version: 66.08
glider: 500
mission: 9
dive: 66
start: 12 19 113 21 33 6
data:
$ID,500
$MISSION,9
$DIVE,66
$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,35
$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,-165810.23
$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,2808
$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,2500
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,47
$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,0.00050000002
$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,1.0
$AD_XMITPROFILE,1.0
$AD_UPLOADMAX,60000.0
$AD_STARTS,127.0
$AD_THRESHOLD,2015.0
$AD_INTERVAL,6030.0
$AD_DURATION,1040.0
$DB_RECORDABOVE,0.0
$DB_PROFILE,0.0
$DB_XMITPROFILE,0.0
$DB_UPLOADMAX,0.0
$DB_STARTS,0.0
$GPS1,191213,212424,1951.876,-15610.781,37,1.6,37,9.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-83.7
$GPS2,191213,213155,1951.914,-15610.778,15,1.8,15,9.7
$SPEED_LIMITS,0.142,0.263
$TGT_NAME,A2b
$TGT_LATLONG,1945.000,-15609.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.002,-0.263
$KALMAN_X,100645.4,-38.9,334.4,-124951.8,558.3
$KALMAN_Y,143332.4,148.5,-82.6,-174491.0,2775.8
$MHEAD_RNG_PITCHd_Wd,169.9,13174,-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,32,-0.51,-150.9,0.0,0.0,0,104,0.00,0.00,-68.97,0.000,2,0.000,0.000,127,2519,3861,0,0,0,0,0,0
$GC,107,-0.51,-150.9,3.9,-7.5,2,124,9.52,1.95,-1.70,0.000,4,0.224,0.051,2628,3842,3944,0,0,0,0,0,0
$GC,228,-0.51,-150.9,35.2,-20.1,5,236,0.00,2.03,0.00,0.000,6,0.000,0.034,2628,2487,3948,0,0,0,0,0,0
$GC,542,-0.51,-150.9,102.9,-20.8,16,546,0.00,2.30,0.00,0.000,4,0.000,0.038,2629,915,3945,0,0,0,0,0,0
$GC,607,-0.51,-150.9,114.6,-17.2,18,611,0.00,2.30,0.00,0.000,6,0.000,0.040,2617,2495,3945,0,0,0,0,0,0
$GC,944,-0.51,-150.9,167.6,-15.3,29,947,0.00,2.03,0.00,0.000,4,0.000,0.046,2606,3851,3944,0,0,0,0,0,0
$GC,1089,-0.51,-150.9,190.9,-15.2,33,1094,0.12,1.95,0.00,0.000,6,0.158,0.033,2641,2489,3950,0,0,0,0,0,0
$GC,1418,-0.51,-150.9,225.5,-10.2,40,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2488,3947,0,0,0,0,0,0
$GC,1720,-0.51,-150.9,257.0,-10.4,45,1724,0.00,2.25,0.00,0.000,4,0.000,0.036,2641,911,3947,0,0,0,0,0,0
$GC,1792,-0.51,-150.9,265.2,-10.9,46,1796,0.00,2.30,0.00,0.000,6,0.000,0.039,2631,2512,3948,0,0,0,0,0,0
$GC,2154,-0.51,-150.9,303.8,-10.6,52,2155,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2513,3946,0,0,0,0,0,0
$GC,2456,-0.51,-150.9,333.9,-9.9,57,2459,0.00,2.00,0.00,0.000,4,0.000,0.047,2620,3852,3945,0,0,0,0,0,0
$GC,2573,-0.51,-150.9,345.2,-8.4,58,2577,0.00,1.95,0.00,0.000,6,0.000,0.033,2621,2495,3944,0,0,0,0,0,0
