version: 66.08
glider: 500
mission: 9
dive: 109
start: 12 28 113 9 3 59
data:
$ID,500
$MISSION,9
$DIVE,109
$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,-165867.22
$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,40
$R_STBD_OVSHOOT,31
$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,0.0
$AD_UPLOADMAX,60000.0
$AD_STARTS,167.0
$AD_THRESHOLD,2015.0
$AD_INTERVAL,12005.0
$AD_DURATION,1545.0
$DB_RECORDABOVE,0.0
$DB_PROFILE,0.0
$DB_XMITPROFILE,0.0
$DB_UPLOADMAX,0.0
$DB_STARTS,2.0
$GPS1,281213,085359,1906.653,-15619.335,40,0.9,40,9.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-82.6
$GPS2,281213,090301,1906.666,-15619.401,11,1.4,11,9.6
$SPEED_LIMITS,0.142,0.263
$TGT_NAME,B1
$TGT_LATLONG,1925.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.142,0.221
$KALMAN_X,94262.2,150.4,-76.9,-133338.4,-2275.3
$KALMAN_Y,137941.3,-64.8,23.3,-252797.3,-1883.8
$MHEAD_RNG_PITCHd_Wd,23.2,34813,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.51,-150.9,0.0,0.0,0,92,0.00,0.00,-73.57,0.000,2,0.000,0.000,132,2467,3634,0,0,0,0,0,0
$GC,95,-0.51,-150.9,3.1,-5.6,2,120,9.55,2.42,-6.93,0.000,4,0.223,0.055,2640,863,3944,0,0,0,0,0,0
$GC,267,-0.51,-150.9,42.5,-20.9,7,271,0.00,2.40,0.00,0.000,6,0.000,0.054,2629,2450,3944,0,0,0,0,0,0
$GC,600,-0.51,-150.9,118.2,-22.8,18,601,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2451,3944,0,0,0,0,0,0
$GC,906,-0.51,-150.9,175.8,-16.5,28,910,0.00,2.15,0.00,0.000,4,0.000,0.056,2618,3862,3944,0,0,0,0,0,0
$GC,1023,-0.51,-150.9,191.9,-12.2,31,1028,0.00,2.12,0.00,0.000,6,0.000,0.041,2618,2430,3944,0,0,0,0,0,0
$GC,1340,-0.51,-150.9,231.9,-12.7,38,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2430,3945,0,0,0,0,0,0
$GC,1643,-0.51,-150.9,269.4,-12.1,43,1647,0.00,2.30,0.00,0.000,4,0.000,0.046,2618,866,3943,0,0,0,0,0,0
$GC,1658,-0.51,-150.9,271.3,-11.3,43,1663,0.10,2.42,0.00,0.000,6,0.130,0.053,2653,2462,3945,0,0,0,0,0,0
$GC,2007,-0.51,-150.9,304.6,-9.5,49,2011,0.00,2.12,0.00,0.000,4,0.000,0.054,2644,3857,3944,0,0,0,0,0,0
$GC,2057,-0.51,-150.9,309.4,-9.5,49,2061,0.00,2.10,0.00,0.000,6,0.000,0.042,2642,2465,3944,0,0,0,0,0,0
$GC,2373,-0.51,-150.9,332.3,-7.0,55,2377,0.00,2.35,0.00,0.000,4,0.000,0.044,2643,865,3943,0,0,0,0,0,0
$GC,2417,-0.51,-150.9,335.3,-6.6,55,2421,0.00,2.40,0.00,0.000,6,0.000,0.054,2632,2465,3942,0,0,0,0,0,0
$GC,2732,-0.51,-150.9,362.4,-9.1,61,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2465,3940,0,0,0,0,0,0
$GC,3035,-0.51,-150.9,389.1,-8.8,66,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2465,3938,0,0,0,0,0,0
