version: 66.08
glider: 500
mission: 9
dive: 61
start: 12 18 113 17 21 1
data:
$ID,500
$MISSION,9
$DIVE,61
$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,32
$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,-165803.97
$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,2810
$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,45
$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,3620
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$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,120.0
$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
$GPS1,181213,171059,1957.015,-15611.444,34,1.8,34,9.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-81.0
$GPS2,181213,171951,1957.073,-15611.425,10,3.2,29,9.7
$SPEED_LIMITS,0.159,0.263
$TGT_NAME,A2b
$TGT_LATLONG,1945.000,-15609.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.077,-0.251
$KALMAN_X,91807.5,444.6,-162.2,-117220.6,1703.3
$KALMAN_Y,128711.1,0.3,-339.5,-149907.3,4162.9
$MHEAD_RNG_PITCHd_Wd,187.4,22755,-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,31,begin dive
$GC,34,-0.53,-150.9,0.0,0.0,0,114,0.00,0.00,-77.57,0.000,2,0.000,0.000,110,2537,3775,0,0,0,0,0,0
$GC,117,-0.53,-150.9,3.4,-5.6,2,137,9.60,1.95,-3.65,0.000,4,0.225,0.052,2624,3849,3944,0,0,0,0,0,0
$GC,385,-0.53,-150.9,68.9,-21.1,10,388,0.00,2.00,0.00,0.000,6,0.000,0.035,2624,2516,3945,0,0,0,0,0,0
$GC,717,-0.53,-150.9,137.0,-18.8,21,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2515,3944,0,0,0,0,0,0
$GC,1023,-0.53,-150.9,179.9,-13.7,31,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2515,3945,0,0,0,0,0,0
$GC,1326,-0.53,-150.9,217.4,-12.2,39,1330,0.00,2.30,0.00,0.000,4,0.000,0.036,2624,930,3946,0,0,0,0,0,0
$GC,1364,-0.53,-150.9,223.1,-14.0,39,1368,0.00,2.30,0.00,0.000,6,0.000,0.038,2613,2512,3946,0,0,0,0,0,0
$GC,1691,-0.53,-150.9,265.5,-12.8,45,1695,0.00,2.30,0.00,0.000,4,0.000,0.035,2612,930,3944,0,0,0,0,0,0
$GC,1712,-0.53,-150.9,268.2,-11.3,45,1717,0.12,2.33,0.00,0.000,6,0.171,0.037,2634,2520,3944,0,0,0,0,0,0
$GC,2056,-0.53,-150.9,300.5,-9.5,51,2060,0.00,2.30,0.00,0.000,4,0.000,0.036,2635,930,3945,0,0,0,0,0,0
$GC,2094,-0.53,-150.9,305.2,-11.3,51,2098,0.00,2.30,0.00,0.000,6,0.000,0.039,2624,2525,3945,0,0,0,0,0,0
$GC,2421,-0.53,-150.9,341.3,-11.1,57,2425,0.00,2.30,0.00,0.000,4,0.000,0.035,2624,932,3943,0,0,0,0,0,0
$GC,2464,-0.53,-150.9,346.0,-10.5,57,2468,0.00,2.33,0.00,0.000,6,0.000,0.039,2612,2532,3942,0,0,0,0,0,0
$GC,2786,-0.53,-150.9,379.4,-10.4,63,2790,0.00,2.35,0.00,0.000,4,0.000,0.034,2612,917,3941,0,0,0,0,0,0
