version: 66.08
glider: 500
mission: 9
dive: 106
start: 12 27 113 16 14 3
data:
$ID,500
$MISSION,9
$DIVE,106
$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,-165862.05
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,32
$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,0
$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,0.0
$AD_PROFILE,0.0
$AD_XMITPROFILE,1.0
$AD_UPLOADMAX,60000.0
$AD_STARTS,167.0
$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
$GPS1,271213,160700,1901.302,-15618.246,38,1.2,38,9.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-83.6
$GPS2,271213,161307,1901.272,-15618.362,14,1.4,14,9.6
$SPEED_LIMITS,0.142,0.263
$TGT_NAME,B1
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.027,0.262
$KALMAN_X,101440.3,-373.4,-381.0,-137872.0,-418.9
$KALMAN_Y,142781.1,15.3,45.8,-267718.5,-2429.3
$MHEAD_RNG_PITCHd_Wd,356.3,136669,-17.0,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.51,-150.9,0.0,0.0,0,89,0.00,0.00,-67.97,0.000,2,0.000,0.000,122,2466,3783,0,0,0,0,0,0
$GC,92,-0.51,-150.9,3.9,-8.3,2,112,9.57,2.15,-3.28,0.000,4,0.223,0.063,2632,3840,3942,0,0,0,0,0,0
$GC,121,-0.51,-150.9,13.1,-37.0,3,125,0.00,2.08,0.00,0.000,6,0.000,0.036,2632,2451,3945,0,0,0,0,0,0
$GC,458,-0.51,-150.9,91.6,-22.4,14,462,0.00,2.35,0.00,0.000,4,0.000,0.050,2631,874,3944,0,0,0,0,0,0
$GC,479,-0.51,-150.9,97.4,-22.6,14,488,0.00,2.38,0.00,0.000,6,0.000,0.041,2620,2453,3944,0,0,0,0,0,0
$GC,794,-0.51,-150.9,160.4,-16.6,25,798,0.00,2.12,0.00,0.000,4,0.000,0.061,2609,3846,3945,0,0,0,0,0,0
$GC,926,-0.51,-150.9,180.6,-15.8,29,931,0.12,2.03,0.00,0.000,6,0.147,0.039,2646,2464,3947,0,0,0,0,0,0
$GC,1265,-0.51,-150.9,223.6,-12.2,37,1269,0.00,2.38,0.00,0.000,4,0.000,0.053,2646,871,3950,0,0,0,0,0,0
$GC,1281,-0.51,-150.9,225.7,-11.9,37,1285,0.00,2.33,0.00,0.000,6,0.000,0.044,2636,2459,3948,0,0,0,0,0,0
$GC,1636,-0.51,-150.9,262.6,-10.5,43,1637,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2459,3949,0,0,0,0,0,0
$GC,1939,-0.51,-150.9,299.3,-12.3,48,1943,0.00,2.38,0.00,0.000,4,0.000,0.051,2636,873,3949,0,0,0,0,0,0
$GC,1960,-0.51,-150.9,302.0,-11.6,48,1964,0.00,2.35,0.00,0.000,6,0.000,0.051,2625,2453,3952,0,0,0,0,0,0
$GC,2304,-0.51,-150.9,337.7,-10.4,54,2308,0.00,2.20,0.00,0.000,4,0.000,0.075,2612,3861,3949,0,0,0,0,0,0
$GC,2336,-0.51,-150.9,341.1,-10.2,54,2341,0.12,2.10,0.00,0.000,6,0.135,0.042,2653,2432,3947,0,0,0,0,0,0
$GC,2669,-0.51,-150.9,365.1,-7.4,60,2673,0.00,2.33,0.00,0.000,4,0.000,0.050,2651,867,3947,0,0,0,0,0,0
