version: 66.08
glider: 500
mission: 9
dive: 99
start: 12 26 113 0 25 21
data:
$ID,500
$MISSION,9
$DIVE,99
$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,-165853.19
$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,31
$R_STBD_OVSHOOT,30
$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,160.0
$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
$GPS1,261213,001800,1901.150,-15602.510,39,1.6,39,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-82.0
$GPS2,261213,002412,1901.071,-15602.593,9,1.6,9,9.6
$SPEED_LIMITS,0.142,0.263
$TGT_NAME,B2
$TGT_LATLONG,1900.000,-15615.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.262,0.013
$KALMAN_X,105179.7,68.2,390.3,-115424.4,-1183.6
$KALMAN_Y,161600.2,211.6,-160.2,-286896.5,-846.1
$MHEAD_RNG_PITCHd_Wd,263.2,21817,-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,-150.9,0.0,0.0,0,116,0.00,0.00,-73.85,0.000,2,0.000,0.000,136,2474,3730,0,0,0,0,0,0
$GC,119,-0.51,-150.9,3.4,-6.0,2,144,9.50,2.17,-4.65,0.000,4,0.223,0.080,2633,3837,3945,0,0,0,0,0,0
$GC,251,-0.51,-150.9,35.4,-19.7,6,255,0.00,2.05,0.00,0.000,6,0.000,0.041,2630,2455,3947,0,0,0,0,0,0
$GC,589,-0.51,-150.9,114.4,-24.8,17,593,0.00,2.38,0.00,0.000,4,0.000,0.049,2630,859,3944,0,0,0,0,0,0
$GC,654,-0.51,-150.9,129.1,-19.0,19,658,0.00,2.38,0.00,0.000,6,0.000,0.047,2618,2457,3947,0,0,0,0,0,0
$GC,990,-0.51,-150.9,180.1,-13.5,30,994,0.00,2.17,0.00,0.000,4,0.000,0.071,2607,3849,3946,0,0,0,0,0,0
$GC,1058,-0.51,-150.9,190.6,-15.8,32,1062,0.12,2.05,0.00,0.000,6,0.154,0.038,2644,2452,3947,0,0,0,0,0,0
$GC,1390,-0.51,-150.9,230.7,-11.9,39,1394,0.00,2.17,0.00,0.000,4,0.000,0.067,2635,3842,3947,0,0,0,0,0,0
$GC,1452,-0.51,-150.9,237.5,-10.8,40,1456,0.00,2.03,0.00,0.000,6,0.000,0.038,2635,2452,3947,0,0,0,0,0,0
$GC,1826,-0.51,-150.9,275.3,-9.6,46,1830,0.00,2.35,0.00,0.000,4,0.000,0.048,2637,868,3947,0,0,0,0,0,0
$GC,1875,-0.51,-150.9,280.8,-10.1,46,1879,0.00,2.40,0.00,0.000,6,0.000,0.051,2623,2467,3947,0,0,0,0,0,0
$GC,2191,-0.51,-150.9,318.5,-12.2,52,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2467,3946,0,0,0,0,0,0
$GC,2494,-0.51,-150.9,351.9,-10.9,57,2498,0.00,2.42,0.00,0.000,4,0.000,0.048,2623,873,3944,0,0,0,0,0,0
$GC,2538,-0.51,-150.9,356.4,-9.7,57,2543,0.10,2.38,0.00,0.000,6,0.168,0.053,2641,2460,3943,0,0,0,0,0,0
$GC,2853,-0.51,-150.9,376.9,-6.2,63,2857,0.00,2.10,0.00,0.000,4,0.000,0.059,2633,3857,3941,0,0,0,0,0,0
