version: 66.08
glider: 500
mission: 9
dive: 78
start: 12 22 113 13 5 46
data:
$ID,500
$MISSION,9
$DIVE,78
$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,-165825.33
$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,2810
$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,35
$R_STBD_OVSHOOT,33
$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,139.0
$AD_THRESHOLD,2015.0
$AD_INTERVAL,6035.0
$AD_DURATION,1545.0
$DB_RECORDABOVE,0.0
$DB_PROFILE,0.0
$DB_XMITPROFILE,0.0
$DB_UPLOADMAX,0.0
$DB_STARTS,0.0
$GPS1,221213,125759,1933.827,-15603.551,35,1.6,35,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-83.3
$GPS2,221213,130435,1933.801,-15603.551,11,0.9,27,9.7
$SPEED_LIMITS,0.142,0.263
$TGT_NAME,A3
$TGT_LATLONG,1919.800,-15555.200
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.034,-0.260
$KALMAN_X,108251.9,-38.9,-264.0,-119392.5,1209.0
$KALMAN_Y,164959.3,33.2,-151.2,-229471.2,1818.0
$MHEAD_RNG_PITCHd_Wd,162.8,29754,-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,-68.95,0.000,2,0.000,0.000,119,2507,3812,0,0,0,0,0,0
$GC,107,-0.51,-150.9,3.7,-7.3,2,127,9.52,2.45,-2.72,0.000,4,0.223,0.045,2644,887,3945,0,0,0,0,0,0
$GC,143,-0.51,-150.9,16.6,-34.2,3,147,0.00,2.35,0.00,0.000,6,0.000,0.035,2633,2509,3945,0,0,0,0,0,0
$GC,475,-0.51,-150.9,92.4,-22.6,14,479,0.00,2.35,0.00,0.000,4,0.000,0.037,2633,904,3946,0,0,0,0,0,0
$GC,505,-0.51,-150.9,99.6,-24.4,15,510,0.00,2.33,0.00,0.000,6,0.000,0.036,2623,2513,3945,0,0,0,0,0,0
$GC,843,-0.51,-150.9,160.5,-14.4,26,847,0.00,2.38,0.00,0.000,4,0.000,0.037,2621,895,3947,0,0,0,0,0,0
$GC,858,-0.51,-150.9,163.2,-13.4,26,863,0.12,2.33,0.00,0.000,6,0.179,0.035,2642,2500,3945,0,0,0,0,0,0
$GC,1179,-0.51,-150.9,201.8,-11.3,37,1183,0.00,2.00,0.00,0.000,4,0.000,0.049,2633,3844,3950,0,0,0,0,0,0
$GC,1247,-0.51,-150.9,210.2,-13.4,38,1251,0.00,1.95,0.00,0.000,6,0.000,0.032,2633,2494,3948,0,0,0,0,0,0
$GC,1619,-0.51,-150.9,256.1,-11.6,44,1623,0.00,2.30,0.00,0.000,4,0.000,0.036,2633,901,3949,0,0,0,0,0,0
$GC,1753,-0.51,-150.9,271.0,-11.0,46,1757,0.00,2.30,0.00,0.000,6,0.000,0.041,2621,2491,3949,0,0,0,0,0,0
$GC,2113,-0.51,-150.9,306.7,-9.7,52,2117,0.00,2.30,0.00,0.000,4,0.000,0.036,2621,896,3951,0,0,0,0,0,0
$GC,2128,-0.51,-150.9,308.8,-10.8,52,2133,0.12,2.33,0.00,0.000,6,0.164,0.037,2644,2510,3948,0,0,0,0,0,0
$GC,2478,-0.51,-150.9,338.8,-8.3,58,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2509,3945,0,0,0,0,0,0
$GC,2781,-0.51,-150.9,365.2,-8.7,63,2785,0.00,2.33,0.00,0.000,4,0.000,0.035,2644,901,3944,0,0,0,0,0,0
