version: 66.08
glider: 500
mission: 9
dive: 23
start: 12 11 113 13 34 27
data:
$ID,500
$MISSION,9
$DIVE,23
$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,-165751.66
$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,44
$R_STBD_OVSHOOT,50
$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,44.0
$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
$GPS1,111213,132335,2016.451,-15604.107,28,1.3,29,9.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-79.9
$GPS2,111213,133318,2016.544,-15604.117,15,1.2,32,9.8
$SPEED_LIMITS,0.172,0.251
$TGT_NAME,A2
$TGT_LATLONG,2000.000,-15610.200
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.004,-0.251
$KALMAN_X,16307.2,670.5,-360.1,-29039.4,1344.0
$KALMAN_Y,27729.2,-1505.8,-948.7,-10738.4,7258.8
$MHEAD_RNG_PITCHd_Wd,171.2,32416,-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,-65.85,0.000,6,0.000,0.000,122,2315,3656,0,0,0,0,0,0
$GC,105,-0.57,-136.3,2.3,-2.2,2,120,9.57,2.38,0.00,0.000,4,0.227,0.034,2630,701,3656,0,0,0,0,0,0
$GC,275,-0.57,-136.3,38.4,-19.6,7,279,0.00,2.30,0.00,0.000,6,0.000,0.037,2620,2301,3658,0,0,0,0,0,0
$GC,551,-0.57,-136.3,90.9,-19.5,16,555,0.00,2.30,0.00,0.000,4,0.000,0.045,2608,3840,3659,0,0,0,0,0,0
$GC,808,-0.57,-136.3,130.5,-12.9,23,818,0.00,2.28,0.00,0.000,6,0.000,0.033,2608,2294,3660,0,0,0,0,0,0
$GC,1063,-0.57,-136.3,161.6,-11.9,32,1067,0.00,2.33,0.00,0.000,4,0.000,0.045,2596,3852,3662,0,0,0,0,0,0
$GC,1322,-0.57,-136.3,194.6,-10.0,39,1332,0.10,2.28,0.00,0.000,6,0.148,0.034,2629,2296,3661,0,0,0,0,0,0
$GC,1603,-0.57,-136.3,217.0,-8.1,46,1607,0.00,2.30,0.00,0.000,4,0.000,0.045,2619,3838,3662,0,0,0,0,0,0
$GC,1861,-0.57,-136.3,238.8,-7.9,49,1868,0.00,2.22,0.00,0.000,6,0.000,0.031,2619,2285,3663,0,0,0,0,0,0
$GC,2111,-0.57,-136.3,255.2,-6.7,54,2115,0.00,2.33,0.00,0.000,4,0.000,0.047,2607,3842,3664,0,0,0,0,0,0
$GC,2368,-0.57,-136.3,278.2,-8.9,57,2375,0.00,2.20,0.00,0.000,6,0.000,0.031,2606,2298,3660,0,0,0,0,0,0
$GC,2617,-0.57,-136.3,295.8,-7.0,62,2622,0.00,2.30,0.00,0.000,4,0.000,0.047,2595,3839,3660,0,0,0,0,0,0
$GC,2712,-0.57,-136.3,301.8,-6.2,63,2717,0.15,2.22,0.00,0.000,6,0.159,0.031,2638,2293,3659,0,0,0,0,0,0
$GC,2984,-0.57,-136.3,314.2,-4.5,68,2988,0.00,2.33,0.00,0.000,4,0.000,0.047,2628,3839,3658,0,0,0,0,0,0
$GC,3078,-0.57,-136.3,319.5,-5.7,69,3082,0.00,2.22,0.00,0.000,6,0.000,0.032,2628,2296,3658,0,0,0,0,0,0
$GC,3356,-0.57,-136.3,336.0,-6.1,74,3360,0.00,2.25,0.00,0.000,4,0.000,0.037,2627,706,3656,0,0,0,0,0,0
