version: 66.08
glider: 500
mission: 9
dive: 65
start: 12 19 113 15 34 59
data:
$ID,500
$MISSION,9
$DIVE,65
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1000
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$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,333
$T_MISSION,685
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,155
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51896
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2112
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,290
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-165808.98
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,2808
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,39
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,213
$ROLL_MAX,3849
$ROLL_DEG,45
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,3620
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00050000002
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$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,-65.78389
$PRESSURE_SLOPE,0.00011603366
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,87
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,101
$LOGGERDEVICE2,115
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.0043038074
$SEABIRD_T_H,0.00062028813
$SEABIRD_T_I,2.2163666e-05
$SEABIRD_T_J,2.2731931e-06
$SEABIRD_C_G,-9.8452415
$SEABIRD_C_H,1.106474
$SEABIRD_C_I,-0.0010991772
$SEABIRD_C_J,0.00015685134
$AD_RECORDABOVE,1100.0
$AD_PROFILE,1.0
$AD_XMITPROFILE,1.0
$AD_UPLOADMAX,60000.0
$AD_STARTS,126.0
$AD_THRESHOLD,2015.0
$AD_INTERVAL,6030.0
$AD_DURATION,1040.0
$DB_RECORDABOVE,0.0
$DB_PROFILE,0.0
$DB_XMITPROFILE,0.0
$DB_UPLOADMAX,0.0
$DB_STARTS,0.0
$GPS1,191213,152523,1952.947,-15610.960,38,1.2,38,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-83.5
$GPS2,191213,153349,1952.993,-15610.914,12,1.2,12,9.7
$SPEED_LIMITS,0.142,0.263
$TGT_NAME,A2b
$TGT_LATLONG,1945.000,-15609.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.085,-0.248
$KALMAN_X,99083.0,372.1,-456.6,-123244.3,2260.9
$KALMAN_Y,140071.2,257.1,104.3,-169527.9,2501.8
$MHEAD_RNG_PITCHd_Wd,189.3,15174,-17.1,-9.910
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,31,end surface,CONTROL_FINISHED_OK
$STATE,31,begin dive
$GC,34,-0.51,-150.9,0.0,0.0,0,116,0.00,0.00,-79.93,0.000,2,0.000,0.000,137,2516,3826,0,0,0,0,0,0
$GC,120,-0.51,-150.9,3.7,-7.1,3,139,9.45,2.42,-2.53,0.000,4,0.223,0.044,2645,899,3946,0,0,0,0,0,0
$GC,184,-0.51,-150.9,23.4,-22.3,5,188,0.00,2.33,0.00,0.000,6,0.000,0.039,2635,2489,3947,0,0,0,0,0,0
$GC,521,-0.51,-150.9,99.6,-23.0,16,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2490,3944,0,0,0,0,0,0
$GC,828,-0.51,-150.9,147.2,-14.5,26,831,0.00,2.03,0.00,0.000,4,0.000,0.044,2624,3846,3946,0,0,0,0,0,0
