version: 66.08
glider: 500
mission: 9
dive: 28
start: 12 12 113 14 45 41
data:
$ID,500
$MISSION,9
$DIVE,28
$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,-165758.02
$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,2828
$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,60
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,3300
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00079999998
$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,54.0
$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
$GPS1,121213,142300,2014.604,-15604.954,37,1.1,37,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-82.4
$GPS2,121213,144431,2014.931,-15604.813,13,1.1,13,9.8
$SPEED_LIMITS,0.173,0.267
$TGT_NAME,A2
$TGT_LATLONG,2000.000,-15610.200
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.001,-0.267
$KALMAN_X,19862.5,1096.6,108.8,-34718.1,-528.8
$KALMAN_Y,40918.0,401.3,-84.0,-29714.6,3277.8
$MHEAD_RNG_PITCHd_Wd,170.1,29197,-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,30,end surface,CONTROL_FINISHED_OK
$STATE,30,begin dive
$GC,33,-0.65,-155.7,0.0,0.0,0,104,0.00,0.00,-68.88,0.000,2,0.000,0.000,118,2529,3898,0,0,0,0,0,0
$GC,107,-0.65,-155.7,4.2,-10.1,2,121,9.65,0.00,-0.73,0.000,6,0.229,0.000,2610,2530,3931,0,0,0,0,0,0
$GC,381,-0.65,-155.7,73.1,-22.6,11,382,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2530,3934,0,0,0,0,0,0
$GC,626,-0.65,-155.7,119.7,-16.6,19,629,0.00,1.92,0.00,0.000,4,0.000,0.043,2601,3829,3934,0,0,0,0,0,0
$GC,687,-0.65,-155.7,129.9,-15.5,20,696,0.00,1.98,0.00,0.000,6,0.000,0.034,2601,2500,3933,0,0,0,0,0,0
$GC,941,-0.65,-155.7,172.7,-16.8,29,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2503,3934,0,0,0,0,0,0
$GC,1183,-0.65,-155.7,210.8,-15.6,36,1187,0.00,1.98,0.00,0.000,4,0.000,0.045,2591,3826,3934,0,0,0,0,0,0
$GC,1336,-0.65,-155.7,231.3,-12.6,38,1339,0.00,1.90,0.00,0.000,6,0.000,0.033,2591,2494,3934,0,0,0,0,0,0
$GC,1629,-0.65,-155.7,269.2,-12.6,43,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2492,3934,0,0,0,0,0,0
$GC,1872,-0.65,-155.7,297.3,-11.7,47,1875,0.00,1.95,0.00,0.000,4,0.000,0.044,2580,3823,3934,0,0,0,0,0,0
$GC,1899,-0.65,-155.7,300.6,-11.6,47,1904,0.12,1.92,0.00,0.000,6,0.164,0.032,2615,2488,3933,0,0,0,0,0,0
$GC,2182,-0.65,-155.7,329.3,-10.2,52,2186,0.00,2.25,0.00,0.000,4,0.000,0.037,2616,906,3933,0,0,0,0,0,0
$GC,2198,-0.65,-155.7,330.9,-9.4,52,2202,0.00,2.25,0.00,0.000,6,0.000,0.037,2605,2484,3933,0,0,0,0,0,0
$GC,2486,-0.65,-155.7,362.3,-11.1,57,2489,0.00,2.03,0.00,0.000,4,0.000,0.047,2595,3849,3930,0,0,0,0,0,0