$GC,2875,-0.51,-150.9,375.2,-10.1,64,2880,0.00,2.33,0.00,0.000,6,0.000,0.041,2634,2506,3945,0,0,0,0,0,0
$GC,3208,-0.51,-150.9,407.6,-9.5,70,3212,0.00,2.33,0.00,0.000,4,0.000,0.036,2633,899,3940,0,0,0,0,0,0
$GC,3263,-0.51,-150.9,413.3,-10.2,70,3270,0.00,2.35,0.00,0.000,6,0.000,0.042,2621,2509,3940,0,0,0,0,0,0
$GC,3573,-0.51,-150.9,442.1,-9.3,76,3577,0.00,2.35,0.00,0.000,4,0.000,0.037,2621,906,3936,0,0,0,0,0,0
$GC,3589,-0.51,-150.9,443.9,-9.5,76,3594,0.12,2.33,0.00,0.000,6,0.166,0.040,2645,2510,3936,0,0,0,0,0,0
$GC,3938,-0.51,-150.9,470.7,-7.4,82,3939,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2510,3934,0,0,0,0,0,0
$GC,4241,-0.51,-150.9,491.8,-6.9,87,4245,0.00,2.35,0.00,0.000,4,0.000,0.037,2645,907,3936,0,0,0,0,0,0
$GC,4285,-0.51,-150.9,495.3,-7.5,87,4289,0.00,2.33,0.00,0.000,6,0.000,0.043,2635,2498,3931,0,0,0,0,0,0
$GC,4605,-0.51,-150.9,523.3,-9.0,93,4610,0.00,2.35,0.00,0.000,4,0.000,0.038,2635,911,3928,0,0,0,0,0,0
$GC,4650,-0.51,-150.9,527.8,-9.9,93,4654,0.00,2.35,0.00,0.000,6,0.000,0.044,2623,2505,3928,0,0,0,0,0,0
$GC,4965,-0.51,-150.9,557.6,-9.4,99,4966,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2505,3925,0,0,0,0,0,0
$GC,5268,-0.51,-150.9,584.3,-8.9,104,5272,0.00,2.35,0.00,0.000,4,0.000,0.039,2623,905,3924,0,0,0,0,0,0
$GC,5284,-0.51,-150.9,585.9,-9.1,104,5288,0.12,2.35,0.00,0.000,6,0.166,0.041,2646,2501,3922,0,0,0,0,0,0
$GC,5627,-0.51,-150.9,611.5,-7.4,110,5631,0.00,2.35,0.00,0.000,4,0.000,0.039,2645,903,3922,0,0,0,0,0,0
$GC,5690,-0.51,-150.9,616.3,-7.6,111,5694,0.00,2.38,0.00,0.000,6,0.000,0.046,2636,2508,3922,0,0,0,0,0,0
$GC,6062,-0.51,-150.9,641.5,-6.5,117,6066,0.00,2.38,0.00,0.000,4,0.000,0.040,2636,903,3919,0,0,0,0,0,0
$GC,6084,-0.51,-150.9,642.9,-6.2,117,6088,0.00,2.38,0.00,0.000,6,0.000,0.046,2629,2506,3920,0,0,0,0,0,0
$GC,6427,-0.51,-150.9,665.3,-6.6,123,6431,0.00,2.38,0.00,0.000,4,0.000,0.041,2624,908,3917,0,0,0,0,0,0
$GC,6455,-0.51,-150.9,667.5,-7.7,123,6460,0.10,2.38,0.00,0.000,6,0.176,0.045,2638,2509,3917,0,0,0,0,0,0
$GC,6787,-0.51,-150.9,690.4,-7.0,129,6791,0.00,2.40,0.00,0.000,4,0.000,0.041,2640,902,3914,0,0,0,0,0,0
$GC,6825,-0.51,-150.9,693.4,-7.8,129,6829,0.00,2.38,0.00,0.000,6,0.000,0.048,2629,2502,3918,0,0,0,0,0,0
$GC,7148,-0.51,-150.9,718.6,-7.8,135,7152,0.00,2.38,0.00,0.000,4,0.000,0.042,2629,911,3913,0,0,0,0,0,0
$GC,7169,-0.51,-150.9,720.7,-8.0,135,7174,0.00,2.38,0.00,0.000,6,0.000,0.047,2618,2509,3913,0,0,0,0,0,0
$GC,7508,-0.51,-150.9,745.9,-7.3,141,7512,0.00,2.40,0.00,0.000,4,0.000,0.043,2618,901,3911,0,0,0,0,0,0
