version: 66.08
glider: 500
mission: 9
dive: 21
start: 12 11 113 5 48 29
data:
$ID,500
$MISSION,9
$DIVE,21
$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,-165747.62
$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,2820
$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,2300
$C_ROLL_CLIMB,2031
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$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,3100
$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,40.0
$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
$GPS1,111213,053754,2016.318,-15602.852,35,1.6,36,9.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-79.0
$GPS2,111213,054719,2016.443,-15602.841,12,1.8,12,9.8
$SPEED_LIMITS,0.180,0.255
$TGT_NAME,A2
$TGT_LATLONG,2000.000,-15610.200
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.214,-0.138
$KALMAN_X,15521.6,-1250.5,14.0,-24493.8,3347.7
$KALMAN_Y,21100.7,-1434.0,717.8,-6046.4,2963.1
$MHEAD_RNG_PITCHd_Wd,227.3,33036,-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,-136.3,0.0,0.0,0,104,0.00,0.35,-67.80,0.000,6,0.000,0.132,126,2317,3654,0,0,0,0,0,0
$GC,107,-0.59,-136.3,2.7,-4.5,2,122,9.68,2.25,0.00,0.000,4,0.233,0.038,2612,3824,3655,0,0,0,0,0,0
$GC,200,-0.59,-136.3,25.0,-20.4,5,204,0.00,2.22,0.00,0.000,6,0.000,0.033,2612,2295,3657,0,0,0,0,0,0
$GC,477,-0.59,-136.3,79.0,-19.8,14,481,0.00,2.28,0.00,0.000,4,0.000,0.044,2600,3825,3657,0,0,0,0,0,0
$GC,520,-0.59,-136.3,88.1,-18.6,15,524,0.00,2.22,0.00,0.000,6,0.000,0.033,2601,2298,3655,0,0,0,0,0,0
$GC,786,-0.59,-136.3,124.8,-12.7,24,790,0.10,2.28,0.00,0.000,4,0.202,0.044,2614,3826,3658,0,0,0,0,0,0
$GC,835,-0.59,-136.3,131.0,-11.5,25,839,0.00,2.22,0.00,0.000,6,0.000,0.032,2619,2292,3658,0,0,0,0,0,0
$GC,1095,-0.59,-136.3,158.6,-10.1,34,1099,0.00,2.25,0.00,0.000,4,0.000,0.036,2614,715,3659,0,0,0,0,0,0
$GC,1112,-0.59,-136.3,160.5,-9.9,34,1116,0.00,2.25,0.00,0.000,6,0.000,0.037,2602,2284,3659,0,0,0,0,0,0
$GC,1365,-0.59,-136.3,186.7,-11.1,42,1369,0.00,2.28,0.00,0.000,4,0.000,0.044,2590,3838,3660,0,0,0,0,0,0
$GC,1596,-0.59,-136.3,211.2,-7.9,47,1601,0.12,2.22,0.00,0.000,6,0.174,0.031,2623,2282,3660,0,0,0,0,0,0
$GC,1867,-0.59,-136.3,227.6,-6.0,52,1871,0.00,2.33,0.00,0.000,4,0.000,0.047,2613,3844,3660,0,0,0,0,0,0
$GC,1889,-0.59,-136.3,229.1,-6.3,52,1893,0.00,2.20,0.00,0.000,6,0.000,0.032,2613,2305,3660,0,0,0,0,0,0
$GC,2172,-0.59,-136.3,255.6,-9.7,57,2176,0.00,2.28,0.00,0.000,4,0.000,0.047,2600,3837,3660,0,0,0,0,0,0
$GC,2429,-0.59,-136.3,278.6,-8.1,60,2436,0.00,2.20,0.00,0.000,6,0.000,0.031,2601,2294,3659,0,0,0,0,0,0
$GC,2679,-0.59,-136.3,295.6,-6.8,65,2683,0.00,2.30,0.00,0.000,4,0.000,0.046,2589,3839,3661,0,0,0,0,0,0
$GC,2936,-0.59,-136.3,316.6,-8.8,68,2944,0.12,2.22,0.00,0.000,6,0.171,0.031,2622,2293,3657,0,0,0,0,0,0
$GC,3186,-0.59,-136.3,333.9,-7.0,73,3190,0.00,2.33,0.00,0.000,4,0.000,0.047,2612,3838,3655,0,0,0,0,0,0
$GC,3444,-0.59,-136.3,352.0,-7.1,76,3451,0.00,2.22,0.00,0.000,6,0.000,0.031,2612,2297,3654,0,0,0,0,0,0
$GC,3693,-0.59,-136.3,368.2,-6.4,81,3697,0.00,2.30,0.00,0.000,4,0.000,0.047,2600,3836,3652,0,0,0,0,0,0
