version: 66.06
glider: 108
mission: 14
dive: 104
start: 6 26 110 16 11 9
data:
$ID,108
$MISSION,14
$DIVE,104
$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,-2
$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,30
$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
$GPS1,122744,6654.791,-5936.992,0,6090.0,0,-37.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,12.00
$_SM_ANGLEo,-12.6
$GPS2,122744,6654.791,-5936.992,0,6090.0,0,-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,278.8,41046,-18.1,-10.000
$D_GRID,947
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.78,-146.1,0.0,0.0,0,24,0.00,0.00,-4.18,0.000,2,0.000,0.000,3140,793,2765,0,0,0,0,0,0
$GC,28,-0.78,-146.1,12.8,-0.0,1,54,0.55,0.12,-19.27,0.000,4,0.050,0.370,2916,860,3660,0,0,0,0,0,0
$GC,308,-0.78,-146.1,49.3,-12.9,51,314,0.12,2.33,0.00,0.000,6,0.163,0.077,2940,2248,3666,0,0,0,0,0,0
$GC,652,-0.78,-146.1,85.1,-10.0,112,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2248,3667,0,0,0,0,0,0
$GC,990,-0.78,-146.1,117.3,-9.3,157,994,0.00,2.22,0.00,0.000,4,0.000,0.086,2931,3607,3667,0,0,0,0,0,0
$GC,1029,-0.78,-146.1,121.2,-10.4,160,1035,0.00,2.20,0.00,0.000,6,0.000,0.060,2931,2242,3666,0,0,0,0,0,0
$GC,1355,-0.78,-146.1,151.9,-9.1,191,1359,0.00,2.25,0.00,0.000,4,0.000,0.071,2931,833,3666,0,0,0,0,0,0
$GC,1417,-0.78,-146.1,158.0,-9.9,196,1422,0.00,2.38,0.00,0.000,6,0.000,0.075,2922,2264,3666,0,0,0,0,0,0
$GC,1743,-0.78,-146.1,188.8,-9.7,226,1747,0.00,2.20,0.00,0.000,4,0.000,0.087,2912,3605,3665,0,0,0,0,0,0
$GC,1775,-0.78,-146.1,192.1,-10.3,228,1782,0.12,2.17,0.00,0.000,6,0.161,0.061,2946,2246,3665,0,0,0,0,0,0
$GC,2101,-0.78,-146.1,217.5,-7.6,259,2105,0.00,2.28,0.00,0.000,4,0.000,0.071,2946,829,3665,0,0,0,0,0,0
$GC,2164,-0.78,-146.1,222.5,-8.3,264,2168,0.00,2.33,0.00,0.000,6,0.000,0.074,2939,2254,3665,0,0,0,0,0,0
$GC,2494,-0.78,-146.1,248.4,-8.0,295,2498,0.00,2.17,0.00,0.000,4,0.000,0.087,2929,3598,3664,0,0,0,0,0,0
$GC,2545,-0.78,-146.1,252.9,-8.7,299,2550,0.00,2.15,0.00,0.000,6,0.000,0.061,2928,2251,3664,0,0,0,0,0,0
$GC,2870,-0.78,-146.1,278.7,-7.3,330,2874,0.00,2.28,0.00,0.000,4,0.000,0.071,2929,842,3664,0,0,0,0,0,0
$GC,3007,-0.78,-146.1,289.1,-7.3,341,3013,0.10,2.35,0.00,0.000,6,0.163,0.074,2947,2264,3664,0,0,0,0,0,0