$GC,922,-0.51,-150.9,161.9,-15.3,28,931,0.00,1.98,0.00,0.000,6,0.000,0.031,2624,2506,3946,0,0,0,0,0,0
$GC,1238,-0.51,-150.9,199.8,-11.7,39,1242,0.00,2.30,0.00,0.000,4,0.000,0.037,2624,908,3947,0,0,0,0,0,0
$GC,1268,-0.51,-150.9,203.5,-12.7,40,1273,0.10,2.30,0.00,0.000,6,0.185,0.037,2636,2520,3947,0,0,0,0,0,0
$GC,1600,-0.51,-150.9,240.1,-10.9,46,1604,0.00,2.35,0.00,0.000,4,0.000,0.036,2638,910,3948,0,0,0,0,0,0
$GC,1621,-0.51,-150.9,243.0,-12.9,46,1625,0.00,2.30,0.00,0.000,6,0.000,0.036,2627,2501,3948,0,0,0,0,0,0
$GC,1965,-0.51,-150.9,280.9,-10.8,52,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2505,3947,0,0,0,0,0,0
$GC,2268,-0.51,-150.9,313.5,-11.0,57,2272,0.00,2.33,0.00,0.000,4,0.000,0.035,2631,905,3949,0,0,0,0,0,0
$GC,2289,-0.51,-150.9,316.2,-11.9,57,2293,0.00,2.30,0.00,0.000,6,0.000,0.038,2615,2509,3945,0,0,0,0,0,0
$GC,2633,-0.51,-150.9,354.3,-10.7,63,2636,0.00,2.00,0.00,0.000,4,0.000,0.046,2602,3852,3942,0,0,0,0,0,0
$GC,2738,-0.51,-150.9,365.5,-10.1,64,2743,0.08,2.00,0.00,0.000,6,0.132,0.034,2649,2495,3943,0,0,0,0,0,0
$GC,3071,-0.51,-150.9,390.4,-7.4,70,3075,0.00,2.30,0.00,0.000,4,0.000,0.037,2649,916,3941,0,0,0,0,0,0
$GC,3133,-0.51,-150.9,395.3,-7.5,71,3138,0.00,2.30,0.00,0.000,6,0.000,0.041,2639,2507,3940,0,0,0,0,0,0
$GC,3499,-0.51,-150.9,425.3,-8.4,77,3504,0.00,2.35,0.00,0.000,4,0.000,0.037,2639,915,3937,0,0,0,0,0,0
$GC,3527,-0.51,-150.9,427.8,-9.1,77,3531,0.00,2.33,0.00,0.000,6,0.000,0.040,2628,2505,3937,0,0,0,0,0,0
$GC,3859,-0.51,-150.9,457.9,-9.2,83,3863,0.00,2.35,0.00,0.000,4,0.000,0.037,2628,911,3934,0,0,0,0,0,0
$GC,3886,-0.51,-150.9,460.4,-8.7,83,3890,0.00,2.30,0.00,0.000,6,0.000,0.040,2616,2501,3934,0,0,0,0,0,0
$GC,4218,-0.51,-150.9,493.0,-10.1,89,4222,0.00,1.98,0.00,0.000,4,0.000,0.048,2605,3839,3930,0,0,0,0,0,0
$GC,4235,-0.51,-150.9,494.9,-9.7,89,4239,0.10,1.95,0.00,0.000,6,0.157,0.031,2638,2489,3930,0,0,0,0,0,0
$GC,4583,-0.51,-150.9,522.6,-7.7,95,4587,0.00,2.30,0.00,0.000,4,0.000,0.039,2638,908,3929,0,0,0,0,0,0
$GC,4616,-0.51,-150.9,525.5,-9.0,95,4621,0.00,2.33,0.00,0.000,6,0.000,0.041,2628,2502,3928,0,0,0,0,0,0
$GC,4949,-0.51,-150.9,552.6,-8.0,101,4953,0.00,2.33,0.00,0.000,4,0.000,0.037,2628,910,3924,0,0,0,0,0,0
$GC,4976,-0.51,-150.9,555.1,-9.3,101,4980,0.00,2.33,0.00,0.000,6,0.000,0.041,2617,2506,3923,0,0,0,0,0,0
$GC,5308,-0.51,-150.9,583.5,-8.4,107,5312,0.00,2.35,0.00,0.000,4,0.000,0.038,2616,917,3923,0,0,0,0,0,0
$GC,5363,-0.51,-150.9,588.6,-8.5,107,5370,0.12,2.30,0.00,0.000,6,0.169,0.042,2639,2500,3922,0,0,0,0,0,0
$GC,5673,-0.51,-150.9,608.6,-6.2,113,5677,0.00,2.33,0.00,0.000,4,0.000,0.039,2637,918,3921,0,0,0,0,0,0
$GC,5728,-0.51,-150.9,611.9,-5.7,113,5735,0.00,2.33,0.00,0.000,6,0.000,0.044,2628,2505,3920,0,0,0,0,0,0