$GC,2801,-0.53,-150.9,381.4,-10.5,63,2806,0.12,2.30,0.00,0.000,6,0.165,0.037,2635,2520,3941,0,0,0,0,0,0
$GC,3151,-0.53,-150.9,410.9,-8.3,69,3155,0.00,2.33,0.00,0.000,4,0.000,0.037,2635,931,3937,0,0,0,0,0,0
$GC,3166,-0.53,-150.9,412.5,-8.2,69,3171,0.00,2.30,0.00,0.000,6,0.000,0.037,2625,2524,3937,0,0,0,0,0,0
$GC,3516,-0.53,-150.9,443.0,-8.8,75,3519,0.00,1.95,0.00,0.000,4,0.000,0.047,2615,3837,3935,0,0,0,0,0,0
$GC,3584,-0.53,-150.9,450.1,-10.7,76,3588,0.00,1.95,0.00,0.000,6,0.000,0.032,2611,2516,3935,0,0,0,0,0,0
$GC,3956,-0.53,-150.9,486.4,-9.6,82,3957,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2515,3930,0,0,0,0,0,0
$GC,4259,-0.53,-150.9,514.4,-9.0,87,4263,0.00,2.30,0.00,0.000,4,0.000,0.037,2615,927,3929,0,0,0,0,0,0
$GC,4297,-0.53,-150.9,518.0,-9.0,87,4302,0.12,2.33,0.00,0.000,6,0.161,0.041,2638,2516,3927,0,0,0,0,0,0
$GC,4618,-0.53,-150.9,540.8,-7.0,93,4622,0.00,2.30,0.00,0.000,4,0.000,0.038,2638,936,3924,0,0,0,0,0,0
$GC,4646,-0.53,-150.9,542.8,-7.2,93,4650,0.00,2.33,0.00,0.000,6,0.000,0.041,2628,2533,3924,0,0,0,0,0,0
$GC,4978,-0.53,-150.9,565.6,-6.8,99,4982,0.00,2.35,0.00,0.000,4,0.000,0.038,2628,936,3922,0,0,0,0,0,0
$GC,5027,-0.53,-150.9,569.5,-7.5,99,5032,0.00,2.33,0.00,0.000,6,0.000,0.042,2616,2529,3920,0,0,0,0,0,0
$GC,5338,-0.53,-150.9,593.1,-7.5,104,5342,0.00,2.33,0.00,0.000,4,0.000,0.038,2616,933,3920,0,0,0,0,0,0
$GC,5421,-0.53,-150.9,599.3,-7.1,105,5426,0.10,2.33,0.00,0.000,6,0.177,0.041,2634,2530,3919,0,0,0,0,0,0
$GC,5765,-0.53,-150.9,620.8,-6.4,111,5769,0.00,2.35,0.00,0.000,4,0.000,0.037,2635,925,3917,0,0,0,0,0,0
$GC,5803,-0.53,-150.9,623.9,-7.9,111,5808,0.00,2.35,0.00,0.000,6,0.000,0.044,2624,2525,3918,0,0,0,0,0,0
$GC,6125,-0.53,-150.9,650.4,-8.5,117,6128,0.00,1.98,0.00,0.000,4,0.000,0.051,2614,3848,3913,0,0,0,0,0,0
$GC,6141,-0.53,-150.9,651.9,-8.3,117,6144,0.00,1.92,0.00,0.000,6,0.000,0.034,2618,2517,3914,0,0,0,0,0,0
$GC,6496,-0.53,-150.9,683.0,-8.7,123,6500,0.00,2.30,0.00,0.000,4,0.000,0.038,2614,934,3910,0,0,0,0,0,0
$GC,6545,-0.53,-150.9,687.8,-9.7,123,6550,0.12,2.35,0.00,0.000,6,0.161,0.044,2638,2530,3912,0,0,0,0,0,0
$GC,6866,-0.53,-150.9,710.3,-6.9,129,6870,0.00,2.33,0.00,0.000,4,0.000,0.039,2638,934,3909,0,0,0,0,0,0
$GC,6882,-0.53,-150.9,711.6,-6.7,129,6886,0.00,2.35,0.00,0.000,6,0.000,0.042,2627,2523,3910,0,0,0,0,0,0
$GC,7225,-0.53,-150.9,733.3,-6.2,135,7229,0.00,2.35,0.00,0.000,4,0.000,0.041,2627,929,3908,0,0,0,0,0,0
$GC,7310,-0.53,-150.9,738.9,-6.3,136,7314,0.00,2.35,0.00,0.000,6,0.000,0.044,2618,2523,3907,0,0,0,0,0,0
