version: 66.08
glider: 500
mission: 9
dive: 93
start: 12 24 113 13 45 5
data:
$ID,500
$MISSION,9
$DIVE,93
$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,-165845.69
$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,33
$R_STBD_OVSHOOT,37
$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,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,151.0
$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,2.0
$GPS1,241213,133829,1916.788,-15555.928,39,1.0,39,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-83.1
$GPS2,241213,134403,1916.770,-15555.912,11,2.4,30,9.6
$SPEED_LIMITS,0.142,0.263
$TGT_NAME,A4
$TGT_LATLONG,1900.000,-15600.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.065,-0.255
$KALMAN_X,105677.8,500.0,-107.9,-104235.5,-31.7
$KALMAN_Y,162858.2,687.9,33.1,-259758.9,-710.1
$MHEAD_RNG_PITCHd_Wd,184.7,31871,-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,37,end surface,CONTROL_FINISHED_OK
$STATE,37,begin dive
$GC,40,-0.51,-150.9,0.0,0.0,0,109,0.00,0.00,-66.95,0.000,2,0.000,0.000,111,2478,3943,0,0,0,0,0,0
$GC,112,-0.51,-150.9,3.3,-6.2,2,127,9.68,2.38,0.00,0.000,4,0.227,0.032,2648,835,3944,0,0,0,0,0,0
$GC,149,-0.51,-150.9,19.4,-36.2,3,153,0.00,2.38,0.00,0.000,6,0.000,0.042,2639,2451,3945,0,0,0,0,0,0
$GC,481,-0.51,-150.9,91.1,-21.8,14,485,0.00,2.12,0.00,0.000,4,0.000,0.055,2627,3860,3944,0,0,0,0,0,0
$GC,579,-0.51,-150.9,112.1,-19.1,17,583,0.00,2.05,0.00,0.000,6,0.000,0.036,2627,2453,3945,0,0,0,0,0,0
$GC,916,-0.51,-150.9,162.5,-13.7,28,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2452,3945,0,0,0,0,0,0
$GC,1251,-0.51,-150.9,209.2,-13.2,38,1255,0.00,2.17,0.00,0.000,4,0.000,0.063,2617,3850,3949,0,0,0,0,0,0
$GC,1463,-0.51,-150.9,230.9,-10.1,41,1467,0.00,2.05,0.00,0.000,6,0.000,0.036,2616,2463,3951,0,0,0,0,0,0
$GC,1818,-0.51,-150.9,274.9,-12.9,47,1823,0.10,2.17,0.00,0.000,4,0.174,0.066,2635,3844,3949,0,0,0,0,0,0
$GC,1935,-0.51,-150.9,288.7,-11.4,48,1939,0.00,2.05,0.00,0.000,6,0.000,0.039,2639,2461,3946,0,0,0,0,0,0
$GC,2250,-0.51,-150.9,321.3,-10.0,54,2254,0.00,2.15,0.00,0.000,4,0.000,0.066,2624,3841,3948,0,0,0,0,0,0
$GC,2305,-0.51,-150.9,326.6,-9.5,54,2312,0.00,2.03,0.00,0.000,6,0.000,0.039,2624,2453,3947,0,0,0,0,0,0
$GC,2616,-0.51,-150.9,352.5,-8.1,60,2617,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2453,3945,0,0,0,0,0,0
$GC,2918,-0.51,-150.9,378.0,-8.6,65,2920,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2453,3944,0,0,0,0,0,0
$GC,3221,-0.51,-150.9,405.5,-8.9,70,3223,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2453,3941,0,0,0,0,0,0
