version: 66.08
glider: 500
mission: 9
dive: 19
start: 12 10 113 22 40 19
data:
$ID,500
$MISSION,9
$DIVE,19
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,700
$D_ABORT,750
$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,225
$T_MISSION,270
$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,140
$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,-165745.12
$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,35
$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,41
$R_STBD_OVSHOOT,45
$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,0.00039999999
$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,36.0
$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
$GPS1,101213,223054,2015.339,-15601.716,41,1.2,41,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-78.0
$GPS2,101213,223909,2015.382,-15601.758,9,3.0,28,9.8
$SPEED_LIMITS,0.180,0.255
$TGT_NAME,A2
$TGT_LATLONG,2000.000,-15610.200
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.187,-0.173
$KALMAN_X,13652.4,-1924.5,-579.2,-19473.0,4079.9
$KALMAN_Y,13764.6,1272.9,-1032.6,-1627.3,5368.8
$MHEAD_RNG_PITCHd_Wd,217.3,32052,-18.8,-10.370
$D_GRID,700
$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,-0.59,-136.3,0.0,0.0,0,101,0.00,0.00,-59.50,0.000,6,0.000,0.000,126,2050,3606,0,0,0,0,0,0
$GC,104,-0.59,-136.3,3.1,-5.3,2,118,9.52,2.35,0.00,0.000,4,0.227,0.033,2618,418,3607,0,0,0,0,0,0
$GC,197,-0.59,-136.3,25.6,-23.4,4,206,0.00,2.38,0.00,0.000,6,0.000,0.037,2607,2037,3607,0,0,0,0,0,0
$GC,451,-0.59,-136.3,76.3,-20.7,13,455,0.00,2.30,0.00,0.000,4,0.000,0.044,2595,3613,3609,0,0,0,0,0,0
$GC,709,-0.59,-136.3,119.6,-13.8,20,718,0.00,2.33,0.00,0.000,6,0.000,0.032,2595,2025,3608,0,0,0,0,0,0
$GC,963,-0.59,-136.3,149.4,-11.4,29,967,0.00,2.35,0.00,0.000,4,0.000,0.045,2583,3614,3610,0,0,0,0,0,0
$GC,1223,-0.59,-136.3,183.3,-11.8,36,1233,0.10,2.30,0.00,0.000,6,0.160,0.034,2615,2031,3612,0,0,0,0,0,0
$GC,1475,-0.59,-136.3,208.7,-10.2,44,1479,0.00,2.35,0.00,0.000,4,0.000,0.047,2604,3614,3613,0,0,0,0,0,0
$GC,1732,-0.59,-136.3,234.3,-8.8,47,1739,0.00,2.28,0.00,0.000,6,0.000,0.033,2604,2031,3615,0,0,0,0,0,0
$GC,1982,-0.59,-136.3,251.1,-6.7,52,1986,0.00,2.35,0.00,0.000,4,0.000,0.047,2592,3619,3613,0,0,0,0,0,0
$GC,2150,-0.59,-136.3,263.2,-7.5,54,2154,0.00,2.30,0.00,0.000,6,0.000,0.034,2592,2025,3614,0,0,0,0,0,0
$GC,2416,-0.59,-136.3,278.3,-5.6,59,2421,0.10,2.38,0.00,0.000,4,0.203,0.046,2605,3620,3613,0,0,0,0,0,0
$GC,2432,-0.59,-136.3,279.3,-5.8,59,2436,0.00,2.30,0.00,0.000,6,0.000,0.035,2605,2023,3613,0,0,0,0,0,0
$GC,2715,-0.59,-136.3,293.0,-4.7,64,2719,0.00,2.33,0.00,0.000,4,0.000,0.047,2593,3614,3615,0,0,0,0,0,0
$GC,2927,-0.59,-136.3,308.2,-7.4,67,2931,0.00,2.30,0.00,0.000,6,0.000,0.035,2593,2026,3611,0,0,0,0,0,0
$GC,3216,-0.59,-136.3,324.1,-5.3,72,3220,0.00,2.35,0.00,0.000,4,0.000,0.045,2581,3613,3610,0,0,0,0,0,0
