version: 66.08
glider: 500
mission: 9
dive: 26
start: 12 12 113 3 41 34
data:
$ID,500
$MISSION,9
$DIVE,26
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$D_ABORT,925
$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,300
$T_MISSION,600
$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,-165755.52
$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,2830
$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,2400
$C_ROLL_CLIMB,2031
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,3160
$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,50.0
$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
$GPS1,121213,032607,2015.024,-15604.591,37,1.4,38,9.8
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-80.1
$GPS2,121213,034025,2015.201,-15604.601,13,1.6,13,9.8
$SPEED_LIMITS,0.173,0.252
$TGT_NAME,A2
$TGT_LATLONG,2000.000,-15610.200
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.160,-0.194
$KALMAN_X,17914.7,-831.5,-131.7,-30221.1,2401.3
$KALMAN_Y,33519.3,385.4,-69.9,-21798.2,2083.5
$MHEAD_RNG_PITCHd_Wd,209.8,29791,-18.2,-10.000
$D_GRID,900
$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
$STATE,30,begin dive
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$GC,13938,-0.57,-136.3,835.4,-3.1,251,13943,0.00,2.35,0.00,0.000,4,0.000,0.043,2632,806,3679,0,0,0,0,0,0
$GC,13960,-0.57,-136.3,836.2,-3.1,251,13965,0.00,2.38,0.00,0.000,6,0.000,0.046,2620,2399,3679,0,0,0,0,0,0
$GC,14244,-0.57,-136.3,845.6,-3.3,256,14248,0.00,2.35,0.00,0.000,4,0.000,0.042,2620,793,3677,0,0,0,0,0,0
$GC,14265,-0.57,-136.3,846.5,-3.7,256,14270,0.12,2.40,0.00,0.000,6,0.171,0.045,2642,2404,3679,0,0,0,0,0,0
$GC,14543,-0.57,-136.3,855.2,-3.1,261,14547,0.00,2.35,0.00,0.000,4,0.000,0.044,2642,797,3677,0,0,0,0,0,0
$GC,14564,-0.57,-136.3,855.9,-3.2,261,14568,0.00,2.40,0.00,0.000,6,0.000,0.047,2626,2409,3677,0,0,0,0,0,0
$GC,14841,-0.57,-136.3,866.5,-3.8,266,14842,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2410,3677,0,0,0,0,0,0
$GC,15084,-0.57,-136.3,876.8,-4.3,270,15085,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2410,3677,0,0,0,0,0,0
$GC,15326,-0.57,-136.3,886.9,-4.2,274,15327,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2410,3677,0,0,0,0,0,0
$GC,15568,-0.57,-136.3,896.6,-4.0,278,15572,0.00,2.20,0.00,0.000,4,0.000,0.055,2620,3857,3677,0,0,0,0,0,0
$STATE,15638,end dive,TARGET_DEPTH_EXCEEDED
$STATE,15638,begin apogee
$GC,15647,-0.14,0.0,900.1,4.6,279,15761,0.47,0.00,105.62,1.446,6,0.132,0.000,2778,2015,3158,0,0,0,0,0,0
$STATE,15763,end apogee,CONTROL_FINISHED_OK
$STATE,15763,begin climb
$GC,15766,0.57,136.3,899.4,0.0,281,15890,0.68,2.67,117.00,1.405,4,0.068,0.048,3022,3607,2606,0,0,0,0,0,0
$GC,15942,0.57,136.3,867.4,22.2,283,15947,0.00,2.53,0.00,0.000,6,0.000,0.048,3034,2043,2604,0,0,0,0,0,0
$GC,16209,0.57,136.3,804.9,23.9,288,16213,0.00,2.50,0.00,0.000,4,0.000,0.055,3047,440,2601,0,0,0,0,0,0
$GC,16258,0.57,136.3,791.8,25.7,288,16263,0.12,2.40,0.00,0.000,6,0.184,0.042,3016,2038,2604,0,0,0,0,0,0
$GC,16507,0.57,136.3,736.1,22.4,292,16508,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2038,2603,0,0,0,0,0,0
$GC,16750,0.57,136.3,682.4,22.2,296,16751,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2038,2603,0,0,0,0,0,0
$GC,16992,0.57,136.3,628.7,22.3,300,16996,0.00,2.38,0.00,0.000,4,0.000,0.046,3015,3624,2603,0,0,0,0,0,0
$GC,17013,0.57,136.3,623.5,23.0,300,17017,0.00,2.45,0.00,0.000,6,0.000,0.046,3026,2017,2604,0,0,0,0,0,0
