version: 66.06
glider: 108
mission: 14
dive: 92
start: 6 23 110 12 24 22
data:
$ID,108
$MISSION,14
$DIVE,92
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,330
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,900
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,51740
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-180253.64
$T_RSLEEP,60
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,3112
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,588
$VBD_MAX,3951
$C_VBD,3058
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$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,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-21.817678
$PRESSURE_SLOPE,0.0001161151
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2.5
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,64
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043387706
$SEABIRD_T_H,0.00063929392
$SEABIRD_T_I,2.2459495e-05
$SEABIRD_T_J,2.0328812e-06
$SEABIRD_C_G,-10.121161
$SEABIRD_C_H,1.1529624
$SEABIRD_C_I,-0.002153415
$SEABIRD_C_J,0.0002365096
$GPS1,083342,6700.916,-5823.579,0,5120.0,0,-37.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.87
$_SM_ANGLEo,2.5
$GPS2,083342,6700.916,-5823.579,0,5120.0,0,-37.9
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,288.6,94880,-18.1,-10.000
$D_GRID,1099
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.78,-146.1,0.0,0.0,0,113,0.00,0.00,-94.25,0.000,2,0.000,0.000,3390,792,3259,0,0,0,0,0,0
$GC,119,-0.78,-146.1,3.2,-5.2,19,140,1.40,0.12,-15.45,0.000,4,0.139,0.374,2945,858,3656,0,0,0,0,0,0
$GC,170,-0.78,-146.1,8.5,-12.0,28,175,0.00,2.33,0.00,0.000,6,0.000,0.074,2934,2257,3659,0,0,0,0,0,0
$GC,513,-0.78,-146.1,50.0,-10.6,89,519,0.00,2.22,0.00,0.000,4,0.000,0.085,2924,3605,3662,0,0,0,0,0,0
$GC,586,-0.78,-146.1,58.6,-11.4,102,592,0.00,2.20,0.00,0.000,6,0.000,0.061,2924,2242,3661,0,0,0,0,0,0
$GC,930,-0.78,-146.1,97.5,-10.5,163,935,0.00,2.28,0.00,0.000,4,0.000,0.073,2924,839,3660,0,0,0,0,0,0
$GC,988,-0.78,-146.1,104.0,-11.6,170,993,0.10,2.38,0.00,0.000,6,0.168,0.076,2941,2261,3660,0,0,0,0,0,0
$GC,1313,-0.78,-146.1,135.2,-9.0,200,1317,0.00,2.17,0.00,0.000,4,0.000,0.086,2933,3602,3661,0,0,0,0,0,0
$GC,1410,-0.78,-146.1,144.4,-9.2,208,1414,0.00,2.17,0.00,0.000,6,0.000,0.062,2933,2251,3660,0,0,0,0,0,0
$GC,1735,-0.78,-146.1,168.8,-6.8,238,1739,0.00,2.28,0.00,0.000,4,0.000,0.073,2933,838,3660,0,0,0,0,0,0
$GC,1842,-0.78,-146.1,176.8,-8.2,247,1846,0.00,2.33,0.00,0.000,6,0.000,0.075,2924,2249,3660,0,0,0,0,0,0
$GC,2173,-0.78,-146.1,203.4,-8.3,278,2177,0.00,2.20,0.00,0.000,4,0.000,0.086,2913,3599,3660,0,0,0,0,0,0
$GC,2236,-0.78,-146.1,209.4,-9.5,283,2240,0.10,2.17,0.00,0.000,6,0.166,0.061,2940,2243,3659,0,0,0,0,0,0
