version: 66.08
glider: 500
mission: 9
dive: 117
start: 12 30 113 5 28 33
data:
$ID,500
$MISSION,9
$DIVE,117
$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,-165877.22
$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,43
$R_STBD_OVSHOOT,19
$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
$GPS1,301213,051559,1919.900,-15613.988,37,1.3,37,9.6
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-82.4
$GPS2,301213,052735,1919.788,-15613.819,12,1.1,28,9.6
$SPEED_LIMITS,0.142,0.263
$TGT_NAME,B1
$TGT_LATLONG,1925.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.027,0.261
$KALMAN_X,85815.1,307.4,214.7,-115643.7,-1137.9
$KALMAN_Y,126127.5,6.2,113.8,-216833.0,-2439.9
$MHEAD_RNG_PITCHd_Wd,356.4,9870,-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,-150.9,0.0,0.0,0,87,0.00,0.00,-68.35,0.000,2,0.000,0.000,110,2433,3615,0,0,0,0,0,0
$GC,90,-0.51,-150.9,3.5,-6.6,2,113,9.60,2.33,-7.20,0.000,4,0.221,0.085,2627,3853,3943,0,0,0,0,0,0
$GC,174,-0.51,-150.9,24.2,-21.2,5,179,0.00,2.12,0.00,0.000,6,0.000,0.045,2627,2471,3944,0,0,0,0,0,0
$GC,512,-0.51,-150.9,98.7,-22.1,16,516,0.00,2.38,0.00,0.000,4,0.000,0.047,2627,865,3941,0,0,0,0,0,0
$GC,544,-0.51,-150.9,106.1,-24.8,17,549,0.10,2.38,0.00,0.000,6,0.181,0.047,2639,2464,3942,0,0,0,0,0,0
$GC,881,-0.51,-150.9,162.4,-14.7,28,885,0.00,2.40,0.00,0.000,4,0.000,0.047,2640,863,3944,0,0,0,0,0,0
$GC,919,-0.51,-150.9,168.7,-14.3,29,923,0.00,2.38,0.00,0.000,6,0.000,0.052,2629,2460,3944,0,0,0,0,0,0
$GC,1279,-0.51,-150.9,218.6,-12.8,39,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2461,3945,0,0,0,0,0,0
$GC,1582,-0.51,-150.9,254.5,-11.4,44,1585,0.00,2.20,0.00,0.000,4,0.000,0.073,2619,3850,3946,0,0,0,0,0,0
$GC,1755,-0.51,-150.9,273.6,-10.4,46,1759,0.00,2.05,0.00,0.000,6,0.000,0.043,2619,2451,3946,0,0,0,0,0,0
$GC,2082,-0.51,-150.9,309.0,-11.0,52,2083,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2451,3946,0,0,0,0,0,0
$GC,2385,-0.51,-150.9,343.1,-11.1,57,2389,0.00,2.35,0.00,0.000,4,0.000,0.050,2619,872,3943,0,0,0,0,0,0
$GC,2439,-0.51,-150.9,349.5,-11.1,57,2447,0.12,2.40,0.00,0.000,6,0.154,0.054,2643,2463,3943,0,0,0,0,0,0
$GC,2750,-0.51,-150.9,376.1,-8.5,63,2754,0.00,2.17,0.00,0.000,4,0.000,0.076,2634,3847,3940,0,0,0,0,0,0
$GC,2799,-0.51,-150.9,380.8,-9.3,63,2803,0.00,2.05,0.00,0.000,6,0.000,0.044,2634,2463,3940,0,0,0,0,0,0
$GC,3115,-0.51,-150.9,409.2,-8.8,69,3116,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2464,3938,0,0,0,0,0,0
$GC,3418,-0.51,-150.9,434.9,-8.5,74,3422,0.00,2.40,0.00,0.000,4,0.000,0.052,2633,872,3934,0,0,0,0,0,0
$GC,3446,-0.51,-150.9,437.6,-9.2,74,3450,0.00,2.42,0.00,0.000,6,0.000,0.060,2622,2459,3934,0,0,0,0,0,0
$GC,3784,-0.51,-150.9,467.8,-9.0,80,3788,0.00,2.12,0.00,0.000,4,0.000,0.059,2616,3859,3930,0,0,0,0,0,0
$GC,3800,-0.51,-150.9,469.5,-8.8,80,3805,0.12,2.08,0.00,0.000,6,0.133,0.039,2650,2452,3932,0,0,0,0,0,0
$GC,4143,-0.51,-150.9,494.6,-7.1,86,4148,0.00,2.38,0.00,0.000,4,0.000,0.054,2650,863,3928,0,0,0,0,0,0
$GC,4160,-0.51,-150.9,495.9,-6.9,86,4164,0.00,2.45,0.00,0.000,6,0.000,0.057,2640,2465,3928,0,0,0,0,0,0
$GC,4505,-0.51,-150.9,522.0,-7.6,92,4509,0.00,2.38,0.00,0.000,4,0.000,0.054,2641,872,3924,0,0,0,0,0,0
