version: 66.08
glider: 500
mission: 9
dive: 102
start: 12 26 113 17 41 9
data:
$ID,500
$MISSION,9
$DIVE,102
$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,-165856.94
$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,27
$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,164.0
$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
$GPS1,261213,173435,1857.711,-15610.548,26,1.0,26,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-83.8
$GPS2,261213,174007,1857.600,-15610.639,12,1.2,12,9.6
$SPEED_LIMITS,0.142,0.263
$TGT_NAME,B2
$TGT_LATLONG,1900.000,-15615.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.215,0.151
$KALMAN_X,107409.9,-274.5,227.1,-131128.5,-22.4
$KALMAN_Y,154634.6,-79.1,-425.8,-285794.6,-505.5
$MHEAD_RNG_PITCHd_Wd,295.6,8837,-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,38,-0.51,-150.9,0.0,0.0,0,96,0.00,0.00,-56.40,0.000,2,0.000,0.000,103,2465,3699,0,0,0,0,0,0
$GC,99,-0.51,-150.9,3.6,-7.2,1,122,9.68,2.17,-5.32,0.000,4,0.225,0.064,2630,3864,3945,0,0,0,0,0,0
$GC,133,-0.51,-150.9,14.4,-31.8,2,142,0.00,2.12,0.00,0.000,6,0.000,0.037,2630,2455,3943,0,0,0,0,0,0
$GC,448,-0.51,-150.9,89.0,-25.1,13,450,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2454,3946,0,0,0,0,0,0
$GC,755,-0.51,-150.9,146.9,-15.2,23,759,0.00,2.15,0.00,0.000,4,0.000,0.057,2620,3849,3948,0,0,0,0,0,0
$GC,839,-0.51,-150.9,161.5,-17.2,25,843,0.00,2.08,0.00,0.000,6,0.000,0.041,2619,2454,3948,0,0,0,0,0,0
$GC,1157,-0.51,-150.9,209.9,-14.3,35,1158,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2453,3949,0,0,0,0,0,0
$GC,1460,-0.51,-150.9,247.1,-12.3,40,1464,0.00,2.17,0.00,0.000,4,0.000,0.062,2609,3844,3951,0,0,0,0,0,0
$GC,1554,-0.51,-150.9,260.2,-11.9,41,1559,0.12,2.03,0.00,0.000,6,0.144,0.039,2646,2449,3951,0,0,0,0,0,0
$GC,1892,-0.51,-150.9,290.1,-8.6,47,1896,0.00,2.33,0.00,0.000,4,0.000,0.047,2647,872,3952,0,0,0,0,0,0
$GC,1914,-0.51,-150.9,292.5,-10.0,47,1918,0.00,2.42,0.00,0.000,6,0.000,0.053,2636,2459,3952,0,0,0,0,0,0
$GC,2258,-0.51,-150.9,326.5,-10.1,53,2262,0.00,2.38,0.00,0.000,4,0.000,0.047,2637,877,3950,0,0,0,0,0,0
$GC,2279,-0.51,-150.9,328.8,-10.3,53,2283,0.00,2.42,0.00,0.000,6,0.000,0.055,2625,2472,3951,0,0,0,0,0,0
$GC,2623,-0.51,-150.9,362.5,-9.6,59,2627,0.00,2.10,0.00,0.000,4,0.000,0.054,2615,3861,3948,0,0,0,0,0,0
$GC,2718,-0.51,-150.9,371.8,-8.9,60,2722,0.10,2.05,0.00,0.000,6,0.149,0.039,2644,2469,3948,0,0,0,0,0,0
$GC,3050,-0.51,-150.9,395.6,-7.2,66,3054,0.00,2.38,0.00,0.000,4,0.000,0.045,2645,868,3945,0,0,0,0,0,0
$GC,3112,-0.51,-150.9,400.6,-7.5,67,3117,0.00,2.40,0.00,0.000,6,0.000,0.050,2635,2469,3944,0,0,0,0,0,0