$GC,2561,-0.78,-146.1,235.2,-7.8,313,2562,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2242,3659,0,0,0,0,0,0
$GC,2882,-0.78,-146.1,257.7,-6.3,343,2886,0.00,2.25,0.00,0.000,4,0.000,0.072,2939,835,3659,0,0,0,0,0,0
$GC,2956,-0.78,-146.1,262.6,-6.2,349,2960,0.00,2.33,0.00,0.000,6,0.000,0.074,2932,2259,3659,0,0,0,0,0,0
$GC,3281,-0.78,-146.1,284.7,-7.2,379,3285,0.00,2.15,0.00,0.000,4,0.000,0.083,2922,3596,3659,0,0,0,0,0,0
$GC,3360,-0.78,-146.1,290.9,-8.0,386,3364,0.00,2.15,0.00,0.000,6,0.000,0.058,2922,2239,3659,0,0,0,0,0,0
$GC,3685,-0.78,-146.1,320.1,-9.4,416,3689,0.00,2.20,0.00,0.000,4,0.000,0.071,2922,844,3659,0,0,0,0,0,0
$GC,3729,-0.78,-146.1,324.7,-10.1,419,3735,0.12,2.33,0.00,0.000,6,0.153,0.073,2948,2262,3659,0,0,0,0,0,0
$GC,4054,-0.78,-146.1,352.2,-8.9,450,4058,0.00,2.15,0.00,0.000,4,0.000,0.084,2940,3606,3660,0,0,0,0,0,0
$GC,4132,-0.78,-146.1,359.5,-9.7,456,4137,0.00,2.15,0.00,0.000,6,0.000,0.059,2940,2247,3660,0,0,0,0,0,0
$GC,4457,-0.78,-146.1,387.0,-7.7,487,4461,0.00,2.22,0.00,0.000,4,0.000,0.071,2940,836,3660,0,0,0,0,0,0
$GC,4502,-0.78,-146.1,390.8,-8.7,490,4508,0.00,2.33,0.00,0.000,6,0.000,0.071,2930,2258,3660,0,0,0,0,0,0
$GC,4827,-0.78,-146.1,414.9,-6.9,521,4831,0.00,2.17,0.00,0.000,4,0.000,0.083,2920,3607,3661,0,0,0,0,0,0
$GC,4894,-0.78,-146.1,420.3,-8.0,526,4901,0.10,2.15,0.00,0.000,6,0.159,0.058,2947,2245,3661,0,0,0,0,0,0
$GC,5220,-0.78,-146.1,439.9,-6.3,557,5224,0.00,2.22,0.00,0.000,4,0.000,0.070,2947,841,3661,0,0,0,0,0,0
$GC,5282,-0.78,-146.1,444.3,-6.5,562,5287,0.00,2.33,0.00,0.000,6,0.000,0.071,2940,2266,3661,0,0,0,0,0,0
$GC,5608,-0.78,-146.1,465.7,-6.7,592,5611,0.00,2.15,0.00,0.000,4,0.000,0.082,2931,3604,3661,0,0,0,0,0,0
$GC,5687,-0.78,-146.1,471.4,-6.9,599,5691,0.00,2.12,0.00,0.000,6,0.000,0.058,2930,2240,3661,0,0,0,0,0,0
$GC,6012,-0.78,-146.1,494.1,-6.9,629,6016,0.00,2.20,0.00,0.000,4,0.000,0.070,2930,836,3662,0,0,0,0,0,0
$GC,6080,-0.78,-146.1,499.1,-7.8,634,6085,0.00,2.30,0.00,0.000,6,0.000,0.071,2921,2248,3661,0,0,0,0,0,0
$GC,6405,-0.78,-146.1,523.2,-7.4,665,6410,0.10,2.17,0.00,0.000,4,0.163,0.082,2940,3604,3662,0,0,0,0,0,0
$GC,6466,-0.78,-146.1,527.5,-6.7,670,6472,0.00,2.15,0.00,0.000,6,0.000,0.057,2940,2236,3662,0,0,0,0,0,0
$GC,6791,-0.78,-146.1,548.6,-6.4,701,6795,0.00,2.20,0.00,0.000,4,0.000,0.070,2940,842,3663,0,0,0,0,0,0
$GC,6854,-0.78,-146.1,553.0,-7.1,706,6858,0.00,2.30,0.00,0.000,6,0.000,0.071,2930,2253,3662,0,0,0,0,0,0
$GC,7184,-0.78,-146.1,576.0,-6.7,737,7188,0.00,2.12,0.00,0.000,4,0.000,0.081,2920,3595,3662,0,0,0,0,0,0
$GC,7253,-0.78,-146.1,581.0,-7.1,743,7257,0.10,2.10,0.00,0.000,6,0.159,0.058,2947,2246,3662,0,0,0,0,0,0
