version: 66.08
glider: 500
mission: 9
dive: 41
start: 12 14 113 19 40 31
data:
$ID,500
$MISSION,9
$DIVE,41
$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,-165778.88
$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,2820
$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,2520
$C_ROLL_CLIMB,2151
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,46
$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,80.0
$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
$GPS1,141213,193135,2007.649,-15607.577,35,0.9,36,9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-84.2
$GPS2,141213,193918,2007.771,-15607.575,15,1.2,32,9.8
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,A2
$TGT_LATLONG,2000.000,-15610.200
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.206,-0.165
$KALMAN_X,45665.7,-478.0,-28.1,-63595.1,4536.0
$KALMAN_Y,79054.0,217.3,-0.2,-80982.4,5591.6
$MHEAD_RNG_PITCHd_Wd,221.5,15100,-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,33,-0.68,-150.9,0.0,0.0,0,91,0.00,0.00,-56.42,0.000,2,0.000,0.000,118,2532,3839,0,0,0,0,0,0
$GC,94,-0.68,-150.9,3.5,-7.2,1,112,9.43,2.40,-2.25,0.000,4,0.226,0.044,2596,908,3945,0,0,0,0,0,0
$GC,173,-0.68,-150.9,26.6,-23.0,4,178,0.00,2.38,0.00,0.000,6,0.000,0.039,2585,2506,3944,0,0,0,0,0,0
$GC,450,-0.68,-150.9,91.2,-21.2,13,454,0.00,2.30,0.00,0.000,4,0.000,0.033,2585,914,3946,0,0,0,0,0,0
$GC,488,-0.68,-150.9,99.3,-19.9,14,492,0.00,2.35,0.00,0.000,6,0.000,0.037,2573,2526,3947,0,0,0,0,0,0
$GC,759,-0.68,-150.9,149.4,-18.9,23,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2527,3948,0,0,0,0,0,0
$GC,1004,-0.68,-150.9,196.9,-19.4,31,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2527,3950,0,0,0,0,0,0
$GC,1275,-0.68,-150.9,240.4,-15.8,36,1279,0.00,1.98,0.00,0.000,4,0.000,0.046,2563,3847,3951,0,0,0,0,0,0
$GC,1403,-0.68,-150.9,259.5,-14.2,37,1411,0.10,1.98,0.00,0.000,6,0.141,0.033,2605,2503,3952,0,0,0,0,0,0
$GC,1653,-0.68,-150.9,289.4,-12.0,42,1657,0.00,2.28,0.00,0.000,4,0.000,0.036,2605,924,3953,0,0,0,0,0,0
$GC,1669,-0.68,-150.9,291.6,-12.1,42,1672,0.00,2.30,0.00,0.000,6,0.000,0.036,2595,2521,3952,0,0,0,0,0,0
$GC,1957,-0.68,-150.9,326.2,-11.9,47,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2522,3952,0,0,0,0,0,0
$GC,2200,-0.68,-150.9,351.8,-10.5,51,2201,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2526,3951,0,0,0,0,0,0
$GC,2442,-0.68,-150.9,380.1,-11.7,55,2446,0.00,2.33,0.00,0.000,4,0.000,0.036,2595,925,3950,0,0,0,0,0,0
$GC,2463,-0.68,-150.9,383.1,-13.0,55,2467,0.00,2.30,0.00,0.000,6,0.000,0.038,2583,2521,3948,0,0,0,0,0,0
