version: 66.08
glider: 500
mission: 9
dive: 20
start: 12 11 113 2 17 0
data:
$ID,500
$MISSION,9
$DIVE,20
$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,290
$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,-165746.38
$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,40
$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,38.0
$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
$GPS1,111213,020536,2015.664,-15602.540,32,1.0,33,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-79.2
$GPS2,111213,021549,2015.797,-15602.569,11,1.3,11,9.8
$SPEED_LIMITS,0.180,0.255
$TGT_NAME,A2
$TGT_LATLONG,2000.000,-15610.200
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.198,-0.160
$KALMAN_X,14066.8,-1878.5,-56.2,-21862.7,3080.0
$KALMAN_Y,16501.1,620.6,-105.1,-3869.0,3063.4
$MHEAD_RNG_PITCHd_Wd,221.2,32128,-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,-60.12,0.000,6,0.000,0.000,114,2044,3606,0,0,0,0,0,0
$GC,104,-0.59,-136.3,2.7,-4.6,2,118,9.65,2.35,0.00,0.000,4,0.228,0.034,2618,432,3606,0,0,0,0,0,0
$GC,261,-0.59,-136.3,35.2,-19.8,6,265,0.00,2.33,0.00,0.000,6,0.000,0.035,2608,2038,3607,0,0,0,0,0,0
$GC,514,-0.59,-136.3,81.2,-17.1,14,518,0.00,2.33,0.00,0.000,4,0.000,0.044,2596,3609,3610,0,0,0,0,0,0
$GC,619,-0.59,-136.3,99.3,-14.2,17,624,0.00,2.33,0.00,0.000,6,0.000,0.032,2596,2018,3608,0,0,0,0,0,0
$GC,890,-0.59,-136.3,130.3,-10.9,26,894,0.00,2.33,0.00,0.000,4,0.000,0.042,2584,3612,3611,0,0,0,0,0,0
$GC,1149,-0.59,-136.3,165.1,-13.5,33,1159,0.10,2.30,0.00,0.000,6,0.158,0.031,2612,2016,3610,0,0,0,0,0,0
$GC,1403,-0.59,-136.3,190.1,-9.6,42,1407,0.00,2.35,0.00,0.000,4,0.000,0.043,2602,3616,3611,0,0,0,0,0,0
$GC,1662,-0.59,-136.3,215.3,-8.3,47,1669,0.00,2.25,0.00,0.000,6,0.000,0.031,2605,2043,3611,0,0,0,0,0,0
$GC,1912,-0.59,-136.3,234.9,-7.7,52,1916,0.00,2.30,0.00,0.000,4,0.000,0.037,2605,445,3611,0,0,0,0,0,0
$GC,2169,-0.59,-136.3,254.9,-6.5,55,2176,0.00,2.25,0.00,0.000,6,0.000,0.036,2593,2043,3614,0,0,0,0,0,0
$GC,2418,-0.59,-136.3,270.1,-6.1,60,2423,0.00,2.30,0.00,0.000,4,0.000,0.046,2581,3605,3611,0,0,0,0,0,0
$GC,2435,-0.59,-136.3,271.4,-6.7,60,2439,0.12,2.28,0.00,0.000,6,0.183,0.032,2613,2020,3611,0,0,0,0,0,0
$GC,2717,-0.59,-136.3,290.3,-6.7,65,2722,0.00,2.33,0.00,0.000,4,0.000,0.044,2602,3610,3610,0,0,0,0,0,0
$GC,2975,-0.59,-136.3,307.9,-6.1,68,2982,0.00,2.25,0.00,0.000,6,0.000,0.031,2606,2022,3609,0,0,0,0,0,0
$GC,3225,-0.59,-136.3,318.0,-4.1,73,3229,0.00,2.38,0.00,0.000,4,0.000,0.046,2591,3609,3608,0,0,0,0,0,0
$GC,3482,-0.59,-136.3,334.5,-7.5,76,3489,0.00,2.28,0.00,0.000,6,0.000,0.031,2590,2027,3608,0,0,0,0,0,0
$GC,3732,-0.59,-136.3,349.0,-5.8,81,3736,0.00,2.35,0.00,0.000,4,0.000,0.046,2578,3613,3606,0,0,0,0,0,0
