version: 66.08
glider: 500
mission: 9
dive: 27
start: 12 12 113 9 46 59
data:
$ID,500
$MISSION,9
$DIVE,27
$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,160
$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,-165756.77
$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,32
$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,2500
$C_ROLL_CLIMB,2031
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,3200
$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,52.0
$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
$GPS1,121213,093159,2015.159,-15604.882,36,1.2,36,9.8
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-76.4
$GPS2,121213,094549,2015.387,-15604.910,13,1.4,13,9.8
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,A2
$TGT_LATLONG,2000.000,-15610.200
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.091,-0.251
$KALMAN_X,18597.8,563.5,140.6,-33110.7,558.6
$KALMAN_Y,37099.7,6.8,502.3,-25237.2,1203.0
$MHEAD_RNG_PITCHd_Wd,190.0,29946,-16.9,-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,31,end surface,CONTROL_FINISHED_OK
$STATE,31,begin dive
$GC,34,-0.59,-155.7,0.0,0.0,0,105,0.00,0.10,-68.45,0.000,6,0.000,0.350,127,2526,3837,0,0,0,0,0,0
$GC,108,-0.59,-155.7,4.1,-9.9,2,123,9.68,1.92,0.00,0.000,4,0.229,0.037,2624,3822,3836,0,0,0,0,0,0
$GC,129,-0.59,-155.7,12.5,-34.8,2,138,0.00,1.98,0.00,0.000,6,0.000,0.029,2624,2484,3836,0,0,0,0,0,0
$GC,383,-0.59,-155.7,69.9,-21.1,11,387,0.00,2.30,0.00,0.000,4,0.000,0.037,2624,912,3837,0,0,0,0,0,0
$GC,517,-0.59,-155.7,94.1,-15.7,15,521,0.00,2.33,0.00,0.000,6,0.000,0.041,2610,2470,3838,0,0,0,0,0,0
$GC,794,-0.59,-155.7,136.1,-15.6,24,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2471,3838,0,0,0,0,0,0
$GC,1038,-0.59,-155.7,171.6,-14.4,32,1042,0.00,2.08,0.00,0.000,4,0.000,0.047,2606,3856,3839,0,0,0,0,0,0
$GC,1083,-0.59,-155.7,178.6,-14.7,33,1088,0.10,2.00,0.00,0.000,6,0.142,0.033,2653,2504,3840,0,0,0,0,0,0
$GC,1382,-0.59,-155.7,208.5,-9.3,42,1383,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2504,3840,0,0,0,0,0,0
$GC,1624,-0.59,-155.7,230.9,-9.2,46,1628,0.00,2.30,0.00,0.000,4,0.000,0.037,2656,908,3840,0,0,0,0,0,0
$GC,1755,-0.59,-155.7,244.0,-9.7,48,1759,0.00,2.33,0.00,0.000,6,0.000,0.040,2642,2510,3839,0,0,0,0,0,0
$GC,2066,-0.59,-155.7,270.7,-8.7,53,2069,0.00,1.98,0.00,0.000,4,0.000,0.047,2632,3837,3840,0,0,0,0,0,0
$GC,2110,-0.59,-155.7,275.1,-9.4,53,2114,0.00,1.92,0.00,0.000,6,0.000,0.031,2632,2490,3839,0,0,0,0,0,0
$GC,2376,-0.59,-155.7,299.8,-9.4,58,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2489,3838,0,0,0,0,0,0
