version: 66.08
glider: 500
mission: 9
dive: 39
start: 12 14 113 12 46 6
data:
$ID,500
$MISSION,9
$DIVE,39
$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,620
$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,155
$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,-165776.28
$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,2815
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,2520
$C_ROLL_CLIMB,2151
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,3520
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,76.0
$AD_THRESHOLD,2015.0
$AD_INTERVAL,6015.0
$AD_DURATION,1045.0
$DB_RECORDABOVE,0.0
$DB_PROFILE,0.0
$DB_XMITPROFILE,0.0
$DB_UPLOADMAX,0.0
$DB_STARTS,0.0
$GPS1,141213,123759,2007.531,-15606.957,38,0.9,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-82.7
$GPS2,141213,124455,2007.619,-15606.940,11,1.0,11,9.8
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,A2
$TGT_LATLONG,2000.000,-15610.200
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.129,-0.230
$KALMAN_X,40898.9,197.7,-143.5,-58286.9,2564.0
$KALMAN_Y,72051.6,-247.0,-451.5,-73345.5,4743.1
$MHEAD_RNG_PITCHd_Wd,199.5,15207,-17.2,-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
$GC,32,-0.76,-150.9,0.0,0.0,0,89,0.00,0.00,-53.95,0.000,2,0.000,0.000,112,2530,3740,0,0,0,0,0,0
$GC,92,-0.76,-150.9,3.3,-5.3,2,117,9.38,2.00,-4.57,0.000,4,0.227,0.057,2554,3845,3946,0,0,0,0,0,0
$GC,371,-0.76,-150.9,78.4,-23.6,10,375,0.00,1.98,0.00,0.000,6,0.000,0.034,2554,2519,3946,0,0,0,0,0,0
$GC,636,-0.76,-150.9,135.8,-19.6,19,640,0.00,1.95,0.00,0.000,4,0.000,0.042,2544,3842,3948,0,0,0,0,0,0
$GC,895,-0.76,-150.9,187.5,-18.8,26,899,0.00,1.92,0.00,0.000,6,0.000,0.030,2544,2523,3949,0,0,0,0,0,0
$GC,1150,-0.76,-150.9,227.3,-15.0,32,1154,0.00,2.00,0.00,0.000,4,0.000,0.043,2533,3873,3953,0,0,0,0,0,0
$GC,1408,-0.76,-150.9,272.8,-16.1,35,1413,0.08,2.00,0.00,0.000,6,0.158,0.032,2566,2499,3951,0,0,0,0,0,0
$GC,1663,-0.76,-150.9,305.2,-12.6,40,1667,0.00,1.98,0.00,0.000,4,0.000,0.044,2557,3841,3952,0,0,0,0,0,0
$GC,1922,-0.76,-150.9,340.4,-14.3,43,1926,0.00,1.90,0.00,0.000,6,0.000,0.032,2557,2525,3951,0,0,0,0,0,0
$GC,2176,-0.76,-150.9,378.0,-14.8,48,2180,0.00,1.95,0.00,0.000,4,0.000,0.045,2547,3837,3950,0,0,0,0,0,0
$GC,2360,-0.76,-150.9,407.0,-14.6,50,2365,0.00,1.92,0.00,0.000,6,0.000,0.031,2547,2523,3948,0,0,0,0,0,0
$GC,2621,-0.76,-150.9,444.1,-14.4,55,2625,0.00,1.98,0.00,0.000,4,0.000,0.045,2534,3845,3947,0,0,0,0,0,0
$GC,2723,-0.76,-150.9,459.6,-15.1,56,2728,0.12,1.90,0.00,0.000,6,0.170,0.033,2570,2521,3946,0,0,0,0,0,0
$GC,3000,-0.76,-150.9,493.8,-12.2,61,3001,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2519,3944,0,0,0,0,0,0
$GC,3242,-0.76,-150.9,520.8,-11.1,65,3246,0.00,2.33,0.00,0.000,4,0.000,0.037,2570,931,3942,0,0,0,0,0,0
