,0.000,4,0.000,0.044,2341,3001,3066
$GC,2870,-1.07,-64.6,254.1,-8.8,272,2874,0.00,1.48,0.00,0.000,6,0.000,0.035,2347,2135,3065
$GC,3004,-1.07,-64.6,265.2,-8.0,285,3005,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2135,3065
$GC,3128,-1.07,-64.6,275.5,-8.7,297,3132,0.00,1.10,0.00,0.000,4,0.000,0.038,2352,1249,3065
$GC,3374,-1.07,-64.6,296.7,-8.8,320,3378,0.00,1.15,0.00,0.000,6,0.000,0.036,2348,2142,3064
$GC,3509,-1.07,-64.6,308.5,-9.0,333,3509,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2143,3063
$GC,3633,-1.07,-64.6,318.9,-7.9,345,3636,0.00,1.12,0.00,0.000,4,0.000,0.039,2352,1254,3062
$GC,3861,-1.07,-64.6,338.4,-8.2,366,3868,0.00,1.15,0.00,0.000,6,0.000,0.036,2348,2145,3062
$GC,3991,-1.07,-64.6,348.9,-8.2,379,3991,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2145,3061
$GC,4115,-1.07,-64.6,359.7,-8.9,391,4116,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2145,3061
$GC,4239,-1.07,-64.6,370.8,-9.1,403,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2145,3060
$GC,4363,-1.07,-64.6,381.6,-8.8,415,4367,0.00,1.48,0.00,0.000,4,0.000,0.047,2341,2996,3060
$GC,4459,-1.07,-64.6,390.6,-9.5,424,4463,0.00,1.48,0.00,0.000,6,0.000,0.036,2347,2136,3059
$GC,4594,-1.07,-64.6,402.9,-8.8,437,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2136,3058
$GC,4718,-1.07,-64.6,414.0,-9.2,449,4719,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2136,3058
$GC,4842,-1.07,-64.6,425.2,-9.1,461,4843,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2136,3057
$GC,4967,-1.07,-64.6,436.3,-9.0,473,4968,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2136,3057
$GC,5090,-1.07,-64.6,447.5,-9.1,485,5094,0.00,1.10,0.00,0.000,4,0.000,0.043,2350,1259,3055
$GC,5336,-1.07,-64.6,470.2,-9.4,508,5340,0.00,1.15,0.00,0.000,6,0.000,0.040,2346,2138,3054
$GC,5471,-1.07,-64.6,482.8,-9.1,521,5474,0.00,1.15,0.00,0.000,4,0.000,0.043,2347,1252,3053
$GC,5545,-1.07,-64.6,489.4,-8.9,528,5549,0.00,1.17,0.00,0.000,6,0.000,0.041,2343,2162,3053
$GC,5680,-1.07,-64.6,501.7,-9.1,541,5683,0.00,1.48,0.00,0.000,4,0.000,0.049,2336,3004,3053
$GC,5786,-1.07,-64.6,511.8,-9.5,551,5790,0.00,1.50,0.00,0.000,6,0.000,0.038,2341,2135,3052
$GC,5921,-1.07,-64.6,524.2,-9.2,564,5922,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2135,3051
$GC,6045,-1.07,-64.6,535.6,-9.1,576,6049,0.00,1.55,0.00,0.000,4,0.000,0.049,2335,3013,3051
$GC,6098,-1.07,-64.6,540.4,-8.9,581,6102,0.00,1.50,0.00,0.000,6,0.000,0.039,2338,2141,3051
$GC,6233,-1.07,-64.6,552.8,-9.1,594,6233,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,2141,3050
$GC,6357,-1.07,-64.6,564.5,-9.7,606,6361,0.00,1.12,0.00,0.000,4,0.000,0.046,2343,1258,3050
$GC,6532,-1.07,-64.6,581.3,-10.2,622,6540,0.00,1.17,0.00,0.000,6,0.000,0.042,2340,2150,3049
$GC,6662,-1.07,-64.6,593.4,-9.4,635,6663,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2151,3049
$GC,6787,-1.07,-64.6,605.1,-9.7,647,6787,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2151,3048
$GC,6910,-1.07,-64.6,616.2,-8.9,659,6911,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2151,3047
$GC,7034,-1.07,-64.6,627.6,-9.4,671,7035,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2151,3047
$GC,7159,-1.07,-64.6,639.0,-8.9,683,7160,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2151,3046
$GC,7283,-1.07,-64.6,650.3,-9.4,695,7286,0.00,1.17,0.00,0.000,4,0.000,0.047,2343,1255,3045
$GC,7372,-1.07,-64.6,658.7,-9.2,703,7379,0.00,1.17,0.00,0.000,6,0.000,0.043,2339,2146,3045
$GC,7502,-1.07,-64.6,669.6,-8.0,716,7503,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2147,3045
$GC,7626,-1.07,-64.6,680.5,-8.7,728,7627,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2147,3044
$GC,7750,-1.07,-64.6,691.0,-8.1,740,7754,0.00,1.50,0.00,0.000,4,0.000,0.051,2332,3000,3044
