version: 66.08
glider: 500
mission: 9
dive: 80
start: 12 23 113 0 22 57
data:
$ID,500
$MISSION,9
$DIVE,80
$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,-165827.83
$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,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,44
$R_STBD_OVSHOOT,52
$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,141.0
$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
$GPS1,231213,001629,1929.476,-15601.323,36,1.2,36,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-82.9
$GPS2,231213,002155,1929.420,-15601.299,14,1.8,14,9.7
$SPEED_LIMITS,0.142,0.263
$TGT_NAME,A3
$TGT_LATLONG,1919.800,-15555.200
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.106,-0.240
$KALMAN_X,108593.0,64.6,-121.7,-116068.2,236.9
$KALMAN_Y,166595.8,-51.0,-80.2,-239212.1,853.2
$MHEAD_RNG_PITCHd_Wd,146.5,20761,-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,35,end surface,CONTROL_FINISHED_OK
$STATE,35,begin dive
$GC,38,-0.51,-150.9,0.0,0.0,0,114,0.00,0.00,-73.90,0.000,2,0.000,0.000,125,2532,3797,0,0,0,0,0,0
$GC,117,-0.51,-150.9,3.5,-6.4,2,142,9.65,1.98,-3.10,0.000,4,0.226,0.055,2628,3837,3949,0,0,0,0,0,0
$GC,300,-0.51,-150.9,47.0,-20.5,7,304,0.00,2.00,0.00,0.000,6,0.000,0.034,2625,2494,3946,0,0,0,0,0,0
$GC,621,-0.51,-150.9,115.4,-20.4,18,625,0.00,2.30,0.00,0.000,4,0.000,0.039,2628,908,3947,0,0,0,0,0,0
$GC,660,-0.51,-150.9,122.9,-18.1,19,664,0.00,2.33,0.00,0.000,6,0.000,0.040,2616,2495,3947,0,0,0,0,0,0
$GC,992,-0.51,-150.9,174.6,-14.6,30,996,0.00,2.03,0.00,0.000,4,0.000,0.047,2611,3857,3948,0,0,0,0,0,0
$GC,1063,-0.51,-150.9,184.2,-13.2,32,1068,0.12,1.95,0.00,0.000,6,0.153,0.034,2642,2491,3948,0,0,0,0,0,0
$GC,1396,-0.51,-150.9,222.5,-11.0,40,1400,0.00,2.28,0.00,0.000,4,0.000,0.037,2643,911,3949,0,0,0,0,0,0
$GC,1411,-0.51,-150.9,224.4,-10.6,40,1415,0.00,2.30,0.00,0.000,6,0.000,0.037,2632,2511,3951,0,0,0,0,0,0
$GC,1766,-0.51,-150.9,262.2,-10.5,46,1770,0.00,2.33,0.00,0.000,4,0.000,0.037,2632,909,3952,0,0,0,0,0,0
$GC,1850,-0.51,-150.9,271.2,-10.7,47,1854,0.00,2.30,0.00,0.000,6,0.000,0.042,2621,2493,3949,0,0,0,0,0,0
$GC,2193,-0.51,-150.9,308.0,-10.5,53,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2497,3948,0,0,0,0,0,0
$GC,2496,-0.51,-150.9,337.5,-9.7,58,2500,0.00,2.33,0.00,0.000,4,0.000,0.043,2621,914,3946,0,0,0,0,0,0
$GC,2512,-0.51,-150.9,339.3,-9.4,58,2517,0.12,2.35,0.00,0.000,6,0.170,0.044,2643,2505,3946,0,0,0,0,0,0
$GC,2856,-0.51,-150.9,371.3,-9.2,64,2857,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2505,3946,0,0,0,0,0,0