$GC,3478,-0.51,-150.9,431.0,-8.2,73,3483,0.00,2.42,0.00,0.000,4,0.000,0.051,2635,868,3941,0,0,0,0,0,0
$GC,3528,-0.51,-150.9,435.3,-7.8,73,3532,0.00,2.40,0.00,0.000,6,0.000,0.050,2624,2466,3939,0,0,0,0,0,0
$GC,3839,-0.51,-150.9,460.7,-8.2,78,3842,0.00,2.08,0.00,0.000,4,0.000,0.050,2613,3854,3937,0,0,0,0,0,0
$GC,3855,-0.51,-150.9,462.2,-8.1,78,3859,0.10,2.08,0.00,0.000,6,0.142,0.033,2643,2434,3938,0,0,0,0,0,0
$GC,4209,-0.51,-150.9,491.6,-8.4,84,4213,0.00,2.30,0.00,0.000,4,0.000,0.043,2643,877,3935,0,0,0,0,0,0
$GC,4259,-0.51,-150.9,496.4,-9.1,84,4264,0.00,2.38,0.00,0.000,6,0.000,0.047,2631,2469,3934,0,0,0,0,0,0
$GC,4569,-0.51,-150.9,524.4,-9.0,89,4570,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2468,3932,0,0,0,0,0,0
$GC,4872,-0.51,-150.9,552.7,-9.4,94,4876,0.00,2.35,0.00,0.000,4,0.000,0.041,2633,875,3930,0,0,0,0,0,0
$GC,4900,-0.51,-150.9,555.7,-10.4,94,4904,0.00,2.38,0.00,0.000,6,0.000,0.045,2622,2467,3930,0,0,0,0,0,0
$GC,5232,-0.51,-150.9,586.9,-9.2,100,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2468,3927,0,0,0,0,0,0
$GC,5535,-0.51,-150.9,608.4,-6.8,105,5539,0.00,2.40,0.00,0.000,4,0.000,0.041,2622,863,3926,0,0,0,0,0,0
$GC,5584,-0.51,-150.9,612.0,-6.8,105,5589,0.12,2.38,0.00,0.000,6,0.156,0.044,2646,2462,3928,0,0,0,0,0,0
$GC,5894,-0.51,-150.9,628.0,-5.1,110,5899,0.00,2.33,0.00,0.000,4,0.000,0.040,2647,876,3923,0,0,0,0,0,0
$GC,5927,-0.51,-150.9,630.3,-6.4,110,5932,0.00,2.35,0.00,0.000,6,0.000,0.046,2637,2457,3923,0,0,0,0,0,0
$GC,6254,-0.51,-150.9,651.3,-6.5,116,6258,0.00,2.35,0.00,0.000,4,0.000,0.040,2636,864,3921,0,0,0,0,0,0
$GC,6282,-0.51,-150.9,653.3,-6.9,116,6287,0.00,2.40,0.00,0.000,6,0.000,0.044,2626,2473,3920,0,0,0,0,0,0
$GC,6616,-0.51,-150.9,677.9,-7.4,122,6620,0.00,2.40,0.00,0.000,4,0.000,0.041,2625,862,3921,0,0,0,0,0,0
$GC,6655,-0.51,-150.9,681.4,-8.6,122,6660,0.10,2.38,0.00,0.000,6,0.164,0.045,2641,2463,3919,0,0,0,0,0,0
$GC,6981,-0.51,-150.9,705.6,-7.5,128,6985,0.00,2.33,0.00,0.000,4,0.000,0.040,2642,872,3919,0,0,0,0,0,0
$GC,7003,-0.51,-150.9,707.6,-8.6,128,7007,0.00,2.38,0.00,0.000,6,0.000,0.044,2631,2465,3918,0,0,0,0,0,0
$GC,7342,-0.51,-150.9,734.4,-7.8,134,7343,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2465,3917,0,0,0,0,0,0
$GC,7644,-0.51,-150.9,754.9,-6.6,139,7648,0.00,2.35,0.00,0.000,4,0.000,0.040,2632,866,3915,0,0,0,0,0,0
$GC,7683,-0.51,-150.9,757.9,-7.6,139,7687,0.00,2.38,0.00,0.000,6,0.000,0.046,2621,2461,3914,0,0,0,0,0,0
$GC,8004,-0.51,-150.9,780.7,-7.1,145,8005,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2461,3914,0,0,0,0,0,0
