version: 66.08
glider: 500
mission: 9
dive: 112
start: 12 29 113 2 8 57
data:
$ID,500
$MISSION,9
$DIVE,112
$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,-165870.97
$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,32
$R_STBD_OVSHOOT,25
$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
$GPS1,291213,020254,1912.309,-15617.594,37,1.1,37,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-80.3
$GPS2,291213,020801,1912.314,-15617.567,13,1.4,13,9.6
$SPEED_LIMITS,0.142,0.263
$TGT_NAME,B1
$TGT_LATLONG,1925.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.119,0.234
$KALMAN_X,88909.6,223.3,26.3,-124977.6,-1801.2
$KALMAN_Y,134746.6,193.2,94.9,-239461.3,-1693.2
$MHEAD_RNG_PITCHd_Wd,17.2,23918,-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,17,-0.51,-150.9,0.0,0.0,0,108,0.00,0.00,-88.85,0.000,2,0.000,0.000,114,2471,3823,0,0,0,0,0,0
$GC,111,-0.51,-150.9,3.9,-8.6,2,129,9.68,2.12,-2.53,0.000,4,0.225,0.068,2628,3841,3945,0,0,0,0,0,0
$GC,382,-0.51,-150.9,65.4,-21.2,10,390,0.00,2.10,0.00,0.000,6,0.000,0.043,2628,2456,3946,0,0,0,0,0,0
$GC,697,-0.51,-150.9,137.8,-23.6,21,701,0.00,2.10,0.00,0.000,4,0.000,0.055,2618,3848,3945,0,0,0,0,0,0
$GC,753,-0.51,-150.9,147.7,-17.0,22,763,0.08,2.10,0.00,0.000,6,0.117,0.045,2647,2452,3945,0,0,0,0,0,0
$GC,1068,-0.51,-150.9,183.2,-11.7,33,1072,0.00,2.33,0.00,0.000,4,0.000,0.051,2647,876,3944,0,0,0,0,0,0
$GC,1112,-0.51,-150.9,189.3,-12.6,34,1116,0.00,2.35,0.00,0.000,6,0.000,0.049,2637,2464,3946,0,0,0,0,0,0
$GC,1458,-0.51,-150.9,234.5,-12.9,42,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2464,3946,0,0,0,0,0,0
$GC,1761,-0.51,-150.9,265.7,-10.0,47,1765,0.00,2.15,0.00,0.000,4,0.000,0.071,2627,3850,3946,0,0,0,0,0,0
$GC,1782,-0.51,-150.9,268.0,-9.7,47,1786,0.00,2.03,0.00,0.000,6,0.000,0.041,2627,2464,3946,0,0,0,0,0,0
$GC,2126,-0.51,-150.9,307.0,-11.5,53,2127,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2464,3946,0,0,0,0,0,0
$GC,2429,-0.51,-150.9,336.4,-9.4,58,2433,0.00,2.38,0.00,0.000,4,0.000,0.050,2626,865,3943,0,0,0,0,0,0
$GC,2479,-0.51,-150.9,340.4,-8.0,58,2484,0.10,2.40,0.00,0.000,6,0.163,0.053,2642,2462,3944,0,0,0,0,0,0
$GC,2790,-0.51,-150.9,366.7,-9.0,63,2794,0.00,2.38,0.00,0.000,4,0.000,0.050,2643,861,3939,0,0,0,0,0,0
$GC,2816,-0.51,-150.9,370.0,-11.6,63,2821,0.00,2.40,0.00,0.000,6,0.000,0.047,2633,2464,3941,0,0,0,0,0,0
$GC,3154,-0.51,-150.9,403.4,-9.5,69,3156,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2464,3938,0,0,0,0,0,0
$GC,3458,-0.51,-150.9,427.0,-7.7,74,3459,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2465,3935,0,0,0,0,0,0
