version: 66.08
glider: 500
mission: 9
dive: 58
start: 12 18 113 1 7 36
data:
$ID,500
$MISSION,9
$DIVE,58
$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,32
$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,290
$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,-165800.22
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,2810
$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,2520
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,55
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,3620
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$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,7
$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,1100.0
$AD_PROFILE,3.0
$AD_XMITPROFILE,1.0
$AD_UPLOADMAX,60000.0
$AD_STARTS,114.0
$AD_THRESHOLD,1815.0
$AD_INTERVAL,6015.0
$AD_DURATION,1045.0
$DB_RECORDABOVE,0.0
$DB_PROFILE,0.0
$DB_XMITPROFILE,0.0
$DB_UPLOADMAX,0.0
$DB_STARTS,0.0
$GPS1,181213,005835,1959.403,-15610.772,58,0.9,58,9.7
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-83.1
$GPS2,181213,010625,1959.394,-15610.675,11,1.5,11,9.7
$SPEED_LIMITS,0.159,0.263
$TGT_NAME,A2b
$TGT_LATLONG,1945.000,-15609.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.147,-0.218
$KALMAN_X,86564.2,-539.5,-404.7,-109447.7,3000.1
$KALMAN_Y,119338.0,128.3,-448.8,-136246.5,3700.1
$MHEAD_RNG_PITCHd_Wd,204.2,26817,-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,32,end surface,CONTROL_FINISHED_OK
$STATE,32,begin dive
$GC,34,-0.53,-150.9,0.0,0.0,0,88,0.00,0.00,-51.50,0.000,2,0.000,0.000,116,2544,3766,0,0,0,0,0,0
$GC,91,-0.53,-150.9,3.6,-7.3,1,110,9.60,1.92,-3.78,0.000,4,0.226,0.052,2624,3841,3943,0,0,0,0,0,0
$GC,363,-0.53,-150.9,61.6,-19.6,9,372,0.00,1.98,0.00,0.000,6,0.000,0.033,2624,2510,3944,0,0,0,0,0,0
$GC,678,-0.53,-150.9,127.7,-20.5,20,682,0.00,1.95,0.00,0.000,4,0.000,0.044,2614,3823,3944,0,0,0,0,0,0
$GC,734,-0.53,-150.9,138.0,-16.2,21,738,0.00,1.92,0.00,0.000,6,0.000,0.032,2614,2516,3946,0,0,0,0,0,0
$GC,1055,-0.53,-150.9,187.7,-15.5,32,1059,0.00,2.28,0.00,0.000,4,0.000,0.037,2614,931,3948,0,0,0,0,0,0
$GC,1086,-0.53,-150.9,192.3,-15.6,33,1091,0.12,2.28,0.00,0.000,6,0.175,0.037,2635,2507,3947,0,0,0,0,0,0
$GC,1448,-0.53,-150.9,232.3,-10.2,40,1452,0.00,2.28,0.00,0.000,4,0.000,0.034,2635,934,3949,0,0,0,0,0,0
$GC,1464,-0.53,-150.9,234.3,-9.9,40,1468,0.00,2.30,0.00,0.000,6,0.000,0.037,2625,2525,3949,0,0,0,0,0,0
$GC,1807,-0.53,-150.9,277.3,-12.7,46,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2525,3950,0,0,0,0,0,0
$GC,2110,-0.53,-150.9,310.5,-10.7,51,2114,0.00,2.30,0.00,0.000,4,0.000,0.036,2625,939,3949,0,0,0,0,0,0