$GC,3332,-0.78,-146.1,308.6,-5.8,372,3336,0.00,2.17,0.00,0.000,4,0.000,0.086,2939,3600,3665,0,0,0,0,0,0
$GC,3388,-0.78,-146.1,312.3,-6.7,376,3394,0.00,2.15,0.00,0.000,6,0.000,0.058,2939,2249,3665,0,0,0,0,0,0
$GC,3713,-0.78,-146.1,333.5,-6.7,407,3717,0.00,2.25,0.00,0.000,4,0.000,0.071,2939,838,3665,0,0,0,0,0,0
$GC,3832,-0.78,-146.1,342.2,-7.4,417,3836,0.00,2.33,0.00,0.000,6,0.000,0.074,2930,2255,3665,0,0,0,0,0,0
$GC,4163,-0.78,-146.1,366.1,-7.2,448,4167,0.00,2.17,0.00,0.000,4,0.000,0.085,2919,3596,3665,0,0,0,0,0,0
$GC,4214,-0.78,-146.1,369.9,-8.5,452,4219,0.10,2.15,0.00,0.000,6,0.160,0.058,2947,2241,3665,0,0,0,0,0,0
$GC,4539,-0.78,-146.1,390.7,-6.3,482,4543,0.00,2.22,0.00,0.000,4,0.000,0.069,2946,839,3665,0,0,0,0,0,0
$GC,4601,-0.78,-146.1,395.1,-6.8,487,4605,0.00,2.30,0.00,0.000,6,0.000,0.073,2939,2249,3665,0,0,0,0,0,0
$GC,4926,-0.78,-146.1,417.2,-6.8,517,4930,0.00,2.15,0.00,0.000,4,0.000,0.084,2929,3595,3666,0,0,0,0,0,0
$GC,4982,-0.78,-146.1,421.3,-7.0,521,4988,0.00,2.12,0.00,0.000,6,0.000,0.057,2929,2246,3666,0,0,0,0,0,0
$GC,5307,-0.78,-146.1,444.5,-7.1,552,5311,0.00,2.22,0.00,0.000,4,0.000,0.069,2929,843,3666,0,0,0,0,0,0
$GC,5352,-0.78,-146.1,448.0,-7.5,555,5358,0.10,2.30,0.00,0.000,6,0.160,0.072,2948,2252,3666,0,0,0,0,0,0
$GC,5677,-0.78,-146.1,468.3,-6.2,586,5681,0.00,2.17,0.00,0.000,4,0.000,0.083,2940,3604,3666,0,0,0,0,0,0
$GC,5728,-0.78,-146.1,471.9,-7.3,590,5732,0.00,2.12,0.00,0.000,6,0.000,0.056,2940,2244,3666,0,0,0,0,0,0
$GC,6058,-0.78,-146.1,493.7,-6.4,621,6062,0.00,2.20,0.00,0.000,4,0.000,0.067,2940,836,3667,0,0,0,0,0,0
$GC,6120,-0.78,-146.1,497.9,-7.2,626,6124,0.00,2.30,0.00,0.000,6,0.000,0.071,2930,2257,3667,0,0,0,0,0,0
$GC,6445,-0.78,-146.1,520.0,-6.8,656,6449,0.00,2.15,0.00,0.000,4,0.000,0.082,2920,3594,3667,0,0,0,0,0,0
$GC,6497,-0.78,-146.1,523.6,-7.2,660,6502,0.10,2.12,0.00,0.000,6,0.160,0.056,2947,2242,3667,0,0,0,0,0,0
$GC,6822,-0.78,-146.1,543.3,-5.9,690,6826,0.00,2.20,0.00,0.000,4,0.000,0.067,2947,835,3667,0,0,0,0,0,0
$GC,6862,-0.78,-146.1,546.0,-7.1,693,6866,0.00,2.33,0.00,0.000,6,0.000,0.071,2940,2255,3667,0,0,0,0,0,0
$GC,7187,-0.78,-146.1,566.6,-6.2,723,7191,0.00,2.15,0.00,0.000,4,0.000,0.082,2930,3595,3667,0,0,0,0,0,0
$GC,7238,-0.78,-146.1,570.1,-6.7,727,7242,0.00,2.12,0.00,0.000,6,0.000,0.055,2930,2241,3667,0,0,0,0,0,0
