version: 66.08
glider: 500
mission: 9
dive: 98
start: 12 25 113 18 37 17
data:
$ID,500
$MISSION,9
$DIVE,98
$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,320
$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,-165851.94
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,2812
$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,2460
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,3680
$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,3.0
$AD_XMITPROFILE,1.0
$AD_UPLOADMAX,60000.0
$AD_STARTS,158.0
$AD_THRESHOLD,2015.0
$AD_INTERVAL,6035.0
$AD_DURATION,1545.0
$DB_RECORDABOVE,0.0
$DB_PROFILE,0.0
$DB_XMITPROFILE,0.0
$DB_UPLOADMAX,0.0
$DB_STARTS,2.0
$GPS1,251213,182930,1902.241,-15559.903,40,1.0,40,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-83.1
$GPS2,251213,183607,1902.170,-15559.956,14,0.9,14,9.6
$SPEED_LIMITS,0.142,0.263
$TGT_NAME,B2
$TGT_LATLONG,1900.000,-15615.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.258,-0.049
$KALMAN_X,104852.2,223.5,5.2,-110272.7,-636.8
$KALMAN_Y,162681.8,246.0,-216.6,-285914.9,84.3
$MHEAD_RNG_PITCHd_Wd,249.7,26648,-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,32,end surface,CONTROL_FINISHED_OK
$STATE,32,begin dive
$GC,35,-0.51,-150.9,0.0,0.0,0,106,0.00,0.00,-69.03,0.000,2,0.000,0.000,130,2467,3790,0,0,0,0,0,0
$GC,109,-0.51,-150.9,3.6,-6.8,2,129,9.55,2.42,-3.28,0.000,4,0.223,0.049,2641,856,3944,0,0,0,0,0,0
$GC,314,-0.51,-150.9,52.5,-20.6,8,318,0.00,2.40,0.00,0.000,6,0.000,0.045,2630,2468,3946,0,0,0,0,0,0
$GC,646,-0.51,-150.9,123.3,-19.8,19,651,0.00,2.40,0.00,0.000,4,0.000,0.043,2630,858,3945,0,0,0,0,0,0
$GC,657,-0.51,-150.9,125.6,-16.1,19,661,0.00,2.38,0.00,0.000,6,0.000,0.038,2619,2462,3945,0,0,0,0,0,0
$GC,977,-0.51,-150.9,174.0,-13.3,30,981,0.00,2.15,0.00,0.000,4,0.000,0.067,2608,3843,3946,0,0,0,0,0,0
$GC,1066,-0.51,-150.9,186.7,-13.3,32,1076,0.10,2.08,0.00,0.000,6,0.125,0.039,2645,2464,3946,0,0,0,0,0,0
$GC,1377,-0.51,-150.9,224.5,-12.4,40,1381,0.00,2.38,0.00,0.000,4,0.000,0.047,2645,863,3948,0,0,0,0,0,0
$GC,1399,-0.51,-150.9,227.5,-12.6,40,1403,0.00,2.38,0.00,0.000,6,0.000,0.047,2635,2461,3948,0,0,0,0,0,0
$GC,1748,-0.51,-150.9,271.1,-12.2,46,1752,0.00,2.17,0.00,0.000,4,0.000,0.071,2624,3853,3948,0,0,0,0,0,0
$GC,1775,-0.51,-150.9,274.6,-11.5,46,1780,0.00,2.10,0.00,0.000,6,0.000,0.038,2624,2449,3948,0,0,0,0,0,0
$GC,2114,-0.51,-150.9,314.2,-11.4,52,2118,0.00,2.35,0.00,0.000,4,0.000,0.047,2623,868,3947,0,0,0,0,0,0
$GC,2129,-0.51,-150.9,316.2,-11.3,52,2134,0.08,2.40,0.00,0.000,6,0.139,0.048,2652,2457,3949,0,0,0,0,0,0