$GC,7653,-0.53,-150.9,761.1,-6.5,142,7657,0.00,2.35,0.00,0.000,4,0.000,0.040,2616,939,3906,0,0,0,0,0,0
$GC,7702,-0.53,-150.9,765.2,-8.3,142,7707,0.12,2.35,0.00,0.000,6,0.168,0.044,2638,2532,3905,0,0,0,0,0,0
$GC,8013,-0.53,-150.9,786.6,-7.0,147,8017,0.00,2.38,0.00,0.000,4,0.000,0.040,2639,938,3904,0,0,0,0,0,0
$GC,8062,-0.53,-150.9,790.3,-7.1,147,8066,0.00,2.38,0.00,0.000,6,0.000,0.045,2627,2529,3904,0,0,0,0,0,0
$GC,8372,-0.53,-150.9,811.9,-7.0,152,8376,0.00,2.35,0.00,0.000,4,0.000,0.040,2628,937,3903,0,0,0,0,0,0
$GC,8393,-0.53,-150.9,813.5,-7.0,152,8398,0.00,2.35,0.00,0.000,6,0.000,0.044,2617,2520,3902,0,0,0,0,0,0
$GC,8731,-0.53,-150.9,838.6,-7.4,158,8736,0.00,2.35,0.00,0.000,4,0.000,0.041,2617,928,3900,0,0,0,0,0,0
$GC,8794,-0.53,-150.9,843.5,-7.7,159,8799,0.12,2.35,0.00,0.000,6,0.168,0.044,2639,2523,3901,0,0,0,0,0,0
$GC,9161,-0.53,-150.9,864.4,-5.6,165,9165,0.00,2.35,0.00,0.000,4,0.000,0.041,2639,937,3901,0,0,0,0,0,0
$GC,9216,-0.53,-150.9,867.9,-6.1,165,9223,0.00,2.35,0.00,0.000,6,0.000,0.046,2629,2525,3900,0,0,0,0,0,0
$GC,9526,-0.53,-150.9,884.6,-5.3,171,9530,0.00,2.35,0.00,0.000,4,0.000,0.041,2629,933,3900,0,0,0,0,0,0
$GC,9547,-0.53,-150.9,885.6,-4.4,171,9551,0.00,2.35,0.00,0.000,6,0.000,0.045,2618,2522,3900,0,0,0,0,0,0
$GC,9885,-0.53,-150.9,901.0,-4.5,177,9889,0.00,2.35,0.00,0.000,4,0.000,0.041,2618,930,3899,0,0,0,0,0,0
$GC,9906,-0.53,-150.9,902.0,-4.5,177,9911,0.12,2.38,0.00,0.000,6,0.166,0.045,2641,2525,3898,0,0,0,0,0,0
$GC,10244,-0.53,-150.9,911.4,-2.6,183,10248,0.00,2.35,0.00,0.000,4,0.000,0.041,2641,934,3898,0,0,0,0,0,0
$GC,10272,-0.53,-150.9,912.5,-4.1,183,10276,0.00,2.35,0.00,0.000,6,0.000,0.046,2631,2527,3897,0,0,0,0,0,0
$GC,10609,-0.53,-150.9,926.7,-4.3,189,10611,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2527,3895,0,0,0,0,0,0
$GC,10913,-0.53,-150.9,942.7,-5.5,194,10917,0.00,2.38,0.00,0.000,4,0.000,0.041,2634,938,3898,0,0,0,0,0,0
$GC,10934,-0.53,-150.9,944.4,-6.8,194,10938,0.00,2.35,0.00,0.000,6,0.000,0.045,2620,2524,3896,0,0,0,0,0,0
$GC,11278,-0.53,-150.9,970.9,-8.1,200,11282,0.00,2.35,0.00,0.000,4,0.000,0.041,2620,939,3895,0,0,0,0,0,0
$GC,11311,-0.53,-150.9,973.9,-8.7,200,11316,0.10,2.35,0.00,0.000,6,0.177,0.047,2634,2522,3895,0,0,0,0,0,0
$STATE,11574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11574,begin apogee
$GC,11580,-0.13,0.0,994.5,7.8,205,11643,0.35,0.00,56.40,1.519,6,0.117,0.000,2761,2272,3622,0,0,0,0,0,0
$STATE,11650,end apogee,CONTROL_FINISHED_OK
$STATE,11650,begin climb
$GC,11652,0.53,150.9,996.8,0.0,206,11793,0.57,2.62,129.60,1.517,4,0.060,0.050,2987,3840,3005,0,0,0,0,0,0
