version: 66.08
glider: 500
mission: 9
dive: 81
start: 12 23 113 6 5 2
data:
$ID,500
$MISSION,9
$DIVE,81
$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,-165829.08
$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,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,49
$R_STBD_OVSHOOT,47
$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,142.0
$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
$GPS1,231213,055423,1927.451,-15559.958,36,1.1,36,9.7
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-81.7
$GPS2,231213,060400,1927.354,-15559.913,9,1.9,14,9.7
$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,108869.6,-137.7,100.4,-113953.6,136.1
$KALMAN_Y,167587.8,-261.0,114.4,-244015.8,954.6
$MHEAD_RNG_PITCHd_Wd,146.5,16235,-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,-73.95,0.000,2,0.000,0.000,129,2536,3803,0,0,0,0,0,0
$GC,117,-0.51,-150.9,3.6,-6.5,2,132,9.62,0.00,-2.97,0.000,6,0.226,0.000,2636,2538,3944,0,0,0,0,0,0
$GC,442,-0.51,-150.9,81.5,-22.8,12,446,0.00,2.40,0.00,0.000,4,0.000,0.041,2637,913,3944,0,0,0,0,0,0
$GC,480,-0.51,-150.9,90.9,-23.0,13,484,0.00,2.30,0.00,0.000,6,0.000,0.040,2627,2489,3946,0,0,0,0,0,0
$GC,812,-0.51,-150.9,148.2,-15.1,24,817,0.00,2.30,0.00,0.000,4,0.000,0.037,2627,910,3942,0,0,0,0,0,0
$GC,834,-0.51,-150.9,151.6,-13.1,24,843,0.00,2.35,0.00,0.000,6,0.000,0.037,2615,2509,3944,0,0,0,0,0,0
$GC,1149,-0.51,-150.9,198.4,-15.4,35,1154,0.10,2.00,0.00,0.000,4,0.182,0.050,2632,3856,3945,0,0,0,0,0,0
$GC,1198,-0.51,-150.9,205.4,-13.2,36,1202,0.00,2.00,0.00,0.000,6,0.000,0.037,2632,2506,3943,0,0,0,0,0,0
$GC,1514,-0.51,-150.9,245.4,-12.6,42,1517,0.00,2.03,0.00,0.000,4,0.000,0.054,2622,3854,3946,0,0,0,0,0,0
$GC,1563,-0.51,-150.9,252.1,-13.4,42,1567,0.00,2.00,0.00,0.000,6,0.000,0.037,2622,2508,3946,0,0,0,0,0,0
$GC,1885,-0.51,-150.9,290.6,-11.5,48,1886,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2501,3946,0,0,0,0,0,0
$GC,2188,-0.51,-150.9,322.4,-10.7,53,2192,0.00,2.33,0.00,0.000,4,0.000,0.039,2621,902,3945,0,0,0,0,0,0
$GC,2203,-0.51,-150.9,324.4,-11.3,53,2208,0.12,2.35,0.00,0.000,6,0.166,0.041,2644,2497,3945,0,0,0,0,0,0
$GC,2547,-0.51,-150.9,359.1,-10.1,59,2551,0.00,2.35,0.00,0.000,4,0.000,0.042,2645,905,3942,0,0,0,0,0,0
$GC,2648,-0.51,-150.9,369.6,-10.2,60,2652,0.00,2.38,0.00,0.000,6,0.000,0.049,2634,2520,3942,0,0,0,0,0,0
$GC,2974,-0.51,-150.9,402.4,-9.9,66,2978,0.00,2.40,0.00,0.000,4,0.000,0.043,2634,908,3939,0,0,0,0,0,0