$GC,2479,-0.51,-150.9,347.9,-9.0,58,2483,0.00,2.40,0.00,0.000,4,0.000,0.049,2649,866,3945,0,0,0,0,0,0
$GC,2511,-0.51,-150.9,351.5,-10.8,58,2515,0.00,2.42,0.00,0.000,6,0.000,0.052,2641,2458,3942,0,0,0,0,0,0
$GC,2843,-0.51,-150.9,388.3,-11.2,64,2847,0.00,2.17,0.00,0.000,4,0.000,0.076,2631,3843,3942,0,0,0,0,0,0
$GC,2865,-0.51,-150.9,390.7,-10.2,64,2869,0.00,2.08,0.00,0.000,6,0.000,0.042,2630,2458,3945,0,0,0,0,0,0
$GC,3209,-0.51,-150.9,418.4,-7.4,70,3213,0.00,2.40,0.00,0.000,4,0.000,0.052,2632,867,3939,0,0,0,0,0,0
$GC,3232,-0.51,-150.9,420.0,-6.9,70,3236,0.00,2.42,0.00,0.000,6,0.000,0.054,2623,2463,3941,0,0,0,0,0,0
$GC,3569,-0.51,-150.9,445.7,-7.7,76,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2462,3936,0,0,0,0,0,0
$GC,3872,-0.51,-150.9,477.4,-10.7,81,3876,0.00,2.40,0.00,0.000,4,0.000,0.050,2620,863,3931,0,0,0,0,0,0
$GC,3926,-0.51,-150.9,484.0,-11.6,81,3934,0.12,2.45,0.00,0.000,6,0.160,0.059,2643,2462,3933,0,0,0,0,0,0
$GC,4237,-0.51,-150.9,514.3,-9.9,87,4238,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2461,3933,0,0,0,0,0,0
$GC,4540,-0.51,-150.9,541.4,-8.7,92,4544,0.00,2.40,0.00,0.000,4,0.000,0.050,2644,870,3928,0,0,0,0,0,0
$GC,4572,-0.51,-150.9,544.1,-8.3,92,4577,0.00,2.45,0.00,0.000,6,0.000,0.060,2634,2464,3929,0,0,0,0,0,0
$GC,4900,-0.51,-150.9,567.1,-6.7,98,4904,0.00,2.42,0.00,0.000,4,0.000,0.051,2634,864,3928,0,0,0,0,0,0
$GC,4926,-0.51,-150.9,568.9,-6.5,98,4930,0.00,2.42,0.00,0.000,6,0.000,0.059,2623,2461,3924,0,0,0,0,0,0
$GC,5265,-0.51,-150.9,592.4,-7.2,104,5269,0.00,2.42,0.00,0.000,4,0.000,0.053,2619,865,3926,0,0,0,0,0,0
$GC,5281,-0.51,-150.9,593.9,-7.6,104,5286,0.12,2.45,0.00,0.000,6,0.160,0.058,2646,2467,3923,0,0,0,0,0,0
$GC,5624,-0.51,-150.9,617.9,-7.0,110,5629,0.00,2.42,0.00,0.000,4,0.000,0.054,2645,872,3921,0,0,0,0,0,0
$GC,5674,-0.51,-150.9,621.6,-6.7,110,5678,0.00,2.45,0.00,0.000,6,0.000,0.062,2637,2461,3921,0,0,0,0,0,0
$GC,5985,-0.51,-150.9,639.8,-5.6,115,5989,0.00,2.45,0.00,0.000,4,0.000,0.054,2636,874,3919,0,0,0,0,0,0
$GC,6034,-0.51,-150.9,642.6,-5.2,115,6039,0.00,2.45,0.00,0.000,6,0.000,0.063,2626,2459,3919,0,0,0,0,0,0
$GC,6356,-0.51,-150.9,660.6,-5.7,121,6357,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2459,3917,0,0,0,0,0,0
$GC,6659,-0.51,-150.9,680.7,-6.7,126,6663,0.00,2.38,0.00,0.000,4,0.000,0.054,2626,874,3913,0,0,0,0,0,0
$GC,6709,-0.51,-150.9,684.8,-8.2,126,6715,0.10,2.45,0.00,0.000,6,0.164,0.063,2642,2466,3914,0,0,0,0,0,0
$GC,7025,-0.51,-150.9,705.6,-6.6,132,7026,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2466,3913,0,0,0,0,0,0
$GC,7328,-0.51,-150.9,724.9,-6.3,137,7332,0.00,2.45,0.00,0.000,4,0.000,0.054,2642,866,3913,0,0,0,0,0,0