$GC,11827,0.53,150.9,983.0,15.4,208,11831,0.00,2.42,0.00,0.000,6,0.000,0.044,2999,2333,3005,0,0,0,0,0,0
$GC,12159,0.53,150.9,931.0,15.9,214,12163,0.00,2.50,0.00,0.000,4,0.000,0.047,3012,701,3003,0,0,0,0,0,0
$GC,12181,0.53,150.9,927.1,17.1,214,12186,0.12,2.40,0.00,0.000,6,0.185,0.041,2980,2302,3003,0,0,0,0,0,0
$GC,12519,0.53,150.9,878.8,14.2,220,12523,0.00,2.38,0.00,0.000,4,0.000,0.053,2979,3848,3002,0,0,0,0,0,0
$GC,12540,0.53,150.9,875.3,14.8,220,12544,0.00,2.40,0.00,0.000,6,0.000,0.044,2990,2298,3002,0,0,0,0,0,0
$GC,12883,0.53,150.9,823.0,15.3,226,12888,0.00,2.40,0.00,0.000,4,0.000,0.047,3003,700,3002,0,0,0,0,0,0
$GC,12910,0.53,150.9,818.6,14.9,226,12914,0.00,2.38,0.00,0.000,6,0.000,0.042,3003,2300,3002,0,0,0,0,0,0
$GC,13249,0.53,150.9,767.5,15.1,232,13250,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2303,3001,0,0,0,0,0,0
$GC,13552,0.53,150.9,719.0,16.2,237,13556,0.00,2.33,0.00,0.000,4,0.000,0.053,3003,3842,3000,0,0,0,0,0,0
$GC,13567,0.53,150.9,715.9,17.1,237,13572,0.12,2.33,0.00,0.000,6,0.194,0.040,2984,2292,3001,0,0,0,0,0,0
$GC,13917,0.53,150.9,661.1,15.7,243,13921,0.00,2.35,0.00,0.000,4,0.000,0.047,2994,710,3000,0,0,0,0,0,0
$GC,13939,0.53,150.9,657.4,15.3,243,13944,0.00,2.35,0.00,0.000,6,0.000,0.042,2994,2302,3000,0,0,0,0,0,0
$GC,14277,0.53,150.9,607.7,14.5,249,14281,0.00,2.35,0.00,0.000,4,0.000,0.053,2994,3850,3000,0,0,0,0,0,0
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$STATE,19332,end climb,SURFACE_DEPTH_REACHED
$STATE,19332,begin surface coast
$FINISH,0.8,1.009474
$STATE,19364,end surface coast,CONTROL_FINISHED_OK
$STATE,19364,begin surface
$SM_CCo,19448,0.00,0.000,0,0,2217,344.15
$SM_GC,1.76,7.15,0.00,0.00,0.031,0.000,0.000,131,2536,2217,-8.25,0.45,344.15
$IRIDIUM_FIX,1950.41,-15609.24,181213,111125
$TT8_MAMPS,0.059171
$HUMID,59.76
$INTERNAL_PRESSURE,9.26672
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,23.4,17.304
$10V_AH,10.3,7.699
$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,19.375,205.500,337.800,0.000,0.000,23.595,35.226,261.423,0.000,0.000,33.325,1322.270,15855.651,430.296,2106.930,279.839,33.373,1369.603,0.000,1626.765,0.000,0.541,0.000
$DEVICE_MAMPS,224.910,58.905,1518.525,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,247.821,309.811,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,143068
$DATA_FILE_SIZE,16977,360
$CAP_FILE_SIZE,154235,0
$CFSIZE,260165632,250474496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,181213,224623,1955.947,-15611.331,36,1.4,36,9.7