$GC,2894,-0.51,-150.9,372.5,-8.7,64,2898,0.00,2.28,0.00,0.000,4,0.000,0.034,2620,899,3942,0,0,0,0,0,0
$GC,2909,-0.51,-150.9,374.2,-9.1,64,2914,0.12,2.30,0.00,0.000,6,0.167,0.037,2642,2507,3942,0,0,0,0,0,0
$GC,3253,-0.51,-150.9,401.7,-8.1,70,3257,0.00,2.33,0.00,0.000,4,0.000,0.036,2643,903,3939,0,0,0,0,0,0
$GC,3269,-0.51,-150.9,403.2,-7.6,70,3273,0.00,2.30,0.00,0.000,6,0.000,0.038,2633,2496,3939,0,0,0,0,0,0
$GC,3612,-0.51,-150.9,432.9,-8.8,76,3616,0.00,2.35,0.00,0.000,4,0.000,0.037,2633,906,3936,0,0,0,0,0,0
$GC,3695,-0.51,-150.9,441.1,-9.5,77,3699,0.00,2.33,0.00,0.000,6,0.000,0.041,2621,2506,3935,0,0,0,0,0,0
$GC,4038,-0.51,-150.9,472.5,-8.9,83,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2505,3932,0,0,0,0,0,0
$GC,4341,-0.51,-150.9,496.2,-7.6,88,4345,0.00,2.35,0.00,0.000,4,0.000,0.037,2621,901,3930,0,0,0,0,0,0
$GC,4386,-0.51,-150.9,500.2,-8.4,88,4391,0.12,2.33,0.00,0.000,6,0.164,0.041,2644,2507,3929,0,0,0,0,0,0
$GC,4707,-0.51,-150.9,521.5,-6.4,94,4711,0.00,2.33,0.00,0.000,4,0.000,0.037,2645,910,3929,0,0,0,0,0,0
$GC,4785,-0.51,-150.9,527.1,-6.5,95,4789,0.00,2.33,0.00,0.000,6,0.000,0.041,2634,2502,3926,0,0,0,0,0,0
$GC,5140,-0.51,-150.9,550.4,-6.4,101,5144,0.00,2.35,0.00,0.000,4,0.000,0.037,2634,910,3924,0,0,0,0,0,0
$GC,5155,-0.51,-150.9,551.4,-6.1,101,5159,0.00,2.33,0.00,0.000,6,0.000,0.040,2622,2510,3923,0,0,0,0,0,0
$GC,5499,-0.51,-150.9,575.7,-7.2,107,5503,0.00,2.33,0.00,0.000,4,0.000,0.037,2622,913,3920,0,0,0,0,0,0
$GC,5521,-0.51,-150.9,577.7,-8.2,107,5526,0.10,2.33,0.00,0.000,6,0.176,0.041,2637,2510,3921,0,0,0,0,0,0
$GC,5859,-0.51,-150.9,601.1,-7.0,113,5863,0.00,2.38,0.00,0.000,4,0.000,0.039,2638,906,3920,0,0,0,0,0,0
$GC,5903,-0.51,-150.9,604.5,-7.6,113,5907,0.00,2.33,0.00,0.000,6,0.000,0.043,2632,2495,3919,0,0,0,0,0,0
$GC,6218,-0.51,-150.9,625.8,-6.8,119,6222,0.00,2.33,0.00,0.000,4,0.000,0.040,2628,913,3917,0,0,0,0,0,0
$GC,6256,-0.51,-150.9,628.4,-6.9,119,6260,0.00,2.33,0.00,0.000,6,0.000,0.043,2617,2503,3917,0,0,0,0,0,0
$GC,6577,-0.51,-150.9,650.3,-6.8,125,6581,0.00,2.35,0.00,0.000,4,0.000,0.039,2615,910,3915,0,0,0,0,0,0
$GC,6609,-0.51,-150.9,652.7,-7.3,125,6614,0.12,2.35,0.00,0.000,6,0.164,0.043,2639,2505,3917,0,0,0,0,0,0
$GC,6936,-0.51,-150.9,670.4,-5.4,131,6940,0.00,2.33,0.00,0.000,4,0.000,0.039,2639,915,3913,0,0,0,0,0,0
$GC,6974,-0.51,-150.9,672.9,-6.4,131,6978,0.00,2.33,0.00,0.000,6,0.000,0.044,2632,2498,3912,0,0,0,0,0,0
$GC,7295,-0.51,-150.9,694.8,-6.9,137,7299,0.00,2.35,0.00,0.000,4,0.000,0.041,2629,913,3911,0,0,0,0,0,0
