version: 66.08
glider: 500
mission: 9
dive: 67
start: 12 20 113 3 42 19
data:
$ID,500
$MISSION,9
$DIVE,67
$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,771.45593
$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,-165811.48
$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,66
$R_STBD_OVSHOOT,39
$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,128.0
$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
$GPS1,201213,032230,1949.991,-15610.422,38,1.2,38,9.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-81.1
$GPS2,201213,034107,1950.079,-15610.282,10,1.2,10,9.7
$SPEED_LIMITS,0.142,0.263
$TGT_NAME,A2b
$TGT_LATLONG,1945.000,-15609.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.085,-0.249
$KALMAN_X,102345.5,-358.8,-226.1,-124912.2,2222.4
$KALMAN_Y,145691.6,-333.5,-98.4,-179742.5,2718.4
$MHEAD_RNG_PITCHd_Wd,189.1,9668,-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,30,end surface,CONTROL_FINISHED_OK
$STATE,30,begin dive
$GC,32,-0.51,-150.9,0.0,0.0,0,114,0.00,0.00,-78.93,0.000,2,0.000,0.000,116,2467,3785,0,0,0,0,0,0
$GC,117,-0.51,-150.9,3.3,-6.6,2,133,9.62,0.00,-3.58,0.000,6,0.225,0.000,2636,2466,3945,0,0,0,0,0,0
$GC,432,-0.51,-150.9,79.5,-23.5,13,436,0.00,2.05,0.00,0.000,4,0.000,0.043,2630,3858,3946,0,0,0,0,0,0
$GC,442,-0.51,-150.9,83.0,-23.6,13,447,0.00,1.95,0.00,0.000,6,0.000,0.028,2627,2516,3946,0,0,0,0,0,0
$GC,769,-0.51,-150.9,139.7,-15.8,24,773,0.00,1.98,0.00,0.000,4,0.000,0.044,2617,3844,3945,0,0,0,0,0,0
$GC,790,-0.51,-150.9,143.4,-14.2,24,795,0.00,1.95,0.00,0.000,6,0.000,0.031,2617,2505,3945,0,0,0,0,0,0
$GC,1112,-0.51,-150.9,190.2,-15.1,35,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2505,3946,0,0,0,0,0,0
$GC,1444,-0.51,-150.9,236.1,-13.2,42,1447,0.00,2.00,0.00,0.000,4,0.000,0.046,2606,3857,3947,0,0,0,0,0,0
$GC,1533,-0.51,-150.9,247.5,-12.5,43,1537,0.12,2.00,0.00,0.000,6,0.144,0.033,2644,2492,3945,0,0,0,0,0,0
$GC,1882,-0.51,-150.9,281.5,-9.8,49,1886,0.00,2.25,0.00,0.000,4,0.000,0.034,2644,912,3946,0,0,0,0,0,0
$GC,1908,-0.51,-150.9,284.6,-10.6,49,1913,0.00,2.30,0.00,0.000,6,0.000,0.037,2634,2503,3945,0,0,0,0,0,0
$GC,2253,-0.51,-150.9,317.2,-9.5,55,2256,0.00,1.98,0.00,0.000,4,0.000,0.046,2624,3845,3942,0,0,0,0,0,0
$GC,2308,-0.51,-150.9,323.4,-11.1,55,2312,0.00,1.92,0.00,0.000,6,0.000,0.032,2624,2496,3943,0,0,0,0,0,0
$GC,2623,-0.51,-150.9,359.5,-11.5,61,2627,0.00,2.28,0.00,0.000,4,0.000,0.035,2626,911,3941,0,0,0,0,0,0
