version: 66.08
glider: 500
mission: 9
dive: 56
start: 12 17 113 14 57 58
data:
$ID,500
$MISSION,9
$DIVE,56
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1000
$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,333
$T_MISSION,685
$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,-165797.72
$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,39
$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,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,3570
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$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,110.0
$AD_THRESHOLD,1815.0
$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
$GPS1,171213,144736,2001.198,-15611.791,27,0.9,27,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-82.8
$GPS2,171213,145648,2001.244,-15611.673,9,1.3,14,9.7
$SPEED_LIMITS,0.172,0.263
$TGT_NAME,A2
$TGT_LATLONG,2000.000,-15610.200
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.120,-0.234
$KALMAN_X,82992.8,367.9,-413.5,-108501.5,2644.1
$KALMAN_Y,114941.0,-457.3,-567.1,-127724.0,4444.2
$MHEAD_RNG_PITCHd_Wd,197.4,3446,-17.1,-9.910
$D_GRID,990
$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,-0.54,-150.9,0.0,0.0,0,104,0.00,0.00,-68.90,0.000,2,0.000,0.000,142,2531,3863,0,0,0,0,0,0
$GC,107,-0.54,-150.9,4.0,-8.6,2,124,9.50,1.95,-1.67,0.000,4,0.226,0.050,2624,3861,3945,0,0,0,0,0,0
$GC,371,-0.54,-150.9,66.7,-19.2,10,375,0.00,2.00,0.00,0.000,6,0.000,0.034,2624,2523,3946,0,0,0,0,0,0
$GC,648,-0.54,-150.9,115.7,-15.2,19,652,0.00,2.30,0.00,0.000,4,0.000,0.036,2624,929,3950,0,0,0,0,0,0
$GC,663,-0.54,-150.9,118.3,-12.4,19,667,0.00,2.33,0.00,0.000,6,0.000,0.033,2612,2530,3946,0,0,0,0,0,0
$GC,923,-0.54,-150.9,158.7,-15.6,28,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2530,3947,0,0,0,0,0,0
$GC,1168,-0.54,-150.9,196.8,-15.3,36,1171,0.00,1.95,0.00,0.000,4,0.000,0.045,2601,3841,3948,0,0,0,0,0,0
$GC,1257,-0.54,-150.9,211.3,-15.2,38,1262,0.12,1.92,0.00,0.000,6,0.156,0.031,2637,2500,3948,0,0,0,0,0,0
$GC,1546,-0.54,-150.9,240.1,-9.8,43,1550,0.00,2.22,0.00,0.000,4,0.000,0.034,2637,939,3949,0,0,0,0,0,0
$GC,1568,-0.54,-150.9,242.6,-10.5,43,1572,0.00,2.28,0.00,0.000,6,0.000,0.037,2627,2513,3949,0,0,0,0,0,0
$GC,1856,-0.54,-150.9,272.2,-10.3,48,1860,0.00,2.28,0.00,0.000,4,0.000,0.036,2627,934,3948,0,0,0,0,0,0
$GC,1888,-0.54,-150.9,275.8,-10.6,48,1892,0.00,2.30,0.00,0.000,6,0.000,0.039,2615,2522,3949,0,0,0,0,0,0
$GC,2160,-0.54,-150.9,305.4,-11.1,53,2164,0.00,2.30,0.00,0.000,4,0.000,0.036,2615,931,3948,0,0,0,0,0,0
$GC,2227,-0.54,-150.9,313.0,-10.9,54,2232,0.12,2.33,0.00,0.000,6,0.168,0.037,2638,2533,3947,0,0,0,0,0,0