$GC,2625,-0.65,-155.7,380.4,-13.0,59,2629,0.00,2.00,0.00,0.000,6,0.000,0.034,2594,2497,3930,0,0,0,0,0,0
$GC,2931,-0.65,-155.7,413.6,-10.7,64,2932,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2496,3928,0,0,0,0,0,0
$GC,3174,-0.65,-155.7,433.6,-8.2,68,3175,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2496,3929,0,0,0,0,0,0
$GC,3416,-0.65,-155.7,456.8,-9.6,72,3420,0.00,2.30,0.00,0.000,4,0.000,0.038,2595,911,3924,0,0,0,0,0,0
$GC,3431,-0.65,-155.7,458.7,-10.6,72,3436,0.08,2.33,0.00,0.000,6,0.158,0.037,2608,2499,3924,0,0,0,0,0,0
$GC,3720,-0.65,-155.7,486.9,-9.7,77,3724,0.00,2.33,0.00,0.000,4,0.000,0.038,2609,910,3922,0,0,0,0,0,0
$GC,3741,-0.65,-155.7,489.2,-10.0,77,3745,0.00,2.30,0.00,0.000,6,0.000,0.041,2598,2500,3921,0,0,0,0,0,0
$GC,4030,-0.65,-155.7,517.1,-9.6,82,4034,0.00,2.35,0.00,0.000,4,0.000,0.040,2598,909,3918,0,0,0,0,0,0
$GC,4086,-0.65,-155.7,523.0,-9.8,82,4093,0.12,2.33,0.00,0.000,6,0.169,0.042,2620,2508,3917,0,0,0,0,0,0
$GC,4335,-0.65,-155.7,543.3,-8.1,87,4339,0.00,2.35,0.00,0.000,4,0.000,0.038,2620,900,3916,0,0,0,0,0,0
$GC,4363,-0.65,-155.7,545.7,-8.6,87,4367,0.00,2.33,0.00,0.000,6,0.000,0.043,2610,2504,3915,0,0,0,0,0,0
$GC,4636,-0.65,-155.7,568.1,-8.3,92,4637,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2504,3912,0,0,0,0,0,0
$GC,4876,-0.65,-155.7,587.8,-8.1,96,4880,0.00,2.03,0.00,0.000,4,0.000,0.051,2599,3855,3911,0,0,0,0,0,0
$GC,4904,-0.65,-155.7,590.4,-9.1,96,4908,0.00,2.00,0.00,0.000,6,0.000,0.036,2599,2494,3914,0,0,0,0,0,0
$GC,5187,-0.65,-155.7,615.5,-8.9,101,5191,0.00,2.30,0.00,0.000,4,0.000,0.040,2599,911,3909,0,0,0,0,0,0
$GC,5208,-0.65,-155.7,617.7,-9.8,101,5213,0.12,2.33,0.00,0.000,6,0.171,0.042,2621,2504,3909,0,0,0,0,0,0
$GC,5486,-0.65,-155.7,639.4,-7.8,106,5490,0.00,2.35,0.00,0.000,4,0.000,0.040,2622,908,3910,0,0,0,0,0,0
$GC,5535,-0.65,-155.7,643.7,-7.9,106,5539,0.00,2.33,0.00,0.000,6,0.000,0.043,2611,2504,3907,0,0,0,0,0,0
$GC,5785,-0.65,-155.7,662.8,-7.7,110,5789,0.00,2.33,0.00,0.000,4,0.000,0.041,2611,912,3905,0,0,0,0,0,0
$GC,5818,-0.65,-155.7,665.5,-7.9,110,5822,0.00,2.33,0.00,0.000,6,0.000,0.044,2599,2506,3902,0,0,0,0,0,0
$GC,6089,-0.65,-155.7,688.8,-8.7,115,6090,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2507,3903,0,0,0,0,0,0
$GC,6332,-0.65,-155.7,711.1,-9.2,119,6333,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2506,3901,0,0,0,0,0,0
$GC,6574,-0.65,-155.7,734.8,-9.8,123,6575,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2506,3900,0,0,0,0,0,0
$GC,6816,-0.65,-155.7,759.0,-10.0,127,6821,0.00,2.35,0.00,0.000,4,0.000,0.040,2599,904,3899,0,0,0,0,0,0