$GC,2746,-0.68,-150.9,415.7,-11.5,60,2750,0.00,1.98,0.00,0.000,4,0.000,0.047,2573,3844,3947,0,0,0,0,0,0
$GC,2807,-0.68,-150.9,423.1,-12.1,60,2814,0.00,1.95,0.00,0.000,6,0.000,0.034,2575,2534,3947,0,0,0,0,0,0
$GC,3056,-0.68,-150.9,454.0,-12.5,65,3058,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2532,3945,0,0,0,0,0,0
$GC,3299,-0.68,-150.9,483.8,-12.3,69,3302,0.00,1.98,0.00,0.000,4,0.000,0.047,2563,3843,3943,0,0,0,0,0,0
$GC,3477,-0.68,-150.9,508.4,-12.9,71,3483,0.10,1.98,0.00,0.000,6,0.135,0.033,2597,2508,3939,0,0,0,0,0,0
$GC,3743,-0.68,-150.9,539.1,-11.5,76,3747,0.00,2.30,0.00,0.000,4,0.000,0.038,2596,931,3939,0,0,0,0,0,0
$GC,3753,-0.68,-150.9,540.3,-11.4,76,3758,0.00,2.33,0.00,0.000,6,0.000,0.037,2587,2518,3939,0,0,0,0,0,0
$GC,4048,-0.68,-150.9,571.9,-10.7,81,4049,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2519,3937,0,0,0,0,0,0
$GC,4291,-0.68,-150.9,595.4,-9.7,85,4295,0.00,2.30,0.00,0.000,4,0.000,0.038,2586,934,3933,0,0,0,0,0,0
$GC,4329,-0.68,-150.9,599.1,-9.3,85,4333,0.00,2.33,0.00,0.000,6,0.000,0.042,2575,2517,3934,0,0,0,0,0,0
$GC,4590,-0.68,-150.9,621.9,-8.8,90,4591,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2517,3933,0,0,0,0,0,0
$GC,4832,-0.68,-150.9,642.8,-8.6,94,4836,0.00,2.33,0.00,0.000,4,0.000,0.041,2576,937,3930,0,0,0,0,0,0
$GC,4854,-0.68,-150.9,644.9,-8.9,94,4859,0.12,2.33,0.00,0.000,6,0.179,0.042,2596,2522,3930,0,0,0,0,0,0
$GC,5131,-0.68,-150.9,663.4,-6.5,99,5135,0.00,1.98,0.00,0.000,4,0.000,0.051,2587,3839,3930,0,0,0,0,0,0
$GC,5148,-0.68,-150.9,664.7,-6.9,99,5151,0.00,1.92,0.00,0.000,6,0.000,0.034,2587,2523,3928,0,0,0,0,0,0
$GC,5442,-0.68,-150.9,687.7,-7.8,104,5446,0.00,2.33,0.00,0.000,4,0.000,0.039,2587,930,3927,0,0,0,0,0,0
$GC,5481,-0.68,-150.9,691.3,-8.9,104,5485,0.00,2.35,0.00,0.000,6,0.000,0.044,2575,2524,3926,0,0,0,0,0,0
$GC,5741,-0.68,-150.9,716.2,-9.6,109,5745,0.00,1.98,0.00,0.000,4,0.000,0.050,2565,3846,3923,0,0,0,0,0,0
$GC,5774,-0.68,-150.9,719.8,-11.2,109,5779,0.10,1.95,0.00,0.000,6,0.132,0.036,2599,2525,3922,0,0,0,0,0,0
$GC,6051,-0.68,-150.9,742.7,-8.2,114,6052,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2524,3923,0,0,0,0,0,0
$GC,6294,-0.68,-150.9,764.6,-9.0,118,6298,0.00,2.35,0.00,0.000,4,0.000,0.041,2599,929,3922,0,0,0,0,0,0
$GC,6338,-0.68,-150.9,769.0,-9.4,118,6342,0.00,2.38,0.00,0.000,6,0.000,0.044,2586,2526,3921,0,0,0,0,0,0
$GC,6592,-0.68,-150.9,793.2,-9.6,123,6594,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2526,3920,0,0,0,0,0,0
