version: 66.04
glider: 105
mission: 6
dive: 166
start: 7 17 109 13 51 21
data:
$ID,105
$MISSION,6
$DIVE,166
$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,-1630950.9
$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,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
$GPS1,134437,6213.358,-1146.409,37,1.1,38,-11.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-61.1
$GPS2,135101,6213.331,-1146.497,10,1.1,15,-11.0
$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,21.7,6917,-11.9,-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,-1.01,-129.1,0.0,0.0,0,77,0.00,0.00,-56.17,0.000,6,0.000,0.000,384,2247,3360
$GC,80,-1.01,-129.1,5.6,-11.1,3,98,11.68,0.00,0.00,0.000,6,0.127,0.000,2570,2246,3361
$GC,408,-1.01,-129.1,42.6,-9.5,19,413,0.00,2.55,0.00,0.000,4,0.000,0.054,2571,3652,3361
$GC,666,-1.01,-129.1,67.5,-9.3,30,672,0.00,2.42,0.00,0.000,6,0.000,0.030,2570,2234,3362
$GC,981,-1.01,-129.1,93.7,-8.3,46,986,0.00,2.58,0.00,0.000,4,0.000,0.054,2570,3651,3363
$GC,1037,-1.01,-129.1,98.6,-8.8,48,1043,0.00,2.38,0.00,0.000,6,0.000,0.030,2570,2253,3363
$GC,1353,-1.01,-129.1,123.0,-7.6,64,1358,0.00,2.55,0.00,0.000,4,0.000,0.053,2570,3645,3363
$GC,1421,-1.01,-129.1,128.2,-7.9,67,1426,0.00,2.42,0.00,0.000,6,0.000,0.031,2570,2249,3363
$GC,1753,-1.01,-129.1,152.7,-7.4,83,1757,0.00,2.53,0.00,0.000,4,0.000,0.053,2570,3650,3363
$GC,1825,-1.01,-129.1,158.5,-7.8,86,1829,0.00,2.40,0.00,0.000,6,0.000,0.031,2570,2249,3363
$GC,2140,-1.01,-129.1,182.1,-7.7,101,2145,0.00,2.55,0.00,0.000,4,0.000,0.053,2570,3643,3362
$GC,2208,-1.01,-129.1,187.7,-8.7,104,2212,0.00,2.40,0.00,0.000,6,0.000,0.031,2571,2237,3362
$GC,2534,-1.01,-129.1,211.8,-7.4,120,2539,0.00,2.58,0.00,0.000,4,0.000,0.054,2570,3656,3362
$GC,2601,-1.01,-129.1,217.1,-8.0,123,2606,0.00,2.42,0.00,0.000,6,0.000,0.031,2570,2255,3362
$GC,2927,-1.01,-129.1,240.7,-7.3,139,2932,0.00,2.53,0.00,0.000,4,0.000,0.053,2570,3652,3362
$GC,2984,-1.01,-129.1,245.1,-8.0,141,2990,0.00,2.40,0.00,0.000,6,0.000,0.031,2570,2252,3361
$GC,3300,-1.01,-129.1,267.5,-7.0,157,3304,0.00,2.53,0.00,0.000,4,0.000,0.053,2570,3651,3361
$GC,3349,-1.01,-129.1,271.4,-7.7,159,3354,0.00,2.40,0.00,0.000,6,0.000,0.031,2570,2251,3361
$GC,3666,-1.01,-129.1,294.6,-7.4,174,3670,0.00,2.53,0.00,0.000,4,0.000,0.053,2571,3653,3360
$GC,3743,-1.01,-129.1,300.7,-7.8,177,3749,0.00,2.40,0.00,0.000,6,0.000,0.031,2570,2249,3360
$GC,4058,-1.01,-129.1,323.0,-7.1,193,4062,0.00,2.53,0.00,0.000,4,0.000,0.053,2570,3651,3360
