version: 66.08
glider: 500
mission: 9
dive: 22
start: 12 11 113 9 29 31
data:
$ID,500
$MISSION,9
$DIVE,22
$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,235
$T_MISSION,320
$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,-165748.88
$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,37
$R_STBD_OVSHOOT,48
$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,42.0
$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
$GPS1,111213,091236,2016.409,-15603.557,39,1.1,40,9.8
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-79.9
$GPS2,111213,092824,2016.597,-15603.545,16,1.2,33,9.8
$SPEED_LIMITS,0.172,0.251
$TGT_NAME,A2
$TGT_LATLONG,2000.000,-15610.200
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.132,-0.213
$KALMAN_X,16121.2,16.5,-293.4,-27273.5,2774.9
$KALMAN_Y,25035.0,-2229.0,-318.1,-7861.9,5419.4
$MHEAD_RNG_PITCHd_Wd,202.0,32846,-18.1,-9.929
$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,31,end surface,CONTROL_FINISHED_OK
$STATE,31,begin dive
$GC,34,-0.57,-136.3,0.0,0.0,0,102,0.00,0.00,-64.95,0.000,6,0.000,0.000,123,2313,3655,0,0,0,0,0,0
$GC,105,-0.57,-136.3,2.8,-5.9,2,119,9.68,0.00,0.00,0.000,6,0.232,0.000,2629,2312,3657,0,0,0,0,0,0
$GC,386,-0.57,-136.3,57.5,-19.2,11,390,0.00,2.28,0.00,0.000,4,0.000,0.044,2619,3836,3659,0,0,0,0,0,0
$GC,417,-0.57,-136.3,63.4,-18.8,12,421,0.00,2.25,0.00,0.000,6,0.000,0.034,2618,2285,3660,0,0,0,0,0,0
$GC,692,-0.57,-136.3,107.8,-13.6,21,696,0.00,2.33,0.00,0.000,4,0.000,0.046,2606,3837,3659,0,0,0,0,0,0
$GC,950,-0.57,-136.3,139.3,-11.3,28,960,0.00,2.25,0.00,0.000,6,0.000,0.031,2605,2294,3662,0,0,0,0,0,0
$GC,1205,-0.57,-136.3,169.7,-12.4,37,1209,0.00,2.30,0.00,0.000,4,0.000,0.046,2594,3838,3660,0,0,0,0,0,0
$GC,1465,-0.57,-136.3,202.4,-10.8,44,1474,0.10,2.25,0.00,0.000,6,0.149,0.034,2628,2294,3661,0,0,0,0,0,0
$GC,1715,-0.57,-136.3,224.1,-8.7,49,1719,0.00,2.30,0.00,0.000,4,0.000,0.046,2620,3836,3661,0,0,0,0,0,0
$GC,1742,-0.57,-136.3,226.1,-6.8,49,1746,0.00,2.20,0.00,0.000,6,0.000,0.031,2618,2295,3661,0,0,0,0,0,0
$GC,2013,-0.57,-136.3,244.4,-6.7,54,2018,0.00,2.30,0.00,0.000,4,0.000,0.046,2606,3840,3661,0,0,0,0,0,0
$GC,2046,-0.57,-136.3,246.8,-7.4,54,2050,0.00,2.20,0.00,0.000,6,0.000,0.032,2606,2298,3662,0,0,0,0,0,0
$GC,2313,-0.57,-136.3,263.0,-6.1,59,2317,0.00,2.30,0.00,0.000,4,0.000,0.047,2594,3837,3661,0,0,0,0,0,0
$GC,2571,-0.57,-136.3,283.7,-9.3,62,2578,0.15,2.22,0.00,0.000,6,0.163,0.032,2637,2295,3659,0,0,0,0,0,0
$GC,2820,-0.57,-136.3,300.6,-6.8,67,2824,0.00,2.30,0.00,0.000,4,0.000,0.047,2628,3837,3658,0,0,0,0,0,0
