version: 66.08
glider: 500
mission: 9
dive: 100
start: 12 26 113 6 13 51
data:
$ID,500
$MISSION,9
$DIVE,100
$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,-165854.44
$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,41
$R_STBD_OVSHOOT,20
$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,162.0
$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
$GPS1,261213,060706,1859.795,-15604.707,41,0.9,41,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-81.4
$GPS2,261213,061249,1859.688,-15604.775,11,1.2,11,9.6
$SPEED_LIMITS,0.142,0.263
$TGT_NAME,B2
$TGT_LATLONG,1900.000,-15615.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.263,0.009
$KALMAN_X,106544.6,250.6,292.4,-120676.4,-285.3
$KALMAN_Y,159852.2,-592.5,-426.5,-286635.8,-11.7
$MHEAD_RNG_PITCHd_Wd,262.5,17914,-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,37,-0.51,-150.9,0.0,0.0,0,126,0.00,0.00,-86.38,0.000,2,0.000,0.000,130,2437,3751,0,0,0,0,0,0
$GC,130,-0.51,-150.9,3.5,-6.2,3,149,9.55,2.38,-4.20,0.000,4,0.224,0.054,2640,870,3945,0,0,0,0,0,0
$GC,267,-0.51,-150.9,37.1,-20.0,7,271,0.00,2.40,0.00,0.000,6,0.000,0.046,2633,2474,3946,0,0,0,0,0,0
$GC,599,-0.51,-150.9,111.6,-21.8,18,603,0.00,2.12,0.00,0.000,4,0.000,0.065,2622,3841,3944,0,0,0,0,0,0
$GC,697,-0.51,-150.9,127.4,-14.8,21,701,0.00,2.08,0.00,0.000,6,0.000,0.044,2622,2465,3944,0,0,0,0,0,0
$GC,1034,-0.51,-150.9,178.5,-15.1,32,1038,0.00,2.15,0.00,0.000,4,0.000,0.063,2611,3849,3947,0,0,0,0,0,0
$GC,1072,-0.51,-150.9,185.0,-15.4,33,1077,0.08,2.10,0.00,0.000,6,0.131,0.040,2639,2451,3945,0,0,0,0,0,0
$GC,1400,-0.51,-150.9,224.4,-11.5,41,1404,0.00,2.35,0.00,0.000,4,0.000,0.050,2639,866,3946,0,0,0,0,0,0
$GC,1409,-0.51,-150.9,225.7,-11.3,41,1413,0.00,2.38,0.00,0.000,6,0.000,0.043,2632,2463,3945,0,0,0,0,0,0
$GC,1764,-0.51,-150.9,263.7,-10.8,47,1769,0.00,2.42,0.00,0.000,4,0.000,0.049,2629,868,3943,0,0,0,0,0,0
$GC,1786,-0.51,-150.9,266.4,-10.9,47,1790,0.00,2.38,0.00,0.000,6,0.000,0.047,2619,2466,3946,0,0,0,0,0,0
$GC,2130,-0.51,-150.9,305.9,-11.6,53,2134,0.10,2.15,0.00,0.000,4,0.174,0.073,2636,3838,3944,0,0,0,0,0,0
$GC,2174,-0.51,-150.9,310.3,-9.5,53,2178,0.00,2.08,0.00,0.000,6,0.000,0.044,2636,2454,3944,0,0,0,0,0,0
$GC,2489,-0.51,-150.9,338.9,-9.1,59,2493,0.00,2.35,0.00,0.000,4,0.000,0.052,2635,877,3946,0,0,0,0,0,0
$GC,2577,-0.51,-150.9,348.3,-10.1,60,2582,0.00,2.38,0.00,0.000,6,0.000,0.050,2624,2459,3942,0,0,0,0,0,0
$GC,2921,-0.51,-150.9,384.9,-11.0,66,2925,0.00,2.17,0.00,0.000,4,0.000,0.076,2613,3843,3939,0,0,0,0,0,0
