version: 66.08
glider: 500
mission: 9
dive: 114
start: 12 29 113 13 36 31
data:
$ID,500
$MISSION,9
$DIVE,114
$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,-165873.47
$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,33
$R_STBD_OVSHOOT,37
$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
$GPS1,291213,132959,1915.290,-15615.862,37,2.0,37,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-81.3
$GPS2,291213,133535,1915.259,-15615.800,10,0.9,26,9.6
$SPEED_LIMITS,0.142,0.263
$TGT_NAME,B1
$TGT_LATLONG,1925.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.097,0.244
$KALMAN_X,86799.1,56.5,110.3,-119717.2,-1612.4
$KALMAN_Y,131816.1,-344.7,-47.0,-230395.5,-637.3
$MHEAD_RNG_PITCHd_Wd,12.1,18094,-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,-150.9,0.0,0.0,0,98,0.00,0.00,-78.97,0.000,2,0.000,0.000,127,2479,3751,0,0,0,0,0,0
$GC,101,-0.51,-150.9,3.3,-5.3,2,122,9.57,2.47,-4.22,0.000,4,0.223,0.054,2641,862,3946,0,0,0,0,0,0
$GC,166,-0.51,-150.9,21.9,-22.7,4,170,0.00,2.40,0.00,0.000,6,0.000,0.052,2630,2460,3946,0,0,0,0,0,0
$GC,499,-0.51,-150.9,95.7,-22.6,15,503,0.00,2.40,0.00,0.000,4,0.000,0.047,2630,866,3948,0,0,0,0,0,0
$GC,543,-0.51,-150.9,107.4,-25.0,16,547,0.00,2.40,0.00,0.000,6,0.000,0.056,2618,2451,3945,0,0,0,0,0,0
$GC,870,-0.51,-150.9,168.2,-17.7,27,874,0.00,2.15,0.00,0.000,4,0.000,0.059,2607,3857,3947,0,0,0,0,0,0
$GC,970,-0.51,-150.9,185.1,-16.4,30,975,0.12,2.08,0.00,0.000,6,0.151,0.044,2644,2453,3950,0,0,0,0,0,0
$GC,1303,-0.51,-150.9,223.0,-11.0,38,1307,0.00,2.33,0.00,0.000,4,0.000,0.050,2645,876,3949,0,0,0,0,0,0
$GC,1341,-0.51,-150.9,227.6,-12.2,38,1346,0.00,2.35,0.00,0.000,6,0.000,0.048,2634,2469,3949,0,0,0,0,0,0
$GC,1674,-0.51,-150.9,262.5,-10.3,44,1678,0.00,2.40,0.00,0.000,4,0.000,0.047,2634,873,3949,0,0,0,0,0,0
$GC,1729,-0.51,-150.9,268.7,-11.0,44,1736,0.00,2.35,0.00,0.000,6,0.000,0.052,2623,2460,3949,0,0,0,0,0,0
$GC,2039,-0.51,-150.9,300.1,-10.2,50,2043,0.00,2.38,0.00,0.000,4,0.000,0.047,2623,863,3948,0,0,0,0,0,0
$GC,2066,-0.51,-150.9,303.0,-10.4,50,2071,0.12,2.40,0.00,0.000,6,0.155,0.057,2646,2462,3948,0,0,0,0,0,0
$GC,2398,-0.51,-150.9,331.4,-8.4,56,2402,0.00,2.12,0.00,0.000,4,0.000,0.059,2638,3856,3947,0,0,0,0,0,0
$GC,2431,-0.51,-150.9,334.3,-8.5,56,2435,0.00,2.10,0.00,0.000,6,0.000,0.044,2637,2460,3946,0,0,0,0,0,0
$GC,2757,-0.51,-150.9,365.3,-9.6,62,2761,0.00,2.42,0.00,0.000,4,0.000,0.053,2638,866,3944,0,0,0,0,0,0
$GC,2790,-0.51,-150.9,369.1,-11.2,62,2794,0.00,2.42,0.00,0.000,6,0.000,0.052,2627,2487,3944,0,0,0,0,0,0
$GC,3123,-0.51,-150.9,406.7,-11.3,68,3127,0.00,2.42,0.00,0.000,4,0.000,0.051,2625,874,3941,0,0,0,0,0,0
$GC,3144,-0.51,-150.9,409.3,-11.3,68,3149,0.10,2.38,0.00,0.000,6,0.164,0.052,2642,2460,3940,0,0,0,0,0,0
$GC,3481,-0.51,-150.9,439.9,-8.8,74,3486,0.00,2.45,0.00,0.000,4,0.000,0.052,2642,872,3938,0,0,0,0,0,0
$GC,3537,-0.51,-150.9,445.0,-8.7,74,3544,0.00,2.40,0.00,0.000,6,0.000,0.051,2633,2464,3937,0,0,0,0,0,0
$GC,3847,-0.51,-150.9,473.3,-9.2,80,3851,0.00,2.40,0.00,0.000,4,0.000,0.050,2632,864,3934,0,0,0,0,0,0
$GC,3880,-0.51,-150.9,476.8,-10.6,80,3884,0.00,2.42,0.00,0.000,6,0.000,0.055,2621,2454,3934,0,0,0,0,0,0