$GC,3439,-0.57,-136.3,341.4,-6.7,75,3443,0.00,2.30,0.00,0.000,6,0.000,0.039,2616,2305,3655,0,0,0,0,0,0
$GC,3724,-0.57,-136.3,358.9,-6.2,80,3728,0.00,2.25,0.00,0.000,4,0.000,0.048,2604,3836,3653,0,0,0,0,0,0
$GC,3740,-0.57,-136.3,360.1,-6.3,80,3745,0.10,2.20,0.00,0.000,6,0.178,0.033,2630,2296,3653,0,0,0,0,0,0
$GC,4023,-0.57,-136.3,375.2,-5.2,85,4027,0.00,2.30,0.00,0.000,4,0.000,0.048,2620,3836,3651,0,0,0,0,0,0
$GC,4086,-0.57,-136.3,379.0,-6.0,86,4090,0.00,2.20,0.00,0.000,6,0.000,0.034,2620,2303,3650,0,0,0,0,0,0
$GC,4391,-0.57,-136.3,396.1,-5.5,91,4395,0.00,2.30,0.00,0.000,4,0.000,0.050,2613,3838,3649,0,0,0,0,0,0
$GC,4554,-0.57,-136.3,407.3,-5.9,93,4559,0.10,2.25,0.00,0.000,6,0.175,0.033,2635,2288,3645,0,0,0,0,0,0
$GC,4826,-0.57,-136.3,421.1,-4.9,98,4830,0.00,2.33,0.00,0.000,4,0.000,0.049,2626,3836,3646,0,0,0,0,0,0
$GC,4909,-0.57,-136.3,425.7,-4.9,99,4913,0.00,2.22,0.00,0.000,6,0.000,0.034,2624,2296,3645,0,0,0,0,0,0
$GC,5192,-0.57,-136.3,439.0,-4.6,104,5196,0.00,2.30,0.00,0.000,4,0.000,0.048,2609,3834,3643,0,0,0,0,0,0
$GC,5315,-0.57,-136.3,445.4,-5.3,105,5321,0.00,2.22,0.00,0.000,6,0.000,0.034,2613,2287,3642,0,0,0,0,0,0
$GC,5564,-0.57,-136.3,458.5,-5.3,110,5565,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2286,3641,0,0,0,0,0,0
$GC,5807,-0.57,-136.3,471.9,-5.5,114,5811,0.00,2.33,0.00,0.000,4,0.000,0.048,2600,3836,3639,0,0,0,0,0,0
$GC,5896,-0.57,-136.3,477.2,-6.3,115,5901,0.12,2.22,0.00,0.000,6,0.166,0.034,2635,2294,3639,0,0,0,0,0,0
$GC,6173,-0.57,-136.3,491.2,-5.1,120,6177,0.00,2.33,0.00,0.000,4,0.000,0.050,2623,3839,3638,0,0,0,0,0,0
$GC,6200,-0.57,-136.3,492.8,-5.8,120,6204,0.00,2.25,0.00,0.000,6,0.000,0.034,2625,2296,3638,0,0,0,0,0,0
$GC,6471,-0.57,-136.3,506.3,-4.9,125,6475,0.00,2.33,0.00,0.000,4,0.000,0.050,2613,3847,3637,0,0,0,0,0,0
$GC,6624,-0.57,-136.3,514.2,-5.4,127,6628,0.00,2.25,0.00,0.000,6,0.000,0.034,2613,2294,3635,0,0,0,0,0,0
$GC,6907,-0.57,-136.3,527.8,-4.8,132,6911,0.00,2.33,0.00,0.000,4,0.000,0.049,2601,3836,3635,0,0,0,0,0,0
$GC,6963,-0.57,-136.3,531.1,-6.1,132,6971,0.12,2.22,0.00,0.000,6,0.163,0.034,2637,2297,3634,0,0,0,0,0,0
$GC,7212,-0.57,-136.3,543.5,-4.9,137,7213,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2297,3633,0,0,0,0,0,0
$GC,7455,-0.57,-136.3,554.7,-4.7,141,7459,0.00,2.33,0.00,0.000,4,0.000,0.050,2625,3841,3632,0,0,0,0,0,0
$GC,7471,-0.57,-136.3,555.5,-4.3,141,7475,0.00,2.25,0.00,0.000,6,0.000,0.035,2626,2295,3632,0,0,0,0,0,0
