version: 66.08
glider: 500
mission: 9
dive: 72
start: 12 21 113 2 58 47
data:
$ID,500
$MISSION,9
$DIVE,72
$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,350
$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,-165817.73
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,2805
$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,52
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,3640
$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,133.0
$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
$GPS1,211213,024901,1945.368,-15609.448,9,1.5,9,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-81.9
$GPS2,211213,025736,1945.430,-15609.418,12,1.3,12,9.7
$SPEED_LIMITS,0.142,0.263
$TGT_NAME,A3
$TGT_LATLONG,1919.800,-15555.200
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.093,-0.245
$KALMAN_X,105941.1,-273.1,289.1,-127603.4,-260.1
$KALMAN_Y,156443.9,-137.9,-29.7,-199382.7,1818.8
$MHEAD_RNG_PITCHd_Wd,149.5,53577,-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,33,-0.51,-150.9,0.0,0.0,0,114,0.00,0.00,-79.15,0.000,2,0.000,0.000,113,2510,3839,0,0,0,0,0,0
$GC,118,-0.51,-150.9,3.7,-6.4,2,137,9.48,1.95,-2.22,0.000,4,0.223,0.050,2624,3851,3943,0,0,0,0,0,0
$GC,390,-0.51,-150.9,63.2,-19.3,10,395,0.00,2.00,-0.03,0.000,6,0.000,0.035,2624,2505,3945,0,0,0,0,0,0
$GC,717,-0.51,-150.9,127.5,-18.4,21,721,0.00,2.30,0.00,0.000,4,0.000,0.039,2622,908,3945,0,0,0,0,0,0
$GC,747,-0.51,-150.9,132.3,-16.1,22,752,0.10,2.28,0.00,0.000,6,0.181,0.037,2637,2495,3944,0,0,0,0,0,0
$GC,1085,-0.51,-150.9,175.9,-12.9,33,1088,0.00,1.98,0.00,0.000,4,0.000,0.046,2628,3856,3946,0,0,0,0,0,0
$GC,1123,-0.51,-150.9,182.1,-13.9,34,1128,0.00,1.98,0.00,0.000,6,0.000,0.033,2627,2500,3946,0,0,0,0,0,0
$GC,1457,-0.51,-150.9,224.7,-12.4,42,1461,0.00,2.03,0.00,0.000,4,0.000,0.047,2617,3839,3946,0,0,0,0,0,0
$GC,1485,-0.51,-150.9,227.6,-10.6,42,1488,0.00,1.90,0.00,0.000,6,0.000,0.031,2618,2494,3946,0,0,0,0,0,0
$GC,1828,-0.51,-150.9,265.3,-11.6,48,1832,0.00,1.98,0.00,0.000,4,0.000,0.045,2607,3845,3945,0,0,0,0,0,0
$GC,1902,-0.51,-150.9,273.9,-11.4,49,1906,0.10,1.92,0.00,0.000,6,0.163,0.033,2635,2498,3945,0,0,0,0,0,0
$GC,2267,-0.51,-150.9,310.4,-10.1,55,2271,0.00,2.28,0.00,0.000,4,0.000,0.036,2635,914,3946,0,0,0,0,0,0
$GC,2362,-0.51,-150.9,320.2,-9.3,56,2366,0.00,2.28,0.00,0.000,6,0.000,0.041,2625,2497,3945,0,0,0,0,0,0
$GC,2694,-0.51,-150.9,354.7,-10.7,62,2698,0.00,2.33,0.00,0.000,4,0.000,0.038,2625,915,3940,0,0,0,0,0,0
$GC,2765,-0.51,-150.9,362.7,-10.4,63,2770,0.00,2.33,0.00,0.000,6,0.000,0.040,2614,2511,3940,0,0,0,0,0,0
