version: 66.04
glider: 105
mission: 6
dive: 150
start: 7 12 109 19 37 10
data:
$ID,105
$MISSION,6
$DIVE,150
$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,-1630686.4
$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,26
$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
$GPS1,192636,6217.344,-1152.455,24,1.3,24,-11.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-56.3
$GPS2,193650,6217.382,-1152.517,13,1.4,13,-11.1
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,EE
$TGT_LATLONG,6217.000,-1145.000
$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,107.3,6513,-13.0,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.07,-112.4,0.0,0.0,0,72,0.00,0.00,-54.95,0.000,6,0.000,0.000,394,2266,3292
$GC,75,-1.10,-138.6,2.2,-5.1,2,98,11.38,2.55,-1.77,0.000,4,0.127,0.051,2553,843,3400
$GC,104,-1.10,-138.6,13.4,-31.0,3,108,0.00,2.45,0.00,0.000,6,0.000,0.031,2552,2256,3401
$GC,425,-1.10,-138.6,41.6,-8.7,19,429,0.00,2.53,0.00,0.000,4,0.000,0.054,2553,3652,3401
$GC,586,-1.10,-138.6,57.1,-9.7,26,590,0.00,2.42,0.00,0.000,6,0.000,0.028,2553,2222,3402
$GC,902,-1.10,-138.6,83.3,-8.2,41,906,0.00,2.58,0.00,0.000,4,0.000,0.051,2553,3648,3403
$GC,968,-1.10,-138.6,89.3,-9.0,44,972,0.00,2.38,0.00,0.000,6,0.000,0.028,2553,2252,3402
$GC,1289,-1.10,-138.6,116.8,-8.8,60,1294,0.00,2.53,0.00,0.000,4,0.000,0.051,2553,3652,3402
$GC,1345,-1.10,-138.6,122.2,-9.7,62,1351,0.00,2.40,0.00,0.000,6,0.000,0.028,2553,2240,3402
$GC,1661,-1.10,-138.6,149.5,-8.5,78,1665,0.00,2.55,0.00,0.000,4,0.000,0.053,2553,3648,3402
$GC,1733,-1.10,-138.6,156.1,-8.8,81,1737,0.00,2.38,0.00,0.000,6,0.000,0.028,2553,2253,3402
$GC,2050,-1.10,-138.6,181.3,-7.8,96,2054,0.00,2.53,0.00,0.000,4,0.000,0.052,2553,3651,3402
$GC,2116,-1.10,-138.6,186.9,-8.4,99,2120,0.00,2.38,0.00,0.000,6,0.000,0.029,2553,2252,3402
$GC,2437,-1.10,-138.6,211.6,-7.8,115,2441,0.00,2.53,0.00,0.000,4,0.000,0.052,2553,3651,3402
$GC,2526,-1.10,-138.6,219.0,-8.5,119,2530,0.00,2.40,0.00,0.000,6,0.000,0.029,2553,2239,3402
$GC,2847,-1.10,-138.6,242.8,-7.2,135,2851,0.00,2.55,0.00,0.000,4,0.000,0.053,2553,3652,3401
$GC,2919,-1.10,-138.6,248.7,-8.5,138,2924,0.00,2.38,0.00,0.000,6,0.000,0.029,2553,2254,3401
$GC,3235,-1.10,-138.6,271.3,-7.3,153,3239,0.00,2.50,0.00,0.000,4,0.000,0.051,2553,3647,3401
$GC,3285,-1.10,-138.6,275.0,-7.4,155,3290,0.00,2.40,0.00,0.000,6,0.000,0.029,2553,2253,3400
$GC,3606,-1.10,-138.6,297.9,-7.1,171,3610,0.00,2.53,0.00,0.000,4,0.000,0.052,2553,3653,3400
$GC,3655,-1.10,-138.6,301.8,-7.7,173,3660,0.00,2.42,0.00,0.000,6,0.000,0.030,2553,2252,3400
$GC,3977,-1.10,-138.6,326.2,-7.8,189,3981,0.00,2.53,0.00,0.000,4,0.000,0.053,2553,3652,3400
$GC,4054,-1.10,-138.6,332.8,-8.3,192,4061,0.00,2.40,0.00,0.000,6,0.000,0.030,2553,2242,3400
$GC,4370,-1.10,-138.6,357.6,-7.9,208,4375,0.00,2.55,0.00,0.000,4,0.000,0.054,2553,3640,3399
$GC,4466,-1.10,-138.6,365.8,-8.4,212,4470,0.00,2.38,0.00,0.000,6,0.000,0.031,2553,2248,3400
$GC,4786,-1.10,-138.6,390.1,-7.6,228,4790,0.00,2.53,0.00,0.000,4,0.000,0.053,2553,3649,3400
$GC,4842,-1.10,-138.6,394.8,-8.4,230,4849,0.00,2.40,0.00,0.000,6,0.000,0.030,2553,2238,3399
$GC,5158,-1.10,-138.6,419.5,-7.9,246,5163,0.00,2.55,0.00,0.000,4,0.000,0.053,2553,3638,3399
$GC,5226,-1.10,-138.6,425.4,-9.1,249,5231,0.00,2.38,0.00,0.000,6,0.000,0.031,2553,2246,3399
