version: 66.04
glider: 105
mission: 6
dive: 105
start: 6 28 109 9 55 22
data:
$ID,105
$MISSION,6
$DIVE,105
$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,-1629894.4
$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,27
$R_STBD_OVSHOOT,29
$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
$GPS1,094901,6341.763,-1332.276,41,1.0,42,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-62.6
$GPS2,095502,6341.758,-1332.390,9,1.7,9,-12.6
$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,181.4,31635,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.96,-146.6,0.0,0.0,0,78,0.00,0.00,-59.28,0.000,6,0.000,0.000,389,2243,3431
$GC,81,-0.96,-146.6,4.8,-9.6,3,102,11.52,2.50,0.00,0.000,4,0.127,0.037,2586,841,3433
$GC,202,-0.96,-146.6,22.6,-7.1,8,207,0.00,2.47,0.00,0.000,6,0.000,0.034,2586,2257,3432
$GC,519,-0.96,-146.6,42.7,-6.0,23,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2257,3433
$GC,829,-0.96,-146.6,62.6,-6.7,38,833,0.00,2.50,0.00,0.000,4,0.000,0.039,2587,833,3433
$GC,900,-0.96,-146.6,67.9,-7.0,41,905,0.00,2.47,0.00,0.000,6,0.000,0.036,2586,2245,3433
$GC,1216,-0.96,-146.6,87.3,-6.3,56,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2245,3434
$GC,1527,-0.96,-146.6,103.5,-5.9,71,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2245,3434
$GC,1835,-0.96,-146.6,124.6,-7.4,86,1839,0.00,2.47,0.00,0.000,4,0.000,0.041,2587,838,3434
$GC,1874,-0.96,-146.6,127.8,-8.4,88,1879,0.00,2.50,0.00,0.000,6,0.000,0.037,2586,2250,3433
$GC,2206,-0.96,-146.6,156.7,-9.4,104,2210,0.00,2.47,0.00,0.000,4,0.000,0.041,2586,838,3434
$GC,2238,-0.96,-146.6,160.1,-10.0,105,2245,0.00,2.47,0.00,0.000,6,0.000,0.038,2586,2254,3434
$GC,2556,-0.96,-146.6,195.4,-12.0,121,2557,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2254,3434
$GC,2864,-0.96,-146.6,231.3,-11.1,136,2865,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2254,3434
$GC,3174,-0.96,-146.6,260.4,-8.6,151,3178,0.00,2.47,0.00,0.000,4,0.000,0.041,2587,842,3434
$GC,3214,-0.96,-146.6,263.7,-8.2,153,3218,0.00,2.45,0.00,0.000,6,0.000,0.036,2587,2254,3433
$GC,3543,-0.96,-146.6,283.8,-5.2,169,3547,0.00,2.55,0.00,0.000,4,0.000,0.061,2586,3656,3433
$GC,3583,-0.96,-146.6,286.1,-5.7,171,3588,0.00,2.42,0.00,0.000,6,0.000,0.029,2586,2230,3433
$GC,3913,-0.96,-146.6,298.2,-3.0,187,3917,0.00,2.58,0.00,0.000,4,0.000,0.054,2586,3652,3433
$GC,3953,-0.96,-146.6,299.6,-3.3,189,3957,0.00,2.38,0.00,0.000,6,0.000,0.028,2587,2249,3433
$GC,4282,-0.96,-146.6,309.0,-2.8,205,4283,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2249,3433
$GC,4589,-0.96,-146.6,317.2,-2.9,220,4593,0.00,2.55,0.00,0.000,4,0.000,0.054,2586,3655,3433
$GC,4644,-0.96,-146.6,319.3,-3.8,222,4650,0.00,2.40,0.00,0.000,6,0.000,0.028,2586,2239,3433
$GC,4960,-0.96,-146.6,331.1,-4.5,238,4965,0.00,2.58,0.00,0.000,4,0.000,0.055,2587,3657,3433
$GC,5040,-0.96,-146.6,335.7,-5.9,241,5046,0.00,2.38,0.00,0.000,6,0.000,0.029,2586,2254,3433
$GC,5356,-0.96,-146.6,352.4,-5.5,257,5360,0.00,2.53,0.00,0.000,4,0.000,0.055,2586,3651,3433
$GC,5400,-0.96,-146.6,355.3,-6.2,259,5404,0.00,2.38,0.00,0.000,6,0.000,0.028,2587,2245,3433
$GC,5722,-0.96,-146.6,375.4,-6.8,275,5727,0.00,2.55,0.00,0.000,4,0.000,0.056,2586,3651,3433
$GC,5766,-0.96,-146.6,378.9,-8.0,277,5770,0.00,2.38,0.00,0.000,6,0.000,0.028,2586,2251,3432
$GC,6087,-0.96,-146.6,403.3,-8.4,293,6088,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2250,3433