$GC,3257,-0.76,-150.9,522.8,-11.5,65,3261,0.00,2.30,0.00,0.000,6,0.000,0.037,2556,2521,3941,0,0,0,0,0,0
$GC,3546,-0.76,-150.9,556.9,-11.8,70,3550,0.00,2.33,0.00,0.000,4,0.000,0.038,2560,930,3938,0,0,0,0,0,0
$GC,3561,-0.76,-150.9,559.1,-12.0,70,3566,0.00,2.33,0.00,0.000,6,0.000,0.038,2548,2529,3940,0,0,0,0,0,0
$GC,3844,-0.76,-150.9,593.2,-11.9,75,3848,0.00,1.98,0.00,0.000,4,0.000,0.049,2538,3841,3936,0,0,0,0,0,0
$GC,4102,-0.76,-150.9,626.7,-12.3,78,4107,0.08,1.95,0.00,0.000,6,0.145,0.035,2563,2527,3932,0,0,0,0,0,0
$GC,4356,-0.76,-150.9,656.1,-11.6,83,4360,0.00,1.98,0.00,0.000,4,0.000,0.049,2555,3839,3932,0,0,0,0,0,0
$GC,4383,-0.76,-150.9,659.5,-12.0,83,4388,0.00,1.98,0.00,0.000,6,0.000,0.035,2555,2508,3930,0,0,0,0,0,0
$GC,4667,-0.76,-150.9,692.5,-11.7,88,4671,0.00,1.98,0.00,0.000,4,0.000,0.047,2549,3830,3929,0,0,0,0,0,0
$GC,4814,-0.76,-150.9,711.2,-13.0,90,4817,0.00,1.90,0.00,0.000,6,0.000,0.035,2545,2514,3929,0,0,0,0,0,0
$GC,5113,-0.76,-150.9,744.8,-10.9,95,5114,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2513,3929,0,0,0,0,0,0
$GC,5356,-0.76,-150.9,774.5,-12.3,99,5360,0.00,2.30,0.00,0.000,4,0.000,0.039,2545,920,3925,0,0,0,0,0,0
$GC,5371,-0.76,-150.9,776.7,-12.6,99,5376,0.12,2.33,0.00,0.000,6,0.184,0.041,2565,2513,3925,0,0,0,0,0,0
$GC,5659,-0.76,-150.9,808.8,-11.1,104,5663,0.00,2.00,0.00,0.000,4,0.000,0.051,2556,3839,3921,0,0,0,0,0,0
$GC,5698,-0.76,-150.9,813.5,-12.0,104,5702,0.00,1.92,0.00,0.000,6,0.000,0.036,2556,2513,3922,0,0,0,0,0,0
$GC,5970,-0.76,-150.9,844.2,-11.2,109,5971,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2517,3921,0,0,0,0,0,0
$GC,6212,-0.76,-150.9,869.2,-10.3,113,6216,0.00,2.30,0.00,0.000,4,0.000,0.040,2556,933,3920,0,0,0,0,0,0
$GC,6238,-0.76,-150.9,872.0,-10.2,113,6243,0.00,2.35,0.00,0.000,6,0.000,0.044,2545,2524,3920,0,0,0,0,0,0
$STATE,6514,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6514,begin apogee
$GC,6520,-0.17,0.0,900.3,10.3,118,6606,0.62,0.00,80.88,1.419,6,0.139,0.000,2750,2129,3518,0,0,0,0,0,0
$STATE,6609,end apogee,CONTROL_FINISHED_OK
$STATE,6609,begin climb
$GC,6611,0.76,150.9,902.8,0.0,119,6743,0.82,0.00,126.47,1.381,6,0.067,0.000,3059,2129,2905,0,0,0,0,0,0
$GC,6951,0.76,150.9,838.7,22.7,125,6955,0.00,2.53,0.00,0.000,4,0.000,0.049,3059,3740,2902,0,0,0,0,0,0
$GC,7050,0.76,150.9,815.0,22.7,126,7055,0.00,2.42,0.00,0.000,6,0.000,0.044,3072,2175,2901,0,0,0,0,0,0
$GC,7323,0.76,150.9,751.6,23.5,131,7327,0.00,2.42,0.00,0.000,4,0.000,0.048,3078,3743,2901,0,0,0,0,0,0
$GC,7422,0.76,150.9,726.5,24.2,132,7426,0.00,2.45,0.00,0.000,6,0.000,0.045,3086,2148,2900,0,0,0,0,0,0
$GC,7694,0.76,150.9,661.3,24.2,137,7698,0.00,2.40,0.00,0.000,4,0.000,0.048,3086,3732,2900,0,0,0,0,0,0
$GC,7828,0.76,150.9,629.3,23.9,139,7833,0.15,2.42,0.00,0.000,6,0.192,0.046,3060,2150,2898,0,0,0,0,0,0
$GC,8127,0.76,150.9,568.7,20.2,144,8132,0.00,2.40,0.00,0.000,4,0.000,0.050,3060,3736,2898,0,0,0,0,0,0
