version: 66.08
glider: 500
mission: 9
dive: 127
start: 1 1 114 12 36 39
data:
$ID,500
$MISSION,9
$DIVE,127
$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,-165897.09
$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,27
$R_STBD_OVSHOOT,36
$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
$GPS1,010114,123036,1933.274,-15613.895,29,1.1,29,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-83.6
$GPS2,010114,123543,1933.258,-15613.847,13,2.0,13,9.7
$SPEED_LIMITS,0.142,0.263
$TGT_NAME,HOME1
$TGT_LATLONG,1936.000,-15610.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.107,0.240
$KALMAN_X,99394.2,-99.4,-336.7,-128293.1,1157.3
$KALMAN_Y,105554.1,61.7,258.8,-171515.9,-2285.7
$MHEAD_RNG_PITCHd_Wd,14.3,8415,-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,16,-0.51,-150.9,0.0,0.0,0,93,0.00,0.00,-73.97,0.000,2,0.000,0.000,128,2478,3717,0,0,0,0,0,0
$GC,96,-0.51,-150.9,3.2,-5.5,2,121,9.60,2.17,-4.85,0.000,4,0.223,0.076,2630,3837,3946,0,0,0,0,0,0
$GC,375,-0.51,-150.9,62.8,-18.3,10,379,0.00,2.12,0.00,0.000,6,0.000,0.044,2630,2456,3946,0,0,0,0,0,0
$GC,702,-0.51,-150.9,128.4,-18.7,21,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2455,3946,0,0,0,0,0,0
$GC,1008,-0.51,-150.9,172.8,-13.7,31,1012,0.00,2.38,0.00,0.000,4,0.000,0.050,2630,865,3947,0,0,0,0,0,0
$GC,1039,-0.51,-150.9,177.4,-14.8,32,1043,0.00,2.40,0.00,0.000,6,0.000,0.057,2618,2448,3948,0,0,0,0,0,0
$GC,1402,-0.51,-150.9,229.3,-14.0,41,1406,0.00,2.17,0.00,0.000,4,0.000,0.057,2607,3861,3948,0,0,0,0,0,0
$GC,1468,-0.51,-150.9,239.1,-14.3,42,1472,0.12,2.12,0.00,0.000,6,0.138,0.048,2647,2449,3949,0,0,0,0,0,0
$GC,1834,-0.51,-150.9,278.9,-10.4,48,1838,0.00,2.35,0.00,0.000,4,0.000,0.050,2647,869,3949,0,0,0,0,0,0
$GC,1855,-0.51,-150.9,281.3,-10.8,48,1859,0.00,2.38,0.00,0.000,6,0.000,0.054,2637,2461,3949,0,0,0,0,0,0
$GC,2199,-0.51,-150.9,316.4,-10.0,54,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2461,3948,0,0,0,0,0,0
$GC,2502,-0.51,-150.9,343.6,-9.1,59,2506,0.00,2.42,0.00,0.000,4,0.000,0.050,2637,866,3944,0,0,0,0,0,0
$GC,2551,-0.51,-150.9,348.7,-9.6,59,2556,0.00,2.40,0.00,0.000,6,0.000,0.055,2625,2465,3945,0,0,0,0,0,0
$GC,2861,-0.51,-150.9,380.5,-10.3,64,2862,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2465,3944,0,0,0,0,0,0
$GC,3164,-0.51,-150.9,406.6,-8.6,69,3169,0.00,2.42,0.00,0.000,4,0.000,0.051,2625,871,3941,0,0,0,0,0,0
$GC,3197,-0.51,-150.9,409.7,-9.1,69,3203,0.12,2.35,0.00,0.000,6,0.155,0.044,2650,2476,3941,0,0,0,0,0,0
