version: 66.08
glider: 500
mission: 9
dive: 82
start: 12 23 113 11 39 51
data:
$ID,500
$MISSION,9
$DIVE,82
$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,-165830.33
$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,2812
$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,2460
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,3680
$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,2
$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,143.0
$AD_THRESHOLD,2015.0
$AD_INTERVAL,6035.0
$AD_DURATION,1545.0
$DB_RECORDABOVE,10.0
$DB_PROFILE,1.0
$DB_XMITPROFILE,0.0
$DB_UPLOADMAX,0.0
$DB_STARTS,0.0
$GPS1,231213,113335,1925.029,-15558.812,30,0.8,30,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-83.4
$GPS2,231213,113855,1924.993,-15558.804,10,0.9,10,9.7
$SPEED_LIMITS,0.142,0.263
$TGT_NAME,A3
$TGT_LATLONG,1919.800,-15555.200
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.077,-0.251
$KALMAN_X,108935.3,-131.9,-155.8,-111837.3,670.4
$KALMAN_Y,168212.2,-60.4,-276.1,-248820.3,1643.5
$MHEAD_RNG_PITCHd_Wd,153.4,11495,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-0.51,-150.9,0.0,0.0,0,92,0.00,0.00,-68.35,0.000,2,0.000,0.000,120,2527,3714,0,0,0,0,0,0
$GC,95,-0.51,-150.9,3.2,-5.3,2,115,9.57,2.47,-5.07,0.000,4,0.223,0.046,2642,853,3945,0,0,0,0,0,0
$GC,272,-0.51,-150.9,44.7,-20.9,6,276,0.00,2.35,0.00,0.000,6,0.000,0.042,2632,2452,3945,0,0,0,0,0,0
$GC,593,-0.51,-150.9,115.3,-21.3,17,594,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2452,3945,0,0,0,0,0,0
$GC,900,-0.51,-150.9,162.8,-14.9,27,904,0.00,2.35,0.00,0.000,4,0.000,0.039,2631,862,3946,0,0,0,0,0,0
$GC,921,-0.51,-150.9,166.5,-14.2,27,930,0.00,2.38,0.00,0.000,6,0.000,0.040,2620,2454,3946,0,0,0,0,0,0
$GC,1234,-0.51,-150.9,212.4,-14.8,37,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2454,3947,0,0,0,0,0,0
$GC,1537,-0.51,-150.9,249.5,-12.2,42,1541,0.00,2.12,0.00,0.000,4,0.000,0.057,2609,3849,3947,0,0,0,0,0,0
$GC,1576,-0.51,-150.9,254.3,-12.3,42,1581,0.12,2.08,0.00,0.000,6,0.145,0.037,2646,2450,3948,0,0,0,0,0,0
$GC,1897,-0.51,-150.9,284.6,-9.1,48,1901,0.00,2.33,0.00,0.000,4,0.000,0.042,2647,867,3948,0,0,0,0,0,0
$GC,1918,-0.51,-150.9,286.9,-9.6,48,1922,0.00,2.35,0.00,0.000,6,0.000,0.046,2636,2462,3947,0,0,0,0,0,0
$GC,2256,-0.51,-150.9,321.7,-10.4,54,2260,0.00,2.33,0.00,0.000,4,0.000,0.041,2637,874,3946,0,0,0,0,0,0
$GC,2277,-0.51,-150.9,323.8,-9.1,54,2281,0.00,2.35,0.00,0.000,6,0.000,0.049,2625,2467,3946,0,0,0,0,0,0
$GC,2621,-0.51,-150.9,355.4,-9.8,60,2623,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2467,3944,0,0,0,0,0,0
$GC,2924,-0.51,-150.9,384.0,-9.3,65,2928,0.00,2.05,0.00,0.000,4,0.000,0.050,2614,3849,3942,0,0,0,0,0,0
$GC,2957,-0.51,-150.9,387.3,-9.9,65,2961,0.05,2.08,0.00,0.000,6,0.125,0.038,2644,2472,3942,0,0,0,0,0,0
$GC,3289,-0.51,-150.9,411.4,-7.3,71,3293,0.00,2.38,0.00,0.000,4,0.000,0.041,2645,865,3938,0,0,0,0,0,0
$GC,3322,-0.51,-150.9,414.4,-8.9,71,3326,0.00,2.35,0.00,0.000,6,0.000,0.042,2635,2473,3938,0,0,0,0,0,0
$GC,3648,-0.51,-150.9,444.7,-9.4,77,3649,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2474,3935,0,0,0,0,0,0
$GC,3951,-0.51,-150.9,467.4,-7.3,82,3952,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2474,3932,0,0,0,0,0,0