$GC,6038,-0.51,-150.9,631.1,-6.3,119,6042,0.00,2.35,0.00,0.000,4,0.000,0.038,2629,911,3919,0,0,0,0,0,0
$GC,6059,-0.51,-150.9,632.8,-7.2,119,6064,0.00,2.33,0.00,0.000,6,0.000,0.042,2618,2505,3916,0,0,0,0,0,0
$GC,6398,-0.51,-150.9,660.7,-8.5,125,6402,0.00,2.35,0.00,0.000,4,0.000,0.039,2620,908,3917,0,0,0,0,0,0
$GC,6430,-0.51,-150.9,664.1,-10.5,125,6435,0.12,2.33,0.00,0.000,6,0.164,0.043,2641,2498,3917,0,0,0,0,0,0
$GC,6762,-0.51,-150.9,689.0,-7.2,131,6766,0.00,2.35,0.00,0.000,4,0.000,0.040,2641,913,3912,0,0,0,0,0,0
$GC,6796,-0.51,-150.9,691.5,-7.2,131,6800,0.00,2.33,0.00,0.000,6,0.000,0.044,2631,2500,3913,0,0,0,0,0,0
$GC,7122,-0.51,-150.9,714.4,-7.0,137,7126,0.00,2.38,0.00,0.000,4,0.000,0.040,2631,911,3912,0,0,0,0,0,0
$GC,7144,-0.51,-150.9,716.3,-8.0,137,7148,0.00,2.35,0.00,0.000,6,0.000,0.043,2623,2497,3912,0,0,0,0,0,0
$GC,7483,-0.51,-150.9,742.0,-7.6,143,7487,0.00,2.33,0.00,0.000,4,0.000,0.040,2619,914,3911,0,0,0,0,0,0
$GC,7521,-0.51,-150.9,744.9,-7.3,143,7526,0.12,2.33,0.00,0.000,6,0.166,0.044,2641,2505,3911,0,0,0,0,0,0
$GC,7842,-0.51,-150.9,761.5,-5.1,149,7847,0.00,2.35,0.00,0.000,4,0.000,0.041,2643,915,3909,0,0,0,0,0,0
$GC,7887,-0.51,-150.9,764.0,-6.0,149,7892,0.00,2.35,0.00,0.000,6,0.000,0.045,2633,2508,3908,0,0,0,0,0,0
$GC,8203,-0.51,-150.9,781.6,-5.6,155,8206,0.00,2.03,0.00,0.000,4,0.000,0.054,2622,3855,3907,0,0,0,0,0,0
$GC,8225,-0.51,-150.9,783.1,-6.6,155,8228,0.00,1.98,0.00,0.000,6,0.000,0.037,2622,2499,3906,0,0,0,0,0,0
$GC,8574,-0.51,-150.9,804.4,-6.2,161,8578,0.00,2.35,0.00,0.000,4,0.000,0.041,2622,902,3905,0,0,0,0,0,0
$GC,8624,-0.51,-150.9,807.8,-6.7,161,8629,0.10,2.38,0.00,0.000,6,0.175,0.044,2637,2506,3907,0,0,0,0,0,0
$GC,8934,-0.51,-150.9,823.3,-4.9,166,8938,0.00,2.35,0.00,0.000,4,0.000,0.041,2638,909,3904,0,0,0,0,0,0
$GC,8979,-0.51,-150.9,825.5,-4.8,166,8983,0.00,2.35,0.00,0.000,6,0.000,0.045,2627,2505,3904,0,0,0,0,0,0
$GC,9299,-0.51,-150.9,838.5,-4.0,172,9304,0.00,2.35,0.00,0.000,4,0.000,0.041,2628,909,3901,0,0,0,0,0,0
$GC,9316,-0.51,-150.9,839.1,-3.9,172,9320,0.00,2.35,0.00,0.000,6,0.000,0.044,2613,2509,3903,0,0,0,0,0,0
$GC,9665,-0.51,-150.9,856.2,-5.0,178,9669,0.00,1.98,0.00,0.000,4,0.000,0.053,2606,3837,3902,0,0,0,0,0,0
$GC,9687,-0.51,-150.9,857.3,-4.9,178,9691,0.12,1.95,0.00,0.000,6,0.139,0.036,2645,2496,3898,0,0,0,0,0,0
$GC,10036,-0.51,-150.9,870.0,-3.6,184,10040,0.00,2.33,0.00,0.000,4,0.000,0.041,2645,909,3901,0,0,0,0,0,0
$GC,10108,-0.51,-150.9,872.7,-4.2,185,10112,0.00,2.35,0.00,0.000,6,0.000,0.046,2635,2507,3902,0,0,0,0,0,0
$GC,10468,-0.51,-150.9,886.3,-4.1,191,10473,0.00,2.35,0.00,0.000,4,0.000,0.041,2635,913,3901,0,0,0,0,0,0
$GC,10502,-0.51,-150.9,887.7,-3.8,191,10506,0.00,2.35,0.00,0.000,6,0.000,0.044,2623,2505,3900,0,0,0,0,0,0
$GC,10828,-0.51,-150.9,903.0,-4.8,197,10832,0.00,2.03,0.00,0.000,4,0.000,0.054,2613,3845,3900,0,0,0,0,0,0