$GC,3525,-0.51,-150.9,430.4,-8.1,75,3529,0.00,2.15,0.00,0.000,4,0.000,0.067,2614,3841,3938,0,0,0,0,0,0
$GC,3558,-0.51,-150.9,433.3,-8.8,75,3563,0.10,2.03,0.00,0.000,6,0.148,0.040,2645,2464,3937,0,0,0,0,0,0
$GC,3884,-0.51,-150.9,455.5,-6.7,81,3888,0.00,2.38,0.00,0.000,4,0.000,0.050,2645,870,3935,0,0,0,0,0,0
$GC,3916,-0.51,-150.9,458.0,-7.7,81,3921,0.00,2.38,0.00,0.000,6,0.000,0.053,2635,2455,3934,0,0,0,0,0,0
$GC,4245,-0.51,-150.9,486.0,-8.8,87,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2455,3932,0,0,0,0,0,0
$GC,4547,-0.51,-150.9,514.4,-9.3,92,4548,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2455,3933,0,0,0,0,0,0
$GC,4850,-0.51,-150.9,540.7,-8.6,97,4854,0.00,2.20,0.00,0.000,4,0.000,0.074,2625,3857,3927,0,0,0,0,0,0
$GC,4918,-0.51,-150.9,546.8,-8.6,98,4922,0.00,2.10,0.00,0.000,6,0.000,0.042,2624,2451,3926,0,0,0,0,0,0
$GC,5278,-0.51,-150.9,574.4,-7.2,104,5282,0.00,2.38,0.00,0.000,4,0.000,0.052,2629,866,3925,0,0,0,0,0,0
$GC,5294,-0.51,-150.9,575.7,-6.8,104,5299,0.12,2.42,0.00,0.000,6,0.161,0.052,2648,2464,3924,0,0,0,0,0,0
$GC,5637,-0.51,-150.9,596.5,-6.1,110,5641,0.00,2.12,0.00,0.000,4,0.000,0.057,2639,3868,3922,0,0,0,0,0,0
$GC,5670,-0.51,-150.9,598.9,-7.0,110,5675,0.00,2.15,0.00,0.000,6,0.000,0.041,2638,2469,3922,0,0,0,0,0,0
$GC,6003,-0.51,-150.9,621.3,-6.7,116,6007,0.00,2.40,0.00,0.000,4,0.000,0.050,2638,863,3920,0,0,0,0,0,0
$GC,6024,-0.51,-150.9,622.8,-6.5,116,6029,0.00,2.45,0.00,0.000,6,0.000,0.057,2628,2474,3919,0,0,0,0,0,0
$GC,6362,-0.51,-150.9,642.8,-5.8,122,6364,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2473,3917,0,0,0,0,0,0
$GC,6666,-0.51,-150.9,662.7,-6.7,127,6670,0.00,2.42,0.00,0.000,4,0.000,0.051,2628,867,3916,0,0,0,0,0,0
$GC,6682,-0.51,-150.9,663.9,-6.7,127,6687,0.10,2.42,0.00,0.000,6,0.169,0.055,2643,2463,3917,0,0,0,0,0,0
$GC,7025,-0.51,-150.9,685.2,-6.3,133,7030,0.00,2.42,0.00,0.000,4,0.000,0.052,2643,856,3914,0,0,0,0,0,0
$GC,7053,-0.51,-150.9,687.2,-7.5,133,7057,0.00,2.47,0.00,0.000,6,0.000,0.058,2633,2466,3912,0,0,0,0,0,0
$GC,7385,-0.51,-150.9,711.4,-7.4,139,7389,0.00,2.10,0.00,0.000,4,0.000,0.056,2622,3870,3913,0,0,0,0,0,0
$GC,7406,-0.51,-150.9,713.2,-7.5,139,7410,0.00,2.10,0.00,0.000,6,0.000,0.041,2622,2457,3910,0,0,0,0,0,0
$GC,7750,-0.51,-150.9,736.7,-6.6,145,7751,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2457,3914,0,0,0,0,0,0
$GC,8053,-0.51,-150.9,758.3,-7.2,150,8057,0.00,2.38,0.00,0.000,4,0.000,0.050,2622,866,3908,0,0,0,0,0,0
$GC,8070,-0.51,-150.9,759.7,-7.3,150,8075,0.12,2.42,0.00,0.000,6,0.158,0.057,2646,2463,3909,0,0,0,0,0,0