$GC,2948,-0.51,-150.9,388.1,-11.3,66,2953,0.12,2.12,0.00,0.000,6,0.138,0.044,2652,2455,3938,0,0,0,0,0,0
$GC,3286,-0.51,-150.9,415.4,-7.7,72,3291,0.00,2.40,0.00,0.000,4,0.000,0.054,2652,867,3936,0,0,0,0,0,0
$GC,3359,-0.51,-150.9,421.4,-7.8,73,3363,0.00,2.42,0.00,0.000,6,0.000,0.056,2642,2457,3935,0,0,0,0,0,0
$GC,3713,-0.51,-150.9,449.9,-8.0,79,3717,0.00,2.40,0.00,0.000,4,0.000,0.051,2642,871,3932,0,0,0,0,0,0
$GC,3735,-0.51,-150.9,451.8,-8.4,79,3739,0.00,2.42,0.00,0.000,6,0.000,0.057,2631,2460,3931,0,0,0,0,0,0
$GC,4073,-0.51,-150.9,477.6,-7.5,85,4078,0.00,2.42,0.00,0.000,4,0.000,0.052,2631,863,3928,0,0,0,0,0,0
$GC,4129,-0.51,-150.9,481.9,-7.5,85,4136,0.00,2.42,0.00,0.000,6,0.000,0.059,2619,2461,3928,0,0,0,0,0,0
$GC,4439,-0.51,-150.9,507.7,-8.5,91,4440,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2462,3925,0,0,0,0,0,0
$GC,4742,-0.51,-150.9,535.8,-9.2,96,4746,0.00,2.12,0.00,0.000,4,0.000,0.059,2609,3860,3926,0,0,0,0,0,0
$GC,4792,-0.51,-150.9,540.9,-9.6,96,4797,0.12,2.10,0.00,0.000,6,0.143,0.041,2645,2460,3922,0,0,0,0,0,0
$GC,5102,-0.51,-150.9,565.0,-7.7,101,5106,0.00,2.40,0.00,0.000,4,0.000,0.051,2653,872,3920,0,0,0,0,0,0
$GC,5152,-0.51,-150.9,569.3,-8.2,101,5156,0.00,2.45,0.00,0.000,6,0.000,0.062,2638,2458,3920,0,0,0,0,0,0
$GC,5462,-0.51,-150.9,594.6,-8.2,106,5466,0.00,2.40,0.00,0.000,4,0.000,0.051,2638,871,3918,0,0,0,0,0,0
$GC,5511,-0.51,-150.9,598.9,-8.2,106,5516,0.00,2.45,0.00,0.000,6,0.000,0.062,2629,2461,3918,0,0,0,0,0,0
$GC,5822,-0.51,-150.9,624.0,-8.1,111,5826,0.00,2.40,0.00,0.000,4,0.000,0.052,2628,872,3915,0,0,0,0,0,0
$GC,5837,-0.51,-150.9,625.4,-7.9,111,5842,0.10,2.45,0.00,0.000,6,0.168,0.060,2643,2467,3915,0,0,0,0,0,0
$GC,6181,-0.51,-150.9,648.1,-6.4,117,6185,0.00,2.40,0.00,0.000,4,0.000,0.054,2644,870,3913,0,0,0,0,0,0
$GC,6219,-0.51,-150.9,650.8,-6.8,117,6223,0.00,2.47,0.00,0.000,6,0.000,0.063,2634,2464,3913,0,0,0,0,0,0
$GC,6540,-0.51,-150.9,670.5,-6.1,123,6544,0.00,2.42,0.00,0.000,4,0.000,0.054,2633,873,3910,0,0,0,0,0,0
$GC,6566,-0.51,-150.9,672.6,-7.7,123,6571,0.00,2.47,0.00,0.000,6,0.000,0.062,2628,2469,3911,0,0,0,0,0,0
$GC,6899,-0.51,-150.9,697.4,-7.6,129,6903,0.00,2.45,0.00,0.000,4,0.000,0.054,2623,872,3907,0,0,0,0,0,0
$GC,6921,-0.51,-150.9,699.4,-8.8,129,6926,0.12,2.45,0.00,0.000,6,0.156,0.062,2648,2463,3909,0,0,0,0,0,0
$GC,7259,-0.51,-150.9,722.7,-6.8,135,7263,0.00,2.45,0.00,0.000,4,0.000,0.054,2648,870,3908,0,0,0,0,0,0
