version: 66.08
glider: 500
mission: 9
dive: 40
start: 12 14 113 16 10 38
data:
$ID,500
$MISSION,9
$DIVE,40
$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,-165777.53
$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,44
$R_STBD_OVSHOOT,52
$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,78.0
$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
$GPS1,141213,160305,2007.621,-15607.290,28,1.5,29,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-82.6
$GPS2,141213,160927,2007.741,-15607.239,9,2.1,28,9.8
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,A2
$TGT_LATLONG,2000.000,-15610.200
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.171,-0.200
$KALMAN_X,43012.4,-144.0,-144.9,-60577.3,3666.0
$KALMAN_Y,75288.9,253.4,150.1,-77466.6,5224.6
$MHEAD_RNG_PITCHd_Wd,210.8,15235,-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,31,end surface,CONTROL_FINISHED_OK
$STATE,31,begin dive
$GC,34,-0.76,-150.9,0.0,0.0,0,92,0.00,0.00,-56.45,0.000,2,0.000,0.000,142,2546,3835,0,0,0,0,0,0
$GC,95,-0.76,-150.9,3.7,-7.7,1,111,9.23,0.00,-2.25,0.000,6,0.226,0.000,2559,2546,3943,0,0,0,0,0,0
$GC,383,-0.76,-150.9,83.6,-26.1,11,387,0.00,1.90,0.00,0.000,4,0.000,0.041,2551,3829,3945,0,0,0,0,0,0
$GC,394,-0.76,-150.9,86.5,-24.5,11,398,0.00,1.92,0.00,0.000,6,0.000,0.031,2551,2506,3946,0,0,0,0,0,0
$GC,664,-0.76,-150.9,142.1,-19.7,20,668,0.00,1.98,0.00,0.000,4,0.000,0.042,2545,3838,3948,0,0,0,0,0,0
$GC,680,-0.76,-150.9,145.7,-19.8,20,684,0.00,1.92,0.00,0.000,6,0.000,0.030,2541,2524,3948,0,0,0,0,0,0
$GC,945,-0.76,-150.9,197.0,-19.1,29,950,0.10,1.98,0.00,0.000,4,0.203,0.046,2556,3837,3951,0,0,0,0,0,0
$GC,1017,-0.76,-150.9,208.6,-14.0,31,1022,0.00,1.92,0.00,0.000,6,0.000,0.031,2555,2512,3952,0,0,0,0,0,0
$GC,1323,-0.76,-150.9,254.1,-15.2,36,1327,0.00,2.25,0.00,0.000,4,0.000,0.037,2555,937,3951,0,0,0,0,0,0
$GC,1339,-0.76,-150.9,256.9,-15.8,36,1343,0.00,2.28,0.00,0.000,6,0.000,0.034,2545,2518,3954,0,0,0,0,0,0
$GC,1622,-0.76,-150.9,300.5,-15.5,41,1626,0.00,1.95,0.00,0.000,4,0.000,0.046,2536,3836,3952,0,0,0,0,0,0
$GC,1880,-0.76,-150.9,343.4,-15.1,44,1884,0.10,1.92,0.00,0.000,6,0.149,0.032,2567,2522,3951,0,0,0,0,0,0
$GC,2134,-0.76,-150.9,376.3,-12.9,49,2138,0.00,1.98,0.00,0.000,4,0.000,0.044,2558,3844,3949,0,0,0,0,0,0
$GC,2380,-0.76,-150.9,410.8,-13.5,52,2385,0.00,1.95,0.00,0.000,6,0.000,0.032,2558,2517,3948,0,0,0,0,0,0
$GC,2647,-0.76,-150.9,446.1,-13.4,57,2650,0.00,1.98,0.00,0.000,4,0.000,0.047,2548,3839,3946,0,0,0,0,0,0
$GC,2732,-0.76,-150.9,458.6,-14.6,58,2735,0.00,1.92,0.00,0.000,6,0.000,0.032,2548,2514,3945,0,0,0,0,0,0
$GC,3025,-0.76,-150.9,498.6,-13.5,63,3029,0.00,1.98,0.00,0.000,4,0.000,0.046,2538,3834,3941,0,0,0,0,0,0
$GC,3041,-0.76,-150.9,501.0,-13.0,63,3046,0.08,1.92,0.00,0.000,6,0.148,0.031,2563,2518,3945,0,0,0,0,0,0
$GC,3335,-0.76,-150.9,536.3,-12.0,68,3339,0.00,1.98,0.00,0.000,4,0.000,0.047,2553,3839,3939,0,0,0,0,0,0
