version: 66.04
glider: 515
mission: 5
dive: 71
start: 6 3 110 14 47 5
data:
$ID,515
$MISSION,5
$DIVE,71
$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,-5083.3184
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2735
$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,1946
$C_ROLL_CLIMB,2409
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,60
$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,4
$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
$GPS1,143337,2839.529,-8844.058,32,0.9,32,-0.2
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-66.7
$GPS2,144626,2839.598,-8844.004,13,1.4,13,-0.2
$SPEED_LIMITS,0.117,0.253
$TGT_NAME,NEW0602B
$TGT_LATLONG,2845.000,-8829.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.251,0.037
$KALMAN_X,-198979.9,141.5,-101.9,215594.1,-11217.2
$KALMAN_Y,39979.1,-987.3,-829.7,-56105.8,4684.7
$MHEAD_RNG_PITCHd_Wd,74.6,26336,-9.4,-6.735
$D_GRID,1213
$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,-194.6,0.0,0.0,0,107,0.00,0.00,-93.85,0.000,2,0.000,0.000,194,1998,3066
$GC,109,-0.59,-194.6,3.7,-5.0,9,135,10.80,1.50,-10.68,0.000,4,0.271,0.062,2531,2807,3595
$GC,373,-0.59,-194.6,55.4,-12.2,33,381,0.00,1.52,0.00,0.000,6,0.000,0.032,2536,1930,3597
$GC,441,-0.59,-194.6,63.3,-12.3,40,445,0.00,1.52,0.00,0.000,4,0.000,0.041,2531,2792,3598
$GC,687,-0.59,-194.6,93.0,-11.0,63,690,0.00,1.48,0.00,0.000,6,0.000,0.035,2536,1934,3599
$GC,759,-0.59,-194.6,101.4,-11.5,70,763,0.00,1.52,0.00,0.000,4,0.000,0.041,2531,2796,3599
$GC,823,-0.59,-194.6,108.9,-12.5,76,827,0.00,1.48,0.00,0.000,6,0.000,0.034,2534,1932,3599
$GC,958,-0.59,-194.6,123.7,-11.1,89,961,0.00,1.52,0.00,0.000,4,0.000,0.041,2529,2798,3599
$GC,1047,-0.59,-194.6,133.7,-10.4,97,1055,0.00,1.48,0.00,0.000,6,0.000,0.033,2529,1945,3599
$GC,1177,-0.59,-194.6,148.5,-11.4,110,1181,0.00,1.50,0.00,0.000,4,0.000,0.042,2522,2798,3598
$GC,1299,-0.59,-194.6,162.6,-11.3,121,1306,0.00,1.48,0.00,0.000,6,0.000,0.033,2522,1943,3598
$GC,1429,-0.59,-194.6,177.1,-11.3,134,1432,0.00,1.50,0.00,0.000,4,0.000,0.043,2515,2794,3597
$GC,1518,-0.59,-194.6,187.7,-11.9,142,1527,0.12,1.48,0.00,0.000,6,0.148,0.034,2546,1937,3597
$GC,1648,-0.59,-194.6,200.4,-9.9,155,1652,0.00,1.52,0.00,0.000,4,0.000,0.043,2540,2803,3597
$GC,1748,-0.59,-194.6,210.4,-9.1,164,1756,0.00,1.50,0.00,0.000,6,0.000,0.034,2541,1928,3596
$GC,1878,-0.59,-194.6,223.4,-9.6,177,1882,0.00,1.52,0.00,0.000,4,0.000,0.043,2534,2797,3596
