version: 66.08
glider: 500
mission: 9
dive: 73
start: 12 21 113 8 52 43
data:
$ID,500
$MISSION,9
$DIVE,73
$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,776.36182
$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,-165818.98
$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,36
$R_STBD_OVSHOOT,46
$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,134.0
$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
$GPS1,211213,083235,1943.677,-15608.406,32,0.8,32,9.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-81.2
$GPS2,211213,085131,1943.677,-15608.315,12,1.5,12,9.7
$SPEED_LIMITS,0.142,0.263
$TGT_NAME,A3
$TGT_LATLONG,1919.800,-15555.200
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.005,-0.263
$KALMAN_X,106517.7,-193.3,-316.8,-125738.6,1608.8
$KALMAN_Y,158358.3,-486.7,69.9,-204286.2,2323.1
$MHEAD_RNG_PITCHd_Wd,171.4,49807,-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,-150.9,0.0,0.0,0,105,0.00,0.00,-69.03,0.000,2,0.000,0.000,130,2516,3768,0,0,0,0,0,0
$GC,108,-0.51,-150.9,3.3,-5.6,2,128,9.45,2.03,-3.88,0.000,4,0.223,0.057,2621,3842,3946,0,0,0,0,0,0
$GC,381,-0.51,-150.9,66.4,-20.2,10,385,0.00,2.03,0.00,0.000,6,0.000,0.034,2621,2485,3947,0,0,0,0,0,0
$GC,713,-0.51,-150.9,131.7,-17.4,21,717,0.00,2.30,0.00,0.000,4,0.000,0.037,2621,905,3947,0,0,0,0,0,0
$GC,889,-0.51,-150.9,162.4,-15.2,26,894,0.10,2.33,0.00,0.000,6,0.179,0.039,2634,2501,3946,0,0,0,0,0,0
$GC,1243,-0.51,-150.9,211.8,-13.3,37,1247,0.00,2.30,0.00,0.000,4,0.000,0.034,2635,908,3946,0,0,0,0,0,0
$GC,1275,-0.51,-150.9,216.4,-13.7,37,1279,0.00,2.30,0.00,0.000,6,0.000,0.041,2624,2508,3946,0,0,0,0,0,0
$GC,1613,-0.51,-150.9,257.8,-11.8,43,1617,0.00,2.33,0.00,0.000,4,0.000,0.036,2624,909,3946,0,0,0,0,0,0
$GC,1663,-0.51,-150.9,263.8,-10.6,43,1667,0.00,2.28,0.00,0.000,6,0.000,0.038,2612,2497,3946,0,0,0,0,0,0
$GC,1979,-0.51,-150.9,295.8,-10.2,49,1983,0.00,2.30,0.00,0.000,4,0.000,0.034,2612,906,3943,0,0,0,0,0,0
$GC,2000,-0.51,-150.9,298.7,-12.3,49,2005,0.12,2.33,0.00,0.000,6,0.163,0.038,2635,2509,3946,0,0,0,0,0,0
$GC,2344,-0.51,-150.9,331.9,-9.6,55,2347,0.00,1.95,0.00,0.000,4,0.000,0.047,2627,3841,3944,0,0,0,0,0,0
$GC,2365,-0.51,-150.9,334.3,-10.2,55,2369,0.00,1.98,0.00,0.000,6,0.000,0.031,2626,2490,3944,0,0,0,0,0,0
$GC,2715,-0.51,-150.9,373.4,-11.4,61,2719,0.00,2.30,0.00,0.000,4,0.000,0.036,2626,904,3942,0,0,0,0,0,0
$GC,2730,-0.51,-150.9,375.2,-10.3,61,2734,0.00,2.35,0.00,0.000,6,0.000,0.037,2615,2503,3941,0,0,0,0,0,0