$GC,3077,-0.57,-136.3,320.2,-6.9,70,3084,0.00,2.22,0.00,0.000,6,0.000,0.032,2629,2298,3657,0,0,0,0,0,0
$GC,3327,-0.57,-136.3,336.0,-6.4,75,3331,0.00,2.28,0.00,0.000,4,0.000,0.049,2616,3827,3657,0,0,0,0,0,0
$GC,3584,-0.57,-136.3,353.5,-6.8,78,3591,0.00,2.22,0.00,0.000,6,0.000,0.034,2616,2296,3653,0,0,0,0,0,0
$GC,3834,-0.57,-136.3,369.1,-6.2,83,3838,0.00,2.30,0.00,0.000,4,0.000,0.048,2603,3839,3651,0,0,0,0,0,0
$GC,3975,-0.57,-136.3,379.7,-7.5,85,3980,0.12,2.22,0.00,0.000,6,0.163,0.034,2638,2297,3650,0,0,0,0,0,0
$GC,4269,-0.57,-136.3,398.3,-6.2,90,4273,0.00,2.30,0.00,0.000,4,0.000,0.049,2628,3830,3648,0,0,0,0,0,0
$GC,4290,-0.57,-136.3,399.7,-6.0,90,4294,0.00,2.22,0.00,0.000,6,0.000,0.034,2628,2310,3648,0,0,0,0,0,0
$GC,4568,-0.57,-136.3,411.4,-4.0,95,4572,0.00,2.28,0.00,0.000,4,0.000,0.050,2621,3830,3646,0,0,0,0,0,0
$GC,4752,-0.57,-136.3,420.1,-4.8,97,4756,0.00,2.22,0.00,0.000,6,0.000,0.034,2616,2289,3642,0,0,0,0,0,0
$GC,5002,-0.57,-136.3,429.0,-3.6,101,5006,0.00,2.30,0.00,0.000,4,0.000,0.049,2604,3829,3643,0,0,0,0,0,0
$GC,5148,-0.57,-136.3,436.4,-5.9,103,5153,0.10,2.22,0.00,0.000,6,0.174,0.034,2631,2293,3642,0,0,0,0,0,0
$GC,5442,-0.57,-136.3,452.3,-5.5,108,5446,0.00,2.30,0.00,0.000,4,0.000,0.048,2621,3827,3640,0,0,0,0,0,0
$GC,5610,-0.57,-136.3,465.1,-7.7,110,5614,0.00,2.22,0.00,0.000,6,0.000,0.035,2620,2296,3640,0,0,0,0,0,0
$GC,5877,-0.57,-136.3,480.7,-5.8,115,5881,0.00,2.30,0.00,0.000,4,0.000,0.050,2609,3827,3639,0,0,0,0,0,0
$GC,5910,-0.57,-136.3,482.8,-6.5,115,5914,0.00,2.22,0.00,0.000,6,0.000,0.037,2608,2298,3638,0,0,0,0,0,0
$GC,6181,-0.57,-136.3,496.5,-5.0,120,6182,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2297,3636,0,0,0,0,0,0
$GC,6424,-0.57,-136.3,507.7,-4.6,124,6428,0.00,2.33,0.00,0.000,4,0.000,0.040,2609,705,3635,0,0,0,0,0,0
$GC,6440,-0.57,-136.3,508.8,-5.0,124,6445,0.12,2.33,0.00,0.000,6,0.177,0.041,2634,2298,3635,0,0,0,0,0,0
$GC,6723,-0.57,-136.3,522.0,-4.7,129,6727,0.00,2.30,0.00,0.000,4,0.000,0.040,2630,714,3633,0,0,0,0,0,0
$GC,6767,-0.57,-136.3,524.4,-5.1,129,6771,0.00,2.33,0.00,0.000,6,0.000,0.042,2620,2303,3633,0,0,0,0,0,0
$GC,7021,-0.57,-136.3,536.8,-4.9,134,7022,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2304,3632,0,0,0,0,0,0
$GC,7264,-0.57,-136.3,546.7,-4.1,138,7268,0.00,2.30,0.00,0.000,4,0.000,0.040,2620,708,3631,0,0,0,0,0,0
$GC,7285,-0.57,-136.3,547.6,-4.4,138,7289,0.00,2.33,0.00,0.000,6,0.000,0.043,2608,2307,3629,0,0,0,0,0,0
$GC,7569,-0.57,-136.3,558.5,-3.8,143,7573,0.00,2.33,0.00,0.000,4,0.000,0.041,2607,708,3630,0,0,0,0,0,0
