version: 66.08
glider: 500
mission: 9
dive: 126
start: 1 1 114 6 45 45
data:
$ID,500
$MISSION,9
$DIVE,126
$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,-165895.84
$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,25
$R_STBD_OVSHOOT,21
$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
$GPS1,010114,063935,1931.222,-15614.600,37,1.1,37,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-81.1
$GPS2,010114,064449,1931.188,-15614.532,14,1.2,14,9.7
$SPEED_LIMITS,0.142,0.263
$TGT_NAME,HOME1
$TGT_LATLONG,1936.000,-15610.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.073,0.252
$KALMAN_X,99488.5,7.4,-289.6,-129734.6,1766.1
$KALMAN_Y,107476.9,-227.2,-166.4,-176559.3,-1389.9
$MHEAD_RNG_PITCHd_Wd,6.4,11914,-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,-150.9,0.0,0.0,0,98,0.00,0.00,-79.30,0.000,2,0.000,0.000,122,2472,3683,0,0,0,0,0,0
$GC,101,-0.51,-150.9,3.1,-5.2,2,124,9.55,2.50,-5.82,0.000,4,0.222,0.057,2638,855,3945,0,0,0,0,0,0
$GC,189,-0.51,-150.9,26.1,-23.2,5,194,0.00,2.42,0.00,0.000,6,0.000,0.048,2627,2464,3946,0,0,0,0,0,0
$GC,527,-0.51,-150.9,104.2,-22.3,16,531,0.00,2.40,0.00,0.000,4,0.000,0.049,2627,860,3944,0,0,0,0,0,0
$GC,565,-0.51,-150.9,113.1,-21.0,17,570,0.10,2.38,0.00,0.000,6,0.174,0.048,2641,2460,3948,0,0,0,0,0,0
$GC,891,-0.51,-150.9,164.0,-14.7,28,895,0.00,2.38,0.00,0.000,4,0.000,0.048,2641,862,3945,0,0,0,0,0,0
$GC,906,-0.51,-150.9,166.5,-13.4,28,910,0.00,2.38,0.00,0.000,6,0.000,0.048,2631,2461,3945,0,0,0,0,0,0
$GC,1255,-0.51,-150.9,209.8,-11.7,39,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2461,3946,0,0,0,0,0,0
$GC,1558,-0.51,-150.9,243.5,-11.1,44,1562,0.00,2.15,0.00,0.000,4,0.000,0.073,2620,3848,3945,0,0,0,0,0,0
$GC,1574,-0.51,-150.9,245.5,-11.3,44,1578,0.00,2.12,0.00,0.000,6,0.000,0.044,2620,2452,3947,0,0,0,0,0,0
$GC,1923,-0.51,-150.9,286.5,-12.2,50,1927,0.00,2.35,0.00,0.000,4,0.000,0.051,2620,862,3946,0,0,0,0,0,0
$GC,1946,-0.51,-150.9,289.7,-13.8,50,1951,0.12,2.38,0.00,0.000,6,0.160,0.050,2641,2461,3946,0,0,0,0,0,0
$GC,2284,-0.51,-150.9,321.6,-9.1,56,2288,0.00,2.38,0.00,0.000,4,0.000,0.050,2641,863,3944,0,0,0,0,0,0
$GC,2356,-0.51,-150.9,328.6,-9.2,57,2361,0.00,2.40,0.00,0.000,6,0.000,0.054,2634,2465,3944,0,0,0,0,0,0
$GC,2711,-0.51,-150.9,363.1,-9.8,63,2715,0.00,2.15,0.00,0.000,4,0.000,0.076,2623,3847,3941,0,0,0,0,0,0
$GC,2733,-0.51,-150.9,365.4,-9.8,63,2737,0.00,2.10,0.00,0.000,6,0.000,0.045,2623,2450,3941,0,0,0,0,0,0
