version: 66.08
glider: 500
mission: 9
dive: 119
start: 12 30 113 16 57 1
data:
$ID,500
$MISSION,9
$DIVE,119
$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,-165879.72
$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,38
$R_STBD_OVSHOOT,33
$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
$GPS1,301213,165019,1923.194,-15613.348,40,2.4,59,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-82.3
$GPS2,301213,165605,1923.122,-15613.208,12,1.5,28,9.6
$SPEED_LIMITS,0.142,0.263
$TGT_NAME,B1
$TGT_LATLONG,1925.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.131,0.228
$KALMAN_X,87748.6,257.0,140.0,-116394.7,-125.8
$KALMAN_Y,122303.6,-90.6,-95.4,-206524.7,-1492.8
$MHEAD_RNG_PITCHd_Wd,320.6,4679,-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,-150.9,0.0,0.0,0,86,0.00,0.00,-66.82,0.000,2,0.000,0.000,130,2471,3832,0,0,0,0,0,0
$GC,89,-0.51,-150.9,3.4,-6.9,2,103,9.62,0.00,-2.28,0.000,6,0.222,0.000,2638,2471,3945,0,0,0,0,0,0
$GC,391,-0.51,-150.9,77.9,-22.1,12,396,0.00,2.47,0.00,0.000,4,0.000,0.050,2638,868,3948,0,0,0,0,0,0
$GC,413,-0.51,-150.9,83.9,-23.8,12,422,0.00,2.42,0.00,0.000,6,0.000,0.044,2627,2447,3947,0,0,0,0,0,0
$GC,728,-0.51,-150.9,136.7,-13.4,23,732,0.00,2.38,0.00,0.000,4,0.000,0.050,2627,878,3949,0,0,0,0,0,0
$GC,759,-0.51,-150.9,141.0,-14.4,24,763,0.10,2.38,0.00,0.000,6,0.177,0.048,2641,2461,3949,0,0,0,0,0,0
$GC,1095,-0.51,-150.9,184.4,-11.3,35,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2461,3951,0,0,0,0,0,0
$GC,1398,-0.51,-150.9,222.0,-11.8,42,1399,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2461,3953,0,0,0,0,0,0
$GC,1701,-0.51,-150.9,254.6,-11.2,47,1702,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2462,3951,0,0,0,0,0,0
$GC,2004,-0.51,-150.9,286.7,-10.6,52,2008,0.00,2.40,0.00,0.000,4,0.000,0.050,2641,867,3952,0,0,0,0,0,0
$GC,2047,-0.51,-150.9,291.5,-10.2,52,2052,0.00,2.38,0.00,0.000,6,0.000,0.047,2630,2468,3951,0,0,0,0,0,0
$GC,2369,-0.51,-150.9,326.7,-10.9,58,2372,0.00,2.08,0.00,0.000,4,0.000,0.052,2620,3844,3951,0,0,0,0,0,0
$GC,2396,-0.51,-150.9,329.9,-11.3,58,2400,0.00,2.05,0.00,0.000,6,0.000,0.036,2620,2449,3951,0,0,0,0,0,0
$GC,2740,-0.51,-150.9,361.8,-9.0,64,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2448,3949,0,0,0,0,0,0
$GC,3043,-0.51,-150.9,390.9,-9.5,69,3047,0.00,2.15,0.00,0.000,4,0.000,0.051,2609,3850,3948,0,0,0,0,0,0
$GC,3058,-0.51,-150.9,392.6,-9.4,69,3063,0.08,2.08,0.00,0.000,6,0.108,0.034,2650,2453,3948,0,0,0,0,0,0
$GC,3408,-0.51,-150.9,420.8,-8.0,75,3412,0.00,2.35,0.00,0.000,4,0.000,0.041,2651,867,3945,0,0,0,0,0,0
$GC,3441,-0.51,-150.9,423.8,-8.7,75,3445,0.00,2.40,0.00,0.000,6,0.000,0.049,2641,2473,3945,0,0,0,0,0,0
$GC,3773,-0.51,-150.9,453.2,-9.1,81,3777,0.00,2.38,0.00,0.000,4,0.000,0.042,2641,876,3943,0,0,0,0,0,0
$GC,3828,-0.51,-150.9,459.2,-10.3,81,3835,0.00,2.38,0.00,0.000,6,0.000,0.047,2629,2467,3942,0,0,0,0,0,0
$GC,4138,-0.51,-150.9,489.6,-9.7,87,4142,0.00,2.38,0.00,0.000,4,0.000,0.041,2629,877,3939,0,0,0,0,0,0
$GC,4165,-0.51,-150.9,492.3,-9.6,87,4169,0.00,2.38,0.00,0.000,6,0.000,0.046,2618,2472,3939,0,0,0,0,0,0
$GC,4497,-0.51,-150.9,523.0,-9.3,93,4501,0.00,2.40,0.00,0.000,4,0.000,0.042,2618,870,3937,0,0,0,0,0,0
$GC,4518,-0.51,-150.9,525.1,-9.4,93,4523,0.12,2.38,0.00,0.000,6,0.155,0.044,2642,2464,3936,0,0,0,0,0,0
