version: 66.08
glider: 500
mission: 9
dive: 105
start: 12 27 113 10 36 19
data:
$ID,500
$MISSION,9
$DIVE,105
$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,-165860.8
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,33
$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,0
$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,0.0
$AD_PROFILE,0.0
$AD_XMITPROFILE,1.0
$AD_UPLOADMAX,60000.0
$AD_STARTS,167.0
$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
$GPS1,271213,102806,1859.760,-15616.894,33,1.2,33,9.6
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-82.0
$GPS2,271213,103521,1859.676,-15617.056,13,2.1,32,9.6
$SPEED_LIMITS,0.142,0.263
$TGT_NAME,B1
$TGT_LATLONG,2015.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.012,0.261
$KALMAN_X,103884.5,-320.1,-376.0,-138097.5,-160.1
$KALMAN_Y,145619.5,-431.9,-80.2,-272940.2,-2009.2
$MHEAD_RNG_PITCHd_Wd,353.1,139546,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.51,-149.6,0.0,0.0,0,72,0.00,0.00,-53.45,0.000,2,0.000,0.000,136,2467,3749,0,0,0,0,0,0
$GC,75,-0.51,-150.9,3.5,-6.2,2,100,9.45,2.45,-4.18,0.000,4,0.220,0.054,2640,862,3945,0,0,0,0,0,0
$GC,217,-0.51,-150.9,39.1,-21.2,6,222,0.00,2.38,0.00,0.000,6,0.000,0.047,2629,2458,3946,0,0,0,0,0,0
$GC,544,-0.51,-150.9,113.8,-22.4,17,548,0.00,2.10,0.00,0.000,4,0.000,0.054,2618,3854,3947,0,0,0,0,0,0
$GC,677,-0.51,-150.9,138.6,-15.7,21,682,0.00,2.08,0.00,0.000,6,0.000,0.039,2618,2453,3947,0,0,0,0,0,0
$GC,1021,-0.51,-150.9,188.3,-14.4,32,1024,0.00,2.12,0.00,0.000,4,0.000,0.062,2607,3837,3949,0,0,0,0,0,0
$GC,1052,-0.51,-150.9,193.0,-15.2,33,1057,0.12,2.03,0.00,0.000,6,0.145,0.039,2644,2453,3949,0,0,0,0,0,0
$GC,1414,-0.51,-150.9,237.8,-12.2,40,1418,0.00,2.38,0.00,0.000,4,0.000,0.051,2644,872,3951,0,0,0,0,0,0
$GC,1447,-0.51,-150.9,241.7,-11.0,40,1451,0.00,2.35,0.00,0.000,6,0.000,0.050,2639,2458,3951,0,0,0,0,0,0
$GC,1780,-0.51,-150.9,273.9,-9.6,46,1781,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2458,3951,0,0,0,0,0,0
$GC,2083,-0.51,-150.9,306.4,-10.5,51,2087,0.00,2.38,0.00,0.000,4,0.000,0.049,2634,873,3950,0,0,0,0,0,0
$GC,2138,-0.51,-150.9,312.4,-10.3,51,2145,0.00,2.38,0.00,0.000,6,0.000,0.052,2623,2462,3950,0,0,0,0,0,0
$GC,2448,-0.51,-150.9,344.6,-10.5,57,2452,0.00,2.15,0.00,0.000,4,0.000,0.076,2612,3843,3948,0,0,0,0,0,0
$GC,2480,-0.51,-150.9,348.5,-11.0,57,2485,0.08,2.10,0.00,0.000,6,0.115,0.044,2642,2455,3948,0,0,0,0,0,0
$GC,2812,-0.51,-150.9,382.9,-10.6,63,2816,0.00,2.38,0.00,0.000,4,0.000,0.051,2642,874,3946,0,0,0,0,0,0
$GC,2833,-0.51,-150.9,385.4,-10.7,63,2837,0.00,2.38,0.00,0.000,6,0.000,0.054,2633,2460,3946,0,0,0,0,0,0