$GC,8205,0.76,150.9,550.5,22.2,145,8210,0.00,2.42,0.00,0.000,6,0.000,0.045,3071,2144,2897,0,0,0,0,0,0
$GC,8494,0.76,150.9,488.2,21.7,150,8498,0.00,2.42,0.00,0.000,4,0.000,0.050,3071,3743,2897,0,0,0,0,0,0
$GC,8751,0.76,150.9,432.0,20.9,153,8758,0.00,2.40,0.00,0.000,6,0.000,0.044,3088,2142,2896,0,0,0,0,0,0
$GC,9000,0.76,150.9,381.3,20.6,158,9004,0.00,2.42,0.00,0.000,4,0.000,0.050,3083,3737,2896,0,0,0,0,0,0
$GC,9241,0.76,150.9,330.1,20.4,161,9246,0.12,2.38,0.00,0.000,6,0.196,0.044,3065,2140,2895,0,0,0,0,0,0
$GC,9507,0.76,150.9,284.7,17.0,166,9511,0.00,2.40,0.00,0.000,4,0.000,0.050,3064,3741,2895,0,0,0,0,0,0
$GC,9579,0.76,150.9,271.3,18.8,167,9583,0.00,2.38,0.00,0.000,6,0.000,0.042,3076,2153,2898,0,0,0,0,0,0
$GC,9872,0.76,150.9,223.2,16.2,172,9877,0.00,2.35,0.00,0.000,4,0.000,0.046,3088,565,2895,0,0,0,0,0,0
$GC,9911,0.76,150.9,216.6,16.1,172,9915,0.00,2.30,0.00,0.000,6,0.000,0.043,3089,2150,2895,0,0,0,0,0,0
$GC,10180,0.76,150.9,177.2,13.1,179,10185,0.00,2.40,0.00,0.000,4,0.000,0.053,3093,3740,2895,0,0,0,0,0,0
$GC,10439,0.76,150.9,139.1,15.9,186,10448,0.12,2.40,0.00,0.000,6,0.168,0.040,3062,2152,2893,0,0,0,0,0,0
$GC,10693,0.76,150.9,108.7,11.0,195,10698,0.00,2.40,0.00,0.000,4,0.000,0.048,3061,3740,2896,0,0,0,0,0,0
$GC,10806,0.76,150.9,96.3,10.4,198,10810,0.00,2.35,0.00,0.000,6,0.000,0.037,3073,2135,2897,0,0,0,0,0,0
$GC,11072,0.84,216.8,75.0,7.1,207,11125,0.00,2.50,48.00,0.708,4,0.000,0.047,3072,3747,2636,0,0,0,0,0,0
$GC,11203,0.84,216.8,62.0,12.2,211,11207,0.00,2.42,0.00,0.000,6,0.000,0.039,3085,2146,2638,0,0,0,0,0,0
$GC,11480,0.84,216.8,25.8,14.0,220,11484,0.00,2.42,0.00,0.000,4,0.000,0.047,3085,3737,2637,0,0,0,0,0,0
$GC,11501,0.84,216.8,22.6,13.4,220,11510,0.00,2.40,0.00,0.000,6,0.000,0.034,3095,2144,2638,0,0,0,0,0,0
$STATE,11660,end climb,SURFACE_DEPTH_REACHED
$STATE,11660,begin surface coast
$FINISH,0.8,1.013689
$STATE,11692,end surface coast,CONTROL_FINISHED_OK
$STATE,11693,begin surface
$SM_CCo,11716,31.05,0.606,0,0,2336,290.19
$SM_GC,2.09,0.00,0.00,31.05,0.000,0.000,0.606,142,2546,2336,-8.35,0.79,290.19
$IRIDIUM_FIX,2001.88,-15605.28,141213,080849
$TT8_MAMPS,0.060669
$HUMID,63.58
$INTERNAL_PRESSURE,9.27648
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,23.6,14.464
$10V_AH,10.3,6.368
$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,19.075,116.650,255.350,31.050,0.000,25.973,31.641,185.111,0.000,0.000,14.056,938.642,8822.229,352.619,1851.228,219.572,33.355,1123.797,0.000,1484.440,0.000,0.541,0.000
$DEVICE_MAMPS,227.205,56.610,1419.075,605.880,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,155.395,266.962,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,10317,227
$CAP_FILE_SIZE,106641,0
$CFSIZE,260165632,252022784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141213,160305,2007.621,-15607.290,28,1.5,29,9.8