$GC,2142,-0.53,-150.9,314.6,-11.9,51,2146,0.00,2.30,0.00,0.000,6,0.000,0.038,2613,2526,3949,0,0,0,0,0,0
$GC,2475,-0.53,-150.9,350.0,-10.6,57,2478,0.00,1.95,0.00,0.000,4,0.000,0.046,2603,3842,3947,0,0,0,0,0,0
$GC,2678,-0.53,-150.9,374.0,-11.8,60,2682,0.12,1.92,0.00,0.000,6,0.151,0.032,2640,2522,3946,0,0,0,0,0,0
$GC,3049,-0.53,-150.9,406.1,-8.0,66,3053,0.00,2.28,0.00,0.000,4,0.000,0.035,2642,932,3943,0,0,0,0,0,0
$GC,3089,-0.53,-150.9,409.3,-8.1,66,3093,0.00,2.30,0.00,0.000,6,0.000,0.039,2630,2514,3941,0,0,0,0,0,0
$GC,3410,-0.53,-150.9,437.5,-9.0,72,3414,0.00,2.33,0.00,0.000,4,0.000,0.037,2630,922,3943,0,0,0,0,0,0
$GC,3426,-0.53,-150.9,439.3,-9.3,72,3430,0.00,2.35,0.00,0.000,6,0.000,0.039,2619,2534,3940,0,0,0,0,0,0
$GC,3774,-0.53,-150.9,473.7,-10.0,78,3778,0.00,2.33,0.00,0.000,4,0.000,0.036,2619,933,3937,0,0,0,0,0,0
$GC,3790,-0.53,-150.9,475.6,-10.2,78,3795,0.12,2.33,0.00,0.000,6,0.172,0.038,2641,2526,3937,0,0,0,0,0,0
$GC,4134,-0.53,-150.9,505.1,-8.5,84,4138,0.00,2.33,0.00,0.000,4,0.000,0.037,2641,932,3936,0,0,0,0,0,0
$GC,4166,-0.53,-150.9,508.2,-8.8,84,4170,0.00,2.30,0.00,0.000,6,0.000,0.041,2632,2514,3934,0,0,0,0,0,0
$GC,4499,-0.53,-150.9,537.1,-8.6,90,4503,0.00,2.33,0.00,0.000,4,0.000,0.039,2631,932,3935,0,0,0,0,0,0
$GC,4515,-0.53,-150.9,538.7,-8.5,90,4519,0.00,2.33,0.00,0.000,6,0.000,0.040,2619,2524,3931,0,0,0,0,0,0
$GC,4864,-0.53,-150.9,572.4,-9.7,96,4868,0.00,2.35,0.00,0.000,4,0.000,0.037,2619,931,3928,0,0,0,0,0,0
$GC,4891,-0.53,-150.9,575.3,-10.6,96,4896,0.12,2.33,0.00,0.000,6,0.165,0.041,2642,2519,3927,0,0,0,0,0,0
$GC,5223,-0.53,-150.9,603.5,-8.5,102,5227,0.00,2.33,0.00,0.000,4,0.000,0.038,2643,933,3923,0,0,0,0,0,0
$GC,5267,-0.53,-150.9,607.7,-8.8,102,5271,0.00,2.33,0.00,0.000,6,0.000,0.042,2632,2516,3925,0,0,0,0,0,0
$GC,5582,-0.53,-150.9,636.1,-9.0,108,5586,0.00,2.00,0.00,0.000,4,0.000,0.051,2625,3846,3925,0,0,0,0,0,0
$GC,5620,-0.53,-150.9,640.3,-10.4,108,5624,0.00,2.00,0.00,0.000,6,0.000,0.036,2622,2521,3923,0,0,0,0,0,0
$GC,5953,-0.53,-150.9,671.7,-9.2,114,5957,0.00,2.33,0.00,0.000,4,0.000,0.039,2623,930,3924,0,0,0,0,0,0
$GC,5998,-0.53,-150.9,676.1,-9.4,114,6002,0.00,2.38,0.00,0.000,6,0.000,0.043,2612,2531,3923,0,0,0,0,0,0
$GC,6315,-0.53,-150.9,704.7,-8.9,120,6319,0.00,2.38,0.00,0.000,4,0.000,0.038,2610,925,3920,0,0,0,0,0,0
$GC,6387,-0.53,-150.9,711.3,-8.8,121,6392,0.15,2.38,0.00,0.000,6,0.157,0.044,2641,2528,3920,0,0,0,0,0,0
$GC,6742,-0.53,-150.9,732.4,-5.7,127,6746,0.00,2.35,0.00,0.000,4,0.000,0.039,2641,922,3918,0,0,0,0,0,0
$GC,6775,-0.53,-150.9,734.6,-6.3,127,6779,0.00,2.38,0.00,0.000,6,0.000,0.044,2631,2521,3917,0,0,0,0,0,0
