version: 66.08
glider: 500
mission: 9
dive: 116
start: 12 29 113 23 44 4
data:
$ID,500
$MISSION,9
$DIVE,116
$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,-165875.97
$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,42
$R_STBD_OVSHOOT,22
$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
$GPS1,291213,233656,1918.153,-15614.496,46,4.9,65,9.6
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-81.4
$GPS2,291213,234306,1918.102,-15614.417,30,1.1,30,9.6
$SPEED_LIMITS,0.142,0.263
$TGT_NAME,B1
$TGT_LATLONG,1925.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.042,0.259
$KALMAN_X,85848.6,173.3,113.9,-116480.2,-1099.3
$KALMAN_Y,128197.1,200.7,-91.9,-222011.2,-1989.0
$MHEAD_RNG_PITCHd_Wd,359.7,12816,-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,-150.7,0.0,0.0,0,67,0.00,0.00,-48.47,0.000,2,0.000,0.000,108,2438,3657,0,0,0,0,0,0
$GC,70,-0.51,-150.9,3.2,-5.3,2,91,9.68,2.20,-6.30,0.000,4,0.224,0.066,2628,3863,3944,0,0,0,0,0,0
$GC,102,-0.51,-150.9,12.5,-28.9,2,106,0.00,2.12,0.00,0.000,6,0.000,0.039,2628,2469,3945,0,0,0,0,0,0
$GC,434,-0.51,-150.9,87.0,-22.2,13,438,0.00,2.40,0.00,0.000,4,0.000,0.049,2628,857,3946,0,0,0,0,0,0
$GC,484,-0.51,-150.9,99.8,-24.4,14,488,0.00,2.40,0.00,0.000,6,0.000,0.047,2616,2479,3946,0,0,0,0,0,0
$GC,799,-0.51,-150.9,160.4,-15.8,24,803,0.00,2.42,0.00,0.000,4,0.000,0.047,2616,866,3946,0,0,0,0,0,0
$GC,848,-0.51,-150.9,169.2,-16.3,25,853,0.15,2.42,0.00,0.000,6,0.158,0.057,2647,2453,3948,0,0,0,0,0,0
$GC,1160,-0.51,-150.9,211.2,-12.9,34,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2454,3948,0,0,0,0,0,0
$GC,1463,-0.51,-150.9,244.1,-10.9,39,1467,0.00,2.35,0.00,0.000,4,0.000,0.046,2647,868,3950,0,0,0,0,0,0
$GC,1479,-0.51,-150.9,245.8,-9.6,39,1484,0.00,2.40,0.00,0.000,6,0.000,0.055,2637,2462,3950,0,0,0,0,0,0
$GC,1823,-0.51,-150.9,283.3,-11.0,45,1827,0.00,2.10,0.00,0.000,4,0.000,0.051,2626,3859,3951,0,0,0,0,0,0
$GC,1890,-0.51,-150.9,290.2,-9.5,46,1894,0.00,2.08,0.00,0.000,6,0.000,0.040,2626,2453,3951,0,0,0,0,0,0
$GC,2255,-0.51,-150.9,328.7,-10.9,52,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2453,3950,0,0,0,0,0,0
$GC,2559,-0.51,-150.9,362.0,-10.8,57,2563,0.00,2.33,0.00,0.000,4,0.000,0.046,2625,867,3948,0,0,0,0,0,0
$GC,2580,-0.51,-150.9,364.6,-11.3,57,2585,0.10,2.40,0.00,0.000,6,0.163,0.057,2642,2463,3948,0,0,0,0,0,0
$GC,2918,-0.51,-150.9,396.0,-9.3,63,2922,0.00,2.42,0.00,0.000,4,0.000,0.050,2642,862,3946,0,0,0,0,0,0