$GC,1989,-0.59,-194.6,234.3,-8.9,187,1997,0.00,1.48,0.00,0.000,6,0.000,0.035,2534,1942,3595
$GC,2119,-0.59,-194.6,246.9,-9.7,200,2123,0.00,1.50,0.00,0.000,4,0.000,0.044,2527,2794,3595
$GC,2258,-0.59,-194.6,260.8,-9.9,213,2262,0.00,1.45,0.00,0.000,6,0.000,0.035,2527,1947,3594
$GC,2393,-0.59,-194.6,274.2,-10.1,226,2396,0.00,1.50,0.00,0.000,4,0.000,0.044,2520,2799,3593
$GC,2467,-0.59,-194.6,281.8,-10.3,233,2471,0.00,1.45,0.00,0.000,6,0.000,0.035,2520,1946,3592
$GC,2602,-0.59,-194.6,296.4,-11.0,246,2605,0.00,1.50,0.00,0.000,4,0.000,0.044,2513,2800,3592
$GC,2713,-0.59,-194.6,308.9,-11.4,256,2721,0.12,1.48,0.00,0.000,6,0.147,0.035,2544,1946,3591
$GC,2843,-0.59,-194.6,321.2,-9.1,269,2846,0.00,1.50,0.00,0.000,4,0.000,0.045,2539,2798,3590
$GC,2928,-0.59,-194.6,328.9,-8.4,277,2932,0.00,1.48,0.00,0.000,6,0.000,0.036,2539,1935,3589
$GC,3063,-0.59,-194.6,341.6,-9.2,290,3066,0.00,1.52,0.00,0.000,4,0.000,0.045,2533,2802,3589
$GC,3152,-0.59,-194.6,350.2,-9.5,298,3161,0.00,1.50,0.00,0.000,6,0.000,0.035,2532,1928,3588
$GC,3282,-0.59,-194.6,362.9,-9.6,311,3285,0.00,1.52,0.00,0.000,4,0.000,0.045,2525,2795,3588
$GC,3404,-0.59,-194.6,375.5,-10.1,322,3413,0.00,1.48,0.00,0.000,6,0.000,0.036,2526,1944,3587
$GC,3534,-0.59,-194.6,388.5,-10.0,335,3537,0.00,1.50,0.00,0.000,4,0.000,0.046,2518,2794,3586
$GC,3683,-0.59,-194.6,404.1,-10.4,349,3687,0.00,1.45,0.00,0.000,6,0.000,0.038,2519,1951,3585
$GC,3818,-0.59,-194.6,417.9,-10.3,362,3821,0.00,1.50,0.00,0.000,4,0.000,0.047,2511,2795,3584
$GC,3939,-0.59,-194.6,431.2,-10.7,373,3948,0.12,1.50,0.00,0.000,6,0.149,0.038,2543,1927,3583
$GC,4069,-0.59,-194.6,443.1,-9.2,386,4073,0.00,1.52,0.00,0.000,4,0.000,0.048,2537,2792,3582
$GC,4155,-0.59,-194.6,450.9,-9.2,394,4158,0.00,1.45,0.00,0.000,6,0.000,0.038,2538,1953,3582
$GC,4289,-0.59,-194.6,463.5,-9.2,407,4293,0.00,1.50,0.00,0.000,4,0.000,0.048,2531,2796,3581
$GC,4396,-0.59,-194.6,473.7,-10.2,417,4399,0.00,1.48,0.00,0.000,6,0.000,0.038,2531,1937,3580
$GC,4530,-0.59,-194.6,486.4,-9.4,430,4534,0.00,1.52,0.00,0.000,4,0.000,0.049,2525,2798,3579
$GC,4620,-0.59,-194.6,495.1,-9.5,438,4628,0.00,1.50,0.00,0.000,6,0.000,0.038,2525,1930,3578
$GC,4750,-0.59,-194.6,507.6,-9.8,451,4753,0.00,1.52,0.00,0.000,4,0.000,0.048,2517,2792,3577
$GC,4867,-0.59,-194.6,519.0,-9.8,462,4871,0.00,1.48,0.00,0.000,6,0.000,0.039,2517,1937,3576
$GC,5002,-0.59,-194.6,532.5,-9.8,475,5005,0.00,1.52,0.00,0.000,4,0.000,0.049,2511,2794,3575
$GC,5091,-0.59,-194.6,541.7,-10.4,483,5099,0.12,1.50,0.00,0.000,6,0.150,0.038,2542,1930,3574