$GC,7361,-0.51,-150.9,727.0,-6.8,137,7365,0.00,2.42,0.00,0.000,6,0.000,0.051,2632,2470,3912,0,0,0,0,0,0
$GC,7687,-0.51,-150.9,745.0,-5.4,143,7691,0.00,2.40,0.00,0.000,4,0.000,0.046,2632,873,3910,0,0,0,0,0,0
$GC,7710,-0.51,-150.9,746.4,-6.0,143,7714,0.00,2.42,0.00,0.000,6,0.000,0.054,2621,2471,3911,0,0,0,0,0,0
$GC,8047,-0.51,-150.9,766.3,-6.2,149,8048,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2471,3909,0,0,0,0,0,0
$GC,8350,-0.51,-150.9,788.3,-7.4,154,8354,0.00,2.40,0.00,0.000,4,0.000,0.048,2621,875,3908,0,0,0,0,0,0
$GC,8373,-0.51,-150.9,790.2,-8.3,154,8378,0.12,2.42,0.00,0.000,6,0.157,0.054,2645,2468,3908,0,0,0,0,0,0
$GC,8711,-0.51,-150.9,814.1,-7.0,160,8715,0.00,2.40,0.00,0.000,4,0.000,0.048,2645,876,3906,0,0,0,0,0,0
$GC,8738,-0.51,-150.9,816.2,-7.6,160,8742,0.00,2.45,0.00,0.000,6,0.000,0.063,2635,2461,3906,0,0,0,0,0,0
$GC,9070,-0.51,-150.9,839.3,-6.9,166,9074,0.00,2.42,0.00,0.000,4,0.000,0.054,2636,870,3905,0,0,0,0,0,0
$GC,9097,-0.51,-150.9,841.4,-7.5,166,9102,0.00,2.47,0.00,0.000,6,0.000,0.060,2624,2474,3905,0,0,0,0,0,0
$GC,9429,-0.51,-150.9,863.7,-6.7,172,9430,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2475,3904,0,0,0,0,0,0
$GC,9732,-0.51,-150.9,882.5,-6.2,177,9736,0.00,2.42,0.00,0.000,4,0.000,0.049,2627,865,3903,0,0,0,0,0,0
$GC,9765,-0.51,-150.9,884.8,-7.4,177,9770,0.12,2.47,0.00,0.000,6,0.157,0.060,2648,2465,3903,0,0,0,0,0,0
$GC,10091,-0.51,-150.9,900.9,-4.8,183,10096,0.00,2.42,0.00,0.000,4,0.000,0.054,2648,877,3901,0,0,0,0,0,0
$GC,10124,-0.51,-150.9,902.8,-4.9,183,10129,0.00,2.45,0.00,0.000,6,0.000,0.061,2638,2464,3902,0,0,0,0,0,0
$GC,10451,-0.51,-150.9,921.4,-5.8,189,10455,0.00,2.42,0.00,0.000,4,0.000,0.050,2638,864,3901,0,0,0,0,0,0
$GC,10467,-0.51,-150.9,922.6,-6.2,189,10471,0.00,2.45,0.00,0.000,6,0.000,0.056,2628,2469,3901,0,0,0,0,0,0
$GC,10810,-0.51,-150.9,946.7,-7.2,195,10814,0.00,2.45,0.00,0.000,4,0.000,0.054,2626,868,3901,0,0,0,0,0,0
$GC,10848,-0.51,-150.9,949.9,-7.5,195,10853,0.10,2.40,0.00,0.000,6,0.168,0.047,2643,2462,3901,0,0,0,0,0,0
$GC,11169,-0.51,-150.9,970.8,-6.4,201,11170,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2461,3900,0,0,0,0,0,0
$GC,11472,-0.51,-150.9,989.0,-5.9,206,11473,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2462,3900,0,0,0,0,0,0
$STATE,11530,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11530,begin apogee
$GC,11537,-0.13,0.0,992.3,5.7,207,11586,0.35,0.05,45.70,1.527,6,0.112,0.072,2768,2303,3681,0,0,0,0,0,0
$STATE,11593,end apogee,CONTROL_FINISHED_OK
$STATE,11593,begin climb