$GC,4254,-0.51,-150.9,490.8,-7.9,87,4258,0.00,2.40,0.00,0.000,4,0.000,0.040,2635,859,3930,0,0,0,0,0,0
$GC,4287,-0.51,-150.9,494.4,-10.6,87,4291,0.00,2.38,0.00,0.000,6,0.000,0.047,2623,2469,3930,0,0,0,0,0,0
$GC,4625,-0.51,-150.9,529.7,-10.5,93,4629,0.00,2.40,0.00,0.000,4,0.000,0.041,2623,859,3928,0,0,0,0,0,0
$GC,4641,-0.51,-150.9,531.6,-10.3,93,4646,0.12,2.38,0.00,0.000,6,0.168,0.046,2646,2465,3927,0,0,0,0,0,0
$GC,4985,-0.51,-150.9,558.7,-7.6,99,4989,0.00,2.35,0.00,0.000,4,0.000,0.041,2646,866,3924,0,0,0,0,0,0
$GC,5025,-0.51,-150.9,561.8,-7.3,99,5029,0.00,2.38,0.00,0.000,6,0.000,0.049,2636,2463,3924,0,0,0,0,0,0
$GC,5345,-0.51,-150.9,586.9,-7.9,105,5350,0.00,2.35,0.00,0.000,4,0.000,0.041,2636,861,3922,0,0,0,0,0,0
$GC,5362,-0.51,-150.9,588.5,-8.2,105,5366,0.00,2.38,0.00,0.000,6,0.000,0.046,2624,2471,3923,0,0,0,0,0,0
$GC,5710,-0.51,-150.9,618.0,-8.4,111,5715,0.00,2.40,0.00,0.000,4,0.000,0.043,2624,868,3920,0,0,0,0,0,0
$GC,5744,-0.51,-150.9,620.9,-8.8,111,5749,0.12,2.38,0.00,0.000,6,0.164,0.050,2648,2462,3920,0,0,0,0,0,0
$GC,6070,-0.51,-150.9,640.7,-5.9,117,6074,0.00,2.40,0.00,0.000,4,0.000,0.042,2648,862,3918,0,0,0,0,0,0
$GC,6086,-0.51,-150.9,641.9,-5.8,117,6090,0.00,2.38,0.00,0.000,6,0.000,0.049,2638,2462,3918,0,0,0,0,0,0
$GC,6436,-0.51,-150.9,665.0,-6.8,123,6437,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2462,3916,0,0,0,0,0,0
$GC,6739,-0.51,-150.9,688.2,-7.8,128,6743,0.00,2.40,0.00,0.000,4,0.000,0.042,2638,860,3914,0,0,0,0,0,0
$GC,6766,-0.51,-150.9,690.7,-8.8,128,6770,0.00,2.40,0.00,0.000,6,0.000,0.050,2626,2468,3914,0,0,0,0,0,0
$GC,7099,-0.51,-150.9,719.4,-8.7,134,7104,0.00,2.40,0.00,0.000,4,0.000,0.044,2626,869,3912,0,0,0,0,0,0
$GC,7116,-0.51,-150.9,721.1,-8.8,134,7121,0.10,2.38,0.00,0.000,6,0.177,0.050,2641,2460,3912,0,0,0,0,0,0
$GC,7459,-0.51,-150.9,747.5,-7.5,140,7460,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2461,3911,0,0,0,0,0,0
$GC,7762,-0.51,-150.9,766.9,-6.3,145,7766,0.00,2.35,0.00,0.000,4,0.000,0.043,2642,862,3909,0,0,0,0,0,0
$GC,7789,-0.51,-150.9,768.6,-6.6,145,7793,0.00,2.38,0.00,0.000,6,0.000,0.044,2631,2468,3909,0,0,0,0,0,0
$GC,8122,-0.51,-150.9,785.6,-4.9,151,8126,0.00,2.38,0.00,0.000,4,0.000,0.042,2631,869,3908,0,0,0,0,0,0
$GC,8160,-0.51,-150.9,787.5,-5.5,151,8164,0.00,2.38,0.00,0.000,6,0.000,0.049,2620,2465,3907,0,0,0,0,0,0
$GC,8481,-0.51,-150.9,803.9,-5.2,157,8482,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2466,3906,0,0,0,0,0,0
$GC,8784,-0.51,-150.9,823.1,-6.5,162,8788,0.00,2.42,0.00,0.000,4,0.000,0.042,2620,862,3905,0,0,0,0,0,0
$GC,8805,-0.51,-150.9,824.7,-6.9,162,8810,0.12,2.40,0.00,0.000,6,0.162,0.048,2643,2467,3904,0,0,0,0,0,0
$GC,9143,-0.51,-150.9,844.1,-5.8,168,9148,0.00,2.40,0.00,0.000,4,0.000,0.044,2643,862,3903,0,0,0,0,0,0
$GC,9171,-0.51,-150.9,845.9,-6.8,168,9175,0.00,2.40,0.00,0.000,6,0.000,0.050,2633,2471,3903,0,0,0,0,0,0
$GC,9503,-0.51,-150.9,868.5,-6.9,174,9507,0.00,2.42,0.00,0.000,4,0.000,0.044,2633,863,3903,0,0,0,0,0,0
$GC,9541,-0.51,-150.9,871.5,-7.8,174,9545,0.00,2.40,0.00,0.000,6,0.000,0.050,2622,2461,3902,0,0,0,0,0,0
$GC,9863,-0.51,-150.9,893.9,-7.0,180,9867,0.00,2.38,0.00,0.000,4,0.000,0.044,2622,868,3902,0,0,0,0,0,0
$GC,9879,-0.51,-150.9,895.4,-7.2,180,9884,0.12,2.40,0.00,0.000,6,0.163,0.050,2645,2458,3901,0,0,0,0,0,0