$GC,4856,-0.51,-150.9,550.0,-7.3,99,4860,0.00,2.38,0.00,0.000,4,0.000,0.041,2642,877,3934,0,0,0,0,0,0
$GC,4889,-0.51,-150.9,552.7,-8.2,99,4893,0.00,2.35,0.00,0.000,6,0.000,0.045,2632,2460,3934,0,0,0,0,0,0
$GC,5217,-0.51,-150.9,579.4,-8.2,105,5218,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2460,3931,0,0,0,0,0,0
$GC,5519,-0.51,-150.9,604.1,-8.2,110,5523,0.00,2.40,0.00,0.000,4,0.000,0.041,2632,867,3930,0,0,0,0,0,0
$GC,5547,-0.51,-150.9,606.7,-9.2,110,5551,0.00,2.38,0.00,0.000,6,0.000,0.044,2621,2462,3929,0,0,0,0,0,0
$GC,5880,-0.51,-150.9,634.8,-8.3,116,5881,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2462,3927,0,0,0,0,0,0
$GC,6181,-0.51,-150.9,660.2,-8.4,121,6186,0.00,2.35,0.00,0.000,4,0.000,0.040,2621,867,3925,0,0,0,0,0,0
$GC,6220,-0.51,-150.9,663.9,-9.4,121,6225,0.12,2.38,0.00,0.000,6,0.152,0.044,2647,2459,3925,0,0,0,0,0,0
$GC,6541,-0.51,-150.9,688.3,-7.5,127,6545,0.00,2.35,0.00,0.000,4,0.000,0.039,2647,874,3923,0,0,0,0,0,0
$GC,6574,-0.51,-150.9,691.1,-8.3,127,6578,0.00,2.35,0.00,0.000,6,0.000,0.045,2636,2466,3924,0,0,0,0,0,0
$GC,6907,-0.51,-150.9,718.5,-8.2,133,6911,0.00,2.38,0.00,0.000,4,0.000,0.040,2636,863,3922,0,0,0,0,0,0
$GC,6929,-0.51,-150.9,720.5,-8.4,133,6933,0.00,2.38,0.00,0.000,6,0.000,0.044,2624,2461,3922,0,0,0,0,0,0
$GC,7272,-0.51,-150.9,746.4,-7.3,139,7276,0.00,2.38,0.00,0.000,4,0.000,0.040,2621,874,3921,0,0,0,0,0,0
$GC,7294,-0.51,-150.9,748.0,-7.1,139,7299,0.12,2.35,0.00,0.000,6,0.155,0.044,2649,2461,3921,0,0,0,0,0,0
$GC,7632,-0.51,-150.9,763.7,-4.4,145,7636,0.00,2.38,0.00,0.000,4,0.000,0.041,2650,873,3920,0,0,0,0,0,0
$GC,7653,-0.51,-150.9,764.6,-3.9,145,7658,0.00,2.38,0.00,0.000,6,0.000,0.045,2640,2462,3919,0,0,0,0,0,0
$GC,7992,-0.51,-150.9,778.2,-4.0,151,7996,0.00,2.35,0.00,0.000,4,0.000,0.039,2640,874,3918,0,0,0,0,0,0
$GC,8018,-0.51,-150.9,779.5,-4.2,151,8023,0.00,2.38,0.00,0.000,6,0.000,0.045,2628,2470,3918,0,0,0,0,0,0
$GC,8351,-0.51,-150.9,795.7,-5.0,157,8352,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2470,3917,0,0,0,0,0,0
$GC,8654,-0.51,-150.9,813.0,-5.8,162,8659,0.00,2.38,0.00,0.000,4,0.000,0.040,2628,875,3916,0,0,0,0,0,0
$GC,8699,-0.51,-150.9,815.9,-6.5,162,8703,0.00,2.38,0.00,0.000,6,0.000,0.045,2617,2463,3913,0,0,0,0,0,0
$GC,9014,-0.51,-150.9,837.4,-6.9,168,9016,0.10,0.00,0.00,0.000,6,0.168,0.000,2646,2463,3914,0,0,0,0,0,0
$GC,9318,-0.51,-150.9,854.4,-5.6,173,9322,0.00,2.38,0.00,0.000,4,0.000,0.040,2646,866,3914,0,0,0,0,0,0
$GC,9356,-0.51,-150.9,856.8,-6.0,173,9361,0.00,2.40,0.00,0.000,6,0.000,0.044,2636,2469,3913,0,0,0,0,0,0
$GC,9678,-0.51,-150.9,875.3,-5.7,179,9679,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2468,3915,0,0,0,0,0,0
$GC,9981,-0.51,-150.9,892.3,-5.5,184,9985,0.00,2.38,0.00,0.000,4,0.000,0.040,2636,864,3912,0,0,0,0,0,0
$GC,10025,-0.51,-150.9,895.0,-6.4,184,10029,0.00,2.40,0.00,0.000,6,0.000,0.044,2624,2466,3912,0,0,0,0,0,0
$GC,10341,-0.51,-150.9,914.2,-6.2,190,10345,0.00,2.40,0.00,0.000,4,0.000,0.041,2624,872,3912,0,0,0,0,0,0
$GC,10374,-0.51,-150.9,916.6,-6.8,190,10379,0.12,2.38,0.00,0.000,6,0.153,0.045,2650,2462,3911,0,0,0,0,0,0
$GC,10701,-0.51,-150.9,933.5,-5.2,196,10705,0.00,2.35,0.00,0.000,4,0.000,0.041,2650,877,3909,0,0,0,0,0,0