$GC,2527,-0.54,-150.9,340.2,-8.8,59,2528,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2533,3946,0,0,0,0,0,0
$GC,2769,-0.54,-150.9,360.3,-8.3,63,2770,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2533,3944,0,0,0,0,0,0
$GC,3012,-0.54,-150.9,379.6,-8.0,67,3016,0.00,2.33,0.00,0.000,4,0.000,0.035,2638,928,3942,0,0,0,0,0,0
$GC,3044,-0.54,-150.9,382.5,-8.5,67,3048,0.00,2.30,0.00,0.000,6,0.000,0.039,2628,2517,3939,0,0,0,0,0,0
$GC,3316,-0.54,-150.9,405.9,-8.7,72,3317,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2518,3939,0,0,0,0,0,0
$GC,3558,-0.54,-150.9,426.9,-8.7,76,3560,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2518,3934,0,0,0,0,0,0
$GC,3801,-0.54,-150.9,449.4,-9.3,80,3805,0.00,2.33,0.00,0.000,4,0.000,0.037,2628,935,3935,0,0,0,0,0,0
$GC,3844,-0.54,-150.9,454.0,-10.0,80,3849,0.00,2.33,0.00,0.000,6,0.000,0.040,2617,2522,3934,0,0,0,0,0,0
$GC,4100,-0.54,-150.9,477.6,-9.3,85,4104,0.00,2.30,0.00,0.000,4,0.000,0.037,2616,941,3932,0,0,0,0,0,0
$GC,4121,-0.54,-150.9,479.8,-10.0,85,4125,0.12,2.33,0.00,0.000,6,0.166,0.040,2639,2530,3932,0,0,0,0,0,0
$GC,4404,-0.54,-150.9,502.7,-8.1,90,4405,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2531,3930,0,0,0,0,0,0
$GC,4646,-0.54,-150.9,520.1,-7.1,94,4647,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2531,3928,0,0,0,0,0,0
$GC,4888,-0.54,-150.9,536.9,-7.0,98,4893,0.00,2.33,0.00,0.000,4,0.000,0.037,2639,932,3927,0,0,0,0,0,0
$GC,4955,-0.54,-150.9,541.7,-6.8,99,4959,0.00,2.30,0.00,0.000,6,0.000,0.041,2629,2523,3925,0,0,0,0,0,0
$GC,5256,-0.54,-150.9,561.6,-6.7,104,5260,0.00,2.30,0.00,0.000,4,0.000,0.038,2628,943,3923,0,0,0,0,0,0
$GC,5300,-0.54,-150.9,565.1,-7.3,104,5304,0.00,2.30,0.00,0.000,6,0.000,0.042,2615,2522,3921,0,0,0,0,0,0
$GC,5554,-0.54,-150.9,585.2,-8.0,109,5558,0.00,2.30,0.00,0.000,4,0.000,0.037,2618,941,3922,0,0,0,0,0,0
$GC,5587,-0.54,-150.9,588.6,-10.0,109,5592,0.12,2.33,0.00,0.000,6,0.161,0.042,2641,2521,3922,0,0,0,0,0,0
$GC,5853,-0.54,-150.9,608.3,-7.3,114,5857,0.00,2.30,0.00,0.000,4,0.000,0.039,2641,943,3920,0,0,0,0,0,0
$GC,5885,-0.54,-150.9,610.7,-7.3,114,5890,0.00,2.33,0.00,0.000,6,0.000,0.044,2628,2529,3920,0,0,0,0,0,0
$GC,6158,-0.54,-150.9,629.7,-7.1,119,6162,0.00,2.33,0.00,0.000,4,0.000,0.039,2631,934,3916,0,0,0,0,0,0
$GC,6190,-0.54,-150.9,632.3,-7.6,119,6194,0.00,2.35,0.00,0.000,6,0.000,0.044,2620,2522,3921,0,0,0,0,0,0
$GC,6458,-0.54,-150.9,652.1,-7.5,124,6462,0.00,2.33,0.00,0.000,4,0.000,0.040,2619,929,3915,0,0,0,0,0,0
$GC,6479,-0.54,-150.9,653.9,-7.0,124,6484,0.12,2.35,0.00,0.000,6,0.166,0.042,2643,2520,3919,0,0,0,0,0,0
