version: 66.08
glider: 500
mission: 9
dive: 43
start: 12 15 113 3 23 44
data:
$ID,500
$MISSION,9
$DIVE,43
$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,-165781.38
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,48
$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,84.0
$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
$GPS1,151213,031536,2006.798,-15609.355,24,1.7,25,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-82.5
$GPS2,151213,032233,2006.902,-15609.259,12,4.7,31,9.7
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,A2
$TGT_LATLONG,2000.000,-15610.200
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.095,-0.246
$KALMAN_X,50741.1,-501.3,-384.7,-71210.3,5729.0
$KALMAN_Y,84024.8,-1399.5,-448.5,-85477.7,6320.1
$MHEAD_RNG_PITCHd_Wd,191.4,12888,-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,-56.33,0.000,2,0.000,0.000,120,2532,3836,0,0,0,0,0,0
$GC,94,-0.68,-150.9,3.6,-7.7,1,112,9.45,1.95,-2.28,0.000,4,0.226,0.054,2583,3835,3945,0,0,0,0,0,0
$GC,365,-0.68,-150.9,71.0,-24.1,9,374,0.00,1.98,0.00,0.000,6,0.000,0.036,2583,2517,3946,0,0,0,0,0,0
$GC,619,-0.68,-150.9,118.7,-17.5,18,622,0.00,1.95,0.00,0.000,4,0.000,0.045,2573,3841,3948,0,0,0,0,0,0
$GC,838,-0.68,-150.9,157.2,-16.0,24,842,0.00,1.92,0.00,0.000,6,0.000,0.031,2572,2518,3949,0,0,0,0,0,0
$GC,1104,-0.68,-150.9,197.8,-14.8,33,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2518,3951,0,0,0,0,0,0
$GC,1374,-0.68,-150.9,237.1,-14.1,38,1378,0.00,1.95,0.00,0.000,4,0.000,0.044,2562,3832,3952,0,0,0,0,0,0
$GC,1581,-0.68,-150.9,269.7,-16.0,41,1586,0.08,1.92,0.00,0.000,6,0.145,0.033,2604,2510,3952,0,0,0,0,0,0
$GC,1887,-0.68,-150.9,307.5,-12.0,46,1891,0.00,2.28,0.00,0.000,4,0.000,0.037,2605,935,3955,0,0,0,0,0,0
$GC,1965,-0.68,-150.9,316.4,-11.1,47,1969,0.00,2.28,0.00,0.000,6,0.000,0.039,2594,2523,3951,0,0,0,0,0,0
$GC,2255,-0.68,-150.9,348.0,-11.0,52,2259,0.00,2.33,0.00,0.000,4,0.000,0.037,2594,931,3950,0,0,0,0,0,0
$GC,2276,-0.68,-150.9,350.9,-12.2,52,2280,0.00,2.30,0.00,0.000,6,0.000,0.037,2582,2532,3950,0,0,0,0,0,0
$GC,2559,-0.68,-150.9,383.9,-11.7,57,2562,0.00,1.95,0.00,0.000,4,0.000,0.046,2569,3845,3948,0,0,0,0,0,0
$GC,2627,-0.68,-150.9,392.6,-12.9,58,2631,0.00,1.90,0.00,0.000,6,0.000,0.034,2572,2531,3950,0,0,0,0,0,0
$GC,2937,-0.68,-150.9,431.2,-12.5,63,2941,0.00,2.33,0.00,0.000,4,0.000,0.038,2572,927,3945,0,0,0,0,0,0
$GC,2970,-0.68,-150.9,435.8,-14.1,63,2975,0.15,2.33,0.00,0.000,6,0.168,0.041,2602,2518,3943,0,0,0,0,0,0
