version: 66.04
glider: 105
mission: 6
dive: 108
start: 6 29 109 10 12 34
data:
$ID,105
$MISSION,6
$DIVE,108
$D_SURF,3
$D_FLARE,4
$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,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,300
$T_TURN_SAMPINT,5
$T_NO_W,320
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,11
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1629976
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,401
$PITCH_MAX,3705
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,253
$ROLL_MAX,3840
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,1454
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3851
$C_VBD,2832
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-18.439545
$PRESSURE_SLOPE,0.0001163108
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.8522969
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$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,0.0043067979
$SEABIRD_T_H,0.0006302988
$SEABIRD_T_I,2.3035876e-05
$SEABIRD_T_J,2.3016955e-06
$SEABIRD_C_G,-10.448573
$SEABIRD_C_H,1.1833477
$SEABIRD_C_I,-0.0016540284
$SEABIRD_C_J,0.00022965467
$GPS1,100524,6331.396,-1330.668,24,1.8,41,-12.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-62.7
$GPS2,101216,6331.384,-1330.616,15,2.1,34,-12.5
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,KE
$TGT_LATLONG,6325.000,-1325.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.025,-0.238
$KALMAN_X,-160384.0,991.3,628.8,104309.0,-21.7
$KALMAN_Y,127308.9,-3266.1,-2239.5,-49887.2,54062.8
$MHEAD_RNG_PITCHd_Wd,171.0,12707,-11.0,-6.000
$D_GRID,990
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.96,-146.6,0.0,0.0,0,78,0.00,0.00,-58.85,0.000,6,0.000,0.000,382,2249,3431
$GC,82,-0.96,-146.6,5.1,-9.8,3,103,11.57,2.50,0.00,0.000,4,0.128,0.035,2586,837,3433
$GC,153,-0.96,-146.6,19.9,-9.3,6,157,0.00,2.47,0.00,0.000,6,0.000,0.035,2586,2249,3433
$GC,474,-0.96,-146.6,43.4,-6.7,22,478,0.00,2.47,0.00,0.000,4,0.000,0.038,2586,834,3434
$GC,546,-0.96,-146.6,48.1,-5.9,25,550,0.00,2.47,0.00,0.000,6,0.000,0.035,2585,2252,3434
$GC,863,-0.96,-146.6,68.4,-6.2,40,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2253,3434
$GC,1171,-0.96,-146.6,88.2,-6.5,55,1172,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2253,3435
$GC,1480,-0.96,-146.6,107.6,-6.5,70,1485,0.00,2.50,0.00,0.000,4,0.000,0.039,2585,842,3435
$GC,1526,-0.96,-146.6,110.6,-6.9,72,1530,0.00,2.45,0.00,0.000,6,0.000,0.035,2585,2249,3434
$GC,1854,-0.96,-146.6,130.1,-5.8,88,1858,0.00,2.47,0.00,0.000,4,0.000,0.039,2586,834,3434
$GC,1887,-0.96,-146.6,132.4,-6.4,89,1893,0.00,2.47,0.00,0.000,6,0.000,0.036,2585,2250,3435
$GC,2202,-0.96,-146.6,153.6,-7.0,105,2206,0.00,2.55,0.00,0.000,4,0.000,0.060,2585,3652,3434
$GC,2258,-0.96,-146.6,157.8,-7.3,107,2264,0.00,2.40,0.00,0.000,6,0.000,0.028,2585,2233,3434
