version: 66.08
glider: 500
mission: 9
dive: 77
start: 12 22 113 7 37 14
data:
$ID,500
$MISSION,9
$DIVE,77
$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,-165824.08
$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,45
$R_STBD_OVSHOOT,40
$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,138.0
$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
$GPS1,221213,072825,1935.958,-15604.363,25,2.5,44,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-83.2
$GPS2,221213,073603,1935.880,-15604.252,16,2.3,35,9.7
$SPEED_LIMITS,0.142,0.263
$TGT_NAME,A3
$TGT_LATLONG,1919.800,-15555.200
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.058,-0.256
$KALMAN_X,108030.0,-279.5,122.6,-120537.1,382.7
$KALMAN_Y,164099.8,-427.0,-131.0,-224326.5,2214.6
$MHEAD_RNG_PITCHd_Wd,157.6,33721,-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,-68.97,0.000,2,0.000,0.000,134,2510,3767,0,0,0,0,0,0
$GC,108,-0.51,-150.9,3.5,-6.7,2,128,9.52,2.05,-3.83,0.000,4,0.225,0.058,2622,3849,3946,0,0,0,0,0,0
$GC,324,-0.51,-150.9,55.6,-20.2,8,329,0.00,2.03,0.00,0.000,6,0.000,0.037,2622,2503,3947,0,0,0,0,0,0
$GC,645,-0.51,-150.9,125.0,-21.5,19,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2500,3948,0,0,0,0,0,0
$GC,951,-0.51,-150.9,172.8,-14.5,29,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2502,3949,0,0,0,0,0,0
$GC,1285,-0.51,-150.9,219.7,-13.7,38,1289,0.00,1.98,0.00,0.000,4,0.000,0.047,2611,3839,3949,0,0,0,0,0,0
$GC,1312,-0.51,-150.9,223.8,-14.2,38,1316,0.00,1.95,0.00,0.000,6,0.000,0.031,2611,2497,3950,0,0,0,0,0,0
$GC,1656,-0.51,-150.9,271.5,-13.9,44,1661,0.10,2.33,0.00,0.000,4,0.177,0.035,2638,900,3950,0,0,0,0,0,0
$GC,1683,-0.51,-150.9,274.8,-11.9,44,1687,0.00,2.30,0.00,0.000,6,0.000,0.038,2628,2506,3950,0,0,0,0,0,0
$GC,2015,-0.51,-150.9,309.5,-10.4,50,2019,0.00,2.33,0.00,0.000,4,0.000,0.034,2628,906,3949,0,0,0,0,0,0
$GC,2064,-0.51,-150.9,315.1,-11.0,50,2068,0.00,2.30,0.00,0.000,6,0.000,0.038,2616,2507,3949,0,0,0,0,0,0
$GC,2380,-0.51,-150.9,351.3,-11.6,56,2384,0.00,2.33,0.00,0.000,4,0.000,0.034,2616,908,3948,0,0,0,0,0,0
$GC,2395,-0.51,-150.9,353.5,-12.0,56,2400,0.08,2.33,0.00,0.000,6,0.145,0.036,2631,2501,3947,0,0,0,0,0,0
$GC,2744,-0.51,-150.9,392.8,-11.1,62,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2504,3945,0,0,0,0,0,0
$GC,3047,-0.51,-150.9,418.0,-7.9,67,3051,0.00,2.30,0.00,0.000,4,0.000,0.035,2631,912,3943,0,0,0,0,0,0
$GC,3063,-0.51,-150.9,419.3,-7.3,67,3067,0.00,2.33,0.00,0.000,6,0.000,0.037,2621,2509,3945,0,0,0,0,0,0
