version: 66.08
glider: 500
mission: 9
dive: 103
start: 12 26 113 23 21 34
data:
$ID,500
$MISSION,9
$DIVE,103
$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,-165858.19
$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,40
$R_STBD_OVSHOOT,35
$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,165.0
$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
$GPS1,261213,231406,1857.921,-15613.426,26,1.0,26,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-82.7
$GPS2,261213,232024,1857.825,-15613.563,13,1.2,13,9.6
$SPEED_LIMITS,0.142,0.263
$TGT_NAME,B1
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.087,0.248
$KALMAN_X,107388.0,-352.1,-462.2,-135424.7,1684.5
$KALMAN_Y,151473.4,269.0,-204.6,-282788.4,-2276.9
$MHEAD_RNG_PITCHd_Wd,331.1,142950,-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,-150.6,0.0,0.0,0,111,0.00,0.00,-68.97,0.000,2,0.000,0.000,129,2466,3864,0,0,0,0,0,0
$GC,114,-0.51,-150.9,4.2,-9.2,2,131,9.62,2.38,-1.62,0.000,4,0.228,0.046,2648,861,3945,0,0,0,0,0,0
$GC,140,-0.51,-150.9,13.1,-36.1,3,144,0.00,2.38,0.00,0.000,6,0.000,0.042,2638,2463,3945,0,0,0,0,0,0
$GC,476,-0.51,-150.9,93.3,-22.8,14,480,0.00,2.05,0.00,0.000,4,0.000,0.052,2627,3834,3946,0,0,0,0,0,0
$GC,609,-0.51,-150.9,117.8,-14.1,18,613,0.00,2.03,0.00,0.000,6,0.000,0.040,2627,2465,3946,0,0,0,0,0,0
$GC,945,-0.51,-150.9,165.4,-13.4,29,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2467,3948,0,0,0,0,0,0
$GC,1249,-0.51,-150.9,210.8,-15.6,38,1253,0.00,2.38,0.00,0.000,4,0.000,0.047,2627,869,3947,0,0,0,0,0,0
$GC,1287,-0.51,-150.9,216.6,-14.6,38,1291,0.00,2.38,0.00,0.000,6,0.000,0.058,2615,2440,3949,0,0,0,0,0,0
$GC,1614,-0.51,-150.9,260.1,-13.2,44,1618,0.10,2.20,0.00,0.000,4,0.173,0.066,2633,3857,3949,0,0,0,0,0,0
$GC,1708,-0.51,-150.9,271.9,-11.7,45,1712,0.00,2.12,0.00,0.000,6,0.000,0.044,2634,2434,3950,0,0,0,0,0,0
$GC,2046,-0.51,-150.9,306.2,-9.9,51,2047,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2434,3950,0,0,0,0,0,0
$GC,2349,-0.51,-150.9,333.5,-8.9,56,2350,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2434,3948,0,0,0,0,0,0
$GC,2652,-0.51,-150.9,360.0,-8.6,61,2654,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2434,3947,0,0,0,0,0,0
$GC,2956,-0.51,-150.9,387.9,-9.3,66,2960,0.00,2.33,0.00,0.000,4,0.000,0.050,2633,874,3944,0,0,0,0,0,0
$GC,3005,-0.51,-150.9,393.5,-10.2,66,3010,0.00,2.42,0.00,0.000,6,0.000,0.054,2622,2462,3943,0,0,0,0,0,0
$GC,3326,-0.51,-150.9,427.0,-10.4,72,3328,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2459,3942,0,0,0,0,0,0
