version: 66.08
glider: 500
mission: 9
dive: 42
start: 12 14 113 23 31 13
data:
$ID,500
$MISSION,9
$DIVE,42
$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,-165780.12
$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,41
$R_STBD_OVSHOOT,40
$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,82.0
$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
$GPS1,141213,232307,2007.166,-15608.322,37,1.1,39,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-84.7
$GPS2,141213,233001,2007.253,-15608.306,10,1.3,10,9.8
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,A2
$TGT_LATLONG,2000.000,-15610.200
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.235,-0.118
$KALMAN_X,48363.2,-573.2,-327.5,-67163.7,5472.9
$KALMAN_Y,82317.8,-352.9,-906.3,-83719.2,7162.9
$MHEAD_RNG_PITCHd_Wd,233.5,13831,-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,-56.40,0.000,2,0.000,0.000,123,2539,3839,0,0,0,0,0,0
$GC,94,-0.68,-150.9,3.8,-8.1,1,112,9.43,2.40,-2.25,0.000,4,0.226,0.044,2599,913,3944,0,0,0,0,0,0
$GC,190,-0.68,-150.9,30.6,-24.2,4,194,0.00,2.35,0.00,0.000,6,0.000,0.039,2588,2519,3946,0,0,0,0,0,0
$GC,450,-0.68,-150.9,94.3,-24.6,13,451,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2519,3946,0,0,0,0,0,0
$GC,695,-0.68,-150.9,139.1,-17.7,21,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2520,3949,0,0,0,0,0,0
$GC,940,-0.68,-150.9,180.0,-16.6,29,944,0.00,2.33,0.00,0.000,4,0.000,0.037,2588,928,3951,0,0,0,0,0,0
$GC,955,-0.68,-150.9,183.1,-15.7,29,959,0.00,2.33,0.00,0.000,6,0.000,0.035,2576,2535,3949,0,0,0,0,0,0
$GC,1241,-0.68,-150.9,226.9,-15.0,36,1245,0.00,2.30,0.00,0.000,4,0.000,0.035,2576,924,3951,0,0,0,0,0,0
$GC,1257,-0.68,-150.9,229.3,-13.7,36,1262,0.12,2.30,0.00,0.000,6,0.186,0.036,2597,2521,3952,0,0,0,0,0,0
$GC,1551,-0.68,-150.9,264.1,-11.9,41,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,2595,2521,3953,0,0,0,0,0,0
$GC,1794,-0.68,-150.9,292.5,-11.7,45,1797,0.00,1.98,0.00,0.000,4,0.000,0.047,2588,3843,3954,0,0,0,0,0,0
$GC,1899,-0.68,-150.9,306.8,-13.5,46,1903,0.00,1.95,0.00,0.000,6,0.000,0.032,2588,2510,3953,0,0,0,0,0,0
$GC,2171,-0.68,-150.9,340.1,-12.2,51,2175,0.00,2.28,0.00,0.000,4,0.000,0.036,2588,936,3951,0,0,0,0,0,0
$GC,2186,-0.68,-150.9,342.2,-11.5,51,2190,0.00,2.28,0.00,0.000,6,0.000,0.036,2576,2520,3952,0,0,0,0,0,0
$GC,2475,-0.68,-150.9,377.0,-12.1,56,2479,0.00,1.98,0.00,0.000,4,0.000,0.047,2568,3844,3950,0,0,0,0,0,0
$GC,2491,-0.68,-150.9,379.3,-12.7,56,2496,0.08,1.95,0.00,0.000,6,0.138,0.031,2593,2509,3948,0,0,0,0,0,0