$GC,3761,-0.51,-150.9,449.5,-7.4,79,3762,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2465,3932,0,0,0,0,0,0
$GC,4064,-0.51,-150.9,477.5,-9.4,84,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2465,3929,0,0,0,0,0,0
$GC,4367,-0.51,-150.9,504.3,-8.8,89,4371,0.00,2.42,0.00,0.000,4,0.000,0.050,2633,859,3926,0,0,0,0,0,0
$GC,4394,-0.51,-150.9,506.7,-8.5,89,4398,0.00,2.38,0.00,0.000,6,0.000,0.045,2621,2479,3926,0,0,0,0,0,0
$GC,4726,-0.51,-150.9,536.3,-8.9,95,4730,0.00,2.40,0.00,0.000,4,0.000,0.041,2621,863,3924,0,0,0,0,0,0
$GC,4764,-0.51,-150.9,539.9,-9.7,95,4769,0.12,2.35,0.00,0.000,6,0.152,0.044,2646,2465,3923,0,0,0,0,0,0
$GC,5087,-0.51,-150.9,560.9,-6.5,101,5091,0.00,2.35,0.00,0.000,4,0.000,0.040,2646,862,3922,0,0,0,0,0,0
$GC,5108,-0.51,-150.9,562.6,-7.0,101,5112,0.00,2.35,0.00,0.000,6,0.000,0.044,2635,2465,3922,0,0,0,0,0,0
$GC,5445,-0.51,-150.9,585.4,-6.7,107,5447,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2465,3920,0,0,0,0,0,0
$GC,5749,-0.51,-150.9,607.0,-7.2,112,5753,0.00,2.38,0.00,0.000,4,0.000,0.041,2635,863,3917,0,0,0,0,0,0
$GC,5792,-0.51,-150.9,610.5,-7.6,112,5797,0.00,2.38,0.00,0.000,6,0.000,0.044,2624,2461,3920,0,0,0,0,0,0
$GC,6108,-0.51,-150.9,636.3,-8.3,118,6109,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2464,3914,0,0,0,0,0,0
$GC,6411,-0.51,-150.9,661.2,-8.2,123,6415,0.00,2.35,0.00,0.000,4,0.000,0.040,2624,861,3913,0,0,0,0,0,0
$GC,6449,-0.51,-150.9,664.6,-8.8,123,6455,0.12,2.35,0.00,0.000,6,0.153,0.044,2648,2464,3912,0,0,0,0,0,0
$GC,6770,-0.51,-150.9,687.2,-7.0,129,6775,0.00,2.35,0.00,0.000,4,0.000,0.040,2649,862,3908,0,0,0,0,0,0
$GC,6803,-0.51,-150.9,689.8,-7.6,129,6808,0.00,2.35,0.00,0.000,6,0.000,0.045,2638,2461,3913,0,0,0,0,0,0
$GC,7136,-0.51,-150.9,713.4,-7.1,135,7140,0.00,2.35,0.00,0.000,4,0.000,0.039,2639,862,3908,0,0,0,0,0,0
$GC,7158,-0.51,-150.9,715.1,-7.0,135,7162,0.00,2.35,0.00,0.000,6,0.000,0.044,2628,2466,3907,0,0,0,0,0,0
$GC,7502,-0.51,-150.9,738.2,-6.6,141,7506,0.00,2.38,0.00,0.000,4,0.000,0.041,2627,856,3906,0,0,0,0,0,0
$GC,7529,-0.51,-150.9,740.2,-7.4,141,7534,0.10,2.40,0.00,0.000,6,0.167,0.045,2644,2465,3906,0,0,0,0,0,0
$GC,7861,-0.51,-150.9,757.8,-5.2,147,7865,0.00,2.35,0.00,0.000,4,0.000,0.041,2643,859,3904,0,0,0,0,0,0
$GC,7901,-0.51,-150.9,760.0,-5.6,147,7906,0.00,2.38,0.00,0.000,6,0.000,0.045,2634,2466,3904,0,0,0,0,0,0
$GC,8223,-0.51,-150.9,777.8,-5.5,153,8227,0.00,2.35,0.00,0.000,4,0.000,0.041,2634,868,3902,0,0,0,0,0,0