$GC,3630,-0.51,-150.9,455.6,-9.3,77,3634,0.00,2.10,0.00,0.000,4,0.000,0.059,2611,3857,3937,0,0,0,0,0,0
$GC,3657,-0.51,-150.9,458.3,-9.1,77,3662,0.12,2.10,0.00,0.000,6,0.138,0.041,2650,2467,3937,0,0,0,0,0,0
$GC,3989,-0.51,-150.9,481.6,-6.9,83,3993,0.00,2.38,0.00,0.000,4,0.000,0.049,2653,866,3935,0,0,0,0,0,0
$GC,4044,-0.51,-150.9,485.9,-7.3,83,4051,0.00,2.40,0.00,0.000,6,0.000,0.050,2640,2461,3934,0,0,0,0,0,0
$GC,4354,-0.51,-150.9,509.8,-7.8,89,4355,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2461,3932,0,0,0,0,0,0
$GC,4657,-0.51,-150.9,533.8,-8.0,94,4661,0.00,2.35,0.00,0.000,4,0.000,0.044,2640,865,3929,0,0,0,0,0,0
$GC,4712,-0.51,-150.9,538.8,-8.6,94,4719,0.00,2.42,0.00,0.000,6,0.000,0.059,2629,2456,3928,0,0,0,0,0,0
$GC,5022,-0.51,-150.9,566.1,-8.9,100,5026,0.00,2.12,0.00,0.000,4,0.000,0.057,2619,3861,3926,0,0,0,0,0,0
$GC,5044,-0.51,-150.9,568.0,-8.4,100,5048,0.00,2.12,0.00,0.000,6,0.000,0.037,2619,2452,3926,0,0,0,0,0,0
$GC,5388,-0.51,-150.9,596.6,-8.3,106,5392,0.00,2.35,0.00,0.000,4,0.000,0.047,2618,877,3926,0,0,0,0,0,0
$GC,5456,-0.51,-150.9,602.5,-8.5,107,5461,0.12,2.42,0.00,0.000,6,0.151,0.059,2643,2464,3922,0,0,0,0,0,0
$GC,5816,-0.51,-150.9,624.7,-6.0,113,5820,0.00,2.42,0.00,0.000,4,0.000,0.047,2644,865,3922,0,0,0,0,0,0
$GC,5866,-0.51,-150.9,628.0,-6.1,113,5870,0.00,2.45,0.00,0.000,6,0.000,0.057,2634,2462,3921,0,0,0,0,0,0
$GC,6176,-0.51,-150.9,647.9,-6.4,118,6180,0.00,2.38,0.00,0.000,4,0.000,0.047,2634,877,3920,0,0,0,0,0,0
$GC,6203,-0.51,-150.9,649.6,-6.4,118,6207,0.00,2.42,0.00,0.000,6,0.000,0.057,2624,2462,3919,0,0,0,0,0,0
$GC,6535,-0.51,-150.9,673.8,-7.5,124,6536,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2462,3917,0,0,0,0,0,0
$GC,6838,-0.51,-150.9,699.1,-8.3,129,6842,0.00,2.38,0.00,0.000,4,0.000,0.048,2623,877,3915,0,0,0,0,0,0
$GC,6865,-0.51,-150.9,701.7,-9.8,129,6870,0.12,2.42,0.00,0.000,6,0.153,0.056,2648,2461,3915,0,0,0,0,0,0
$GC,7197,-0.51,-150.9,725.7,-7.0,135,7201,0.00,2.40,0.00,0.000,4,0.000,0.048,2648,867,3914,0,0,0,0,0,0
$GC,7220,-0.51,-150.9,727.3,-6.8,135,7225,0.00,2.42,0.00,0.000,6,0.000,0.057,2638,2460,3913,0,0,0,0,0,0
$GC,7559,-0.51,-150.9,749.2,-6.3,141,7563,0.00,2.42,0.00,0.000,4,0.000,0.048,2639,866,3912,0,0,0,0,0,0
$GC,7586,-0.51,-150.9,750.9,-6.5,141,7590,0.00,2.42,0.00,0.000,6,0.000,0.058,2627,2459,3912,0,0,0,0,0,0
$GC,7918,-0.51,-150.9,769.7,-5.7,147,7922,0.00,2.12,0.00,0.000,4,0.000,0.057,2622,3858,3911,0,0,0,0,0,0
$GC,7946,-0.51,-150.9,771.5,-6.9,147,7949,0.00,2.12,0.00,0.000,6,0.000,0.042,2617,2452,3911,0,0,0,0,0,0