$GC,6397,-0.96,-146.6,431.5,-8.7,308,6401,0.00,2.53,0.00,0.000,4,0.000,0.055,2586,3652,3432
$GC,6451,-0.96,-146.6,436.3,-8.8,310,6458,0.00,2.40,0.00,0.000,6,0.000,0.028,2587,2253,3432
$GC,6767,-0.96,-146.6,464.1,-8.7,326,6769,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2253,3432
$GC,7078,-0.96,-146.6,489.9,-8.5,341,7082,0.00,2.53,0.00,0.000,4,0.000,0.054,2587,3651,3432
$GC,7128,-0.96,-146.6,494.4,-8.5,343,7132,0.00,2.38,0.00,0.000,6,0.000,0.028,2586,2252,3432
$GC,7446,-0.96,-146.6,520.7,-8.4,358,7447,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2251,3432
$GC,7753,-0.96,-146.6,546.3,-7.9,373,7757,0.00,2.53,0.00,0.000,4,0.000,0.054,2587,3651,3432
$GC,7819,-0.96,-146.6,552.2,-9.5,376,7823,0.00,2.38,0.00,0.000,6,0.000,0.028,2586,2250,3432
$GC,8140,-0.96,-146.6,578.1,-8.5,392,8142,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2249,3431
$GC,8450,-0.96,-146.6,604.9,-8.7,407,8451,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2249,3432
$GC,8759,-0.96,-146.6,632.9,-8.9,422,8760,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2249,3431
$GC,9069,-0.96,-146.6,660.4,-8.7,437,9073,0.00,2.55,0.00,0.000,4,0.000,0.055,2586,3657,3431
$GC,9157,-0.96,-146.6,668.3,-8.2,441,9161,0.00,2.40,0.00,0.000,6,0.000,0.029,2587,2244,3431
$GC,9477,-0.96,-146.6,695.5,-8.9,457,9482,0.00,2.58,0.00,0.000,4,0.000,0.055,2586,3652,3431
$GC,9600,-0.96,-146.6,707.2,-9.0,462,9604,0.00,2.38,0.00,0.000,6,0.000,0.029,2586,2251,3431
$GC,9916,-0.96,-146.6,729.2,-6.0,477,9921,0.00,2.45,0.00,0.000,4,0.000,0.043,2587,847,3431
$GC,9951,-0.96,-146.6,731.3,-6.1,478,9957,0.00,2.42,0.00,0.000,6,0.000,0.035,2587,2250,3431
$GC,10267,-0.96,-146.6,747.4,-4.6,494,10268,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2250,3431
$GC,10576,-0.96,-146.6,754.1,-1.1,509,10577,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2251,3431
$GC,10888,-0.96,-146.6,764.1,-5.8,524,10892,0.00,2.53,0.00,0.000,4,0.000,0.058,2586,3651,3431
$GC,10950,-0.96,-146.6,767.7,-7.0,527,10954,0.00,2.40,0.00,0.000,6,0.000,0.031,2587,2245,3431
$GC,11276,-0.96,-146.6,794.6,-9.1,543,11280,0.00,2.55,0.00,0.000,4,0.000,0.056,2586,3651,3431
$GC,11342,-0.96,-146.6,801.5,-10.4,546,11346,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2248,3430
$GC,11663,-0.96,-146.6,828.3,-5.1,562,11668,0.00,2.55,0.00,0.000,4,0.000,0.058,2586,3651,3430
$GC,11730,-0.96,-146.6,831.0,-3.6,565,11735,0.00,2.40,0.00,0.000,6,0.000,0.031,2586,2252,3429
$GC,12053,-0.96,-146.6,840.8,-3.6,581,12057,0.00,2.47,0.00,0.000,4,0.000,0.045,2587,842,3429
$GC,12080,-0.96,-146.6,842.1,-4.0,582,12084,0.00,2.45,0.00,0.000,6,0.000,0.038,2586,2248,3429
$GC,12395,-0.96,-146.6,859.1,-6.7,597,12400,0.00,2.55,0.00,0.000,4,0.000,0.059,2587,3657,3429
$GC,12508,-0.96,-146.6,868.1,-8.7,602,12513,0.00,2.42,0.00,0.000,6,0.000,0.033,2586,2246,3428
$GC,12829,-0.96,-146.6,893.8,-6.6,618,12834,0.00,2.60,0.00,0.000,4,0.000,0.059,2586,3652,3429
$GC,12913,-0.96,-146.6,898.3,-4.2,621,12920,0.00,2.42,0.00,0.000,6,0.000,0.033,2586,2243,3428
$GC,13229,-0.96,-146.6,905.8,-1.8,637,13233,0.00,2.58,0.00,0.000,4,0.000,0.058,2587,3654,3428
$GC,13273,-0.96,-146.6,906.8,-2.7,639,13277,0.00,2.42,0.00,0.000,6,0.000,0.033,2587,2250,3428
$GC,13594,-0.96,-146.6,924.3,-8.0,655,13598,0.00,2.58,0.00,0.000,4,0.000,0.061,2587,3654,3427
$GC,13648,-0.96,-146.6,929.8,-9.9,657,13655,0.00,2.42,0.00,0.000,6,0.000,0.035,2586,2250,3427