$GC,7755,-0.57,-136.3,566.9,-4.0,146,7759,0.00,2.33,0.00,0.000,4,0.000,0.051,2613,3843,3631,0,0,0,0,0,0
$GC,7782,-0.57,-136.3,568.3,-4.4,146,7786,0.00,2.25,0.00,0.000,6,0.000,0.035,2614,2297,3631,0,0,0,0,0,0
$GC,8054,-0.57,-136.3,579.5,-4.1,151,8058,0.00,2.33,0.00,0.000,4,0.000,0.050,2601,3830,3630,0,0,0,0,0,0
$GC,8311,-0.57,-136.3,594.4,-5.5,154,8319,0.12,2.22,0.00,0.000,6,0.162,0.034,2637,2297,3629,0,0,0,0,0,0
$GC,8561,-0.57,-136.3,605.6,-4.5,159,8562,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2296,3628,0,0,0,0,0,0
$GC,8803,-0.57,-136.3,615.4,-4.0,163,8805,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2296,3627,0,0,0,0,0,0
$GC,9046,-0.57,-136.3,623.7,-3.4,167,9050,0.00,2.30,0.00,0.000,4,0.000,0.041,2637,708,3626,0,0,0,0,0,0
$GC,9062,-0.57,-136.3,624.2,-3.3,167,9066,0.00,2.33,0.00,0.000,6,0.000,0.044,2627,2307,3626,0,0,0,0,0,0
$GC,9344,-0.57,-136.3,633.4,-3.3,172,9348,0.00,2.33,0.00,0.000,4,0.000,0.053,2615,3845,3625,0,0,0,0,0,0
$GC,9429,-0.57,-136.3,636.7,-4.1,173,9433,0.00,2.25,0.00,0.000,6,0.000,0.037,2615,2304,3625,0,0,0,0,0,0
$STATE,9648,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9648,begin apogee
$GC,9654,-0.14,0.0,644.5,3.4,177,9765,0.45,0.00,103.50,1.289,6,0.136,0.000,2770,2000,3102,0,0,0,0,0,0
$STATE,9772,end apogee,CONTROL_FINISHED_OK
$STATE,9772,begin climb
$GC,9774,0.57,136.3,642.6,0.0,178,9895,0.62,2.65,112.72,1.251,4,0.068,0.048,3002,3603,2545,0,0,0,0,0,0
$GC,9909,0.57,136.3,621.4,21.2,181,9914,0.00,2.45,0.00,0.000,6,0.000,0.044,3014,2062,2545,0,0,0,0,0,0
$GC,10214,0.57,136.3,554.7,22.0,186,10218,0.00,2.47,0.00,0.000,4,0.000,0.054,3027,435,2543,0,0,0,0,0,0
$GC,10298,0.57,136.3,535.8,19.9,187,10302,0.00,2.38,0.00,0.000,6,0.000,0.041,3027,2033,2543,0,0,0,0,0,0
$GC,10580,0.57,136.3,473.5,22.3,192,10584,0.00,2.38,0.00,0.000,4,0.000,0.050,3027,3610,2542,0,0,0,0,0,0
$GC,10669,0.57,136.3,455.7,16.6,193,10674,0.12,2.42,0.00,0.000,6,0.178,0.049,3004,2027,2542,0,0,0,0,0,0
$GC,10945,0.57,136.3,405.1,18.7,198,10950,0.00,2.38,0.00,0.000,4,0.000,0.054,3015,437,2542,0,0,0,0,0,0
$GC,11017,0.57,136.3,390.6,18.4,199,11022,0.00,2.38,0.00,0.000,6,0.000,0.044,3015,2034,2542,0,0,0,0,0,0
$GC,11318,0.57,136.3,331.4,20.1,204,11322,0.00,2.42,0.00,0.000,4,0.000,0.048,3015,3624,2541,0,0,0,0,0,0
$GC,11367,0.57,136.3,321.2,18.7,204,11371,0.00,2.45,0.00,0.000,6,0.000,0.049,3027,2025,2541,0,0,0,0,0,0
$GC,11622,0.57,136.3,274.3,18.5,209,11626,0.00,2.42,0.00,0.000,4,0.000,0.049,3027,3624,2541,0,0,0,0,0,0