$GC,4114,-1.01,-129.1,327.3,-7.9,195,4121,0.00,2.40,0.00,0.000,6,0.000,0.031,2570,2249,3360
$GC,4430,-1.01,-129.1,349.6,-7.1,211,4439,0.00,2.53,0.00,0.000,4,0.000,0.054,2570,3650,3359
$GC,4485,-1.01,-129.1,353.9,-7.6,213,4489,0.00,2.40,0.00,0.000,6,0.000,0.031,2570,2246,3360
$GC,4805,-1.01,-129.1,376.7,-7.1,229,4810,0.00,2.55,0.00,0.000,4,0.000,0.055,2570,3653,3359
$GC,4855,-1.01,-129.1,380.5,-7.4,231,4860,0.00,2.42,0.00,0.000,6,0.000,0.031,2570,2250,3359
$GC,5176,-1.01,-129.1,402.7,-6.8,247,5180,0.00,2.53,0.00,0.000,4,0.000,0.054,2570,3654,3359
$GC,5225,-1.01,-129.1,406.4,-7.4,249,5229,0.00,2.40,0.00,0.000,6,0.000,0.031,2570,2249,3359
$GC,5541,-1.01,-129.1,427.7,-6.8,264,5545,0.00,2.53,0.00,0.000,4,0.000,0.053,2570,3654,3359
$GC,5603,-1.01,-129.1,432.3,-7.5,267,5607,0.00,2.42,0.00,0.000,6,0.000,0.031,2570,2252,3359
$GC,5935,-1.01,-129.1,454.3,-6.6,283,5939,0.00,2.53,0.00,0.000,4,0.000,0.053,2570,3651,3359
$GC,5984,-1.01,-129.1,458.2,-8.0,285,5988,0.00,2.40,0.00,0.000,6,0.000,0.031,2570,2249,3359
$GC,6300,-1.01,-129.1,480.7,-7.2,300,6304,0.00,2.53,0.00,0.000,4,0.000,0.053,2570,3654,3359
$GC,6344,-1.01,-129.1,484.2,-8.3,302,6348,0.00,2.40,0.00,0.000,6,0.000,0.031,2570,2250,3359
$GC,6665,-1.01,-129.1,507.6,-7.2,318,6669,0.00,2.53,0.00,0.000,4,0.000,0.053,2570,3656,3359
$GC,6720,-1.01,-129.1,512.1,-8.3,320,6726,0.00,2.40,0.00,0.000,6,0.000,0.031,2570,2250,3359
$GC,7037,-1.01,-129.1,534.9,-7.1,336,7042,0.00,2.53,0.00,0.000,4,0.000,0.053,2570,3656,3358
$GC,7104,-1.01,-129.1,540.2,-8.0,339,7108,0.00,2.40,0.00,0.000,6,0.000,0.032,2570,2252,3358
$GC,7425,-1.01,-129.1,562.2,-6.7,355,7430,0.00,2.53,0.00,0.000,4,0.000,0.053,2570,3655,3358
$GC,7465,-1.01,-129.1,565.1,-7.4,357,7469,0.00,2.42,0.00,0.000,6,0.000,0.033,2570,2237,3358
$GC,7791,-1.01,-129.1,587.3,-7.0,373,7795,0.00,2.55,0.00,0.000,4,0.000,0.054,2570,3650,3358
$GC,7853,-1.01,-129.1,591.9,-7.8,376,7858,0.00,2.42,0.00,0.000,6,0.000,0.033,2570,2253,3358
$GC,8185,-1.01,-129.1,616.0,-7.4,392,8189,0.00,2.53,0.00,0.000,4,0.000,0.053,2570,3656,3358
$GC,8262,-1.01,-129.1,622.2,-7.8,395,8269,0.00,2.42,0.00,0.000,6,0.000,0.033,2570,2243,3358
$GC,8581,-1.01,-129.1,644.8,-7.3,411,8585,0.00,2.55,0.00,0.000,4,0.000,0.055,2570,3653,3358
$GC,8648,-1.01,-129.1,650.2,-7.8,414,8652,0.00,2.42,0.00,0.000,6,0.000,0.034,2570,2246,3358
$GC,8969,-1.01,-129.1,674.5,-7.9,430,8973,0.00,2.53,0.00,0.000,4,0.000,0.054,2570,3650,3358
$GC,9038,-1.01,-129.1,680.1,-8.1,433,9042,0.00,2.42,0.00,0.000,6,0.000,0.034,2570,2237,3358