$GC,3159,-0.51,-150.9,397.3,-8.5,69,3163,0.00,2.38,0.00,0.000,4,0.000,0.044,2648,918,3941,0,0,0,0,0,0
$GC,3214,-0.51,-150.9,402.4,-9.1,69,3221,0.00,2.38,0.00,0.000,6,0.000,0.050,2634,2508,3941,0,0,0,0,0,0
$GC,3524,-0.51,-150.9,427.3,-7.9,75,3528,0.00,2.38,0.00,0.000,4,0.000,0.045,2633,923,3936,0,0,0,0,0,0
$GC,3563,-0.51,-150.9,431.2,-10.1,75,3567,0.00,2.38,0.00,0.000,6,0.000,0.051,2622,2496,3938,0,0,0,0,0,0
$GC,3884,-0.51,-150.9,462.6,-9.7,81,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2497,3935,0,0,0,0,0,0
$GC,4187,-0.51,-150.9,487.7,-8.2,86,4191,0.00,2.35,0.00,0.000,4,0.000,0.046,2622,921,3931,0,0,0,0,0,0
$GC,4208,-0.51,-150.9,489.9,-9.4,86,4213,0.12,2.38,0.00,0.000,6,0.164,0.050,2646,2503,3930,0,0,0,0,0,0
$GC,4546,-0.51,-150.9,515.0,-7.6,92,4550,0.00,2.35,0.00,0.000,4,0.000,0.045,2647,928,3929,0,0,0,0,0,0
$GC,4595,-0.51,-150.9,518.9,-7.3,92,4600,0.00,2.35,0.00,0.000,6,0.000,0.052,2636,2501,3929,0,0,0,0,0,0
$GC,4905,-0.51,-150.9,543.9,-8.3,97,4910,0.00,2.35,0.00,0.000,4,0.000,0.047,2637,933,3926,0,0,0,0,0,0
$GC,4961,-0.51,-150.9,548.9,-8.6,97,4968,0.00,2.38,0.00,0.000,6,0.000,0.052,2625,2498,3926,0,0,0,0,0,0
$GC,5271,-0.51,-150.9,571.3,-7.1,103,5275,0.00,2.38,0.00,0.000,4,0.000,0.047,2624,924,3923,0,0,0,0,0,0
$GC,5287,-0.51,-150.9,572.6,-6.6,103,5292,0.10,2.38,0.00,0.000,6,0.175,0.051,2636,2510,3925,0,0,0,0,0,0
$GC,5631,-0.51,-150.9,589.9,-4.8,109,5635,0.00,2.38,0.00,0.000,4,0.000,0.047,2640,931,3922,0,0,0,0,0,0
$GC,5654,-0.51,-150.9,591.2,-5.3,109,5658,0.00,2.40,0.00,0.000,6,0.000,0.053,2630,2511,3922,0,0,0,0,0,0
$GC,5992,-0.51,-150.9,612.8,-6.6,115,5996,0.00,2.40,0.00,0.000,4,0.000,0.049,2630,924,3920,0,0,0,0,0,0
$GC,6019,-0.51,-150.9,615.1,-8.1,115,6023,0.00,2.38,0.00,0.000,6,0.000,0.054,2618,2500,3920,0,0,0,0,0,0
$GC,6351,-0.51,-150.9,643.0,-8.6,121,6352,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2501,3918,0,0,0,0,0,0
$GC,6654,-0.51,-150.9,668.7,-8.3,126,6658,0.00,2.40,0.00,0.000,4,0.000,0.048,2618,922,3916,0,0,0,0,0,0
$GC,6715,-0.51,-150.9,673.7,-8.4,126,6723,0.12,2.42,0.00,0.000,6,0.164,0.056,2642,2512,3915,0,0,0,0,0,0
$GC,7025,-0.51,-150.9,691.6,-5.6,132,7029,0.00,2.40,0.00,0.000,4,0.000,0.049,2642,933,3914,0,0,0,0,0,0
$GC,7052,-0.51,-150.9,693.4,-6.4,132,7056,0.00,2.40,0.00,0.000,6,0.000,0.057,2632,2502,3912,0,0,0,0,0,0
$GC,7384,-0.51,-150.9,714.9,-6.6,138,7388,0.00,2.40,0.00,0.000,4,0.000,0.050,2632,923,3911,0,0,0,0,0,0
$GC,7422,-0.51,-150.9,717.9,-7.6,138,7426,0.00,2.40,0.00,0.000,6,0.000,0.057,2620,2504,3912,0,0,0,0,0,0