$GC,3082,-0.51,-150.9,400.6,-10.1,69,3086,0.00,2.38,0.00,0.000,4,0.000,0.054,2623,867,3937,0,0,0,0,0,0
$GC,3176,-0.51,-150.9,410.5,-9.6,70,3182,0.12,2.38,0.00,0.000,6,0.150,0.045,2648,2467,3936,0,0,0,0,0,0
$GC,3509,-0.51,-150.9,439.8,-8.9,76,3513,0.00,2.38,0.00,0.000,4,0.000,0.044,2648,863,3933,0,0,0,0,0,0
$GC,3541,-0.51,-150.9,442.8,-9.6,76,3546,0.00,2.42,0.00,0.000,6,0.000,0.056,2638,2475,3933,0,0,0,0,0,0
$GC,3868,-0.51,-150.9,471.4,-8.6,82,3872,0.00,2.40,0.00,0.000,4,0.000,0.047,2638,867,3928,0,0,0,0,0,0
$GC,3900,-0.51,-150.9,474.5,-9.4,82,3904,0.00,2.42,0.00,0.000,6,0.000,0.060,2627,2448,3930,0,0,0,0,0,0
$GC,4233,-0.51,-150.9,502.4,-8.3,88,4234,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2448,3927,0,0,0,0,0,0
$GC,4536,-0.51,-150.9,528.4,-8.6,93,4537,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2448,3927,0,0,0,0,0,0
$GC,4839,-0.51,-150.9,553.8,-8.4,98,4843,0.00,2.42,0.00,0.000,4,0.000,0.052,2627,867,3923,0,0,0,0,0,0
$GC,4916,-0.51,-150.9,560.5,-8.6,99,4921,0.10,2.47,0.00,0.000,6,0.161,0.061,2644,2474,3922,0,0,0,0,0,0
$GC,5266,-0.51,-150.9,584.8,-6.9,105,5267,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2474,3920,0,0,0,0,0,0
$GC,5568,-0.51,-150.9,606.6,-7.3,110,5573,0.00,2.42,0.00,0.000,4,0.000,0.053,2644,871,3918,0,0,0,0,0,0
$GC,5619,-0.51,-150.9,610.9,-8.8,110,5623,0.00,2.40,0.00,0.000,6,0.000,0.054,2634,2472,3917,0,0,0,0,0,0
$GC,5929,-0.51,-150.9,637.4,-8.6,115,5930,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2472,3915,0,0,0,0,0,0
$GC,6232,-0.51,-150.9,661.3,-7.8,120,6236,0.00,2.42,0.00,0.000,4,0.000,0.047,2634,871,3913,0,0,0,0,0,0
$GC,6303,-0.51,-150.9,667.3,-8.0,121,6308,0.00,2.40,0.00,0.000,6,0.000,0.054,2623,2467,3913,0,0,0,0,0,0
$GC,6659,-0.51,-150.9,692.8,-7.0,127,6663,0.00,2.10,0.00,0.000,4,0.000,0.052,2612,3858,3913,0,0,0,0,0,0
$GC,6680,-0.51,-150.9,694.5,-7.2,127,6685,0.12,2.08,0.00,0.000,6,0.137,0.034,2652,2442,3910,0,0,0,0,0,0
$GC,7024,-0.51,-150.9,711.2,-4.7,133,7028,0.00,2.35,0.00,0.000,4,0.000,0.049,2651,881,3909,0,0,0,0,0,0
$GC,7107,-0.51,-150.9,715.5,-5.0,134,7111,0.00,2.40,0.00,0.000,6,0.000,0.060,2642,2459,3909,0,0,0,0,0,0
$GC,7450,-0.51,-150.9,732.4,-4.9,140,7454,0.00,2.40,0.00,0.000,4,0.000,0.052,2643,873,3906,0,0,0,0,0,0
$GC,7478,-0.51,-150.9,734.0,-6.1,140,7482,0.00,2.42,0.00,0.000,6,0.000,0.052,2631,2475,3906,0,0,0,0,0,0
$GC,7809,-0.51,-150.9,753.8,-6.1,146,7814,0.00,2.40,0.00,0.000,4,0.000,0.045,2631,880,3905,0,0,0,0,0,0
