version: 66.08
glider: 500
mission: 9
dive: 76
start: 12 22 113 1 51 47
data:
$ID,500
$MISSION,9
$DIVE,76
$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,-165822.83
$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,39
$R_STBD_OVSHOOT,45
$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,137.0
$AD_THRESHOLD,2015.0
$AD_INTERVAL,6030.0
$AD_DURATION,1545.0
$DB_RECORDABOVE,0.0
$DB_PROFILE,0.0
$DB_XMITPROFILE,0.0
$DB_UPLOADMAX,0.0
$DB_STARTS,0.0
$GPS1,221213,014305,1938.104,-15605.445,26,1.1,26,9.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-82.6
$GPS2,221213,015035,1938.044,-15605.409,12,1.7,28,9.7
$SPEED_LIMITS,0.142,0.263
$TGT_NAME,A3
$TGT_LATLONG,1919.800,-15555.200
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.082,-0.249
$KALMAN_X,107667.6,-74.8,-82.7,-122187.6,496.5
$KALMAN_Y,162660.4,-217.1,122.4,-219340.6,905.1
$MHEAD_RNG_PITCHd_Wd,152.0,38209,-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,-150.9,0.0,0.0,0,104,0.00,0.00,-69.05,0.000,2,0.000,0.000,111,2515,3907,0,0,0,0,0,0
$GC,107,-0.51,-150.9,4.3,-10.0,2,123,9.57,1.98,-0.70,0.000,4,0.225,0.051,2623,3855,3940,0,0,0,0,0,0
$GC,233,-0.51,-150.9,37.8,-20.4,6,237,0.00,2.03,0.00,0.000,6,0.000,0.036,2622,2497,3944,0,0,0,0,0,0
$GC,576,-0.51,-150.9,112.2,-20.4,17,580,0.00,2.28,0.00,0.000,4,0.000,0.036,2622,908,3943,0,0,0,0,0,0
$GC,620,-0.51,-150.9,121.6,-19.0,18,624,0.00,2.30,0.00,0.000,6,0.000,0.037,2610,2507,3943,0,0,0,0,0,0
$GC,940,-0.51,-150.9,174.8,-16.5,29,944,0.00,2.30,0.00,0.000,4,0.000,0.034,2610,900,3945,0,0,0,0,0,0
$GC,955,-0.51,-150.9,177.9,-16.6,29,960,0.15,2.30,0.00,0.000,6,0.165,0.035,2643,2508,3945,0,0,0,0,0,0
$GC,1267,-0.51,-150.9,215.6,-10.8,37,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2508,3946,0,0,0,0,0,0
$GC,1571,-0.51,-150.9,245.4,-9.7,42,1575,0.00,2.30,0.00,0.000,4,0.000,0.035,2643,911,3947,0,0,0,0,0,0
$GC,1586,-0.51,-150.9,247.4,-11.0,42,1590,0.00,2.28,0.00,0.000,6,0.000,0.036,2630,2499,3947,0,0,0,0,0,0
$GC,1936,-0.51,-150.9,283.6,-10.1,48,1940,0.00,1.95,0.00,0.000,4,0.000,0.049,2619,3839,3946,0,0,0,0,0,0
$GC,2143,-0.51,-150.9,304.7,-10.7,51,2147,0.00,1.92,0.00,0.000,6,0.000,0.031,2619,2499,3946,0,0,0,0,0,0
$GC,2509,-0.51,-150.9,344.3,-11.0,57,2513,0.00,2.30,0.00,0.000,4,0.000,0.035,2620,907,3943,0,0,0,0,0,0
$GC,2537,-0.51,-150.9,347.5,-11.6,57,2541,0.10,2.33,0.00,0.000,6,0.173,0.037,2634,2510,3943,0,0,0,0,0,0
$GC,2869,-0.51,-150.9,376.5,-8.5,63,2873,0.00,2.35,0.00,0.000,4,0.000,0.036,2634,908,3942,0,0,0,0,0,0