$GC,3524,-0.51,-150.9,434.6,-7.8,75,3529,0.00,2.38,0.00,0.000,4,0.000,0.041,2650,865,3938,0,0,0,0,0,0
$GC,3546,-0.51,-150.9,436.6,-8.4,75,3550,0.00,2.35,0.00,0.000,6,0.000,0.044,2640,2470,3938,0,0,0,0,0,0
$GC,3884,-0.51,-150.9,465.3,-8.6,81,3889,0.00,2.40,0.00,0.000,4,0.000,0.041,2640,863,3935,0,0,0,0,0,0
$GC,3948,-0.51,-150.9,470.9,-8.5,82,3952,0.00,2.35,0.00,0.000,6,0.000,0.043,2628,2463,3934,0,0,0,0,0,0
$GC,4319,-0.51,-150.9,506.7,-9.6,88,4324,0.00,2.38,0.00,0.000,4,0.000,0.039,2628,860,3931,0,0,0,0,0,0
$GC,4364,-0.51,-150.9,511.0,-9.6,88,4368,0.00,2.35,0.00,0.000,6,0.000,0.044,2616,2466,3931,0,0,0,0,0,0
$GC,4679,-0.51,-150.9,540.3,-9.3,94,4684,0.10,2.10,0.00,0.000,4,0.173,0.051,2636,3843,3928,0,0,0,0,0,0
$GC,4695,-0.51,-150.9,541.8,-8.7,94,4698,0.00,2.03,0.00,0.000,6,0.000,0.034,2636,2445,3928,0,0,0,0,0,0
$GC,5050,-0.51,-150.9,566.4,-6.9,100,5054,0.00,2.33,0.00,0.000,4,0.000,0.041,2636,878,3927,0,0,0,0,0,0
$GC,5144,-0.51,-150.9,573.8,-7.9,101,5149,0.00,2.33,0.00,0.000,6,0.000,0.044,2624,2460,3925,0,0,0,0,0,0
$GC,5477,-0.51,-150.9,602.1,-8.8,107,5481,0.00,2.10,0.00,0.000,4,0.000,0.052,2614,3849,3923,0,0,0,0,0,0
$GC,5499,-0.51,-150.9,604.3,-9.4,107,5503,0.10,2.03,0.00,0.000,6,0.145,0.034,2645,2465,3926,0,0,0,0,0,0
$GC,5842,-0.51,-150.9,630.7,-7.6,113,5846,0.00,2.38,0.00,0.000,4,0.000,0.042,2646,866,3921,0,0,0,0,0,0
$GC,5925,-0.51,-150.9,637.8,-8.3,114,5929,0.00,2.35,0.00,0.000,6,0.000,0.045,2635,2463,3921,0,0,0,0,0,0
$GC,6268,-0.51,-150.9,664.0,-7.5,120,6272,0.00,2.38,0.00,0.000,4,0.000,0.040,2638,860,3921,0,0,0,0,0,0
$GC,6301,-0.51,-150.9,666.7,-7.7,120,6305,0.00,2.38,0.00,0.000,6,0.000,0.044,2624,2473,3921,0,0,0,0,0,0
$GC,6628,-0.51,-150.9,691.4,-7.5,126,6632,0.00,2.38,0.00,0.000,4,0.000,0.041,2624,864,3916,0,0,0,0,0,0
$GC,6650,-0.51,-150.9,693.3,-8.2,126,6655,0.12,2.35,0.00,0.000,6,0.155,0.043,2648,2463,3916,0,0,0,0,0,0
$GC,6994,-0.51,-150.9,716.7,-6.8,132,6998,0.00,2.38,0.00,0.000,4,0.000,0.039,2649,863,3918,0,0,0,0,0,0
$GC,7021,-0.51,-150.9,718.7,-7.9,132,7025,0.00,2.35,0.00,0.000,6,0.000,0.044,2638,2461,3915,0,0,0,0,0,0
$GC,7353,-0.51,-150.9,745.2,-8.1,138,7354,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2461,3911,0,0,0,0,0,0
$GC,7656,-0.51,-150.9,769.0,-7.8,143,7660,0.00,2.35,0.00,0.000,4,0.000,0.040,2638,863,3912,0,0,0,0,0,0
$GC,7689,-0.51,-150.9,772.0,-8.5,143,7693,0.00,2.38,0.00,0.000,6,0.000,0.044,2626,2472,3911,0,0,0,0,0,0