$GC,6835,-0.68,-150.9,815.4,-9.1,127,6839,0.00,2.35,0.00,0.000,4,0.000,0.040,2587,929,3920,0,0,0,0,0,0
$GC,6857,-0.68,-150.9,817.5,-9.1,127,6861,0.00,2.35,0.00,0.000,6,0.000,0.044,2577,2520,3919,0,0,0,0,0,0
$GC,7139,-0.68,-150.9,844.0,-9.5,132,7140,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2520,3918,0,0,0,0,0,0
$GC,7382,-0.68,-150.9,868.1,-9.9,136,7385,0.00,2.03,0.00,0.000,4,0.000,0.053,2566,3839,3918,0,0,0,0,0,0
$GC,7397,-0.68,-150.9,869.9,-10.1,136,7402,0.10,1.98,0.00,0.000,6,0.129,0.035,2601,2515,3918,0,0,0,0,0,0
$GC,7692,-0.68,-150.9,894.7,-8.3,141,7696,0.00,2.33,0.00,0.000,4,0.000,0.042,2601,938,3918,0,0,0,0,0,0
$GC,7713,-0.68,-150.9,896.7,-9.1,141,7717,0.00,2.35,0.00,0.000,6,0.000,0.044,2591,2519,3916,0,0,0,0,0,0
$STATE,7751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7751,begin apogee
$GC,7757,-0.14,0.0,900.1,8.6,142,7843,0.52,0.00,80.50,1.432,6,0.126,0.000,2769,2130,3521,0,0,0,0,0,0
$STATE,7851,end apogee,CONTROL_FINISHED_OK
$STATE,7851,begin climb
$GC,7853,0.68,150.9,901.6,0.0,143,7991,0.70,2.70,127.38,1.408,4,0.059,0.051,3041,3728,2906,0,0,0,0,0,0
$GC,8024,0.68,150.9,876.6,23.2,146,8028,0.00,2.50,0.00,0.000,6,0.000,0.046,3056,2177,2903,0,0,0,0,0,0
$GC,8324,0.68,150.9,805.3,24.3,151,8328,0.00,2.40,0.00,0.000,4,0.000,0.049,3056,3732,2903,0,0,0,0,0,0
$GC,8441,0.68,150.9,776.1,24.0,152,8447,0.12,2.47,0.00,0.000,6,0.193,0.047,3038,2136,2903,0,0,0,0,0,0
$GC,8691,0.68,150.9,719.0,23.0,156,8695,0.00,2.45,0.00,0.000,4,0.000,0.050,3042,3731,2901,0,0,0,0,0,0
$GC,8717,0.68,150.9,712.3,24.4,156,8721,0.00,2.42,0.00,0.000,6,0.000,0.046,3049,2148,2901,0,0,0,0,0,0
$GC,8995,0.68,150.9,647.7,23.4,161,8999,0.00,2.42,0.00,0.000,4,0.000,0.051,3054,3740,2901,0,0,0,0,0,0
$GC,9061,0.68,150.9,631.5,23.9,162,9065,0.00,2.45,0.00,0.000,6,0.000,0.047,3062,2138,2900,0,0,0,0,0,0
$GC,9360,0.68,150.9,563.1,22.8,167,9364,0.00,2.45,0.00,0.000,4,0.000,0.050,3063,3740,2900,0,0,0,0,0,0
$GC,9448,0.68,150.9,542.8,21.1,168,9453,0.12,2.42,0.00,0.000,6,0.189,0.047,3044,2150,2903,0,0,0,0,0,0
$GC,9725,0.68,150.9,487.3,20.2,173,9729,0.00,2.40,0.00,0.000,4,0.000,0.051,3043,3736,2900,0,0,0,0,0,0
$GC,9808,0.68,150.9,470.4,20.5,174,9813,0.00,2.42,0.00,0.000,6,0.000,0.046,3054,2143,2899,0,0,0,0,0,0
$GC,10098,0.68,150.9,414.2,19.6,179,10102,0.00,2.42,0.00,0.000,4,0.000,0.050,3056,3738,2896,0,0,0,0,0,0
$GC,10136,0.68,150.9,406.1,21.0,179,10140,0.00,2.40,0.00,0.000,6,0.000,0.046,3066,2155,2898,0,0,0,0,0,0
$GC,10402,0.68,150.9,356.0,18.9,184,10406,0.00,2.42,0.00,0.000,4,0.000,0.051,3066,3741,2898,0,0,0,0,0,0
