version: 66.08
glider: 500
mission: 9
dive: 24
start: 12 11 113 17 40 44
data:
$ID,500
$MISSION,9
$DIVE,24
$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,-165752.91
$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,39
$R_STBD_OVSHOOT,47
$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,46.0
$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
$GPS1,111213,172659,2016.481,-15604.063,36,1.3,42,9.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-76.0
$GPS2,111213,173935,2016.606,-15604.090,14,2.0,24,9.8
$SPEED_LIMITS,0.172,0.251
$TGT_NAME,A2
$TGT_LATLONG,2000.000,-15610.200
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.013,-0.251
$KALMAN_X,16507.5,91.6,42.2,-29017.8,-89.9
$KALMAN_Y,28838.3,-222.1,84.4,-14042.2,3813.3
$MHEAD_RNG_PITCHd_Wd,167.2,32540,-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,30,end surface,CONTROL_FINISHED_OK
$STATE,30,begin dive
$GC,32,-0.57,-136.3,0.0,0.0,0,101,0.00,0.00,-65.25,0.000,6,0.000,0.000,107,2310,3656,0,0,0,0,0,0
$GC,104,-0.57,-136.3,2.9,-5.1,2,123,9.68,2.42,0.00,0.000,4,0.227,0.031,2641,689,3655,0,0,0,0,0,0
$GC,280,-0.57,-136.3,37.9,-16.9,7,284,0.00,2.33,0.00,0.000,6,0.000,0.039,2631,2297,3655,0,0,0,0,0,0
$GC,540,-0.57,-136.3,85.4,-18.6,16,544,0.00,2.30,0.00,0.000,4,0.000,0.044,2619,3845,3658,0,0,0,0,0,0
$GC,578,-0.57,-136.3,92.0,-14.9,17,582,0.00,2.25,0.00,0.000,6,0.000,0.034,2619,2294,3658,0,0,0,0,0,0
$GC,849,-0.57,-136.3,123.4,-10.5,26,853,0.00,2.35,0.00,0.000,4,0.000,0.045,2607,3854,3659,0,0,0,0,0,0
$GC,1107,-0.57,-136.3,152.7,-10.5,33,1117,0.08,2.30,0.00,0.000,6,0.146,0.031,2632,2277,3659,0,0,0,0,0,0
$GC,1361,-0.57,-136.3,177.3,-10.3,42,1365,0.00,2.20,0.00,0.000,4,0.000,0.036,2634,722,3660,0,0,0,0,0,0
$GC,1376,-0.57,-136.3,179.2,-10.0,42,1380,0.00,2.28,0.00,0.000,6,0.000,0.039,2622,2303,3658,0,0,0,0,0,0
$GC,1636,-0.57,-136.3,200.5,-8.3,51,1640,0.00,2.28,0.00,0.000,4,0.000,0.046,2610,3837,3660,0,0,0,0,0,0
$GC,1692,-0.57,-136.3,205.3,-8.4,51,1699,0.00,2.20,0.00,0.000,6,0.000,0.032,2610,2295,3660,0,0,0,0,0,0
$GC,1941,-0.57,-136.3,226.0,-8.4,56,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2294,3660,0,0,0,0,0,0
$GC,2184,-0.57,-136.3,247.5,-8.9,60,2188,0.00,2.33,0.00,0.000,4,0.000,0.047,2598,3844,3660,0,0,0,0,0,0
$GC,2424,-0.57,-136.3,267.7,-7.8,63,2429,0.12,2.20,0.00,0.000,6,0.170,0.032,2632,2297,3659,0,0,0,0,0,0
$GC,2685,-0.57,-136.3,282.6,-5.7,68,2689,0.00,2.33,0.00,0.000,4,0.000,0.046,2622,3850,3659,0,0,0,0,0,0