$GC,6833,-0.65,-155.7,760.9,-10.0,127,6837,0.00,2.35,0.00,0.000,6,0.000,0.042,2588,2511,3898,0,0,0,0,0,0
$GC,7121,-0.65,-155.7,789.9,-10.1,132,7125,0.10,2.00,0.00,0.000,4,0.182,0.054,2605,3845,3897,0,0,0,0,0,0
$GC,7160,-0.65,-155.7,793.8,-9.2,132,7164,0.00,1.95,0.00,0.000,6,0.000,0.037,2601,2499,3897,0,0,0,0,0,0
$GC,7432,-0.65,-155.7,819.1,-9.3,137,7435,0.00,2.03,0.00,0.000,4,0.000,0.053,2595,3850,3896,0,0,0,0,0,0
$GC,7454,-0.65,-155.7,821.3,-9.7,137,7457,0.00,1.98,0.00,0.000,6,0.000,0.037,2594,2496,3895,0,0,0,0,0,0
$GC,7742,-0.65,-155.7,848.5,-9.5,142,7747,0.00,2.35,0.00,0.000,4,0.000,0.042,2594,907,3895,0,0,0,0,0,0
$GC,7770,-0.65,-155.7,851.3,-9.1,142,7775,0.12,2.35,0.00,0.000,6,0.168,0.044,2618,2508,3894,0,0,0,0,0,0
$GC,8042,-0.65,-155.7,873.3,-8.1,147,8045,0.00,2.35,0.00,0.000,4,0.000,0.041,2617,917,3894,0,0,0,0,0,0
$GC,8069,-0.65,-155.7,875.6,-8.5,147,8073,0.00,2.35,0.00,0.000,6,0.000,0.046,2607,2494,3891,0,0,0,0,0,0
$GC,8346,-0.65,-155.7,897.7,-7.9,152,8347,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2496,3893,0,0,0,0,0,0
$STATE,8404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8404,begin apogee
$GC,8411,-0.16,0.0,902.1,7.7,153,8536,0.47,0.00,117.95,1.327,6,0.122,0.000,2770,1998,3301,0,0,0,0,0,0
$STATE,8538,end apogee,CONTROL_FINISHED_OK
$STATE,8538,begin climb
$GC,8540,0.65,155.7,902.7,0.0,155,8682,0.75,2.70,130.02,1.319,4,0.070,0.049,3041,3622,2667,0,0,0,0,0,0
$GC,8732,0.65,155.7,865.2,25.9,157,8739,0.00,2.53,0.00,0.000,6,0.000,0.048,3053,2061,2665,0,0,0,0,0,0
$GC,8982,0.65,155.7,800.0,26.5,162,8983,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2061,2664,0,0,0,0,0,0
$GC,9224,0.65,155.7,734.4,27.2,166,9225,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2061,2662,0,0,0,0,0,0
$GC,9467,0.65,155.7,669.1,26.9,170,9468,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2061,2662,0,0,0,0,0,0
$GC,9709,0.65,155.7,606.2,25.9,174,9713,0.00,2.42,0.00,0.000,4,0.000,0.050,3066,437,2659,0,0,0,0,0,0
$GC,9724,0.65,155.7,601.6,25.9,174,9728,0.00,2.35,0.00,0.000,6,0.000,0.036,3066,2048,2661,0,0,0,0,0,0
$GC,10013,0.65,155.7,526.1,26.1,179,10017,0.00,2.38,0.00,0.000,4,0.000,0.048,3066,3609,2662,0,0,0,0,0,0
$GC,10165,0.65,155.7,487.0,25.9,181,10171,0.15,2.42,0.00,0.000,6,0.194,0.047,3039,2024,2660,0,0,0,0,0,0
$GC,10448,0.65,155.7,426.7,20.9,186,10452,0.00,2.40,0.00,0.000,4,0.000,0.047,3039,3615,2660,0,0,0,0,0,0
$GC,10470,0.65,155.7,421.5,21.7,186,10474,0.00,2.38,0.00,0.000,6,0.000,0.044,3051,2030,2660,0,0,0,0,0,0
$GC,10753,0.65,155.7,360.7,21.5,191,10757,0.00,2.38,0.00,0.000,4,0.000,0.050,3050,3610,2663,0,0,0,0,0,0