$GC,10740,-0.51,-150.9,935.8,-5.6,196,10744,0.00,2.38,0.00,0.000,6,0.000,0.047,2640,2460,3911,0,0,0,0,0,0
$GC,11061,-0.51,-150.9,953.8,-5.7,202,11065,0.00,2.40,0.00,0.000,4,0.000,0.041,2640,870,3909,0,0,0,0,0,0
$GC,11082,-0.51,-150.9,955.3,-6.5,202,11086,0.00,2.38,0.00,0.000,6,0.000,0.045,2629,2462,3910,0,0,0,0,0,0
$GC,11426,-0.51,-150.9,975.6,-5.8,208,11427,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2462,3909,0,0,0,0,0,0
$STATE,11727,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11727,begin apogee
$GC,11733,-0.13,0.0,990.6,4.9,213,11784,0.40,0.00,47.85,1.526,6,0.114,0.000,2769,2173,3680,0,0,0,0,0,0
$STATE,11785,end apogee,CONTROL_FINISHED_OK
$STATE,11785,begin climb
$GC,11787,0.51,150.9,990.9,0.0,213,11927,0.52,2.67,130.65,1.525,4,0.057,0.051,2984,3794,3067,0,0,0,0,0,0
$GC,11965,0.51,150.9,973.4,17.2,216,11970,0.00,2.47,0.00,0.000,6,0.000,0.041,2995,2234,3065,0,0,0,0,0,0
$GC,12275,0.51,150.9,922.7,16.3,221,12280,0.00,2.42,0.00,0.000,4,0.000,0.050,2997,3790,3061,0,0,0,0,0,0
$GC,12315,0.51,150.9,915.3,18.3,221,12320,0.00,2.47,0.00,0.000,6,0.000,0.042,3007,2198,3063,0,0,0,0,0,0
$GC,12636,0.51,150.9,860.8,16.8,227,12641,0.12,2.47,0.00,0.000,4,0.183,0.050,2975,3791,3062,0,0,0,0,0,0
$GC,12663,0.51,150.9,855.9,16.0,227,12667,0.00,2.42,0.00,0.000,6,0.000,0.041,2986,2200,3062,0,0,0,0,0,0
$GC,13001,0.51,150.9,806.5,14.5,233,13006,0.00,2.47,0.00,0.000,4,0.000,0.050,2986,3793,3061,0,0,0,0,0,0
$GC,13029,0.51,150.9,802.0,15.8,233,13033,0.00,2.45,0.00,0.000,6,0.000,0.041,2998,2189,3061,0,0,0,0,0,0
$GC,13360,0.51,150.9,753.0,14.7,239,13365,0.00,2.45,0.00,0.000,4,0.000,0.050,2998,3793,3061,0,0,0,0,0,0
$GC,13410,0.51,150.9,745.0,15.7,239,13415,0.12,2.42,0.00,0.000,6,0.176,0.041,2978,2197,3060,0,0,0,0,0,0
$GC,13720,0.51,150.9,703.9,13.1,244,13724,0.00,2.45,0.00,0.000,4,0.000,0.051,2977,3796,3060,0,0,0,0,0,0
$GC,13747,0.51,150.9,700.0,13.6,244,13752,0.00,2.45,0.00,0.000,6,0.000,0.041,2988,2189,3060,0,0,0,0,0,0
$GC,14091,0.51,150.9,655.0,13.1,250,14095,0.00,2.42,0.00,0.000,4,0.000,0.052,2988,3789,3060,0,0,0,0,0,0
$GC,14169,0.51,150.9,643.5,15.1,251,14174,0.00,2.40,0.00,0.000,6,0.000,0.041,3000,2198,3063,0,0,0,0,0,0
$GC,14518,0.51,150.9,598.6,12.7,257,14519,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2198,3060,0,0,0,0,0,0
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$STATE,20076,end climb,SURFACE_DEPTH_REACHED
$STATE,20076,begin surface coast
$FINISH,2.1,1.023050
$STATE,20079,end surface coast,CONTROL_FINISHED_OK
$STATE,20081,begin surface
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$HUMID,59.13
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$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,23.3,25.576
$10V_AH,10.2,15.800
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.200,206.825,368.100,0.000,0.000,24.024,35.687,155.126,0.000,0.000,30.639,1322.231,16691.010,480.811,1746.805,266.871,33.377,1339.999,0.000,1495.444,0.000,0.541,0.000
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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,144292
$DATA_FILE_SIZE,16946,373
$CAP_FILE_SIZE,149906,0
$CFSIZE,260165632,247160832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301213,223405,1924.704,-15613.646,25,1.9,25,9.6