version: 66.08
glider: 500
mission: 9
dive: 110
start: 12 28 113 14 46 33
data:
$ID,500
$MISSION,9
$DIVE,110
$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,-165868.47
$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,35
$R_STBD_OVSHOOT,39
$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
$GPS1,281213,144029,1908.674,-15618.954,36,0.9,36,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-83.0
$GPS2,281213,144537,1908.673,-15618.977,9,1.4,9,9.6
$SPEED_LIMITS,0.142,0.263
$TGT_NAME,B1
$TGT_LATLONG,1925.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.148,0.217
$KALMAN_X,92216.7,-131.4,141.3,-130493.6,-2355.1
$KALMAN_Y,137002.5,-129.2,331.8,-248383.6,-1674.9
$MHEAD_RNG_PITCHd_Wd,24.8,31025,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.51,-150.9,0.0,0.0,0,87,0.00,0.00,-68.15,0.000,2,0.000,0.000,107,2467,3817,0,0,0,0,0,0
$GC,90,-0.51,-150.9,3.6,-6.9,2,105,9.65,0.00,-2.62,0.000,6,0.223,0.000,2640,2467,3944,0,0,0,0,0,0
$GC,420,-0.51,-150.9,82.1,-21.9,13,424,0.00,2.40,0.00,0.000,4,0.000,0.047,2641,859,3947,0,0,0,0,0,0
$GC,435,-0.51,-150.9,86.4,-21.8,13,439,0.00,2.35,0.00,0.000,6,0.000,0.038,2630,2457,3946,0,0,0,0,0,0
$GC,756,-0.51,-150.9,150.3,-16.1,24,760,0.00,2.12,0.00,0.000,4,0.000,0.061,2619,3844,3946,0,0,0,0,0,0
$GC,889,-0.51,-150.9,170.6,-13.7,28,893,0.00,2.08,0.00,0.000,6,0.000,0.041,2619,2451,3946,0,0,0,0,0,0
$GC,1229,-0.51,-150.9,220.9,-14.9,37,1233,0.00,2.33,0.00,0.000,4,0.000,0.048,2619,872,3949,0,0,0,0,0,0
$GC,1255,-0.51,-150.9,225.5,-16.7,37,1260,0.12,2.38,0.00,0.000,6,0.166,0.054,2642,2460,3949,0,0,0,0,0,0
$GC,1587,-0.51,-150.9,268.1,-12.3,43,1592,0.00,2.35,0.00,0.000,4,0.000,0.046,2642,869,3949,0,0,0,0,0,0
$GC,1610,-0.51,-150.9,271.0,-12.4,43,1615,0.00,2.42,0.00,0.000,6,0.000,0.054,2632,2465,3949,0,0,0,0,0,0
$GC,1948,-0.51,-150.9,307.3,-10.2,49,1952,0.00,2.08,0.00,0.000,4,0.000,0.054,2621,3861,3949,0,0,0,0,0,0
$GC,1975,-0.51,-150.9,310.2,-11.0,49,1979,0.00,2.03,0.00,0.000,6,0.000,0.034,2621,2458,3949,0,0,0,0,0,0
$GC,2313,-0.51,-150.9,346.4,-10.8,55,2317,0.00,2.12,0.00,0.000,4,0.000,0.056,2610,3859,3948,0,0,0,0,0,0
$GC,2368,-0.51,-150.9,352.7,-10.9,55,2375,0.08,2.10,0.00,0.000,6,0.117,0.038,2650,2459,3946,0,0,0,0,0,0
$GC,2679,-0.51,-150.9,379.2,-8.4,61,2683,0.00,2.35,0.00,0.000,4,0.000,0.049,2650,866,3946,0,0,0,0,0,0
$GC,2712,-0.51,-150.9,382.3,-9.2,61,2716,0.00,2.40,0.00,0.000,6,0.000,0.055,2639,2465,3948,0,0,0,0,0,0
$GC,3044,-0.51,-150.9,410.3,-8.6,67,3048,0.00,2.42,0.00,0.000,4,0.000,0.050,2639,867,3944,0,0,0,0,0,0
$GC,3094,-0.51,-150.9,415.0,-9.0,67,3098,0.00,2.42,0.00,0.000,6,0.000,0.057,2628,2466,3943,0,0,0,0,0,0
$GC,3403,-0.51,-150.9,444.3,-9.6,72,3408,0.00,2.40,0.00,0.000,4,0.000,0.051,2629,868,3940,0,0,0,0,0,0
$GC,3453,-0.51,-150.9,449.5,-10.0,72,3457,0.00,2.40,0.00,0.000,6,0.000,0.057,2616,2469,3939,0,0,0,0,0,0
$GC,3769,-0.51,-150.9,480.8,-10.0,78,3773,0.00,2.38,0.00,0.000,4,0.000,0.044,2616,865,3936,0,0,0,0,0,0
$GC,3790,-0.51,-150.9,483.1,-9.9,78,3795,0.15,2.35,0.00,0.000,6,0.152,0.048,2649,2461,3936,0,0,0,0,0,0