$GC,3709,-0.59,-136.3,369.3,-7.0,81,3713,0.00,2.22,0.00,0.000,6,0.000,0.032,2600,2294,3652,0,0,0,0,0,0
$GC,3992,-0.59,-136.3,390.8,-7.6,86,3993,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2293,3650,0,0,0,0,0,0
$GC,4234,-0.59,-136.3,409.2,-7.6,90,4238,0.00,2.33,0.00,0.000,4,0.000,0.049,2588,3847,3648,0,0,0,0,0,0
$GC,4402,-0.59,-136.3,422.2,-6.9,92,4407,0.15,2.25,0.00,0.000,6,0.164,0.034,2631,2298,3647,0,0,0,0,0,0
$GC,4668,-0.59,-136.3,435.8,-5.1,97,4672,0.00,2.28,0.00,0.000,4,0.000,0.049,2621,3835,3645,0,0,0,0,0,0
$GC,4920,-0.59,-136.3,453.5,-7.7,100,4924,0.00,2.22,0.00,0.000,6,0.000,0.033,2620,2297,3643,0,0,0,0,0,0
$GC,5169,-0.59,-136.3,468.3,-6.0,104,5174,0.00,2.30,0.00,0.000,4,0.000,0.049,2609,3835,3642,0,0,0,0,0,0
$GC,5281,-0.59,-136.3,475.5,-6.7,105,5285,0.00,2.22,0.00,0.000,6,0.000,0.034,2614,2297,3643,0,0,0,0,0,0
$GC,5537,-0.59,-136.3,489.1,-5.3,110,5541,0.00,2.33,0.00,0.000,4,0.000,0.050,2597,3841,3640,0,0,0,0,0,0
$GC,5558,-0.59,-136.3,490.4,-5.4,110,5563,0.10,2.25,0.00,0.000,6,0.177,0.036,2623,2302,3640,0,0,0,0,0,0
$GC,5835,-0.59,-136.3,502.2,-4.3,115,5840,0.00,2.33,0.00,0.000,4,0.000,0.041,2623,708,3639,0,0,0,0,0,0
$GC,5852,-0.59,-136.3,503.1,-4.3,115,5856,0.00,2.33,0.00,0.000,6,0.000,0.042,2614,2303,3638,0,0,0,0,0,0
$GC,6140,-0.59,-136.3,517.0,-4.9,120,6144,0.00,2.33,0.00,0.000,4,0.000,0.040,2613,712,3637,0,0,0,0,0,0
$GC,6155,-0.59,-136.3,517.9,-5.1,120,6160,0.00,2.33,0.00,0.000,6,0.000,0.044,2601,2303,3637,0,0,0,0,0,0
$GC,6439,-0.59,-136.3,533.9,-5.7,125,6443,0.00,2.33,0.00,0.000,4,0.000,0.053,2589,3850,3633,0,0,0,0,0,0
$GC,6696,-0.59,-136.3,551.4,-5.9,128,6704,0.12,2.28,0.00,0.000,6,0.171,0.034,2622,2293,3634,0,0,0,0,0,0
$GC,6946,-0.59,-136.3,562.8,-4.5,133,6950,0.00,2.35,0.00,0.000,4,0.000,0.050,2612,3844,3633,0,0,0,0,0,0
$GC,7149,-0.59,-136.3,573.9,-5.9,136,7153,0.00,2.28,0.00,0.000,6,0.000,0.035,2611,2292,3632,0,0,0,0,0,0
$GC,7454,-0.59,-136.3,589.8,-5.2,141,7459,0.00,2.35,0.00,0.000,4,0.000,0.051,2600,3846,3631,0,0,0,0,0,0
$GC,7487,-0.59,-136.3,591.8,-6.0,141,7492,0.00,2.28,0.00,0.000,6,0.000,0.037,2600,2298,3634,0,0,0,0,0,0
$GC,7756,-0.59,-136.3,605.8,-5.3,146,7760,0.00,2.33,0.00,0.000,4,0.000,0.053,2588,3837,3628,0,0,0,0,0,0
$GC,7828,-0.59,-136.3,610.2,-6.0,147,7832,0.15,2.25,0.00,0.000,6,0.162,0.036,2631,2298,3630,0,0,0,0,0,0
$STATE,8119,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,8119,begin apogee
$GC,8125,-0.14,0.0,624.1,4.7,152,8237,0.40,0.00,103.88,1.284,6,0.131,0.000,2769,1997,3101,0,0,0,0,0,0
$STATE,8243,end apogee,CONTROL_FINISHED_OK
$STATE,8243,begin climb
$GC,8246,0.59,136.3,624.4,0.0,153,8363,0.65,0.00,112.18,1.257,6,0.070,0.000,3011,1998,2545,0,0,0,0,0,0
$GC,8578,0.59,136.3,563.7,20.9,159,8582,0.00,2.50,0.00,0.000,4,0.000,0.044,3011,3617,2543,0,0,0,0,0,0
$GC,8604,0.59,136.3,557.6,20.9,159,8608,0.00,2.40,0.00,0.000,6,0.000,0.044,3023,2064,2543,0,0,0,0,0,0
$GC,8882,0.59,136.3,498.2,21.7,164,8886,0.00,2.47,0.00,0.000,4,0.000,0.053,3036,440,2543,0,0,0,0,0,0