$GC,3241,-0.68,-150.9,465.0,-10.6,68,3245,0.00,1.98,0.00,0.000,4,0.000,0.049,2593,3845,3943,0,0,0,0,0,0
$GC,3263,-0.68,-150.9,467.4,-10.0,68,3267,0.00,1.95,0.00,0.000,6,0.000,0.033,2593,2514,3942,0,0,0,0,0,0
$GC,3552,-0.68,-150.9,497.1,-10.4,73,3556,0.00,2.28,0.00,0.000,4,0.000,0.037,2593,931,3940,0,0,0,0,0,0
$GC,3567,-0.68,-150.9,498.9,-10.5,73,3571,0.00,2.33,0.00,0.000,6,0.000,0.038,2581,2522,3940,0,0,0,0,0,0
$GC,3850,-0.68,-150.9,530.0,-11.1,78,3854,0.00,1.98,0.00,0.000,4,0.000,0.048,2571,3850,3937,0,0,0,0,0,0
$GC,3877,-0.68,-150.9,533.5,-12.6,78,3882,0.08,1.95,0.00,0.000,6,0.133,0.035,2595,2532,3937,0,0,0,0,0,0
$GC,4160,-0.68,-150.9,561.2,-9.7,83,4161,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2535,3935,0,0,0,0,0,0
$GC,4402,-0.68,-150.9,585.6,-10.0,87,4406,0.00,2.33,0.00,0.000,4,0.000,0.039,2597,929,3934,0,0,0,0,0,0
$GC,4464,-0.68,-150.9,592.4,-11.0,88,4468,0.00,2.33,0.00,0.000,6,0.000,0.041,2587,2522,3933,0,0,0,0,0,0
$GC,4770,-0.68,-150.9,626.3,-11.1,93,4771,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,2523,3931,0,0,0,0,0,0
$GC,5012,-0.68,-150.9,652.0,-10.6,97,5015,0.00,2.00,0.00,0.000,4,0.000,0.051,2576,3850,3930,0,0,0,0,0,0
$GC,5039,-0.68,-150.9,655.2,-10.5,97,5043,0.00,2.00,0.00,0.000,6,0.000,0.034,2576,2507,3929,0,0,0,0,0,0
$GC,5322,-0.68,-150.9,683.2,-9.7,102,5326,0.00,2.30,0.00,0.000,4,0.000,0.040,2577,933,3927,0,0,0,0,0,0
$GC,5339,-0.68,-150.9,684.8,-9.2,102,5344,0.12,2.30,0.00,0.000,6,0.180,0.041,2597,2520,3926,0,0,0,0,0,0
$GC,5621,-0.68,-150.9,707.8,-8.1,107,5623,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2520,3925,0,0,0,0,0,0
$GC,5864,-0.68,-150.9,727.4,-8.1,111,5865,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2520,3924,0,0,0,0,0,0
$GC,6107,-0.68,-150.9,749.4,-9.1,115,6108,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2520,3923,0,0,0,0,0,0
$GC,6349,-0.68,-150.9,771.5,-9.1,119,6350,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2520,3922,0,0,0,0,0,0
$GC,6591,-0.68,-150.9,793.2,-8.9,123,6592,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2520,3920,0,0,0,0,0,0
$GC,6834,-0.68,-150.9,815.2,-9.1,127,6835,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2523,3919,0,0,0,0,0,0
$GC,7076,-0.68,-150.9,836.9,-9.0,131,7080,0.00,2.33,0.00,0.000,4,0.000,0.040,2598,934,3919,0,0,0,0,0,0
$GC,7093,-0.68,-150.9,838.6,-9.2,131,7097,0.00,2.33,0.00,0.000,6,0.000,0.041,2587,2520,3918,0,0,0,0,0,0