$GC,2881,-0.51,-150.9,378.8,-6.6,63,2885,0.00,2.08,0.00,0.000,6,0.000,0.041,2632,2456,3941,0,0,0,0,0,0
$GC,3213,-0.51,-150.9,404.8,-8.2,69,3217,0.00,2.38,0.00,0.000,4,0.000,0.048,2628,864,3937,0,0,0,0,0,0
$GC,3290,-0.51,-150.9,412.3,-9.5,70,3294,0.00,2.45,0.00,0.000,6,0.000,0.057,2620,2465,3936,0,0,0,0,0,0
$GC,3639,-0.51,-150.9,447.0,-10.0,76,3640,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2465,3933,0,0,0,0,0,0
$GC,3943,-0.51,-150.9,476.5,-9.7,81,3944,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2465,3933,0,0,0,0,0,0
$GC,4246,-0.51,-150.9,499.9,-7.5,86,4250,0.00,2.12,0.00,0.000,4,0.000,0.054,2610,3864,3928,0,0,0,0,0,0
$GC,4262,-0.51,-150.9,501.2,-7.0,86,4266,0.12,2.08,0.00,0.000,6,0.147,0.035,2648,2454,3928,0,0,0,0,0,0
$GC,4611,-0.51,-150.9,520.9,-5.8,92,4615,0.00,2.40,0.00,0.000,4,0.000,0.049,2648,864,3925,0,0,0,0,0,0
$GC,4632,-0.51,-150.9,522.8,-7.7,92,4636,0.00,2.47,0.00,0.000,6,0.000,0.060,2638,2467,3926,0,0,0,0,0,0
$GC,4970,-0.51,-150.9,553.1,-9.3,98,4975,0.00,2.42,0.00,0.000,4,0.000,0.050,2640,876,3923,0,0,0,0,0,0
$GC,4998,-0.51,-150.9,556.0,-9.7,98,5002,0.00,2.42,0.00,0.000,6,0.000,0.061,2627,2461,3923,0,0,0,0,0,0
$GC,5330,-0.51,-150.9,587.5,-9.3,104,5334,0.00,2.42,0.00,0.000,4,0.000,0.051,2627,873,3920,0,0,0,0,0,0
$GC,5368,-0.51,-150.9,591.1,-9.7,104,5373,0.10,2.47,0.00,0.000,6,0.168,0.061,2643,2470,3920,0,0,0,0,0,0
$GC,5689,-0.51,-150.9,613.0,-6.6,110,5693,0.00,2.45,0.00,0.000,4,0.000,0.053,2643,876,3918,0,0,0,0,0,0
$GC,5733,-0.51,-150.9,616.2,-7.4,110,5737,0.00,2.45,0.00,0.000,6,0.000,0.063,2633,2466,3917,0,0,0,0,0,0
$GC,6048,-0.51,-150.9,639.0,-7.2,116,6053,0.00,2.45,0.00,0.000,4,0.000,0.054,2633,867,3916,0,0,0,0,0,0
$GC,6070,-0.51,-150.9,640.9,-7.9,116,6074,0.00,2.45,0.00,0.000,6,0.000,0.060,2622,2463,3915,0,0,0,0,0,0
$GC,6408,-0.51,-150.9,667.7,-8.0,122,6412,0.00,2.42,0.00,0.000,4,0.000,0.053,2622,876,3913,0,0,0,0,0,0
$GC,6436,-0.51,-150.9,670.3,-9.2,122,6441,0.12,2.45,0.00,0.000,6,0.155,0.062,2647,2467,3913,0,0,0,0,0,0
$GC,6769,-0.51,-150.9,690.9,-6.0,128,6770,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2467,3911,0,0,0,0,0,0
$GC,7072,-0.51,-150.9,706.6,-5.2,133,7076,0.00,2.42,0.00,0.000,4,0.000,0.054,2649,877,3910,0,0,0,0,0,0
$GC,7104,-0.51,-150.9,708.5,-5.3,133,7108,0.00,2.42,0.00,0.000,6,0.000,0.062,2638,2461,3910,0,0,0,0,0,0
$GC,7431,-0.51,-150.9,726.8,-5.6,139,7435,0.00,2.40,0.00,0.000,4,0.000,0.054,2638,871,3906,0,0,0,0,0,0