$GC,4521,-0.51,-150.9,523.5,-7.5,92,4525,0.00,2.42,0.00,0.000,6,0.000,0.057,2629,2462,3924,0,0,0,0,0,0
$GC,4864,-0.51,-150.9,550.3,-7.8,98,4868,0.00,2.38,0.00,0.000,4,0.000,0.054,2629,872,3922,0,0,0,0,0,0
$GC,4885,-0.51,-150.9,552.2,-8.5,98,4890,0.00,2.42,0.00,0.000,6,0.000,0.057,2618,2470,3922,0,0,0,0,0,0
$GC,5223,-0.51,-150.9,582.1,-9.0,104,5228,0.00,2.45,0.00,0.000,4,0.000,0.055,2619,868,3919,0,0,0,0,0,0
$GC,5273,-0.51,-150.9,587.0,-10.0,104,5278,0.12,2.42,0.00,0.000,6,0.162,0.058,2641,2466,3919,0,0,0,0,0,0
$GC,5585,-0.51,-150.9,610.5,-7.5,109,5589,0.00,2.42,0.00,0.000,4,0.000,0.056,2642,866,3918,0,0,0,0,0,0
$GC,5601,-0.51,-150.9,612.1,-7.6,109,5606,0.00,2.45,0.00,0.000,6,0.000,0.058,2631,2472,3917,0,0,0,0,0,0
$GC,5945,-0.51,-150.9,638.5,-7.6,115,5946,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2472,3917,0,0,0,0,0,0
$GC,6249,-0.51,-150.9,660.8,-7.3,120,6253,0.00,2.45,0.00,0.000,4,0.000,0.055,2631,866,3911,0,0,0,0,0,0
$GC,6265,-0.51,-150.9,662.2,-7.4,120,6269,0.00,2.42,0.00,0.000,6,0.000,0.057,2620,2461,3912,0,0,0,0,0,0
$GC,6608,-0.51,-150.9,689.9,-8.0,126,6612,0.00,2.40,0.00,0.000,4,0.000,0.055,2619,876,3911,0,0,0,0,0,0
$GC,6630,-0.51,-150.9,691.8,-8.5,126,6635,0.12,2.40,0.00,0.000,6,0.152,0.050,2645,2483,3911,0,0,0,0,0,0
$GC,6968,-0.51,-150.9,712.7,-6.0,132,6973,0.00,2.42,0.00,0.000,4,0.000,0.046,2645,870,3909,0,0,0,0,0,0
$GC,6996,-0.51,-150.9,714.6,-7.2,132,7000,0.00,2.40,0.00,0.000,6,0.000,0.055,2635,2462,3909,0,0,0,0,0,0
$GC,7330,-0.51,-150.9,734.9,-6.0,138,7331,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2463,3907,0,0,0,0,0,0
$GC,7631,-0.51,-150.9,752.1,-5.7,143,7635,0.00,2.38,0.00,0.000,4,0.000,0.044,2635,862,3905,0,0,0,0,0,0
$GC,7658,-0.51,-150.9,753.9,-6.7,143,7662,0.00,2.40,0.00,0.000,6,0.000,0.050,2623,2466,3905,0,0,0,0,0,0
$GC,7992,-0.51,-150.9,775.2,-6.5,149,7996,0.00,2.38,0.00,0.000,4,0.000,0.044,2623,862,3903,0,0,0,0,0,0
$GC,8018,-0.51,-150.9,777.6,-7.6,149,8023,0.12,2.38,0.00,0.000,6,0.156,0.047,2648,2461,3903,0,0,0,0,0,0
$GC,8351,-0.51,-150.9,795.9,-5.4,155,8355,0.00,2.35,0.00,0.000,4,0.000,0.044,2648,866,3903,0,0,0,0,0,0
$GC,8389,-0.51,-150.9,798.4,-6.5,155,8393,0.00,2.38,0.00,0.000,6,0.000,0.047,2636,2462,3902,0,0,0,0,0,0
$GC,8711,-0.51,-150.9,817.5,-6.0,161,8715,0.00,2.35,0.00,0.000,4,0.000,0.044,2637,861,3904,0,0,0,0,0,0
$GC,8738,-0.51,-150.9,819.3,-6.9,161,8742,0.00,2.40,0.00,0.000,6,0.000,0.047,2625,2472,3904,0,0,0,0,0,0
$GC,9072,-0.51,-150.9,841.1,-6.7,167,9073,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2471,3898,0,0,0,0,0,0
$GC,9373,-0.51,-150.9,863.3,-7.3,172,9377,0.00,2.38,0.00,0.000,4,0.000,0.044,2626,865,3900,0,0,0,0,0,0
$GC,9397,-0.51,-150.9,865.1,-7.9,172,9402,0.10,2.38,0.00,0.000,6,0.169,0.047,2641,2462,3899,0,0,0,0,0,0
$GC,9734,-0.51,-150.9,886.4,-6.1,178,9739,0.00,2.38,0.00,0.000,4,0.000,0.043,2641,857,3897,0,0,0,0,0,0
$GC,9757,-0.51,-150.9,887.9,-6.9,178,9761,0.00,2.40,0.00,0.000,6,0.000,0.047,2631,2469,3898,0,0,0,0,0,0
$GC,10094,-0.51,-150.9,907.3,-5.7,184,10095,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2470,3897,0,0,0,0,0,0