$GC,3243,-0.59,-136.3,325.7,-6.2,72,3248,0.12,2.30,0.00,0.000,6,0.171,0.032,2614,2016,3610,0,0,0,0,0,0
$GC,3515,-0.59,-136.3,341.1,-5.8,77,3519,0.00,2.35,0.00,0.000,4,0.000,0.047,2604,3616,3609,0,0,0,0,0,0
$GC,3772,-0.59,-136.3,360.0,-7.2,80,3779,0.00,2.28,0.00,0.000,6,0.000,0.033,2606,2030,3608,0,0,0,0,0,0
$GC,4022,-0.59,-136.3,375.3,-6.1,85,4026,0.00,2.35,0.00,0.000,4,0.000,0.047,2592,3616,3606,0,0,0,0,0,0
$GC,4279,-0.59,-136.3,394.9,-7.2,88,4286,0.00,2.28,0.00,0.000,6,0.000,0.034,2591,2032,3605,0,0,0,0,0,0
$GC,4528,-0.59,-136.3,411.0,-6.4,93,4533,0.00,2.38,0.00,0.000,4,0.000,0.048,2580,3612,3602,0,0,0,0,0,0
$GC,4786,-0.59,-136.3,427.7,-6.8,96,4794,0.12,2.28,0.00,0.000,6,0.176,0.034,2613,2027,3601,0,0,0,0,0,0
$GC,5036,-0.59,-136.3,438.7,-4.4,101,5040,0.00,2.33,0.00,0.000,4,0.000,0.048,2603,3609,3599,0,0,0,0,0,0
$GC,5293,-0.59,-136.3,451.6,-5.2,104,5300,0.00,2.28,0.00,0.000,6,0.000,0.034,2603,2027,3599,0,0,0,0,0,0
$GC,5543,-0.59,-136.3,466.5,-6.1,109,5547,0.00,2.35,0.00,0.000,4,0.000,0.048,2591,3609,3596,0,0,0,0,0,0
$GC,5800,-0.59,-136.3,485.1,-7.6,112,5807,0.00,2.28,0.00,0.000,6,0.000,0.034,2592,2025,3595,0,0,0,0,0,0
$GC,6050,-0.59,-136.3,500.9,-6.3,117,6054,0.00,2.35,0.00,0.000,4,0.000,0.048,2579,3608,3593,0,0,0,0,0,0
$GC,6296,-0.59,-136.3,518.4,-7.4,120,6301,0.12,2.28,0.00,0.000,6,0.177,0.034,2612,2036,3592,0,0,0,0,0,0
$GC,6551,-0.59,-136.3,532.4,-5.5,125,6555,0.00,2.35,0.00,0.000,4,0.000,0.048,2601,3612,3591,0,0,0,0,0,0
$GC,6578,-0.59,-136.3,534.0,-5.7,125,6582,0.00,2.30,0.00,0.000,6,0.000,0.037,2601,2025,3590,0,0,0,0,0,0
$GC,6851,-0.59,-136.3,545.5,-4.1,130,6855,0.00,2.38,0.00,0.000,4,0.000,0.049,2590,3617,3589,0,0,0,0,0,0
$GC,6866,-0.59,-136.3,546.2,-3.5,130,6871,0.00,2.30,0.00,0.000,6,0.000,0.037,2590,2036,3587,0,0,0,0,0,0
$GC,7150,-0.59,-136.3,557.2,-3.9,135,7154,0.00,2.35,0.00,0.000,4,0.000,0.049,2582,3609,3588,0,0,0,0,0,0
$GC,7407,-0.59,-136.3,572.6,-6.6,138,7415,0.15,2.30,0.00,0.000,6,0.170,0.035,2619,2020,3587,0,0,0,0,0,0
$GC,7657,-0.59,-136.3,587.9,-6.2,143,7661,0.00,2.38,0.00,0.000,4,0.000,0.049,2608,3613,3584,0,0,0,0,0,0
$GC,7914,-0.59,-136.3,603.9,-5.5,146,7921,0.00,2.28,0.00,0.000,6,0.000,0.035,2608,2038,3585,0,0,0,0,0,0
$STATE,8161,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,8161,begin apogee
$GC,8167,-0.14,0.0,613.4,3.8,151,8279,0.45,0.00,104.85,1.286,6,0.142,0.000,2756,2036,3051,0,0,0,0,0,0
$STATE,8285,end apogee,CONTROL_FINISHED_OK
$STATE,8285,begin climb
$GC,8288,0.59,136.3,610.9,0.0,152,8410,0.65,2.55,111.68,1.255,4,0.067,0.047,3013,454,2494,0,0,0,0,0,0
$GC,8449,0.59,136.3,583.0,22.0,155,8453,0.00,2.38,0.00,0.000,6,0.000,0.038,3013,2022,2494,0,0,0,0,0,0
$GC,8742,0.59,136.3,514.6,23.5,160,8744,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2023,2492,0,0,0,0,0,0
$GC,8985,0.59,136.3,461.0,22.1,164,8989,0.00,2.40,0.00,0.000,4,0.000,0.049,3013,3613,2492,0,0,0,0,0,0
$GC,9011,0.59,136.3,454.6,22.7,164,9016,0.00,2.40,0.00,0.000,6,0.000,0.046,3025,2037,2494,0,0,0,0,0,0