$GC,2574,-0.96,-146.6,180.8,-7.4,123,2578,0.00,2.58,0.00,0.000,4,0.000,0.053,2585,3658,3434
$GC,2628,-0.96,-146.6,185.4,-8.4,125,2635,0.00,2.42,0.00,0.000,6,0.000,0.028,2586,2250,3434
$GC,2944,-0.96,-146.6,210.9,-8.2,141,2946,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2249,3433
$GC,3256,-0.96,-146.6,238.8,-9.4,156,3261,0.00,2.55,0.00,0.000,4,0.000,0.054,2585,3654,3434
$GC,3329,-0.96,-146.6,246.0,-9.9,159,3333,0.00,2.40,0.00,0.000,6,0.000,0.028,2586,2239,3434
$GC,3645,-0.96,-146.6,273.5,-8.6,174,3646,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2238,3433
$GC,3954,-0.96,-146.6,298.2,-7.8,189,3958,0.00,2.58,0.00,0.000,4,0.000,0.055,2585,3657,3433
$GC,4042,-0.96,-146.6,305.9,-8.8,193,4046,0.00,2.40,0.00,0.000,6,0.000,0.028,2585,2243,3433
$GC,4363,-0.96,-146.6,330.0,-7.3,209,4368,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3654,3433
$GC,4419,-0.96,-146.6,334.5,-8.2,211,4425,0.00,2.38,0.00,0.000,6,0.000,0.028,2586,2249,3433
$GC,4734,-0.96,-146.6,357.3,-7.2,227,4738,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3658,3433
$GC,4796,-0.96,-146.6,362.3,-8.1,230,4801,0.00,2.40,0.00,0.000,6,0.000,0.028,2586,2257,3433
$GC,5129,-0.96,-146.6,386.3,-7.0,246,5130,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2255,3432
$GC,5439,-0.96,-146.6,406.6,-6.5,261,5443,0.00,2.53,0.00,0.000,4,0.000,0.054,2586,3653,3432
$GC,5494,-0.96,-146.6,410.5,-7.3,263,5500,0.00,2.38,0.00,0.000,6,0.000,0.028,2586,2246,3432
$GC,5813,-0.96,-146.6,429.5,-5.7,279,5817,0.00,2.55,0.00,0.000,4,0.000,0.055,2586,3656,3432
$GC,5874,-0.96,-146.6,433.5,-6.2,282,5879,0.00,2.38,0.00,0.000,6,0.000,0.028,2586,2254,3432
$GC,6201,-0.96,-146.6,452.5,-5.9,298,6203,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2252,3432
$GC,6510,-0.96,-146.6,470.4,-5.9,313,6515,0.00,2.53,0.00,0.000,4,0.000,0.054,2586,3654,3432
$GC,6605,-0.96,-146.6,476.4,-6.7,317,6610,0.00,2.40,0.00,0.000,6,0.000,0.028,2585,2254,3432
$GC,6925,-0.96,-146.6,495.9,-6.5,333,6927,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2254,3432
$GC,7234,-0.96,-146.6,515.4,-6.1,348,7239,0.00,2.53,0.00,0.000,4,0.000,0.054,2586,3653,3432
$GC,7298,-0.96,-146.6,519.6,-7.1,351,7302,0.00,2.38,0.00,0.000,6,0.000,0.029,2586,2251,3432
$GC,7625,-0.96,-146.6,541.2,-7.0,367,7626,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2251,3432
$GC,7935,-0.96,-146.6,561.4,-6.6,382,7936,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2251,3432
$GC,8243,-0.96,-146.6,583.0,-6.8,397,8248,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3661,3431
$GC,8293,-0.96,-146.6,586.5,-7.0,399,8298,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2253,3431
$GC,8609,-0.96,-146.6,608.1,-7.0,414,8614,0.00,2.53,0.00,0.000,4,0.000,0.053,2585,3652,3431