$GC,7459,-0.51,-150.9,728.5,-6.1,139,7463,0.00,2.45,0.00,0.000,6,0.000,0.061,2632,2462,3908,0,0,0,0,0,0
$GC,7797,-0.51,-150.9,750.0,-6.4,145,7801,0.00,2.42,0.00,0.000,4,0.000,0.054,2627,868,3906,0,0,0,0,0,0
$GC,7824,-0.51,-150.9,752.0,-7.6,145,7829,0.10,2.47,0.00,0.000,6,0.163,0.061,2644,2469,3907,0,0,0,0,0,0
$GC,8156,-0.51,-150.9,773.2,-6.3,151,8160,0.00,2.10,0.00,0.000,4,0.000,0.054,2635,3861,3904,0,0,0,0,0,0
$GC,8195,-0.51,-150.9,776.2,-7.8,151,8199,0.00,2.08,0.00,0.000,6,0.000,0.038,2634,2468,3905,0,0,0,0,0,0
$GC,8516,-0.51,-150.9,800.4,-7.5,157,8521,0.00,2.42,0.00,0.000,4,0.000,0.051,2634,861,3901,0,0,0,0,0,0
$GC,8538,-0.51,-150.9,802.5,-9.2,157,8543,0.00,2.45,0.00,0.000,6,0.000,0.062,2623,2458,3903,0,0,0,0,0,0
$GC,8877,-0.51,-150.9,829.5,-7.8,163,8881,0.00,2.42,0.00,0.000,4,0.000,0.054,2620,867,3902,0,0,0,0,0,0
$GC,8904,-0.51,-150.9,831.7,-8.5,163,8909,0.12,2.47,0.00,0.000,6,0.157,0.062,2647,2461,3904,0,0,0,0,0,0
$GC,9236,-0.51,-150.9,852.2,-5.9,169,9240,0.00,2.42,0.00,0.000,4,0.000,0.052,2648,866,3904,0,0,0,0,0,0
$GC,9280,-0.51,-150.9,855.0,-6.4,169,9285,0.00,2.50,0.00,0.000,6,0.000,0.063,2637,2476,3902,0,0,0,0,0,0
$GC,9595,-0.51,-150.9,872.3,-5.4,175,9599,0.00,2.45,0.00,0.000,4,0.000,0.050,2638,861,3900,0,0,0,0,0,0
$GC,9633,-0.51,-150.9,874.6,-5.6,175,9637,0.00,2.45,0.00,0.000,6,0.000,0.056,2624,2463,3900,0,0,0,0,0,0
$GC,9955,-0.51,-150.9,893.8,-6.0,181,9959,0.00,2.45,0.00,0.000,4,0.000,0.054,2627,861,3899,0,0,0,0,0,0
$GC,9977,-0.51,-150.9,895.3,-6.7,181,9982,0.12,2.45,0.00,0.000,6,0.158,0.060,2651,2463,3899,0,0,0,0,0,0
$GC,10315,-0.51,-150.9,913.8,-5.4,187,10319,0.00,2.42,0.00,0.000,4,0.000,0.049,2651,860,3898,0,0,0,0,0,0
$GC,10337,-0.51,-150.9,915.2,-6.0,187,10342,0.00,2.45,0.00,0.000,6,0.000,0.054,2641,2468,3898,0,0,0,0,0,0
$GC,10675,-0.51,-150.9,933.9,-5.4,193,10680,0.00,2.45,0.00,0.000,4,0.000,0.050,2641,865,3897,0,0,0,0,0,0
$GC,10703,-0.51,-150.9,935.6,-5.7,193,10707,0.00,2.42,0.00,0.000,6,0.000,0.057,2629,2462,3897,0,0,0,0,0,0
$GC,11035,-0.51,-150.9,952.4,-5.0,199,11039,0.00,2.42,0.00,0.000,4,0.000,0.047,2629,860,3895,0,0,0,0,0,0
$GC,11058,-0.51,-150.9,953.7,-4.9,199,11062,0.00,2.42,0.00,0.000,6,0.000,0.053,2618,2463,3897,0,0,0,0,0,0
$GC,11395,-0.51,-150.9,972.3,-5.5,205,11399,0.00,2.42,0.00,0.000,4,0.000,0.049,2618,866,3896,0,0,0,0,0,0
$GC,11423,-0.51,-150.9,974.1,-6.3,205,11428,0.15,2.45,0.00,0.000,6,0.151,0.055,2650,2477,3896,0,0,0,0,0,0