$GC,2950,-0.51,-150.9,399.3,-9.9,63,2955,0.00,2.42,0.00,0.000,6,0.000,0.058,2633,2461,3945,0,0,0,0,0,0
$GC,3283,-0.51,-150.9,427.1,-8.2,69,3287,0.00,2.40,0.00,0.000,4,0.000,0.050,2632,871,3943,0,0,0,0,0,0
$GC,3361,-0.51,-150.9,433.2,-7.0,70,3365,0.00,2.35,0.00,0.000,6,0.000,0.044,2620,2477,3942,0,0,0,0,0,0
$GC,3716,-0.51,-150.9,462.5,-8.4,76,3721,0.00,2.38,0.00,0.000,4,0.000,0.041,2621,867,3939,0,0,0,0,0,0
$GC,3733,-0.51,-150.9,464.2,-8.5,76,3738,0.12,2.35,0.00,0.000,6,0.154,0.041,2646,2467,3939,0,0,0,0,0,0
$GC,4076,-0.51,-150.9,488.1,-6.9,82,4080,0.00,2.38,0.00,0.000,4,0.000,0.040,2646,866,3936,0,0,0,0,0,0
$GC,4109,-0.51,-150.9,490.5,-7.7,82,4113,0.00,2.35,0.00,0.000,6,0.000,0.044,2636,2464,3936,0,0,0,0,0,0
$GC,4437,-0.51,-150.9,515.4,-7.6,88,4438,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2465,3933,0,0,0,0,0,0
$GC,4739,-0.51,-150.9,538.6,-7.7,93,4740,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2465,3930,0,0,0,0,0,0
$GC,5042,-0.51,-150.9,561.1,-7.4,98,5046,0.00,2.35,0.00,0.000,4,0.000,0.039,2635,863,3929,0,0,0,0,0,0
$GC,5092,-0.51,-150.9,565.1,-7.8,98,5096,0.00,2.35,0.00,0.000,6,0.000,0.043,2625,2460,3929,0,0,0,0,0,0
$GC,5402,-0.51,-150.9,591.6,-8.7,103,5406,0.00,2.38,0.00,0.000,4,0.000,0.039,2624,864,3924,0,0,0,0,0,0
$GC,5428,-0.51,-150.9,594.5,-10.0,103,5433,0.12,2.35,0.00,0.000,6,0.155,0.043,2648,2464,3925,0,0,0,0,0,0
$GC,5766,-0.51,-150.9,620.4,-7.6,109,5771,0.00,2.35,0.00,0.000,4,0.000,0.040,2649,861,3923,0,0,0,0,0,0
$GC,5794,-0.51,-150.9,622.8,-8.0,109,5798,0.00,2.35,0.00,0.000,6,0.000,0.044,2639,2462,3923,0,0,0,0,0,0
$GC,6126,-0.51,-150.9,648.7,-7.8,115,6130,0.00,2.35,0.00,0.000,4,0.000,0.039,2636,857,3922,0,0,0,0,0,0
$GC,6147,-0.51,-150.9,650.7,-8.6,115,6152,0.00,2.38,0.00,0.000,6,0.000,0.044,2628,2469,3922,0,0,0,0,0,0
$GC,6485,-0.51,-150.9,678.3,-8.2,121,6486,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2470,3919,0,0,0,0,0,0
$GC,6788,-0.51,-150.9,702.7,-8.1,126,6792,0.00,2.40,0.00,0.000,4,0.000,0.040,2627,858,3918,0,0,0,0,0,0
$GC,6844,-0.51,-150.9,707.5,-8.6,126,6851,0.00,2.40,0.00,0.000,6,0.000,0.044,2616,2472,3918,0,0,0,0,0,0
$GC,7154,-0.51,-150.9,732.2,-7.9,132,7156,0.10,0.00,0.00,0.000,6,0.171,0.000,2645,2472,3917,0,0,0,0,0,0
$GC,7457,-0.51,-150.9,752.1,-6.5,137,7461,0.00,2.40,0.00,0.000,4,0.000,0.041,2644,862,3913,0,0,0,0,0,0
$GC,7507,-0.51,-150.9,755.7,-7.4,137,7511,0.00,2.38,0.00,0.000,6,0.000,0.044,2634,2471,3915,0,0,0,0,0,0