$GC,7837,-0.51,-150.9,755.9,-7.6,146,7841,0.00,2.40,0.00,0.000,6,0.000,0.060,2620,2450,3902,0,0,0,0,0,0
$GC,8169,-0.51,-150.9,780.5,-7.6,152,8170,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2450,3904,0,0,0,0,0,0
$GC,8472,-0.51,-150.9,803.9,-7.7,157,8476,0.00,2.40,0.00,0.000,4,0.000,0.053,2620,873,3902,0,0,0,0,0,0
$GC,8493,-0.51,-150.9,805.7,-8.0,157,8498,0.12,2.42,0.00,0.000,6,0.158,0.059,2645,2460,3902,0,0,0,0,0,0
$GC,8831,-0.51,-150.9,826.9,-6.2,163,8835,0.00,2.42,0.00,0.000,4,0.000,0.053,2646,880,3901,0,0,0,0,0,0
$GC,8869,-0.51,-150.9,829.5,-6.8,163,8874,0.00,2.42,0.00,0.000,6,0.000,0.060,2637,2461,3899,0,0,0,0,0,0
$GC,9190,-0.51,-150.9,850.8,-6.6,169,9195,0.00,2.40,0.00,0.000,4,0.000,0.052,2636,881,3901,0,0,0,0,0,0
$GC,9224,-0.51,-150.9,853.3,-6.9,169,9228,0.00,2.45,0.00,0.000,6,0.000,0.059,2625,2465,3901,0,0,0,0,0,0
$GC,9550,-0.51,-150.9,876.1,-7.0,175,9554,0.00,2.42,0.00,0.000,4,0.000,0.053,2625,873,3900,0,0,0,0,0,0
$GC,9571,-0.51,-150.9,877.6,-7.3,175,9576,0.10,2.45,0.00,0.000,6,0.168,0.059,2642,2470,3900,0,0,0,0,0,0
$GC,9909,-0.51,-150.9,897.7,-5.9,181,9914,0.00,2.42,0.00,0.000,4,0.000,0.054,2642,877,3899,0,0,0,0,0,0
$GC,9965,-0.51,-150.9,901.3,-6.1,181,9972,0.00,2.42,0.00,0.000,6,0.000,0.059,2633,2457,3899,0,0,0,0,0,0
$GC,10275,-0.51,-150.9,920.0,-6.0,187,10279,0.00,2.42,0.00,0.000,4,0.000,0.053,2632,870,3898,0,0,0,0,0,0
$GC,10308,-0.51,-150.9,922.0,-5.9,187,10312,0.00,2.47,0.00,0.000,6,0.000,0.059,2622,2466,3897,0,0,0,0,0,0
$GC,10634,-0.51,-150.9,940.5,-5.6,193,10635,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2465,3895,0,0,0,0,0,0
$GC,10937,-0.51,-150.9,956.4,-5.2,198,10941,0.00,2.45,0.00,0.000,4,0.000,0.054,2622,867,3896,0,0,0,0,0,0
$GC,10981,-0.51,-150.9,959.0,-5.7,198,10986,0.10,2.45,0.00,0.000,6,0.168,0.059,2642,2461,3896,0,0,0,0,0,0
$GC,11296,-0.51,-150.9,972.6,-4.3,204,11301,0.00,2.40,0.00,0.000,4,0.000,0.053,2642,883,3895,0,0,0,0,0,0
$GC,11329,-0.51,-150.9,974.5,-5.3,204,11334,0.00,2.42,0.00,0.000,6,0.000,0.059,2633,2460,3895,0,0,0,0,0,0
$STATE,11654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11654,begin apogee
$GC,11660,-0.13,0.0,991.3,5.2,210,11710,0.38,0.00,45.03,1.529,6,0.112,0.000,2766,2202,3681,0,0,0,0,0,0
$STATE,11710,end apogee,CONTROL_FINISHED_OK
$STATE,11711,begin climb
$GC,11713,0.51,150.9,992.2,0.0,210,11852,0.55,2.72,130.55,1.544,4,0.057,0.053,2988,3799,3065,0,0,0,0,0,0
$GC,11869,0.51,150.9,981.0,14.2,213,11873,0.00,2.62,0.00,0.000,6,0.000,0.042,3000,2195,3063,0,0,0,0,0,0
