version: 66.08
glider: 500
mission: 9
dive: 74
start: 12 21 113 14 38 5
data:
$ID,500
$MISSION,9
$DIVE,74
$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,320
$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,-165820.23
$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,33
$R_STBD_OVSHOOT,53
$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,135.0
$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
$GPS1,211213,142736,1942.119,-15607.868,38,1.0,38,9.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-76.7
$GPS2,211213,143654,1942.126,-15607.854,11,1.4,11,9.7
$SPEED_LIMITS,0.142,0.263
$TGT_NAME,A3
$TGT_LATLONG,1919.800,-15555.200
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.082,-0.250
$KALMAN_X,106492.3,233.6,175.7,-125827.0,-207.4
$KALMAN_Y,160214.7,162.0,-58.1,-209534.5,2299.2
$MHEAD_RNG_PITCHd_Wd,152.1,46890,-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,-150.9,0.0,0.0,0,157,0.00,0.00,-121.32,0.000,2,0.000,0.000,110,2516,3752,0,0,0,0,0,0
$GC,161,-0.51,-150.9,3.4,-6.2,3,181,9.60,2.40,-4.12,0.000,4,0.223,0.044,2638,884,3944,0,0,0,0,0,0
$GC,192,-0.51,-150.9,14.2,-34.2,4,201,0.00,2.38,0.00,0.000,6,0.000,0.034,2628,2489,3945,0,0,0,0,0,0
$GC,507,-0.51,-150.9,85.8,-22.3,15,508,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2490,3943,0,0,0,0,0,0
$GC,813,-0.51,-150.9,143.3,-15.5,25,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2490,3943,0,0,0,0,0,0
$GC,1120,-0.51,-150.9,185.5,-12.7,35,1124,0.00,2.30,0.00,0.000,4,0.000,0.034,2627,888,3943,0,0,0,0,0,0
$GC,1135,-0.51,-150.9,187.9,-12.2,35,1139,0.00,2.35,0.00,0.000,6,0.000,0.036,2615,2509,3943,0,0,0,0,0,0
$GC,1482,-0.51,-150.9,234.3,-13.4,43,1485,0.00,1.98,0.00,0.000,4,0.000,0.047,2602,3838,3941,0,0,0,0,0,0
$GC,1700,-0.51,-150.9,258.5,-11.6,46,1705,0.08,2.00,0.00,0.000,6,0.131,0.034,2633,2481,3941,0,0,0,0,0,0
$GC,2054,-0.51,-150.9,295.3,-9.9,52,2056,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2481,3942,0,0,0,0,0,0
$GC,2358,-0.51,-150.9,326.8,-10.4,57,2361,0.00,2.05,0.00,0.000,4,0.000,0.047,2624,3846,3941,0,0,0,0,0,0
$GC,2396,-0.51,-150.9,331.3,-11.3,57,2400,0.00,2.00,0.00,0.000,6,0.000,0.035,2625,2495,3940,0,0,0,0,0,0
$GC,2729,-0.51,-150.9,365.6,-10.2,63,2733,0.00,2.30,0.00,0.000,4,0.000,0.036,2625,906,3938,0,0,0,0,0,0
$GC,2773,-0.51,-150.9,370.8,-11.3,63,2777,0.00,2.33,0.00,0.000,6,0.000,0.039,2612,2506,3938,0,0,0,0,0,0
$GC,3088,-0.51,-150.9,402.2,-9.8,69,3089,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2511,3935,0,0,0,0,0,0