$GC,6756,-0.54,-150.9,669.4,-5.5,129,6760,0.00,2.35,0.00,0.000,4,0.000,0.041,2643,945,3914,0,0,0,0,0,0
$GC,6795,-0.54,-150.9,671.7,-5.8,129,6799,0.00,2.33,0.00,0.000,6,0.000,0.044,2633,2519,3914,0,0,0,0,0,0
$GC,7055,-0.54,-150.9,687.0,-6.0,134,7057,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2519,3911,0,0,0,0,0,0
$GC,7298,-0.54,-150.9,703.4,-6.8,138,7299,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2519,3912,0,0,0,0,0,0
$GC,7540,-0.54,-150.9,721.2,-7.3,142,7541,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2519,3911,0,0,0,0,0,0
$GC,7783,-0.54,-150.9,737.2,-6.6,146,7787,0.00,2.33,0.00,0.000,4,0.000,0.040,2633,940,3912,0,0,0,0,0,0
$GC,7810,-0.54,-150.9,739.3,-7.0,146,7814,0.00,2.35,0.00,0.000,6,0.000,0.044,2622,2522,3910,0,0,0,0,0,0
$GC,8082,-0.54,-150.9,756.9,-6.5,151,8086,0.00,2.35,0.00,0.000,4,0.000,0.040,2622,934,3910,0,0,0,0,0,0
$GC,8103,-0.54,-150.9,758.3,-6.6,151,8107,0.00,2.35,0.00,0.000,6,0.000,0.043,2610,2523,3908,0,0,0,0,0,0
$GC,8382,-0.54,-150.9,775.5,-6.2,156,8387,0.00,2.33,0.00,0.000,4,0.000,0.040,2610,939,3907,0,0,0,0,0,0
$GC,8399,-0.54,-150.9,776.8,-5.9,156,8404,0.12,2.35,0.00,0.000,6,0.168,0.043,2633,2525,3907,0,0,0,0,0,0
$GC,8682,-0.54,-150.9,789.3,-4.4,161,8686,0.00,2.33,0.00,0.000,4,0.000,0.041,2635,935,3906,0,0,0,0,0,0
$GC,8709,-0.54,-150.9,790.7,-5.0,161,8714,0.00,2.35,0.00,0.000,6,0.000,0.045,2624,2518,3906,0,0,0,0,0,0
$GC,8981,-0.54,-150.9,806.2,-5.8,166,8985,0.00,2.30,0.00,0.000,4,0.000,0.041,2624,945,3905,0,0,0,0,0,0
$GC,9031,-0.54,-150.9,809.6,-6.4,166,9035,0.00,2.35,0.00,0.000,6,0.000,0.046,2613,2520,3905,0,0,0,0,0,0
$GC,9281,-0.54,-150.9,826.1,-6.7,170,9285,0.00,2.33,0.00,0.000,4,0.000,0.041,2613,942,3904,0,0,0,0,0,0
$GC,9297,-0.54,-150.9,827.3,-6.7,170,9302,0.12,2.35,0.00,0.000,6,0.170,0.044,2637,2520,3904,0,0,0,0,0,0
$GC,9585,-0.54,-150.9,844.1,-5.9,175,9589,0.00,2.33,0.00,0.000,4,0.000,0.041,2636,936,3903,0,0,0,0,0,0
$GC,9601,-0.54,-150.9,845.3,-6.0,175,9605,0.00,2.35,0.00,0.000,6,0.000,0.044,2626,2521,3901,0,0,0,0,0,0
$GC,9889,-0.54,-150.9,865.6,-7.2,180,9890,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2521,3902,0,0,0,0,0,0
$GC,10131,-0.54,-150.9,881.1,-6.4,184,10136,0.00,2.33,0.00,0.000,4,0.000,0.041,2631,937,3902,0,0,0,0,0,0
$GC,10148,-0.54,-150.9,882.2,-6.1,184,10152,0.00,2.35,0.00,0.000,6,0.000,0.044,2614,2527,3902,0,0,0,0,0,0
$GC,10430,-0.54,-150.9,900.6,-6.4,189,10434,0.00,2.35,0.00,0.000,4,0.000,0.042,2614,946,3901,0,0,0,0,0,0
$GC,10458,-0.54,-150.9,902.7,-7.8,189,10463,0.12,2.33,0.00,0.000,6,0.166,0.046,2637,2520,3901,0,0,0,0,0,0