$GC,3080,-0.51,-150.9,408.1,-9.2,67,3083,0.00,1.98,0.00,0.000,4,0.000,0.047,2604,3846,3938,0,0,0,0,0,0
$GC,3096,-0.51,-150.9,409.8,-8.8,67,3101,0.12,1.95,0.00,0.000,6,0.144,0.032,2641,2497,3938,0,0,0,0,0,0
$GC,3445,-0.51,-150.9,436.0,-7.6,73,3449,0.00,2.30,0.00,0.000,4,0.000,0.037,2641,902,3932,0,0,0,0,0,0
$GC,3477,-0.51,-150.9,438.5,-7.7,73,3481,0.00,2.30,0.00,0.000,6,0.000,0.041,2631,2496,3934,0,0,0,0,0,0
$GC,3804,-0.51,-150.9,465.2,-8.2,79,3808,0.00,2.35,0.00,0.000,4,0.000,0.037,2631,909,3931,0,0,0,0,0,0
$GC,3854,-0.51,-150.9,470.1,-9.6,79,3858,0.00,2.30,0.00,0.000,6,0.000,0.040,2620,2502,3931,0,0,0,0,0,0
$GC,4164,-0.51,-150.9,499.5,-9.4,84,4165,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2502,3927,0,0,0,0,0,0
$GC,4467,-0.51,-150.9,525.2,-8.4,89,4471,0.00,2.00,0.00,0.000,4,0.000,0.050,2609,3854,3924,0,0,0,0,0,0
$GC,4562,-0.51,-150.9,533.9,-9.1,90,4567,0.10,1.98,0.00,0.000,6,0.157,0.034,2638,2499,3924,0,0,0,0,0,0
$GC,4906,-0.51,-150.9,557.3,-6.8,96,4910,0.00,2.33,0.00,0.000,4,0.000,0.039,2637,907,3922,0,0,0,0,0,0
$GC,4996,-0.51,-150.9,564.8,-8.3,97,5000,0.00,2.33,0.00,0.000,6,0.000,0.043,2628,2504,3921,0,0,0,0,0,0
$GC,5333,-0.51,-150.9,590.7,-7.6,103,5337,0.00,2.38,0.00,0.000,4,0.000,0.038,2628,904,3921,0,0,0,0,0,0
$GC,5372,-0.51,-150.9,593.8,-8.0,103,5376,0.00,2.33,0.00,0.000,6,0.000,0.043,2617,2499,3918,0,0,0,0,0,0
$GC,5693,-0.51,-150.9,619.5,-8.1,109,5697,0.00,2.38,0.00,0.000,4,0.000,0.039,2616,909,3916,0,0,0,0,0,0
$GC,5725,-0.51,-150.9,622.4,-8.5,109,5730,0.12,2.35,0.00,0.000,6,0.169,0.042,2639,2509,3915,0,0,0,0,0,0
$GC,6052,-0.51,-150.9,644.3,-6.7,115,6056,0.00,2.38,0.00,0.000,4,0.000,0.041,2639,907,3913,0,0,0,0,0,0
$GC,6079,-0.51,-150.9,646.5,-7.9,115,6083,0.00,2.35,0.00,0.000,6,0.000,0.044,2629,2510,3913,0,0,0,0,0,0
$GC,6411,-0.51,-150.9,671.2,-7.5,121,6415,0.00,2.38,0.00,0.000,4,0.000,0.039,2627,914,3911,0,0,0,0,0,0
$GC,6438,-0.51,-150.9,673.5,-8.2,121,6442,0.00,2.35,0.00,0.000,6,0.000,0.043,2618,2509,3910,0,0,0,0,0,0
$GC,6770,-0.51,-150.9,698.4,-7.5,127,6774,0.00,2.40,0.00,0.000,4,0.000,0.040,2618,904,3909,0,0,0,0,0,0
$GC,6785,-0.51,-150.9,699.7,-7.4,127,6790,0.12,2.38,0.00,0.000,6,0.163,0.043,2640,2506,3909,0,0,0,0,0,0
$GC,7134,-0.51,-150.9,718.9,-5.3,133,7139,0.00,2.38,0.00,0.000,4,0.000,0.040,2641,912,3907,0,0,0,0,0,0
$GC,7167,-0.51,-150.9,720.9,-6.0,133,7171,0.00,2.35,0.00,0.000,6,0.000,0.045,2631,2501,3907,0,0,0,0,0,0
$GC,7500,-0.51,-150.9,740.2,-5.9,139,7501,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2501,3905,0,0,0,0,0,0