$GC,7381,-0.68,-150.9,866.3,-9.7,136,7386,0.00,2.35,0.00,0.000,4,0.000,0.041,2587,930,3918,0,0,0,0,0,0
$GC,7414,-0.68,-150.9,869.6,-10.1,136,7418,0.00,2.38,0.00,0.000,6,0.000,0.044,2577,2532,3917,0,0,0,0,0,0
$GC,7687,-0.68,-150.9,894.8,-9.3,141,7690,0.00,2.00,0.00,0.000,4,0.000,0.052,2565,3850,3917,0,0,0,0,0,0
$GC,7714,-0.68,-150.9,897.5,-10.0,141,7718,0.12,1.95,0.00,0.000,6,0.153,0.037,2600,2517,3917,0,0,0,0,0,0
$STATE,7744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7744,begin apogee
$GC,7750,-0.14,0.0,900.2,8.1,141,7836,0.50,0.00,80.25,1.424,6,0.125,0.000,2772,2178,3521,0,0,0,0,0,0
$STATE,7844,end apogee,CONTROL_FINISHED_OK
$STATE,7845,begin climb
$GC,7847,0.68,150.9,900.5,0.0,143,7984,0.70,2.70,126.78,1.403,4,0.056,0.051,3050,3778,2909,0,0,0,0,0,0
$GC,8006,0.68,150.9,875.5,23.8,145,8013,0.00,2.50,0.00,0.000,6,0.000,0.044,3062,2226,2907,0,0,0,0,0,0
$GC,8256,0.68,150.9,815.2,24.4,150,8260,0.00,2.42,0.00,0.000,4,0.000,0.050,3062,3784,2905,0,0,0,0,0,0
$GC,8344,0.68,150.9,793.5,22.9,151,8349,0.12,2.45,0.00,0.000,6,0.200,0.047,3044,2199,2904,0,0,0,0,0,0
$GC,8621,0.68,150.9,734.5,21.4,156,8625,0.00,2.45,0.00,0.000,4,0.000,0.050,3046,3795,2903,0,0,0,0,0,0
$GC,8670,0.68,150.9,723.6,21.7,156,8674,0.00,2.47,0.00,0.000,6,0.000,0.047,3055,2192,2903,0,0,0,0,0,0
$GC,8925,0.68,150.9,670.1,21.1,161,8926,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2191,2903,0,0,0,0,0,0
$GC,9168,0.68,150.9,616.8,22.1,165,9172,0.00,2.50,0.00,0.000,4,0.000,0.054,3055,3794,2902,0,0,0,0,0,0
$GC,9319,0.68,150.9,583.3,22.1,167,9324,0.00,2.45,0.00,0.000,6,0.000,0.048,3067,2195,2899,0,0,0,0,0,0
$GC,9602,0.68,150.9,523.0,21.4,172,9606,0.00,2.42,0.00,0.000,4,0.000,0.049,3064,3792,2902,0,0,0,0,0,0
$GC,9629,0.68,150.9,517.3,21.1,172,9634,0.15,2.42,0.00,0.000,6,0.187,0.046,3047,2189,2901,0,0,0,0,0,0
$GC,9900,0.68,150.9,468.2,18.1,177,9904,0.00,2.42,0.00,0.000,4,0.000,0.050,3041,3788,2901,0,0,0,0,0,0
$GC,9932,0.68,150.9,461.8,20.1,177,9936,0.00,2.40,0.00,0.000,6,0.000,0.046,3052,2201,2900,0,0,0,0,0,0
$GC,10204,0.68,150.9,414.9,17.2,182,10208,0.00,2.40,0.00,0.000,4,0.000,0.051,3052,3787,2903,0,0,0,0,0,0
$GC,10225,0.68,150.9,410.9,17.1,182,10229,0.00,2.40,0.00,0.000,6,0.000,0.044,3065,2191,2900,0,0,0,0,0,0
$GC,10508,0.68,150.9,361.1,17.5,187,10512,0.00,2.45,0.00,0.000,4,0.000,0.052,3065,3786,2901,0,0,0,0,0,0
$GC,10540,0.68,150.9,355.2,17.3,187,10545,0.15,2.38,0.00,0.000,6,0.182,0.045,3037,2202,2900,0,0,0,0,0,0
$GC,10812,0.68,150.9,316.2,14.2,192,10816,0.00,2.38,0.00,0.000,4,0.000,0.048,3049,609,2899,0,0,0,0,0,0