$GC,2662,-0.51,-150.9,364.3,-12.0,61,2666,0.10,2.30,0.00,0.000,6,0.178,0.039,2639,2516,3939,0,0,0,0,0,0
$GC,2989,-0.51,-150.9,394.4,-8.9,67,2992,0.00,1.98,0.00,0.000,4,0.000,0.047,2629,3855,3938,0,0,0,0,0,0
$GC,3010,-0.51,-150.9,396.5,-8.8,67,3014,0.00,1.98,0.00,0.000,6,0.000,0.032,2630,2494,3938,0,0,0,0,0,0
$GC,3360,-0.51,-150.9,423.4,-7.5,73,3361,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2494,3935,0,0,0,0,0,0
$GC,3663,-0.51,-150.9,447.2,-8.0,78,3667,0.00,2.30,0.00,0.000,4,0.000,0.037,2629,909,3932,0,0,0,0,0,0
$GC,3690,-0.51,-150.9,450.0,-9.6,78,3694,0.00,2.30,0.00,0.000,6,0.000,0.039,2619,2501,3933,0,0,0,0,0,0
$GC,4022,-0.51,-150.9,484.1,-10.4,84,4026,0.00,2.30,0.00,0.000,4,0.000,0.036,2618,912,3928,0,0,0,0,0,0
$GC,4072,-0.51,-150.9,489.2,-9.9,84,4077,0.12,2.33,0.00,0.000,6,0.164,0.041,2641,2514,3928,0,0,0,0,0,0
$GC,4381,-0.51,-150.9,513.9,-7.9,89,4383,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2511,3926,0,0,0,0,0,0
$GC,4685,-0.51,-150.9,535.3,-7.0,94,4689,0.00,2.35,0.00,0.000,4,0.000,0.038,2642,903,3926,0,0,0,0,0,0
$GC,4706,-0.51,-150.9,537.0,-7.3,94,4710,0.00,2.35,0.00,0.000,6,0.000,0.041,2631,2508,3923,0,0,0,0,0,0
$GC,5050,-0.51,-150.9,564.7,-8.3,100,5054,0.00,2.35,0.00,0.000,4,0.000,0.038,2631,906,3921,0,0,0,0,0,0
$GC,5078,-0.51,-150.9,567.6,-9.9,100,5082,0.00,2.33,0.00,0.000,6,0.000,0.041,2619,2505,3921,0,0,0,0,0,0
$GC,5415,-0.51,-150.9,600.6,-9.8,106,5420,0.00,2.33,0.00,0.000,4,0.000,0.037,2619,913,3918,0,0,0,0,0,0
$GC,5466,-0.51,-150.9,605.4,-9.2,106,5471,0.10,2.33,0.00,0.000,6,0.176,0.041,2638,2510,3917,0,0,0,0,0,0
$GC,5775,-0.51,-150.9,627.5,-6.8,111,5780,0.00,2.35,0.00,0.000,4,0.000,0.038,2638,910,3918,0,0,0,0,0,0
$GC,5792,-0.51,-150.9,628.8,-6.4,111,5796,0.00,2.33,0.00,0.000,6,0.000,0.041,2628,2507,3915,0,0,0,0,0,0
$GC,6136,-0.51,-150.9,653.8,-7.4,117,6140,0.00,2.35,0.00,0.000,4,0.000,0.039,2628,910,3913,0,0,0,0,0,0
$GC,6152,-0.51,-150.9,655.3,-7.7,117,6156,0.00,2.35,0.00,0.000,6,0.000,0.041,2616,2506,3913,0,0,0,0,0,0
$GC,6495,-0.51,-150.9,681.7,-7.5,123,6499,0.00,2.35,0.00,0.000,4,0.000,0.038,2616,908,3911,0,0,0,0,0,0
$GC,6528,-0.51,-150.9,684.4,-8.6,123,6532,0.12,2.35,0.00,0.000,6,0.162,0.043,2640,2506,3909,0,0,0,0,0,0
$GC,6860,-0.51,-150.9,703.9,-5.7,129,6864,0.00,2.35,0.00,0.000,4,0.000,0.040,2640,908,3909,0,0,0,0,0,0
$GC,6887,-0.51,-150.9,705.7,-6.7,129,6891,0.00,2.35,0.00,0.000,6,0.000,0.044,2629,2501,3909,0,0,0,0,0,0