$GC,8649,-0.96,-146.6,611.0,-8.0,416,8654,0.00,2.40,0.00,0.000,6,0.000,0.029,2586,2236,3431
$GC,8977,-0.96,-146.6,632.7,-6.6,432,8981,0.00,2.58,0.00,0.000,4,0.000,0.055,2585,3658,3431
$GC,9026,-0.96,-146.6,636.5,-7.4,434,9031,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2249,3431
$GC,9342,-0.96,-146.6,654.7,-5.0,449,9343,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2248,3431
$GC,9654,-0.96,-146.6,666.2,-3.0,464,9658,0.00,2.55,0.00,0.000,4,0.000,0.055,2585,3658,3431
$GC,9761,-0.96,-146.6,670.1,-4.0,469,9765,0.00,2.40,0.00,0.000,6,0.000,0.030,2586,2248,3431
$GC,10088,-0.96,-146.6,679.2,-2.9,485,10089,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2248,3430
$GC,10397,-0.96,-146.6,688.0,-2.9,500,10401,0.00,2.55,0.00,0.000,4,0.000,0.055,2586,3657,3430
$GC,10491,-0.96,-146.6,691.6,-4.4,504,10496,0.00,2.40,0.00,0.000,6,0.000,0.030,2585,2249,3430
$GC,10808,-0.96,-146.6,703.4,-3.7,519,10809,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2249,3430
$GC,11116,-0.96,-146.6,715.6,-4.0,534,11121,0.00,2.45,0.00,0.000,4,0.000,0.043,2585,844,3430
$GC,11146,-0.96,-146.6,716.8,-4.3,535,11150,0.00,2.45,0.00,0.000,6,0.000,0.038,2586,2253,3430
$GC,11461,-0.96,-146.6,734.8,-6.4,550,11465,0.00,2.45,0.00,0.000,4,0.000,0.041,2585,852,3430
$GC,11500,-0.96,-146.6,737.2,-7.0,552,11504,0.00,2.42,0.00,0.000,6,0.000,0.038,2585,2246,3430
$GC,11826,-0.96,-146.6,758.6,-6.8,568,11831,0.00,2.53,0.00,0.000,4,0.000,0.057,2586,3654,3429
$GC,11871,-0.96,-146.6,761.3,-5.9,570,11875,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2252,3429
$GC,12192,-0.96,-146.6,779.6,-5.9,586,12196,0.00,2.55,0.00,0.000,4,0.000,0.055,2585,3663,3429
$GC,12315,-0.96,-146.6,788.3,-7.7,591,12321,0.00,2.42,0.00,0.000,6,0.000,0.031,2586,2248,3429
$GC,12630,-0.96,-146.6,811.2,-7.2,607,12635,0.00,2.47,0.00,0.000,4,0.000,0.045,2585,852,3429
$GC,12685,-0.96,-146.6,815.4,-7.5,609,12690,0.00,2.45,0.00,0.000,6,0.000,0.038,2585,2256,3429
$GC,13000,-0.96,-146.6,838.1,-7.0,624,13002,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2256,3428
$GC,13311,-0.96,-146.6,862.0,-7.0,639,13315,0.00,2.53,0.00,0.000,4,0.000,0.061,2586,3651,3428
$GC,13355,-0.96,-146.6,865.4,-7.3,641,13359,0.00,2.40,0.00,0.000,6,0.000,0.032,2586,2254,3428
$GC,13675,-0.96,-146.6,887.7,-7.4,657,13679,0.00,2.47,0.00,0.000,4,0.000,0.047,2586,846,3428
$GC,13720,-0.96,-146.6,890.5,-6.6,659,13724,0.00,2.45,0.00,0.000,6,0.000,0.038,2586,2248,3427
$GC,14041,-0.96,-146.6,910.7,-5.9,675,14045,0.00,2.55,0.00,0.000,4,0.000,0.061,2586,3651,3427
$GC,14260,-0.96,-146.6,922.8,-5.5,685,14265,0.00,2.42,0.00,0.000,6,0.000,0.035,2585,2245,3426
$GC,14588,-0.96,-146.6,940.8,-4.9,701,14592,0.00,2.58,0.00,0.000,4,0.000,0.061,2586,3651,3425
$GC,14665,-0.96,-146.6,946.9,-6.6,704,14672,0.00,2.42,0.00,0.000,6,0.000,0.035,2586,2252,3425