$GC,7563,-0.78,-146.1,591.5,-6.5,757,7567,0.00,2.20,0.00,0.000,4,0.000,0.067,2930,844,3668,0,0,0,0,0,0
$GC,7630,-0.78,-146.1,596.4,-7.4,762,7636,0.00,2.30,0.00,0.000,6,0.000,0.071,2921,2258,3668,0,0,0,0,0,0
$GC,7966,-0.78,-146.1,619.7,-7.0,777,7970,0.00,2.15,0.00,0.000,4,0.000,0.082,2910,3596,3668,0,0,0,0,0,0
$GC,8022,-0.78,-146.1,623.9,-7.8,778,8027,0.12,2.12,0.00,0.000,6,0.150,0.055,2946,2241,3668,0,0,0,0,0,0
$GC,8335,-0.78,-146.1,642.0,-5.7,788,8339,0.00,2.17,0.00,0.000,4,0.000,0.067,2946,844,3668,0,0,0,0,0,0
$GC,8368,-0.78,-146.1,644.1,-6.5,789,8372,0.00,2.30,0.00,0.000,6,0.000,0.071,2939,2253,3668,0,0,0,0,0,0
$GC,8698,-0.78,-146.1,664.4,-6.2,800,8702,0.00,2.15,0.00,0.000,4,0.000,0.081,2929,3596,3668,0,0,0,0,0,0
$GC,8749,-0.78,-146.1,668.0,-6.6,801,8753,0.00,2.10,0.00,0.000,6,0.000,0.055,2929,2250,3668,0,0,0,0,0,0
$GC,9062,-0.78,-146.1,689.0,-6.7,811,9066,0.00,2.22,0.00,0.000,4,0.000,0.067,2929,835,3668,0,0,0,0,0,0
$GC,9124,-0.78,-146.1,693.3,-6.8,813,9129,0.10,2.30,0.00,0.000,6,0.159,0.071,2949,2250,3668,0,0,0,0,0,0
$GC,9465,-0.78,-146.1,713.2,-5.8,824,9468,0.00,2.17,0.00,0.000,4,0.000,0.081,2941,3597,3668,0,0,0,0,0,0
$GC,9526,-0.78,-146.1,717.2,-6.7,825,9532,0.00,2.10,0.00,0.000,6,0.000,0.054,2941,2246,3668,0,0,0,0,0,0
$GC,9839,-0.78,-146.1,736.3,-6.1,836,9843,0.00,2.20,0.00,0.000,4,0.000,0.067,2941,844,3668,0,0,0,0,0,0
$GC,9895,-0.78,-146.1,740.0,-6.0,837,9901,0.00,2.30,0.00,0.000,6,0.000,0.070,2931,2258,3668,0,0,0,0,0,0
$GC,10208,-0.78,-146.1,759.8,-6.4,848,10212,0.00,2.12,0.00,0.000,4,0.000,0.081,2921,3601,3668,0,0,0,0,0,0
$GC,10258,-0.78,-146.1,763.5,-7.3,849,10262,0.00,2.12,0.00,0.000,6,0.000,0.054,2921,2241,3668,0,0,0,0,0,0
$GC,10571,-0.78,-146.1,785.2,-6.9,859,10572,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2241,3668,0,0,0,0,0,0
$GC,10879,-0.78,-146.1,805.8,-6.6,869,10883,0.00,2.20,0.00,0.000,4,0.000,0.066,2921,839,3668,0,0,0,0,0,0
$GC,10936,-0.78,-146.1,810.1,-7.7,870,10942,0.12,2.30,0.00,0.000,6,0.149,0.070,2948,2250,3668,0,0,0,0,0,0
$GC,11248,-0.78,-146.1,827.1,-5.2,881,11252,0.00,2.17,0.00,0.000,4,0.000,0.081,2940,3598,3668,0,0,0,0,0,0
$GC,11304,-0.78,-146.1,830.4,-5.7,882,11308,0.00,2.12,0.00,0.000,6,0.000,0.053,2940,2235,3668,0,0,0,0,0,0