$GC,3391,-0.51,-150.9,427.4,-8.1,74,3392,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2506,3931,0,0,0,0,0,0
$GC,3694,-0.51,-150.9,453.3,-8.6,79,3698,0.00,2.38,0.00,0.000,4,0.000,0.036,2612,903,3928,0,0,0,0,0,0
$GC,3716,-0.51,-150.9,455.5,-9.7,79,3721,0.12,2.33,0.00,0.000,6,0.168,0.039,2635,2507,3927,0,0,0,0,0,0
$GC,4053,-0.51,-150.9,485.5,-8.9,85,4057,0.00,2.33,0.00,0.000,4,0.000,0.037,2635,915,3924,0,0,0,0,0,0
$GC,4137,-0.51,-150.9,493.9,-9.6,86,4141,0.00,2.30,0.00,0.000,6,0.000,0.041,2625,2498,3927,0,0,0,0,0,0
$GC,4480,-0.51,-150.9,524.5,-8.8,92,4485,0.00,2.35,0.00,0.000,4,0.000,0.037,2625,911,3921,0,0,0,0,0,0
$GC,4525,-0.51,-150.9,528.7,-9.4,92,4529,0.00,2.33,0.00,0.000,6,0.000,0.041,2614,2508,3920,0,0,0,0,0,0
$GC,4840,-0.51,-150.9,560.1,-10.0,98,4844,0.00,2.38,0.00,0.000,4,0.000,0.037,2611,905,3918,0,0,0,0,0,0
$GC,4866,-0.51,-150.9,563.0,-10.5,98,4871,0.12,2.33,0.00,0.000,6,0.161,0.041,2637,2501,3918,0,0,0,0,0,0
$GC,5198,-0.51,-150.9,593.0,-8.9,104,5203,0.00,2.35,0.00,0.000,4,0.000,0.037,2638,906,3914,0,0,0,0,0,0
$GC,5220,-0.51,-150.9,595.2,-9.6,104,5225,0.00,2.33,0.00,0.000,6,0.000,0.042,2627,2503,3914,0,0,0,0,0,0
$GC,5559,-0.51,-150.9,624.8,-8.6,110,5563,0.00,2.33,0.00,0.000,4,0.000,0.037,2627,913,3913,0,0,0,0,0,0
$GC,5575,-0.51,-150.9,626.4,-8.4,110,5579,0.00,2.33,0.00,0.000,6,0.000,0.041,2612,2503,3911,0,0,0,0,0,0
$GC,5918,-0.51,-150.9,655.0,-8.3,116,5922,0.00,2.38,0.00,0.000,4,0.000,0.038,2615,904,3909,0,0,0,0,0,0
$GC,5946,-0.51,-150.9,657.5,-8.9,116,5951,0.12,2.38,0.00,0.000,6,0.161,0.043,2639,2509,3909,0,0,0,0,0,0
$GC,6278,-0.51,-150.9,677.3,-5.7,122,6282,0.00,2.38,0.00,0.000,4,0.000,0.038,2637,907,3907,0,0,0,0,0,0
$GC,6306,-0.51,-150.9,679.0,-6.2,122,6310,0.00,2.33,0.00,0.000,6,0.000,0.043,2629,2505,3906,0,0,0,0,0,0
$GC,6638,-0.51,-150.9,696.9,-5.4,128,6639,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2501,3904,0,0,0,0,0,0
$GC,6941,-0.51,-150.9,716.4,-6.6,133,6945,0.00,2.35,0.00,0.000,4,0.000,0.039,2629,915,3902,0,0,0,0,0,0
$GC,6968,-0.51,-150.9,718.5,-8.0,133,6972,0.00,2.33,0.00,0.000,6,0.000,0.043,2618,2498,3904,0,0,0,0,0,0
$GC,7300,-0.51,-150.9,744.7,-7.9,139,7304,0.00,2.38,0.00,0.000,4,0.000,0.040,2618,912,3901,0,0,0,0,0,0
$GC,7315,-0.51,-150.9,746.2,-8.3,139,7321,0.10,2.35,0.00,0.000,6,0.182,0.042,2630,2511,3900,0,0,0,0,0,0
$GC,7665,-0.51,-150.9,770.4,-6.8,145,7666,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2511,3899,0,0,0,0,0,0
$GC,7968,-0.51,-150.9,789.5,-6.2,150,7972,0.00,2.35,0.00,0.000,4,0.000,0.039,2634,912,3898,0,0,0,0,0,0
