version: 66.08
glider: 500
mission: 9
dive: 96
start: 12 25 113 7 8 58
data:
$ID,500
$MISSION,9
$DIVE,96
$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,-165849.44
$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,31
$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,3.0
$AD_XMITPROFILE,1.0
$AD_UPLOADMAX,60000.0
$AD_STARTS,154.0
$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
$GPS1,251213,070129,1908.127,-15558.334,36,1.2,36,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-82.2
$GPS2,251213,070749,1908.029,-15558.378,10,1.8,10,9.6
$SPEED_LIMITS,0.142,0.263
$TGT_NAME,A4
$TGT_LATLONG,1900.000,-15600.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.070,-0.253
$KALMAN_X,105663.0,-364.2,60.2,-107810.8,312.5
$KALMAN_Y,163693.1,-575.8,193.4,-275682.0,-673.0
$MHEAD_RNG_PITCHd_Wd,185.9,15138,-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,-150.9,0.0,0.0,0,111,0.00,0.00,-68.97,0.000,2,0.000,0.000,125,2475,3759,0,0,0,0,0,0
$GC,114,-0.51,-150.9,3.6,-6.8,2,134,9.57,2.45,-3.92,0.000,4,0.224,0.052,2641,857,3944,0,0,0,0,0,0
$GC,313,-0.51,-150.9,48.1,-19.4,8,318,0.00,2.40,0.00,0.000,6,0.000,0.050,2631,2451,3945,0,0,0,0,0,0
$GC,651,-0.51,-150.9,124.4,-22.2,19,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2452,3944,0,0,0,0,0,0
$GC,957,-0.51,-150.9,171.6,-14.9,29,961,0.00,2.20,0.00,0.000,4,0.000,0.067,2620,3857,3944,0,0,0,0,0,0
$GC,1097,-0.51,-150.9,194.7,-15.3,33,1101,0.00,2.08,0.00,0.000,6,0.000,0.035,2620,2457,3947,0,0,0,0,0,0
$GC,1455,-0.51,-150.9,244.4,-13.9,40,1459,0.00,2.33,0.00,0.000,4,0.000,0.046,2620,874,3947,0,0,0,0,0,0
$GC,1476,-0.51,-150.9,247.4,-13.1,40,1480,0.12,2.33,0.00,0.000,6,0.167,0.043,2642,2467,3952,0,0,0,0,0,0
$GC,1819,-0.51,-150.9,286.7,-11.6,46,1823,0.00,2.38,0.00,0.000,4,0.000,0.046,2643,865,3948,0,0,0,0,0,0
$GC,1834,-0.51,-150.9,288.8,-11.6,46,1838,0.00,2.38,0.00,0.000,6,0.000,0.046,2632,2464,3948,0,0,0,0,0,0
$GC,2184,-0.51,-150.9,323.5,-9.4,52,2188,0.00,2.35,0.00,0.000,4,0.000,0.047,2632,869,3946,0,0,0,0,0,0
$GC,2199,-0.51,-150.9,325.1,-8.6,52,2203,0.00,2.35,0.00,0.000,6,0.000,0.049,2621,2459,3944,0,0,0,0,0,0
$GC,2543,-0.51,-150.9,357.7,-9.6,58,2544,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2459,3945,0,0,0,0,0,0
$GC,2846,-0.51,-150.9,390.8,-10.9,63,2850,0.00,2.17,0.00,0.000,4,0.000,0.073,2610,3845,3944,0,0,0,0,0,0
$GC,2895,-0.51,-150.9,396.3,-11.3,63,2899,0.12,2.10,0.00,0.000,6,0.148,0.043,2648,2457,3941,0,0,0,0,0,0
$GC,3211,-0.51,-150.9,422.5,-8.2,69,3215,0.00,2.38,0.00,0.000,4,0.000,0.053,2649,877,3940,0,0,0,0,0,0
$GC,3255,-0.51,-150.9,426.3,-8.2,69,3259,0.00,2.35,0.00,0.000,6,0.000,0.047,2638,2474,3941,0,0,0,0,0,0
$GC,3570,-0.51,-150.9,451.1,-7.7,75,3574,0.00,2.42,0.00,0.000,4,0.000,0.049,2638,866,3935,0,0,0,0,0,0
$GC,3597,-0.51,-150.9,453.4,-8.2,75,3601,0.00,2.35,0.00,0.000,6,0.000,0.047,2625,2463,3936,0,0,0,0,0,0
$GC,3929,-0.51,-150.9,481.0,-8.4,81,3933,0.00,2.38,0.00,0.000,4,0.000,0.047,2625,870,3933,0,0,0,0,0,0
$GC,3956,-0.51,-150.9,483.5,-9.3,81,3961,0.10,2.38,0.00,0.000,6,0.169,0.045,2642,2468,3932,0,0,0,0,0,0
$GC,4288,-0.51,-150.9,507.6,-7.1,87,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2469,3930,0,0,0,0,0,0
$GC,4591,-0.51,-150.9,526.3,-6.2,92,4595,0.00,2.38,0.00,0.000,4,0.000,0.041,2642,867,3927,0,0,0,0,0,0