$GC,3990,-0.59,-136.3,362.8,-5.7,84,3997,0.15,2.28,0.00,0.000,6,0.174,0.033,2619,2022,3605,0,0,0,0,0,0
$GC,4239,-0.59,-136.3,375.4,-5.1,89,4243,0.00,2.33,0.00,0.000,4,0.000,0.046,2609,3606,3604,0,0,0,0,0,0
$GC,4496,-0.59,-136.3,392.0,-5.7,92,4503,0.00,2.28,0.00,0.000,6,0.000,0.034,2609,2032,3601,0,0,0,0,0,0
$GC,4746,-0.59,-136.3,403.6,-4.6,97,4750,0.00,2.35,0.00,0.000,4,0.000,0.047,2597,3610,3600,0,0,0,0,0,0
$GC,4911,-0.59,-136.3,411.4,-4.7,99,4915,0.00,2.30,0.00,0.000,6,0.000,0.034,2597,2020,3601,0,0,0,0,0,0
$GC,5182,-0.59,-136.3,423.5,-4.4,104,5186,0.00,2.33,0.00,0.000,4,0.000,0.046,2585,3604,3597,0,0,0,0,0,0
$GC,5439,-0.59,-136.3,441.2,-6.9,107,5447,0.12,2.28,0.00,0.000,6,0.171,0.034,2618,2025,3595,0,0,0,0,0,0
$GC,5689,-0.59,-136.3,454.2,-5.2,112,5693,0.00,2.35,0.00,0.000,4,0.000,0.047,2608,3606,3592,0,0,0,0,0,0
$GC,5794,-0.59,-136.3,459.7,-4.9,113,5799,0.00,2.28,0.00,0.000,6,0.000,0.034,2608,2036,3593,0,0,0,0,0,0
$GC,6055,-0.59,-136.3,471.2,-4.4,118,6059,0.00,2.33,0.00,0.000,4,0.000,0.048,2596,3607,3589,0,0,0,0,0,0
$GC,6313,-0.59,-136.3,484.3,-4.7,121,6319,0.00,2.30,0.00,0.000,6,0.000,0.034,2597,2018,3590,0,0,0,0,0,0
$GC,6562,-0.59,-136.3,492.9,-3.5,126,6566,0.00,2.35,0.00,0.000,4,0.000,0.048,2584,3612,3589,0,0,0,0,0,0
$GC,6819,-0.59,-136.3,503.9,-4.4,129,6826,0.00,2.28,0.00,0.000,6,0.000,0.034,2584,2029,3587,0,0,0,0,0,0
$GC,7069,-0.59,-136.3,514.7,-4.4,134,7074,0.12,2.35,0.00,0.000,4,0.191,0.049,2606,3606,3586,0,0,0,0,0,0
$GC,7204,-0.59,-136.3,521.8,-5.6,136,7208,0.00,2.28,0.00,0.000,6,0.000,0.036,2606,2038,3586,0,0,0,0,0,0
$GC,7504,-0.59,-136.3,538.7,-5.8,141,7508,0.00,2.35,0.00,0.000,4,0.000,0.049,2594,3613,3585,0,0,0,0,0,0
$GC,7762,-0.59,-136.3,555.7,-6.1,144,7769,0.00,2.30,0.00,0.000,6,0.000,0.034,2594,2023,3583,0,0,0,0,0,0
$GC,8011,-0.59,-136.3,568.4,-5.1,149,8015,0.00,2.35,0.00,0.000,4,0.000,0.048,2582,3616,3587,0,0,0,0,0,0
$STATE,8103,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,8103,begin apogee
$GC,8111,-0.14,0.0,573.7,5.6,150,8221,0.55,0.00,103.97,1.242,6,0.151,0.000,2758,2036,3051,0,0,0,0,0,0
$STATE,8228,end apogee,CONTROL_FINISHED_OK
$STATE,8228,begin climb
$GC,8230,0.59,136.3,573.4,0.0,152,8353,0.65,2.55,111.25,1.209,4,0.069,0.050,3016,458,2494,0,0,0,0,0,0
$GC,8369,0.59,136.3,552.3,20.5,154,8374,0.00,2.40,0.00,0.000,6,0.000,0.036,3016,2022,2493,0,0,0,0,0,0
$GC,8664,0.59,136.3,488.3,22.1,159,8665,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2022,2492,0,0,0,0,0,0
$GC,8906,0.59,136.3,436.8,21.3,163,8911,0.00,2.40,0.00,0.000,4,0.000,0.050,3028,447,2489,0,0,0,0,0,0
$GC,8928,0.59,136.3,431.6,22.3,163,8932,0.00,2.35,0.00,0.000,6,0.000,0.036,3029,2039,2491,0,0,0,0,0,0