$GC,8284,-0.51,-150.9,792.7,-6.3,153,8288,0.00,2.38,0.00,0.000,4,0.000,0.047,2613,872,3910,0,0,0,0,0,0
$GC,8311,-0.51,-150.9,794.7,-7.3,153,8316,0.12,2.45,0.00,0.000,6,0.152,0.059,2641,2465,3909,0,0,0,0,0,0
$GC,8643,-0.51,-150.9,812.9,-5.5,159,8648,0.00,2.42,0.00,0.000,4,0.000,0.047,2642,870,3908,0,0,0,0,0,0
$GC,8671,-0.51,-150.9,814.6,-6.3,159,8675,0.00,2.47,0.00,0.000,6,0.000,0.060,2632,2471,3909,0,0,0,0,0,0
$GC,9003,-0.51,-150.9,835.0,-6.2,165,9007,0.00,2.45,0.00,0.000,4,0.000,0.048,2632,862,3904,0,0,0,0,0,0
$GC,9041,-0.51,-150.9,837.7,-6.8,165,9045,0.00,2.45,0.00,0.000,6,0.000,0.059,2620,2461,3907,0,0,0,0,0,0
$GC,9362,-0.51,-150.9,860.6,-7.2,171,9364,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2461,3906,0,0,0,0,0,0
$GC,9666,-0.51,-150.9,884.2,-7.9,176,9670,0.00,2.42,0.00,0.000,4,0.000,0.046,2620,865,3903,0,0,0,0,0,0
$GC,9709,-0.51,-150.9,888.0,-7.8,176,9715,0.12,2.45,0.00,0.000,6,0.148,0.059,2645,2467,3904,0,0,0,0,0,0
$GC,10025,-0.51,-150.9,908.8,-6.5,182,10026,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2467,3903,0,0,0,0,0,0
$GC,10328,-0.51,-150.9,927.5,-6.2,187,10333,0.00,2.42,0.00,0.000,4,0.000,0.047,2645,867,3903,0,0,0,0,0,0
$GC,10367,-0.51,-150.9,930.1,-6.7,187,10371,0.00,2.45,0.00,0.000,6,0.000,0.060,2636,2462,3902,0,0,0,0,0,0
$GC,10688,-0.51,-150.9,951.1,-6.5,193,10692,0.00,2.42,0.00,0.000,4,0.000,0.047,2635,865,3902,0,0,0,0,0,0
$GC,10715,-0.51,-150.9,953.2,-7.7,193,10719,0.00,2.45,0.00,0.000,6,0.000,0.059,2625,2460,3902,0,0,0,0,0,0
$GC,11047,-0.51,-150.9,976.7,-7.1,199,11051,0.00,2.40,0.00,0.000,4,0.000,0.047,2625,871,3901,0,0,0,0,0,0
$GC,11074,-0.51,-150.9,979.0,-8.2,199,11079,0.12,2.45,0.00,0.000,6,0.154,0.059,2648,2466,3901,0,0,0,0,0,0
$STATE,11282,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11282,begin apogee
$GC,11289,-0.13,0.0,991.8,6.0,203,11339,0.32,0.05,46.25,1.524,6,0.111,0.148,2767,2308,3680,0,0,0,0,0,0
$STATE,11346,end apogee,CONTROL_FINISHED_OK
$STATE,11346,begin climb
$GC,11348,0.51,150.9,993.3,0.0,203,11487,0.52,2.65,129.90,1.532,4,0.055,0.057,2983,3849,3065,0,0,0,0,0,0
$GC,11509,0.51,150.9,982.9,15.1,206,11514,0.00,2.47,0.00,0.000,6,0.000,0.045,2995,2320,3067,0,0,0,0,0,0
$GC,11853,0.51,150.9,933.2,14.5,212,11858,0.00,2.47,0.00,0.000,4,0.000,0.054,3008,710,3066,0,0,0,0,0,0
$GC,11876,0.51,150.9,929.7,13.9,212,11881,0.00,2.45,0.00,0.000,6,0.000,0.045,3008,2310,3063,0,0,0,0,0,0
$GC,12214,0.51,150.9,876.8,15.8,218,12218,0.00,2.35,0.00,0.000,4,0.000,0.053,3008,3852,3062,0,0,0,0,0,0