$GC,3171,-0.51,-150.9,415.5,-8.4,69,3176,0.00,2.42,0.00,0.000,4,0.000,0.051,2633,875,3942,0,0,0,0,0,0
$GC,3210,-0.51,-150.9,418.7,-8.2,69,3214,0.00,2.42,0.00,0.000,6,0.000,0.061,2621,2466,3942,0,0,0,0,0,0
$GC,3531,-0.51,-150.9,444.1,-8.1,75,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2463,3940,0,0,0,0,0,0
$GC,3833,-0.51,-150.9,475.1,-10.4,80,3835,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2466,3937,0,0,0,0,0,0
$GC,4137,-0.51,-150.9,505.2,-9.8,85,4138,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2466,3935,0,0,0,0,0,0
$GC,4440,-0.51,-150.9,531.2,-8.5,90,4441,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2466,3933,0,0,0,0,0,0
$GC,4743,-0.51,-150.9,556.4,-8.3,95,4745,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2466,3930,0,0,0,0,0,0
$GC,5046,-0.51,-150.9,583.1,-9.0,100,5050,0.00,2.45,0.00,0.000,4,0.000,0.051,2621,867,3927,0,0,0,0,0,0
$GC,5118,-0.51,-150.9,590.4,-9.9,101,5123,0.12,2.45,0.00,0.000,6,0.158,0.059,2646,2472,3927,0,0,0,0,0,0
$GC,5473,-0.51,-150.9,618.2,-7.6,107,5474,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2472,3924,0,0,0,0,0,0
$GC,5776,-0.51,-150.9,640.5,-7.3,112,5780,0.00,2.45,0.00,0.000,4,0.000,0.052,2646,870,3922,0,0,0,0,0,0
$GC,5803,-0.51,-150.9,642.6,-7.7,112,5807,0.00,2.42,0.00,0.000,6,0.000,0.059,2636,2459,3922,0,0,0,0,0,0
$GC,6135,-0.51,-150.9,667.0,-7.3,118,6139,0.00,2.45,0.00,0.000,4,0.000,0.052,2636,872,3922,0,0,0,0,0,0
$GC,6168,-0.51,-150.9,669.5,-7.4,118,6172,0.00,2.42,0.00,0.000,6,0.000,0.060,2625,2461,3921,0,0,0,0,0,0
$GC,6494,-0.51,-150.9,693.5,-7.2,124,6498,0.00,2.42,0.00,0.000,4,0.000,0.052,2625,873,3922,0,0,0,0,0,0
$GC,6532,-0.51,-150.9,696.6,-7.6,124,6537,0.10,2.38,0.00,0.000,6,0.164,0.048,2642,2474,3919,0,0,0,0,0,0
$GC,6853,-0.51,-150.9,718.0,-6.7,130,6854,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2474,3918,0,0,0,0,0,0
$GC,7156,-0.51,-150.9,740.5,-7.5,135,7157,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2474,3915,0,0,0,0,0,0
$GC,7459,-0.51,-150.9,763.6,-7.6,140,7463,0.00,2.42,0.00,0.000,4,0.000,0.047,2642,870,3914,0,0,0,0,0,0
$GC,7497,-0.51,-150.9,766.6,-7.2,140,7502,0.00,2.40,0.00,0.000,6,0.000,0.050,2633,2463,3914,0,0,0,0,0,0
$GC,7819,-0.51,-150.9,789.2,-6.9,146,7823,0.00,2.40,0.00,0.000,4,0.000,0.044,2632,865,3913,0,0,0,0,0,0
$GC,7840,-0.51,-150.9,790.7,-6.3,146,7844,0.00,2.40,0.00,0.000,6,0.000,0.051,2621,2463,3913,0,0,0,0,0,0
$GC,8183,-0.51,-150.9,811.5,-5.9,152,8187,0.00,2.40,0.00,0.000,4,0.000,0.045,2621,862,3912,0,0,0,0,0,0
$GC,8222,-0.51,-150.9,814.0,-6.3,152,8227,0.12,2.38,0.00,0.000,6,0.155,0.050,2647,2461,3912,0,0,0,0,0,0