$GC,9358,-1.01,-129.1,705.7,-7.8,449,9363,0.00,2.55,0.00,0.000,4,0.000,0.054,2571,3650,3358
$GC,9391,-1.01,-129.1,708.4,-7.8,450,9398,0.00,2.40,0.00,0.000,6,0.000,0.034,2570,2252,3358
$GC,9709,-1.01,-129.1,731.1,-7.3,466,9713,0.00,2.53,0.00,0.000,4,0.000,0.054,2570,3656,3358
$GC,9753,-1.01,-129.1,734.7,-8.4,468,9757,0.00,2.42,0.00,0.000,6,0.000,0.033,2570,2249,3357
$GC,10074,-1.01,-129.1,756.5,-6.5,484,10075,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2248,3357
$GC,10386,-1.03,-146.6,774.8,-5.3,499,10391,0.00,2.53,0.00,0.000,4,0.000,0.054,2570,3650,3357
$GC,10432,-1.03,-146.6,777.5,-5.9,501,10436,0.00,2.42,0.00,0.000,6,0.000,0.035,2570,2239,3357
$GC,10759,-1.03,-146.6,797.4,-7.3,517,10763,0.00,2.55,0.00,0.000,4,0.000,0.056,2571,3650,3357
$GC,10814,-1.03,-146.6,802.0,-8.0,519,10820,0.00,2.40,0.00,0.000,6,0.000,0.034,2570,2254,3357
$GC,11129,-1.03,-146.6,827.3,-8.3,535,11133,0.00,2.53,0.00,0.000,4,0.000,0.054,2571,3651,3357
$GC,11217,-1.03,-146.6,835.2,-9.0,539,11222,0.00,2.42,0.00,0.000,6,0.000,0.035,2570,2250,3357
$GC,11541,-1.03,-146.6,861.8,-7.8,555,11542,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2249,3357
$GC,11848,-1.03,-146.6,879.3,-4.9,570,11849,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2249,3356
$GC,12157,-1.03,-146.6,896.1,-6.6,585,12161,0.00,2.55,0.00,0.000,4,0.000,0.058,2570,3650,3355
$GC,12218,-1.03,-146.6,900.9,-8.1,588,12223,0.00,2.42,0.00,0.000,6,0.000,0.037,2570,2253,3356
$GC,12547,-1.03,-146.6,922.4,-6.2,604,12552,0.00,2.55,0.00,0.000,4,0.000,0.058,2570,3651,3355
$GC,12591,-1.03,-146.6,925.5,-7.3,606,12595,0.00,2.45,0.00,0.000,6,0.000,0.037,2570,2238,3354
$GC,12917,-1.03,-146.6,944.9,-5.4,622,12918,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2238,3353
$GC,13227,-1.03,-146.6,963.0,-6.0,637,13231,0.00,2.58,0.00,0.000,4,0.000,0.061,2570,3649,3352
$GC,13266,-1.03,-146.6,965.7,-7.0,639,13270,0.00,2.42,0.00,0.000,6,0.000,0.038,2570,2256,3352
$GC,13592,-1.03,-146.6,985.7,-6.0,655,13597,0.00,2.53,0.00,0.000,4,0.000,0.052,2570,838,3351
$GC,13648,-1.03,-146.6,989.1,-5.9,657,13654,0.00,2.47,0.00,0.000,6,0.000,0.041,2570,2254,3351
$STATE,13673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13673,begin apogee
$GC,13681,-0.36,0.0,990.8,6.6,659,13801,0.70,0.00,116.18,1.443,6,0.061,0.000,2722,1462,2832
$STATE,13801,end apogee,CONTROL_FINISHED_OK
$STATE,13801,begin climb
$GC,13804,1.03,146.6,994.0,0.0,665,13951,1.38,2.33,135.20,1.401,4,0.050,0.065,3025,263,2232