$GC,8419,-0.51,-150.9,780.0,-5.7,156,8422,0.00,2.10,0.00,0.000,4,0.000,0.057,2637,3858,3908,0,0,0,0,0,0
$GC,8441,-0.51,-150.9,781.4,-5.9,156,8445,0.00,2.10,0.00,0.000,6,0.000,0.039,2637,2455,3908,0,0,0,0,0,0
$GC,8778,-0.51,-150.9,800.4,-5.5,162,8782,0.00,2.38,0.00,0.000,4,0.000,0.050,2634,865,3907,0,0,0,0,0,0
$GC,8794,-0.51,-150.9,801.3,-5.5,162,8798,0.00,2.42,0.00,0.000,6,0.000,0.057,2626,2463,3907,0,0,0,0,0,0
$GC,9137,-0.51,-150.9,821.6,-6.0,168,9141,0.00,2.12,0.00,0.000,4,0.000,0.056,2616,3869,3906,0,0,0,0,0,0
$GC,9169,-0.51,-150.9,824.0,-7.6,168,9174,0.10,2.10,0.00,0.000,6,0.153,0.041,2646,2456,3906,0,0,0,0,0,0
$GC,9496,-0.51,-150.9,845.4,-6.7,174,9500,0.00,2.38,0.00,0.000,4,0.000,0.048,2646,864,3903,0,0,0,0,0,0
$GC,9529,-0.51,-150.9,848.2,-8.4,174,9533,0.00,2.45,0.00,0.000,6,0.000,0.057,2637,2474,3904,0,0,0,0,0,0
$GC,9855,-0.51,-150.9,877.0,-9.0,180,9859,0.00,2.10,0.00,0.000,4,0.000,0.057,2630,3859,3904,0,0,0,0,0,0
$GC,9887,-0.51,-150.9,880.4,-10.0,180,9892,0.00,2.12,0.00,0.000,6,0.000,0.038,2625,2454,3904,0,0,0,0,0,0
$GC,10220,-0.51,-150.9,910.5,-9.0,186,10224,0.00,2.35,0.00,0.000,4,0.000,0.049,2626,870,3903,0,0,0,0,0,0
$GC,10247,-0.51,-150.9,913.0,-9.0,186,10252,0.10,2.40,0.00,0.000,6,0.167,0.055,2642,2460,3903,0,0,0,0,0,0
$GC,10579,-0.51,-150.9,934.6,-6.3,192,10580,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2460,3902,0,0,0,0,0,0
$GC,10882,-0.51,-150.9,950.3,-5.1,197,10883,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2460,3901,0,0,0,0,0,0
$GC,11185,-0.51,-150.9,964.3,-4.6,202,11189,0.00,2.40,0.00,0.000,4,0.000,0.051,2643,863,3900,0,0,0,0,0,0
$GC,11206,-0.51,-150.9,965.5,-5.5,202,11211,0.00,2.45,0.00,0.000,6,0.000,0.055,2633,2469,3900,0,0,0,0,0,0
$GC,11545,-0.51,-150.9,984.8,-5.9,208,11546,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2466,3901,0,0,0,0,0,0
$STATE,11663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11663,begin apogee
$GC,11669,-0.13,0.0,992.8,6.3,210,11718,0.38,0.00,45.97,1.554,6,0.117,0.000,2764,2283,3683,0,0,0,0,0,0
$STATE,11725,end apogee,CONTROL_FINISHED_OK
$STATE,11725,begin climb
$GC,11728,0.51,150.9,994.0,0.0,210,11868,0.55,2.67,131.75,1.545,4,0.057,0.053,2987,3848,3067,0,0,0,0,0,0
$GC,11874,0.52,167.2,985.3,9.2,213,11895,0.00,2.50,15.68,1.377,6,0.000,0.041,2998,2304,3000,0,0,0,0,0,0
$GC,12222,0.52,167.2,929.8,16.1,219,12226,0.00,2.45,0.00,0.000,4,0.000,0.056,3011,720,2997,0,0,0,0,0,0
$GC,12293,0.52,167.2,918.1,15.5,220,12299,0.12,2.42,0.00,0.000,6,0.170,0.050,2978,2302,2998,0,0,0,0,0,0