$GC,4635,-0.51,-150.9,529.7,-7.5,92,4639,0.00,2.35,0.00,0.000,6,0.000,0.044,2632,2465,3927,0,0,0,0,0,0
$GC,4950,-0.51,-150.9,557.8,-9.3,98,4954,0.00,2.08,0.00,0.000,4,0.000,0.056,2621,3849,3924,0,0,0,0,0,0
$GC,4971,-0.51,-150.9,560.3,-10.4,98,4975,0.00,2.10,0.00,0.000,6,0.000,0.041,2621,2456,3923,0,0,0,0,0,0
$GC,5315,-0.51,-150.9,595.8,-10.2,104,5319,0.00,2.38,0.00,0.000,4,0.000,0.047,2621,866,3922,0,0,0,0,0,0
$GC,5359,-0.51,-150.9,600.2,-9.9,104,5364,0.12,2.42,0.00,0.000,6,0.156,0.059,2646,2451,3922,0,0,0,0,0,0
$GC,5674,-0.51,-150.9,624.6,-7.6,110,5676,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2451,3920,0,0,0,0,0,0
$GC,5977,-0.51,-150.9,647.6,-7.6,115,5981,0.00,2.38,0.00,0.000,4,0.000,0.046,2646,868,3918,0,0,0,0,0,0
$GC,5993,-0.51,-150.9,649.2,-7.7,115,5998,0.00,2.45,0.00,0.000,6,0.000,0.057,2637,2477,3918,0,0,0,0,0,0
$GC,6343,-0.51,-150.9,678.4,-8.4,121,6344,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2472,3915,0,0,0,0,0,0
$GC,6646,-0.51,-150.9,699.7,-6.9,126,6650,0.00,2.42,0.00,0.000,4,0.000,0.050,2636,866,3914,0,0,0,0,0,0
$GC,6679,-0.51,-150.9,702.2,-7.4,126,6684,0.00,2.42,0.00,0.000,6,0.000,0.057,2625,2459,3913,0,0,0,0,0,0
$GC,7006,-0.51,-150.9,726.7,-7.6,132,7011,0.00,2.40,0.00,0.000,4,0.000,0.050,2625,870,3912,0,0,0,0,0,0
$GC,7023,-0.51,-150.9,728.3,-8.2,132,7028,0.12,2.42,0.00,0.000,6,0.158,0.055,2649,2468,3913,0,0,0,0,0,0
$GC,7366,-0.51,-150.9,753.5,-7.2,138,7367,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2468,3911,0,0,0,0,0,0
$GC,7669,-0.51,-150.9,773.3,-6.4,143,7674,0.00,2.42,0.00,0.000,4,0.000,0.050,2650,868,3910,0,0,0,0,0,0
$GC,7702,-0.51,-150.9,775.4,-6.4,143,7707,0.00,2.42,0.00,0.000,6,0.000,0.057,2640,2468,3909,0,0,0,0,0,0
$GC,8029,-0.51,-150.9,795.2,-6.1,149,8030,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2468,3907,0,0,0,0,0,0
$GC,8333,-0.51,-150.9,815.3,-6.6,154,8334,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2469,3906,0,0,0,0,0,0
$GC,8636,-0.51,-150.9,834.6,-6.2,159,8640,0.00,2.42,0.00,0.000,4,0.000,0.050,2640,873,3905,0,0,0,0,0,0
$GC,8652,-0.51,-150.9,835.6,-5.8,159,8656,0.00,2.40,0.00,0.000,6,0.000,0.050,2629,2472,3905,0,0,0,0,0,0
$GC,8995,-0.51,-150.9,854.7,-5.3,165,8996,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2475,3903,0,0,0,0,0,0
$GC,9298,-0.51,-150.9,868.3,-4.4,170,9302,0.00,2.45,0.00,0.000,4,0.000,0.050,2634,864,3903,0,0,0,0,0,0
$GC,9337,-0.51,-150.9,870.3,-5.4,170,9341,0.00,2.38,0.00,0.000,6,0.000,0.047,2618,2461,3903,0,0,0,0,0,0
$GC,9658,-0.51,-150.9,888.3,-5.8,176,9662,0.10,2.15,0.00,0.000,4,0.170,0.056,2636,3859,3904,0,0,0,0,0,0
$GC,9702,-0.51,-150.9,890.9,-5.4,176,9705,0.00,2.10,0.00,0.000,6,0.000,0.041,2636,2453,3902,0,0,0,0,0,0
$GC,10017,-0.51,-150.9,907.8,-5.4,182,10021,0.00,2.35,0.00,0.000,4,0.000,0.048,2636,868,3901,0,0,0,0,0,0
$GC,10038,-0.51,-150.9,909.3,-6.4,182,10043,0.00,2.40,0.00,0.000,6,0.000,0.053,2625,2463,3901,0,0,0,0,0,0
$GC,10377,-0.51,-150.9,933.2,-7.3,188,10381,0.00,2.40,0.00,0.000,4,0.000,0.048,2626,863,3900,0,0,0,0,0,0
$GC,10404,-0.51,-150.9,935.5,-8.7,188,10409,0.10,2.40,0.00,0.000,6,0.168,0.053,2642,2458,3900,0,0,0,0,0,0
$GC,10736,-0.51,-150.9,959.7,-7.4,194,10740,0.00,2.40,0.00,0.000,4,0.000,0.049,2642,865,3900,0,0,0,0,0,0
$GC,10752,-0.51,-150.9,960.9,-7.5,194,10756,0.00,2.42,0.00,0.000,6,0.000,0.050,2632,2475,3900,0,0,0,0,0,0