$GC,3006,-0.51,-150.9,405.7,-10.1,66,3011,0.00,2.38,0.00,0.000,6,0.000,0.049,2623,2494,3939,0,0,0,0,0,0
$GC,3333,-0.51,-150.9,433.4,-8.2,72,3334,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2494,3935,0,0,0,0,0,0
$GC,3636,-0.51,-150.9,457.4,-8.1,77,3637,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2495,3933,0,0,0,0,0,0
$GC,3940,-0.51,-150.9,484.6,-9.0,82,3944,0.00,2.38,0.00,0.000,4,0.000,0.044,2623,912,3930,0,0,0,0,0,0
$GC,3955,-0.51,-150.9,486.3,-9.1,82,3960,0.12,2.40,0.00,0.000,6,0.165,0.048,2646,2517,3930,0,0,0,0,0,0
$GC,4299,-0.51,-150.9,510.0,-6.7,88,4303,0.00,2.42,0.00,0.000,4,0.000,0.046,2646,908,3927,0,0,0,0,0,0
$GC,4332,-0.51,-150.9,512.4,-7.8,88,4336,0.00,2.40,0.00,0.000,6,0.000,0.052,2636,2502,3927,0,0,0,0,0,0
$GC,4658,-0.51,-150.9,539.4,-8.6,94,4662,0.00,2.40,0.00,0.000,4,0.000,0.046,2636,908,3922,0,0,0,0,0,0
$GC,4696,-0.51,-150.9,543.4,-10.2,94,4700,0.00,2.40,0.00,0.000,6,0.000,0.053,2624,2497,3921,0,0,0,0,0,0
$GC,5023,-0.51,-150.9,578.8,-10.9,100,5027,0.00,2.40,0.00,0.000,4,0.000,0.046,2626,905,3922,0,0,0,0,0,0
$GC,5043,-0.51,-150.9,581.4,-11.4,100,5048,0.10,2.42,0.00,0.000,6,0.178,0.053,2639,2502,3922,0,0,0,0,0,0
$GC,5387,-0.51,-150.9,611.6,-8.6,106,5391,0.00,2.40,0.00,0.000,4,0.000,0.046,2640,912,3919,0,0,0,0,0,0
$GC,5425,-0.51,-150.9,615.1,-9.2,106,5429,0.00,2.40,0.00,0.000,6,0.000,0.055,2629,2507,3919,0,0,0,0,0,0
$GC,5747,-0.51,-150.9,639.6,-7.4,112,5751,0.00,2.42,0.00,0.000,4,0.000,0.047,2629,907,3917,0,0,0,0,0,0
$GC,5779,-0.51,-150.9,642.1,-7.4,112,5783,0.00,2.42,0.00,0.000,6,0.000,0.056,2617,2504,3917,0,0,0,0,0,0
$GC,6108,-0.51,-150.9,664.9,-6.9,118,6112,0.00,2.40,0.00,0.000,4,0.000,0.048,2618,916,3917,0,0,0,0,0,0
$GC,6174,-0.51,-150.9,669.4,-6.2,119,6179,0.12,2.42,0.00,0.000,6,0.163,0.057,2641,2504,3914,0,0,0,0,0,0
$GC,6534,-0.51,-150.9,689.3,-5.8,125,6539,0.00,2.42,0.00,0.000,4,0.000,0.049,2641,903,3912,0,0,0,0,0,0
$GC,6585,-0.51,-150.9,693.1,-7.6,125,6589,0.00,2.40,0.00,0.000,6,0.000,0.047,2631,2510,3912,0,0,0,0,0,0
$GC,6895,-0.51,-150.9,718.2,-8.3,130,6899,0.00,2.40,0.00,0.000,4,0.000,0.043,2631,908,3911,0,0,0,0,0,0
$GC,6935,-0.51,-150.9,721.7,-8.9,130,6939,0.00,2.38,0.00,0.000,6,0.000,0.047,2620,2503,3911,0,0,0,0,0,0
$GC,7256,-0.51,-150.9,748.7,-8.2,136,7260,0.00,2.38,0.00,0.000,4,0.000,0.043,2619,915,3908,0,0,0,0,0,0
$GC,7283,-0.51,-150.9,751.3,-8.7,136,7288,0.12,2.38,0.00,0.000,6,0.161,0.050,2643,2501,3908,0,0,0,0,0,0