$GC,2709,-0.51,-150.9,368.4,-7.9,60,2713,0.00,2.40,0.00,0.000,6,0.000,0.058,2643,2460,3947,0,0,0,0,0,0
$GC,3030,-0.51,-150.9,396.9,-9.0,66,3031,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2460,3942,0,0,0,0,0,0
$GC,3333,-0.51,-150.9,425.0,-9.4,71,3337,0.00,2.40,0.00,0.000,4,0.000,0.047,2644,868,3943,0,0,0,0,0,0
$GC,3354,-0.51,-150.9,427.4,-10.9,71,3358,0.00,2.45,0.00,0.000,6,0.000,0.057,2630,2469,3943,0,0,0,0,0,0
$GC,3698,-0.51,-150.9,461.7,-9.8,77,3699,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2468,3939,0,0,0,0,0,0
$GC,4001,-0.51,-150.9,486.1,-7.8,82,4005,0.00,2.40,0.00,0.000,4,0.000,0.050,2632,873,3936,0,0,0,0,0,0
$GC,4063,-0.51,-150.9,491.1,-7.6,82,4070,0.00,2.42,0.00,0.000,6,0.000,0.059,2621,2464,3936,0,0,0,0,0,0
$GC,4373,-0.51,-150.9,517.1,-8.7,88,4374,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2464,3934,0,0,0,0,0,0
$GC,4676,-0.51,-150.9,545.0,-9.2,93,4677,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2465,3931,0,0,0,0,0,0
$GC,4979,-0.51,-150.9,569.2,-7.9,98,4983,0.00,2.38,0.00,0.000,4,0.000,0.048,2621,873,3929,0,0,0,0,0,0
$GC,5024,-0.51,-150.9,572.8,-7.5,98,5029,0.12,2.42,0.00,0.000,6,0.157,0.059,2645,2462,3929,0,0,0,0,0,0
$GC,5339,-0.51,-150.9,593.1,-6.5,104,5343,0.00,2.40,0.00,0.000,4,0.000,0.048,2645,868,3927,0,0,0,0,0,0
$GC,5373,-0.51,-150.9,595.9,-8.2,104,5377,0.00,2.42,0.00,0.000,6,0.000,0.059,2636,2460,3927,0,0,0,0,0,0
$GC,5699,-0.51,-150.9,622.5,-8.1,110,5700,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2460,3924,0,0,0,0,0,0
$GC,6002,-0.51,-150.9,645.5,-7.4,115,6007,0.00,2.40,0.00,0.000,4,0.000,0.049,2637,867,3922,0,0,0,0,0,0
$GC,6036,-0.51,-150.9,648.1,-7.7,115,6040,0.00,2.40,0.00,0.000,6,0.000,0.050,2625,2472,3923,0,0,0,0,0,0
$GC,6362,-0.51,-150.9,670.0,-6.6,121,6366,0.00,2.42,0.00,0.000,4,0.000,0.050,2624,869,3921,0,0,0,0,0,0
$GC,6406,-0.51,-150.9,673.1,-6.4,121,6411,0.12,2.42,0.00,0.000,6,0.151,0.060,2650,2456,3921,0,0,0,0,0,0
$GC,6721,-0.51,-150.9,689.2,-5.0,127,6722,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2456,3920,0,0,0,0,0,0
$GC,7024,-0.51,-150.9,706.8,-5.9,132,7028,0.00,2.40,0.00,0.000,4,0.000,0.049,2650,870,3918,0,0,0,0,0,0
$GC,7051,-0.51,-150.9,708.8,-7.7,132,7056,0.00,2.42,0.00,0.000,6,0.000,0.058,2641,2466,3918,0,0,0,0,0,0
$GC,7384,-0.51,-150.9,732.8,-7.3,138,7388,0.00,2.42,0.00,0.000,4,0.000,0.050,2641,872,3916,0,0,0,0,0,0
$GC,7428,-0.51,-150.9,736.4,-7.9,138,7432,0.00,2.42,0.00,0.000,6,0.000,0.059,2630,2461,3916,0,0,0,0,0,0
$GC,7743,-0.51,-150.9,761.3,-7.9,144,7747,0.00,2.40,0.00,0.000,4,0.000,0.050,2630,866,3914,0,0,0,0,0,0