$GC,7995,-0.51,-150.9,791.4,-6.7,150,7999,0.00,2.33,0.00,0.000,6,0.000,0.043,2624,2504,3897,0,0,0,0,0,0
$GC,8332,-0.51,-150.9,813.6,-6.6,156,8336,0.00,2.35,0.00,0.000,4,0.000,0.040,2624,916,3896,0,0,0,0,0,0
$GC,8365,-0.51,-150.9,816.0,-7.5,156,8369,0.00,2.33,0.00,0.000,6,0.000,0.044,2612,2494,3896,0,0,0,0,0,0
$GC,8691,-0.51,-150.9,839.8,-7.3,162,8695,0.00,2.05,0.00,0.000,4,0.000,0.054,2602,3854,3895,0,0,0,0,0,0
$GC,8724,-0.51,-150.9,842.5,-8.8,162,8729,0.12,2.00,0.00,0.000,6,0.146,0.037,2636,2503,3895,0,0,0,0,0,0
$GC,9062,-0.51,-150.9,863.8,-6.2,168,9066,0.00,2.35,0.00,0.000,4,0.000,0.042,2641,905,3894,0,0,0,0,0,0
$GC,9129,-0.51,-150.9,868.5,-6.9,169,9133,0.00,2.35,0.00,0.000,6,0.000,0.045,2630,2500,3893,0,0,0,0,0,0
$GC,9489,-0.51,-150.9,892.8,-6.7,175,9493,0.00,2.38,0.00,0.000,4,0.000,0.041,2630,909,3891,0,0,0,0,0,0
$GC,9511,-0.51,-150.9,894.6,-7.9,175,9515,0.00,2.35,0.00,0.000,6,0.000,0.044,2619,2505,3891,0,0,0,0,0,0
$GC,9849,-0.51,-150.9,918.2,-7.0,181,9853,0.00,2.38,0.00,0.000,4,0.000,0.041,2618,908,3888,0,0,0,0,0,0
$GC,9887,-0.51,-150.9,921.3,-8.2,181,9892,0.10,2.38,0.00,0.000,6,0.181,0.045,2634,2506,3891,0,0,0,0,0,0
$GC,10208,-0.51,-150.9,939.7,-5.6,187,10212,0.00,2.38,0.00,0.000,4,0.000,0.041,2634,912,3890,0,0,0,0,0,0
$GC,10224,-0.51,-150.9,940.7,-5.4,187,10228,0.00,2.35,0.00,0.000,6,0.000,0.044,2624,2504,3890,0,0,0,0,0,0
$GC,10567,-0.51,-150.9,959.6,-5.5,193,10571,0.00,2.38,0.00,0.000,4,0.000,0.042,2624,911,3889,0,0,0,0,0,0
$GC,10588,-0.51,-150.9,960.8,-5.4,193,10593,0.00,2.38,0.00,0.000,6,0.000,0.046,2613,2499,3889,0,0,0,0,0,0
$GC,10927,-0.51,-150.9,979.8,-5.7,199,10928,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2499,3889,0,0,0,0,0,0
$STATE,11166,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11166,begin apogee
$GC,11173,-0.13,0.0,992.9,5.4,203,11227,0.43,0.00,51.08,1.509,6,0.118,0.000,2760,2269,3642,0,0,0,0,0,0
$STATE,11234,end apogee,CONTROL_FINISHED_OK
$STATE,11234,begin climb
$GC,11236,0.51,150.9,993.2,0.0,203,11375,0.55,2.67,129.30,1.519,4,0.062,0.052,2978,3840,3030,0,0,0,0,0,0
$GC,11397,0.51,150.9,976.9,17.4,206,11401,0.00,2.42,0.00,0.000,6,0.000,0.041,2989,2323,3026,0,0,0,0,0,0
$GC,11735,0.51,150.9,920.0,16.7,212,11737,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2321,3025,0,0,0,0,0,0
$GC,12038,0.51,150.9,871.2,16.0,217,12043,0.00,2.42,0.00,0.000,4,0.000,0.046,3002,705,3024,0,0,0,0,0,0
$GC,12077,0.51,150.9,864.7,16.3,217,12082,0.12,2.40,0.00,0.000,6,0.175,0.043,2970,2305,3024,0,0,0,0,0,0