$GC,3126,-0.51,-150.9,398.8,-10.0,69,3130,0.00,2.35,0.00,0.000,4,0.000,0.037,2613,909,3939,0,0,0,0,0,0
$GC,3147,-0.51,-150.9,401.3,-11.1,69,3152,0.12,2.30,0.00,0.000,6,0.166,0.038,2637,2511,3936,0,0,0,0,0,0
$GC,3485,-0.51,-150.9,434.8,-9.9,75,3489,0.00,2.35,0.00,0.000,4,0.000,0.036,2637,905,3933,0,0,0,0,0,0
$GC,3517,-0.51,-150.9,438.4,-10.5,75,3521,0.00,2.30,0.00,0.000,6,0.000,0.041,2627,2510,3934,0,0,0,0,0,0
$GC,3850,-0.51,-150.9,472.0,-10.0,81,3854,0.00,2.35,0.00,0.000,4,0.000,0.036,2626,907,3930,0,0,0,0,0,0
$GC,3882,-0.51,-150.9,475.0,-9.0,81,3887,0.00,2.30,0.00,0.000,6,0.000,0.041,2614,2491,3929,0,0,0,0,0,0
$GC,4215,-0.51,-150.9,502.8,-8.3,87,4216,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2494,3926,0,0,0,0,0,0
$GC,4518,-0.51,-150.9,528.5,-8.6,92,4519,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2491,3924,0,0,0,0,0,0
$GC,4821,-0.51,-150.9,554.7,-8.7,97,4822,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2493,3920,0,0,0,0,0,0
$GC,5124,-0.51,-150.9,580.3,-8.5,102,5125,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2493,3919,0,0,0,0,0,0
$GC,5427,-0.51,-150.9,606.1,-8.6,107,5432,0.00,2.33,0.00,0.000,4,0.000,0.038,2615,909,3916,0,0,0,0,0,0
$GC,5444,-0.51,-150.9,607.7,-8.7,107,5449,0.12,2.33,0.00,0.000,6,0.162,0.040,2638,2509,3916,0,0,0,0,0,0
$GC,5787,-0.51,-150.9,631.8,-6.9,113,5791,0.00,2.38,0.00,0.000,4,0.000,0.037,2638,907,3914,0,0,0,0,0,0
$GC,5826,-0.51,-150.9,634.8,-7.7,113,5830,0.00,2.35,0.00,0.000,6,0.000,0.042,2628,2506,3913,0,0,0,0,0,0
$GC,6147,-0.51,-150.9,660.1,-8.0,119,6151,0.00,2.35,0.00,0.000,4,0.000,0.039,2628,912,3910,0,0,0,0,0,0
$GC,6185,-0.51,-150.9,663.4,-7.8,119,6189,0.00,2.33,0.00,0.000,6,0.000,0.043,2617,2503,3910,0,0,0,0,0,0
$GC,6511,-0.51,-150.9,689.1,-7.7,125,6515,0.00,2.33,0.00,0.000,4,0.000,0.038,2616,917,3908,0,0,0,0,0,0
$GC,6528,-0.51,-150.9,690.4,-7.6,125,6533,0.12,2.33,0.00,0.000,6,0.164,0.041,2639,2502,3908,0,0,0,0,0,0
$GC,6873,-0.51,-150.9,709.3,-5.2,131,6877,0.00,2.33,0.00,0.000,4,0.000,0.039,2640,920,3906,0,0,0,0,0,0
$GC,6923,-0.51,-150.9,712.2,-5.7,131,6927,0.00,2.33,0.00,0.000,6,0.000,0.044,2629,2496,3905,0,0,0,0,0,0
$GC,7233,-0.51,-150.9,730.6,-6.0,136,7234,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2497,3903,0,0,0,0,0,0
$GC,7536,-0.51,-150.9,750.9,-6.8,141,7540,0.00,2.35,0.00,0.000,4,0.000,0.040,2629,917,3904,0,0,0,0,0,0
$GC,7562,-0.51,-150.9,753.1,-8.0,141,7567,0.00,2.35,0.00,0.000,6,0.000,0.044,2618,2512,3902,0,0,0,0,0,0
$GC,7895,-0.51,-150.9,777.4,-7.3,147,7899,0.00,2.35,0.00,0.000,4,0.000,0.041,2617,914,3902,0,0,0,0,0,0