$GC,7817,-0.51,-150.9,776.5,-6.7,142,7821,0.00,2.38,0.00,0.000,4,0.000,0.041,2634,866,3914,0,0,0,0,0,0
$GC,7860,-0.51,-150.9,779.7,-7.1,142,7865,0.00,2.35,0.00,0.000,6,0.000,0.044,2622,2462,3913,0,0,0,0,0,0
$GC,8176,-0.51,-150.9,802.1,-7.2,148,8180,0.00,2.38,0.00,0.000,4,0.000,0.040,2623,859,3912,0,0,0,0,0,0
$GC,8203,-0.51,-150.9,804.4,-8.7,148,8208,0.12,2.38,0.00,0.000,6,0.152,0.044,2648,2465,3910,0,0,0,0,0,0
$GC,8535,-0.51,-150.9,824.1,-5.8,154,8539,0.00,2.38,0.00,0.000,4,0.000,0.041,2648,862,3909,0,0,0,0,0,0
$GC,8590,-0.51,-150.9,827.7,-6.9,154,8597,0.00,2.40,0.00,0.000,6,0.000,0.046,2638,2466,3911,0,0,0,0,0,0
$GC,8900,-0.51,-150.9,846.3,-6.1,160,8904,0.00,2.38,0.00,0.000,4,0.000,0.041,2638,863,3910,0,0,0,0,0,0
$GC,8933,-0.51,-150.9,848.6,-6.8,160,8938,0.00,2.38,0.00,0.000,6,0.000,0.046,2627,2467,3910,0,0,0,0,0,0
$GC,9260,-0.51,-150.9,869.9,-6.5,166,9265,0.00,2.38,0.00,0.000,4,0.000,0.041,2627,866,3908,0,0,0,0,0,0
$GC,9299,-0.51,-150.9,872.9,-7.3,166,9304,0.10,2.38,0.00,0.000,6,0.170,0.045,2643,2463,3910,0,0,0,0,0,0
$GC,9622,-0.51,-150.9,891.7,-5.8,172,9626,0.00,2.40,0.00,0.000,4,0.000,0.041,2643,865,3908,0,0,0,0,0,0
$GC,9649,-0.51,-150.9,893.6,-6.8,172,9654,0.00,2.38,0.00,0.000,6,0.000,0.046,2633,2463,3910,0,0,0,0,0,0
$GC,9982,-0.51,-150.9,916.0,-6.8,178,9986,0.00,2.38,0.00,0.000,4,0.000,0.041,2633,866,3906,0,0,0,0,0,0
$GC,10031,-0.51,-150.9,920.0,-7.7,178,10035,0.00,2.35,0.00,0.000,6,0.000,0.045,2621,2462,3907,0,0,0,0,0,0
$GC,10341,-0.51,-150.9,942.3,-7.1,183,10345,0.00,2.35,0.00,0.000,4,0.000,0.041,2621,863,3905,0,0,0,0,0,0
$GC,10363,-0.51,-150.9,944.1,-7.9,183,10368,0.12,2.38,0.00,0.000,6,0.154,0.044,2646,2469,3905,0,0,0,0,0,0
$GC,10701,-0.51,-150.9,962.3,-5.2,189,10705,0.00,2.38,0.00,0.000,4,0.000,0.042,2646,864,3904,0,0,0,0,0,0
$GC,10722,-0.51,-150.9,963.7,-5.7,189,10727,0.00,2.38,0.00,0.000,6,0.000,0.045,2636,2464,3904,0,0,0,0,0,0
$GC,11061,-0.51,-150.9,982.6,-5.6,195,11065,0.00,2.38,0.00,0.000,4,0.000,0.041,2636,857,3904,0,0,0,0,0,0
$GC,11099,-0.51,-150.9,985.0,-5.6,195,11103,0.00,2.38,0.00,0.000,6,0.000,0.046,2624,2461,3903,0,0,0,0,0,0
$STATE,11236,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11236,begin apogee
$GC,11242,-0.13,0.0,993.3,6.1,198,11292,0.38,0.05,46.30,1.525,6,0.116,0.148,2757,2199,3682,0,0,0,0,0,0
$STATE,11293,end apogee,CONTROL_FINISHED_OK
$STATE,11293,begin climb