$GC,7621,-0.51,-150.9,773.9,-6.7,142,7625,0.00,2.38,0.00,0.000,4,0.000,0.044,2642,907,3908,0,0,0,0,0,0
$GC,7659,-0.51,-150.9,776.7,-7.5,142,7663,0.00,2.40,0.00,0.000,6,0.000,0.057,2633,2491,3907,0,0,0,0,0,0
$GC,7980,-0.51,-150.9,798.2,-6.7,148,7981,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2488,3905,0,0,0,0,0,0
$GC,8283,-0.51,-150.9,816.6,-6.0,153,8287,0.00,2.38,0.00,0.000,4,0.000,0.048,2632,906,3902,0,0,0,0,0,0
$GC,8345,-0.51,-150.9,820.3,-6.0,154,8350,0.00,2.45,0.00,0.000,6,0.000,0.057,2622,2509,3903,0,0,0,0,0,0
$GC,8712,-0.51,-150.9,841.1,-5.6,160,8716,0.00,2.40,0.00,0.000,4,0.000,0.048,2622,913,3900,0,0,0,0,0,0
$GC,8756,-0.51,-150.9,843.9,-6.3,160,8761,0.12,2.40,0.00,0.000,6,0.163,0.055,2644,2500,3900,0,0,0,0,0,0
$GC,9071,-0.51,-150.9,857.9,-4.4,166,9075,0.00,2.38,0.00,0.000,4,0.000,0.050,2645,918,3902,0,0,0,0,0,0
$GC,9127,-0.51,-150.9,860.6,-4.6,166,9134,0.00,2.40,0.00,0.000,6,0.000,0.055,2635,2504,3901,0,0,0,0,0,0
$GC,9437,-0.51,-150.9,874.7,-4.6,172,9441,0.00,2.40,0.00,0.000,4,0.000,0.050,2635,916,3901,0,0,0,0,0,0
$GC,9481,-0.51,-150.9,876.9,-4.8,172,9485,0.00,2.42,0.00,0.000,6,0.000,0.055,2624,2501,3900,0,0,0,0,0,0
$GC,9796,-0.51,-150.9,892.6,-5.0,178,9800,0.00,2.40,0.00,0.000,4,0.000,0.051,2624,914,3900,0,0,0,0,0,0
$GC,9819,-0.51,-150.9,893.9,-5.8,178,9824,0.10,2.42,0.00,0.000,6,0.177,0.054,2639,2514,3900,0,0,0,0,0,0
$GC,10157,-0.51,-150.9,909.2,-4.4,184,10161,0.00,2.42,0.00,0.000,4,0.000,0.048,2639,909,3899,0,0,0,0,0,0
$GC,10200,-0.51,-150.9,911.6,-5.8,184,10205,0.00,2.42,0.00,0.000,6,0.000,0.056,2629,2501,3899,0,0,0,0,0,0
$GC,10516,-0.51,-150.9,929.5,-5.8,190,10520,0.00,2.40,0.00,0.000,4,0.000,0.050,2628,916,3898,0,0,0,0,0,0
$GC,10538,-0.51,-150.9,931.0,-6.1,190,10542,0.00,2.40,0.00,0.000,6,0.000,0.055,2618,2504,3898,0,0,0,0,0,0
$GC,10875,-0.51,-150.9,954.2,-7.0,196,10876,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2503,3897,0,0,0,0,0,0
$GC,11178,-0.51,-150.9,975.5,-7.0,201,11182,0.00,2.40,0.00,0.000,4,0.000,0.050,2618,917,3897,0,0,0,0,0,0
$GC,11200,-0.51,-150.9,977.2,-7.6,201,11205,0.12,2.40,0.00,0.000,6,0.163,0.054,2641,2505,3895,0,0,0,0,0,0
$STATE,11475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11475,begin apogee
$GC,11481,-0.13,0.0,991.6,5.1,206,11543,0.35,0.00,53.40,1.532,6,0.112,0.000,2767,2293,3641,0,0,0,0,0,0
$STATE,11550,end apogee,CONTROL_FINISHED_OK
$STATE,11550,begin climb