$GC,7974,-1.07,-64.6,710.8,-8.8,761,7978,0.00,1.50,0.00,0.000,6,0.000,0.041,2336,2140,3042
$GC,8109,-1.07,-64.6,721.9,-8.5,774,8110,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2139,3042
$GC,8233,-1.07,-64.6,732.2,-8.3,786,8237,0.00,1.55,0.00,0.000,4,0.000,0.053,2331,3010,3042
$GC,8269,-1.07,-64.6,735.4,-8.8,789,8277,0.00,1.55,0.00,0.000,6,0.000,0.042,2336,2129,3041
$GC,8399,-1.07,-64.6,746.2,-8.4,802,8400,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2128,3041
$GC,8523,-1.07,-64.6,755.9,-7.9,814,8524,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2130,3040
$GC,8647,-1.07,-64.6,765.7,-7.6,826,8648,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2130,3040
$GC,8772,-1.07,-64.6,775.3,-7.5,838,8773,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2130,3039
$GC,8896,-1.07,-64.6,785.1,-8.2,850,8899,0.00,1.12,0.00,0.000,4,0.000,0.049,2336,1255,3038
$GC,8992,-1.07,-64.6,792.7,-7.4,859,8995,0.00,1.15,0.00,0.000,6,0.000,0.045,2333,2132,3039
$GC,9127,-1.07,-64.6,803.1,-7.8,872,9127,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2133,3038
$GC,9250,-1.07,-64.6,812.5,-7.9,884,9254,0.00,1.15,0.00,0.000,4,0.000,0.048,2334,1259,3037
$GC,9350,-1.07,-64.6,820.6,-7.5,893,9358,0.00,1.17,0.00,0.000,6,0.000,0.044,2330,2144,3037
$GC,9480,-1.07,-64.6,830.6,-7.7,906,9481,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2144,3037
$GC,9604,-1.07,-64.6,840.7,-8.1,918,9608,0.00,1.17,0.00,0.000,4,0.000,0.048,2334,1248,3037
$GC,9850,-1.07,-64.6,858.8,-6.9,941,9854,0.00,1.17,0.00,0.000,6,0.000,0.045,2329,2140,3036
$GC,9985,-1.07,-65.6,868.3,-6.6,954,9988,0.00,1.17,0.00,0.000,4,0.000,0.048,2332,1248,3035
$GC,10231,-1.07,-65.6,885.3,-7.3,977,10234,0.00,1.17,0.00,0.000,6,0.000,0.046,2329,2139,3035
$GC,10364,-1.07,-65.6,894.9,-7.3,990,10368,0.00,1.15,0.00,0.000,4,0.000,0.048,2333,1262,3034
$GC,10539,-1.07,-65.6,907.5,-7.0,1006,10547,0.00,1.17,0.00,0.000,6,0.000,0.044,2329,2144,3034
$GC,10669,-1.07,-65.6,916.6,-7.3,1019,10670,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2144,3033
$GC,10793,-1.07,-65.6,925.3,-6.9,1031,10794,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2145,3033
$GC,10918,-1.07,-65.6,933.8,-6.8,1043,10918,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2145,3032
$GC,11042,-1.07,-65.7,942.3,-6.7,1055,11045,0.00,1.17,0.00,0.000,4,0.000,0.048,2333,1250,3032
$GC,11095,-1.07,-71.8,945.8,-5.9,1060,11098,0.00,1.17,0.00,0.000,6,0.000,0.046,2329,2138,3032
$GC,11229,-1.07,-71.8,954.8,-6.8,1073,11230,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2138,3031
$GC,11354,-1.07,-71.8,963.2,-6.8,1085,11357,0.00,1.17,0.00,0.000,4,0.000,0.049,2333,1248,3031
$GC,11539,-1.08,-78.0,975.3,-5.9,1102,11547,0.00,1.20,0.00,0.000,6,0.000,0.047,2330,2142,3031
$GC,11669,-1.15,-131.1,975.3,0.1,1115,11672,0.00,1.52,0.00,0.000,4,0.000,0.057,2321,3001,3031
$STATE,11689,end dive,NO_VERTICAL_VELOCITY
$STATE,11689,begin apogee
$GC,11693,-0.26,0.0,975.2,0.0,1117,11743,1.02,0.00,45.25,1.242,6,0.176,0.000,2614,2270,2800
$STATE,11743,end apogee,CONTROL_FINISHED_OK
$STATE,11743,begin climb
$GC,11744,1.15,131.1,975.3,0.0,1122,11862,1.42,1.35,111.38,1.230,4,0.126,0.045,3063,1385,2265
$GC,11994,1.15,131.1,935.0,21.6,1144,12003,0.00,1.30,0.00,0.000,6,0.000,0.049,3063,2255,2256
$GC,12124,1.15,131.1,907.0,21.7,1157,12125,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2255,2252
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$STATE,17603,begin surface
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$TCM_TEMP,22.40
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$10V_AH,10.6,17.777
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$DATA_FILE_SIZE,88303,1678
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$CFSIZE,260165632,249999360
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