$GC,10856,-0.51,-150.9,904.6,-5.7,197,10859,0.00,1.98,0.00,0.000,6,0.000,0.038,2613,2504,3900,0,0,0,0,0,0
$GC,11200,-0.51,-150.9,921.7,-5.0,203,11201,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2503,3900,0,0,0,0,0,0
$GC,11502,-0.51,-150.9,936.9,-5.0,208,11507,0.00,2.38,0.00,0.000,4,0.000,0.044,2613,903,3900,0,0,0,0,0,0
$GC,11552,-0.51,-150.9,939.7,-5.7,208,11557,0.15,2.38,0.00,0.000,6,0.161,0.044,2644,2501,3898,0,0,0,0,0,0
$GC,11863,-0.51,-150.9,949.9,-3.4,213,11867,0.00,2.35,0.00,0.000,4,0.000,0.041,2645,910,3899,0,0,0,0,0,0
$GC,11907,-0.51,-150.9,951.8,-5.0,213,11911,0.00,2.35,0.00,0.000,6,0.000,0.046,2634,2498,3896,0,0,0,0,0,0
$GC,12228,-0.51,-150.9,969.0,-5.2,219,12232,0.00,2.35,0.00,0.000,4,0.000,0.042,2634,907,3899,0,0,0,0,0,0
$GC,12249,-0.51,-150.9,970.3,-5.6,219,12253,0.00,2.38,0.00,0.000,6,0.000,0.046,2623,2510,3898,0,0,0,0,0,0
$STATE,12590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12590,begin apogee
$GC,12596,-0.13,0.0,990.9,6.3,225,12659,0.40,0.08,57.38,1.519,6,0.119,0.117,2762,2309,3620,0,0,0,0,0,0
$STATE,12663,end apogee,CONTROL_FINISHED_OK
$STATE,12663,begin climb
$GC,12665,0.51,150.9,992.8,0.0,226,12801,0.55,0.00,129.57,1.515,6,0.061,0.000,2979,2311,3007,0,0,0,0,0,0
$GC,13159,0.51,150.9,932.1,14.3,234,13163,0.00,2.40,0.00,0.000,4,0.000,0.044,2990,750,3003,0,0,0,0,0,0
$GC,13185,0.51,150.9,927.8,14.5,234,13189,0.00,2.33,0.00,0.000,6,0.000,0.040,2990,2305,3004,0,0,0,0,0,0
$GC,13523,0.51,150.9,876.8,15.4,240,13527,0.00,2.35,0.00,0.000,4,0.000,0.053,2990,3840,3005,0,0,0,0,0,0
$GC,13586,0.51,150.9,866.2,17.5,241,13590,0.00,2.30,0.00,0.000,6,0.000,0.044,3002,2339,3004,0,0,0,0,0,0
$GC,13957,0.51,150.9,804.2,16.6,247,13958,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2339,3005,0,0,0,0,0,0
$GC,14260,0.51,150.9,755.2,16.2,252,14264,0.00,2.45,0.00,0.000,4,0.000,0.046,3011,707,3003,0,0,0,0,0,0
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$STATE,20779,end climb,SURFACE_DEPTH_REACHED
$STATE,20779,begin surface coast
$FINISH,0.8,1.010104
$STATE,20813,end surface coast,CONTROL_FINISHED_OK
$STATE,20813,begin surface
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$TCM_TEMP,24.60
$XPDR_PINGS,0
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$10V_AH,10.2,7.969
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.175,221.950,380.350,0.000,0.000,22.553,39.379,245.111,0.000,0.000,15.250,1408.442,17083.877,473.149,2141.048,305.236,33.380,1456.874,0.000,1714.455,0.000,0.541,0.000
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$MEM,143032
$DATA_FILE_SIZE,20264,389
$CAP_FILE_SIZE,165183,0
$CFSIZE,260165632,250155008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,191213,212424,1951.876,-15610.781,37,1.6,37,9.7