$GC,2618,-0.59,-155.7,321.4,-8.9,62,2622,0.00,2.30,0.00,0.000,4,0.000,0.037,2632,905,3837,0,0,0,0,0,0
$GC,2651,-0.59,-155.7,324.4,-9.0,62,2655,0.00,2.30,0.00,0.000,6,0.000,0.041,2624,2499,3836,0,0,0,0,0,0
$GC,2919,-0.59,-155.7,348.8,-9.3,67,2923,0.00,2.03,0.00,0.000,4,0.000,0.048,2610,3841,3835,0,0,0,0,0,0
$GC,3014,-0.59,-155.7,358.9,-9.8,68,3018,0.00,1.95,0.00,0.000,6,0.000,0.033,2609,2500,3837,0,0,0,0,0,0
$GC,3297,-0.59,-155.7,387.7,-10.3,73,3301,0.10,2.03,0.00,0.000,4,0.182,0.049,2628,3838,3835,0,0,0,0,0,0
$GC,3374,-0.59,-155.7,395.7,-10.0,74,3378,0.00,1.95,0.00,0.000,6,0.000,0.032,2627,2500,3832,0,0,0,0,0,0
$GC,3669,-0.59,-155.7,418.4,-7.6,79,3673,0.00,2.00,0.00,0.000,4,0.000,0.048,2617,3844,3830,0,0,0,0,0,0
$GC,3713,-0.59,-155.7,422.3,-9.0,79,3716,0.00,1.92,0.00,0.000,6,0.000,0.034,2622,2505,3827,0,0,0,0,0,0
$GC,3979,-0.59,-155.7,443.4,-7.9,84,3983,0.00,2.30,0.00,0.000,4,0.000,0.040,2617,901,3827,0,0,0,0,0,0
$GC,4045,-0.59,-155.7,449.3,-8.7,85,4050,0.12,2.33,0.00,0.000,6,0.166,0.043,2639,2501,3827,0,0,0,0,0,0
$GC,4345,-0.59,-155.7,470.0,-6.8,90,4349,0.00,2.00,0.00,0.000,4,0.000,0.051,2630,3844,3825,0,0,0,0,0,0
$GC,4468,-0.59,-155.7,479.3,-7.2,91,4472,0.00,1.95,0.00,0.000,6,0.000,0.034,2630,2490,3823,0,0,0,0,0,0
$GC,4723,-0.59,-155.7,495.3,-6.3,96,4727,0.00,2.30,0.00,0.000,4,0.000,0.039,2630,902,3821,0,0,0,0,0,0
$GC,4739,-0.59,-155.7,496.4,-6.2,96,4743,0.00,2.35,0.00,0.000,6,0.000,0.041,2618,2514,3820,0,0,0,0,0,0
$GC,5022,-0.59,-155.7,514.7,-6.4,101,5026,0.00,2.33,0.00,0.000,4,0.000,0.039,2619,913,3817,0,0,0,0,0,0
$GC,5043,-0.59,-155.7,516.5,-7.5,101,5048,0.12,2.33,0.00,0.000,6,0.171,0.041,2641,2508,3819,0,0,0,0,0,0
$GC,5326,-0.59,-155.7,535.9,-6.8,106,5330,0.00,2.33,0.00,0.000,4,0.000,0.040,2646,909,3817,0,0,0,0,0,0
$GC,5353,-0.59,-155.7,538.1,-7.8,106,5357,0.00,2.33,0.00,0.000,6,0.000,0.043,2631,2497,3817,0,0,0,0,0,0
$GC,5624,-0.59,-155.7,559.2,-7.8,111,5629,0.00,2.35,0.00,0.000,4,0.000,0.041,2630,904,3817,0,0,0,0,0,0
$GC,5663,-0.59,-155.7,562.3,-7.4,111,5667,0.00,2.35,0.00,0.000,6,0.000,0.044,2619,2515,3814,0,0,0,0,0,0
$GC,5923,-0.59,-155.7,580.6,-7.0,116,5927,0.00,2.33,0.00,0.000,4,0.000,0.040,2619,911,3813,0,0,0,0,0,0
$GC,5956,-0.59,-155.7,583.1,-7.1,116,5961,0.12,2.33,0.00,0.000,6,0.168,0.044,2641,2497,3812,0,0,0,0,0,0
$GC,6228,-0.59,-155.7,597.5,-5.2,121,6232,0.00,2.30,0.00,0.000,4,0.000,0.041,2641,914,3812,0,0,0,0,0,0
$GC,6244,-0.59,-155.7,598.4,-5.0,121,6248,0.00,2.33,0.00,0.000,6,0.000,0.044,2631,2505,3812,0,0,0,0,0,0
$GC,6526,-0.59,-155.7,613.2,-5.2,126,6530,0.00,2.33,0.00,0.000,4,0.000,0.041,2631,909,3810,0,0,0,0,0,0