$GC,8255,-0.51,-150.9,780.0,-6.1,153,8260,0.00,2.38,0.00,0.000,6,0.000,0.045,2622,2474,3902,0,0,0,0,0,0
$GC,8587,-0.51,-150.9,802.0,-6.7,159,8588,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2475,3902,0,0,0,0,0,0
$GC,8891,-0.51,-150.9,823.0,-7.0,164,8895,0.00,2.40,0.00,0.000,4,0.000,0.041,2622,855,3901,0,0,0,0,0,0
$GC,8912,-0.51,-150.9,824.9,-8.1,164,8917,0.12,2.38,0.00,0.000,6,0.157,0.044,2646,2466,3901,0,0,0,0,0,0
$GC,9249,-0.51,-150.9,844.5,-5.7,170,9254,0.00,2.38,0.00,0.000,4,0.000,0.041,2646,857,3901,0,0,0,0,0,0
$GC,9277,-0.51,-150.9,846.4,-6.9,170,9282,0.00,2.38,0.00,0.000,6,0.000,0.045,2636,2463,3899,0,0,0,0,0,0
$GC,9611,-0.51,-150.9,865.2,-5.7,176,9616,0.00,2.35,0.00,0.000,4,0.000,0.041,2636,862,3899,0,0,0,0,0,0
$GC,9650,-0.51,-150.9,867.6,-6.2,176,9654,0.00,2.38,0.00,0.000,6,0.000,0.044,2624,2463,3899,0,0,0,0,0,0
$GC,9977,-0.51,-150.9,886.4,-5.7,182,9981,0.00,2.38,0.00,0.000,4,0.000,0.040,2624,852,3898,0,0,0,0,0,0
$GC,9993,-0.51,-150.9,887.4,-6.2,182,9998,0.10,2.38,0.00,0.000,6,0.176,0.044,2643,2462,3897,0,0,0,0,0,0
$GC,10337,-0.51,-150.9,905.0,-5.1,188,10341,0.00,2.38,0.00,0.000,4,0.000,0.040,2643,857,3897,0,0,0,0,0,0
$GC,10392,-0.51,-150.9,908.3,-6.4,188,10399,0.00,2.38,0.00,0.000,6,0.000,0.046,2633,2461,3897,0,0,0,0,0,0
$GC,10702,-0.51,-150.9,927.5,-6.3,194,10703,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2461,3896,0,0,0,0,0,0
$GC,11005,-0.51,-150.9,948.0,-6.8,199,11009,0.00,2.35,0.00,0.000,4,0.000,0.040,2633,861,3898,0,0,0,0,0,0
$GC,11032,-0.51,-150.9,950.1,-7.4,199,11037,0.00,2.38,0.00,0.000,6,0.000,0.045,2621,2467,3895,0,0,0,0,0,0
$GC,11366,-0.51,-150.9,973.4,-6.9,205,11367,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2467,3894,0,0,0,0,0,0
$STATE,11665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11666,begin apogee
$GC,11672,-0.13,0.0,993.2,6.5,210,11721,0.43,0.00,44.92,1.522,6,0.114,0.000,2769,2160,3680,0,0,0,0,0,0
$STATE,11722,end apogee,CONTROL_FINISHED_OK
$STATE,11722,begin climb
$GC,11725,0.51,150.9,993.9,0.0,210,11864,0.52,2.72,129.77,1.526,4,0.055,0.050,2984,3776,3064,0,0,0,0,0,0
$GC,11931,0.51,150.9,973.4,16.1,214,11936,0.00,2.42,0.00,0.000,6,0.000,0.039,2996,2229,3063,0,0,0,0,0,0
$GC,12292,0.51,150.9,915.0,16.0,220,12296,0.00,2.42,0.00,0.000,4,0.000,0.048,2996,3796,3062,0,0,0,0,0,0
$GC,12335,0.51,150.9,907.5,17.6,220,12340,0.12,2.42,0.00,0.000,6,0.177,0.041,2976,2203,3061,0,0,0,0,0,0
$GC,12652,0.51,150.9,864.9,13.4,226,12653,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2203,3061,0,0,0,0,0,0