$GC,2943,-0.57,-136.3,302.3,-6.5,71,2949,0.00,2.22,0.00,0.000,6,0.000,0.031,2622,2297,3657,0,0,0,0,0,0
$GC,3192,-0.57,-136.3,317.7,-6.1,76,3196,0.00,2.33,0.00,0.000,4,0.000,0.047,2611,3846,3656,0,0,0,0,0,0
$GC,3450,-0.57,-136.3,334.3,-5.6,79,3456,0.00,2.22,0.00,0.000,6,0.000,0.033,2611,2301,3658,0,0,0,0,0,0
$GC,3699,-0.57,-136.3,348.2,-5.6,84,3700,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2300,3654,0,0,0,0,0,0
$GC,3941,-0.57,-136.3,361.5,-5.4,88,3946,0.00,2.35,0.00,0.000,4,0.000,0.049,2601,3841,3652,0,0,0,0,0,0
$GC,4199,-0.57,-136.3,380.6,-7.7,91,4207,0.12,2.20,0.00,0.000,6,0.169,0.033,2632,2299,3652,0,0,0,0,0,0
$GC,4449,-0.57,-136.3,393.9,-5.4,96,4453,0.00,2.30,0.00,0.000,4,0.000,0.049,2623,3841,3647,0,0,0,0,0,0
$GC,4498,-0.57,-136.3,396.9,-6.1,96,4502,0.00,2.22,0.00,0.000,6,0.000,0.034,2622,2298,3648,0,0,0,0,0,0
$GC,4748,-0.57,-136.3,411.6,-5.9,100,4752,0.00,2.30,0.00,0.000,4,0.000,0.048,2608,3840,3644,0,0,0,0,0,0
$GC,4781,-0.57,-136.3,413.7,-6.2,100,4785,0.00,2.25,0.00,0.000,6,0.000,0.034,2610,2296,3646,0,0,0,0,0,0
$GC,5047,-0.57,-136.3,428.5,-5.5,105,5051,0.00,2.28,0.00,0.000,4,0.000,0.048,2598,3834,3643,0,0,0,0,0,0
$GC,5063,-0.57,-136.3,429.5,-5.3,105,5068,0.12,2.22,0.00,0.000,6,0.166,0.034,2633,2288,3644,0,0,0,0,0,0
$GC,5345,-0.57,-136.3,441.4,-4.1,110,5349,0.00,2.25,0.00,0.000,4,0.000,0.039,2634,707,3642,0,0,0,0,0,0
$GC,5362,-0.57,-136.3,442.3,-4.3,110,5366,0.00,2.30,0.00,0.000,6,0.000,0.041,2624,2307,3641,0,0,0,0,0,0
$GC,5644,-0.57,-136.3,455.7,-4.8,115,5648,0.00,2.28,0.00,0.000,4,0.000,0.051,2610,3847,3640,0,0,0,0,0,0
$GC,5677,-0.57,-136.3,457.5,-5.7,115,5682,0.00,2.28,0.00,0.000,6,0.000,0.036,2611,2290,3640,0,0,0,0,0,0
$GC,5944,-0.57,-136.3,472.0,-5.5,120,5948,0.00,2.25,0.00,0.000,4,0.000,0.039,2611,706,3639,0,0,0,0,0,0
$GC,5965,-0.57,-136.3,473.5,-6.5,120,5970,0.12,2.30,0.00,0.000,6,0.181,0.041,2633,2308,3640,0,0,0,0,0,0
$GC,6242,-0.57,-136.3,488.6,-5.5,125,6243,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2306,3637,0,0,0,0,0,0
$GC,6485,-0.57,-136.3,500.5,-4.9,129,6489,0.00,2.28,0.00,0.000,4,0.000,0.051,2623,3844,3636,0,0,0,0,0,0
$GC,6540,-0.57,-136.3,503.7,-5.8,129,6546,0.00,2.25,0.00,0.000,6,0.000,0.035,2622,2290,3637,0,0,0,0,0,0
$GC,6789,-0.57,-136.3,514.7,-4.4,134,6793,0.00,2.35,0.00,0.000,4,0.000,0.050,2610,3841,3634,0,0,0,0,0,0
$GC,6953,-0.57,-136.3,523.3,-5.6,136,6957,0.00,2.25,0.00,0.000,6,0.000,0.035,2610,2288,3633,0,0,0,0,0,0
$GC,7224,-0.57,-136.3,537.8,-5.4,141,7228,0.00,2.33,0.00,0.000,4,0.000,0.050,2598,3839,3632,0,0,0,0,0,0