$GC,7743,-0.51,-150.9,739.8,-6.7,144,7748,0.00,2.38,0.00,0.000,4,0.000,0.050,2620,927,3911,0,0,0,0,0,0
$GC,7799,-0.51,-150.9,744.0,-7.4,144,7807,0.12,2.40,0.00,0.000,6,0.164,0.056,2644,2507,3912,0,0,0,0,0,0
$GC,8109,-0.51,-150.9,761.1,-5.4,150,8113,0.00,2.40,0.00,0.000,4,0.000,0.051,2644,926,3909,0,0,0,0,0,0
$GC,8147,-0.51,-150.9,763.7,-6.6,150,8151,0.00,2.42,0.00,0.000,6,0.000,0.060,2635,2503,3910,0,0,0,0,0,0
$GC,8469,-0.51,-150.9,786.0,-7.0,156,8470,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2501,3907,0,0,0,0,0,0
$GC,8772,-0.51,-150.9,808.6,-7.5,161,8776,0.00,2.38,0.00,0.000,4,0.000,0.048,2634,927,3907,0,0,0,0,0,0
$GC,8805,-0.51,-150.9,811.3,-8.3,161,8809,0.00,2.38,0.00,0.000,6,0.000,0.058,2623,2492,3906,0,0,0,0,0,0
$GC,9131,-0.51,-150.9,838.0,-8.3,167,9135,0.00,2.38,0.00,0.000,4,0.000,0.050,2623,925,3907,0,0,0,0,0,0
$GC,9154,-0.51,-150.9,840.0,-8.6,167,9158,0.00,2.42,0.00,0.000,6,0.000,0.057,2611,2511,3905,0,0,0,0,0,0
$GC,9491,-0.51,-150.9,867.7,-8.1,173,9496,0.12,2.42,0.00,0.000,4,0.159,0.051,2648,928,3904,0,0,0,0,0,0
$GC,9513,-0.51,-150.9,869.4,-7.4,173,9517,0.00,2.40,0.00,0.000,6,0.000,0.058,2639,2502,3904,0,0,0,0,0,0
$GC,9851,-0.51,-150.9,889.5,-5.9,179,9855,0.00,2.38,0.00,0.000,4,0.000,0.049,2638,935,3904,0,0,0,0,0,0
$GC,9900,-0.51,-150.9,892.8,-6.3,179,9905,0.00,2.42,0.00,0.000,6,0.000,0.059,2627,2507,3903,0,0,0,0,0,0
$GC,10211,-0.51,-150.9,912.1,-6.2,184,10215,0.00,2.40,0.00,0.000,4,0.000,0.048,2627,929,3903,0,0,0,0,0,0
$GC,10250,-0.51,-150.9,914.9,-7.3,184,10255,0.00,2.42,0.00,0.000,6,0.000,0.059,2615,2499,3902,0,0,0,0,0,0
$GC,10572,-0.51,-150.9,938.6,-7.5,190,10576,0.00,2.38,0.00,0.000,4,0.000,0.050,2615,932,3902,0,0,0,0,0,0
$GC,10588,-0.51,-150.9,940.0,-7.6,190,10593,0.12,2.40,0.00,0.000,6,0.164,0.057,2639,2511,3902,0,0,0,0,0,0
$GC,10931,-0.51,-150.9,961.7,-6.2,196,10936,0.00,2.40,0.00,0.000,4,0.000,0.050,2639,931,3901,0,0,0,0,0,0
$GC,10994,-0.51,-150.9,965.6,-6.5,197,10999,0.00,2.42,0.00,0.000,6,0.000,0.059,2629,2508,3900,0,0,0,0,0,0
$GC,11361,-0.51,-150.9,986.1,-5.4,203,11365,0.00,2.40,0.00,0.000,4,0.000,0.050,2629,922,3900,0,0,0,0,0,0
$GC,11376,-0.51,-150.9,987.0,-5.2,203,11382,0.10,2.42,0.00,0.000,6,0.174,0.058,2644,2503,3900,0,0,0,0,0,0
$STATE,11475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11475,begin apogee
$GC,11481,-0.13,0.0,991.3,4.1,205,11543,0.32,0.00,54.03,1.524,6,0.112,0.000,2762,2298,3639,0,0,0,0,0,0
$STATE,11550,end apogee,CONTROL_FINISHED_OK