$GC,3413,-0.51,-150.9,448.6,-8.7,73,3417,0.00,2.35,0.00,0.000,4,0.000,0.036,2624,904,3939,0,0,0,0,0,0
$GC,3457,-0.51,-150.9,453.6,-11.1,73,3462,0.10,2.33,0.00,0.000,6,0.171,0.041,2632,2508,3938,0,0,0,0,0,0
$GC,3772,-0.51,-150.9,482.9,-9.3,79,3776,0.00,2.35,0.00,0.000,4,0.000,0.037,2636,911,3935,0,0,0,0,0,0
$GC,3805,-0.51,-150.9,485.9,-8.6,79,3809,0.00,2.35,0.00,0.000,6,0.000,0.041,2626,2509,3935,0,0,0,0,0,0
$GC,4131,-0.51,-150.9,512.3,-7.9,85,4132,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2509,3932,0,0,0,0,0,0
$GC,4434,-0.51,-150.9,534.0,-7.2,90,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2509,3930,0,0,0,0,0,0
$GC,4737,-0.51,-150.9,558.3,-8.3,95,4742,0.00,2.33,0.00,0.000,4,0.000,0.037,2626,915,3927,0,0,0,0,0,0
$GC,4765,-0.51,-150.9,561.1,-9.6,95,4769,0.00,2.35,0.00,0.000,6,0.000,0.042,2614,2508,3926,0,0,0,0,0,0
$GC,5096,-0.51,-150.9,595.0,-10.4,101,5101,0.00,2.38,0.00,0.000,4,0.000,0.039,2614,908,3924,0,0,0,0,0,0
$GC,5118,-0.51,-150.9,597.6,-11.3,101,5123,0.12,2.33,0.00,0.000,6,0.161,0.042,2637,2501,3922,0,0,0,0,0,0
$GC,5462,-0.51,-150.9,625.3,-7.7,107,5466,0.00,2.35,0.00,0.000,4,0.000,0.038,2638,913,3922,0,0,0,0,0,0
$GC,5531,-0.51,-150.9,630.9,-7.7,108,5535,0.00,2.38,0.00,0.000,6,0.000,0.044,2628,2513,3921,0,0,0,0,0,0
$GC,5891,-0.51,-150.9,659.0,-7.7,114,5896,0.00,2.35,0.00,0.000,4,0.000,0.040,2627,912,3920,0,0,0,0,0,0
$GC,5954,-0.51,-150.9,664.3,-8.7,115,5959,0.00,2.35,0.00,0.000,6,0.000,0.044,2615,2511,3920,0,0,0,0,0,0
$GC,6321,-0.51,-150.9,690.7,-6.9,121,6325,0.00,2.38,0.00,0.000,4,0.000,0.041,2620,908,3916,0,0,0,0,0,0
$GC,6348,-0.51,-150.9,692.7,-7.2,121,6353,0.12,2.35,0.00,0.000,6,0.161,0.043,2640,2500,3917,0,0,0,0,0,0
$GC,6680,-0.51,-150.9,708.7,-4.6,127,6685,0.00,2.35,0.00,0.000,4,0.000,0.040,2639,913,3914,0,0,0,0,0,0
$GC,6725,-0.51,-150.9,710.8,-4.4,127,6729,0.00,2.35,0.00,0.000,6,0.000,0.044,2629,2506,3912,0,0,0,0,0,0
$GC,7040,-0.51,-150.9,726.7,-5.1,133,7044,0.00,2.35,0.00,0.000,4,0.000,0.040,2629,918,3913,0,0,0,0,0,0
$GC,7056,-0.51,-150.9,727.8,-5.4,133,7060,0.00,2.35,0.00,0.000,6,0.000,0.044,2618,2503,3912,0,0,0,0,0,0
$GC,7405,-0.51,-150.9,750.7,-6.8,139,7406,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2506,3912,0,0,0,0,0,0
$GC,7708,-0.51,-150.9,772.3,-7.2,144,7712,0.00,2.33,0.00,0.000,4,0.000,0.040,2618,917,3911,0,0,0,0,0,0
$GC,7729,-0.51,-150.9,774.1,-8.0,144,7734,0.12,2.38,0.00,0.000,6,0.161,0.044,2641,2511,3909,0,0,0,0,0,0