$GC,17290,0.57,136.3,560.1,23.1,305,17295,0.00,2.38,0.00,0.000,4,0.000,0.053,3039,446,2602,0,0,0,0,0,0
$GC,17335,0.57,136.3,549.2,25.8,305,17339,0.00,2.35,0.00,0.000,6,0.000,0.044,3038,2035,2602,0,0,0,0,0,0
$GC,17589,0.57,136.3,489.7,23.5,310,17593,0.00,2.42,0.00,0.000,4,0.000,0.052,3039,3621,2602,0,0,0,0,0,0
$GC,17632,0.57,136.3,479.2,21.0,310,17637,0.12,2.45,0.00,0.000,6,0.187,0.050,3019,2026,2605,0,0,0,0,0,0
$GC,17887,0.57,136.3,426.9,20.8,315,17891,0.00,2.40,0.00,0.000,4,0.000,0.056,3032,446,2602,0,0,0,0,0,0
$GC,17913,0.57,136.3,421.2,19.1,315,17918,0.00,2.33,0.00,0.000,6,0.000,0.041,3029,2033,2602,0,0,0,0,0,0
$GC,18186,0.57,136.3,366.4,20.2,320,18190,0.00,2.38,0.00,0.000,4,0.000,0.051,3029,3612,2602,0,0,0,0,0,0
$GC,18287,0.57,136.3,346.6,16.6,321,18292,0.00,2.42,0.00,0.000,6,0.000,0.048,3041,2019,2602,0,0,0,0,0,0
$GC,18553,0.57,136.3,293.6,20.4,326,18557,0.00,2.40,0.00,0.000,4,0.000,0.050,3041,3614,2602,0,0,0,0,0,0
$GC,18585,0.57,136.3,286.6,20.6,326,18590,0.15,2.40,0.00,0.000,6,0.175,0.047,3012,2029,2602,0,0,0,0,0,0
$GC,18850,0.57,136.3,245.5,15.2,331,18855,0.00,2.38,0.00,0.000,4,0.000,0.051,3023,440,2601,0,0,0,0,0,0
$GC,18866,0.57,136.3,242.9,14.4,331,18871,0.00,2.33,0.00,0.000,6,0.000,0.038,3025,2041,2602,0,0,0,0,0,0
$GC,19149,0.57,136.3,203.0,13.9,336,19154,0.00,2.40,0.00,0.000,4,0.000,0.049,3035,441,2602,0,0,0,0,0,0
$GC,19165,0.57,136.3,200.6,14.2,336,19170,0.00,2.35,0.00,0.000,6,0.000,0.038,3035,2052,2601,0,0,0,0,0,0
$GC,19428,0.57,136.3,160.0,16.2,344,19433,0.00,2.35,0.00,0.000,4,0.000,0.051,3035,3610,2603,0,0,0,0,0,0
$GC,19541,0.57,136.3,142.1,13.1,347,19545,0.12,2.38,0.00,0.000,6,0.175,0.044,3012,2023,2603,0,0,0,0,0,0
$GC,19806,0.57,136.3,109.3,11.7,356,19807,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2022,2605,0,0,0,0,0,0
$GC,20050,0.57,136.3,83.3,10.3,364,20055,0.00,2.33,0.00,0.000,4,0.000,0.046,3023,436,2607,0,0,0,0,0,0
$GC,20106,0.60,191.2,78.0,7.3,365,20156,0.00,2.35,42.25,0.731,6,0.000,0.038,3023,2036,2383,0,0,0,0,0,0
$GC,20427,0.60,191.2,43.7,11.7,376,20431,0.00,2.35,0.00,0.000,4,0.000,0.047,3023,3611,2381,0,0,0,0,0,0
$GC,20472,0.60,193.5,39.0,9.9,377,20481,0.00,2.38,4.12,0.442,6,0.000,0.038,3031,2024,2370,0,0,0,0,0,0
$GC,20736,0.60,193.5,11.9,10.5,386,20740,0.00,2.30,0.00,0.000,4,0.000,0.038,3041,436,2372,0,0,0,0,0,0
$GC,20815,0.60,193.5,4.8,11.7,388,20819,0.00,2.33,0.00,0.000,6,0.000,0.034,3039,2033,2373,0,0,0,0,0,0
$STATE,20857,end climb,SURFACE_DEPTH_REACHED
$STATE,20857,begin surface coast
$FINISH,0.7,1.023076
$STATE,20889,end surface coast,CONTROL_FINISHED_OK
$STATE,20889,begin surface
$SM_CCo,20907,40.30,0.633,0,0,1975,290.19
$SM_GC,1.72,0.00,0.00,40.30,0.000,0.000,0.633,138,2402,1975,-8.40,0.06,290.19
$IRIDIUM_FIX,2008.77,-15606.45,111213,212149
$TT8_MAMPS,0.056924
$HUMID,62.83
$INTERNAL_PRESSURE,9.22765
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,23.3,12.870
$10V_AH,10.3,5.616
$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,19.700,210.875,269.000,40.300,0.000,26.569,34.947,441.556,0.000,0.000,16.398,1493.600,16944.240,430.988,2611.663,339.105,33.355,1448.781,0.000,1831.375,0.000,0.541,0.000
$DEVICE_MAMPS,230.265,55.845,1445.850,633.420,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,269.503,332.885,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,143124
$DATA_FILE_SIZE,20311,391
$CAP_FILE_SIZE,180715,0
$CFSIZE,260165632,252981248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121213,093159,2015.159,-15604.882,36,1.2,36,9.8