$GC,10223,-0.51,-150.9,915.9,-5.9,186,10227,0.00,2.38,0.00,0.000,4,0.000,0.045,2646,868,3901,0,0,0,0,0,0
$GC,10244,-0.51,-150.9,917.3,-5.7,186,10249,0.00,2.42,0.00,0.000,6,0.000,0.052,2635,2462,3901,0,0,0,0,0,0
$GC,10583,-0.51,-150.9,938.9,-6.4,192,10584,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2462,3900,0,0,0,0,0,0
$GC,10886,-0.51,-150.9,958.9,-6.7,197,10887,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2462,3900,0,0,0,0,0,0
$GC,11189,-0.51,-150.9,980.9,-7.3,202,11193,0.00,2.42,0.00,0.000,4,0.000,0.044,2635,862,3899,0,0,0,0,0,0
$GC,11210,-0.51,-150.9,982.7,-8.2,202,11214,0.00,2.40,0.00,0.000,6,0.000,0.050,2624,2460,3899,0,0,0,0,0,0
$STATE,11302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11303,begin apogee
$GC,11309,-0.13,0.0,990.6,8.6,204,11359,0.40,0.00,45.65,1.528,6,0.112,0.000,2765,2273,3680,0,0,0,0,0,0
$STATE,11359,end apogee,CONTROL_FINISHED_OK
$STATE,11359,begin climb
$GC,11362,0.51,150.9,993.0,0.0,204,11501,0.55,2.67,131.23,1.541,4,0.057,0.055,2989,3855,3064,0,0,0,0,0,0
$GC,11512,0.51,150.9,985.3,11.8,207,11516,0.00,2.47,0.00,0.000,6,0.000,0.041,3001,2317,3063,0,0,0,0,0,0
$GC,11856,0.51,150.9,937.7,13.7,213,11857,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2316,3061,0,0,0,0,0,0
$GC,12159,0.51,150.9,894.2,14.4,218,12163,0.00,2.40,0.00,0.000,4,0.000,0.053,3001,3859,3061,0,0,0,0,0,0
$GC,12180,0.51,150.9,890.6,16.0,218,12184,0.12,2.40,0.00,0.000,6,0.177,0.044,2980,2290,3061,0,0,0,0,0,0
$GC,12517,0.51,150.9,843.1,14.2,224,12522,0.00,2.35,0.00,0.000,4,0.000,0.047,2991,710,3060,0,0,0,0,0,0
$GC,12540,0.51,150.9,839.7,13.8,224,12545,0.00,2.40,0.00,0.000,6,0.000,0.043,2991,2312,3060,0,0,0,0,0,0
$GC,12878,0.51,150.9,800.4,10.8,230,12882,0.00,2.40,0.00,0.000,4,0.000,0.048,3003,710,3060,0,0,0,0,0,0
$GC,13135,0.51,150.9,771.2,10.5,233,13142,0.00,2.38,0.00,0.000,6,0.000,0.041,3003,2308,3059,0,0,0,0,0,0
$GC,13445,0.51,150.9,739.1,10.3,239,13449,0.00,2.45,0.00,0.000,4,0.000,0.048,3015,707,3059,0,0,0,0,0,0
$GC,13577,0.52,162.0,725.8,9.4,241,13592,0.12,2.38,9.70,1.173,6,0.177,0.041,2982,2306,3019,0,0,0,0,0,0
$GC,13950,0.52,166.1,690.7,9.7,247,13960,0.00,2.38,4.97,0.920,4,0.000,0.055,2982,3845,3003,0,0,0,0,0,0
$GC,14178,0.52,166.1,659.3,13.8,250,14182,0.00,2.40,0.00,0.000,6,0.000,0.044,2992,2290,3003,0,0,0,0,0,0
$GC,14517,0.52,166.1,613.9,13.4,256,14521,0.00,2.38,0.00,0.000,4,0.000,0.048,3004,710,3003,0,0,0,0,0,0
$GC,14571,0.52,166.1,606.5,13.1,256,14578,0.00,2.38,0.00,0.000,6,0.000,0.044,3005,2301,3003,0,0,0,0,0,0
$GC,14881,0.52,166.1,565.9,13.1,262,14886,0.00,2.38,0.00,0.000,4,0.000,0.047,3017,708,3002,0,0,0,0,0,0
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$STATE,20082,end climb,SURFACE_DEPTH_REACHED
$STATE,20082,begin surface coast
$FINISH,2.2,1.023105
$STATE,20089,end surface coast,CONTROL_FINISHED_OK
$STATE,20089,begin surface
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$HUMID,61.34
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$TCM_TEMP,24.60
$XPDR_PINGS,0
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$10V_AH,10.3,9.746
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,143040
$DATA_FILE_SIZE,20268,377
$CAP_FILE_SIZE,151987,0
$CFSIZE,260165632,249069568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231213,171706,1922.814,-15558.010,29,1.5,29,9.7