$GC,10774,0.65,155.7,355.6,22.9,191,10778,0.00,2.38,0.00,0.000,6,0.000,0.044,3062,2018,2659,0,0,0,0,0,0
$GC,11056,0.65,155.7,296.0,21.2,196,11061,0.00,2.38,0.00,0.000,4,0.000,0.050,3062,3605,2659,0,0,0,0,0,0
$GC,11112,0.65,155.7,283.3,21.6,196,11119,0.12,2.35,0.00,0.000,6,0.193,0.047,3042,2033,2659,0,0,0,0,0,0
$GC,11361,0.65,155.7,238.5,18.0,201,11362,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2032,2659,0,0,0,0,0,0
$GC,11604,0.65,155.7,199.4,16.1,205,11608,0.00,2.38,0.00,0.000,4,0.000,0.048,3042,3607,2658,0,0,0,0,0,0
$GC,11625,0.65,155.7,195.8,15.7,205,11634,0.00,2.38,0.00,0.000,6,0.000,0.043,3055,2033,2659,0,0,0,0,0,0
$GC,11879,0.65,155.7,157.3,16.0,214,11884,0.00,2.38,0.00,0.000,4,0.000,0.047,3055,3614,2659,0,0,0,0,0,0
$GC,11929,0.65,155.7,148.4,16.7,215,11934,0.00,2.38,0.00,0.000,6,0.000,0.046,3064,2022,2660,0,0,0,0,0,0
$GC,12183,0.65,155.7,110.8,15.2,223,12187,0.00,2.40,0.00,0.000,4,0.000,0.047,3064,3619,2659,0,0,0,0,0,0
$GC,12250,0.65,155.7,100.0,13.3,225,12255,0.08,2.40,0.00,0.000,6,0.155,0.043,3041,2020,2661,0,0,0,0,0,0
$GC,12526,0.69,201.8,74.7,8.0,234,12568,0.00,2.47,34.55,0.661,4,0.000,0.045,3040,3611,2477,0,0,0,0,0,0
$GC,12630,0.69,201.8,64.3,11.8,237,12634,0.00,2.38,0.00,0.000,6,0.000,0.039,3053,2022,2478,0,0,0,0,0,0
$GC,12912,0.69,201.8,30.0,12.9,246,12916,0.00,2.33,0.00,0.000,4,0.000,0.044,3062,455,2482,0,0,0,0,0,0
$GC,12950,0.69,201.8,23.8,14.3,247,12954,0.00,2.28,0.00,0.000,6,0.000,0.036,3060,2036,2481,0,0,0,0,0,0
$STATE,13127,end climb,SURFACE_DEPTH_REACHED
$STATE,13127,begin surface coast
$FINISH,0.8,1.009134
$STATE,13159,end surface coast,CONTROL_FINISHED_OK
$STATE,13159,begin surface
$SM_CCo,13183,36.78,0.572,0,0,2116,290.19
$SM_GC,1.40,0.00,0.00,36.78,0.000,0.000,0.572,115,2511,2116,-8.48,0.28,290.19
$IRIDIUM_FIX,2008.77,-15606.45,121213,141418
$TT8_MAMPS,0.059171
$HUMID,62.79
$INTERNAL_PRESSURE,9.25695
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,23.6,13.164
$10V_AH,10.2,5.738
$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,19.200,132.975,282.525,36.775,0.000,80.944,96.842,603.595,0.000,0.000,16.195,944.542,10708.927,396.892,2180.534,299.054,33.354,1059.190,0.000,1142.021,0.000,0.542,0.000
$DEVICE_MAMPS,228.735,53.550,1326.510,572.220,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,173.879,276.853,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,143152
$DATA_FILE_SIZE,13651,254
$CAP_FILE_SIZE,123831,0
$CFSIZE,260165632,252817408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,121213,182706,2014.320,-15604.268,24,1.3,25,9.8