$GC,11617,-0.78,-146.1,847.1,-5.4,892,11621,0.00,2.17,0.00,0.000,4,0.000,0.066,2940,844,3668,0,0,0,0,0,0
$GC,11665,-0.78,-146.1,850.0,-6.3,893,11669,0.00,2.30,0.00,0.000,6,0.000,0.071,2931,2255,3668,0,0,0,0,0,0
$GC,11988,-0.78,-146.1,869.4,-6.0,904,11992,0.00,2.15,0.00,0.000,4,0.000,0.081,2921,3602,3667,0,0,0,0,0,0
$GC,12045,-0.78,-146.1,872.9,-6.9,905,12051,0.00,2.10,0.00,0.000,6,0.000,0.054,2921,2245,3668,0,0,0,0,0,0
$GC,12358,-0.78,-146.1,892.2,-6.0,916,12362,0.00,2.20,0.00,0.000,4,0.000,0.067,2921,842,3668,0,0,0,0,0,0
$GC,12397,-0.78,-146.1,894.9,-7.4,917,12402,0.12,2.28,0.00,0.000,6,0.150,0.069,2948,2256,3668,0,0,0,0,0,0
$GC,12723,-0.78,-146.1,913.1,-5.4,928,12727,0.00,2.15,0.00,0.000,4,0.000,0.080,2940,3602,3668,0,0,0,0,0,0
$GC,12786,-0.78,-146.1,916.5,-5.6,930,12790,0.00,2.10,0.00,0.000,6,0.000,0.053,2940,2249,3668,0,0,0,0,0,0
$GC,13127,-0.78,-146.1,934.0,-5.4,941,13131,0.00,2.20,0.00,0.000,4,0.000,0.065,2940,844,3668,0,0,0,0,0,0
$GC,13183,-0.78,-146.1,937.2,-6.2,942,13189,0.00,2.30,0.00,0.000,6,0.000,0.070,2931,2259,3668,0,0,0,0,0,0
$STATE,13217,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,13218,begin apogee
$GC,13225,-0.17,0.0,939.2,5.6,944,13358,0.45,0.00,129.57,1.457,6,0.119,0.000,3080,2192,3058,0,0,0,0,0,0
$STATE,13358,end apogee,CONTROL_FINISHED_OK
$STATE,13359,begin climb
$GC,13361,0.78,146.1,941.8,0.0,948,13502,0.60,2.55,129.77,1.386,4,0.067,0.064,3299,812,2462,0,0,0,0,0,0
$GC,13536,0.78,146.1,928.0,12.6,954,13540,0.00,2.53,0.00,0.000,6,0.000,0.065,3299,2201,2460,0,0,0,0,0,0
$GC,13859,0.78,146.1,891.2,11.3,965,13863,0.00,2.35,0.00,0.000,4,0.000,0.076,3299,3596,2456,0,0,0,0,0,0
$GC,13914,0.78,146.1,883.9,13.7,966,13920,0.12,2.25,0.00,0.000,6,0.176,0.051,3278,2210,2456,0,0,0,0,0,0
$GC,14227,0.78,146.1,851.8,10.2,977,14228,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,2209,2455,0,0,0,0,0,0
$GC,14533,0.78,146.2,820.7,10.0,987,14537,0.00,2.28,0.00,0.000,4,0.000,0.063,3286,785,2456,0,0,0,0,0,0
$GC,14555,0.79,155.8,818.5,9.6,987,14569,0.00,2.38,8.95,1.176,6,0.000,0.064,3286,2213,2421,0,0,0,0,0,0
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$STATE,22363,end subsurface finish,CONTROL_FINISHED_OK
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