$GC,7327,-0.51,-150.9,697.3,-7.8,137,7331,0.00,2.33,0.00,0.000,6,0.000,0.044,2618,2501,3911,0,0,0,0,0,0
$GC,7660,-0.51,-150.9,720.8,-7.0,143,7664,0.00,2.35,0.00,0.000,4,0.000,0.040,2623,914,3909,0,0,0,0,0,0
$GC,7687,-0.51,-150.9,722.9,-7.7,143,7692,0.12,2.35,0.00,0.000,6,0.167,0.044,2641,2504,3909,0,0,0,0,0,0
$GC,8025,-0.51,-150.9,741.1,-5.3,149,8029,0.00,2.35,0.00,0.000,4,0.000,0.040,2641,910,3908,0,0,0,0,0,0
$GC,8068,-0.51,-150.9,743.8,-5.7,149,8073,0.00,2.35,0.00,0.000,6,0.000,0.044,2631,2502,3906,0,0,0,0,0,0
$GC,8384,-0.51,-150.9,762.1,-5.8,155,8388,0.00,2.35,0.00,0.000,4,0.000,0.040,2630,912,3906,0,0,0,0,0,0
$GC,8422,-0.51,-150.9,764.6,-6.5,155,8426,0.00,2.35,0.00,0.000,6,0.000,0.045,2619,2507,3906,0,0,0,0,0,0
$GC,8744,-0.51,-150.9,783.5,-5.8,161,8748,0.00,2.35,0.00,0.000,4,0.000,0.041,2619,916,3904,0,0,0,0,0,0
$GC,8771,-0.51,-150.9,785.4,-6.7,161,8776,0.12,2.33,0.00,0.000,6,0.167,0.045,2642,2499,3905,0,0,0,0,0,0
$GC,9109,-0.51,-150.9,802.6,-5.1,167,9113,0.00,2.35,0.00,0.000,4,0.000,0.041,2643,914,3904,0,0,0,0,0,0
$GC,9147,-0.51,-150.9,805.0,-5.6,167,9151,0.00,2.35,0.00,0.000,6,0.000,0.046,2632,2508,3903,0,0,0,0,0,0
$GC,9468,-0.51,-150.9,825.0,-6.5,173,9472,0.00,2.38,0.00,0.000,4,0.000,0.041,2632,909,3903,0,0,0,0,0,0
$GC,9495,-0.51,-150.9,826.9,-7.2,173,9499,0.00,2.35,0.00,0.000,6,0.000,0.045,2621,2501,3902,0,0,0,0,0,0
$GC,9827,-0.51,-150.9,851.0,-7.4,179,9832,0.00,2.38,0.00,0.000,4,0.000,0.041,2621,908,3902,0,0,0,0,0,0
$GC,9872,-0.51,-150.9,854.5,-7.9,179,9877,0.12,2.35,0.00,0.000,6,0.167,0.045,2643,2500,3901,0,0,0,0,0,0
$GC,10187,-0.51,-150.9,873.0,-5.8,185,10191,0.00,2.38,0.00,0.000,4,0.000,0.041,2643,911,3901,0,0,0,0,0,0
$GC,10231,-0.51,-150.9,875.7,-6.1,185,10235,0.00,2.35,0.00,0.000,6,0.000,0.046,2633,2501,3901,0,0,0,0,0,0
$GC,10546,-0.51,-150.9,894.0,-5.8,191,10550,0.00,2.35,0.00,0.000,4,0.000,0.041,2633,914,3898,0,0,0,0,0,0
$GC,10601,-0.51,-150.9,897.5,-6.5,191,10608,0.00,2.38,0.00,0.000,6,0.000,0.047,2622,2506,3900,0,0,0,0,0,0
$GC,10911,-0.51,-150.9,917.4,-6.5,197,10915,0.00,2.35,0.00,0.000,4,0.000,0.041,2622,917,3899,0,0,0,0,0,0
$GC,10951,-0.51,-150.9,920.1,-7.4,197,10956,0.12,2.35,0.00,0.000,6,0.168,0.046,2644,2502,3899,0,0,0,0,0,0
$GC,11272,-0.51,-150.9,936.6,-5.0,203,11276,0.00,2.35,0.00,0.000,4,0.000,0.041,2645,909,3898,0,0,0,0,0,0
$GC,11305,-0.51,-150.9,938.3,-5.1,203,11309,0.00,2.35,0.00,0.000,6,0.000,0.047,2635,2497,3899,0,0,0,0,0,0
$GC,11637,-0.51,-150.9,953.5,-4.5,209,11641,0.00,2.33,0.00,0.000,4,0.000,0.042,2639,916,3898,0,0,0,0,0,0
$GC,11686,-0.51,-150.9,956.1,-5.2,209,11691,0.00,2.35,0.00,0.000,6,0.000,0.047,2627,2496,3900,0,0,0,0,0,0