$GC,10729,-0.54,-150.9,917.4,-5.3,194,10733,0.00,2.35,0.00,0.000,4,0.000,0.042,2637,938,3900,0,0,0,0,0,0
$GC,10779,-0.54,-150.9,920.3,-5.8,194,10783,0.00,2.35,0.00,0.000,6,0.000,0.047,2628,2524,3900,0,0,0,0,0,0
$GC,11029,-0.54,-150.9,933.0,-5.2,198,11033,0.00,2.33,0.00,0.000,4,0.000,0.041,2627,940,3900,0,0,0,0,0,0
$GC,11051,-0.54,-150.9,934.3,-5.5,198,11055,0.00,2.38,0.00,0.000,6,0.000,0.047,2616,2526,3903,0,0,0,0,0,0
$GC,11328,-0.54,-150.9,948.8,-5.2,203,11332,0.00,2.35,0.00,0.000,4,0.000,0.042,2616,935,3900,0,0,0,0,0,0
$GC,11366,-0.54,-150.9,951.3,-6.2,203,11371,0.12,2.35,0.00,0.000,6,0.168,0.046,2639,2525,3900,0,0,0,0,0,0
$GC,11627,-0.54,-150.9,963.6,-4.6,208,11631,0.00,2.33,0.00,0.000,4,0.000,0.042,2639,944,3900,0,0,0,0,0,0
$GC,11659,-0.54,-150.9,965.3,-5.2,208,11663,0.00,2.35,0.00,0.000,6,0.000,0.047,2629,2523,3902,0,0,0,0,0,0
$GC,11931,-0.54,-150.9,979.1,-5.1,213,11932,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2523,3900,0,0,0,0,0,0
$STATE,12171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12171,begin apogee
$GC,12178,-0.13,0.0,992.1,5.4,217,12249,0.40,0.00,67.93,1.514,6,0.118,0.000,2769,2291,3569,0,0,0,0,0,0
$STATE,12258,end apogee,CONTROL_FINISHED_OK
$STATE,12258,begin climb
$GC,12260,0.54,150.9,992.3,0.0,218,12400,0.57,2.60,129.90,1.501,4,0.060,0.050,2995,3843,2955,0,0,0,0,0,0
$GC,12416,0.54,150.9,973.7,19.1,220,12420,0.00,2.45,0.00,0.000,6,0.000,0.041,3009,2320,2958,0,0,0,0,0,0
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$STATE,19446,end climb,SURFACE_DEPTH_REACHED
$STATE,19446,begin surface coast
$FINISH,0.8,1.018572
$STATE,19479,end surface coast,CONTROL_FINISHED_OK
$STATE,19479,begin surface
$SM_CCo,19557,0.00,0.000,0,0,2248,324.04
$SM_GC,1.74,7.20,0.00,0.00,0.028,0.000,0.000,133,2528,2248,-8.28,0.23,324.04
$IRIDIUM_FIX,1955.00,-15613.43,171213,090930
$TT8_MAMPS,0.063665
$HUMID,59.64
$INTERNAL_PRESSURE,9.28625
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,23.4,16.613
$10V_AH,10.2,7.373
$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,19.475,224.200,341.375,0.000,0.000,23.882,36.461,257.055,0.000,0.000,17.069,1382.324,15902.465,445.076,2082.050,310.577,33.368,1376.286,0.000,1591.927,0.000,0.541,0.000
$DEVICE_MAMPS,225.675,62.730,1513.935,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,252.217,326.293,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,143000
$DATA_FILE_SIZE,16909,366
$CAP_FILE_SIZE,168324,0
$CFSIZE,260165632,250834944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171213,202506,2000.516,-15611.678,33,1.0,33,9.7