$GC,13965,-0.96,-146.6,960.5,-8.8,673,13969,0.00,2.58,0.00,0.000,4,0.000,0.061,2586,3651,3426
$GC,14009,-0.96,-146.6,964.4,-8.5,675,14013,0.00,2.42,0.00,0.000,6,0.000,0.035,2587,2251,3426
$GC,14332,-0.96,-146.6,979.1,-3.3,691,14336,0.00,2.50,0.00,0.000,4,0.000,0.050,2586,842,3425
$GC,14382,-0.96,-146.6,981.0,-3.7,693,14386,0.00,2.47,0.00,0.000,6,0.000,0.041,2586,2249,3425
$STATE,14654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14654,begin apogee
$GC,14662,-0.36,0.0,990.2,3.8,706,14797,0.62,0.00,131.07,1.428,6,0.064,0.000,2723,1452,2832
$STATE,14798,end apogee,CONTROL_FINISHED_OK
$STATE,14798,begin climb
$GC,14801,0.96,146.6,993.2,0.0,713,14941,1.30,2.25,132.70,1.382,4,0.049,0.064,3011,262,2233
$GC,14971,0.99,164.7,987.0,5.5,720,14994,0.00,2.10,17.33,1.261,6,0.000,0.038,3011,1463,2160
$GC,15317,1.02,192.1,968.6,5.2,737,15348,0.00,2.58,25.42,1.319,4,0.000,0.051,3011,2855,2047
$GC,15387,1.02,192.1,964.5,6.0,740,15391,0.00,2.50,0.00,0.000,6,0.000,0.043,3011,1458,2045
$GC,15705,1.02,192.1,945.4,6.4,755,15706,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1458,2042
$GC,16012,1.02,192.1,924.2,7.1,770,16016,0.00,2.53,0.00,0.000,4,0.000,0.051,3010,2859,2041
$GC,16055,1.02,192.1,921.0,6.7,772,16060,0.00,2.50,0.00,0.000,6,0.000,0.042,3010,1448,2040
$GC,16377,1.02,192.1,889.8,10.8,788,16382,0.00,2.53,0.00,0.000,4,0.000,0.050,3011,2854,2039
$GC,16462,1.02,192.1,880.9,10.2,792,16467,0.00,2.47,0.00,0.000,6,0.000,0.041,3011,1452,2038
$GC,16788,1.02,192.1,850.1,9.0,808,16793,0.00,2.58,0.00,0.000,4,0.000,0.050,3011,2854,2038
$GC,16849,1.02,192.1,844.8,8.3,810,16855,0.00,2.47,0.00,0.000,6,0.000,0.042,3011,1452,2037
$GC,17167,1.02,192.1,822.0,7.1,826,17172,0.00,2.53,0.00,0.000,4,0.000,0.049,3011,2859,2037
$GC,17240,1.02,192.1,816.7,7.5,829,17244,0.00,2.47,0.00,0.000,6,0.000,0.039,3011,1446,2037
$GC,17558,1.08,241.5,798.8,4.6,844,17609,0.10,2.60,45.17,1.309,4,0.047,0.048,3062,2859,1846
$GC,17644,1.10,256.9,793.7,5.6,848,17667,0.12,2.53,15.60,1.202,6,0.083,0.038,3037,1448,1784
$GC,17977,1.12,274.7,777.1,5.5,864,18000,0.00,2.25,17.27,1.214,4,0.000,0.058,3036,264,1712
$GC,18024,1.12,275.3,774.2,6.0,866,18028,0.00,2.08,0.00,0.000,6,0.000,0.035,3036,1464,1711
$GC,18357,1.12,275.3,749.8,7.0,882,18361,0.00,2.50,0.00,0.000,4,0.000,0.049,3037,2859,1707
$GC,18429,1.12,275.3,744.1,7.9,885,18433,0.00,2.47,0.00,0.000,6,0.000,0.038,3036,1448,1707
$GC,18747,1.12,275.3,716.5,9.3,900,18751,0.00,2.53,0.00,0.000,4,0.000,0.048,3037,2852,1706
$GC,18786,1.12,275.3,712.6,8.6,902,18790,0.00,2.45,0.00,0.000,6,0.000,0.038,3036,1450,1706
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$GC,19159,1.12,275.3,680.5,6.9,920,19163,0.00,2.47,0.00,0.000,6,0.000,0.037,3036,1453,1705
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$STATE,27858,end climb,SURFACE_DEPTH_REACHED
$STATE,27858,begin surface coast
$FINISH,0.3,1.027039
$STATE,27878,end surface coast,CONTROL_FINISHED_OK
$STATE,27878,begin surface
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$TCM_TEMP,17.40
$XPDR_PINGS,0
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$10V_AH,10.1,16.471
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69616,1337
$CAP_FILE_SIZE,200775,0
$CFSIZE,260165632,251101184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
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