$GC,7225,-0.51,-150.9,726.6,-6.2,135,7226,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2502,3907,0,0,0,0,0,0
$GC,7528,-0.51,-150.9,746.3,-6.4,140,7532,0.00,2.33,0.00,0.000,4,0.000,0.038,2629,912,3905,0,0,0,0,0,0
$GC,7544,-0.51,-150.9,747.5,-6.3,140,7548,0.00,2.33,0.00,0.000,6,0.000,0.042,2618,2508,3905,0,0,0,0,0,0
$GC,7887,-0.51,-150.9,770.6,-6.6,146,7891,0.00,2.38,0.00,0.000,4,0.000,0.040,2618,907,3904,0,0,0,0,0,0
$GC,7909,-0.51,-150.9,772.4,-7.9,146,7914,0.12,2.33,0.00,0.000,6,0.165,0.043,2641,2500,3904,0,0,0,0,0,0
$GC,8247,-0.51,-150.9,793.3,-6.2,152,8251,0.00,2.33,0.00,0.000,4,0.000,0.040,2641,912,3902,0,0,0,0,0,0
$GC,8280,-0.51,-150.9,795.7,-7.5,152,8284,0.00,2.33,0.00,0.000,6,0.000,0.045,2628,2497,3900,0,0,0,0,0,0
$GC,8606,-0.51,-150.9,817.5,-6.7,158,8607,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2498,3901,0,0,0,0,0,0
$GC,8909,-0.51,-150.9,838.4,-6.9,163,8910,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2502,3900,0,0,0,0,0,0
$GC,9212,-0.51,-150.9,858.7,-6.7,168,9216,0.00,2.35,0.00,0.000,4,0.000,0.040,2631,907,3899,0,0,0,0,0,0
$GC,9240,-0.51,-150.9,860.8,-7.9,168,9244,0.00,2.35,0.00,0.000,6,0.000,0.044,2620,2505,3903,0,0,0,0,0,0
$GC,9572,-0.51,-150.9,883.7,-6.9,174,9576,0.00,2.38,0.00,0.000,4,0.000,0.040,2618,910,3898,0,0,0,0,0,0
$GC,9600,-0.51,-150.9,885.9,-7.1,174,9605,0.12,2.35,0.00,0.000,6,0.165,0.044,2640,2502,3898,0,0,0,0,0,0
$GC,9932,-0.51,-150.9,904.3,-5.5,180,9936,0.00,2.35,0.00,0.000,4,0.000,0.041,2641,914,3897,0,0,0,0,0,0
$GC,9970,-0.51,-150.9,906.7,-5.6,180,9974,0.00,2.38,0.00,0.000,6,0.000,0.045,2633,2505,3897,0,0,0,0,0,0
$GC,10291,-0.51,-150.9,925.5,-5.8,186,10295,0.00,2.35,0.00,0.000,4,0.000,0.041,2633,915,3896,0,0,0,0,0,0
$GC,10318,-0.51,-150.9,927.2,-6.2,186,10322,0.00,2.35,0.00,0.000,6,0.000,0.045,2622,2508,3896,0,0,0,0,0,0
$GC,10650,-0.51,-150.9,947.8,-6.2,192,10654,0.00,2.35,0.00,0.000,4,0.000,0.042,2618,917,3895,0,0,0,0,0,0
$GC,10683,-0.51,-150.9,950.0,-7.0,192,10687,0.10,2.35,0.00,0.000,6,0.177,0.046,2637,2502,3896,0,0,0,0,0,0
$GC,11009,-0.51,-150.9,967.4,-5.3,198,11013,0.00,2.35,0.00,0.000,4,0.000,0.042,2643,907,3894,0,0,0,0,0,0
$GC,11041,-0.51,-150.9,969.2,-5.6,198,11045,0.00,2.38,0.00,0.000,6,0.000,0.046,2627,2508,3894,0,0,0,0,0,0
$GC,11374,-0.51,-150.9,987.2,-5.4,204,11375,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2508,3894,0,0,0,0,0,0