$GC,3385,-0.76,-150.9,543.0,-13.1,68,3389,0.00,1.95,0.00,0.000,6,0.000,0.034,2556,2521,3939,0,0,0,0,0,0
$GC,3645,-0.76,-150.9,577.4,-13.3,73,3647,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2520,3937,0,0,0,0,0,0
$GC,3888,-0.76,-150.9,610.3,-13.6,77,3892,0.00,2.00,0.00,0.000,4,0.000,0.048,2544,3839,3936,0,0,0,0,0,0
$GC,3909,-0.76,-150.9,613.3,-13.0,77,3914,0.00,1.98,0.00,0.000,6,0.000,0.033,2546,2507,3935,0,0,0,0,0,0
$GC,4198,-0.76,-150.9,651.4,-13.2,82,4202,0.00,2.00,0.00,0.000,4,0.000,0.049,2534,3833,3933,0,0,0,0,0,0
$GC,4237,-0.76,-150.9,656.4,-12.4,82,4241,0.12,1.92,0.00,0.000,6,0.168,0.036,2567,2519,3932,0,0,0,0,0,0
$GC,4508,-0.76,-150.9,686.6,-11.0,87,4509,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2517,3931,0,0,0,0,0,0
$GC,4750,-0.76,-150.9,711.3,-10.2,91,4751,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2517,3929,0,0,0,0,0,0
$GC,4993,-0.76,-150.9,734.1,-9.4,95,4994,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2517,3928,0,0,0,0,0,0
$GC,5236,-0.76,-150.9,756.6,-9.2,99,5237,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2517,3926,0,0,0,0,0,0
$GC,5478,-0.76,-150.9,780.1,-9.7,103,5482,0.00,2.00,0.00,0.000,4,0.000,0.050,2556,3841,3925,0,0,0,0,0,0
$GC,5517,-0.76,-150.9,784.1,-10.5,103,5521,0.00,1.95,0.00,0.000,6,0.000,0.035,2558,2517,3924,0,0,0,0,0,0
$GC,5789,-0.76,-150.9,809.4,-9.2,108,5793,0.00,2.30,0.00,0.000,4,0.000,0.040,2558,930,3923,0,0,0,0,0,0
$GC,5806,-0.76,-150.9,811.1,-9.5,108,5810,0.00,2.33,0.00,0.000,6,0.000,0.041,2547,2517,3923,0,0,0,0,0,0
$GC,6088,-0.76,-150.9,837.9,-9.6,113,6090,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2513,3921,0,0,0,0,0,0
$GC,6330,-0.76,-150.9,862.7,-10.2,117,6334,0.00,2.00,0.00,0.000,4,0.000,0.052,2537,3848,3919,0,0,0,0,0,0
$GC,6380,-0.76,-150.9,868.6,-11.7,117,6385,0.12,1.95,0.00,0.000,6,0.167,0.037,2569,2521,3918,0,0,0,0,0,0
$GC,6641,-0.76,-150.9,893.2,-9.3,122,6645,0.00,2.33,0.00,0.000,4,0.000,0.041,2570,926,3919,0,0,0,0,0,0
$GC,6657,-0.76,-150.9,894.9,-9.5,122,6661,0.00,2.35,0.00,0.000,6,0.000,0.042,2560,2522,3918,0,0,0,0,0,0
$STATE,6755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6755,begin apogee
$GC,6761,-0.17,0.0,905.1,10.4,124,6846,0.60,0.00,80.80,1.432,6,0.138,0.000,2756,2131,3520,0,0,0,0,0,0
$STATE,6849,end apogee,CONTROL_FINISHED_OK
$STATE,6850,begin climb
$GC,6852,0.76,150.9,907.7,0.0,125,6983,0.80,0.00,126.72,1.408,6,0.065,0.000,3062,2130,2906,0,0,0,0,0,0
$GC,7191,0.76,150.9,844.7,22.5,131,7195,0.00,2.53,0.00,0.000,4,0.000,0.050,3062,3740,2906,0,0,0,0,0,0
$GC,7330,0.76,150.9,810.9,23.6,133,7334,0.00,2.42,0.00,0.000,6,0.000,0.045,3075,2172,2904,0,0,0,0,0,0
$GC,7630,0.76,150.9,741.2,23.3,138,7634,0.00,2.40,0.00,0.000,4,0.000,0.048,3074,3741,2903,0,0,0,0,0,0
$GC,7668,0.76,150.9,731.6,25.1,138,7672,0.00,2.45,0.00,0.000,6,0.000,0.046,3087,2147,2903,0,0,0,0,0,0
$GC,7934,0.76,150.9,667.0,24.3,143,7938,0.00,2.42,0.00,0.000,4,0.000,0.051,3087,3740,2902,0,0,0,0,0,0