$GC,8307,-0.51,-150.9,803.2,-7.4,150,8308,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2461,3913,0,0,0,0,0,0
$GC,8610,-0.51,-150.9,826.1,-7.6,155,8611,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2462,3912,0,0,0,0,0,0
$GC,8913,-0.51,-150.9,848.9,-7.5,160,8914,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2461,3911,0,0,0,0,0,0
$GC,9216,-0.51,-150.9,871.5,-7.4,165,9220,0.00,2.38,0.00,0.000,4,0.000,0.040,2620,861,3911,0,0,0,0,0,0
$GC,9254,-0.51,-150.9,874.6,-8.1,165,9259,0.12,2.40,0.00,0.000,6,0.153,0.044,2644,2466,3910,0,0,0,0,0,0
$GC,9575,-0.51,-150.9,892.5,-5.4,171,9579,0.00,2.35,0.00,0.000,4,0.000,0.041,2645,872,3909,0,0,0,0,0,0
$GC,9608,-0.51,-150.9,894.4,-5.9,171,9612,0.00,2.38,0.00,0.000,6,0.000,0.046,2635,2461,3908,0,0,0,0,0,0
$GC,9935,-0.51,-150.9,911.7,-5.3,177,9939,0.00,2.35,0.00,0.000,4,0.000,0.041,2634,873,3908,0,0,0,0,0,0
$GC,9957,-0.51,-150.9,913.0,-5.4,177,9961,0.00,2.38,0.00,0.000,6,0.000,0.046,2624,2462,3907,0,0,0,0,0,0
$GC,10301,-0.51,-150.9,934.5,-6.4,183,10305,0.00,2.10,0.00,0.000,4,0.000,0.054,2612,3849,3907,0,0,0,0,0,0
$GC,10345,-0.51,-150.9,937.9,-7.5,183,10350,0.12,2.05,0.00,0.000,6,0.142,0.037,2654,2454,3906,0,0,0,0,0,0
$GC,10660,-0.51,-150.9,955.8,-5.6,189,10664,0.00,2.35,0.00,0.000,4,0.000,0.044,2651,872,3904,0,0,0,0,0,0
$GC,10723,-0.51,-150.9,959.7,-6.7,190,10727,0.00,2.40,0.00,0.000,6,0.000,0.048,2641,2466,3905,0,0,0,0,0,0
$GC,11088,-0.51,-150.9,981.5,-5.9,196,11089,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2466,3905,0,0,0,0,0,0
$STATE,11267,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11268,begin apogee
$GC,11274,-0.13,0.0,992.2,5.9,199,11324,0.35,0.05,46.78,1.527,6,0.115,0.150,2765,2305,3682,0,0,0,0,0,0
$STATE,11331,end apogee,CONTROL_FINISHED_OK
$STATE,11331,begin climb
$GC,11335,0.51,150.9,993.4,0.0,199,11474,0.55,2.58,130.32,1.535,4,0.056,0.052,2990,3836,3066,0,0,0,0,0,0
$GC,11508,0.51,150.9,979.4,17.3,202,11512,0.00,2.40,0.00,0.000,6,0.000,0.039,3002,2336,3065,0,0,0,0,0,0
$GC,11828,0.51,150.9,927.5,16.3,208,11830,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2333,3063,0,0,0,0,0,0
$GC,12131,0.51,150.9,874.4,17.8,213,12133,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2334,3065,0,0,0,0,0,0
$GC,12435,0.51,150.9,822.8,16.9,218,12436,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2330,3062,0,0,0,0,0,0
$GC,12738,0.51,150.9,775.0,15.5,223,12739,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2333,3062,0,0,0,0,0,0
$GC,13041,0.51,150.9,729.5,15.0,228,13045,0.00,2.33,0.00,0.000,4,0.000,0.049,3002,3845,3061,0,0,0,0,0,0