$GC,11596,0.51,150.9,992.9,0.0,207,11736,0.52,2.58,130.82,1.530,4,0.055,0.053,2986,3843,3064,0,0,0,0,0,0
$GC,11746,0.51,150.9,981.8,14.4,210,11751,0.00,2.40,0.00,0.000,6,0.000,0.039,2997,2343,3064,0,0,0,0,0,0
$GC,12089,0.51,150.9,925.7,16.5,216,12094,0.00,2.50,0.00,0.000,4,0.000,0.050,3010,706,3061,0,0,0,0,0,0
$GC,12110,0.51,150.9,922.0,15.7,216,12115,0.12,2.47,0.00,0.000,6,0.163,0.050,2979,2305,3062,0,0,0,0,0,0
$GC,12448,0.51,150.9,873.7,14.0,222,12452,0.00,2.40,0.00,0.000,4,0.000,0.062,2979,3857,3059,0,0,0,0,0,0
$GC,12475,0.51,150.9,869.5,14.7,222,12479,0.00,2.40,0.00,0.000,6,0.000,0.044,2991,2288,3061,0,0,0,0,0,0
$GC,12813,0.51,150.9,824.2,13.3,228,12818,0.00,2.38,0.00,0.000,4,0.000,0.050,2999,709,3060,0,0,0,0,0,0
$GC,12837,0.51,150.9,821.1,12.3,228,12841,0.00,2.42,0.00,0.000,6,0.000,0.046,3002,2307,3061,0,0,0,0,0,0
$GC,13174,0.51,150.9,772.7,14.6,234,13178,0.00,2.40,0.00,0.000,4,0.000,0.063,2999,3845,3060,0,0,0,0,0,0
$GC,13207,0.51,150.9,767.1,16.0,234,13212,0.12,2.42,0.00,0.000,6,0.182,0.049,2979,2299,3060,0,0,0,0,0,0
$GC,13539,0.51,150.9,723.2,13.1,240,13543,0.00,2.42,0.00,0.000,4,0.000,0.052,2991,702,3059,0,0,0,0,0,0
$GC,13560,0.51,150.9,720.3,12.1,240,13564,0.00,2.42,0.00,0.000,6,0.000,0.050,2990,2302,3059,0,0,0,0,0,0
$GC,13904,0.51,150.9,675.9,13.0,246,13908,0.00,2.38,0.00,0.000,4,0.000,0.063,2990,3841,3058,0,0,0,0,0,0
$GC,13926,0.51,150.9,672.7,13.5,246,13931,0.00,2.38,0.00,0.000,6,0.000,0.049,3001,2297,3058,0,0,0,0,0,0
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$STATE,20251,end climb,SURFACE_DEPTH_REACHED
$STATE,20252,begin surface coast
$FINISH,0.8,0.999262
$STATE,20283,end surface coast,CONTROL_FINISHED_OK
$STATE,20283,begin surface
$SM_CCo,20366,0.00,0.000,0,0,1769,468.76
$SM_GC,1.60,7.12,0.00,0.00,0.029,0.000,0.000,137,2472,1769,-8.26,0.34,468.76
$IRIDIUM_FIX,1857.82,-15558.08,251213,121206
$TT8_MAMPS,0.059171
$HUMID,58.78
$INTERNAL_PRESSURE,9.26672
$TCM_TEMP,25.20
$XPDR_PINGS,1
$24V_AH,23.4,22.504
$10V_AH,10.2,12.842
$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,19.075,211.775,435.600,0.000,0.000,23.085,32.328,223.570,0.250,0.000,17.273,1347.955,16749.865,518.511,1839.526,321.820,33.360,1417.611,0.000,1522.185,0.000,0.542,0.000
$DEVICE_MAMPS,223.380,82.620,1530.000,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,262.570,342.767,0.000,0.000,0.000,0.000,53687.090,5.113,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,45.000,1.000,0.000,0.000
$MEM,143936
$DATA_FILE_SIZE,20351,382
$CAP_FILE_SIZE,153662,0
$CFSIZE,260165632,248401920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261213,001800,1901.150,-15602.510,39,1.6,39,9.6