$GC,8016,-0.51,-150.9,797.7,-7.8,149,8020,0.00,2.38,0.00,0.000,4,0.000,0.041,2627,875,3909,0,0,0,0,0,0
$GC,8032,-0.51,-150.9,799.0,-7.6,149,8037,0.10,2.35,0.00,0.000,6,0.174,0.044,2642,2463,3909,0,0,0,0,0,0
$GC,8381,-0.51,-150.9,820.9,-6.2,155,8382,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2463,3908,0,0,0,0,0,0
$GC,8684,-0.51,-150.9,839.5,-6.1,160,8686,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2463,3907,0,0,0,0,0,0
$GC,8987,-0.51,-150.9,858.5,-6.3,165,8991,0.00,2.40,0.00,0.000,4,0.000,0.041,2642,866,3907,0,0,0,0,0,0
$GC,9037,-0.51,-150.9,862.1,-7.0,165,9041,0.00,2.38,0.00,0.000,6,0.000,0.044,2632,2468,3906,0,0,0,0,0,0
$GC,9348,-0.51,-150.9,883.1,-6.7,170,9352,0.00,2.38,0.00,0.000,4,0.000,0.041,2632,867,3906,0,0,0,0,0,0
$GC,9381,-0.51,-150.9,885.6,-6.9,170,9385,0.00,2.38,0.00,0.000,6,0.000,0.044,2621,2464,3905,0,0,0,0,0,0
$GC,9707,-0.51,-150.9,909.1,-7.3,176,9711,0.00,2.38,0.00,0.000,4,0.000,0.041,2620,865,3905,0,0,0,0,0,0
$GC,9734,-0.51,-150.9,911.4,-8.5,176,9739,0.12,2.38,0.00,0.000,6,0.158,0.044,2645,2466,3904,0,0,0,0,0,0
$GC,10068,-0.51,-150.9,931.5,-6.0,182,10072,0.00,2.38,0.00,0.000,4,0.000,0.041,2645,866,3904,0,0,0,0,0,0
$GC,10117,-0.51,-150.9,934.9,-6.7,182,10121,0.00,2.38,0.00,0.000,6,0.000,0.046,2635,2465,3903,0,0,0,0,0,0
$GC,10428,-0.51,-150.9,953.1,-5.9,187,10432,0.00,2.40,0.00,0.000,4,0.000,0.041,2634,866,3903,0,0,0,0,0,0
$GC,10449,-0.51,-150.9,954.5,-6.2,187,10453,0.00,2.40,0.00,0.000,6,0.000,0.045,2623,2463,3903,0,0,0,0,0,0
$GC,10786,-0.51,-150.9,975.5,-6.2,193,10788,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2463,3905,0,0,0,0,0,0
$STATE,11087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11087,begin apogee
$GC,11093,-0.13,0.0,993.7,6.0,198,11144,0.40,0.05,46.20,1.532,6,0.110,0.145,2764,2201,3680,0,0,0,0,0,0
$STATE,11144,end apogee,CONTROL_FINISHED_OK
$STATE,11144,begin climb
$GC,11147,0.51,150.9,994.6,0.0,198,11286,0.55,2.70,129.93,1.536,4,0.058,0.052,2986,3786,3067,0,0,0,0,0,0
$GC,11308,0.51,150.9,982.1,15.2,201,11313,0.00,2.50,0.00,0.000,6,0.000,0.040,2998,2225,3066,0,0,0,0,0,0
$GC,11646,0.51,150.9,929.5,15.7,207,11651,0.00,2.42,0.00,0.000,4,0.000,0.048,2998,3794,3065,0,0,0,0,0,0
$GC,11702,0.51,150.9,920.2,16.5,207,11709,0.10,2.45,0.00,0.000,6,0.189,0.041,2985,2201,3064,0,0,0,0,0,0
$GC,12012,0.51,150.9,878.8,13.3,213,12016,0.00,2.42,0.00,0.000,4,0.000,0.047,2997,603,3064,0,0,0,0,0,0