$GC,5553,-1.10,-138.6,452.4,-8.3,265,5557,0.00,2.53,0.00,0.000,4,0.000,0.053,2553,3647,3398
$GC,5626,-1.10,-138.6,459.0,-9.4,268,5631,0.00,2.40,0.00,0.000,6,0.000,0.031,2553,2238,3399
$GC,5942,-1.10,-138.6,485.5,-8.3,283,5946,0.00,2.53,0.00,0.000,4,0.000,0.052,2553,3646,3398
$GC,6019,-1.10,-138.6,492.4,-9.2,286,6025,0.00,2.38,0.00,0.000,6,0.000,0.031,2553,2253,3398
$GC,6335,-1.10,-138.6,517.9,-8.0,302,6340,0.00,2.50,0.00,0.000,4,0.000,0.051,2553,3648,3398
$GC,6385,-1.10,-138.6,522.2,-8.7,304,6389,0.00,2.40,0.00,0.000,6,0.000,0.030,2553,2237,3398
$GC,6703,-1.10,-138.6,547.3,-7.6,319,6708,0.00,2.55,0.00,0.000,4,0.000,0.053,2553,3650,3398
$GC,6782,-1.10,-138.6,553.9,-8.8,322,6788,0.00,2.38,0.00,0.000,6,0.000,0.031,2553,2255,3398
$GC,7099,-1.10,-138.6,576.5,-7.2,338,7103,0.00,2.50,0.00,0.000,4,0.000,0.052,2553,3648,3398
$GC,7162,-1.10,-138.6,581.2,-8.2,341,7167,0.00,2.40,0.00,0.000,6,0.000,0.031,2553,2239,3397
$GC,7489,-1.10,-138.6,603.5,-7.0,357,7490,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2238,3398
$GC,7802,-1.10,-138.6,626.3,-7.3,372,7806,0.00,2.55,0.00,0.000,4,0.000,0.053,2553,3651,3397
$GC,7953,-1.10,-138.6,638.6,-8.1,379,7957,0.00,2.40,0.00,0.000,6,0.000,0.031,2553,2250,3397
$GC,8282,-1.10,-138.6,663.6,-7.8,395,8286,0.00,2.53,0.00,0.000,4,0.000,0.052,2553,3653,3397
$GC,8344,-1.10,-138.6,668.9,-9.4,398,8348,0.00,2.40,0.00,0.000,6,0.000,0.031,2553,2249,3397
$GC,8670,-1.10,-138.6,692.8,-7.1,414,8671,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2249,3397
$GC,8980,-1.10,-138.6,714.1,-6.8,429,8985,0.00,2.55,0.00,0.000,4,0.000,0.053,2553,3646,3397
$GC,9069,-1.10,-138.6,720.5,-7.2,433,9074,0.00,2.42,0.00,0.000,6,0.000,0.032,2553,2250,3397
$GC,9401,-1.10,-138.6,742.7,-7.0,449,9405,0.00,2.50,0.00,0.000,4,0.000,0.053,2553,3646,3397
$GC,9457,-1.10,-138.6,747.0,-8.3,451,9463,0.00,2.40,0.00,0.000,6,0.000,0.032,2553,2248,3397
$GC,9773,-1.10,-138.6,769.8,-7.2,467,9777,0.00,2.55,0.00,0.000,4,0.000,0.054,2553,3645,3396
$GC,9878,-1.10,-138.6,778.3,-8.0,471,9884,0.00,2.40,0.00,0.000,6,0.000,0.032,2553,2250,3397
$GC,10197,-1.10,-138.6,801.7,-7.3,487,10198,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2250,3397
$GC,10503,-1.10,-138.6,822.2,-6.4,502,10507,0.00,2.53,0.00,0.000,4,0.000,0.054,2553,3653,3396
$GC,10661,-1.10,-138.6,834.0,-7.6,509,10666,0.00,2.42,0.00,0.000,6,0.000,0.032,2553,2255,3396
$GC,10987,-1.10,-138.6,856.4,-6.6,525,10989,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2255,3396
$GC,11297,-1.10,-138.6,876.4,-6.7,540,11298,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2255,3395
$GC,11606,-1.10,-138.6,899.1,-7.3,555,11610,0.00,2.53,0.00,0.000,4,0.000,0.056,2553,3648,3395
$GC,11920,-1.10,-138.6,923.4,-6.6,569,11924,0.00,2.42,0.00,0.000,6,0.000,0.035,2553,2246,3394
$GC,12240,-1.10,-138.6,946.1,-7.0,585,12244,0.00,2.55,0.00,0.000,4,0.000,0.058,2553,3647,3393
$STATE,12255,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12255,begin apogee
$GC,12265,-0.36,0.0,947.3,6.9,586,12397,0.80,0.00,123.60,1.394,6,0.068,0.000,2724,1464,2831
$STATE,12398,end apogee,CONTROL_FINISHED_OK
$STATE,12398,begin climb
$GC,12401,1.10,138.6,952.2,0.0,593,12534,1.42,2.30,124.72,1.355,4,0.048,0.064,3041,264,2266
$GC,12684,1.10,138.6,936.0,7.8,606,12688,0.00,2.08,0.00,0.000,6,0.000,0.035,3041,1457,2259