$GC,4128,-0.51,-150.9,507.9,-7.1,84,4129,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2462,3934,0,0,0,0,0,0
$GC,4431,-0.51,-150.9,527.8,-6.4,89,4435,0.00,2.33,0.00,0.000,4,0.000,0.042,2654,868,3931,0,0,0,0,0,0
$GC,4452,-0.51,-150.9,529.3,-6.9,89,4457,0.00,2.38,0.00,0.000,6,0.000,0.050,2639,2463,3930,0,0,0,0,0,0
$GC,4790,-0.51,-150.9,555.0,-7.8,95,4792,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2466,3929,0,0,0,0,0,0
$GC,5094,-0.51,-150.9,580.3,-8.4,100,5098,0.00,2.40,0.00,0.000,4,0.000,0.045,2639,876,3926,0,0,0,0,0,0
$GC,5172,-0.51,-150.9,587.2,-8.7,101,5176,0.00,2.40,0.00,0.000,6,0.000,0.054,2628,2476,3925,0,0,0,0,0,0
$GC,5520,-0.51,-150.9,614.2,-7.7,107,5525,0.00,2.42,0.00,0.000,4,0.000,0.046,2627,868,3923,0,0,0,0,0,0
$GC,5544,-0.51,-150.9,616.0,-7.5,107,5549,0.10,2.38,0.00,0.000,6,0.168,0.048,2643,2464,3923,0,0,0,0,0,0
$GC,5882,-0.51,-150.9,636.7,-6.1,113,5883,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2464,3921,0,0,0,0,0,0
$GC,6185,-0.51,-150.9,654.2,-5.8,118,6189,0.00,2.38,0.00,0.000,4,0.000,0.044,2644,876,3922,0,0,0,0,0,0
$GC,6234,-0.51,-150.9,657.6,-6.6,118,6239,0.00,2.42,0.00,0.000,6,0.000,0.061,2633,2459,3919,0,0,0,0,0,0
$GC,6546,-0.51,-150.9,680.6,-7.6,123,6547,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2459,3918,0,0,0,0,0,0
$GC,6847,-0.51,-150.9,704.8,-8.0,128,6848,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2459,3916,0,0,0,0,0,0
$GC,7150,-0.51,-150.9,728.4,-7.7,133,7155,0.00,2.40,0.00,0.000,4,0.000,0.049,2633,865,3914,0,0,0,0,0,0
$GC,7195,-0.51,-150.9,732.2,-8.1,133,7199,0.00,2.40,0.00,0.000,6,0.000,0.051,2622,2470,3914,0,0,0,0,0,0
$GC,7510,-0.51,-150.9,755.6,-7.4,139,7511,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2470,3913,0,0,0,0,0,0
$GC,7813,-0.51,-150.9,777.5,-7.2,144,7817,0.00,2.40,0.00,0.000,4,0.000,0.044,2622,866,3911,0,0,0,0,0,0
$GC,7834,-0.51,-150.9,779.4,-8.1,144,7839,0.12,2.45,0.00,0.000,6,0.157,0.057,2647,2457,3912,0,0,0,0,0,0
$GC,8172,-0.51,-150.9,801.7,-6.7,150,8176,0.00,2.40,0.00,0.000,4,0.000,0.050,2647,866,3911,0,0,0,0,0,0
$GC,8205,-0.51,-150.9,804.3,-7.8,150,8210,0.00,2.42,0.00,0.000,6,0.000,0.056,2637,2460,3908,0,0,0,0,0,0
$GC,8534,-0.51,-150.9,828.5,-7.5,156,8535,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2460,3909,0,0,0,0,0,0
$GC,8835,-0.51,-150.9,850.6,-7.3,161,8839,0.00,2.40,0.00,0.000,4,0.000,0.049,2637,877,3907,0,0,0,0,0,0
$GC,8868,-0.51,-150.9,853.1,-7.4,161,8873,0.00,2.45,0.00,0.000,6,0.000,0.057,2626,2466,3907,0,0,0,0,0,0
$GC,9195,-0.51,-150.9,876.9,-7.1,167,9200,0.00,2.40,0.00,0.000,4,0.000,0.050,2626,877,3906,0,0,0,0,0,0
$GC,9223,-0.51,-150.9,878.9,-8.4,167,9228,0.10,2.42,0.00,0.000,6,0.166,0.057,2642,2462,3906,0,0,0,0,0,0
$GC,9555,-0.51,-150.9,898.0,-5.6,173,9559,0.00,2.40,0.00,0.000,4,0.000,0.049,2643,865,3905,0,0,0,0,0,0
$GC,9588,-0.51,-150.9,900.1,-5.9,173,9592,0.00,2.47,0.00,0.000,6,0.000,0.056,2633,2474,3903,0,0,0,0,0,0
$GC,9914,-0.51,-150.9,917.6,-5.3,179,9918,0.00,2.42,0.00,0.000,4,0.000,0.050,2633,873,3904,0,0,0,0,0,0
$GC,9946,-0.51,-150.9,919.5,-5.2,179,9951,0.00,2.42,0.00,0.000,6,0.000,0.057,2625,2469,3903,0,0,0,0,0,0