$GC,7286,-0.51,-150.9,724.7,-7.7,135,7290,0.00,2.47,0.00,0.000,6,0.000,0.063,2638,2460,3905,0,0,0,0,0,0
$GC,7618,-0.51,-150.9,748.8,-7.2,141,7622,0.00,2.47,0.00,0.000,4,0.000,0.054,2638,866,3905,0,0,0,0,0,0
$GC,7661,-0.51,-150.9,752.5,-8.3,141,7666,0.00,2.47,0.00,0.000,6,0.000,0.063,2633,2460,3905,0,0,0,0,0,0
$GC,7977,-0.51,-150.9,778.1,-8.1,147,7982,0.00,2.42,0.00,0.000,4,0.000,0.054,2628,871,3905,0,0,0,0,0,0
$GC,7999,-0.51,-150.9,780.2,-8.6,147,8003,0.00,2.47,0.00,0.000,6,0.000,0.063,2617,2460,3902,0,0,0,0,0,0
$GC,8337,-0.51,-150.9,807.8,-8.0,153,8342,0.10,2.45,0.00,0.000,4,0.168,0.055,2645,863,3905,0,0,0,0,0,0
$GC,8370,-0.51,-150.9,810.1,-7.0,153,8375,0.00,2.47,0.00,0.000,6,0.000,0.063,2635,2477,3902,0,0,0,0,0,0
$GC,8697,-0.51,-150.9,827.1,-5.0,159,8701,0.00,2.45,0.00,0.000,4,0.000,0.050,2635,867,3901,0,0,0,0,0,0
$GC,8724,-0.51,-150.9,828.6,-5.7,159,8729,0.00,2.42,0.00,0.000,6,0.000,0.054,2622,2474,3901,0,0,0,0,0,0
$GC,9058,-0.51,-150.9,845.7,-5.1,165,9060,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2470,3901,0,0,0,0,0,0
$GC,9360,-0.51,-150.9,862.8,-5.8,170,9364,0.00,2.45,0.00,0.000,4,0.000,0.047,2622,859,3899,0,0,0,0,0,0
$GC,9387,-0.51,-150.9,864.6,-7.4,170,9392,0.10,2.42,0.00,0.000,6,0.163,0.052,2642,2459,3899,0,0,0,0,0,0
$GC,9719,-0.51,-150.9,885.1,-6.3,176,9723,0.00,2.42,0.00,0.000,4,0.000,0.046,2642,863,3896,0,0,0,0,0,0
$GC,9735,-0.51,-150.9,886.5,-6.9,176,9740,0.00,2.40,0.00,0.000,6,0.000,0.048,2632,2460,3898,0,0,0,0,0,0
$GC,10079,-0.51,-150.9,913.9,-8.1,182,10083,0.00,2.40,0.00,0.000,4,0.000,0.046,2632,858,3897,0,0,0,0,0,0
$GC,10112,-0.51,-150.9,917.0,-9.3,182,10117,0.00,2.42,0.00,0.000,6,0.000,0.050,2621,2460,3897,0,0,0,0,0,0
$GC,10439,-0.51,-150.9,943.6,-8.1,188,10443,0.00,2.40,0.00,0.000,4,0.000,0.045,2621,865,3896,0,0,0,0,0,0
$GC,10467,-0.51,-150.9,945.8,-8.2,188,10472,0.12,2.40,0.00,0.000,6,0.151,0.050,2646,2466,3894,0,0,0,0,0,0
$GC,10800,-0.51,-150.9,965.6,-5.7,194,10804,0.00,2.40,0.00,0.000,4,0.000,0.046,2646,864,3895,0,0,0,0,0,0
$GC,10821,-0.51,-150.9,967.0,-5.6,194,10826,0.00,2.38,0.00,0.000,6,0.000,0.050,2636,2461,3895,0,0,0,0,0,0
$GC,11159,-0.51,-150.9,986.0,-5.6,200,11163,0.00,2.10,0.00,0.000,4,0.000,0.057,2625,3856,3897,0,0,0,0,0,0
$GC,11181,-0.51,-150.9,987.5,-5.9,200,11186,0.00,2.10,0.00,0.000,6,0.000,0.040,2629,2458,3894,0,0,0,0,0,0
$STATE,11274,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11275,begin apogee
$GC,11281,-0.13,0.0,993.2,5.9,202,11330,0.40,0.00,44.40,1.520,6,0.112,0.000,2766,2281,3684,0,0,0,0,0,0