$GC,2785,-0.68,-150.9,413.7,-11.7,61,2786,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2509,3947,0,0,0,0,0,0
$GC,3028,-0.68,-150.9,443.5,-12.3,65,3031,0.00,2.00,0.00,0.000,4,0.000,0.048,2583,3838,3943,0,0,0,0,0,0
$GC,3049,-0.68,-150.9,446.4,-12.8,65,3053,0.00,1.92,0.00,0.000,6,0.000,0.033,2583,2538,3945,0,0,0,0,0,0
$GC,3338,-0.68,-150.9,480.8,-11.8,70,3342,0.00,2.35,0.00,0.000,4,0.000,0.037,2583,922,3942,0,0,0,0,0,0
$GC,3359,-0.68,-150.9,483.5,-11.8,70,3363,0.00,2.33,0.00,0.000,6,0.000,0.040,2572,2518,3942,0,0,0,0,0,0
$GC,3642,-0.68,-150.9,517.8,-12.2,75,3646,0.00,1.98,0.00,0.000,4,0.000,0.048,2561,3844,3940,0,0,0,0,0,0
$GC,3900,-0.68,-150.9,549.1,-11.9,78,3905,0.10,1.95,0.00,0.000,6,0.129,0.034,2596,2521,3938,0,0,0,0,0,0
$GC,4154,-0.68,-150.9,574.7,-10.1,83,4159,0.00,2.33,0.00,0.000,4,0.000,0.038,2596,930,3937,0,0,0,0,0,0
$GC,4187,-0.68,-150.9,578.4,-11.1,83,4192,0.00,2.35,0.00,0.000,6,0.000,0.041,2586,2520,3938,0,0,0,0,0,0
$GC,4459,-0.68,-150.9,607.9,-10.9,88,4463,0.00,2.38,0.00,0.000,4,0.000,0.040,2586,922,3934,0,0,0,0,0,0
$GC,4497,-0.68,-150.9,612.3,-10.7,88,4501,0.00,2.35,0.00,0.000,6,0.000,0.044,2574,2520,3934,0,0,0,0,0,0
$GC,4757,-0.68,-150.9,640.8,-11.0,93,4762,0.00,2.35,0.00,0.000,4,0.000,0.040,2574,932,3932,0,0,0,0,0,0
$GC,4790,-0.68,-150.9,644.7,-12.0,93,4795,0.12,2.35,0.00,0.000,6,0.177,0.042,2595,2524,3931,0,0,0,0,0,0
$GC,5062,-0.68,-150.9,671.4,-9.7,98,5066,0.00,1.98,0.00,0.000,4,0.000,0.052,2587,3840,3929,0,0,0,0,0,0
$GC,5089,-0.68,-150.9,674.5,-10.2,98,5093,0.00,1.95,0.00,0.000,6,0.000,0.034,2586,2520,3929,0,0,0,0,0,0
$GC,5372,-0.68,-150.9,703.0,-10.1,103,5376,0.00,2.00,0.00,0.000,4,0.000,0.051,2576,3848,3925,0,0,0,0,0,0
$GC,5388,-0.68,-150.9,704.9,-10.2,103,5393,0.00,1.98,0.00,0.000,6,0.000,0.036,2576,2512,3927,0,0,0,0,0,0
$GC,5683,-0.68,-150.9,735.4,-10.4,108,5684,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2514,3925,0,0,0,0,0,0
$GC,5925,-0.68,-150.9,757.7,-9.2,112,5929,0.00,2.30,0.00,0.000,4,0.000,0.039,2572,936,3924,0,0,0,0,0,0
$GC,5947,-0.68,-150.9,760.0,-9.5,112,5952,0.12,2.33,0.00,0.000,6,0.173,0.042,2598,2517,3924,0,0,0,0,0,0
$GC,6225,-0.68,-150.9,780.3,-7.3,117,6229,0.00,2.33,0.00,0.000,4,0.000,0.041,2598,927,3922,0,0,0,0,0,0
$GC,6274,-0.68,-150.9,784.3,-8.1,117,6278,0.00,2.38,0.00,0.000,6,0.000,0.044,2588,2530,3922,0,0,0,0,0,0
$GC,6523,-0.68,-150.9,804.3,-8.1,121,6527,0.00,2.35,0.00,0.000,4,0.000,0.040,2587,933,3921,0,0,0,0,0,0
$GC,6568,-0.68,-150.9,808.3,-8.7,121,6572,0.00,2.35,0.00,0.000,6,0.000,0.044,2575,2519,3921,0,0,0,0,0,0