$GC,7803,-0.51,-150.9,757.8,-5.7,144,7807,0.00,2.35,0.00,0.000,4,0.000,0.039,2632,914,3903,0,0,0,0,0,0
$GC,7848,-0.51,-150.9,760.7,-6.3,144,7852,0.00,2.35,0.00,0.000,6,0.000,0.044,2620,2504,3903,0,0,0,0,0,0
$GC,8163,-0.51,-150.9,781.2,-6.6,150,8167,0.00,2.38,0.00,0.000,4,0.000,0.040,2620,908,3900,0,0,0,0,0,0
$GC,8201,-0.51,-150.9,784.1,-7.5,150,8206,0.10,2.35,0.00,0.000,6,0.173,0.044,2635,2505,3902,0,0,0,0,0,0
$GC,8522,-0.51,-150.9,804.5,-6.3,156,8526,0.00,2.35,0.00,0.000,4,0.000,0.040,2636,912,3901,0,0,0,0,0,0
$GC,8549,-0.51,-150.9,806.4,-7.4,156,8553,0.00,2.35,0.00,0.000,6,0.000,0.044,2625,2506,3900,0,0,0,0,0,0
$GC,8881,-0.51,-150.9,829.3,-7.0,162,8886,0.00,2.40,0.00,0.000,4,0.000,0.041,2627,909,3900,0,0,0,0,0,0
$GC,8920,-0.51,-150.9,832.5,-7.8,162,8924,0.00,2.38,0.00,0.000,6,0.000,0.045,2614,2502,3898,0,0,0,0,0,0
$GC,9241,-0.51,-150.9,857.3,-7.7,168,9246,0.00,2.35,0.00,0.000,4,0.000,0.041,2614,915,3898,0,0,0,0,0,0
$GC,9258,-0.51,-150.9,858.8,-7.6,168,9263,0.12,2.35,0.00,0.000,6,0.167,0.045,2637,2501,3898,0,0,0,0,0,0
$GC,9601,-0.51,-150.9,881.0,-6.4,174,9602,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2502,3898,0,0,0,0,0,0
$GC,9904,-0.51,-150.9,899.4,-6.1,179,9908,0.00,2.38,0.00,0.000,4,0.000,0.041,2637,910,3897,0,0,0,0,0,0
$GC,9926,-0.51,-150.9,900.9,-6.4,179,9930,0.00,2.35,0.00,0.000,6,0.000,0.045,2627,2499,3897,0,0,0,0,0,0
$GC,10264,-0.51,-150.9,923.4,-6.8,185,10268,0.00,2.38,0.00,0.000,4,0.000,0.041,2627,908,3896,0,0,0,0,0,0
$GC,10297,-0.51,-150.9,926.0,-7.9,185,10302,0.00,2.38,0.00,0.000,6,0.000,0.045,2616,2501,3895,0,0,0,0,0,0
$GC,10624,-0.51,-150.9,950.6,-7.6,191,10628,0.00,2.35,0.00,0.000,4,0.000,0.041,2616,912,3894,0,0,0,0,0,0
$GC,10657,-0.51,-150.9,953.3,-8.2,191,10662,0.10,2.35,0.00,0.000,6,0.174,0.045,2634,2500,3893,0,0,0,0,0,0
$GC,10990,-0.51,-150.9,974.2,-6.1,197,10994,0.00,2.38,0.00,0.000,4,0.000,0.041,2632,907,3894,0,0,0,0,0,0
$GC,11022,-0.51,-150.9,976.5,-7.0,197,11027,0.00,2.38,0.00,0.000,6,0.000,0.046,2625,2508,3893,0,0,0,0,0,0
$STATE,11286,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11286,begin apogee
$GC,11292,-0.13,0.0,992.4,5.9,202,11348,0.38,0.00,52.70,1.534,6,0.115,0.000,2758,2278,3638,0,0,0,0,0,0
$STATE,11355,end apogee,CONTROL_FINISHED_OK
$STATE,11355,begin climb
$GC,11358,0.51,150.9,993.2,0.0,202,11496,0.55,2.60,130.40,1.534,4,0.063,0.051,2974,3841,3022,0,0,0,0,0,0
$GC,11518,0.51,150.9,978.9,16.1,204,11522,0.00,2.45,0.00,0.000,6,0.000,0.043,2986,2333,3023,0,0,0,0,0,0