$GC,12033,0.51,150.9,875.7,11.9,213,12037,0.00,2.40,0.00,0.000,6,0.000,0.043,2993,2216,3064,0,0,0,0,0,0
$GC,12377,0.51,150.9,826.8,14.5,219,12381,0.00,2.40,0.00,0.000,4,0.000,0.052,2997,3779,3063,0,0,0,0,0,0
$GC,12568,0.51,150.9,796.1,16.6,221,12576,0.12,2.40,0.00,0.000,6,0.181,0.041,2977,2185,3062,0,0,0,0,0,0
$GC,12878,0.51,150.9,754.3,13.3,227,12882,0.00,2.45,0.00,0.000,4,0.000,0.050,2977,3789,3062,0,0,0,0,0,0
$GC,12904,0.51,150.9,750.1,14.8,227,12909,0.00,2.40,0.00,0.000,6,0.000,0.041,2988,2201,3062,0,0,0,0,0,0
$GC,13243,0.51,150.9,704.6,13.5,233,13247,0.00,2.42,0.00,0.000,4,0.000,0.050,2988,3783,3062,0,0,0,0,0,0
$GC,13286,0.51,150.9,698.0,15.3,233,13291,0.00,2.40,0.00,0.000,6,0.000,0.042,2999,2186,3061,0,0,0,0,0,0
$GC,13608,0.51,150.9,655.9,13.1,239,13609,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2185,3061,0,0,0,0,0,0
$GC,13911,0.51,150.9,618.2,12.5,244,13915,0.00,2.45,0.00,0.000,4,0.000,0.050,3000,3786,3061,0,0,0,0,0,0
$GC,14005,0.51,150.9,604.7,14.2,245,14010,0.12,2.40,0.00,0.000,6,0.184,0.041,2980,2194,3060,0,0,0,0,0,0
$GC,14337,0.51,150.9,567.4,10.9,251,14341,0.00,2.42,0.00,0.000,4,0.000,0.050,2979,3787,3061,0,0,0,0,0,0
$GC,14358,0.51,150.9,564.7,12.3,251,14362,0.00,2.40,0.00,0.000,6,0.000,0.040,2990,2191,3060,0,0,0,0,0,0
$GC,14702,0.51,150.9,523.1,12.2,257,14703,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2187,3060,0,0,0,0,0,0
$GC,15005,0.51,150.9,485.8,12.2,262,15009,0.00,2.45,0.00,0.000,4,0.000,0.050,2990,3783,3060,0,0,0,0,0,0
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$STATE,19773,end climb,SURFACE_DEPTH_REACHED
$STATE,19773,begin surface coast
$FINISH,0.7,1.006266
$STATE,19805,end surface coast,CONTROL_FINISHED_OK
$STATE,19805,begin surface
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$TT8_MAMPS,0.031458
$HUMID,60.15
$INTERNAL_PRESSURE,9.21789
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,23.3,26.720
$10V_AH,10.2,16.315
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.375,185.950,489.625,0.000,0.000,23.581,31.268,140.763,0.000,0.000,15.735,1300.973,16261.741,556.531,1808.645,261.157,33.373,1480.517,0.000,1595.053,0.000,0.542,0.000
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$SENSOR_SECS,255.246,336.160,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,144240
$DATA_FILE_SIZE,20258,372
$CAP_FILE_SIZE,148023,0
$CFSIZE,260165632,246697984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010114,180905,1934.709,-15612.867,26,1.6,26,9.7