$GC,7341,-0.57,-136.3,545.4,-6.7,142,7346,0.15,2.22,0.00,0.000,6,0.158,0.034,2641,2297,3631,0,0,0,0,0,0
$GC,7590,-0.57,-136.3,556.9,-4.6,146,7594,0.00,2.33,0.00,0.000,4,0.000,0.052,2631,3837,3630,0,0,0,0,0,0
$GC,7684,-0.57,-136.3,561.0,-4.7,147,7689,0.00,2.28,0.00,0.000,6,0.000,0.037,2635,2297,3630,0,0,0,0,0,0
$GC,7957,-0.57,-136.3,570.8,-3.6,152,7961,0.00,2.30,0.00,0.000,4,0.000,0.041,2630,711,3630,0,0,0,0,0,0
$GC,7973,-0.57,-136.3,571.5,-3.5,152,7977,0.00,2.30,0.00,0.000,6,0.000,0.043,2619,2308,3630,0,0,0,0,0,0
$GC,8255,-0.57,-136.3,581.3,-3.4,157,8259,0.00,2.30,0.00,0.000,4,0.000,0.052,2607,3835,3628,0,0,0,0,0,0
$GC,8345,-0.57,-136.3,585.5,-4.7,158,8349,0.00,2.22,0.00,0.000,6,0.000,0.035,2604,2297,3626,0,0,0,0,0,0
$GC,8623,-0.57,-136.3,597.5,-4.3,163,8627,0.00,2.33,0.00,0.000,4,0.000,0.051,2595,3832,3627,0,0,0,0,0,0
$GC,8880,-0.57,-136.3,610.5,-5.0,166,8888,0.12,2.25,0.00,0.000,6,0.166,0.034,2631,2296,3626,0,0,0,0,0,0
$GC,9130,-0.57,-136.3,620.3,-3.9,171,9134,0.00,2.35,0.00,0.000,4,0.000,0.052,2621,3842,3625,0,0,0,0,0,0
$GC,9253,-0.57,-136.3,626.1,-5.3,172,9259,0.00,2.25,0.00,0.000,6,0.000,0.035,2621,2295,3625,0,0,0,0,0,0
$GC,9502,-0.57,-136.3,636.3,-4.2,177,9506,0.00,2.28,0.00,0.000,4,0.000,0.041,2621,710,3624,0,0,0,0,0,0
$GC,9517,-0.57,-136.3,637.1,-4.2,177,9522,0.00,2.30,0.00,0.000,6,0.000,0.044,2609,2294,3623,0,0,0,0,0,0
$STATE,9616,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9616,begin apogee
$GC,9623,-0.14,0.0,641.7,4.7,179,9734,0.47,0.00,103.65,1.271,6,0.132,0.000,2769,2006,3100,0,0,0,0,0,0
$STATE,9741,end apogee,CONTROL_FINISHED_OK
$STATE,9741,begin climb
$GC,9743,0.57,136.3,641.2,0.0,180,9863,0.62,2.65,111.82,1.233,4,0.063,0.049,3009,3610,2545,0,0,0,0,0,0
$GC,9887,0.57,136.3,618.4,22.2,183,9891,0.00,2.45,0.00,0.000,6,0.000,0.044,3020,2061,2544,0,0,0,0,0,0
$GC,10187,0.57,136.3,554.9,21.6,188,10192,0.00,2.47,0.00,0.000,4,0.000,0.053,3033,445,2543,0,0,0,0,0,0
$GC,10237,0.57,136.3,542.9,23.9,188,10241,0.00,2.40,0.00,0.000,6,0.000,0.041,3033,2039,2542,0,0,0,0,0,0
$GC,10486,0.57,136.3,486.4,23.0,192,10491,0.10,2.40,0.00,0.000,4,0.218,0.049,3008,3620,2542,0,0,0,0,0,0
$GC,10554,0.57,136.3,472.1,18.8,193,10558,0.00,2.45,0.00,0.000,6,0.000,0.049,3020,2025,2542,0,0,0,0,0,0
$GC,10853,0.57,136.3,414.1,19.5,198,10857,0.00,2.38,0.00,0.000,4,0.000,0.053,3032,437,2539,0,0,0,0,0,0
$GC,10915,0.57,136.3,401.8,19.3,199,10919,0.00,2.35,0.00,0.000,6,0.000,0.043,3032,2033,2539,0,0,0,0,0,0
$GC,11220,0.57,136.3,341.2,20.2,204,11221,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2034,2541,0,0,0,0,0,0