$GC,4213,-0.51,-150.9,509.7,-9.9,86,4217,0.00,2.38,0.00,0.000,4,0.000,0.050,2618,872,3931,0,0,0,0,0,0
$GC,4239,-0.51,-150.9,512.6,-9.9,86,4244,0.12,2.42,0.00,0.000,6,0.155,0.060,2646,2470,3930,0,0,0,0,0,0
$GC,4571,-0.51,-150.9,535.9,-6.6,92,4576,0.00,2.40,0.00,0.000,4,0.000,0.050,2647,873,3927,0,0,0,0,0,0
$GC,4610,-0.51,-150.9,538.6,-6.7,92,4615,0.00,2.42,0.00,0.000,6,0.000,0.060,2637,2470,3927,0,0,0,0,0,0
$GC,4931,-0.51,-150.9,561.3,-7.2,98,4933,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2470,3923,0,0,0,0,0,0
$GC,5235,-0.51,-150.9,587.1,-8.7,103,5236,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2470,3923,0,0,0,0,0,0
$GC,5538,-0.51,-150.9,613.2,-8.6,108,5542,0.00,2.45,0.00,0.000,4,0.000,0.049,2636,863,3921,0,0,0,0,0,0
$GC,5587,-0.51,-150.9,617.6,-8.9,108,5592,0.00,2.42,0.00,0.000,6,0.000,0.054,2625,2467,3919,0,0,0,0,0,0
$GC,5897,-0.51,-150.9,642.4,-8.0,113,5901,0.00,2.40,0.00,0.000,4,0.000,0.050,2625,873,3919,0,0,0,0,0,0
$GC,5930,-0.51,-150.9,645.2,-8.3,113,5934,0.10,2.40,0.00,0.000,6,0.164,0.052,2641,2466,3918,0,0,0,0,0,0
$GC,6256,-0.51,-150.9,666.5,-6.4,119,6261,0.00,2.42,0.00,0.000,4,0.000,0.050,2645,867,3916,0,0,0,0,0,0
$GC,6301,-0.51,-150.9,669.9,-7.1,119,6305,0.00,2.40,0.00,0.000,6,0.000,0.053,2632,2463,3916,0,0,0,0,0,0
$GC,6616,-0.51,-150.9,692.6,-7.3,125,6617,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2463,3914,0,0,0,0,0,0
$GC,6919,-0.51,-150.9,714.1,-7.1,130,6923,0.00,2.42,0.00,0.000,4,0.000,0.048,2632,862,3913,0,0,0,0,0,0
$GC,6940,-0.51,-150.9,715.8,-7.6,130,6944,0.00,2.42,0.00,0.000,6,0.000,0.054,2621,2475,3913,0,0,0,0,0,0
$GC,7278,-0.51,-150.9,739.4,-6.9,136,7282,0.00,2.40,0.00,0.000,4,0.000,0.049,2621,873,3911,0,0,0,0,0,0
$GC,7311,-0.51,-150.9,741.9,-7.1,136,7316,0.12,2.42,0.00,0.000,6,0.153,0.057,2645,2461,3911,0,0,0,0,0,0
$GC,7638,-0.51,-150.9,757.9,-4.7,142,7642,0.00,2.38,0.00,0.000,4,0.000,0.049,2645,872,3910,0,0,0,0,0,0
$GC,7659,-0.51,-150.9,759.0,-5.1,142,7663,0.00,2.42,0.00,0.000,6,0.000,0.057,2635,2467,3910,0,0,0,0,0,0
$GC,7997,-0.51,-150.9,778.2,-5.9,148,8001,0.00,2.40,0.00,0.000,4,0.000,0.050,2636,868,3908,0,0,0,0,0,0
$GC,8018,-0.51,-150.9,779.7,-7.1,148,8022,0.00,2.42,0.00,0.000,6,0.000,0.057,2625,2460,3908,0,0,0,0,0,0
$GC,8355,-0.51,-150.9,805.7,-7.9,154,8356,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2460,3906,0,0,0,0,0,0
$GC,8659,-0.51,-150.9,831.8,-8.7,159,8663,0.00,2.42,0.00,0.000,4,0.000,0.050,2624,863,3905,0,0,0,0,0,0
$GC,8680,-0.51,-150.9,834.1,-9.7,159,8685,0.12,2.42,0.00,0.000,6,0.155,0.056,2648,2460,3905,0,0,0,0,0,0
$GC,9018,-0.51,-150.9,860.6,-7.7,165,9022,0.00,2.42,0.00,0.000,4,0.000,0.050,2649,864,3904,0,0,0,0,0,0
$GC,9062,-0.51,-150.9,864.3,-8.3,165,9066,0.00,2.45,0.00,0.000,6,0.000,0.057,2639,2469,3904,0,0,0,0,0,0
$GC,9377,-0.51,-150.9,887.9,-7.4,171,9381,0.00,2.40,0.00,0.000,4,0.000,0.050,2639,870,3902,0,0,0,0,0,0
$GC,9409,-0.51,-150.9,890.4,-8.0,171,9413,0.00,2.45,0.00,0.000,6,0.000,0.057,2628,2463,3902,0,0,0,0,0,0
$GC,9741,-0.51,-150.9,912.6,-6.6,177,9745,0.00,2.40,0.00,0.000,4,0.000,0.050,2628,866,3902,0,0,0,0,0,0