$GC,10397,-0.51,-150.9,922.5,-4.9,189,10401,0.00,2.38,0.00,0.000,4,0.000,0.044,2631,863,3895,0,0,0,0,0,0
$GC,10424,-0.51,-150.9,924.0,-5.2,189,10428,0.00,2.38,0.00,0.000,6,0.000,0.047,2620,2461,3897,0,0,0,0,0,0
$GC,10757,-0.51,-150.9,941.2,-5.2,195,10761,0.00,2.38,0.00,0.000,4,0.000,0.042,2620,854,3896,0,0,0,0,0,0
$GC,10778,-0.51,-150.9,942.4,-5.4,195,10783,0.12,2.40,0.00,0.000,6,0.157,0.047,2644,2462,3896,0,0,0,0,0,0
$GC,11116,-0.51,-150.9,957.7,-4.6,201,11120,0.00,2.35,0.00,0.000,4,0.000,0.044,2644,862,3895,0,0,0,0,0,0
$GC,11160,-0.51,-150.9,960.3,-5.8,201,11164,0.00,2.40,0.00,0.000,6,0.000,0.047,2634,2470,3895,0,0,0,0,0,0
$GC,11480,-0.51,-150.9,978.3,-5.7,207,11485,0.00,2.40,0.00,0.000,4,0.000,0.044,2634,866,3894,0,0,0,0,0,0
$GC,11536,-0.51,-150.9,981.8,-5.8,207,11543,0.00,2.38,0.00,0.000,6,0.000,0.047,2622,2461,3894,0,0,0,0,0,0
$STATE,11722,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11722,begin apogee
$GC,11728,-0.13,0.0,993.5,6.2,211,11779,0.40,0.03,45.03,1.522,6,0.117,0.078,2761,2195,3679,0,0,0,0,0,0
$STATE,11779,end apogee,CONTROL_FINISHED_OK
$STATE,11779,begin climb
$GC,11782,0.51,150.9,994.6,0.0,211,11916,0.55,0.00,130.48,1.528,6,0.059,0.000,2983,2195,3065,0,0,0,0,0,0
$GC,12218,0.51,150.9,943.9,14.2,219,12222,0.00,2.47,0.00,0.000,4,0.000,0.051,2983,3789,3062,0,0,0,0,0,0
$GC,12284,0.51,150.9,933.3,16.3,220,12288,0.00,2.40,0.00,0.000,6,0.000,0.042,2995,2230,3062,0,0,0,0,0,0
$GC,12643,0.51,150.9,879.7,15.1,226,12648,0.00,2.42,0.00,0.000,4,0.000,0.050,2994,3794,3061,0,0,0,0,0,0
$GC,12676,0.51,150.9,874.0,16.2,226,12680,0.00,2.45,0.00,0.000,6,0.000,0.043,3007,2192,3061,0,0,0,0,0,0
$GC,13009,0.51,150.9,820.0,16.3,232,13014,0.10,2.50,0.00,0.000,4,0.188,0.053,2982,3796,3061,0,0,0,0,0,0
$GC,13114,0.51,150.9,803.0,15.1,233,13119,0.00,2.45,0.00,0.000,6,0.000,0.047,2993,2190,3060,0,0,0,0,0,0
$GC,13441,0.51,150.9,755.5,14.6,239,13446,0.00,2.45,0.00,0.000,4,0.000,0.054,2993,3793,3060,0,0,0,0,0,0
$GC,13465,0.51,150.9,752.1,14.4,239,13469,0.00,2.42,0.00,0.000,6,0.000,0.045,3005,2198,3060,0,0,0,0,0,0
$GC,13802,0.51,150.9,702.3,14.6,245,13806,0.00,2.45,0.00,0.000,4,0.000,0.054,3005,3793,3060,0,0,0,0,0,0
$GC,13873,0.51,150.9,691.0,15.6,246,13878,0.15,2.42,0.00,0.000,6,0.174,0.047,2977,2195,3059,0,0,0,0,0,0
$GC,14228,0.51,150.9,646.7,12.3,252,14229,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2194,3059,0,0,0,0,0,0
$GC,14531,0.51,150.9,609.1,12.5,257,14535,0.00,2.45,0.00,0.000,4,0.000,0.054,2977,3790,3059,0,0,0,0,0,0
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$STATE,20298,end climb,SURFACE_DEPTH_REACHED
$STATE,20298,begin surface coast
$FINISH,0.7,1.000286
$STATE,20330,end surface coast,CONTROL_FINISHED_OK
$STATE,20332,begin surface
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$HUMID,58.89
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$XPDR_PINGS,0
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$10V_AH,10.2,15.671
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,144264
$DATA_FILE_SIZE,20360,384
$CAP_FILE_SIZE,164005,0
$CFSIZE,260165632,247267328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301213,111000,1921.583,-15613.091,40,0.8,40,9.6