$GC,6822,-0.68,-150.9,830.5,-8.8,126,6826,0.00,2.33,0.00,0.000,4,0.000,0.041,2576,929,3918,0,0,0,0,0,0
$GC,6861,-0.68,-150.9,834.1,-8.9,126,6866,0.12,2.35,0.00,0.000,6,0.172,0.044,2597,2519,3919,0,0,0,0,0,0
$GC,7121,-0.68,-150.9,854.8,-7.9,131,7123,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2521,3918,0,0,0,0,0,0
$GC,7364,-0.68,-150.9,874.8,-8.3,135,7367,0.00,2.00,0.00,0.000,4,0.000,0.053,2589,3842,3918,0,0,0,0,0,0
$GC,7385,-0.68,-150.9,876.7,-8.3,135,7389,0.00,1.95,0.00,0.000,6,0.000,0.036,2588,2516,3916,0,0,0,0,0,0
$GC,7674,-0.68,-150.9,899.6,-8.0,140,7679,0.00,2.33,0.00,0.000,4,0.000,0.041,2588,933,3916,0,0,0,0,0,0
$STATE,7683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7683,begin apogee
$GC,7691,-0.14,0.0,900.5,8.0,140,7776,0.57,0.00,80.22,1.418,6,0.135,0.000,2767,2164,3521,0,0,0,0,0,0
$STATE,7785,end apogee,CONTROL_FINISHED_OK
$STATE,7785,begin climb
$GC,7787,0.68,150.9,901.9,0.0,141,7923,0.70,2.60,125.65,1.372,4,0.056,0.050,3048,3721,2906,0,0,0,0,0,0
$GC,7956,0.68,150.9,876.8,24.0,144,7961,0.00,2.50,0.00,0.000,6,0.000,0.045,3060,2161,2907,0,0,0,0,0,0
$GC,8256,0.68,150.9,809.7,22.5,149,8260,0.00,2.45,0.00,0.000,4,0.000,0.047,3060,3727,2902,0,0,0,0,0,0
$GC,8361,0.68,150.9,786.3,20.7,150,8366,0.12,2.45,0.00,0.000,6,0.199,0.045,3043,2137,2903,0,0,0,0,0,0
$GC,8621,0.68,150.9,735.6,19.6,155,8623,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2138,2901,0,0,0,0,0,0
$GC,8864,0.68,150.9,688.3,19.5,159,8868,0.00,2.42,0.00,0.000,4,0.000,0.050,3042,3730,2902,0,0,0,0,0,0
$GC,8965,0.68,150.9,668.3,19.0,160,8969,0.00,2.42,0.00,0.000,6,0.000,0.045,3053,2149,2901,0,0,0,0,0,0
$GC,9230,0.68,150.9,613.5,20.8,165,9234,0.00,2.42,0.00,0.000,4,0.000,0.049,3053,3741,2901,0,0,0,0,0,0
$GC,9245,0.68,150.9,609.8,21.7,165,9249,0.00,2.42,0.00,0.000,6,0.000,0.044,3065,2142,2901,0,0,0,0,0,0
$GC,9534,0.68,150.9,549.3,20.9,170,9538,0.00,2.42,0.00,0.000,4,0.000,0.051,3065,3730,2900,0,0,0,0,0,0
$GC,9596,0.68,150.9,536.2,21.5,171,9601,0.15,2.40,0.00,0.000,6,0.190,0.045,3039,2150,2900,0,0,0,0,0,0
$GC,9901,0.68,150.9,480.1,18.4,176,9905,0.00,2.40,0.00,0.000,4,0.000,0.050,3039,3729,2899,0,0,0,0,0,0
$GC,9979,0.68,150.9,464.2,19.1,177,9983,0.00,2.40,0.00,0.000,6,0.000,0.045,3051,2144,2899,0,0,0,0,0,0
$GC,10273,0.68,150.9,413.4,17.3,182,10278,0.00,2.42,0.00,0.000,4,0.000,0.051,3050,3729,2899,0,0,0,0,0,0
$GC,10323,0.68,150.9,404.0,19.1,182,10327,0.00,2.40,0.00,0.000,6,0.000,0.045,3062,2146,2898,0,0,0,0,0,0