$STATE,11337,end apogee,CONTROL_FINISHED_OK
$STATE,11337,begin climb
$GC,11340,0.51,150.9,994.2,0.0,202,11479,0.52,2.65,130.40,1.530,4,0.057,0.057,2983,3841,3069,0,0,0,0,0,0
$GC,11507,0.51,150.9,981.0,16.7,205,11511,0.00,2.42,0.00,0.000,6,0.000,0.045,2995,2328,3064,0,0,0,0,0,0
$GC,11838,0.51,150.9,929.2,15.7,211,11839,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2328,3062,0,0,0,0,0,0
$GC,12141,0.51,150.9,880.7,16.1,216,12146,0.00,2.47,0.00,0.000,4,0.000,0.052,3007,708,3062,0,0,0,0,0,0
$GC,12168,0.51,150.9,876.0,15.5,216,12173,0.00,2.45,0.00,0.000,6,0.000,0.055,3007,2297,3062,0,0,0,0,0,0
$GC,12507,0.51,150.9,821.2,16.3,222,12512,0.10,2.40,0.00,0.000,4,0.185,0.056,2981,3858,3061,0,0,0,0,0,0
$GC,12612,0.51,150.9,804.3,15.7,223,12616,0.00,2.40,0.00,0.000,6,0.000,0.048,2992,2291,3061,0,0,0,0,0,0
$GC,12939,0.51,150.9,759.0,13.9,229,12944,0.00,2.38,0.00,0.000,4,0.000,0.053,3004,715,3063,0,0,0,0,0,0
$GC,12967,0.51,150.9,754.8,13.9,229,12971,0.00,2.40,0.00,0.000,6,0.000,0.046,3004,2314,3063,0,0,0,0,0,0
$GC,13298,0.51,150.9,704.5,15.6,235,13303,0.00,2.30,0.00,0.000,4,0.000,0.052,3001,3842,3058,0,0,0,0,0,0
$GC,13314,0.51,150.9,701.6,16.1,235,13319,0.12,2.33,0.00,0.000,6,0.177,0.040,2983,2294,3060,0,0,0,0,0,0
$GC,13663,0.51,150.9,652.2,13.9,241,13667,0.00,2.38,0.00,0.000,4,0.000,0.051,2982,3848,3062,0,0,0,0,0,0
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$STATE,19785,end climb,SURFACE_DEPTH_REACHED
$STATE,19787,begin surface coast
$FINISH,0.9,1.005294
$STATE,19817,end surface coast,CONTROL_FINISHED_OK
$STATE,19817,begin surface
$SM_CCo,19894,0.00,0.000,0,0,1712,482.74
$SM_GC,1.56,7.12,0.00,0.00,0.026,0.000,0.000,113,2471,1712,-8.26,0.31,482.74
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$HUMID,58.07
$INTERNAL_PRESSURE,9.25695
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,23.4,22.825
$10V_AH,10.2,13.239
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.200,224.250,441.675,0.000,0.000,23.881,34.304,165.179,0.000,0.000,14.471,1348.375,16155.340,543.980,1914.005,280.102,33.358,1498.121,0.000,1637.371,0.000,0.540,0.000
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$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,255.916,332.883,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,143800
$DATA_FILE_SIZE,20246,373
$CAP_FILE_SIZE,159498,0
$CFSIZE,260165632,248270848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261213,114635,1858.626,-15607.710,32,0.9,32,9.6