$GC,7951,-0.51,-150.9,782.1,-8.0,147,7958,0.12,2.35,0.00,0.000,6,0.164,0.044,2642,2504,3898,0,0,0,0,0,0
$GC,8261,-0.51,-150.9,800.1,-5.7,153,8265,0.00,2.35,0.00,0.000,4,0.000,0.040,2642,915,3899,0,0,0,0,0,0
$GC,8324,-0.51,-150.9,803.9,-6.7,154,8328,0.00,2.33,0.00,0.000,6,0.000,0.044,2632,2497,3900,0,0,0,0,0,0
$GC,8690,-0.51,-150.9,826.1,-6.1,160,8694,0.00,2.35,0.00,0.000,4,0.000,0.041,2632,912,3897,0,0,0,0,0,0
$GC,8733,-0.51,-150.9,829.2,-6.9,160,8738,0.00,2.35,0.00,0.000,6,0.000,0.044,2620,2510,3898,0,0,0,0,0,0
$GC,9049,-0.51,-150.9,850.0,-6.6,166,9054,0.00,2.38,0.00,0.000,4,0.000,0.039,2620,911,3895,0,0,0,0,0,0
$GC,9065,-0.51,-150.9,851.3,-6.4,166,9070,0.10,2.35,0.00,0.000,6,0.177,0.043,2634,2502,3897,0,0,0,0,0,0
$GC,9414,-0.51,-150.9,871.0,-5.6,172,9419,0.00,2.35,0.00,0.000,4,0.000,0.040,2635,920,3895,0,0,0,0,0,0
$GC,9436,-0.51,-150.9,872.4,-5.9,172,9441,0.00,2.35,0.00,0.000,6,0.000,0.045,2625,2497,3895,0,0,0,0,0,0
$GC,9775,-0.51,-150.9,891.4,-5.6,178,9779,0.00,2.35,0.00,0.000,4,0.000,0.041,2625,906,3894,0,0,0,0,0,0
$GC,9824,-0.51,-150.9,894.5,-6.3,178,9829,0.00,2.35,0.00,0.000,6,0.000,0.045,2614,2501,3893,0,0,0,0,0,0
$GC,10135,-0.51,-150.9,913.5,-6.2,183,10139,0.00,2.38,0.00,0.000,4,0.000,0.041,2613,912,3893,0,0,0,0,0,0
$GC,10162,-0.51,-150.9,915.6,-8.6,183,10167,0.12,2.38,0.00,0.000,6,0.163,0.045,2636,2507,3893,0,0,0,0,0,0
$GC,10494,-0.51,-150.9,935.8,-6.1,189,10498,0.00,2.38,0.00,0.000,4,0.000,0.041,2637,914,3892,0,0,0,0,0,0
$GC,10521,-0.51,-150.9,937.8,-7.2,189,10525,0.00,2.35,0.00,0.000,6,0.000,0.046,2627,2501,3891,0,0,0,0,0,0
$GC,10853,-0.51,-150.9,960.7,-7.0,195,10854,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2499,3891,0,0,0,0,0,0
$GC,11156,-0.51,-150.9,980.6,-6.5,200,11160,0.00,2.38,0.00,0.000,4,0.000,0.041,2627,918,3891,0,0,0,0,0,0
$GC,11195,-0.51,-150.9,983.4,-7.2,200,11199,0.00,2.38,0.00,0.000,6,0.000,0.046,2615,2504,3889,0,0,0,0,0,0
$STATE,11331,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11331,begin apogee
$GC,11337,-0.13,0.0,992.9,6.9,203,11392,0.40,0.00,51.80,1.513,6,0.119,0.000,2755,2274,3642,0,0,0,0,0,0
$STATE,11399,end apogee,CONTROL_FINISHED_OK
$STATE,11399,begin climb
$GC,11402,0.51,150.9,994.4,0.0,203,11540,0.57,2.62,130.43,1.519,4,0.064,0.051,2977,3843,3025,0,0,0,0,0,0
$GC,11562,0.51,150.9,981.6,15.0,205,11566,0.00,2.45,0.00,0.000,6,0.000,0.041,2990,2338,3024,0,0,0,0,0,0
$GC,11882,0.51,150.9,932.1,15.4,211,11887,0.00,2.47,0.00,0.000,4,0.000,0.045,3003,703,3025,0,0,0,0,0,0