$GC,12315,0.51,150.9,859.5,17.0,219,12321,0.15,2.40,0.00,0.000,6,0.176,0.043,2980,2282,3061,0,0,0,0,0,0
$GC,12642,0.51,150.9,811.2,14.8,225,12646,0.00,2.38,0.00,0.000,4,0.000,0.054,2991,715,3062,0,0,0,0,0,0
$GC,12657,0.51,150.9,808.6,14.7,225,12661,0.00,2.40,0.00,0.000,6,0.000,0.048,2987,2304,3059,0,0,0,0,0,0
$GC,13007,0.51,150.9,755.5,15.2,231,13011,0.00,2.35,0.00,0.000,4,0.000,0.051,2991,3851,3060,0,0,0,0,0,0
$GC,13056,0.51,150.9,747.1,16.0,231,13060,0.00,2.35,0.00,0.000,6,0.000,0.042,3001,2296,3060,0,0,0,0,0,0
$GC,13371,0.51,150.9,697.8,15.4,237,13373,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2295,3061,0,0,0,0,0,0
$GC,13675,0.51,150.9,655.6,13.7,242,13676,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2294,3058,0,0,0,0,0,0
$GC,13978,0.51,150.9,614.3,13.7,247,13979,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2295,3057,0,0,0,0,0,0
$GC,14281,0.51,150.9,576.1,12.4,252,14282,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2296,3059,0,0,0,0,0,0
$GC,14584,0.51,150.9,537.5,12.6,257,14588,0.00,2.42,0.00,0.000,4,0.000,0.056,2999,3854,3059,0,0,0,0,0,0
$GC,14623,0.51,150.9,532.0,14.6,257,14628,0.12,2.40,0.00,0.000,6,0.178,0.044,2982,2298,3060,0,0,0,0,0,0
$GC,14944,0.51,150.9,495.5,11.2,263,14948,0.00,2.42,0.00,0.000,4,0.000,0.051,2993,705,3060,0,0,0,0,0,0
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$STATE,19966,end climb,SURFACE_DEPTH_REACHED
$STATE,19966,begin surface coast
$FINISH,0.8,1.022663
$STATE,19997,end surface coast,CONTROL_FINISHED_OK
$STATE,19997,begin surface
$SM_CCo,20075,0.00,0.000,0,0,1766,469.25
$SM_GC,1.66,7.15,0.00,0.00,0.027,0.000,0.000,120,2468,1766,-8.27,0.23,469.25
$IRIDIUM_FIX,1850.98,-15609.19,261213,171711
$TT8_MAMPS,0.062167
$HUMID,57.60
$INTERNAL_PRESSURE,9.27648
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,23.4,23.253
$10V_AH,10.2,14.099
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.325,186.075,434.425,0.000,0.000,23.546,32.245,204.662,0.000,0.000,15.846,1322.759,16558.232,519.212,1768.158,300.160,33.373,1370.909,0.000,1494.482,0.000,0.540,0.000
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$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,261.054,349.361,0.000,0.000,0.000,0.000,53703.402,5.114,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,45.000,1.000,0.000,0.000
$MEM,143976
$DATA_FILE_SIZE,20206,380
$CAP_FILE_SIZE,147389,0
$CFSIZE,260165632,248107008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,271213,045724,1858.771,-15615.166,37,1.2,37,9.6