$GC,11996,-0.51,-150.9,972.0,-5.2,214,12000,0.00,2.35,0.00,0.000,4,0.000,0.041,2624,904,3898,0,0,0,0,0,0
$GC,12012,-0.51,-150.9,973.0,-5.4,214,12017,0.10,2.38,0.00,0.000,6,0.182,0.046,2638,2511,3898,0,0,0,0,0,0
$STATE,12353,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12353,begin apogee
$GC,12360,-0.13,0.0,991.3,5.5,220,12422,0.35,0.00,57.38,1.525,6,0.116,0.000,2764,2273,3621,0,0,0,0,0,0
$STATE,12429,end apogee,CONTROL_FINISHED_OK
$STATE,12429,begin climb
$GC,12432,0.51,150.9,992.4,0.0,221,12570,0.55,2.62,130.18,1.522,4,0.060,0.051,2982,3846,3006,0,0,0,0,0,0
$GC,12592,0.51,150.9,979.2,15.4,223,12596,0.00,2.42,0.00,0.000,6,0.000,0.041,2994,2339,3007,0,0,0,0,0,0
$GC,12919,0.51,150.9,926.7,16.2,229,12923,0.00,2.50,0.00,0.000,4,0.000,0.045,3006,705,3003,0,0,0,0,0,0
$GC,12962,0.51,150.9,919.4,16.2,229,12967,0.12,2.42,0.00,0.000,6,0.178,0.043,2974,2308,3003,0,0,0,0,0,0
$GC,13277,0.51,150.9,872.2,14.9,235,13278,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2307,3002,0,0,0,0,0,0
$GC,13580,0.51,150.9,827.2,14.9,240,13585,0.00,2.40,0.00,0.000,4,0.000,0.044,2985,703,3002,0,0,0,0,0,0
$GC,13596,0.51,150.9,824.5,14.4,240,13601,0.00,2.38,0.00,0.000,6,0.000,0.041,2985,2305,3002,0,0,0,0,0,0
$GC,13940,0.51,150.9,771.3,15.6,246,13944,0.00,2.35,0.00,0.000,4,0.000,0.053,2984,3845,3002,0,0,0,0,0,0
$GC,13962,0.51,150.9,767.5,17.5,246,13967,0.00,2.35,0.00,0.000,6,0.000,0.042,2997,2296,3001,0,0,0,0,0,0
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$STATE,20781,end climb,SURFACE_DEPTH_REACHED
$STATE,20781,begin surface coast
$FINISH,0.8,1.023006
$STATE,20810,end surface coast,CONTROL_FINISHED_OK
$STATE,20810,begin surface
$SM_CCo,20888,0.00,0.000,0,0,1675,476.86
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$IRIDIUM_FIX,1948.12,-15647.18,191213,151526
$TT8_MAMPS,0.058422
$HUMID,57.87
$INTERNAL_PRESSURE,9.23742
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,23.3,18.050
$10V_AH,10.2,8.039
$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
$DEVICE_SECS,19.375,219.250,444.450,0.000,0.000,23.523,41.428,207.920,0.000,0.000,19.060,1407.895,17066.367,511.027,2085.685,281.735,33.376,1494.716,0.000,1695.069,0.000,0.541,0.000
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$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,268.321,336.167,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,143032
$DATA_FILE_SIZE,20307,390
$CAP_FILE_SIZE,164330,0
$CFSIZE,260165632,250089472
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,201213,032230,1949.991,-15610.422,38,1.2,38,9.7