$GC,8944,0.59,136.3,483.6,22.7,165,8948,0.00,2.38,0.00,0.000,6,0.000,0.041,3036,2034,2542,0,0,0,0,0,0
$GC,9248,0.59,136.3,416.6,22.2,170,9253,0.00,2.40,0.00,0.000,4,0.000,0.052,3036,3611,2541,0,0,0,0,0,0
$GC,9321,0.59,136.3,399.3,20.9,171,9326,0.12,2.42,0.00,0.000,6,0.187,0.047,3015,2020,2541,0,0,0,0,0,0
$GC,9615,0.59,136.3,343.7,19.1,176,9619,0.00,2.35,0.00,0.000,4,0.000,0.054,3026,444,2541,0,0,0,0,0,0
$GC,9681,0.59,136.3,330.1,17.8,177,9685,0.00,2.35,0.00,0.000,6,0.000,0.044,3027,2028,2541,0,0,0,0,0,0
$GC,9987,0.59,136.3,271.1,20.1,182,9991,0.00,2.42,0.00,0.000,4,0.000,0.050,3026,3623,2540,0,0,0,0,0,0
$GC,10081,0.59,136.3,254.5,15.1,183,10085,0.00,2.42,0.00,0.000,6,0.000,0.047,3038,2020,2539,0,0,0,0,0,0
$GC,10358,0.59,136.3,206.8,17.5,188,10362,0.00,2.35,0.00,0.000,4,0.000,0.050,3055,441,2539,0,0,0,0,0,0
$GC,10407,0.59,136.3,198.2,16.5,188,10412,0.12,2.35,0.00,0.000,6,0.161,0.043,3015,2035,2542,0,0,0,0,0,0
$GC,10660,0.59,136.3,162.6,13.8,196,10665,0.00,2.38,0.00,0.000,4,0.000,0.053,3015,3624,2539,0,0,0,0,0,0
$GC,10710,0.59,136.3,155.5,14.0,197,10714,0.00,2.40,0.00,0.000,6,0.000,0.046,3026,2024,2539,0,0,0,0,0,0
$GC,10970,0.59,136.3,119.5,15.1,206,10974,0.00,2.35,0.00,0.000,4,0.000,0.050,3038,441,2540,0,0,0,0,0,0
$GC,11008,0.59,136.3,113.1,15.1,207,11012,0.00,2.33,0.00,0.000,6,0.000,0.040,3038,2038,2540,0,0,0,0,0,0
$GC,11279,0.59,136.3,79.3,11.3,216,11283,0.00,2.35,0.00,0.000,4,0.000,0.049,3038,3614,2541,0,0,0,0,0,0
$GC,11329,0.59,136.3,73.3,10.9,217,11334,0.12,2.35,0.00,0.000,6,0.160,0.041,3014,2030,2542,0,0,0,0,0,0
$GC,11583,0.62,214.1,57.2,6.4,225,11651,0.00,2.45,58.00,0.773,4,0.000,0.045,3022,447,2227,0,0,0,0,0,0
$GC,11724,0.64,246.2,45.4,8.7,229,11758,0.00,2.35,25.25,0.740,6,0.000,0.037,3023,2036,2096,0,0,0,0,0,0
$GC,12003,0.64,256.1,14.2,9.9,238,12017,0.00,2.42,9.30,0.623,4,0.000,0.044,3034,447,2058,0,0,0,0,0,0
$GC,12038,0.64,256.1,9.7,12.1,239,12042,0.00,2.33,0.00,0.000,6,0.000,0.033,3034,2038,2058,0,0,0,0,0,0
$STATE,12097,end climb,SURFACE_DEPTH_REACHED
$STATE,12097,begin surface coast
$FINISH,0.7,1.010355
$STATE,12129,end surface coast,CONTROL_FINISHED_OK
$STATE,12129,begin surface
$SM_CCo,12152,15.52,0.656,0,0,1917,290.19
$SM_GC,1.55,0.00,0.00,15.52,0.000,0.000,0.656,140,2311,1917,-8.37,0.31,290.19
$IRIDIUM_FIX,2008.77,-15556.18,111213,020233
$TT8_MAMPS,0.058422
$HUMID,65.94
$INTERNAL_PRESSURE,9.26672
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.8,12.229
$10V_AH,10.4,5.271
$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,19.225,144.600,308.600,15.525,0.000,23.598,35.424,280.983,0.000,0.000,15.303,990.632,9097.844,388.862,2039.032,237.722,33.350,1197.589,0.000,1523.890,0.000,0.543,0.000
$DEVICE_MAMPS,232.560,132.345,1284.435,655.605,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,165.050,329.584,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,143104
$DATA_FILE_SIZE,13614,242
$CAP_FILE_SIZE,122398,0
$CFSIZE,260165632,253530112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111213,091236,2016.409,-15603.557,39,1.1,40,9.8