$GC,11648,0.57,136.3,268.7,19.0,209,11653,0.12,2.38,0.00,0.000,6,0.177,0.046,3005,2035,2541,0,0,0,0,0,0
$GC,11919,0.57,136.3,223.7,16.7,214,11924,0.00,2.35,0.00,0.000,4,0.000,0.050,3017,445,2541,0,0,0,0,0,0
$GC,11942,0.57,136.3,219.9,15.7,214,11947,0.00,2.33,0.00,0.000,6,0.000,0.039,3017,2056,2540,0,0,0,0,0,0
$GC,12223,0.57,136.3,174.2,17.4,221,12227,0.00,2.40,0.00,0.000,4,0.000,0.049,3028,443,2540,0,0,0,0,0,0
$GC,12244,0.57,136.3,170.5,14.9,221,12253,0.00,2.33,0.00,0.000,6,0.000,0.038,3029,2025,2541,0,0,0,0,0,0
$GC,12498,0.57,136.3,133.4,14.2,230,12499,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2025,2542,0,0,0,0,0,0
$GC,12743,0.57,136.3,101.0,12.5,238,12747,0.00,2.38,0.00,0.000,4,0.000,0.047,3029,3614,2544,0,0,0,0,0,0
$GC,12781,0.57,136.3,96.3,10.6,239,12786,0.12,2.35,0.00,0.000,6,0.153,0.042,3001,2020,2542,0,0,0,0,0,0
$GC,13052,0.59,194.6,75.5,7.1,248,13103,0.00,2.38,44.00,0.762,4,0.000,0.044,3012,450,2307,0,0,0,0,0,0
$GC,13144,0.60,203.2,67.4,9.5,250,13157,0.00,2.38,8.30,0.635,6,0.000,0.037,3012,2036,2271,0,0,0,0,0,0
$GC,13428,0.60,203.2,38.2,11.2,260,13432,0.00,2.35,0.00,0.000,4,0.000,0.047,3012,3608,2273,0,0,0,0,0,0
$GC,13467,0.60,203.2,33.3,10.1,261,13471,0.00,2.35,0.00,0.000,6,0.000,0.039,3018,2030,2273,0,0,0,0,0,0
$GC,13737,0.60,203.2,6.8,12.1,270,13741,0.00,2.35,0.00,0.000,4,0.000,0.046,3030,449,2277,0,0,0,0,0,0
$STATE,13773,end climb,SURFACE_DEPTH_REACHED
$STATE,13773,begin surface coast
$FINISH,1.2,1.023111
$STATE,13808,end surface coast,CONTROL_FINISHED_OK
$STATE,13808,begin surface
$SM_CCo,13834,36.58,0.656,0,0,1918,290.19
$SM_GC,1.50,0.00,0.00,36.58,0.000,0.000,0.656,107,2313,1918,-8.48,0.34,290.19
$IRIDIUM_FIX,2008.77,-15604.35,111213,090927
$TT8_MAMPS,0.058422
$HUMID,63.58
$INTERNAL_PRESSURE,9.25695
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,23.7,12.476
$10V_AH,10.3,5.400
$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,19.075,158.450,268.525,36.575,0.000,22.883,34.046,259.865,0.000,0.000,36.663,1091.566,10582.944,402.899,2143.650,251.306,33.345,1259.620,0.000,1610.560,0.000,0.542,0.000
$DEVICE_MAMPS,227.205,53.550,1289.025,656.370,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,185.569,322.993,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,143052
$DATA_FILE_SIZE,13663,272
$CAP_FILE_SIZE,132662,0
$CFSIZE,260165632,253345792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111213,172659,2016.481,-15604.063,36,1.3,42,9.8