$GC,3338,-0.51,-150.9,417.4,-9.6,71,3342,0.00,2.40,0.00,0.000,4,0.000,0.044,2632,863,3935,0,0,0,0,0,0
$GC,3387,-0.51,-150.9,422.8,-10.0,71,3391,0.00,2.35,0.00,0.000,6,0.000,0.043,2620,2462,3934,0,0,0,0,0,0
$GC,3697,-0.51,-150.9,455.2,-10.5,76,3701,0.00,2.38,0.00,0.000,4,0.000,0.038,2620,860,3931,0,0,0,0,0,0
$GC,3712,-0.51,-150.9,457.1,-10.7,76,3717,0.12,2.35,0.00,0.000,6,0.154,0.044,2645,2464,3931,0,0,0,0,0,0
$GC,4062,-0.51,-150.9,486.8,-8.3,82,4066,0.00,2.35,0.00,0.000,4,0.000,0.040,2645,857,3926,0,0,0,0,0,0
$GC,4106,-0.51,-150.9,490.7,-8.5,82,4110,0.00,2.35,0.00,0.000,6,0.000,0.047,2635,2458,3927,0,0,0,0,0,0
$GC,4427,-0.51,-150.9,515.6,-7.7,88,4431,0.00,2.35,0.00,0.000,4,0.000,0.041,2635,866,3925,0,0,0,0,0,0
$GC,4454,-0.51,-150.9,517.9,-7.9,88,4458,0.00,2.38,0.00,0.000,6,0.000,0.046,2623,2463,3925,0,0,0,0,0,0
$GC,4787,-0.51,-150.9,543.7,-7.8,94,4791,0.00,2.05,0.00,0.000,4,0.000,0.050,2612,3843,3921,0,0,0,0,0,0
$GC,4815,-0.51,-150.9,546.3,-9.1,94,4820,0.12,2.05,0.00,0.000,6,0.142,0.033,2651,2440,3922,0,0,0,0,0,0
$GC,5147,-0.51,-150.9,564.2,-5.1,100,5151,0.00,2.30,0.00,0.000,4,0.000,0.043,2651,875,3920,0,0,0,0,0,0
$GC,5209,-0.51,-150.9,567.4,-5.2,101,5214,0.00,2.35,0.00,0.000,6,0.000,0.046,2641,2463,3919,0,0,0,0,0,0
$GC,5581,-0.51,-150.9,589.7,-6.3,107,5582,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2463,3916,0,0,0,0,0,0
$GC,5885,-0.51,-150.9,611.9,-7.5,112,5889,0.00,2.33,0.00,0.000,4,0.000,0.040,2641,863,3915,0,0,0,0,0,0
$GC,5923,-0.51,-150.9,615.5,-9.0,112,5928,0.00,2.35,0.00,0.000,6,0.000,0.044,2629,2462,3917,0,0,0,0,0,0
$GC,6245,-0.51,-150.9,642.0,-8.2,118,6246,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2462,3912,0,0,0,0,0,0
$GC,6548,-0.51,-150.9,665.5,-7.6,123,6552,0.00,2.35,0.00,0.000,4,0.000,0.039,2630,862,3911,0,0,0,0,0,0
$GC,6569,-0.51,-150.9,667.4,-8.3,123,6573,0.00,2.35,0.00,0.000,6,0.000,0.043,2618,2465,3909,0,0,0,0,0,0
$GC,6907,-0.51,-150.9,694.6,-8.1,129,6911,0.00,2.35,0.00,0.000,4,0.000,0.040,2618,864,3909,0,0,0,0,0,0
$GC,6971,-0.51,-150.9,699.6,-7.7,130,6975,0.12,2.35,0.00,0.000,6,0.157,0.044,2642,2460,3906,0,0,0,0,0,0
$GC,7338,-0.51,-150.9,722.0,-6.0,136,7342,0.00,2.35,0.00,0.000,4,0.000,0.040,2642,869,3904,0,0,0,0,0,0
$GC,7382,-0.51,-150.9,725.0,-6.2,136,7386,0.00,2.38,0.00,0.000,6,0.000,0.045,2633,2462,3906,0,0,0,0,0,0
$GC,7697,-0.51,-150.9,745.7,-6.6,142,7702,0.00,2.35,0.00,0.000,4,0.000,0.040,2638,867,3904,0,0,0,0,0,0
$GC,7730,-0.51,-150.9,748.2,-7.5,142,7735,0.00,2.38,0.00,0.000,6,0.000,0.045,2621,2460,3904,0,0,0,0,0,0