$GC,7107,-0.53,-150.9,758.8,-7.5,133,7111,0.00,2.38,0.00,0.000,4,0.000,0.040,2628,929,3915,0,0,0,0,0,0
$GC,7151,-0.53,-150.9,762.7,-8.2,133,7155,0.00,2.38,0.00,0.000,6,0.000,0.046,2621,2522,3915,0,0,0,0,0,0
$GC,7466,-0.53,-150.9,790.7,-9.0,139,7470,0.00,2.35,0.00,0.000,4,0.000,0.040,2621,923,3913,0,0,0,0,0,0
$GC,7481,-0.53,-150.9,792.1,-8.4,139,7485,0.00,2.38,0.00,0.000,6,0.000,0.043,2609,2526,3913,0,0,0,0,0,0
$GC,7825,-0.53,-150.9,821.1,-8.4,145,7830,0.10,2.38,0.00,0.000,4,0.177,0.041,2637,930,3912,0,0,0,0,0,0
$GC,7858,-0.53,-150.9,823.8,-7.0,145,7863,0.00,2.38,0.00,0.000,6,0.000,0.044,2627,2532,3911,0,0,0,0,0,0
$GC,8185,-0.53,-150.9,847.3,-7.1,151,8189,0.00,2.35,0.00,0.000,4,0.000,0.040,2626,930,3911,0,0,0,0,0,0
$GC,8202,-0.53,-150.9,848.5,-6.9,151,8206,0.00,2.35,0.00,0.000,6,0.000,0.044,2615,2519,3910,0,0,0,0,0,0
$GC,8550,-0.53,-150.9,872.4,-6.7,157,8554,0.00,2.03,0.00,0.000,4,0.000,0.054,2605,3856,3912,0,0,0,0,0,0
$GC,8567,-0.53,-150.9,873.5,-6.5,157,8571,0.12,1.95,0.00,0.000,6,0.147,0.036,2641,2511,3909,0,0,0,0,0,0
$GC,8921,-0.53,-150.9,891.8,-5.0,163,8925,0.00,2.33,0.00,0.000,4,0.000,0.042,2642,931,3908,0,0,0,0,0,0
$GC,8966,-0.53,-150.9,894.3,-5.3,163,8970,0.00,2.38,0.00,0.000,6,0.000,0.045,2631,2528,3907,0,0,0,0,0,0
$GC,9286,-0.53,-150.9,913.9,-6.2,169,9290,0.00,2.35,0.00,0.000,4,0.000,0.040,2634,927,3907,0,0,0,0,0,0
$GC,9342,-0.53,-150.9,917.4,-6.1,169,9349,0.00,2.40,0.00,0.000,6,0.000,0.046,2620,2532,3907,0,0,0,0,0,0
$GC,9652,-0.53,-150.9,938.9,-7.0,175,9653,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2532,3905,0,0,0,0,0,0
$GC,9955,-0.53,-150.9,961.8,-7.6,180,9959,0.00,2.38,0.00,0.000,4,0.000,0.040,2620,926,3906,0,0,0,0,0,0
$GC,9999,-0.53,-150.9,965.2,-7.6,180,10004,0.10,2.40,0.00,0.000,6,0.179,0.045,2635,2530,3905,0,0,0,0,0,0
$GC,10314,-0.53,-150.9,983.7,-5.8,186,10319,0.00,2.35,0.00,0.000,4,0.000,0.039,2636,930,3904,0,0,0,0,0,0
$GC,10342,-0.53,-150.9,985.6,-7.0,186,10346,0.00,2.38,0.00,0.000,6,0.000,0.046,2626,2520,3903,0,0,0,0,0,0
$STATE,10429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10429,begin apogee
$GC,10435,-0.13,0.0,992.0,7.5,188,10498,0.40,0.00,58.47,1.482,6,0.114,0.000,2767,2274,3622,0,0,0,0,0,0
$STATE,10500,end apogee,CONTROL_FINISHED_OK
$STATE,10500,begin climb
$GC,10502,0.53,150.9,993.9,0.0,189,10636,0.57,0.00,129.18,1.448,6,0.057,0.000,2990,2274,3005,0,0,0,0,0,0
$GC,10920,0.53,150.9,939.1,16.6,196,10925,0.00,2.45,0.00,0.000,4,0.000,0.051,2993,3843,3003,0,0,0,0,0,0
$GC,11017,0.53,150.9,920.9,18.0,197,11021,0.00,2.35,0.00,0.000,6,0.000,0.043,3002,2334,3003,0,0,0,0,0,0
$GC,11348,0.53,150.9,858.1,18.9,203,11353,0.00,2.47,0.00,0.000,4,0.000,0.047,3015,695,3002,0,0,0,0,0,0