$GC,7770,-0.51,-150.9,763.7,-8.4,144,7774,0.00,2.45,0.00,0.000,6,0.000,0.058,2619,2469,3912,0,0,0,0,0,0
$GC,8102,-0.51,-150.9,789.9,-7.9,150,8103,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2469,3911,0,0,0,0,0,0
$GC,8405,-0.51,-150.9,813.4,-7.8,155,8409,0.00,2.42,0.00,0.000,4,0.000,0.050,2619,879,3912,0,0,0,0,0,0
$GC,8448,-0.51,-150.9,817.1,-8.3,155,8454,0.12,2.42,0.00,0.000,6,0.155,0.059,2644,2464,3911,0,0,0,0,0,0
$GC,8764,-0.51,-150.9,838.5,-6.8,161,8765,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2464,3911,0,0,0,0,0,0
$GC,9067,-0.51,-150.9,858.4,-6.5,166,9071,0.00,2.42,0.00,0.000,4,0.000,0.050,2644,878,3910,0,0,0,0,0,0
$GC,9135,-0.51,-150.9,863.1,-7.4,167,9139,0.00,2.42,0.00,0.000,6,0.000,0.058,2635,2461,3909,0,0,0,0,0,0
$GC,9495,-0.51,-150.9,887.6,-6.7,173,9496,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2461,3908,0,0,0,0,0,0
$GC,9798,-0.51,-150.9,908.0,-6.8,178,9802,0.00,2.40,0.00,0.000,4,0.000,0.050,2635,869,3907,0,0,0,0,0,0
$GC,9831,-0.51,-150.9,910.6,-7.4,178,9835,0.00,2.45,0.00,0.000,6,0.000,0.057,2625,2473,3907,0,0,0,0,0,0
$GC,10157,-0.51,-150.9,934.9,-7.6,184,10162,0.00,2.42,0.00,0.000,4,0.000,0.050,2624,866,3907,0,0,0,0,0,0
$GC,10173,-0.51,-150.9,936.2,-7.6,184,10178,0.12,2.45,0.00,0.000,6,0.156,0.057,2650,2461,3904,0,0,0,0,0,0
$GC,10523,-0.51,-150.9,958.2,-6.2,190,10527,0.00,2.40,0.00,0.000,4,0.000,0.051,2650,878,3906,0,0,0,0,0,0
$GC,10555,-0.51,-150.9,960.3,-6.8,190,10559,0.00,2.42,0.00,0.000,6,0.000,0.058,2640,2460,3906,0,0,0,0,0,0
$GC,10888,-0.51,-150.9,980.6,-6.0,196,10889,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2460,3904,0,0,0,0,0,0
$STATE,11067,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11067,begin apogee
$GC,11073,-0.13,0.0,991.1,5.8,199,11123,0.35,0.00,46.90,1.523,6,0.113,0.000,2764,2182,3680,0,0,0,0,0,0
$STATE,11124,end apogee,CONTROL_FINISHED_OK
$STATE,11124,begin climb
$GC,11127,0.51,150.9,992.0,0.0,199,11266,0.55,2.72,131.10,1.522,4,0.058,0.057,2986,3799,3064,0,0,0,0,0,0
$GC,11277,0.51,150.9,981.7,14.2,202,11281,0.00,2.55,0.00,0.000,6,0.000,0.042,2999,2213,3064,0,0,0,0,0,0
$GC,11615,0.51,150.9,930.1,15.3,208,11620,0.00,2.50,0.00,0.000,4,0.000,0.051,2998,3805,3062,0,0,0,0,0,0
$GC,11665,0.51,150.9,921.8,17.5,208,11670,0.12,2.47,0.00,0.000,6,0.173,0.044,2978,2202,3062,0,0,0,0,0,0
$GC,11975,0.51,150.9,880.8,13.2,213,11979,0.00,2.47,0.00,0.000,4,0.000,0.050,2978,3803,3061,0,0,0,0,0,0
$GC,11990,0.51,150.9,878.4,13.2,213,11995,0.00,2.47,0.00,0.000,6,0.000,0.042,2989,2190,3061,0,0,0,0,0,0