$GC,11552,0.51,150.9,991.9,0.0,207,11690,0.52,2.60,130.18,1.534,4,0.056,0.050,2982,3845,3026,0,0,0,0,0,0
$GC,11718,0.51,150.9,975.8,17.9,209,11722,0.00,2.47,0.00,0.000,6,0.000,0.043,2994,2310,3027,0,0,0,0,0,0
$GC,12033,0.51,150.9,921.3,17.2,215,12037,0.00,2.45,0.00,0.000,4,0.000,0.052,3006,708,3024,0,0,0,0,0,0
$GC,12048,0.51,150.9,918.5,16.8,215,12053,0.10,2.42,0.00,0.000,6,0.181,0.041,2980,2315,3024,0,0,0,0,0,0
$GC,12391,0.51,150.9,863.5,16.2,221,12392,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2312,3023,0,0,0,0,0,0
$GC,12694,0.51,150.9,813.9,16.4,226,12698,0.00,2.33,0.00,0.000,4,0.000,0.053,2979,3843,3022,0,0,0,0,0,0
$GC,12715,0.51,150.9,810.1,16.3,226,12719,0.00,2.35,0.00,0.000,6,0.000,0.042,2990,2290,3022,0,0,0,0,0,0
$GC,13059,0.51,150.9,758.5,14.6,232,13063,0.00,2.35,0.00,0.000,4,0.000,0.047,3002,710,3022,0,0,0,0,0,0
$GC,13086,0.51,150.9,754.3,14.2,232,13090,0.00,2.38,0.00,0.000,6,0.000,0.044,3002,2295,3022,0,0,0,0,0,0
$GC,13419,0.51,150.9,701.8,16.1,238,13423,0.00,2.35,0.00,0.000,4,0.000,0.055,3003,3842,3020,0,0,0,0,0,0
$GC,13513,0.51,150.9,685.0,16.5,239,13518,0.15,2.35,0.00,0.000,6,0.175,0.045,2974,2293,3024,0,0,0,0,0,0
$GC,13850,0.51,150.9,643.1,12.0,245,13854,0.00,2.38,0.00,0.000,4,0.000,0.048,2985,702,3020,0,0,0,0,0,0
$GC,13900,0.51,150.9,637.0,11.7,245,13904,0.00,2.38,0.00,0.000,6,0.000,0.044,2985,2305,3021,0,0,0,0,0,0
$GC,14216,0.51,150.9,594.5,14.0,251,14220,0.00,2.35,0.00,0.000,4,0.000,0.057,2983,3850,3020,0,0,0,0,0,0
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$STATE,19534,end climb,SURFACE_DEPTH_REACHED
$STATE,19534,begin surface coast
$FINISH,0.9,1.023184
$STATE,19568,end surface coast,CONTROL_FINISHED_OK
$STATE,19568,begin surface
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$HUMID,57.95
$INTERNAL_PRESSURE,9.24718
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,23.4,20.468
$10V_AH,10.3,9.011
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.300,209.850,400.075,0.000,0.000,95.038,77.286,158.012,0.250,0.000,17.245,1323.649,16191.218,482.348,1959.972,271.881,33.368,1395.578,0.000,1571.599,0.000,0.542,0.000
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$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,143044
$DATA_FILE_SIZE,16995,371
$CAP_FILE_SIZE,153751,0
$CFSIZE,260165632,249131008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231213,113335,1925.029,-15558.812,30,0.8,30,9.7