$GC,2907,-0.51,-150.9,380.4,-10.0,63,2911,0.00,2.30,0.00,0.000,6,0.000,0.040,2624,2496,3940,0,0,0,0,0,0
$GC,3234,-0.51,-150.9,411.4,-9.5,69,3238,0.00,2.33,0.00,0.000,4,0.000,0.037,2625,900,3937,0,0,0,0,0,0
$GC,3277,-0.51,-150.9,415.7,-9.7,69,3282,0.00,2.33,0.00,0.000,6,0.000,0.041,2612,2505,3936,0,0,0,0,0,0
$GC,3593,-0.51,-150.9,445.7,-9.4,75,3597,0.00,2.33,0.00,0.000,4,0.000,0.037,2612,908,3937,0,0,0,0,0,0
$GC,3609,-0.51,-150.9,447.6,-9.6,75,3614,0.12,2.33,0.00,0.000,6,0.162,0.038,2636,2511,3934,0,0,0,0,0,0
$GC,3958,-0.51,-150.9,476.5,-8.2,81,3959,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2511,3931,0,0,0,0,0,0
$GC,4262,-0.51,-150.9,501.9,-8.5,86,4265,0.00,2.35,0.00,0.000,4,0.000,0.037,2636,909,3931,0,0,0,0,0,0
$GC,4318,-0.51,-150.9,507.3,-8.9,86,4323,0.00,2.35,0.00,0.000,6,0.000,0.041,2623,2507,3927,0,0,0,0,0,0
$GC,4628,-0.51,-150.9,535.4,-9.1,91,4633,0.00,2.33,0.00,0.000,4,0.000,0.037,2625,911,3924,0,0,0,0,0,0
$GC,4678,-0.51,-150.9,540.4,-9.6,91,4683,0.00,2.33,0.00,0.000,6,0.000,0.041,2614,2504,3924,0,0,0,0,0,0
$GC,4988,-0.51,-150.9,566.9,-8.5,96,4993,0.00,2.35,0.00,0.000,4,0.000,0.037,2614,909,3922,0,0,0,0,0,0
$GC,5010,-0.51,-150.9,569.1,-8.9,96,5015,0.12,2.35,0.00,0.000,6,0.160,0.041,2638,2506,3922,0,0,0,0,0,0
$GC,5348,-0.51,-150.9,591.6,-6.5,102,5349,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2506,3921,0,0,0,0,0,0
$GC,5651,-0.51,-150.9,609.9,-6.0,107,5655,0.00,2.35,0.00,0.000,4,0.000,0.037,2638,911,3920,0,0,0,0,0,0
$GC,5666,-0.51,-150.9,611.0,-5.9,107,5671,0.00,2.30,0.00,0.000,6,0.000,0.041,2628,2497,3922,0,0,0,0,0,0
$GC,6010,-0.51,-150.9,632.4,-6.1,113,6015,0.00,2.35,0.00,0.000,4,0.000,0.039,2627,913,3916,0,0,0,0,0,0
$GC,6055,-0.51,-150.9,635.3,-6.9,113,6059,0.00,2.35,0.00,0.000,6,0.000,0.043,2616,2502,3915,0,0,0,0,0,0
$GC,6370,-0.51,-150.9,655.0,-6.2,119,6374,0.00,2.35,0.00,0.000,4,0.000,0.039,2616,909,3913,0,0,0,0,0,0
$GC,6408,-0.51,-150.9,657.7,-7.2,119,6413,0.10,2.35,0.00,0.000,6,0.174,0.043,2634,2498,3913,0,0,0,0,0,0
$GC,6729,-0.51,-150.9,675.5,-5.6,125,6733,0.00,2.00,0.00,0.000,4,0.000,0.054,2625,3842,3912,0,0,0,0,0,0
$GC,6745,-0.51,-150.9,676.6,-5.7,125,6749,0.00,1.98,0.00,0.000,6,0.000,0.034,2625,2496,3910,0,0,0,0,0,0
$GC,7100,-0.51,-150.9,703.4,-7.8,131,7104,0.00,2.33,0.00,0.000,4,0.000,0.039,2625,906,3911,0,0,0,0,0,0
$GC,7157,-0.51,-150.9,708.4,-8.4,131,7162,0.00,2.35,0.00,0.000,6,0.000,0.044,2613,2502,3910,0,0,0,0,0,0
$GC,7467,-0.51,-150.9,736.4,-9.0,136,7471,0.00,2.35,0.00,0.000,4,0.000,0.040,2610,914,3909,0,0,0,0,0,0