$GC,12212,0.51,150.9,929.8,14.9,219,12217,0.00,2.55,0.00,0.000,4,0.000,0.059,3000,3797,3062,0,0,0,0,0,0
$GC,12279,0.51,150.9,918.7,16.3,220,12284,0.12,2.50,0.00,0.000,6,0.176,0.047,2981,2198,3062,0,0,0,0,0,0
$GC,12640,0.51,150.9,870.8,13.2,226,12641,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2197,3061,0,0,0,0,0,0
$GC,12942,0.51,150.9,832.2,12.7,231,12946,0.00,2.42,0.00,0.000,4,0.000,0.054,2991,611,3061,0,0,0,0,0,0
$GC,12958,0.51,150.9,829.9,12.5,231,12962,0.00,2.42,0.00,0.000,6,0.000,0.050,2991,2210,3063,0,0,0,0,0,0
$GC,13306,0.51,150.9,782.5,13.9,237,13310,0.00,2.42,0.00,0.000,4,0.000,0.055,2991,3800,3060,0,0,0,0,0,0
$GC,13491,0.51,150.9,753.3,15.4,239,13495,0.00,2.45,0.00,0.000,6,0.000,0.047,3004,2185,3060,0,0,0,0,0,0
$GC,13806,0.51,150.9,707.1,14.6,245,13811,0.00,2.50,0.00,0.000,4,0.000,0.062,3004,3789,3059,0,0,0,0,0,0
$GC,13833,0.51,150.9,702.9,14.8,245,13838,0.15,2.45,0.00,0.000,6,0.170,0.049,2975,2188,3060,0,0,0,0,0,0
$GC,14171,0.51,150.9,663.2,11.5,251,14175,0.00,2.50,0.00,0.000,4,0.000,0.064,2976,3797,3059,0,0,0,0,0,0
$GC,14193,0.51,150.9,660.4,11.9,251,14197,0.00,2.45,0.00,0.000,6,0.000,0.050,2986,2206,3058,0,0,0,0,0,0
$GC,14536,0.51,150.9,619.4,11.8,257,14541,0.00,2.47,0.00,0.000,4,0.000,0.062,2986,3794,3059,0,0,0,0,0,0
$GC,14659,0.51,150.9,602.1,13.6,258,14666,0.00,2.47,0.00,0.000,6,0.000,0.051,2998,2186,3059,0,0,0,0,0,0
$GC,14969,0.51,150.9,561.8,13.2,264,14970,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2186,3059,0,0,0,0,0,0
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$STATE,20515,end climb,SURFACE_DEPTH_REACHED
$STATE,20517,begin surface coast
$FINISH,0.7,1.009640
$STATE,20547,end surface coast,CONTROL_FINISHED_OK
$STATE,20547,begin surface
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$HUMID,59.05
$INTERNAL_PRESSURE,9.24718
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,23.2,26.559
$10V_AH,10.2,16.250
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,19.225,208.500,430.675,0.000,0.000,24.008,34.046,143.380,0.000,0.000,16.679,1370.827,16893.934,518.438,1887.281,267.486,33.366,1473.150,0.000,1664.412,0.000,0.541,0.000
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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,144236
$DATA_FILE_SIZE,20279,387
$CAP_FILE_SIZE,156177,0
$CFSIZE,260165632,246751232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010114,123036,1933.274,-15613.895,29,1.1,29,9.7