$GC,7584,-0.57,-136.3,559.4,-4.1,143,7589,0.12,2.33,0.00,0.000,6,0.176,0.043,2629,2299,3630,0,0,0,0,0,0
$GC,7867,-0.57,-136.3,570.0,-3.7,148,7871,0.00,2.33,0.00,0.000,4,0.000,0.054,2619,3841,3627,0,0,0,0,0,0
$GC,7930,-0.57,-136.3,572.9,-4.9,149,7934,0.00,2.25,0.00,0.000,6,0.000,0.036,2619,2294,3628,0,0,0,0,0,0
$GC,8235,-0.57,-136.3,587.7,-4.8,154,8239,0.00,2.35,0.00,0.000,4,0.000,0.053,2607,3842,3626,0,0,0,0,0,0
$GC,8482,-0.57,-136.3,602.9,-5.6,157,8487,0.00,2.25,0.00,0.000,6,0.000,0.035,2607,2297,3626,0,0,0,0,0,0
$GC,8737,-0.57,-136.3,615.6,-5.0,162,8741,0.00,2.35,0.00,0.000,4,0.000,0.052,2595,3845,3625,0,0,0,0,0,0
$GC,8995,-0.57,-136.3,631.4,-6.3,165,9003,0.15,2.28,0.00,0.000,6,0.162,0.036,2641,2295,3625,0,0,0,0,0,0
$GC,9245,-0.57,-136.3,641.7,-4.2,170,9249,0.00,2.35,0.00,0.000,4,0.000,0.052,2628,3848,3624,0,0,0,0,0,0
$GC,9272,-0.57,-136.3,643.0,-4.5,170,9276,0.00,2.28,0.00,0.000,6,0.000,0.038,2627,2295,3624,0,0,0,0,0,0
$GC,9543,-0.57,-136.3,654.3,-4.2,175,9547,0.00,2.35,0.00,0.000,4,0.000,0.054,2616,3842,3623,0,0,0,0,0,0
$STATE,9608,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9608,begin apogee
$GC,9616,-0.14,0.0,657.8,5.1,176,9727,0.45,0.00,103.85,1.304,6,0.136,0.000,2761,2018,3102,0,0,0,0,0,0
$STATE,9734,end apogee,CONTROL_FINISHED_OK
$STATE,9734,begin climb
$GC,9736,0.57,136.3,657.5,0.0,177,9859,0.62,2.62,112.47,1.265,4,0.067,0.049,3002,3620,2545,0,0,0,0,0,0
$GC,9892,0.57,136.3,632.5,21.5,180,9897,0.00,2.55,0.00,0.000,6,0.000,0.047,3013,2026,2543,0,0,0,0,0,0
$GC,10187,0.57,136.3,566.4,22.9,185,10191,0.00,2.47,0.00,0.000,4,0.000,0.054,3026,439,2542,0,0,0,0,0,0
$GC,10219,0.57,136.3,558.1,25.5,185,10223,0.00,2.38,0.00,0.000,6,0.000,0.039,3023,2039,2540,0,0,0,0,0,0
$GC,10485,0.57,136.3,497.4,22.9,190,10490,0.00,2.45,0.00,0.000,4,0.000,0.053,3039,446,2544,0,0,0,0,0,0
$GC,10518,0.57,136.3,489.0,24.0,190,10523,0.05,2.38,0.00,0.000,6,0.151,0.040,3009,2030,2542,0,0,0,0,0,0
$GC,10790,0.57,136.3,434.8,19.8,195,10791,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2031,2544,0,0,0,0,0,0
$GC,11032,0.57,136.3,388.8,18.9,199,11036,0.00,2.42,0.00,0.000,4,0.000,0.048,3008,3618,2541,0,0,0,0,0,0
$GC,11053,0.57,136.3,384.2,20.6,199,11057,0.00,2.42,0.00,0.000,6,0.000,0.044,3020,2015,2541,0,0,0,0,0,0
$GC,11336,0.57,136.3,329.1,19.7,204,11340,0.00,2.35,0.00,0.000,4,0.000,0.052,3032,448,2544,0,0,0,0,0,0
$GC,11375,0.57,136.3,321.7,19.7,204,11380,0.00,2.33,0.00,0.000,6,0.000,0.041,3032,2041,2539,0,0,0,0,0,0