$GC,7530,-0.51,-150.9,747.7,-7.3,141,7534,0.12,2.38,0.00,0.000,6,0.165,0.047,2641,2504,3912,0,0,0,0,0,0
$GC,7867,-0.51,-150.9,765.6,-5.1,147,7871,0.00,2.35,0.00,0.000,4,0.000,0.043,2641,912,3911,0,0,0,0,0,0
$GC,7891,-0.51,-150.9,766.8,-5.4,147,7895,0.00,2.38,0.00,0.000,6,0.000,0.047,2631,2506,3911,0,0,0,0,0,0
$GC,8228,-0.51,-150.9,785.3,-5.5,153,8233,0.00,2.40,0.00,0.000,4,0.000,0.044,2631,911,3909,0,0,0,0,0,0
$GC,8269,-0.51,-150.9,787.7,-6.2,153,8273,0.00,2.38,0.00,0.000,6,0.000,0.050,2620,2500,3906,0,0,0,0,0,0
$GC,8590,-0.51,-150.9,809.2,-6.9,159,8594,0.00,2.40,0.00,0.000,4,0.000,0.045,2619,916,3907,0,0,0,0,0,0
$GC,8606,-0.51,-150.9,810.6,-7.1,159,8611,0.12,2.40,0.00,0.000,6,0.166,0.049,2643,2503,3907,0,0,0,0,0,0
$GC,8949,-0.51,-150.9,831.7,-6.0,165,8953,0.00,2.40,0.00,0.000,4,0.000,0.045,2641,913,3906,0,0,0,0,0,0
$GC,8972,-0.51,-150.9,833.2,-6.7,165,8976,0.00,2.40,0.00,0.000,6,0.000,0.050,2633,2510,3906,0,0,0,0,0,0
$GC,9309,-0.51,-150.9,856.6,-7.0,171,9314,0.00,2.38,0.00,0.000,4,0.000,0.045,2632,914,3905,0,0,0,0,0,0
$GC,9342,-0.51,-150.9,859.1,-7.5,171,9347,0.00,2.40,0.00,0.000,6,0.000,0.051,2621,2505,3902,0,0,0,0,0,0
$GC,9675,-0.51,-150.9,882.6,-7.1,177,9679,0.00,2.38,0.00,0.000,4,0.000,0.044,2621,913,3903,0,0,0,0,0,0
$GC,9708,-0.51,-150.9,885.1,-7.5,177,9713,0.12,2.38,0.00,0.000,6,0.163,0.050,2645,2500,3904,0,0,0,0,0,0
$GC,10034,-0.51,-150.9,904.8,-6.0,183,10038,0.00,2.40,0.00,0.000,4,0.000,0.045,2645,908,3903,0,0,0,0,0,0
$GC,10067,-0.51,-150.9,907.0,-6.6,183,10072,0.00,2.40,0.00,0.000,6,0.000,0.050,2635,2510,3902,0,0,0,0,0,0
$GC,10396,-0.51,-150.9,927.7,-6.3,189,10400,0.00,2.40,0.00,0.000,4,0.000,0.044,2635,908,3901,0,0,0,0,0,0
$GC,10417,-0.51,-150.9,929.5,-7.5,189,10421,0.00,2.38,0.00,0.000,6,0.000,0.049,2624,2502,3903,0,0,0,0,0,0
$GC,10755,-0.51,-150.9,952.0,-6.6,195,10760,0.00,2.38,0.00,0.000,4,0.000,0.044,2623,915,3901,0,0,0,0,0,0
$GC,10783,-0.51,-150.9,953.9,-6.8,195,10788,0.12,2.38,0.00,0.000,6,0.164,0.049,2646,2500,3901,0,0,0,0,0,0
$GC,11115,-0.51,-150.9,968.7,-4.3,201,11119,0.00,2.38,0.00,0.000,4,0.000,0.044,2647,915,3901,0,0,0,0,0,0
$GC,11179,-0.51,-150.9,971.8,-5.5,202,11183,0.00,2.40,0.00,0.000,6,0.000,0.050,2637,2513,3901,0,0,0,0,0,0
$GC,11545,-0.51,-150.9,989.9,-5.1,208,11549,0.00,2.08,0.00,0.000,3,0.000,0.044,2637,1115,3900,0,0,0,0,0,0
$STATE,11549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11550,begin apogee
$GC,11557,-0.13,0.0,990.4,5.1,208,11615,0.40,0.00,54.12,1.545,6,0.123,0.000,2765,2318,3643,0,0,0,0,0,0
$STATE,11622,end apogee,CONTROL_FINISHED_OK