$GC,13056,0.51,150.9,726.7,15.4,228,13061,0.12,2.38,0.00,0.000,6,0.166,0.037,2980,2280,3061,0,0,0,0,0,0
$GC,13405,0.51,150.9,678.5,13.9,234,13406,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2279,3061,0,0,0,0,0,0
$GC,13708,0.51,150.9,637.5,13.4,239,13712,0.00,2.35,0.00,0.000,4,0.000,0.045,2990,712,3062,0,0,0,0,0,0
$GC,13729,0.51,150.9,634.7,12.1,239,13733,0.00,2.35,0.00,0.000,6,0.000,0.043,2990,2305,3061,0,0,0,0,0,0
$GC,14072,0.51,150.9,592.6,12.1,245,14077,0.00,2.33,0.00,0.000,4,0.000,0.050,2990,3847,3061,0,0,0,0,0,0
$GC,14100,0.51,150.9,589.0,13.2,245,14104,0.00,2.35,0.00,0.000,6,0.000,0.040,3002,2298,3063,0,0,0,0,0,0
$GC,14431,0.51,150.9,547.2,12.9,251,14436,0.00,2.38,0.00,0.000,4,0.000,0.046,3015,711,3060,0,0,0,0,0,0
$GC,14447,0.51,150.9,544.8,13.3,251,14452,0.12,2.40,0.00,0.000,6,0.171,0.043,2980,2306,3060,0,0,0,0,0,0
$GC,14796,0.51,150.9,503.4,11.7,257,14798,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2305,3060,0,0,0,0,0,0
$GC,15099,0.51,150.9,470.2,11.0,262,15103,0.00,2.30,0.00,0.000,4,0.000,0.050,2979,3843,3060,0,0,0,0,0,0
$GC,15122,0.51,150.9,467.5,11.1,262,15126,0.00,2.33,0.00,0.000,6,0.000,0.040,2990,2298,3060,0,0,0,0,0,0
$GC,15460,0.51,150.9,429.6,10.9,268,15464,0.00,2.35,0.00,0.000,4,0.000,0.053,2990,3848,3061,0,0,0,0,0,0
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$GC,19469,0.64,410.0,40.0,11.4,361,19473,0.00,2.38,0.00,0.000,4,0.000,0.044,3020,3854,2013,0,0,0,0,0,0
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$STATE,19804,end climb,SURFACE_DEPTH_REACHED
$STATE,19804,begin surface coast
$FINISH,0.7,1.021406
$STATE,19835,end surface coast,CONTROL_FINISHED_OK
$STATE,19835,begin surface
$SM_CCo,19913,0.00,0.000,0,0,2015,408.17
$SM_GC,1.46,7.22,0.00,0.00,0.033,0.000,0.000,130,2466,2015,-8.26,0.17,408.17
$IRIDIUM_FIX,1848.70,-15606.19,261213,111116
$TT8_MAMPS,0.062167
$HUMID,58.93
$INTERNAL_PRESSURE,9.27648
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,23.3,23.098
$10V_AH,10.2,13.363
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.100,177.800,383.100,0.000,0.000,22.709,41.066,150.053,0.000,0.000,15.202,1292.169,16506.713,443.462,1748.413,262.138,33.363,1294.067,0.000,1484.154,0.000,0.541,0.000
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$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,256.424,336.178,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,143792
$DATA_FILE_SIZE,16983,373
$CAP_FILE_SIZE,143581,0
$CFSIZE,260165632,248164352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261213,231406,1857.921,-15613.426,26,1.0,26,9.6