$GC,12333,0.51,150.9,830.7,13.8,219,12334,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2190,3060,0,0,0,0,0,0
$GC,12636,0.51,150.9,788.1,14.1,224,12641,0.00,2.47,0.00,0.000,4,0.000,0.052,2989,3804,3060,0,0,0,0,0,0
$GC,12658,0.51,150.9,784.7,14.9,224,12663,0.00,2.45,0.00,0.000,6,0.000,0.044,3001,2194,3060,0,0,0,0,0,0
$GC,12996,0.51,150.9,734.5,14.8,230,13000,0.00,2.47,0.00,0.000,4,0.000,0.053,3001,3801,3060,0,0,0,0,0,0
$GC,13028,0.51,150.9,729.0,16.7,230,13033,0.12,2.42,0.00,0.000,6,0.171,0.045,2980,2201,3060,0,0,0,0,0,0
$GC,13355,0.51,150.9,686.2,13.0,236,13359,0.00,2.45,0.00,0.000,4,0.000,0.053,2980,3796,3059,0,0,0,0,0,0
$GC,13417,0.51,150.9,677.3,14.9,237,13421,0.00,2.45,0.00,0.000,6,0.000,0.047,2991,2189,3059,0,0,0,0,0,0
$GC,13782,0.51,150.9,629.3,12.9,243,13783,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2188,3059,0,0,0,0,0,0
$GC,14085,0.51,150.9,591.2,12.6,248,14090,0.00,2.45,0.00,0.000,4,0.000,0.054,2991,3797,3058,0,0,0,0,0,0
$GC,14118,0.51,150.9,586.2,14.4,248,14122,0.00,2.45,0.00,0.000,6,0.000,0.046,3002,2184,3058,0,0,0,0,0,0
$GC,14451,0.51,150.9,542.0,13.0,254,14455,0.00,2.47,0.00,0.000,4,0.000,0.056,3003,3800,3058,0,0,0,0,0,0
$GC,14609,0.51,150.9,519.5,14.1,256,14614,0.12,2.42,0.00,0.000,6,0.171,0.046,2981,2200,3056,0,0,0,0,0,0
$GC,14946,0.51,150.9,482.7,10.8,262,14947,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2200,3058,0,0,0,0,0,0
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$STATE,19599,end climb,SURFACE_DEPTH_REACHED
$STATE,19599,begin surface coast
$FINISH,0.8,1.019719
$STATE,19632,end surface coast,CONTROL_FINISHED_OK
$STATE,19632,begin surface
$SM_CCo,19709,0.00,0.000,0,0,1950,424.36
$SM_GC,1.54,7.22,0.00,0.00,0.030,0.000,0.000,105,2472,1950,-8.27,0.34,424.36
$IRIDIUM_FIX,1850.98,-15614.28,271213,101042
$TT8_MAMPS,0.031458
$HUMID,59.17
$INTERNAL_PRESSURE,9.26672
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,23.4,23.669
$10V_AH,10.2,14.958
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.100,188.325,400.750,0.000,0.000,23.407,33.416,196.319,0.000,0.000,17.354,1294.600,16246.205,516.525,1746.488,273.105,33.370,1351.965,0.000,1489.082,0.000,0.541,0.000
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$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,254.156,322.991,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,144060
$DATA_FILE_SIZE,16948,370
$CAP_FILE_SIZE,144313,0
$CFSIZE,260165632,247934976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,271213,214353,1903.198,-15619.249,26,0.9,43,9.6