$STATE,11550,begin climb
$GC,11553,0.51,150.9,991.7,0.0,206,11692,0.57,2.65,131.32,1.523,4,0.058,0.058,2986,3844,3025,0,0,0,0,0,0
$GC,11714,0.51,150.9,975.9,17.0,208,11719,0.00,2.50,0.00,0.000,6,0.000,0.048,2997,2316,3027,0,0,0,0,0,0
$GC,12024,0.51,150.9,922.8,17.0,213,12028,0.00,2.45,0.00,0.000,4,0.000,0.050,3010,708,3023,0,0,0,0,0,0
$GC,12046,0.51,150.9,918.8,17.6,213,12051,0.12,2.40,0.00,0.000,6,0.174,0.043,2977,2306,3023,0,0,0,0,0,0
$GC,12384,0.51,150.9,867.9,15.2,219,12388,0.00,2.38,0.00,0.000,4,0.000,0.055,2981,3842,3020,0,0,0,0,0,0
$GC,12399,0.51,150.9,865.1,15.2,219,12404,0.00,2.40,0.00,0.000,6,0.000,0.042,2988,2292,3022,0,0,0,0,0,0
$GC,12749,0.51,150.9,810.6,15.4,225,12753,0.00,2.35,0.00,0.000,4,0.000,0.047,3000,708,3021,0,0,0,0,0,0
$GC,12775,0.51,150.9,806.0,15.2,225,12779,0.00,2.38,0.00,0.000,6,0.000,0.044,3000,2305,3022,0,0,0,0,0,0
$GC,13114,0.51,150.9,750.0,16.6,231,13118,0.00,2.35,0.00,0.000,4,0.000,0.056,3005,3842,3020,0,0,0,0,0,0
$GC,13163,0.51,150.9,740.5,19.0,231,13167,0.12,2.35,0.00,0.000,6,0.189,0.046,2981,2299,3021,0,0,0,0,0,0
$GC,13478,0.51,150.9,693.6,14.7,237,13482,0.00,2.38,0.00,0.000,4,0.000,0.050,2991,707,3020,0,0,0,0,0,0
$GC,13505,0.51,150.9,689.6,14.2,237,13509,0.00,2.40,0.00,0.000,6,0.000,0.047,2997,2302,3020,0,0,0,0,0,0
$GC,13838,0.51,150.9,644.6,13.4,243,13842,0.00,2.35,0.00,0.000,4,0.000,0.058,2991,3846,3023,0,0,0,0,0,0
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$STATE,19702,end climb,SURFACE_DEPTH_REACHED
$STATE,19702,begin surface coast
$FINISH,0.8,1.023523
$STATE,19735,end surface coast,CONTROL_FINISHED_OK
$STATE,19735,begin surface
$SM_CCo,19812,0.00,0.000,0,0,1835,442.76
$SM_GC,1.69,7.18,0.00,0.00,0.030,0.000,0.000,128,2537,1835,-8.26,1.02,442.76
$IRIDIUM_FIX,1922.94,-15603.64,221213,181819
$TT8_MAMPS,0.03745
$HUMID,58.42
$INTERNAL_PRESSURE,9.25695
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,23.4,20.319
$10V_AH,10.2,8.945
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.400,209.250,419.000,0.000,0.000,26.494,31.063,149.152,0.000,0.000,16.683,1329.921,16195.840,558.575,1793.387,267.103,33.374,1424.331,0.000,1536.766,0.000,0.541,0.000
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$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,256.058,346.070,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,143032
$DATA_FILE_SIZE,20341,373
$CAP_FILE_SIZE,151377,0
$CFSIZE,260165632,249192448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231213,055423,1927.451,-15559.958,36,1.1,36,9.7