$GC,6554,-0.59,-155.7,614.9,-5.7,126,6558,0.00,2.35,0.00,0.000,6,0.000,0.044,2619,2501,3810,0,0,0,0,0,0
$GC,6831,-0.59,-155.7,631.9,-6.2,131,6835,0.00,2.35,0.00,0.000,4,0.000,0.041,2619,907,3807,0,0,0,0,0,0
$GC,6858,-0.59,-155.7,634.0,-7.6,131,6863,0.12,2.35,0.00,0.000,6,0.172,0.044,2641,2508,3806,0,0,0,0,0,0
$GC,7130,-0.59,-155.7,651.8,-6.5,136,7134,0.00,2.33,0.00,0.000,4,0.000,0.041,2641,908,3806,0,0,0,0,0,0
$GC,7157,-0.59,-155.7,654.0,-8.1,136,7161,0.00,2.35,0.00,0.000,6,0.000,0.045,2631,2510,3806,0,0,0,0,0,0
$GC,7428,-0.59,-155.7,674.3,-7.5,141,7432,0.00,2.03,0.00,0.000,4,0.000,0.054,2621,3847,3805,0,0,0,0,0,0
$GC,7468,-0.59,-155.7,677.2,-7.5,141,7472,0.00,1.98,0.00,0.000,6,0.000,0.037,2621,2497,3803,0,0,0,0,0,0
$GC,7740,-0.59,-155.7,695.6,-6.7,146,7744,0.00,2.30,0.00,0.000,4,0.000,0.041,2621,912,3804,0,0,0,0,0,0
$GC,7779,-0.59,-155.7,698.3,-6.4,146,7783,0.00,2.35,0.00,0.000,6,0.000,0.046,2609,2497,3802,0,0,0,0,0,0
$GC,8039,-0.59,-155.7,714.6,-6.2,151,8044,0.10,2.35,0.00,0.000,4,0.177,0.042,2636,906,3802,0,0,0,0,0,0
$GC,8072,-0.59,-155.7,716.6,-5.5,151,8076,0.00,2.38,0.00,0.000,6,0.000,0.045,2626,2513,3802,0,0,0,0,0,0
$GC,8343,-0.59,-155.7,730.4,-5.1,156,8344,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2511,3801,0,0,0,0,0,0
$GC,8586,-0.59,-155.7,742.2,-4.8,160,8590,0.00,2.38,0.00,0.000,4,0.000,0.041,2626,893,3801,0,0,0,0,0,0
$GC,8635,-0.59,-155.7,744.8,-5.2,160,8640,0.00,2.38,0.00,0.000,6,0.000,0.045,2614,2503,3801,0,0,0,0,0,0
$GC,8885,-0.59,-155.7,758.0,-5.4,164,8889,0.00,2.33,0.00,0.000,4,0.000,0.041,2614,907,3800,0,0,0,0,0,0
$GC,8923,-0.59,-155.7,760.4,-6.0,164,8928,0.12,2.35,0.00,0.000,6,0.171,0.044,2636,2508,3800,0,0,0,0,0,0
$GC,9184,-0.59,-155.7,772.1,-4.5,169,9188,0.00,2.35,0.00,0.000,4,0.000,0.041,2637,900,3802,0,0,0,0,0,0
$GC,9199,-0.59,-155.7,773.0,-4.8,169,9203,0.00,2.35,0.00,0.000,6,0.000,0.045,2626,2501,3797,0,0,0,0,0,0
$GC,9482,-0.59,-155.7,788.3,-5.5,174,9484,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2501,3798,0,0,0,0,0,0
$GC,9725,-0.59,-155.7,802.2,-5.7,178,9728,0.00,2.05,0.00,0.000,4,0.000,0.055,2616,3842,3800,0,0,0,0,0,0
$GC,9741,-0.59,-155.7,803.3,-5.9,178,9745,0.00,2.00,0.00,0.000,6,0.000,0.037,2616,2496,3797,0,0,0,0,0,0
$GC,10036,-0.59,-155.7,821.5,-6.2,183,10040,0.00,2.30,0.00,0.000,4,0.000,0.042,2616,908,3795,0,0,0,0,0,0
$GC,10057,-0.59,-155.7,823.2,-6.9,183,10062,0.12,2.35,0.00,0.000,6,0.169,0.045,2638,2508,3796,0,0,0,0,0,0
$GC,10335,-0.59,-155.7,838.6,-5.6,188,10336,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2508,3796,0,0,0,0,0,0