$GC,13015,1.10,138.6,913.3,6.8,622,13020,0.00,2.50,0.00,0.000,4,0.000,0.047,3040,2858,2257
$GC,13168,1.10,141.2,903.7,5.9,629,13172,0.00,2.50,0.00,0.000,6,0.000,0.041,3041,1451,2256
$GC,13494,1.10,141.2,884.3,6.1,645,13498,0.00,2.50,0.00,0.000,4,0.000,0.048,3041,2855,2254
$GC,13537,1.10,141.2,881.6,6.3,647,13541,0.00,2.50,0.00,0.000,6,0.000,0.042,3040,1449,2254
$GC,13859,1.10,141.2,860.6,6.5,663,13863,0.00,2.50,0.00,0.000,4,0.000,0.045,3041,2854,2253
$GC,13959,1.10,141.2,853.6,7.0,667,13966,0.00,2.47,0.00,0.000,6,0.000,0.041,3041,1453,2252
$GC,14277,1.10,141.2,831.6,6.7,683,14278,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1453,2251
$GC,14584,1.10,141.2,811.1,6.6,698,14588,0.00,2.47,0.00,0.000,4,0.000,0.044,3040,2855,2251
$GC,14639,1.10,141.2,807.3,7.3,700,14647,0.00,2.50,0.00,0.000,6,0.000,0.038,3041,1453,2251
$GC,14955,1.10,141.2,785.6,6.9,716,14956,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1453,2251
$GC,15264,1.10,141.2,763.7,6.9,731,15269,0.00,2.47,0.00,0.000,4,0.000,0.044,3040,2856,2251
$GC,15332,1.10,141.2,759.2,6.6,734,15337,0.00,2.47,0.00,0.000,6,0.000,0.038,3041,1445,2250
$GC,15653,1.10,141.2,737.5,6.8,750,15654,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1445,2251
$GC,15963,1.10,141.2,717.3,6.3,765,15967,0.00,2.50,0.00,0.000,4,0.000,0.041,3040,2860,2251
$GC,16019,1.10,141.2,713.6,6.7,767,16025,0.00,2.45,0.00,0.000,6,0.000,0.036,3041,1452,2250
$GC,16335,1.11,146.4,694.2,5.8,783,16345,0.00,2.50,5.47,0.924,4,0.000,0.041,3041,2856,2235
$GC,16399,1.14,170.4,690.6,5.1,786,16428,0.00,2.45,23.77,1.197,6,0.000,0.037,3041,1456,2136
$GC,16751,1.14,170.4,669.4,6.1,803,16755,0.00,2.47,0.00,0.000,4,0.000,0.042,3041,2861,2133
$GC,16790,1.14,170.4,666.9,6.5,805,16794,0.00,2.47,0.00,0.000,6,0.000,0.036,3040,1448,2133
$GC,17118,1.14,170.4,645.4,7.0,821,17119,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1448,2133
$GC,17426,1.14,170.4,622.8,7.1,836,17430,0.00,2.50,0.00,0.000,4,0.000,0.041,3041,2860,2133
$GC,17475,1.14,170.4,619.2,6.8,838,17479,0.00,2.47,0.00,0.000,6,0.000,0.035,3040,1444,2133
$GC,17793,1.14,170.4,596.4,7.3,853,17795,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1444,2133
$GC,18100,1.14,170.4,574.3,7.2,868,18104,0.00,2.50,0.00,0.000,4,0.000,0.039,3041,2863,2133
$GC,18155,1.14,170.4,570.1,6.9,870,18161,0.00,2.47,0.00,0.000,6,0.000,0.036,3041,1443,2133
$GC,18474,1.14,170.4,548.2,6.9,886,18475,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,1444,2133
$GC,18780,1.14,170.4,527.8,6.4,901,18785,0.00,2.50,0.00,0.000,4,0.000,0.040,3041,2864,2133
$GC,18830,1.14,170.4,524.5,6.8,903,18835,0.00,2.45,0.00,0.000,6,0.000,0.035,3041,1458,2133
$GC,19149,1.14,170.4,503.2,6.7,918,19153,0.00,2.47,0.00,0.000,4,0.000,0.040,3040,2863,2133
$GC,19189,1.14,170.4,500.2,6.9,920,19193,0.00,2.45,0.00,0.000,6,0.000,0.036,3040,1452,2133
$GC,19518,1.14,170.4,477.8,7.2,936,19522,0.00,2.45,0.00,0.000,4,0.000,0.041,3041,2857,2133
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$STATE,26493,end climb,SURFACE_DEPTH_REACHED
$STATE,26493,begin surface coast
$FINISH,0.3,1.007009
$STATE,26537,end surface coast,CONTROL_FINISHED_OK
$STATE,26537,begin surface
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$24V_AH,23.2,40.723
$10V_AH,10.1,22.013
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