$GC,12953,0.51,150.9,823.9,13.5,231,12957,0.00,2.35,0.00,0.000,4,0.000,0.044,2987,611,3060,0,0,0,0,0,0
$GC,12968,0.51,150.9,821.6,13.7,231,12973,0.00,2.40,0.00,0.000,6,0.000,0.041,2987,2212,3060,0,0,0,0,0,0
$GC,13318,0.51,150.9,771.4,14.4,237,13322,0.00,2.40,0.00,0.000,4,0.000,0.050,2987,3785,3060,0,0,0,0,0,0
$GC,13464,0.51,150.9,748.4,15.0,239,13468,0.00,2.40,0.00,0.000,6,0.000,0.040,2999,2185,3060,0,0,0,0,0,0
$GC,13813,0.51,150.9,698.5,14.2,245,13814,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2184,3060,0,0,0,0,0,0
$GC,14115,0.51,150.9,656.1,14.0,250,14119,0.00,2.42,0.00,0.000,4,0.000,0.047,2999,3794,3059,0,0,0,0,0,0
$GC,14182,0.51,150.9,645.7,14.9,251,14187,0.12,2.40,0.00,0.000,6,0.181,0.040,2980,2192,3059,0,0,0,0,0,0
$GC,14542,0.51,150.9,601.0,12.4,257,14546,0.00,2.42,0.00,0.000,4,0.000,0.049,2979,3792,3057,0,0,0,0,0,0
$GC,14563,0.51,150.9,597.8,13.8,257,14567,0.00,2.38,0.00,0.000,6,0.000,0.039,2990,2201,3059,0,0,0,0,0,0
$GC,14906,0.51,150.9,553.3,12.9,263,14911,0.00,2.40,0.00,0.000,4,0.000,0.049,2990,3786,3058,0,0,0,0,0,0
$GC,15018,0.51,150.9,537.7,13.0,264,15022,0.00,2.38,0.00,0.000,6,0.000,0.041,3002,2194,3059,0,0,0,0,0,0
$GC,15333,0.51,150.9,499.8,12.1,270,15338,0.00,2.40,0.00,0.000,4,0.000,0.050,3002,3790,3058,0,0,0,0,0,0
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$GC,16856,0.53,176.1,334.6,8.8,295,16881,0.00,2.40,19.73,1.014,4,0.000,0.046,3016,612,2962,0,0,0,0,0,0
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$STATE,20313,end climb,SURFACE_DEPTH_REACHED
$STATE,20313,begin surface coast
$FINISH,1.9,1.023090
$STATE,20324,end surface coast,CONTROL_FINISHED_OK
$STATE,20324,begin surface
$SM_CCo,20404,0.00,0.000,0,0,1502,533.76
$SM_GC,1.38,7.18,0.00,0.00,0.028,0.000,0.000,122,2460,1502,-8.26,-0.03,533.76
$IRIDIUM_FIX,1902.38,-15614.53,281213,202052
$TT8_MAMPS,0.038948
$HUMID,58.70
$INTERNAL_PRESSURE,9.20812
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,23.3,24.566
$10V_AH,10.2,15.343
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.175,195.100,477.075,0.000,0.000,26.442,32.000,137.006,0.000,0.000,16.403,1343.838,16680.951,536.563,1874.685,275.465,33.373,1496.265,0.000,1656.797,0.000,0.541,0.000
$DEVICE_MAMPS,224.910,71.145,1526.175,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,263.512,346.054,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,144256
$DATA_FILE_SIZE,20247,384
$CAP_FILE_SIZE,151890,0
$CFSIZE,260165632,247578624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291213,075006,1913.682,-15616.867,27,0.9,27,9.6