$GC,5222,-0.59,-194.6,552.8,-8.6,496,5225,0.00,1.52,0.00,0.000,4,0.000,0.049,2537,2790,3573
$GC,5328,-0.59,-194.6,562.1,-8.7,506,5332,0.00,1.48,0.00,0.000,6,0.000,0.039,2537,1938,3573
$GC,5463,-0.59,-194.6,574.2,-9.1,519,5466,0.00,1.52,0.00,0.000,4,0.000,0.050,2531,2794,3572
$GC,5537,-0.59,-194.6,581.1,-9.5,526,5541,0.00,1.48,0.00,0.000,6,0.000,0.039,2530,1944,3571
$GC,5672,-0.59,-194.6,593.8,-9.5,539,5675,0.00,1.52,0.00,0.000,4,0.000,0.050,2524,2799,3571
$GC,5810,-0.59,-194.6,607.4,-10.3,552,5814,0.00,1.48,0.00,0.000,6,0.000,0.039,2524,1947,3570
$GC,5945,-0.59,-194.6,620.6,-9.8,565,5948,0.00,1.52,0.00,0.000,4,0.000,0.051,2517,2800,3569
$GC,6035,-0.59,-194.6,629.9,-10.3,573,6042,0.00,1.50,0.00,0.000,6,0.000,0.039,2517,1938,3568
$GC,6165,-0.59,-194.6,643.1,-10.0,586,6168,0.00,1.52,0.00,0.000,4,0.000,0.051,2510,2792,3568
$GC,6271,-0.59,-194.6,653.9,-9.7,596,6275,0.10,1.48,0.00,0.000,6,0.147,0.040,2541,1944,3566
$GC,6406,-0.59,-194.6,665.7,-8.3,609,6409,0.00,1.52,0.00,0.000,4,0.000,0.051,2536,2799,3566
$GC,6484,-0.59,-194.6,672.5,-8.6,616,6492,0.00,1.50,0.00,0.000,6,0.000,0.039,2536,1941,3565
$GC,6615,-0.59,-194.6,683.6,-8.9,629,6618,0.00,1.52,0.00,0.000,4,0.000,0.051,2529,2789,3565
$GC,6715,-0.59,-194.6,692.4,-8.6,638,6723,0.00,1.50,0.00,0.000,6,0.000,0.040,2529,1932,3564
$GC,6845,-0.59,-194.6,703.9,-8.9,651,6849,0.00,1.52,0.00,0.000,4,0.000,0.052,2523,2785,3564
$GC,6988,-0.59,-194.6,717.1,-9.2,664,6996,0.00,1.48,0.00,0.000,6,0.000,0.040,2523,1943,3563
$GC,7118,-0.59,-194.6,728.9,-8.9,677,7122,0.00,1.52,0.00,0.000,4,0.000,0.051,2516,2796,3562
$GC,7278,-0.59,-194.6,744.0,-9.8,692,7282,0.00,1.48,0.00,0.000,6,0.000,0.040,2516,1949,3561
$GC,7413,-0.59,-194.6,756.4,-8.9,705,7416,0.00,1.50,0.00,0.000,4,0.000,0.052,2509,2785,3560
$GC,7498,-0.59,-194.6,764.2,-9.3,713,7502,0.10,1.48,0.00,0.000,6,0.150,0.041,2540,1937,3560
$GC,7632,-0.59,-194.6,774.6,-7.4,726,7636,0.00,1.52,0.00,0.000,4,0.000,0.052,2535,2790,3559
$GC,7754,-0.59,-194.6,784.3,-7.7,737,7762,0.00,1.50,0.00,0.000,6,0.000,0.041,2535,1933,3559
$GC,7884,-0.59,-194.6,794.8,-7.9,750,7888,0.00,1.55,0.00,0.000,4,0.000,0.053,2528,2799,3558
$GC,8002,-0.59,-194.6,804.4,-7.8,761,8005,0.00,1.48,0.00,0.000,6,0.000,0.041,2528,1948,3558
$GC,8137,-0.59,-194.6,815.5,-8.3,774,8140,0.00,1.52,0.00,0.000,4,0.000,0.052,2521,2796,3557
$GC,8205,-0.59,-194.6,821.3,-8.8,780,8212,0.00,1.50,0.00,0.000,6,0.000,0.041,2522,1939,3557
$GC,8335,-0.59,-194.6,832.2,-8.2,793,8338,0.00,1.52,0.00,0.000,4,0.000,0.053,2515,2790,3557