$GC,11370,0.53,150.9,853.9,18.6,203,11375,0.12,2.42,0.00,0.000,6,0.186,0.041,2983,2310,3000,0,0,0,0,0,0
$GC,11708,0.53,150.9,798.5,16.3,209,11712,0.00,2.35,0.00,0.000,4,0.000,0.054,2983,3855,3001,0,0,0,0,0,0
$GC,11785,0.53,150.9,784.1,17.7,210,11790,0.00,2.40,0.00,0.000,6,0.000,0.045,2993,2289,3001,0,0,0,0,0,0
$GC,12135,0.53,150.9,726.2,16.7,216,12139,0.00,2.38,0.00,0.000,4,0.000,0.048,3006,704,3001,0,0,0,0,0,0
$GC,12150,0.53,150.9,723.4,15.9,216,12155,0.00,2.40,0.00,0.000,6,0.000,0.041,3005,2302,3001,0,0,0,0,0,0
$GC,12500,0.53,150.9,665.4,16.7,222,12501,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2302,3001,0,0,0,0,0,0
$GC,12803,0.53,150.9,615.4,16.3,227,12807,0.00,2.33,0.00,0.000,4,0.000,0.054,3006,3839,3000,0,0,0,0,0,0
$GC,12869,0.53,150.9,604.1,16.8,228,12873,0.15,2.35,0.00,0.000,6,0.179,0.044,2978,2297,3000,0,0,0,0,0,0
$GC,13235,0.53,150.9,553.0,13.9,234,13239,0.00,2.38,0.00,0.000,4,0.000,0.045,2989,703,2998,0,0,0,0,0,0
$GC,13261,0.53,150.9,549.2,12.6,234,13265,0.00,2.38,0.00,0.000,6,0.000,0.041,2989,2307,3001,0,0,0,0,0,0
$GC,13599,0.53,150.9,506.1,12.9,240,13604,0.00,2.42,0.00,0.000,4,0.000,0.045,3001,701,2998,0,0,0,0,0,0
$GC,13621,0.53,150.9,503.1,13.2,240,13625,0.00,2.38,0.00,0.000,6,0.000,0.042,3001,2308,3002,0,0,0,0,0,0
$GC,13959,0.53,150.9,457.0,13.7,246,13963,0.00,2.35,0.00,0.000,4,0.000,0.052,3001,3856,2999,0,0,0,0,0,0
$GC,13974,0.53,150.9,454.7,13.2,246,13979,0.08,2.38,0.00,0.000,6,0.157,0.039,2975,2299,2999,0,0,0,0,0,0
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$STATE,18428,end climb,SURFACE_DEPTH_REACHED
$STATE,18428,begin surface coast
$FINISH,2.3,1.023124
$STATE,18435,end surface coast,CONTROL_FINISHED_OK
$STATE,18435,begin surface
$SM_CCo,18520,0.00,0.000,0,0,1948,410.13
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$IRIDIUM_FIX,1950.41,-15612.26,171213,202023
$TT8_MAMPS,0.058422
$HUMID,58.42
$INTERNAL_PRESSURE,9.26672
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.5,16.869
$10V_AH,10.2,7.497
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.300,203.325,395.075,0.000,0.000,22.481,33.883,240.430,0.000,0.000,14.365,1292.659,14935.510,473.775,2016.607,290.814,33.372,1379.596,0.000,1605.665,0.000,0.541,0.000
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$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,239.962,329.597,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,143036
$DATA_FILE_SIZE,16973,349
$CAP_FILE_SIZE,151297,0
$CFSIZE,260165632,250712064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,181213,061759,1958.662,-15611.004,65,1.0,65,9.7