$GC,7484,-0.51,-150.9,738.2,-9.4,136,7489,0.12,2.35,0.00,0.000,6,0.164,0.043,2636,2512,3908,0,0,0,0,0,0
$GC,7827,-0.51,-150.9,764.1,-7.4,142,7831,0.00,2.38,0.00,0.000,4,0.000,0.041,2637,914,3907,0,0,0,0,0,0
$GC,7860,-0.51,-150.9,766.7,-7.4,142,7864,0.00,2.33,0.00,0.000,6,0.000,0.044,2625,2499,3907,0,0,0,0,0,0
$GC,8193,-0.51,-150.9,788.8,-6.6,148,8197,0.00,2.35,0.00,0.000,4,0.000,0.041,2626,914,3904,0,0,0,0,0,0
$GC,8214,-0.51,-150.9,790.4,-7.1,148,8218,0.00,2.35,0.00,0.000,6,0.000,0.044,2615,2501,3906,0,0,0,0,0,0
$GC,8558,-0.51,-150.9,813.4,-6.6,154,8559,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2501,3903,0,0,0,0,0,0
$GC,8861,-0.51,-150.9,835.5,-7.3,159,8865,0.00,2.35,0.00,0.000,4,0.000,0.040,2615,910,3903,0,0,0,0,0,0
$GC,8906,-0.51,-150.9,839.2,-8.1,159,8910,0.12,2.35,0.00,0.000,6,0.166,0.044,2638,2508,3902,0,0,0,0,0,0
$GC,9221,-0.51,-150.9,856.5,-5.4,165,9225,0.00,2.38,0.00,0.000,4,0.000,0.041,2638,906,3902,0,0,0,0,0,0
$GC,9237,-0.51,-150.9,857.7,-5.6,165,9241,0.00,2.38,0.00,0.000,6,0.000,0.044,2628,2510,3902,0,0,0,0,0,0
$GC,9586,-0.51,-150.9,879.0,-6.1,171,9590,0.00,2.38,0.00,0.000,4,0.000,0.041,2628,913,3901,0,0,0,0,0,0
$GC,9607,-0.51,-150.9,880.5,-6.5,171,9611,0.00,2.35,0.00,0.000,6,0.000,0.045,2616,2503,3901,0,0,0,0,0,0
$GC,9945,-0.51,-150.9,904.3,-7.1,177,9949,0.00,2.35,0.00,0.000,4,0.000,0.041,2616,913,3900,0,0,0,0,0,0
$GC,9966,-0.51,-150.9,906.0,-7.2,177,9971,0.12,2.35,0.00,0.000,6,0.162,0.045,2639,2502,3900,0,0,0,0,0,0
$GC,10304,-0.51,-150.9,923.3,-4.9,183,10308,0.00,2.35,0.00,0.000,4,0.000,0.041,2638,915,3900,0,0,0,0,0,0
$GC,10326,-0.51,-150.9,924.4,-4.5,183,10330,0.00,2.38,0.00,0.000,6,0.000,0.046,2629,2506,3900,0,0,0,0,0,0
$GC,10669,-0.51,-150.9,941.3,-4.9,189,10670,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2506,3899,0,0,0,0,0,0
$GC,10972,-0.51,-150.9,957.4,-5.4,194,10977,0.00,2.35,0.00,0.000,4,0.000,0.041,2629,919,3901,0,0,0,0,0,0
$GC,11036,-0.51,-150.9,961.2,-6.5,195,11040,0.00,2.35,0.00,0.000,6,0.000,0.046,2618,2501,3897,0,0,0,0,0,0
$GC,11402,-0.51,-150.9,986.2,-6.9,201,11406,0.00,2.33,0.00,0.000,4,0.000,0.041,2618,912,3897,0,0,0,0,0,0
$GC,11423,-0.51,-150.9,987.8,-7.1,201,11428,0.12,2.35,0.00,0.000,6,0.162,0.045,2641,2504,3897,0,0,0,0,0,0
$STATE,11516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11516,begin apogee
$GC,11522,-0.13,0.0,993.5,5.8,203,11584,0.32,0.00,53.50,1.536,6,0.116,0.000,2758,2274,3639,0,0,0,0,0,0
$STATE,11591,end apogee,CONTROL_FINISHED_OK