$GC,11095,-0.51,-150.9,987.8,-7.7,200,11099,0.00,2.45,0.00,0.000,4,0.000,0.049,2632,866,3897,0,0,0,0,0,0
$STATE,11125,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11125,begin apogee
$GC,11133,-0.13,0.0,990.4,7.7,200,11183,0.43,0.00,45.25,1.531,6,0.120,0.000,2768,2306,3683,0,0,0,0,0,0
$STATE,11190,end apogee,CONTROL_FINISHED_OK
$STATE,11190,begin climb
$GC,11192,0.51,150.9,992.0,0.0,201,11335,0.52,2.62,130.38,1.526,4,0.056,0.049,2997,713,3066,0,0,0,0,0,0
$GC,11345,0.51,150.9,983.8,11.5,203,11352,0.00,2.58,0.00,0.000,6,0.000,0.047,2997,2313,3067,0,0,0,0,0,0
$GC,11655,0.51,150.9,939.1,14.6,209,11660,0.00,2.40,0.00,0.000,4,0.000,0.055,2997,3857,3063,0,0,0,0,0,0
$GC,11671,0.51,150.9,936.5,14.8,209,11676,0.12,2.40,0.00,0.000,6,0.181,0.042,2977,2297,3065,0,0,0,0,0,0
$GC,12015,0.51,150.9,890.5,13.4,215,12016,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2296,3062,0,0,0,0,0,0
$GC,12317,0.51,150.9,849.5,13.4,220,12322,0.00,2.40,0.00,0.000,4,0.000,0.047,2989,702,3062,0,0,0,0,0,0
$GC,12373,0.51,150.9,842.1,12.9,220,12380,0.00,2.40,0.00,0.000,6,0.000,0.046,2985,2306,3062,0,0,0,0,0,0
$GC,12683,0.51,150.9,800.6,13.5,226,12687,0.00,2.38,0.00,0.000,4,0.000,0.055,2989,3855,3061,0,0,0,0,0,0
$GC,12704,0.51,150.9,797.1,14.1,226,12708,0.00,2.35,0.00,0.000,6,0.000,0.042,3001,2298,3061,0,0,0,0,0,0
$GC,13048,0.51,150.9,747.6,14.2,232,13049,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2296,3065,0,0,0,0,0,0
$GC,13351,0.51,150.9,708.6,12.6,237,13355,0.00,2.40,0.00,0.000,4,0.000,0.047,3017,704,3060,0,0,0,0,0,0
$GC,13377,0.51,150.9,704.9,12.6,237,13382,0.12,2.38,0.00,0.000,6,0.169,0.044,2979,2309,3060,0,0,0,0,0,0
$GC,13709,0.51,150.9,670.7,10.2,243,13713,0.00,2.35,0.00,0.000,4,0.000,0.057,2980,3842,3060,0,0,0,0,0,0
$GC,13732,0.51,150.9,668.1,10.6,243,13736,0.00,2.35,0.00,0.000,6,0.000,0.044,2989,2295,3060,0,0,0,0,0,0
$GC,14069,0.51,150.9,632.0,10.6,249,14074,0.00,2.38,0.00,0.000,4,0.000,0.048,2998,715,3060,0,0,0,0,0,0
$GC,14085,0.51,150.9,630.0,10.5,249,14089,0.00,2.35,0.00,0.000,6,0.000,0.044,3001,2300,3060,0,0,0,0,0,0
$GC,14435,0.51,150.9,586.4,12.9,255,14436,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2300,3059,0,0,0,0,0,0
$GC,14738,0.51,150.9,546.5,13.1,260,14742,0.00,2.40,0.00,0.000,4,0.000,0.058,3001,3845,3059,0,0,0,0,0,0
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$STATE,19941,end climb,SURFACE_DEPTH_REACHED
$STATE,19941,begin surface coast
$FINISH,0.8,1.010495
$STATE,19973,end surface coast,CONTROL_FINISHED_OK
$STATE,19973,begin surface
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$HUMID,57.75
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$TCM_TEMP,25.30
$XPDR_PINGS,0
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$10V_AH,10.2,12.040
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.400,195.250,454.025,0.000,0.000,23.017,33.891,210.162,0.000,0.000,12.847,1315.872,16473.244,521.294,1826.127,313.408,33.348,1418.033,0.000,1525.835,0.000,0.541,0.000
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$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,45.000,1.000,0.000,0.000
$MEM,143984
$DATA_FILE_SIZE,20222,378
$CAP_FILE_SIZE,150036,0
$CFSIZE,260165632,248520704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,251213,124430,1905.267,-15559.196,38,0.9,38,9.6