$STATE,11753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11753,begin apogee
$GC,11759,-0.13,0.0,990.4,4.9,211,11809,0.32,0.05,45.30,1.518,6,0.112,0.061,2768,2305,3679,0,0,0,0,0,0
$STATE,11816,end apogee,CONTROL_FINISHED_OK
$STATE,11816,begin climb
$GC,11818,0.51,150.9,991.1,0.0,211,11959,0.52,2.60,129.57,1.523,4,0.055,0.054,2986,3843,3065,0,0,0,0,0,0
$GC,11998,0.51,150.9,976.4,15.7,214,12002,0.00,2.45,0.00,0.000,6,0.000,0.045,2994,2331,3063,0,0,0,0,0,0
$GC,12341,0.51,150.9,921.6,16.0,220,12346,0.00,2.55,0.00,0.000,4,0.000,0.054,3009,699,3062,0,0,0,0,0,0
$GC,12374,0.51,150.9,915.9,16.8,220,12379,0.12,2.45,0.00,0.000,6,0.171,0.049,2976,2311,3062,0,0,0,0,0,0
$GC,12700,0.51,150.9,867.1,15.0,226,12704,0.00,2.38,0.00,0.000,4,0.000,0.052,2976,3856,3062,0,0,0,0,0,0
$GC,12728,0.51,150.9,862.2,16.1,226,12732,0.00,2.40,0.00,0.000,6,0.000,0.041,2986,2279,3063,0,0,0,0,0,0
$GC,13059,0.51,150.9,809.1,16.0,232,13064,0.00,2.40,0.00,0.000,4,0.000,0.054,2999,710,3061,0,0,0,0,0,0
$GC,13103,0.51,150.9,801.8,15.5,232,13108,0.00,2.40,0.00,0.000,6,0.000,0.055,2999,2295,3061,0,0,0,0,0,0
$GC,13419,0.51,150.9,752.0,15.8,238,13423,0.00,2.40,0.00,0.000,4,0.000,0.054,2999,3860,3061,0,0,0,0,0,0
$GC,13490,0.51,150.9,739.0,16.5,239,13495,0.12,2.42,0.00,0.000,6,0.182,0.044,2979,2290,3061,0,0,0,0,0,0
$GC,13845,0.51,150.9,687.8,14.3,245,13849,0.00,2.38,0.00,0.000,4,0.000,0.053,2990,714,3060,0,0,0,0,0,0
$GC,13866,0.51,150.9,684.5,14.1,245,13870,0.00,2.35,0.00,0.000,6,0.000,0.044,2990,2314,3060,0,0,0,0,0,0
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$STATE,20327,end climb,SURFACE_DEPTH_REACHED
$STATE,20327,begin surface coast
$FINISH,1.7,1.023033
$STATE,20341,end surface coast,CONTROL_FINISHED_OK
$STATE,20341,begin surface
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$TCM_TEMP,25.00
$XPDR_PINGS,1
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$10V_AH,10.2,13.172
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.325,239.625,493.350,0.000,0.000,22.720,30.640,204.743,0.250,0.000,11.838,1393.654,16537.936,544.135,2009.263,325.660,33.361,1572.351,0.000,1704.954,0.000,0.541,0.000
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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,143988
$DATA_FILE_SIZE,20270,381
$CAP_FILE_SIZE,167036,0
$CFSIZE,260165632,248324096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261213,060706,1859.795,-15604.707,41,0.9,41,9.6