$GC,12398,0.51,150.9,819.6,13.9,223,12402,0.00,2.35,0.00,0.000,4,0.000,0.054,2969,3849,3025,0,0,0,0,0,0
$GC,12413,0.51,150.9,817.0,14.0,223,12418,0.00,2.40,0.00,0.000,6,0.000,0.043,2979,2298,3028,0,0,0,0,0,0
$GC,12763,0.51,150.9,768.0,13.9,229,12767,0.00,2.38,0.00,0.000,4,0.000,0.049,2992,703,3023,0,0,0,0,0,0
$GC,12784,0.51,150.9,764.7,14.1,229,12788,0.00,2.40,0.00,0.000,6,0.000,0.044,2992,2309,3023,0,0,0,0,0,0
$GC,13128,0.51,150.9,712.5,15.4,235,13132,0.00,2.33,0.00,0.000,4,0.000,0.055,2992,3843,3021,0,0,0,0,0,0
$GC,13206,0.51,150.9,699.1,17.0,236,13211,0.12,2.35,0.00,0.000,6,0.183,0.046,2973,2295,3020,0,0,0,0,0,0
$GC,13554,0.51,150.9,652.9,12.8,242,13559,0.00,2.38,0.00,0.000,4,0.000,0.046,2980,703,3021,0,0,0,0,0,0
$GC,13604,0.51,150.9,646.4,12.7,242,13609,0.00,2.35,0.00,0.000,6,0.000,0.044,2984,2302,3024,0,0,0,0,0,0
$GC,13914,0.51,150.9,607.9,12.6,247,13918,0.00,2.33,0.00,0.000,4,0.000,0.053,2983,3847,3021,0,0,0,0,0,0
$GC,13997,0.51,150.9,596.1,13.8,248,14001,0.00,2.35,0.00,0.000,6,0.000,0.045,2995,2297,3021,0,0,0,0,0,0
$GC,14346,0.51,150.9,550.7,13.2,254,14350,0.00,2.38,0.00,0.000,4,0.000,0.050,2995,3851,3022,0,0,0,0,0,0
$GC,14374,0.51,150.9,546.3,15.0,254,14379,0.15,2.35,0.00,0.000,6,0.174,0.044,2969,2293,3021,0,0,0,0,0,0
$GC,14706,0.51,150.9,505.9,12.0,260,14710,0.00,2.35,0.00,0.000,4,0.000,0.047,2977,701,3021,0,0,0,0,0,0
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$STATE,19542,end climb,SURFACE_DEPTH_REACHED
$STATE,19542,begin surface coast
$FINISH,0.8,1.017403
$STATE,19574,end surface coast,CONTROL_FINISHED_OK
$STATE,19574,begin surface
$SM_CCo,19651,0.00,0.000,0,0,1790,453.55
$SM_GC,1.51,7.18,0.00,0.00,0.028,0.000,0.000,106,2509,1790,-8.25,0.25,453.55
$IRIDIUM_FIX,1936.66,-15608.99,211213,080857
$TT8_MAMPS,0.058422
$HUMID,58.93
$INTERNAL_PRESSURE,9.26672
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,23.4,19.459
$10V_AH,10.2,8.555
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.225,197.050,420.850,0.000,0.000,24.725,44.933,319.486,0.000,0.000,14.915,1305.849,16053.325,518.517,2053.546,292.172,33.371,1436.322,0.000,1577.521,0.000,0.541,0.000
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$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,256.099,349.359,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,143080
$DATA_FILE_SIZE,16991,373
$CAP_FILE_SIZE,153265,0
$CFSIZE,260165632,249585664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211213,200653,1940.125,-15606.660,39,1.1,39,9.7