$STATE,11432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11432,begin apogee
$GC,11438,-0.13,0.0,990.2,5.2,205,11501,0.38,0.00,56.53,1.525,6,0.116,0.000,2760,2278,3624,0,0,0,0,0,0
$STATE,11507,end apogee,CONTROL_FINISHED_OK
$STATE,11507,begin climb
$GC,11510,0.51,150.9,990.5,0.0,206,11649,0.57,2.65,131.90,1.522,4,0.062,0.054,2977,3832,3006,0,0,0,0,0,0
$GC,11671,0.51,150.9,974.1,16.8,208,11675,0.00,2.40,0.00,0.000,6,0.000,0.042,2989,2333,3008,0,0,0,0,0,0
$GC,11987,0.51,150.9,917.0,18.2,214,11991,0.00,2.50,0.00,0.000,4,0.000,0.047,3003,706,3004,0,0,0,0,0,0
$GC,12030,0.51,150.9,908.6,18.5,214,12035,0.00,2.42,0.00,0.000,6,0.000,0.044,3002,2308,3003,0,0,0,0,0,0
$GC,12346,0.51,150.9,850.7,18.4,220,12350,0.00,2.35,0.00,0.000,4,0.000,0.054,3001,3844,3006,0,0,0,0,0,0
$GC,12361,0.51,150.9,847.6,17.7,220,12366,0.08,2.40,0.00,0.000,6,0.166,0.043,2978,2296,3002,0,0,0,0,0,0
$GC,12710,0.51,150.9,794.6,14.9,226,12714,0.00,2.40,0.00,0.000,4,0.000,0.047,2990,704,3005,0,0,0,0,0,0
$GC,12725,0.51,150.9,792.1,14.8,226,12729,0.00,2.40,0.00,0.000,6,0.000,0.041,2990,2313,3003,0,0,0,0,0,0
$GC,13075,0.51,150.9,741.5,14.3,232,13079,0.00,2.33,0.00,0.000,4,0.000,0.054,2990,3845,3002,0,0,0,0,0,0
$GC,13101,0.51,150.9,737.3,15.3,232,13106,0.00,2.35,0.00,0.000,6,0.000,0.044,3002,2293,3002,0,0,0,0,0,0
$GC,13434,0.51,150.9,687.9,14.9,238,13438,0.00,2.38,0.00,0.000,4,0.000,0.047,3015,700,3002,0,0,0,0,0,0
$GC,13449,0.51,150.9,685.3,14.9,238,13454,0.10,2.40,0.00,0.000,6,0.155,0.041,2973,2293,3001,0,0,0,0,0,0
$GC,13798,0.51,150.9,638.4,13.6,244,13803,0.00,2.33,0.00,0.000,4,0.000,0.054,2968,3842,3001,0,0,0,0,0,0
$GC,13820,0.51,150.9,635.1,13.9,244,13824,0.00,2.33,0.00,0.000,6,0.000,0.044,2983,2287,3001,0,0,0,0,0,0
$GC,14164,0.51,150.9,585.2,14.7,250,14168,0.00,2.35,0.00,0.000,4,0.000,0.047,2994,704,3001,0,0,0,0,0,0
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$STATE,19363,end climb,SURFACE_DEPTH_REACHED
$STATE,19363,begin surface coast
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$STATE,19394,begin surface
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$10V_AH,10.2,8.109
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,143032
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$CAP_FILE_SIZE,156469,0
$CFSIZE,260165632,250007552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201213,091036,1948.783,-15610.562,29,0.8,29,9.7