$GC,10577,-0.59,-155.7,851.9,-5.5,192,10579,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2508,3797,0,0,0,0,0,0
$GC,10819,-0.59,-155.7,866.1,-5.9,196,10821,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2508,3795,0,0,0,0,0,0
$GC,11062,-0.59,-155.7,878.6,-5.1,200,11066,0.00,2.33,0.00,0.000,4,0.000,0.041,2638,915,3794,0,0,0,0,0,0
$GC,11089,-0.59,-155.7,880.1,-5.5,200,11093,0.00,2.35,0.00,0.000,6,0.000,0.046,2628,2497,3797,0,0,0,0,0,0
$GC,11360,-0.59,-155.7,894.2,-5.2,205,11361,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2498,3793,0,0,0,0,0,0
$STATE,11479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11479,begin apogee
$GC,11486,-0.16,0.0,900.1,5.0,207,11614,0.43,0.00,120.75,1.438,6,0.122,0.000,2780,2016,3201,0,0,0,0,0,0
$STATE,11621,end apogee,CONTROL_FINISHED_OK
$STATE,11621,begin climb
$GC,11623,0.59,155.7,898.8,0.0,209,11764,0.65,2.70,132.68,1.404,4,0.067,0.048,3020,3640,2567,0,0,0,0,0,0
$GC,11820,0.59,155.7,861.2,23.0,211,11827,0.00,2.55,0.00,0.000,6,0.000,0.047,3037,2059,2564,0,0,0,0,0,0
$GC,12069,0.59,155.7,797.3,25.9,216,12074,0.00,2.53,0.00,0.000,4,0.000,0.054,3045,436,2564,0,0,0,0,0,0
$GC,12108,0.59,155.7,785.6,29.5,216,12113,0.00,2.42,0.00,0.000,6,0.000,0.041,3045,2042,2564,0,0,0,0,0,0
$GC,12368,0.59,155.7,712.9,28.2,221,12373,0.00,2.42,0.00,0.000,4,0.000,0.050,3045,3614,2566,0,0,0,0,0,0
$GC,12424,0.59,155.7,697.3,24.6,221,12431,0.15,2.47,0.00,0.000,6,0.177,0.051,3017,2021,2562,0,0,0,0,0,0
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$STATE,16397,end climb,SURFACE_DEPTH_REACHED
$STATE,16397,begin surface coast
$FINISH,0.8,1.002227
$STATE,16428,end surface coast,CONTROL_FINISHED_OK
$STATE,16428,begin surface
$SM_CCo,16452,31.65,0.622,0,0,2017,290.43
$SM_GC,1.37,0.00,0.00,31.65,0.000,0.000,0.622,113,2528,2017,-8.49,0.79,290.43
$IRIDIUM_FIX,2008.77,-15606.45,121213,030343
$TT8_MAMPS,0.058422
$HUMID,62.04
$INTERNAL_PRESSURE,9.23742
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,23.4,13.015
$10V_AH,10.3,5.680
$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
$DEVICE_SECS,19.525,198.100,299.975,31.650,0.000,23.817,34.672,407.514,0.000,0.000,15.593,1193.970,13221.771,423.303,2184.733,304.920,33.356,1280.059,0.000,1438.826,0.000,0.541,0.000
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$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,214.107,306.514,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,143040
$DATA_FILE_SIZE,16991,312
$CAP_FILE_SIZE,153967,0
$CFSIZE,260165632,252895232
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121213,142300,2014.604,-15604.954,37,1.1,37,9.8