version: 66.08
glider: 500
mission: 9
dive: 15
start: 12 10 113 15 29 21
data:
$ID,500
$MISSION,9
$DIVE,15
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,620
$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,200
$T_MISSION,220
$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,160
$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,-165738.66
$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,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,38
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,3050
$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,28.0
$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
$GPS1,101213,151721,2015.663,-15600.499,12,2.5,31,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-78.2
$GPS2,101213,152809,2015.829,-15600.517,15,2.5,34,9.8
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,A2
$TGT_LATLONG,2000.000,-15610.200
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.129,-0.234
$KALMAN_X,10050.6,193.3,114.8,-16521.7,1776.9
$KALMAN_Y,7994.8,-1617.1,391.3,6433.8,3158.9
$MHEAD_RNG_PITCHd_Wd,199.1,33814,-16.9,-10.000
$D_GRID,376
$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,32,-0.75,-155.7,0.0,0.0,0,101,0.00,0.00,-62.35,0.000,6,0.000,0.000,130,2040,3691,0,0,0,0,0,0
$GC,104,-0.75,-155.7,2.9,-4.7,2,118,9.32,2.35,0.00,0.000,4,0.232,0.040,2547,3615,3692,0,0,0,0,0,0
$GC,375,-0.75,-155.7,76.6,-27.4,10,379,0.00,2.35,0.00,0.000,6,0.000,0.037,2544,2013,3695,0,0,0,0,0,0
$GC,650,-0.75,-155.7,130.3,-18.0,19,655,0.00,2.35,0.00,0.000,4,0.000,0.042,2535,3622,3693,0,0,0,0,0,0
$GC,903,-0.75,-155.7,174.1,-19.0,26,908,0.12,2.30,0.00,0.000,6,0.190,0.030,2567,2006,3694,0,0,0,0,0,0
$GC,1190,-0.75,-155.7,208.1,-11.1,35,1194,0.00,2.20,0.00,0.000,4,0.000,0.039,2565,461,3695,0,0,0,0,0,0
$GC,1206,-0.75,-155.7,210.3,-10.9,35,1210,0.00,2.25,0.00,0.000,6,0.000,0.037,2555,2038,3695,0,0,0,0,0,0
$GC,1500,-0.75,-155.7,245.8,-11.9,40,1504,0.00,2.28,0.00,0.000,4,0.000,0.046,2547,3614,3695,0,0,0,0,0,0
$GC,1758,-0.75,-155.7,280.5,-13.3,43,1765,0.00,2.25,0.00,0.000,6,0.000,0.031,2543,2046,3695,0,0,0,0,0,0
$GC,2008,-0.75,-155.7,304.8,-9.6,48,2012,0.00,2.28,0.00,0.000,4,0.000,0.044,2528,3609,3693,0,0,0,0,0,0
$GC,2265,-0.75,-155.7,335.6,-12.5,51,2273,0.12,2.28,0.00,0.000,6,0.177,0.034,2560,2019,3692,0,0,0,0,0,0
$GC,2514,-0.75,-155.7,361.2,-10.2,56,2518,0.00,2.22,0.00,0.000,4,0.000,0.040,2564,455,3691,0,0,0,0,0,0
$STATE,2651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2653,begin apogee
$GC,2660,-0.17,0.0,376.6,10.9,58,2788,0.62,0.00,119.72,1.084,6,0.163,0.000,2750,2037,3053,0,0,0,0,0,0
$STATE,2795,end apogee,CONTROL_FINISHED_OK
$STATE,2795,begin climb
$GC,2797,0.75,155.7,377.7,0.0,60,2932,0.80,2.47,122.53,1.069,4,0.074,0.044,3046,3602,2414,0,0,0,0,0,0
$GC,2989,0.75,155.7,341.0,21.9,63,2994,0.00,2.40,0.00,0.000,6,0.000,0.046,3058,2061,2413,0,0,0,0,0,0
$GC,3295,0.75,155.7,265.4,25.3,68,3299,0.00,2.42,0.00,0.000,4,0.000,0.046,3071,439,2411,0,0,0,0,0,0
$GC,3360,0.75,155.7,250.7,20.0,69,3365,0.00,2.33,0.00,0.000,6,0.000,0.038,3071,2023,2410,0,0,0,0,0,0
$GC,3638,0.75,155.7,191.2,22.1,74,3642,0.00,2.38,0.00,0.000,4,0.000,0.052,3070,3610,2409,0,0,0,0,0,0
$GC,3715,0.75,155.7,173.5,19.1,76,3720,0.00,2.38,0.00,0.000,6,0.000,0.045,3083,2022,2408,0,0,0,0,0,0
$GC,3986,0.75,155.7,120.9,19.9,85,3990,0.00,2.33,0.00,0.000,4,0.000,0.045,3095,435,2406,0,0,0,0,0,0
$GC,4025,0.75,155.7,112.9,19.3,86,4030,0.15,2.30,0.00,0.000,6,0.157,0.038,3052,2037,2406,0,0,0,0,0,0
$GC,4296,0.75,155.7,73.9,12.3,95,4300,0.00,2.33,0.00,0.000,4,0.000,0.050,3051,3614,2405,0,0,0,0,0,0
$GC,4396,0.75,155.7,60.8,11.5,98,4401,0.00,2.35,0.00,0.000,6,0.000,0.043,3062,2021,2405,0,0,0,0,0,0
$GC,4667,0.75,155.7,26.8,12.6,107,4671,0.00,2.28,0.00,0.000,4,0.000,0.046,3074,448,2406,0,0,0,0,0,0
$GC,4732,0.75,155.7,17.9,12.7,109,4736,0.00,2.28,0.00,0.000,6,0.000,0.037,3074,2044,2406,0,0,0,0,0,0
$STATE,4852,end climb,SURFACE_DEPTH_REACHED
$STATE,4852,begin surface coast
$FINISH,0.7,1.023149
$STATE,4884,end surface coast,CONTROL_FINISHED_OK
$STATE,4884,begin surface
$SM_CCo,4907,36.88,0.690,0,0,2030,250.20
$SM_GC,1.18,0.00,0.00,36.88,0.000,0.000,0.690,118,2046,2030,-8.41,0.42,250.20
$IRIDIUM_FIX,2006.47,-15559.22,101213,151548
$TT8_MAMPS,0.054677
$HUMID,70.08
$INTERNAL_PRESSURE,9.37414
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,24.1,11.585
$10V_AH,10.4,4.975
$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,18.350,55.625,242.250,36.875,0.000,51.703,65.216,249.605,0.000,0.000,41.198,482.936,3330.616,298.707,1359.925,151.659,33.317,737.613,0.000,835.493,0.000,0.541,0.000
$DEVICE_MAMPS,231.795,52.020,1084.005,690.030,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,76.901,247.193,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,143148
$DATA_FILE_SIZE,3639,114
$CAP_FILE_SIZE,58146,0
$CFSIZE,260165632,253952000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101213,165336,2016.042,-15600.658,71,1.1,71,9.8