$GC,9763,-0.51,-150.9,914.2,-7.2,177,9767,0.00,2.42,0.00,0.000,6,0.000,0.057,2617,2458,3902,0,0,0,0,0,0
$GC,10101,-0.51,-150.9,934.6,-6.1,183,10102,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2459,3901,0,0,0,0,0,0
$GC,10404,-0.51,-150.9,951.9,-5.7,188,10408,0.00,2.40,0.00,0.000,4,0.000,0.049,2617,862,3901,0,0,0,0,0,0
$GC,10448,-0.51,-150.9,954.9,-6.2,188,10453,0.12,2.47,0.00,0.000,6,0.152,0.056,2642,2473,3901,0,0,0,0,0,0
$GC,10769,-0.51,-150.9,969.7,-4.5,194,10773,0.00,2.42,0.00,0.000,4,0.000,0.050,2642,867,3899,0,0,0,0,0,0
$GC,10792,-0.51,-150.9,970.8,-4.8,194,10796,0.00,2.45,0.00,0.000,6,0.000,0.057,2632,2465,3900,0,0,0,0,0,0
$GC,11129,-0.51,-150.9,988.1,-5.2,200,11130,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2465,3899,0,0,0,0,0,0
$STATE,11187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11187,begin apogee
$GC,11193,-0.13,0.0,991.4,5.2,201,11243,0.38,0.00,45.92,1.516,6,0.112,0.000,2764,2190,3679,0,0,0,0,0,0
$STATE,11243,end apogee,CONTROL_FINISHED_OK
$STATE,11243,begin climb
$GC,11246,0.51,150.9,991.8,0.0,201,11385,0.55,2.75,130.00,1.515,4,0.058,0.060,2986,3797,3065,0,0,0,0,0,0
$GC,11418,0.51,150.9,976.9,16.5,204,11422,0.00,2.58,0.00,0.000,6,0.000,0.047,2998,2204,3064,0,0,0,0,0,0
$GC,11740,0.51,150.9,927.4,15.4,210,11744,0.00,2.53,0.00,0.000,4,0.000,0.059,2998,3800,3062,0,0,0,0,0,0
$GC,11805,0.51,150.9,916.4,15.7,211,11811,0.12,2.50,0.00,0.000,6,0.181,0.050,2979,2188,3063,0,0,0,0,0,0
$GC,12167,0.51,150.9,870.9,12.3,217,12172,0.00,2.53,0.00,0.000,4,0.000,0.060,2978,3800,3062,0,0,0,0,0,0
$GC,12189,0.51,150.9,867.6,12.6,217,12193,0.00,2.45,0.00,0.000,6,0.000,0.047,2989,2204,3061,0,0,0,0,0,0
$GC,12533,0.51,150.9,823.2,13.0,223,12537,0.00,2.50,0.00,0.000,4,0.000,0.060,2990,3796,3061,0,0,0,0,0,0
$GC,12571,0.51,150.9,817.4,14.5,223,12575,0.00,2.45,0.00,0.000,6,0.000,0.049,3002,2198,3061,0,0,0,0,0,0
$GC,12891,0.51,150.9,771.5,14.4,229,12895,0.00,2.50,0.00,0.000,4,0.000,0.062,3002,3792,3060,0,0,0,0,0,0
$GC,12968,0.51,150.9,758.7,15.8,230,12973,0.12,2.47,0.00,0.000,6,0.180,0.050,2981,2181,3060,0,0,0,0,0,0
$GC,13323,0.51,150.9,709.6,13.7,236,13327,0.00,2.50,0.00,0.000,4,0.000,0.062,2979,3789,3060,0,0,0,0,0,0
$GC,13377,0.51,150.9,701.4,14.9,236,13385,0.00,2.42,0.00,0.000,6,0.000,0.049,2992,2198,3060,0,0,0,0,0,0
$GC,13688,0.51,150.9,658.6,13.7,242,13692,0.00,2.50,0.00,0.000,4,0.000,0.062,2992,3796,3060,0,0,0,0,0,0
$GC,13714,0.51,150.9,654.4,14.5,242,13719,0.00,2.45,0.00,0.000,6,0.000,0.050,3004,2193,3060,0,0,0,0,0,0
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$STATE,19924,end climb,SURFACE_DEPTH_REACHED
$STATE,19924,begin surface coast
$FINISH,0.8,0.998641
$STATE,19957,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,10.2,15.476
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$FG_AHR_10Vo,0.000
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$MEM,144256
$DATA_FILE_SIZE,20267,375
$CAP_FILE_SIZE,156851,0
$CFSIZE,260165632,247451648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291213,191136,1917.115,-15615.074,32,1.2,32,9.6