version: 66.08
glider: 500
mission: 9
dive: 4
start: 12 9 113 23 36 44
data:
$ID,500
$MISSION,9
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,350
$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,100
$T_MISSION,120
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$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,250
$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,-165724.91
$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,2750
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,2031
$C_ROLL_CLIMB,2031
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,3105
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,6.0
$AD_THRESHOLD,2010.0
$AD_INTERVAL,3010.0
$AD_DURATION,215.0
$DB_RECORDABOVE,0.0
$DB_PROFILE,0.0
$DB_XMITPROFILE,0.0
$DB_UPLOADMAX,0.0
$DB_STARTS,0.0
$GPS1,091213,233055,2009.897,-15557.045,10,1.1,10,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-82.9
$GPS2,091213,233536,2009.918,-15557.060,8,2.0,13,9.8
$SPEED_LIMITS,0.173,0.278
$TGT_NAME,A1
$TGT_LATLONG,2015.000,-15600.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.151,0.233
$KALMAN_X,-78.0,-45.5,-37.5,3.4,-84.4
$KALMAN_Y,398.8,263.3,220.3,1363.5,428.1
$MHEAD_RNG_PITCHd_Wd,317.2,10709,-16.1,-10.000
$D_GRID,419
$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,30,end surface,CONTROL_FINISHED_OK
$STATE,30,begin dive
$GC,33,-0.75,-170.3,0.0,0.0,0,108,0.00,0.00,-70.35,0.000,6,0.000,0.000,146,2037,3800,0,0,0,0,0,0
$GC,111,-0.75,-170.3,3.5,-8.1,2,125,9.05,2.33,0.00,0.000,4,0.234,0.039,2488,3625,3798,0,0,0,0,0,0
$GC,142,-0.75,-170.3,14.7,-35.2,3,146,0.00,2.33,0.00,0.000,6,0.000,0.036,2488,2010,3800,0,0,0,0,0,0
$GC,413,-0.75,-170.3,98.1,-31.3,12,417,0.00,2.35,0.00,0.000,4,0.000,0.042,2476,3626,3798,0,0,0,0,0,0
$GC,670,-0.75,-170.3,165.8,-23.7,19,680,0.08,2.33,0.00,0.000,6,0.175,0.037,2499,2025,3799,0,0,0,0,0,0
$GC,921,-0.75,-170.3,214.6,-18.5,27,925,0.00,2.22,0.00,0.000,4,0.000,0.038,2499,439,3798,0,0,0,0,0,0
$GC,1145,-0.75,-170.3,256.8,-15.5,30,1149,0.00,2.28,0.00,0.000,6,0.000,0.038,2488,2040,3801,0,0,0,0,0,0
$STATE,1426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1426,begin apogee
$GC,1432,-0.17,0.0,301.1,15.8,35,1564,0.65,0.00,126.30,0.952,6,0.177,0.000,2687,2044,3106,0,0,0,0,0,0
$STATE,1566,end apogee,CONTROL_FINISHED_OK
$STATE,1566,begin climb
$GC,1568,0.75,170.3,305.1,0.0,37,1709,0.85,2.53,128.35,0.952,4,0.097,0.046,2997,455,2410,0,0,0,0,0,0
$GC,1725,0.75,170.3,284.1,17.7,39,1729,0.00,2.35,0.00,0.000,6,0.000,0.036,2995,2040,2409,0,0,0,0,0,0
$GC,2008,0.75,170.3,238.7,16.0,44,2012,0.00,2.35,0.00,0.000,4,0.000,0.047,3009,451,2410,0,0,0,0,0,0
$GC,2040,0.75,170.3,234.2,13.5,44,2045,0.00,2.30,0.00,0.000,6,0.000,0.038,3009,2024,2407,0,0,0,0,0,0
$GC,2312,0.75,170.3,191.9,16.0,49,2316,0.00,2.38,0.00,0.000,4,0.000,0.052,3009,3616,2405,0,0,0,0,0,0
$GC,2328,0.75,170.3,188.9,15.5,49,2333,0.00,2.35,0.00,0.000,6,0.000,0.044,3019,2050,2404,0,0,0,0,0,0
$GC,2582,0.75,170.3,151.9,14.5,57,2586,0.00,2.40,0.00,0.000,4,0.000,0.050,3032,428,2403,0,0,0,0,0,0
$GC,2646,0.75,170.3,143.2,12.8,59,2651,0.15,2.33,0.00,0.000,6,0.146,0.040,2986,2035,2406,0,0,0,0,0,0
$GC,2922,0.75,175.6,116.0,9.8,68,2932,0.00,2.38,4.00,0.520,4,0.000,0.050,2989,3614,2390,0,0,0,0,0,0
$GC,2937,0.76,181.3,114.1,9.8,68,2949,0.00,2.35,6.07,0.647,6,0.000,0.040,2995,2016,2365,0,0,0,0,0,0
$GC,3197,0.82,229.8,91.0,8.1,76,3234,0.00,0.00,35.45,0.798,6,0.000,0.000,2995,2014,2171,0,0,0,0,0,0
$GC,3476,0.87,271.7,67.3,8.3,85,3514,0.10,2.35,32.58,0.776,4,0.103,0.047,3086,445,2000,0,0,0,0,0,0
$GC,3582,0.87,271.7,49.4,16.8,88,3587,0.17,2.33,0.00,0.000,6,0.130,0.038,3030,2037,2003,0,0,0,0,0,0
$GC,3846,0.87,271.7,13.6,13.7,97,3850,0.00,2.33,0.00,0.000,4,0.000,0.047,3040,446,2004,0,0,0,0,0,0
$GC,3885,0.87,271.7,7.3,15.5,98,3889,0.00,2.28,0.00,0.000,6,0.000,0.036,3041,2041,2004,0,0,0,0,0,0
$STATE,3939,end climb,SURFACE_DEPTH_REACHED
$STATE,3939,begin surface coast
$FINISH,0.7,1.022744
$STATE,3971,end surface coast,CONTROL_FINISHED_OK
$STATE,3971,begin surface
$SM_CCo,4054,0.00,0.000,0,0,2004,270.07
$SM_GC,1.29,7.12,0.00,0.00,0.033,0.000,0.000,129,2043,2004,-8.07,0.31,270.07
$IRIDIUM_FIX,2001.88,-15558.06,091213,232330
$TT8_MAMPS,0.068159
$HUMID,68.46
$INTERNAL_PRESSURE,9.51087
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.5,10.454
$10V_AH,10.5,4.594
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.175,46.800,332.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,16.327,394.560,2655.558,318.880,702.391,67.955,32.336,685.647,0.000,638.465,0.000,0.545,0.000
$DEVICE_MAMPS,234.090,52.020,952.425,0.000,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,67.632,257.089,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,143220
$DATA_FILE_SIZE,3625,101
$CAP_FILE_SIZE,62993,0
$CFSIZE,260165632,254398464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101213,004526,2010.737,-15557.227,12,2.3,31,9.8