$GC,10827,0.68,150.9,313.4,14.1,192,10832,0.00,2.38,0.00,0.000,6,0.000,0.039,3049,2218,2898,0,0,0,0,0,0
$GC,11116,0.68,150.9,269.0,15.3,197,11120,0.00,2.40,0.00,0.000,4,0.000,0.055,3049,3782,2899,0,0,0,0,0,0
$GC,11188,0.68,150.9,257.6,15.6,198,11192,0.00,2.38,0.00,0.000,6,0.000,0.044,3061,2201,2899,0,0,0,0,0,0
$GC,11488,0.68,150.9,217.3,13.4,203,11493,0.00,2.42,0.00,0.000,4,0.000,0.050,3061,3796,2898,0,0,0,0,0,0
$GC,11527,0.68,150.9,212.3,12.5,203,11532,0.12,2.42,0.00,0.000,6,0.177,0.045,3040,2190,2899,0,0,0,0,0,0
$GC,11790,0.68,150.9,182.1,12.6,210,11794,0.00,2.42,0.00,0.000,4,0.000,0.052,3040,3791,2899,0,0,0,0,0,0
$GC,12047,0.68,150.9,146.8,13.1,217,12057,0.00,2.38,0.00,0.000,6,0.000,0.039,3051,2201,2900,0,0,0,0,0,0
$GC,12302,0.68,150.9,116.5,12.2,226,12306,0.00,2.38,0.00,0.000,4,0.000,0.049,3050,3790,2902,0,0,0,0,0,0
$GC,12374,0.68,150.9,107.2,11.9,228,12378,0.00,2.35,0.00,0.000,6,0.000,0.040,3062,2192,2900,0,0,0,0,0,0
$GC,12640,0.69,163.0,80.4,9.5,237,12655,0.00,2.40,10.68,0.629,4,0.000,0.048,3062,3786,2854,0,0,0,0,0,0
$GC,12911,0.72,188.0,55.0,8.9,245,12940,0.00,2.33,20.10,0.669,6,0.000,0.035,3074,2194,2753,0,0,0,0,0,0
$GC,13185,0.72,188.0,27.9,10.5,254,13189,0.00,2.38,0.00,0.000,4,0.000,0.045,3074,3786,2754,0,0,0,0,0,0
$GC,13217,0.72,188.0,23.7,11.8,255,13222,0.12,2.35,0.00,0.000,6,0.171,0.037,3054,2189,2753,0,0,0,0,0,0
$STATE,13454,end climb,SURFACE_DEPTH_REACHED
$STATE,13455,begin surface coast
$FINISH,0.7,1.010263
$STATE,13487,end surface coast,CONTROL_FINISHED_OK
$STATE,13487,begin surface
$SM_CCo,13510,42.30,0.638,0,0,2336,290.19
$SM_GC,1.92,0.00,0.00,42.30,0.000,0.000,0.638,112,2533,2336,-8.46,0.28,290.19
$IRIDIUM_FIX,2001.88,-15607.38,141213,232347
$TT8_MAMPS,0.057673
$HUMID,61.81
$INTERNAL_PRESSURE,9.27648
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,23.5,14.912
$10V_AH,10.3,6.581
$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,19.100,141.925,237.800,42.300,0.000,26.594,31.344,165.541,0.000,0.000,35.072,1022.448,10610.812,363.556,1763.912,231.616,33.349,1115.532,0.000,1389.791,0.000,0.540,0.000
$DEVICE_MAMPS,226.440,55.080,1423.665,638.010,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,180.960,303.212,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,143016
$DATA_FILE_SIZE,13630,264
$CAP_FILE_SIZE,118523,0
$CFSIZE,260165632,251760640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151213,071054,2006.948,-15608.804,37,1.5,38,9.7