version: 66.08
glider: 500
mission: 9
dive: 17
start: 12 10 113 18 31 48
data:
$ID,500
$MISSION,9
$DIVE,17
$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,-165742.62
$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,33
$R_STBD_OVSHOOT,41
$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,32.0
$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
$GPS1,101213,182405,2015.999,-15600.926,13,1.2,29,9.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-78.9
$GPS2,101213,183036,2016.050,-15600.959,9,1.2,14,9.8
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,A2
$TGT_LATLONG,2000.000,-15610.200
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.067,-0.259
$KALMAN_X,10846.9,-132.4,151.9,-17797.8,814.8
$KALMAN_Y,9862.5,255.4,481.0,3020.7,2528.2
$MHEAD_RNG_PITCHd_Wd,184.8,33797,-16.9,-10.000
$D_GRID,380
$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,-62.95,0.000,6,0.000,0.000,129,2041,3686,0,0,0,0,0,0
$GC,104,-0.75,-155.7,2.6,-3.5,2,118,9.27,2.38,0.00,0.000,4,0.230,0.033,2561,415,3686,0,0,0,0,0,0
$GC,260,-0.75,-155.7,44.3,-23.5,6,265,0.00,2.35,0.00,0.000,6,0.000,0.040,2554,2043,3687,0,0,0,0,0,0
$GC,514,-0.75,-155.7,102.5,-22.1,14,518,0.00,2.30,0.00,0.000,4,0.000,0.046,2542,3616,3687,0,0,0,0,0,0
$GC,771,-0.75,-155.7,146.0,-17.1,21,780,0.00,2.33,0.00,0.000,6,0.000,0.034,2542,2017,3687,0,0,0,0,0,0
$GC,1025,-0.75,-155.7,178.5,-12.6,30,1030,0.00,2.33,0.00,0.000,4,0.000,0.043,2530,3622,3689,0,0,0,0,0,0
$GC,1285,-0.75,-155.7,211.6,-12.1,36,1293,0.12,2.28,0.00,0.000,6,0.178,0.031,2561,2012,3689,0,0,0,0,0,0
$GC,1535,-0.75,-155.7,242.5,-12.7,41,1539,0.00,2.33,0.00,0.000,4,0.000,0.044,2548,3616,3690,0,0,0,0,0,0
$GC,1792,-0.75,-155.7,273.0,-11.7,44,1799,0.00,2.25,0.00,0.000,6,0.000,0.032,2551,2028,3689,0,0,0,0,0,0
$GC,2041,-0.75,-155.7,299.7,-10.7,49,2046,0.00,2.35,0.00,0.000,4,0.000,0.044,2539,3625,3688,0,0,0,0,0,0
$GC,2299,-0.75,-155.7,326.0,-9.6,52,2306,0.00,2.30,0.00,0.000,6,0.000,0.034,2539,2022,3687,0,0,0,0,0,0
$GC,2549,-0.75,-155.7,350.1,-9.8,57,2553,0.00,2.22,0.00,0.000,4,0.000,0.038,2539,453,3687,0,0,0,0,0,0
$GC,2806,-0.75,-155.7,377.8,-11.2,60,2814,0.12,2.28,0.00,0.000,6,0.189,0.037,2560,2046,3685,0,0,0,0,0,0
$STATE,2871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2871,begin apogee
$GC,2877,-0.17,0.0,383.8,9.4,62,3002,0.57,0.00,119.38,1.086,6,0.157,0.000,2745,2046,3052,0,0,0,0,0,0
$STATE,3009,end apogee,CONTROL_FINISHED_OK
$STATE,3009,begin climb
$GC,3011,0.75,155.7,384.2,0.0,64,3146,0.82,2.53,122.18,1.071,4,0.073,0.043,3050,3613,2414,0,0,0,0,0,0
$GC,3196,0.75,155.7,347.9,22.8,66,3200,0.00,2.40,0.00,0.000,6,0.000,0.044,3062,2053,2414,0,0,0,0,0,0
$GC,3463,0.75,155.7,285.0,24.0,71,3467,0.00,2.40,0.00,0.000,4,0.000,0.045,3075,443,2413,0,0,0,0,0,0
$GC,3525,0.75,155.7,269.8,22.7,72,3529,0.00,2.30,0.00,0.000,6,0.000,0.037,3077,2029,2411,0,0,0,0,0,0
$GC,3829,0.75,155.7,199.5,22.9,77,3833,0.00,2.38,0.00,0.000,4,0.000,0.044,3087,433,2408,0,0,0,0,0,0
$GC,3846,0.75,155.7,195.7,21.5,77,3851,0.12,2.30,0.00,0.000,6,0.170,0.036,3054,2038,2408,0,0,0,0,0,0
$GC,4099,0.75,155.7,151.6,17.7,85,4103,0.00,2.35,0.00,0.000,4,0.000,0.048,3051,3610,2405,0,0,0,0,0,0
$GC,4221,0.75,155.7,129.5,12.1,88,4230,0.00,2.40,0.00,0.000,6,0.000,0.044,3062,2027,2406,0,0,0,0,0,0
$GC,4476,0.75,155.7,87.6,18.3,97,4477,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2025,2406,0,0,0,0,0,0
$GC,4721,0.75,155.7,54.8,13.8,105,4725,0.00,2.33,0.00,0.000,4,0.000,0.044,3062,3611,2409,0,0,0,0,0,0
$GC,4752,0.75,155.7,50.4,14.6,106,4756,0.00,2.35,0.00,0.000,6,0.000,0.040,3072,2018,2406,0,0,0,0,0,0
$GC,5028,0.75,155.7,9.5,15.5,115,5032,0.00,2.30,0.00,0.000,4,0.000,0.044,3084,437,2405,0,0,0,0,0,0
$STATE,5075,end climb,SURFACE_DEPTH_REACHED
$STATE,5076,begin surface coast
$FINISH,1.8,1.023157
$STATE,5082,end surface coast,CONTROL_FINISHED_OK
$STATE,5082,begin surface
$SM_CCo,5107,37.22,0.695,0,0,2030,250.20
$SM_GC,1.27,0.00,0.00,37.22,0.000,0.000,0.695,120,2044,2030,-8.40,0.37,250.20
$IRIDIUM_FIX,2006.47,-15559.22,101213,161603
$TT8_MAMPS,0.057673
$HUMID,71.14
$INTERNAL_PRESSURE,9.36438
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,24.2,11.775
$10V_AH,10.4,5.046
$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,18.325,56.000,241.550,37.225,0.000,22.917,41.790,156.750,0.000,0.000,16.945,486.845,3435.274,311.246,1190.905,144.110,33.318,757.291,0.000,846.966,0.000,0.541,0.000
$DEVICE_MAMPS,230.265,48.195,1086.300,694.620,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,77.986,247.190,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,143112
$DATA_FILE_SIZE,3645,116
$CAP_FILE_SIZE,57362,0
$CFSIZE,260165632,253870080
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101213,195824,2015.673,-15601.265,7,1.9,11,9.8