$GC,11635,0.57,136.3,269.7,20.2,209,11640,0.00,2.40,0.00,0.000,4,0.000,0.050,3033,3618,2538,0,0,0,0,0,0
$GC,11730,0.57,136.3,253.1,14.9,210,11735,0.15,2.40,0.00,0.000,6,0.179,0.045,3003,2024,2540,0,0,0,0,0,0
$GC,12002,0.57,136.3,214.2,14.3,215,12006,0.00,2.35,0.00,0.000,4,0.000,0.050,3014,449,2542,0,0,0,0,0,0
$GC,12028,0.57,136.3,210.5,12.8,215,12033,0.00,2.33,0.00,0.000,6,0.000,0.038,3019,2042,2540,0,0,0,0,0,0
$GC,12310,0.57,136.3,173.9,13.4,223,12314,0.00,2.33,0.00,0.000,4,0.000,0.050,3014,3610,2540,0,0,0,0,0,0
$GC,12331,0.57,136.3,170.1,15.9,223,12340,0.00,2.38,0.00,0.000,6,0.000,0.041,3027,2033,2540,0,0,0,0,0,0
$GC,12585,0.57,136.3,134.1,14.8,232,12589,0.00,2.38,0.00,0.000,4,0.000,0.047,3039,435,2542,0,0,0,0,0,0
$GC,12600,0.57,136.3,131.2,15.0,232,12605,0.12,2.30,0.00,0.000,6,0.167,0.035,3004,2039,2539,0,0,0,0,0,0
$GC,12860,0.58,165.7,106.0,8.5,241,12894,0.00,2.42,22.90,0.767,4,0.000,0.048,3003,3611,2424,0,0,0,0,0,0
$GC,12932,0.58,167.7,98.8,9.8,243,12936,0.00,2.38,0.00,0.000,6,0.000,0.041,3009,2026,2424,0,0,0,0,0,0
$GC,13208,0.59,190.8,74.3,8.8,252,13233,0.00,2.38,20.42,0.727,4,0.000,0.044,3020,447,2321,0,0,0,0,0,0
$GC,13284,0.60,215.8,67.0,8.7,253,13310,0.00,2.33,19.95,0.735,6,0.000,0.037,3020,2035,2221,0,0,0,0,0,0
$GC,13582,0.60,215.8,34.9,11.2,263,13586,0.00,2.35,0.00,0.000,4,0.000,0.043,3020,3615,2223,0,0,0,0,0,0
$GC,13621,0.60,215.8,30.3,10.6,264,13625,0.00,2.35,0.00,0.000,6,0.000,0.037,3026,2026,2224,0,0,0,0,0,0
$STATE,13889,end climb,SURFACE_DEPTH_REACHED
$STATE,13889,begin surface coast
$FINISH,0.5,1.022777
$STATE,13920,end surface coast,CONTROL_FINISHED_OK
$STATE,13920,begin surface
$SM_CCo,13944,31.10,0.659,0,0,1918,290.19
$SM_GC,1.33,0.00,0.00,31.10,0.000,0.000,0.659,123,2315,1918,-8.43,0.42,290.19
$IRIDIUM_FIX,2008.77,-15604.35,111213,090945
$TT8_MAMPS,0.058422
$HUMID,64.13
$INTERNAL_PRESSURE,9.26672
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,23.7,12.361
$10V_AH,10.3,5.338
$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,19.125,163.200,279.600,31.100,0.000,48.069,73.607,461.592,0.000,0.000,35.995,1100.820,10695.039,397.688,2465.791,282.457,33.352,1282.299,0.000,1647.489,0.000,0.541,0.000
$DEVICE_MAMPS,231.795,54.315,1303.560,659.430,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,187.025,336.171,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,143096
$DATA_FILE_SIZE,13605,274
$CAP_FILE_SIZE,140047,0
$CFSIZE,260165632,253423616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111213,132335,2016.451,-15604.107,28,1.3,29,9.8