$GC,8073,-0.51,-150.9,797.1,-6.7,150,8077,0.00,2.38,0.00,0.000,4,0.000,0.041,2641,914,3908,0,0,0,0,0,0
$GC,8106,-0.51,-150.9,799.6,-7.6,150,8110,0.00,2.35,0.00,0.000,6,0.000,0.045,2629,2504,3908,0,0,0,0,0,0
$GC,8432,-0.51,-150.9,822.9,-7.3,156,8436,0.00,2.38,0.00,0.000,4,0.000,0.041,2631,906,3910,0,0,0,0,0,0
$GC,8476,-0.51,-150.9,826.7,-8.5,156,8480,0.00,2.38,0.00,0.000,6,0.000,0.045,2620,2511,3909,0,0,0,0,0,0
$GC,8791,-0.51,-150.9,853.5,-8.6,162,8795,0.00,2.38,0.00,0.000,4,0.000,0.041,2620,907,3907,0,0,0,0,0,0
$GC,8813,-0.51,-150.9,855.8,-9.8,162,8818,0.10,2.35,0.00,0.000,6,0.177,0.046,2634,2501,3906,0,0,0,0,0,0
$GC,9156,-0.51,-150.9,883.3,-8.0,168,9160,0.00,2.35,0.00,0.000,4,0.000,0.041,2635,920,3904,0,0,0,0,0,0
$GC,9178,-0.51,-150.9,885.2,-8.5,168,9183,0.00,2.35,0.00,0.000,6,0.000,0.046,2624,2505,3904,0,0,0,0,0,0
$GC,9516,-0.51,-150.9,910.5,-7.3,174,9521,0.00,2.33,0.00,0.000,4,0.000,0.041,2625,920,3903,0,0,0,0,0,0
$GC,9544,-0.51,-150.9,912.8,-7.1,174,9548,0.00,2.35,0.00,0.000,6,0.000,0.046,2613,2509,3903,0,0,0,0,0,0
$GC,9876,-0.51,-150.9,936.4,-7.0,180,9880,0.00,2.38,0.00,0.000,4,0.000,0.041,2613,911,3905,0,0,0,0,0,0
$GC,9897,-0.51,-150.9,938.0,-6.6,180,9902,0.12,2.35,0.00,0.000,6,0.163,0.046,2633,2502,3902,0,0,0,0,0,0
$GC,10235,-0.51,-150.9,956.5,-5.4,186,10240,0.00,2.35,0.00,0.000,4,0.000,0.041,2637,919,3902,0,0,0,0,0,0
$GC,10274,-0.51,-150.9,958.9,-6.1,186,10278,0.00,2.35,0.00,0.000,6,0.000,0.047,2627,2500,3901,0,0,0,0,0,0
$GC,10597,-0.51,-150.9,977.0,-5.6,192,10601,0.00,2.35,0.00,0.000,4,0.000,0.041,2627,918,3899,0,0,0,0,0,0
$GC,10630,-0.51,-150.9,979.1,-5.9,192,10634,0.00,2.38,0.00,0.000,6,0.000,0.048,2615,2506,3900,0,0,0,0,0,0
$STATE,10838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10838,begin apogee
$GC,10844,-0.13,0.0,991.2,5.7,196,10906,0.40,0.00,53.80,1.532,6,0.118,0.000,2755,2277,3640,0,0,0,0,0,0
$STATE,10913,end apogee,CONTROL_FINISHED_OK
$STATE,10913,begin climb
$GC,10915,0.51,150.9,991.6,0.0,197,11055,0.60,2.65,131.48,1.527,4,0.062,0.054,2982,3835,3024,0,0,0,0,0,0
$GC,11071,0.51,150.9,975.9,16.5,199,11076,0.00,2.40,0.00,0.000,6,0.000,0.041,2994,2329,3024,0,0,0,0,0,0
$GC,11386,0.51,150.9,919.0,18.2,205,11390,0.00,2.47,0.00,0.000,4,0.000,0.047,3002,710,3023,0,0,0,0,0,0
$GC,11425,0.51,150.9,911.4,19.2,205,11430,0.12,2.42,0.00,0.000,6,0.164,0.043,2973,2307,3022,0,0,0,0,0,0
$GC,11745,0.51,150.9,858.6,16.4,211,11749,0.00,2.38,0.00,0.000,4,0.000,0.054,2972,3845,3025,0,0,0,0,0,0