$GC,11296,0.51,150.9,994.2,0.0,198,11435,0.57,2.72,129.82,1.519,4,0.060,0.054,2984,3792,3067,0,0,0,0,0,0
$GC,11446,0.51,150.9,983.3,13.8,201,11450,0.00,2.50,0.00,0.000,6,0.000,0.041,2996,2228,3065,0,0,0,0,0,0
$GC,11796,0.51,150.9,928.5,15.9,207,11800,0.00,2.47,0.00,0.000,4,0.000,0.051,2996,3796,3063,0,0,0,0,0,0
$GC,11889,0.51,150.9,911.9,17.2,208,11894,0.00,2.47,0.00,0.000,6,0.000,0.044,3008,2199,3061,0,0,0,0,0,0
$GC,12228,0.51,150.9,857.0,16.2,214,12232,0.00,2.47,0.00,0.000,4,0.000,0.052,3008,3793,3062,0,0,0,0,0,0
$GC,12294,0.51,150.9,845.4,16.8,215,12299,0.15,2.45,0.00,0.000,6,0.169,0.048,2980,2197,3061,0,0,0,0,0,0
$GC,12654,0.51,150.9,797.6,12.9,221,12655,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2196,3061,0,0,0,0,0,0
$GC,12957,0.51,150.9,759.2,12.7,226,12961,0.00,2.47,0.00,0.000,4,0.000,0.051,2980,3792,3061,0,0,0,0,0,0
$GC,12972,0.51,150.9,756.9,12.8,226,12976,0.00,2.45,0.00,0.000,6,0.000,0.047,2991,2201,3060,0,0,0,0,0,0
$GC,13316,0.51,150.9,712.4,12.9,232,13320,0.00,2.47,0.00,0.000,4,0.000,0.054,2991,3796,3060,0,0,0,0,0,0
$GC,13378,0.51,150.9,703.6,14.7,233,13382,0.00,2.45,0.00,0.000,6,0.000,0.048,3003,2206,3060,0,0,0,0,0,0
$GC,13743,0.51,150.9,655.2,13.0,239,13747,0.00,2.42,0.00,0.000,4,0.000,0.055,3001,3790,3060,0,0,0,0,0,0
$GC,13838,0.51,150.9,640.7,14.5,240,13843,0.12,2.45,0.00,0.000,6,0.183,0.046,2983,2187,3059,0,0,0,0,0,0
$GC,14171,0.51,150.9,599.5,12.2,246,14175,0.00,2.47,0.00,0.000,4,0.000,0.053,2982,3797,3060,0,0,0,0,0,0
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$STATE,19726,end climb,SURFACE_DEPTH_REACHED
$STATE,19726,begin surface coast
$FINISH,0.9,1.023095
$STATE,19761,end surface coast,CONTROL_FINISHED_OK
$STATE,19761,begin surface
$SM_CCo,19840,0.00,0.000,0,0,1782,464.84
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$HUMID,58.78
$INTERNAL_PRESSURE,9.25695
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,23.3,25.142
$10V_AH,10.3,15.601
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.375,206.350,428.500,0.000,0.000,24.356,33.674,188.034,0.000,0.000,33.384,1339.878,16149.197,496.440,1966.317,264.284,33.401,1446.631,0.000,1681.929,0.000,0.541,0.000
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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,144232
$DATA_FILE_SIZE,17045,369
$CAP_FILE_SIZE,155472,0
$CFSIZE,260165632,247341056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301213,051559,1919.900,-15613.988,37,1.3,37,9.6