$GC,14981,-0.96,-146.6,973.7,-9.9,720,14985,0.00,2.58,0.00,0.000,4,0.000,0.065,2586,3651,3424
$STATE,15006,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,15006,begin apogee
$GC,15016,-0.36,0.0,976.9,10.6,721,15150,0.57,0.00,131.10,1.414,6,0.051,0.000,2720,1462,2832
$STATE,15151,end apogee,CONTROL_FINISHED_OK
$STATE,15151,begin climb
$GC,15154,0.96,146.6,984.4,0.0,728,15291,1.30,0.00,132.88,1.378,6,0.052,0.000,3006,1462,2234
$GC,15590,1.08,236.7,971.3,3.5,749,15679,0.12,2.60,82.07,1.368,4,0.043,0.047,3062,2864,1866
$GC,15826,1.08,236.7,952.7,8.1,760,15831,0.10,2.55,0.00,0.000,6,0.067,0.045,3036,1458,1857
$GC,16159,1.08,236.7,921.8,12.0,776,16164,0.00,2.55,0.00,0.000,4,0.000,0.051,3036,2854,1854
$GC,16214,1.08,236.7,916.1,9.7,778,16218,0.00,2.50,0.00,0.000,6,0.000,0.045,3036,1453,1853
$GC,16529,1.16,304.1,902.6,4.2,793,16595,0.00,0.00,62.30,1.359,6,0.000,0.000,3036,1452,1592
$GC,16905,1.16,304.1,862.7,7.7,811,16908,0.00,2.20,0.00,0.000,4,0.000,0.063,3035,258,1583
$GC,16945,1.16,304.1,859.1,8.2,812,16951,0.00,2.08,0.00,0.000,6,0.000,0.036,3036,1462,1582
$GC,17260,1.16,304.1,829.9,9.8,828,17264,0.00,2.50,0.00,0.000,4,0.000,0.050,3036,2854,1580
$GC,17299,1.16,304.1,825.9,10.7,830,17303,0.00,2.47,0.00,0.000,6,0.000,0.041,3035,1451,1579
$GC,17626,1.16,304.1,795.1,8.2,846,17631,0.00,2.53,0.00,0.000,4,0.000,0.049,3036,2857,1578
$GC,17659,1.16,304.1,792.4,7.1,847,17665,0.00,2.50,0.00,0.000,6,0.000,0.040,3035,1446,1578
$GC,17975,1.16,304.1,768.8,7.8,863,17979,0.00,2.53,0.00,0.000,4,0.000,0.048,3036,2856,1578
$GC,18019,1.16,304.1,765.3,8.0,865,18023,0.00,2.47,0.00,0.000,6,0.000,0.039,3036,1452,1577
$GC,18340,1.16,304.1,744.5,6.0,881,18344,0.00,2.15,0.00,0.000,4,0.000,0.058,3036,263,1577
$GC,18378,1.16,304.1,741.9,7.1,882,18384,0.00,2.03,0.00,0.000,6,0.000,0.035,3036,1457,1577
$GC,18694,1.16,304.1,721.7,6.9,898,18698,0.00,2.47,0.00,0.000,4,0.000,0.048,3035,2848,1577
$GC,18733,1.16,304.1,719.0,6.4,900,18737,0.00,2.45,0.00,0.000,6,0.000,0.038,3036,1446,1577
$GC,19059,1.16,304.1,694.9,7.4,916,19064,0.00,2.50,0.00,0.000,4,0.000,0.046,3035,2857,1577
$GC,19109,1.16,304.1,690.2,8.4,918,19114,0.00,2.47,0.00,0.000,6,0.000,0.037,3036,1447,1576
$GC,19427,1.16,304.1,663.5,9.0,933,19428,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,1447,1577
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$STATE,27466,end climb,SURFACE_DEPTH_REACHED
$STATE,27466,begin surface coast
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$STATE,27489,end surface coast,CONTROL_FINISHED_OK
$STATE,27489,begin surface
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$10V_AH,10.1,16.852
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$DATA_FILE_SIZE,69312,1323
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