$GC,12648,0.52,167.2,867.2,14.5,226,12652,0.00,2.45,0.00,0.000,4,0.000,0.050,2988,705,2999,0,0,0,0,0,0
$GC,12685,0.52,167.2,861.3,14.9,226,12690,0.00,2.40,0.00,0.000,6,0.000,0.045,2988,2312,2996,0,0,0,0,0,0
$GC,13013,0.52,167.2,809.9,16.0,232,13014,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2312,2995,0,0,0,0,0,0
$GC,13315,0.52,167.2,762.2,15.8,237,13317,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2312,2995,0,0,0,0,0,0
$GC,13619,0.52,167.2,718.2,14.2,242,13623,0.00,2.35,0.00,0.000,4,0.000,0.054,2988,3857,2993,0,0,0,0,0,0
$GC,13646,0.52,167.2,714.0,15.7,242,13650,0.00,2.35,0.00,0.000,6,0.000,0.044,3000,2297,2995,0,0,0,0,0,0
$GC,13984,0.52,167.2,667.5,13.8,248,13988,0.00,2.38,0.00,0.000,4,0.000,0.052,3009,714,2995,0,0,0,0,0,0
$GC,14050,0.52,167.2,657.5,14.8,249,14055,0.12,2.38,0.00,0.000,6,0.168,0.047,2978,2311,2995,0,0,0,0,0,0
$GC,14412,0.52,167.2,609.6,13.2,255,14417,0.00,2.42,0.00,0.000,4,0.000,0.052,2989,707,2995,0,0,0,0,0,0
$GC,14445,0.52,167.2,604.8,13.1,255,14449,0.00,2.42,0.00,0.000,6,0.000,0.048,2989,2326,2995,0,0,0,0,0,0
$GC,14778,0.52,167.2,558.1,14.5,261,14782,0.00,2.33,0.00,0.000,4,0.000,0.060,2989,3854,2994,0,0,0,0,0,0
$GC,14799,0.52,167.2,554.7,13.9,261,14803,0.00,2.35,0.00,0.000,6,0.000,0.045,3000,2297,2994,0,0,0,0,0,0
$GC,15137,0.52,167.2,502.1,15.9,267,15141,0.00,2.38,0.00,0.000,4,0.000,0.051,3013,716,2995,0,0,0,0,0,0
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$STATE,19746,end climb,SURFACE_DEPTH_REACHED
$STATE,19746,begin surface coast
$FINISH,0.8,1.007515
$STATE,19776,end surface coast,CONTROL_FINISHED_OK
$STATE,19776,begin surface
$SM_CCo,19853,0.00,0.000,0,0,2005,410.13
$SM_GC,1.43,7.22,0.00,0.00,0.031,0.000,0.000,124,2473,2005,-8.27,0.37,410.13
$IRIDIUM_FIX,1913.80,-15555.29,241213,080808
$TT8_MAMPS,0.05992
$HUMID,59.13
$INTERNAL_PRESSURE,9.27648
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,23.3,21.735
$10V_AH,10.2,10.502
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.225,187.300,386.200,0.000,0.000,24.055,30.830,142.653,0.000,0.000,33.706,1327.232,16315.315,490.322,1805.257,256.789,33.353,1343.312,0.000,1537.152,0.000,0.541,0.000
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$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,257.537,329.586,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,143044
$DATA_FILE_SIZE,16925,374
$CAP_FILE_SIZE,147002,0
$CFSIZE,260165632,248700928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,241213,191705,1914.221,-15556.684,29,1.0,29,9.6