$GC,11773,0.51,150.9,853.5,17.5,211,11777,0.00,2.38,0.00,0.000,6,0.000,0.044,2982,2289,3022,0,0,0,0,0,0
$GC,12105,0.51,150.9,797.3,16.8,217,12109,0.00,2.38,0.00,0.000,4,0.000,0.047,2992,704,3021,0,0,0,0,0,0
$GC,12132,0.51,150.9,792.6,16.6,217,12136,0.00,2.38,0.00,0.000,6,0.000,0.043,2996,2306,3021,0,0,0,0,0,0
$GC,12476,0.51,150.9,738.3,15.5,223,12480,0.00,2.38,0.00,0.000,4,0.000,0.054,2995,3842,3020,0,0,0,0,0,0
$GC,12544,0.51,150.9,728.5,14.6,224,12549,0.12,2.35,0.00,0.000,6,0.193,0.045,2976,2297,3020,0,0,0,0,0,0
$GC,12904,0.51,150.9,684.5,12.3,230,12908,0.00,2.38,0.00,0.000,4,0.000,0.046,2986,703,3020,0,0,0,0,0,0
$GC,12947,0.51,150.9,679.0,10.9,230,12951,0.00,2.38,0.00,0.000,6,0.000,0.043,2986,2309,3020,0,0,0,0,0,0
$GC,13269,0.51,150.9,639.3,12.5,236,13273,0.00,2.38,0.00,0.000,4,0.000,0.054,2987,3857,3019,0,0,0,0,0,0
$GC,13307,0.51,150.9,633.7,14.1,236,13311,0.00,2.38,0.00,0.000,6,0.000,0.044,2998,2290,3019,0,0,0,0,0,0
$GC,13627,0.51,150.9,589.9,13.8,242,13631,0.00,2.35,0.00,0.000,4,0.000,0.047,3011,701,3019,0,0,0,0,0,0
$GC,13655,0.51,150.9,585.8,14.4,242,13660,0.15,2.35,0.00,0.000,6,0.167,0.044,2969,2305,3019,0,0,0,0,0,0
$GC,13987,0.51,150.9,546.3,11.8,248,13991,0.00,2.35,0.00,0.000,4,0.000,0.055,2968,3839,3019,0,0,0,0,0,0
$GC,14002,0.51,150.9,544.1,11.6,248,14007,0.00,2.38,0.00,0.000,6,0.000,0.042,2978,2295,3019,0,0,0,0,0,0
$GC,14352,0.51,150.9,502.5,12.1,254,14356,0.00,2.38,0.00,0.000,4,0.000,0.055,2979,3841,3018,0,0,0,0,0,0
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$STATE,19082,end climb,SURFACE_DEPTH_REACHED
$STATE,19082,begin surface coast
$FINISH,2.1,1.023089
$STATE,19092,end surface coast,CONTROL_FINISHED_OK
$STATE,19093,begin surface
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$IRIDIUM_FIX,1929.80,-15602.72,221213,010131
$TT8_MAMPS,0.058422
$HUMID,59.88
$INTERNAL_PRESSURE,9.25695
$TCM_TEMP,24.80
$XPDR_PINGS,1
$24V_AH,23.4,19.893
$10V_AH,10.2,8.750
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.275,207.325,395.300,0.000,0.000,24.721,36.831,191.441,0.250,0.000,38.749,1301.551,15640.446,503.589,1913.437,286.729,33.352,1378.783,0.000,1533.505,0.000,0.541,0.000
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$SENSOR_SECS,247.698,316.399,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,143008
$DATA_FILE_SIZE,17003,360
$CAP_FILE_SIZE,150256,0
$CFSIZE,260165632,249380864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221213,125759,1933.827,-15603.551,35,1.6,35,9.7