$GC,9211,0.59,136.3,368.0,22.6,168,9215,0.00,2.38,0.00,0.000,4,0.000,0.047,3025,3616,2490,0,0,0,0,0,0
$GC,9249,0.59,136.3,359.5,21.6,168,9254,0.15,2.40,0.00,0.000,6,0.177,0.047,2999,2039,2490,0,0,0,0,0,0
$GC,9509,0.59,136.3,311.3,18.7,173,9513,0.00,2.40,0.00,0.000,4,0.000,0.053,3009,450,2490,0,0,0,0,0,0
$GC,9547,0.59,136.3,303.6,20.0,173,9551,0.00,2.33,0.00,0.000,6,0.000,0.039,3010,2032,2490,0,0,0,0,0,0
$GC,9813,0.59,136.3,257.9,17.1,178,9817,0.00,2.38,0.00,0.000,4,0.000,0.050,3010,3613,2489,0,0,0,0,0,0
$GC,9857,0.59,136.3,249.7,17.6,178,9861,0.00,2.38,0.00,0.000,6,0.000,0.045,3022,2028,2489,0,0,0,0,0,0
$GC,10111,0.59,136.3,208.5,16.3,183,10115,0.00,2.35,0.00,0.000,4,0.000,0.049,3036,445,2489,0,0,0,0,0,0
$GC,10138,0.59,136.3,203.8,16.8,183,10143,0.12,2.33,0.00,0.000,6,0.163,0.039,2999,2038,2489,0,0,0,0,0,0
$GC,10414,0.59,136.3,166.7,13.8,192,10418,0.00,2.38,0.00,0.000,4,0.000,0.051,2999,3619,2488,0,0,0,0,0,0
$GC,10480,0.59,136.3,157.0,12.7,194,10484,0.00,2.38,0.00,0.000,6,0.000,0.042,3009,2033,2488,0,0,0,0,0,0
$GC,10757,0.59,136.3,122.1,12.5,203,10761,0.00,2.35,0.00,0.000,4,0.000,0.050,3022,443,2487,0,0,0,0,0,0
$GC,10880,0.60,147.4,107.5,9.8,206,10894,0.00,2.35,9.25,0.731,6,0.000,0.039,3022,2037,2447,0,0,0,0,0,0
$GC,11165,0.61,171.3,78.0,9.1,216,11189,0.00,2.40,19.27,0.773,4,0.000,0.048,3022,3615,2352,0,0,0,0,0,0
$GC,11251,0.61,171.3,67.5,11.3,218,11256,0.00,2.35,0.00,0.000,6,0.000,0.038,3033,2017,2352,0,0,0,0,0,0
$GC,11511,0.61,171.3,37.4,11.6,227,11515,0.00,2.28,0.00,0.000,4,0.000,0.043,3045,453,2353,0,0,0,0,0,0
$GC,11600,0.62,197.9,28.1,9.0,229,11628,0.08,2.33,21.80,0.698,6,0.111,0.039,3012,2034,2247,0,0,0,0,0,0
$STATE,11887,end climb,SURFACE_DEPTH_REACHED
$STATE,11887,begin surface coast
$FINISH,0.9,1.023165
$STATE,11917,end surface coast,CONTROL_FINISHED_OK
$STATE,11917,begin surface
$SM_CCo,11940,38.75,0.692,0,0,1868,290.19
$SM_GC,1.55,0.00,0.00,38.75,0.000,0.000,0.692,136,2038,1868,-8.36,0.23,290.19
$IRIDIUM_FIX,2004.18,-15602.25,101213,222203
$TT8_MAMPS,0.058422
$HUMID,65.67
$INTERNAL_PRESSURE,9.27648
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.8,12.109
$10V_AH,10.3,5.213
$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,19.000,130.625,265.550,38.750,0.000,24.171,39.264,291.101,0.000,0.000,14.272,993.374,8747.855,382.505,2264.635,226.427,33.341,1241.456,0.000,1694.407,0.000,0.541,0.000
$DEVICE_MAMPS,227.970,52.785,1241.595,691.560,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,162.739,336.175,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,143080
$DATA_FILE_SIZE,10293,240
$CAP_FILE_SIZE,119806,0
$CFSIZE,260165632,253616128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111213,053754,2016.318,-15602.852,35,1.6,36,9.8