$GC,11845,0.51,150.9,925.1,16.6,210,11849,0.00,2.47,0.00,0.000,4,0.000,0.047,2999,706,3020,0,0,0,0,0,0
$GC,11877,0.51,150.9,919.6,16.0,210,11881,0.00,2.45,0.00,0.000,6,0.000,0.043,2999,2299,3022,0,0,0,0,0,0
$GC,12209,0.51,150.9,865.2,16.5,216,12214,0.00,2.38,0.00,0.000,4,0.000,0.053,2999,3847,3022,0,0,0,0,0,0
$GC,12310,0.51,150.9,847.4,17.1,217,12315,0.15,2.40,0.00,0.000,6,0.184,0.045,2973,2297,3021,0,0,0,0,0,0
$GC,12636,0.51,150.9,801.7,13.8,223,12640,0.00,2.40,0.00,0.000,4,0.000,0.048,2983,710,3020,0,0,0,0,0,0
$GC,12674,0.51,150.9,795.9,15.0,223,12678,0.00,2.40,0.00,0.000,6,0.000,0.045,2983,2303,3020,0,0,0,0,0,0
$GC,12994,0.51,150.9,750.6,14.2,229,12999,0.00,2.35,0.00,0.000,4,0.000,0.054,2983,3846,3019,0,0,0,0,0,0
$GC,13010,0.51,150.9,747.9,14.1,229,13014,0.00,2.38,0.00,0.000,6,0.000,0.043,2994,2296,3019,0,0,0,0,0,0
$GC,13360,0.51,150.9,694.4,15.6,235,13364,0.00,2.35,0.00,0.000,4,0.000,0.051,2994,3840,3017,0,0,0,0,0,0
$GC,13382,0.51,150.9,690.6,15.8,235,13387,0.12,2.35,0.00,0.000,6,0.176,0.044,2974,2289,3019,0,0,0,0,0,0
$GC,13720,0.51,150.9,643.4,13.8,241,13724,0.00,2.35,0.00,0.000,4,0.000,0.047,2985,706,3019,0,0,0,0,0,0
$GC,13747,0.51,150.9,639.6,12.9,241,13751,0.00,2.38,0.00,0.000,6,0.000,0.044,2984,2308,3019,0,0,0,0,0,0
$GC,14085,0.51,150.9,592.6,14.1,247,14089,0.00,2.35,0.00,0.000,4,0.000,0.055,2985,3845,3018,0,0,0,0,0,0
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$STATE,19760,end climb,SURFACE_DEPTH_REACHED
$STATE,19761,begin surface coast
$FINISH,0.8,1.010815
$STATE,19792,end surface coast,CONTROL_FINISHED_OK
$STATE,19794,begin surface
$SM_CCo,19811,203.25,0.712,0,0,472,776.36
$SM_GC,1.40,0.00,0.00,203.25,0.000,0.000,0.712,110,2514,472,-8.42,0.40,776.36
$IRIDIUM_FIX,1938.95,-15605.97,211213,080837
$TT8_MAMPS,0.065912
$HUMID,55.47
$INTERNAL_PRESSURE,9.15929
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,23.4,19.302
$10V_AH,10.2,8.487
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.400,224.550,383.275,203.250,0.000,122.892,169.935,308.526,0.000,0.000,14.680,1386.573,16274.074,672.846,2537.866,297.467,33.369,1648.433,0.000,1715.578,0.000,0.541,0.000
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$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,256.699,339.472,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,143084
$DATA_FILE_SIZE,20297,373
$CAP_FILE_SIZE,170724,0
$CFSIZE,260165632,249618432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211213,142736,1942.119,-15607.868,38,1.0,38,9.7