$GC,11898,0.51,150.9,929.3,15.2,211,11903,0.12,2.42,0.00,0.000,6,0.169,0.039,2970,2312,3023,0,0,0,0,0,0
$GC,12242,0.51,150.9,884.2,13.1,217,12246,0.00,2.35,0.00,0.000,4,0.000,0.054,2970,3839,3022,0,0,0,0,0,0
$GC,12274,0.51,150.9,879.5,13.6,217,12278,0.00,2.38,0.00,0.000,6,0.000,0.043,2980,2290,3022,0,0,0,0,0,0
$GC,12606,0.51,150.9,833.7,13.9,223,12611,0.00,2.35,0.00,0.000,4,0.000,0.047,2993,707,3021,0,0,0,0,0,0
$GC,12639,0.51,150.9,828.9,13.7,223,12643,0.00,2.38,0.00,0.000,6,0.000,0.044,2993,2300,3022,0,0,0,0,0,0
$GC,12972,0.51,150.9,780.7,14.7,229,12976,0.00,2.40,0.00,0.000,4,0.000,0.054,2993,3853,3020,0,0,0,0,0,0
$GC,13010,0.51,150.9,774.3,16.1,229,13015,0.12,2.35,0.00,0.000,6,0.182,0.045,2973,2298,3021,0,0,0,0,0,0
$GC,13331,0.51,150.9,732.3,12.9,235,13332,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2297,3020,0,0,0,0,0,0
$GC,13634,0.51,150.9,693.3,12.9,240,13638,0.00,2.35,0.00,0.000,4,0.000,0.048,2983,711,3020,0,0,0,0,0,0
$GC,13655,0.51,150.9,690.2,12.6,240,13659,0.00,2.35,0.00,0.000,6,0.000,0.043,2980,2303,3019,0,0,0,0,0,0
$GC,13998,0.51,150.9,643.4,13.6,246,14003,0.00,2.33,0.00,0.000,4,0.000,0.057,2984,3842,3020,0,0,0,0,0,0
$GC,14071,0.51,150.9,632.5,13.9,247,14075,0.00,2.35,0.00,0.000,6,0.000,0.047,2994,2300,3020,0,0,0,0,0,0
$GC,14425,0.51,150.9,580.3,14.9,253,14426,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2300,3019,0,0,0,0,0,0
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$STATE,19852,end climb,SURFACE_DEPTH_REACHED
$STATE,19852,begin surface coast
$FINISH,1.0,1.012139
$STATE,19881,end surface coast,CONTROL_FINISHED_OK
$STATE,19881,begin surface
$SM_CCo,19958,0.00,0.000,0,0,1939,417.00
$SM_GC,1.56,7.22,0.00,0.00,0.031,0.000,0.000,131,2515,1939,-8.25,0.42,417.00
$IRIDIUM_FIX,1936.66,-15608.99,211213,020240
$TT8_MAMPS,0.058422
$HUMID,59.80
$INTERNAL_PRESSURE,9.24718
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,23.4,19.105
$10V_AH,10.2,8.412
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.200,200.275,396.650,0.000,0.000,48.622,68.299,191.793,0.000,0.000,16.031,1344.231,16340.176,479.200,2049.106,291.492,33.369,1417.191,0.000,1653.019,0.000,0.541,0.000
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$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
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$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,143024
$DATA_FILE_SIZE,16930,371
$CAP_FILE_SIZE,155159,0
$CFSIZE,260165632,249733120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211213,083235,1943.677,-15608.406,32,0.8,32,9.7