$GC,8057,-0.51,-150.9,772.0,-7.4,148,8059,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2460,3903,0,0,0,0,0,0
$GC,8361,-0.51,-150.9,793.4,-7.1,153,8365,0.00,2.35,0.00,0.000,4,0.000,0.041,2621,869,3902,0,0,0,0,0,0
$GC,8382,-0.51,-150.9,795.1,-7.0,153,8387,0.12,2.35,0.00,0.000,6,0.157,0.044,2644,2464,3899,0,0,0,0,0,0
$GC,8720,-0.51,-150.9,814.2,-5.7,159,8724,0.00,2.35,0.00,0.000,4,0.000,0.040,2645,869,3901,0,0,0,0,0,0
$GC,8758,-0.51,-150.9,816.8,-6.9,159,8762,0.00,2.35,0.00,0.000,6,0.000,0.045,2635,2460,3901,0,0,0,0,0,0
$GC,9080,-0.51,-150.9,838.0,-6.7,165,9084,0.00,2.38,0.00,0.000,4,0.000,0.041,2635,871,3900,0,0,0,0,0,0
$GC,9108,-0.51,-150.9,840.3,-7.6,165,9112,0.00,2.38,0.00,0.000,6,0.000,0.045,2624,2461,3899,0,0,0,0,0,0
$GC,9441,-0.51,-150.9,863.5,-7.0,171,9442,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2461,3899,0,0,0,0,0,0
$GC,9743,-0.51,-150.9,882.6,-6.2,176,9744,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2462,3898,0,0,0,0,0,0
$GC,10046,-0.51,-150.9,900.2,-5.8,181,10051,0.00,2.35,0.00,0.000,4,0.000,0.039,2624,862,3896,0,0,0,0,0,0
$GC,10068,-0.51,-150.9,901.8,-6.4,181,10073,0.12,2.35,0.00,0.000,6,0.158,0.044,2648,2461,3897,0,0,0,0,0,0
$GC,10406,-0.51,-150.9,917.1,-4.5,187,10410,0.00,2.35,0.00,0.000,4,0.000,0.041,2648,866,3896,0,0,0,0,0,0
$GC,10439,-0.51,-150.9,919.0,-5.8,187,10443,0.00,2.38,0.00,0.000,6,0.000,0.045,2638,2460,3896,0,0,0,0,0,0
$GC,10767,-0.51,-150.9,937.6,-5.8,193,10771,0.00,2.38,0.00,0.000,4,0.000,0.041,2638,874,3895,0,0,0,0,0,0
$GC,10800,-0.51,-150.9,939.9,-6.9,193,10804,0.00,2.38,0.00,0.000,6,0.000,0.046,2627,2460,3895,0,0,0,0,0,0
$GC,11126,-0.51,-150.9,961.1,-6.5,199,11131,0.00,2.38,0.00,0.000,4,0.000,0.041,2627,872,3894,0,0,0,0,0,0
$GC,11148,-0.51,-150.9,962.6,-6.6,199,11153,0.10,2.38,0.00,0.000,6,0.171,0.045,2643,2460,3894,0,0,0,0,0,0
$GC,11486,-0.51,-150.9,981.5,-5.5,205,11487,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2460,3894,0,0,0,0,0,0
$STATE,11665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11665,begin apogee
$GC,11671,-0.13,0.0,991.3,5.4,208,11722,0.35,0.05,44.17,1.521,6,0.110,0.146,2769,2198,3682,0,0,0,0,0,0
$STATE,11722,end apogee,CONTROL_FINISHED_OK
$STATE,11723,begin climb
$GC,11725,0.51,150.9,992.2,0.0,208,11864,0.52,2.67,130.10,1.528,4,0.054,0.050,2988,3785,3065,0,0,0,0,0,0
$GC,11915,0.51,150.9,975.9,16.0,211,11919,0.00,2.45,0.00,0.000,6,0.000,0.040,2999,2235,3064,0,0,0,0,0,0
$GC,12224,0.51,150.9,928.3,15.4,216,12229,0.00,2.42,0.00,0.000,4,0.000,0.048,2999,3794,3062,0,0,0,0,0,0