$GC,7578,-0.78,-146.1,599.6,-5.3,773,7582,0.00,2.20,0.00,0.000,4,0.000,0.070,2947,844,3662,0,0,0,0,0,0
$GC,7639,-0.78,-146.1,603.1,-5.8,775,7645,0.00,2.28,0.00,0.000,6,0.000,0.071,2941,2256,3662,0,0,0,0,0,0
$GC,7952,-0.78,-146.1,620.0,-5.4,786,7956,0.00,2.15,0.00,0.000,4,0.000,0.082,2931,3602,3662,0,0,0,0,0,0
$GC,8021,-0.78,-146.1,624.3,-6.8,788,8024,0.00,2.12,0.00,0.000,6,0.000,0.058,2931,2248,3662,0,0,0,0,0,0
$GC,8363,-0.78,-146.1,644.5,-5.9,799,8367,0.00,2.22,0.00,0.000,4,0.000,0.069,2931,840,3662,0,0,0,0,0,0
$GC,8413,-0.78,-146.1,647.6,-5.9,800,8417,0.00,2.30,0.00,0.000,6,0.000,0.071,2922,2250,3662,0,0,0,0,0,0
$GC,8726,-0.78,-146.1,666.3,-6.0,810,8730,0.00,2.15,0.00,0.000,4,0.000,0.081,2912,3598,3662,0,0,0,0,0,0
$GC,8805,-0.78,-146.1,671.6,-6.9,812,8809,0.12,2.12,0.00,0.000,6,0.152,0.057,2947,2243,3662,0,0,0,0,0,0
$GC,9129,-0.78,-146.1,687.5,-4.8,823,9133,0.00,2.20,0.00,0.000,4,0.000,0.069,2947,845,3662,0,0,0,0,0,0
$GC,9167,-0.78,-146.1,689.5,-5.2,824,9172,0.00,2.28,0.00,0.000,6,0.000,0.071,2941,2259,3662,0,0,0,0,0,0
$GC,9492,-0.78,-146.1,705.5,-4.8,835,9495,0.00,2.12,0.00,0.000,4,0.000,0.081,2931,3599,3662,0,0,0,0,0,0
$GC,9548,-0.78,-146.1,708.5,-5.2,836,9552,0.00,2.12,0.00,0.000,6,0.000,0.057,2931,2242,3662,0,0,0,0,0,0
$GC,9866,-0.78,-146.1,724.5,-4.9,847,9870,0.00,2.20,0.00,0.000,4,0.000,0.069,2931,844,3662,0,0,0,0,0,0
$GC,9900,-0.78,-146.1,726.3,-4.9,848,9904,0.00,2.30,0.00,0.000,6,0.000,0.071,2922,2260,3662,0,0,0,0,0,0
$GC,10230,-0.78,-146.1,745.2,-6.2,859,10234,0.00,2.12,0.00,0.000,4,0.000,0.081,2912,3602,3662,0,0,0,0,0,0
$GC,10363,-0.78,-146.1,754.3,-6.2,863,10368,0.12,2.12,0.00,0.000,6,0.150,0.057,2947,2239,3661,0,0,0,0,0,0
$GC,10704,-0.78,-146.1,771.7,-5.3,874,10708,0.00,2.20,0.00,0.000,4,0.000,0.069,2948,843,3662,0,0,0,0,0,0
$GC,10766,-0.78,-146.1,775.3,-6.1,876,10771,0.00,2.28,0.00,0.000,6,0.000,0.071,2942,2250,3662,0,0,0,0,0,0
$GC,11108,-0.78,-146.1,795.8,-6.3,887,11111,0.00,2.15,0.00,0.000,4,0.000,0.081,2931,3597,3662,0,0,0,0,0,0
$GC,11191,-0.78,-146.1,801.9,-7.0,889,11195,0.00,2.12,0.00,0.000,6,0.000,0.057,2931,2240,3661,0,0,0,0,0,0
$GC,11516,-0.78,-146.1,823.0,-6.4,900,11520,0.00,2.20,0.00,0.000,4,0.000,0.069,2931,834,3662,0,0,0,0,0,0
$GC,11577,-0.78,-146.1,827.4,-6.9,901,11582,0.00,2.30,0.00,0.000,6,0.000,0.071,2922,2250,3661,0,0,0,0,0,0
$GC,11890,-0.78,-146.1,849.6,-7.1,912,11893,0.00,2.17,0.00,0.000,4,0.000,0.081,2912,3600,3662,0,0,0,0,0,0
$GC,11969,-0.78,-146.1,855.9,-7.5,914,11973,0.12,2.12,0.00,0.000,6,0.150,0.057,2947,2244,3661,0,0,0,0,0,0
$GC,12292,-0.78,-146.1,874.5,-5.4,925,12296,0.00,2.20,0.00,0.000,4,0.000,0.068,2948,844,3661,0,0,0,0,0,0