$STATE,11591,begin climb
$GC,11593,0.51,150.9,994.7,0.0,204,11733,0.57,2.65,131.50,1.535,4,0.062,0.054,2977,3834,3021,0,0,0,0,0,0
$GC,11749,0.51,150.9,982.2,15.5,206,11754,0.00,2.40,0.00,0.000,6,0.000,0.041,2988,2328,3024,0,0,0,0,0,0
$GC,12065,0.51,150.9,932.6,15.7,212,12069,0.00,2.45,0.00,0.000,4,0.000,0.047,3001,710,3021,0,0,0,0,0,0
$GC,12102,0.51,150.9,926.3,16.2,212,12107,0.12,2.40,0.00,0.000,6,0.171,0.043,2968,2301,3022,0,0,0,0,0,0
$GC,12423,0.51,150.9,883.8,13.1,218,12427,0.00,2.40,0.00,0.000,4,0.000,0.054,2969,3842,3024,0,0,0,0,0,0
$GC,12451,0.51,150.9,879.5,15.0,218,12455,0.00,2.35,0.00,0.000,6,0.000,0.044,2977,2295,3021,0,0,0,0,0,0
$GC,12782,0.51,150.9,829.6,15.1,224,12787,0.00,2.35,0.00,0.000,4,0.000,0.048,2991,711,3021,0,0,0,0,0,0
$GC,12798,0.51,150.9,826.9,15.5,224,12803,0.00,2.38,0.00,0.000,6,0.000,0.042,2991,2304,3021,0,0,0,0,0,0
$GC,13142,0.51,150.9,773.7,15.5,230,13146,0.00,2.33,0.00,0.000,4,0.000,0.053,2991,3842,3020,0,0,0,0,0,0
$GC,13164,0.51,150.9,770.2,15.4,230,13169,0.12,2.33,0.00,0.000,6,0.190,0.043,2972,2295,3020,0,0,0,0,0,0
$GC,13502,0.51,150.9,727.2,12.6,236,13506,0.00,2.38,0.00,0.000,4,0.000,0.047,2982,703,3019,0,0,0,0,0,0
$GC,13579,0.51,150.9,717.4,12.3,237,13583,0.00,2.38,0.00,0.000,6,0.000,0.044,2983,2297,3020,0,0,0,0,0,0
$GC,13934,0.51,150.9,672.3,12.7,243,13935,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2295,3020,0,0,0,0,0,0
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$STATE,20005,end climb,SURFACE_DEPTH_REACHED
$STATE,20005,begin surface coast
$FINISH,0.8,1.009032
$STATE,20038,end surface coast,CONTROL_FINISHED_OK
$STATE,20038,begin surface
$SM_CCo,20115,0.00,0.000,0,0,1936,417.74
$SM_GC,1.61,7.22,0.00,0.00,0.028,0.000,0.000,134,2504,1936,-8.24,0.11,417.74
$IRIDIUM_FIX,1932.09,-15604.81,211213,202021
$TT8_MAMPS,0.058422
$HUMID,58.74
$INTERNAL_PRESSURE,9.26672
$TCM_TEMP,24.80
$XPDR_PINGS,3
$24V_AH,23.3,19.748
$10V_AH,10.2,8.685
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.425,210.275,402.550,0.000,0.000,23.426,35.589,211.685,0.750,0.000,30.735,1358.457,16472.920,509.488,1959.128,282.940,33.360,1409.439,0.000,1577.627,0.000,0.542,0.000
$DEVICE_MAMPS,224.910,63.495,1536.120,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,257.616,322.992,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20289,374
$CAP_FILE_SIZE,156868,0
$CFSIZE,260165632,249446400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221213,072825,1935.958,-15604.363,25,2.5,44,9.7