$GC,12240,0.51,150.9,925.5,15.5,216,12245,0.12,2.45,0.00,0.000,6,0.175,0.039,2979,2195,3061,0,0,0,0,0,0
$GC,12584,0.51,150.9,876.1,14.3,222,12588,0.00,2.45,0.00,0.000,4,0.000,0.050,2984,3799,3061,0,0,0,0,0,0
$GC,12616,0.51,150.9,870.8,16.6,222,12620,0.00,2.45,0.00,0.000,6,0.000,0.041,2990,2189,3061,0,0,0,0,0,0
$GC,12948,0.51,150.9,821.5,14.8,228,12953,0.00,2.45,0.00,0.000,4,0.000,0.050,2990,3798,3060,0,0,0,0,0,0
$GC,13034,0.51,150.9,807.7,15.8,229,13038,0.00,2.42,0.00,0.000,6,0.000,0.042,3002,2202,3063,0,0,0,0,0,0
$GC,13376,0.51,150.9,755.4,15.1,235,13380,0.00,2.42,0.00,0.000,4,0.000,0.048,3002,3804,3060,0,0,0,0,0,0
$GC,13439,0.51,150.9,745.5,16.1,236,13444,0.12,2.45,0.00,0.000,6,0.183,0.041,2982,2184,3063,0,0,0,0,0,0
$GC,13805,0.51,150.9,698.3,12.8,242,13809,0.00,2.45,0.00,0.000,4,0.000,0.048,2982,3793,3060,0,0,0,0,0,0
$GC,13848,0.51,150.9,692.0,15.4,242,13853,0.00,2.40,0.00,0.000,6,0.000,0.041,2992,2204,3060,0,0,0,0,0,0
$GC,14175,0.51,150.9,647.9,13.6,248,14176,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2202,3059,0,0,0,0,0,0
$GC,14479,0.51,150.9,607.8,13.2,253,14483,0.00,2.40,0.00,0.000,4,0.000,0.048,2993,3797,3059,0,0,0,0,0,0
$GC,14533,0.51,150.9,599.5,15.1,253,14540,0.00,2.42,0.00,0.000,6,0.000,0.039,3007,2190,3059,0,0,0,0,0,0
$GC,14843,0.51,150.9,558.0,13.2,259,14847,0.00,2.42,0.00,0.000,4,0.000,0.050,3005,3792,3059,0,0,0,0,0,0
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$STATE,20006,end climb,SURFACE_DEPTH_REACHED
$STATE,20006,begin surface coast
$FINISH,0.8,1.001080
$STATE,20039,end surface coast,CONTROL_FINISHED_OK
$STATE,20039,begin surface
$SM_CCo,20116,0.00,0.000,0,0,2014,408.66
$SM_GC,1.47,7.20,0.00,0.00,0.031,0.000,0.000,107,2466,2014,-8.26,0.17,408.66
$IRIDIUM_FIX,1857.82,-15620.54,281213,030335
$TT8_MAMPS,0.031458
$HUMID,59.88
$INTERNAL_PRESSURE,9.27648
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,23.3,24.101
$10V_AH,10.2,15.147
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.100,205.225,380.750,0.000,0.000,73.254,98.302,135.545,0.000,0.000,15.784,1331.511,16639.191,478.320,1933.535,279.085,33.385,1410.329,0.000,1606.492,0.000,0.542,0.000
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$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
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$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,144272
$DATA_FILE_SIZE,20264,373
$CAP_FILE_SIZE,154336,0
$CFSIZE,260165632,247754752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,281213,144029,1908.674,-15618.954,36,0.9,36,9.6