$GC,12349,-0.78,-146.1,877.8,-5.8,926,12354,0.00,2.30,0.00,0.000,6,0.000,0.071,2942,2262,3661,0,0,0,0,0,0
$GC,12662,-0.78,-146.1,894.7,-5.5,937,12665,0.00,2.12,0.00,0.000,4,0.000,0.081,2931,3594,3661,0,0,0,0,0,0
$GC,12723,-0.78,-146.1,898.5,-5.9,938,12729,0.00,2.12,0.00,0.000,6,0.000,0.057,2931,2237,3661,0,0,0,0,0,0
$GC,13036,-0.78,-146.1,915.8,-5.4,949,13040,0.00,2.20,0.00,0.000,4,0.000,0.069,2931,840,3661,0,0,0,0,0,0
$GC,13087,-0.78,-146.1,918.7,-5.6,950,13091,0.00,2.30,0.00,0.000,6,0.000,0.071,2922,2255,3661,0,0,0,0,0,0
$STATE,13213,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13213,begin apogee
$GC,13220,-0.17,0.0,925.9,5.6,954,13351,0.47,0.00,127.25,1.450,6,0.121,0.000,3079,2195,3058,0,0,0,0,0,0
$STATE,13351,end apogee,CONTROL_FINISHED_OK
$STATE,13352,begin climb
$GC,13354,0.78,146.1,927.2,0.0,958,13491,0.57,2.55,127.93,1.378,4,0.068,0.067,3296,807,2462,0,0,0,0,0,0
$GC,13548,0.78,146.1,909.5,12.5,964,13552,0.00,2.50,0.00,0.000,6,0.000,0.067,3296,2203,2460,0,0,0,0,0,0
$GC,13878,0.78,146.1,870.4,11.9,975,13882,0.00,2.35,0.00,0.000,4,0.000,0.077,3296,3597,2456,0,0,0,0,0,0
$GC,13900,0.78,146.1,867.3,12.9,975,13906,0.10,2.30,0.00,0.000,6,0.181,0.055,3282,2208,2456,0,0,0,0,0,0
$GC,14212,0.78,146.1,833.6,10.4,986,14216,0.00,2.33,0.00,0.000,4,0.000,0.067,3291,787,2455,0,0,0,0,0,0
$GC,14250,0.78,146.1,829.7,10.1,987,14254,0.00,2.38,0.00,0.000,6,0.000,0.066,3291,2203,2456,0,0,0,0,0,0
$GC,14574,0.78,146.1,796.2,10.2,998,14578,0.00,2.28,0.00,0.000,4,0.000,0.077,3291,3594,2455,0,0,0,0,0,0
$GC,14595,0.78,146.1,793.6,12.2,998,14601,0.00,2.25,0.00,0.000,6,0.000,0.055,3301,2196,2455,0,0,0,0,0,0
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$STATE,22149,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,22149,begin subsurface finish
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$FINISH2,6.4
$STATE,22194,end subsurface finish,CONTROL_FINISHED_OK
$STATE,22194,begin surface
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$RAFOS,5,1277296864,12.700000,12.684444,92,91,45,42,41,41,655,656,888,1145,1596,1595
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$RAFOS,2,1277295422,12.300000,12.283889,44,43,43,43,41,38,1288,584,1422,1704,849,1440
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$TT8_MAMPS,0.027612
$HUMID,39.80
$INTERNAL_PRESSURE,10.2445
$TCM_TEMP,15.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,17.4
$24V_AH,22.8,15.249
$10V_AH,10.2,8.444
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135832
$DATA_FILE_SIZE,66134,1679
$CAP_FILE_SIZE,230516,0
$CFSIZE,260165632,241610752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.3
$GPS,230610,163117,6659.089,-5833.911,0,6110.2,0,-37.9