$GC,11462,0.57,136.3,294.4,19.2,208,11466,0.00,2.42,0.00,0.000,4,0.000,0.048,3032,3619,2540,0,0,0,0,0,0
$GC,11483,0.57,136.3,289.8,20.1,208,11488,0.15,2.40,0.00,0.000,6,0.186,0.044,3003,2017,2540,0,0,0,0,0,0
$GC,11760,0.57,136.3,241.4,17.6,213,11764,0.00,2.35,0.00,0.000,4,0.000,0.051,3014,450,2543,0,0,0,0,0,0
$GC,11822,0.57,136.3,231.2,14.0,214,11826,0.00,2.33,0.00,0.000,6,0.000,0.041,3014,2034,2540,0,0,0,0,0,0
$GC,12099,0.57,136.3,190.1,14.9,219,12103,0.00,2.38,0.00,0.000,4,0.000,0.051,3014,3615,2538,0,0,0,0,0,0
$GC,12197,0.57,136.3,176.6,12.9,222,12201,0.00,2.38,0.00,0.000,6,0.000,0.043,3026,2025,2540,0,0,0,0,0,0
$GC,12479,0.57,136.3,137.1,14.0,231,12483,0.00,2.33,0.00,0.000,4,0.000,0.047,3040,445,2540,0,0,0,0,0,0
$GC,12545,0.57,136.3,127.1,12.1,233,12550,0.12,2.30,0.00,0.000,6,0.156,0.041,3002,2037,2540,0,0,0,0,0,0
$GC,12822,0.57,136.3,96.5,10.7,242,12826,0.00,2.35,0.00,0.000,4,0.000,0.047,3002,3612,2542,0,0,0,0,0,0
$GC,12878,0.57,141.8,90.3,9.7,243,12888,0.00,2.38,5.60,0.559,6,0.000,0.039,3010,2018,2522,0,0,0,0,0,0
$GC,13132,0.58,150.6,66.7,9.5,252,13146,0.00,2.38,8.80,0.632,4,0.000,0.046,3026,449,2485,0,0,0,0,0,0
$GC,13261,0.60,204.9,56.7,7.3,255,13307,0.00,2.33,41.00,0.736,6,0.000,0.038,3021,2032,2264,0,0,0,0,0,0
$GC,13580,0.60,204.9,22.1,12.0,266,13581,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2032,2266,0,0,0,0,0,0
$STATE,13760,end climb,SURFACE_DEPTH_REACHED
$STATE,13760,begin surface coast
$FINISH,0.7,1.009302
$STATE,13791,end surface coast,CONTROL_FINISHED_OK
$STATE,13791,begin surface
$SM_CCo,13815,35.72,0.652,0,0,1915,290.19
$SM_GC,1.63,0.00,0.00,35.72,0.000,0.000,0.652,132,2319,1915,-8.40,0.54,290.19
$IRIDIUM_FIX,2008.77,-15601.32,111213,131324
$TT8_MAMPS,0.058422
$HUMID,64.60
$INTERNAL_PRESSURE,9.26672
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,23.7,12.596
$10V_AH,10.3,5.464
$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,19.175,158.050,270.875,35.725,0.000,23.237,35.588,379.583,0.000,0.000,26.713,1086.604,10553.385,403.495,2319.566,263.754,33.374,1259.055,0.000,1622.167,0.000,0.541,0.000
$DEVICE_MAMPS,227.205,52.785,1270.665,651.780,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,185.918,349.367,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,143140
$DATA_FILE_SIZE,13621,273
$CAP_FILE_SIZE,135198,0
$CFSIZE,260165632,253243392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,111213,213323,2015.703,-15604.154,67,1.2,68,9.8