$GC,9289,0.59,136.3,395.9,21.3,169,9293,0.00,2.38,0.00,0.000,4,0.000,0.052,3038,448,2491,0,0,0,0,0,0
$GC,9333,0.59,136.3,386.6,20.2,169,9338,0.12,2.33,0.00,0.000,6,0.168,0.041,3004,2035,2489,0,0,0,0,0,0
$GC,9587,0.59,136.3,340.1,18.4,174,9588,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2036,2491,0,0,0,0,0,0
$GC,9829,0.59,136.3,295.6,18.4,178,9834,0.00,2.35,0.00,0.000,4,0.000,0.049,3004,3616,2493,0,0,0,0,0,0
$GC,9862,0.59,136.3,289.9,17.0,178,9866,0.00,2.38,0.00,0.000,6,0.000,0.044,3015,2033,2490,0,0,0,0,0,0
$GC,10134,0.59,136.3,247.5,15.9,183,10138,0.00,2.38,0.00,0.000,4,0.000,0.051,3027,442,2490,0,0,0,0,0,0
$GC,10223,0.59,136.3,233.5,14.4,184,10227,0.00,2.33,0.00,0.000,6,0.000,0.041,3027,2030,2488,0,0,0,0,0,0
$GC,10478,0.59,136.3,194.0,15.7,189,10482,0.00,2.35,0.00,0.000,4,0.000,0.050,3027,3611,2490,0,0,0,0,0,0
$GC,10544,0.59,136.3,182.4,16.3,191,10549,0.12,2.38,0.00,0.000,6,0.176,0.043,3005,2019,2488,0,0,0,0,0,0
$GC,10820,0.59,136.3,146.4,12.9,200,10824,0.00,2.33,0.00,0.000,4,0.000,0.049,3016,450,2491,0,0,0,0,0,0
$GC,10875,0.59,136.3,138.4,13.2,201,10884,0.00,2.33,0.00,0.000,6,0.000,0.039,3016,2034,2490,0,0,0,0,0,0
$GC,11129,0.59,136.3,104.8,12.7,210,11133,0.00,2.35,0.00,0.000,4,0.000,0.050,3016,3617,2493,0,0,0,0,0,0
$GC,11194,0.59,136.3,96.7,11.2,212,11198,0.00,2.35,0.00,0.000,6,0.000,0.041,3026,2029,2492,0,0,0,0,0,0
$GC,11469,0.59,136.3,68.9,10.8,221,11473,0.00,2.33,0.00,0.000,4,0.000,0.047,3038,450,2494,0,0,0,0,0,0
$GC,11520,0.60,152.6,63.2,9.5,222,11539,0.12,2.30,13.77,0.695,6,0.144,0.038,2999,2042,2427,0,0,0,0,0,0
$GC,11812,0.62,214.5,40.7,7.2,232,11864,0.00,2.47,46.67,0.761,4,0.000,0.044,3008,449,2175,0,0,0,0,0,0
$GC,11894,0.63,242.4,33.1,8.9,234,11922,0.00,2.33,22.58,0.734,6,0.000,0.033,3008,2040,2061,0,0,0,0,0,0
$STATE,12186,end climb,SURFACE_DEPTH_REACHED
$STATE,12186,begin surface coast
$FINISH,0.6,1.023231
$STATE,12217,end surface coast,CONTROL_FINISHED_OK
$STATE,12217,begin surface
$SM_CCo,12239,4.47,0.467,0,0,2028,250.20
$SM_GC,1.88,0.00,0.00,4.47,0.000,0.000,0.467,117,2044,2028,-8.43,0.34,250.20
$IRIDIUM_FIX,2008.77,-15601.32,101213,202044
$TT8_MAMPS,0.058422
$HUMID,66.57
$INTERNAL_PRESSURE,9.30578
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,23.8,11.995
$10V_AH,10.3,5.151
$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,18.825,130.950,299.550,4.475,0.000,23.205,31.530,213.722,0.000,0.000,33.564,996.465,9046.133,374.270,2125.178,222.795,33.337,1237.725,0.000,1662.574,0.000,0.541,0.000
$DEVICE_MAMPS,227.205,52.020,1285.965,467.415,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,166.061,329.585,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,143136
$DATA_FILE_SIZE,13654,245
$CAP_FILE_SIZE,119103,0
$CFSIZE,260165632,253693952
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111213,020536,2015.664,-15602.540,32,1.0,33,9.8