$GC,10578,0.68,150.9,357.4,18.4,187,10582,0.00,2.42,0.00,0.000,4,0.000,0.050,3062,3732,2899,0,0,0,0,0,0
$GC,10745,0.68,150.9,324.1,19.0,189,10750,0.12,2.40,0.00,0.000,6,0.190,0.044,3042,2135,2901,0,0,0,0,0,0
$GC,11016,0.68,150.9,280.4,16.0,194,11021,0.00,2.40,0.00,0.000,4,0.000,0.050,3042,3727,2898,0,0,0,0,0,0
$GC,11032,0.68,150.9,277.6,15.2,194,11036,0.00,2.38,0.00,0.000,6,0.000,0.042,3053,2155,2898,0,0,0,0,0,0
$GC,11321,0.68,150.9,233.4,15.6,199,11325,0.00,2.35,0.00,0.000,4,0.000,0.050,3053,3727,2896,0,0,0,0,0,0
$GC,11482,0.68,150.9,208.7,14.3,201,11487,0.00,2.35,0.00,0.000,6,0.000,0.041,3064,2151,2898,0,0,0,0,0,0
$GC,11764,0.68,150.9,172.6,13.4,209,11768,0.00,2.40,0.00,0.000,4,0.000,0.049,3064,3736,2898,0,0,0,0,0,0
$GC,11786,0.68,150.9,168.9,14.3,209,11795,0.10,2.40,0.00,0.000,6,0.168,0.041,3045,2146,2898,0,0,0,0,0,0
$GC,12040,0.68,150.9,139.4,11.8,218,12041,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2146,2900,0,0,0,0,0,0
$GC,12285,0.68,150.9,111.3,11.0,226,12286,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2146,2901,0,0,0,0,0,0
$GC,12530,0.68,150.9,85.0,10.7,234,12534,0.00,2.38,0.00,0.000,4,0.000,0.047,3044,3740,2902,0,0,0,0,0,0
$GC,12788,0.78,237.6,63.6,6.1,241,12864,0.00,2.35,63.55,0.700,6,0.000,0.034,3055,2144,2552,0,0,0,0,0,0
$GC,13108,0.78,237.6,30.5,11.8,252,13113,0.00,2.42,0.00,0.000,4,0.000,0.044,3055,3740,2553,0,0,0,0,0,0
$GC,13130,0.78,237.6,27.3,12.3,252,13139,0.00,2.40,0.00,0.000,6,0.000,0.037,3065,2153,2553,0,0,0,0,0,0
$STATE,13320,end climb,SURFACE_DEPTH_REACHED
$STATE,13320,begin surface coast
$FINISH,0.7,1.008976
$STATE,13352,end surface coast,CONTROL_FINISHED_OK
$STATE,13352,begin surface
$SM_CCo,13376,22.33,0.598,0,0,2337,290.43
$SM_GC,1.27,0.00,0.00,22.33,0.000,0.000,0.598,120,2531,2337,-8.44,0.31,290.43
$IRIDIUM_FIX,2001.88,-15605.28,141213,191916
$TT8_MAMPS,0.058422
$HUMID,63.46
$INTERNAL_PRESSURE,9.26672
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,23.6,14.802
$10V_AH,10.3,6.526
$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,19.200,151.100,269.425,22.325,0.000,24.653,32.265,180.503,0.000,0.000,13.425,1000.402,10548.399,354.382,1697.173,236.871,33.362,1106.745,0.000,1329.299,0.000,0.541,0.000
$DEVICE_MAMPS,226.440,52.785,1417.545,598.230,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,178.244,296.628,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,143092
$DATA_FILE_SIZE,13608,260
$CAP_FILE_SIZE,118331,0
$CFSIZE,260165632,251826176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151213,031536,2006.798,-15609.355,24,1.7,25,9.7