$GC,8474,-0.59,-194.6,844.5,-9.5,806,8477,0.08,1.48,0.00,0.000,6,0.151,0.041,2538,1940,3557
$GC,8608,-0.59,-194.6,855.2,-7.9,819,8611,0.00,1.52,0.00,0.000,4,0.000,0.054,2533,2793,3556
$GC,8708,-0.59,-194.6,862.9,-7.6,828,8716,0.00,1.50,0.00,0.000,6,0.000,0.041,2533,1935,3555
$GC,8838,-0.59,-194.6,873.0,-7.9,841,8842,0.00,1.55,0.00,0.000,4,0.000,0.054,2526,2798,3555
$GC,8945,-0.59,-194.6,882.0,-8.5,851,8948,0.00,1.50,0.00,0.000,6,0.000,0.041,2526,1935,3555
$GC,9080,-0.59,-194.6,893.7,-8.7,864,9083,0.00,1.55,0.00,0.000,4,0.000,0.054,2519,2796,3554
$GC,9175,-0.59,-194.6,902.1,-9.3,873,9179,0.00,1.48,0.00,0.000,6,0.000,0.041,2520,1947,3554
$GC,9310,-0.59,-194.6,914.2,-9.4,886,9314,0.00,1.52,0.00,0.000,4,0.000,0.054,2513,2796,3553
$GC,9428,-0.59,-194.6,924.9,-8.9,897,9431,0.08,1.48,0.00,0.000,6,0.155,0.041,2537,1948,3553
$GC,9562,-0.59,-194.6,935.8,-8.1,910,9565,0.00,1.52,0.00,0.000,4,0.000,0.054,2532,2796,3552
$GC,9662,-0.59,-194.6,944.2,-8.6,919,9670,0.00,1.50,0.00,0.000,6,0.000,0.041,2532,1942,3552
$GC,9792,-0.59,-194.6,954.6,-7.9,932,9796,0.00,1.52,0.00,0.000,4,0.000,0.053,2525,2788,3552
$GC,9882,-0.59,-194.6,962.2,-8.1,940,9889,0.00,1.50,0.00,0.000,6,0.000,0.041,2526,1934,3552
$GC,10012,-0.59,-194.6,972.9,-8.3,953,10015,0.00,1.55,0.00,0.000,4,0.000,0.055,2519,2797,3551
$GC,10086,-0.59,-194.6,979.2,-8.5,960,10090,0.00,1.50,0.00,0.000,6,0.000,0.041,2518,1933,3551
$STATE,10209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10209,begin apogee
$GC,10213,-0.26,0.0,990.1,8.4,972,10364,0.45,0.00,148.57,1.260,6,0.150,0.000,2648,2390,2800
$STATE,10365,end apogee,CONTROL_FINISHED_OK
$STATE,10365,begin climb
$GC,10366,0.59,194.6,994.5,0.0,987,10536,0.85,1.38,164.10,1.229,4,0.112,0.044,2918,1532,2005
$GC,10674,0.59,194.6,965.7,11.1,1014,10683,0.00,1.42,0.00,0.000,6,0.000,0.048,2918,2418,1997
$GC,10804,0.59,194.6,951.0,11.4,1027,10808,0.00,1.38,0.00,0.000,4,0.000,0.046,2924,1525,1994
$GC,10932,0.59,194.6,936.3,12.0,1039,10936,0.00,1.38,0.00,0.000,6,0.000,0.049,2924,2409,1994
$GC,11067,0.59,194.6,920.2,11.9,1052,11070,0.00,1.35,0.00,0.000,4,0.000,0.045,2929,1523,1992
$GC,11131,0.59,194.6,912.6,11.6,1058,11135,0.00,1.38,0.00,0.000,6,0.000,0.048,2929,2415,1992
$GC,11265,0.59,194.6,896.4,12.4,1071,11269,0.00,1.35,0.00,0.000,4,0.000,0.044,2935,1521,1991
$GC,11361,0.59,194.6,884.8,13.4,1080,11365,0.00,1.35,0.00,0.000,6,0.000,0.048,2935,2407,1991
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