$GC,14000,1.03,146.6,985.0,6.8,674,14003,0.00,2.08,0.00,0.000,6,0.000,0.038,3025,1457,2228
$GC,14332,1.03,146.6,963.6,6.3,690,14333,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1457,2223
$GC,14642,1.05,163.9,945.9,5.5,705,14661,0.00,0.00,15.52,1.300,6,0.000,0.000,3025,1457,2162
$GC,14974,1.06,168.2,927.1,5.9,721,14984,0.00,2.55,4.93,0.976,4,0.000,0.048,3026,2860,2146
$GC,15017,1.06,168.2,923.9,6.7,723,15021,0.00,2.50,0.00,0.000,6,0.000,0.044,3025,1452,2145
$GC,15338,1.06,168.2,899.9,7.8,739,15343,0.00,2.53,0.00,0.000,4,0.000,0.049,3026,2857,2144
$GC,15378,1.06,168.2,896.7,8.6,741,15383,0.00,2.53,0.00,0.000,6,0.000,0.044,3025,1445,2143
$GC,15708,1.06,168.2,870.0,8.2,757,15712,0.00,2.53,0.00,0.000,4,0.000,0.049,3025,2856,2143
$GC,15796,1.06,168.2,861.4,9.7,761,15800,0.00,2.50,0.00,0.000,6,0.000,0.042,3026,1452,2142
$GC,16116,1.06,168.2,832.3,8.7,777,16117,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1452,2142
$GC,16428,1.06,168.2,810.6,6.0,792,16432,0.00,2.53,0.00,0.000,4,0.000,0.048,3026,2862,2141
$GC,16500,1.06,168.2,806.0,6.9,795,16505,0.00,2.47,0.00,0.000,6,0.000,0.041,3026,1452,2141
$GC,16818,1.09,198.2,790.0,5.1,810,16849,0.00,0.00,28.67,1.305,6,0.000,0.000,3025,1452,2024
$GC,17148,1.13,229.8,773.7,5.0,826,17184,0.00,2.60,30.70,1.281,4,0.000,0.046,3026,2861,1894
$GC,17262,1.13,229.8,767.0,6.1,830,17267,0.00,2.50,0.00,0.000,6,0.000,0.039,3026,1454,1891
$GC,17578,1.13,229.8,746.8,6.5,845,17582,0.00,2.50,0.00,0.000,4,0.000,0.044,3026,2855,1888
$GC,17617,1.13,229.8,744.1,6.2,847,17622,0.00,2.47,0.00,0.000,6,0.000,0.039,3026,1453,1888
$GC,17944,1.13,229.8,721.7,7.0,863,17948,0.00,2.50,0.00,0.000,4,0.000,0.044,3026,2862,1888
$GC,17999,1.13,229.8,717.7,7.5,865,18005,0.00,2.47,0.00,0.000,6,0.000,0.038,3026,1453,1887
$GC,18318,1.13,229.8,695.5,6.9,881,18322,0.00,2.47,0.00,0.000,4,0.000,0.044,3025,2856,1887
$GC,18361,1.13,229.8,692.1,6.7,883,18365,0.00,2.47,0.00,0.000,6,0.000,0.038,3025,1450,1887
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$STATE,27199,end climb,SURFACE_DEPTH_REACHED
$STATE,27199,begin surface coast
$FINISH,0.5,1.026886
$STATE,27222,end surface coast,CONTROL_FINISHED_OK
$STATE,27222,begin surface
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$10V_AH,10.1,23.922
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$DATA_FILE_SIZE,66321,1308
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$CFSIZE,260165632,245919744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
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