$STATE,11622,begin climb
$GC,11625,0.51,150.9,991.1,0.0,209,11763,0.55,2.53,130.95,1.540,4,0.055,0.052,2984,3833,3024,0,0,0,0,0,0
$GC,11797,0.51,150.9,974.9,16.6,211,11801,0.00,2.45,0.00,0.000,6,0.000,0.043,3000,2306,3023,0,0,0,0,0,0
$GC,12106,0.51,150.9,923.6,16.7,216,12111,0.00,2.42,0.00,0.000,4,0.000,0.048,3012,702,3022,0,0,0,0,0,0
$GC,12122,0.51,150.9,920.5,16.6,216,12127,0.12,2.42,0.00,0.000,6,0.164,0.041,2978,2302,3020,0,0,0,0,0,0
$GC,12466,0.51,150.9,869.1,14.8,222,12470,0.00,2.38,0.00,0.000,4,0.000,0.053,2978,3840,3021,0,0,0,0,0,0
$GC,12503,0.51,150.9,863.1,14.9,222,12508,0.00,2.35,0.00,0.000,6,0.000,0.044,2988,2295,3020,0,0,0,0,0,0
$GC,12830,0.51,150.9,818.1,13.7,228,12831,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2299,3018,0,0,0,0,0,0
$GC,13134,0.51,150.9,774.9,14.3,233,13135,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2294,3019,0,0,0,0,0,0
$GC,13436,0.51,150.9,728.8,15.2,238,13438,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2294,3019,0,0,0,0,0,0
$GC,13740,0.51,150.9,685.1,14.4,243,13744,0.00,2.35,0.00,0.000,4,0.000,0.045,3000,703,3018,0,0,0,0,0,0
$GC,13767,0.51,150.9,680.8,14.4,243,13771,0.00,2.38,0.00,0.000,6,0.000,0.042,3001,2312,3018,0,0,0,0,0,0
$GC,14105,0.51,150.9,629.4,15.4,249,14109,0.00,2.33,0.00,0.000,4,0.000,0.053,3001,3854,3018,0,0,0,0,0,0
$GC,14193,0.51,150.9,614.2,16.5,250,14198,0.12,2.38,0.00,0.000,6,0.185,0.043,2981,2283,3016,0,0,0,0,0,0
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$STATE,19859,end climb,SURFACE_DEPTH_REACHED
$STATE,19859,begin surface coast
$FINISH,0.7,0.997730
$STATE,19890,end surface coast,CONTROL_FINISHED_OK
$STATE,19890,begin surface
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$SM_GC,1.51,7.10,0.00,0.00,0.030,0.000,0.000,131,2524,2322,-8.26,0.65,323.30
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$TT8_MAMPS,0.038948
$HUMID,58.38
$INTERNAL_PRESSURE,9.28625
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.3,20.023
$10V_AH,10.2,8.816
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.325,217.125,329.400,0.000,0.000,22.719,36.199,168.288,0.000,0.000,29.801,1361.745,16386.490,435.447,1913.402,281.686,33.354,1340.378,0.000,1589.903,0.000,0.542,0.000
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$SENSOR_SECS,257.745,329.582,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,143092
$DATA_FILE_SIZE,16979,374
$CAP_FILE_SIZE,156829,0
$CFSIZE,260165632,249307136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221213,183935,1931.659,-15602.807,24,1.0,24,9.7