$GC,10273,-0.51,-150.9,935.1,-4.7,185,10278,0.00,2.42,0.00,0.000,4,0.000,0.050,2622,865,3902,0,0,0,0,0,0
$GC,10306,-0.51,-150.9,936.7,-4.3,185,10312,0.12,2.45,0.00,0.000,6,0.155,0.057,2646,2461,3902,0,0,0,0,0,0
$GC,10633,-0.51,-150.9,947.4,-3.2,191,10637,0.00,2.40,0.00,0.000,4,0.000,0.052,2647,880,3902,0,0,0,0,0,0
$GC,10688,-0.51,-150.9,949.6,-4.1,191,10695,0.00,2.42,0.00,0.000,6,0.000,0.058,2637,2464,3902,0,0,0,0,0,0
$GC,10998,-0.51,-150.9,963.2,-4.5,197,11002,0.00,2.42,0.00,0.000,4,0.000,0.052,2637,868,3902,0,0,0,0,0,0
$GC,11047,-0.51,-150.9,966.1,-5.8,197,11052,0.00,2.47,0.00,0.000,6,0.000,0.058,2626,2470,3902,0,0,0,0,0,0
$GC,11358,-0.51,-150.9,983.7,-5.8,202,11362,0.00,2.42,0.00,0.000,4,0.000,0.052,2626,877,3901,0,0,0,0,0,0
$GC,11390,-0.51,-150.9,986.0,-7.1,202,11395,0.10,2.45,0.00,0.000,6,0.167,0.058,2643,2461,3900,0,0,0,0,0,0
$STATE,11472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11472,begin apogee
$GC,11478,-0.13,0.0,990.6,5.5,204,11528,0.35,0.00,46.22,1.533,6,0.111,0.000,2770,2198,3681,0,0,0,0,0,0
$STATE,11528,end apogee,CONTROL_FINISHED_OK
$STATE,11528,begin climb
$GC,11531,0.51,150.9,991.5,0.0,204,11671,0.52,2.75,131.52,1.528,4,0.055,0.054,2986,3796,3065,0,0,0,0,0,0
$GC,11687,0.51,150.9,980.3,15.1,207,11692,0.00,2.60,0.00,0.000,6,0.000,0.044,2998,2203,3063,0,0,0,0,0,0
$GC,12026,0.51,150.9,928.7,15.2,213,12027,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2203,3062,0,0,0,0,0,0
$GC,12328,0.51,150.9,883.1,15.0,218,12333,0.00,2.50,0.00,0.000,4,0.000,0.058,2998,3800,3061,0,0,0,0,0,0
$GC,12355,0.51,150.9,878.6,15.4,218,12361,0.12,2.50,0.00,0.000,6,0.180,0.048,2978,2185,3061,0,0,0,0,0,0
$GC,12688,0.51,150.9,835.0,13.0,224,12689,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2184,3061,0,0,0,0,0,0
$GC,12990,0.51,150.9,795.5,13.1,229,12995,0.00,2.50,0.00,0.000,4,0.000,0.057,2978,3797,3060,0,0,0,0,0,0
$GC,13074,0.51,150.9,783.2,14.0,230,13078,0.00,2.45,0.00,0.000,6,0.000,0.047,2989,2201,3059,0,0,0,0,0,0
$GC,13423,0.51,150.9,735.3,13.8,236,13428,0.00,2.45,0.00,0.000,4,0.000,0.057,2989,3796,3059,0,0,0,0,0,0
$GC,13439,0.51,150.9,732.8,13.9,236,13444,0.00,2.45,0.00,0.000,6,0.000,0.047,3001,2191,3060,0,0,0,0,0,0
$GC,13789,0.51,150.9,682.8,14.3,242,13793,0.00,2.50,0.00,0.000,4,0.000,0.060,3001,3797,3060,0,0,0,0,0,0
$GC,13843,0.51,150.9,674.3,16.2,242,13851,0.12,2.45,0.00,0.000,6,0.177,0.050,2981,2206,3059,0,0,0,0,0,0
$GC,14153,0.51,150.9,635.9,12.3,248,14154,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2205,3059,0,0,0,0,0,0
$GC,14456,0.51,150.9,596.2,13.1,253,14461,0.00,2.45,0.00,0.000,4,0.000,0.060,2980,3794,3059,0,0,0,0,0,0
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$STATE,19728,begin surface coast
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$10V_AH,10.2,15.210
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$FG_AHR_10Vo,0.000
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$MEM,144232
$DATA_FILE_SIZE,17002,367
$CAP_FILE_SIZE,148477,0
$CFSIZE,260165632,247697408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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