$GC,8107,0.76,150.9,623.0,24.7,145,8111,0.15,2.42,0.00,0.000,6,0.195,0.045,3062,2146,2902,0,0,0,0,0,0
$GC,8373,0.76,150.9,561.4,23.3,150,8377,0.00,2.42,0.00,0.000,4,0.000,0.050,3062,3736,2901,0,0,0,0,0,0
$GC,8562,0.76,150.9,515.9,22.0,152,8570,0.00,2.40,0.00,0.000,6,0.000,0.044,3073,2146,2900,0,0,0,0,0,0
$GC,8812,0.76,150.9,461.1,22.1,157,8816,0.00,2.40,0.00,0.000,4,0.000,0.049,3073,3743,2899,0,0,0,0,0,0
$GC,8975,0.76,150.9,425.0,20.5,159,8979,0.00,2.42,0.00,0.000,6,0.000,0.044,3085,2143,2897,0,0,0,0,0,0
$GC,9246,0.76,150.9,370.5,20.1,164,9250,0.00,2.38,0.00,0.000,4,0.000,0.047,3085,3734,2899,0,0,0,0,0,0
$GC,9285,0.76,150.9,362.5,20.8,164,9290,0.15,2.40,0.00,0.000,6,0.198,0.045,3060,2143,2899,0,0,0,0,0,0
$GC,9545,0.76,150.9,315.8,17.7,169,9550,0.00,2.42,0.00,0.000,4,0.000,0.050,3060,3740,2901,0,0,0,0,0,0
$GC,9679,0.76,150.9,292.0,17.6,171,9684,0.00,2.40,0.00,0.000,6,0.000,0.043,3071,2156,2899,0,0,0,0,0,0
$GC,9979,0.76,150.9,239.9,17.7,176,9983,0.00,2.42,0.00,0.000,4,0.000,0.050,3071,3735,2899,0,0,0,0,0,0
$GC,10141,0.76,150.9,213.8,15.5,178,10145,0.00,2.40,0.00,0.000,6,0.000,0.042,3086,2143,2899,0,0,0,0,0,0
$GC,10415,0.76,150.9,179.8,11.9,185,10420,0.00,2.42,0.00,0.000,4,0.000,0.050,3079,3743,2898,0,0,0,0,0,0
$GC,10650,0.76,150.9,145.7,14.4,192,10655,0.15,2.35,0.00,0.000,6,0.181,0.039,3056,2148,2901,0,0,0,0,0,0
$GC,10926,0.76,150.9,110.6,12.7,201,10930,0.00,2.42,0.00,0.000,4,0.000,0.048,3055,3743,2898,0,0,0,0,0,0
$GC,11049,0.76,150.9,96.5,10.8,204,11058,0.00,2.40,0.00,0.000,6,0.000,0.038,3066,2156,2901,0,0,0,0,0,0
$GC,11303,0.79,172.2,71.5,9.0,213,11327,0.00,2.42,16.83,0.666,4,0.000,0.041,3078,562,2817,0,0,0,0,0,0
$GC,11513,0.88,250.9,53.6,6.5,219,11579,0.00,2.33,58.83,0.711,6,0.000,0.037,3079,2167,2497,0,0,0,0,0,0
$GC,11850,0.88,250.9,8.3,15.5,230,11851,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2167,2498,0,0,0,0,0,0
$STATE,11909,end climb,SURFACE_DEPTH_REACHED
$STATE,11909,begin surface coast
$FINISH,0.9,0.999638
$STATE,11941,end surface coast,CONTROL_FINISHED_OK
$STATE,11941,begin surface
$SM_CCo,11964,16.60,0.592,0,0,2335,290.19
$SM_GC,1.73,0.00,0.00,16.60,0.000,0.000,0.592,115,2532,2335,-8.43,0.31,290.19
$IRIDIUM_FIX,1959.59,-15605.28,141213,121237
$TT8_MAMPS,0.058422
$HUMID,63.66
$INTERNAL_PRESSURE,9.26672
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.5,14.577
$10V_AH,10.3,6.419
$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,18.975,114.925,283.175,16.600,0.000,23.774,37.574,150.754,0.000,0.000,31.576,929.747,9216.880,354.160,1677.473,208.418,33.362,1073.063,0.000,1341.091,0.000,0.539,0.000
$DEVICE_MAMPS,226.440,52.020,1432.080,592.110,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,159.746,270.264,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,143072
$DATA_FILE_SIZE,10339,233
$CAP_FILE_SIZE,106070,0
$CFSIZE,260165632,251969536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141213,193135,2007.649,-15607.577,35,0.9,36,9.8