$GC,10548,0.68,150.9,327.1,18.6,186,10553,0.15,2.42,0.00,0.000,6,0.184,0.044,3035,2143,2898,0,0,0,0,0,0
$GC,10836,0.68,150.9,284.6,14.3,191,10841,0.00,2.42,0.00,0.000,4,0.000,0.050,3038,3740,2898,0,0,0,0,0,0
$GC,10863,0.68,150.9,280.1,16.3,191,10868,0.00,2.40,0.00,0.000,6,0.000,0.045,3049,2155,2898,0,0,0,0,0,0
$GC,11135,0.68,150.9,240.4,14.5,196,11139,0.00,2.38,0.00,0.000,4,0.000,0.051,3050,3738,2898,0,0,0,0,0,0
$GC,11358,0.68,150.9,207.4,13.4,199,11363,0.00,2.38,0.00,0.000,6,0.000,0.042,3058,2149,2897,0,0,0,0,0,0
$GC,11640,0.68,150.9,173.7,12.1,207,11644,0.00,2.33,0.00,0.000,4,0.000,0.045,3074,563,2898,0,0,0,0,0,0
$GC,11678,0.68,150.9,168.9,11.3,208,11683,0.12,2.33,0.00,0.000,6,0.158,0.040,3038,2159,2898,0,0,0,0,0,0
$GC,11949,0.68,152.4,142.1,9.9,217,11953,0.00,2.35,0.00,0.000,4,0.000,0.051,3037,3730,2897,0,0,0,0,0,0
$GC,12056,0.68,152.4,130.5,10.8,220,12060,0.00,2.38,0.00,0.000,6,0.000,0.038,3048,2137,2899,0,0,0,0,0,0
$GC,12327,0.69,162.4,104.4,9.6,229,12342,0.00,2.30,9.90,0.644,4,0.000,0.043,3060,565,2859,0,0,0,0,0,0
$GC,12370,0.75,212.0,100.6,7.8,230,12413,0.00,2.30,37.50,0.754,6,0.000,0.039,3060,2154,2655,0,0,0,0,0,0
$GC,12663,0.75,212.0,70.4,10.8,239,12667,0.00,2.40,0.00,0.000,4,0.000,0.047,3060,3744,2655,0,0,0,0,0,0
$GC,12736,0.75,212.0,60.7,12.0,241,12740,0.00,2.40,0.00,0.000,6,0.000,0.037,3072,2148,2656,0,0,0,0,0,0
$GC,13007,0.75,212.0,26.7,12.9,250,13008,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2147,2659,0,0,0,0,0,0
$STATE,13189,end climb,SURFACE_DEPTH_REACHED
$STATE,13189,begin surface coast
$FINISH,0.8,0.997518
$STATE,13220,end surface coast,CONTROL_FINISHED_OK
$STATE,13220,begin surface
$SM_CCo,13243,33.03,0.629,0,0,2336,290.43
$SM_GC,2.28,0.00,0.00,33.03,0.000,0.000,0.629,123,2538,2336,-8.43,0.51,290.43
$IRIDIUM_FIX,1959.59,-15608.31,141213,161625
$TT8_MAMPS,0.058422
$HUMID,62.20
$INTERNAL_PRESSURE,9.27648
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,23.5,14.691
$10V_AH,10.3,6.472
$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,18.950,143.625,255.275,33.025,0.000,26.203,37.006,198.527,0.000,0.000,34.808,990.861,10491.907,359.602,1695.835,229.240,33.362,1069.234,0.000,1281.971,0.000,0.542,0.000
$DEVICE_MAMPS,225.675,52.785,1432.080,628.830,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,176.450,290.055,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,143004
$DATA_FILE_SIZE,13631,257
$CAP_FILE_SIZE,116780,0
$CFSIZE,260165632,251887616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141213,232307,2007.166,-15608.322,37,1.1,39,9.7