$GC,8548,-0.51,-150.9,827.4,-4.0,158,8550,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2461,3911,0,0,0,0,0,0
$GC,8852,-0.51,-150.9,840.3,-4.3,163,8856,0.00,2.35,0.00,0.000,4,0.000,0.044,2646,867,3908,0,0,0,0,0,0
$GC,8890,-0.51,-150.9,842.4,-5.8,163,8894,0.00,2.40,0.00,0.000,6,0.000,0.047,2637,2469,3909,0,0,0,0,0,0
$GC,9211,-0.51,-150.9,860.5,-5.8,169,9212,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2469,3908,0,0,0,0,0,0
$GC,9514,-0.51,-150.9,879.2,-6.3,174,9518,0.00,2.42,0.00,0.000,4,0.000,0.048,2636,874,3907,0,0,0,0,0,0
$GC,9591,-0.51,-150.9,885.1,-7.7,175,9596,0.00,2.38,0.00,0.000,6,0.000,0.053,2625,2461,3907,0,0,0,0,0,0
$GC,9941,-0.51,-150.9,910.2,-7.2,181,9942,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2461,3906,0,0,0,0,0,0
$GC,10244,-0.51,-150.9,931.0,-6.8,186,10248,0.00,2.40,0.00,0.000,4,0.000,0.046,2625,872,3903,0,0,0,0,0,0
$GC,10272,-0.51,-150.9,933.0,-7.2,186,10277,0.12,2.40,0.00,0.000,6,0.158,0.054,2650,2466,3905,0,0,0,0,0,0
$GC,10604,-0.51,-150.9,950.3,-5.1,192,10608,0.00,2.38,0.00,0.000,4,0.000,0.044,2650,865,3905,0,0,0,0,0,0
$GC,10631,-0.51,-150.9,951.8,-5.7,192,10636,0.00,2.38,0.00,0.000,6,0.000,0.048,2640,2462,3904,0,0,0,0,0,0
$GC,10964,-0.51,-150.9,967.8,-4.7,198,10968,0.00,2.40,0.00,0.000,4,0.000,0.044,2639,858,3903,0,0,0,0,0,0
$GC,11052,-0.51,-150.9,972.6,-5.3,199,11057,0.00,2.40,0.00,0.000,6,0.000,0.048,2628,2466,3903,0,0,0,0,0,0
$STATE,11388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11388,begin apogee
$GC,11394,-0.13,0.0,991.6,5.8,205,11444,0.40,0.00,46.58,1.522,6,0.115,0.000,2767,2173,3681,0,0,0,0,0,0
$STATE,11445,end apogee,CONTROL_FINISHED_OK
$STATE,11445,begin climb
$GC,11448,0.51,150.9,992.7,0.0,205,11587,0.52,2.72,130.27,1.523,4,0.056,0.054,2983,3784,3064,0,0,0,0,0,0
$GC,11712,0.51,150.9,966.2,15.1,210,11716,0.00,2.45,0.00,0.000,6,0.000,0.046,2996,2227,3063,0,0,0,0,0,0
$GC,12077,0.51,150.9,914.1,14.1,216,12082,0.00,2.42,0.00,0.000,4,0.000,0.050,2995,3790,3062,0,0,0,0,0,0
$GC,12104,0.51,150.9,909.6,15.1,216,12109,0.00,2.45,0.00,0.000,6,0.000,0.042,3008,2193,3062,0,0,0,0,0,0
$GC,12443,0.51,150.9,858.5,15.1,222,12447,0.00,2.47,0.00,0.000,4,0.000,0.052,3007,3789,3059,0,0,0,0,0,0
$GC,12470,0.51,150.9,853.7,17.2,222,12475,0.15,2.45,0.00,0.000,6,0.169,0.044,2980,2188,3061,0,0,0,0,0,0
$GC,12802,0.51,150.9,805.1,14.6,228,12803,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2187,3061,0,0,0,0,0,0
$GC,13105,0.51,150.9,760.9,14.6,233,13109,0.00,2.40,0.00,0.000,4,0.000,0.050,2991,612,3060,0,0,0,0,0,0
$GC,13148,0.51,150.9,754.3,14.1,233,13153,0.00,2.38,0.00,0.000,6,0.000,0.049,2990,2209,3059,0,0,0,0,0,0
$GC,13465,0.51,150.9,708.9,14.3,239,13470,0.00,2.42,0.00,0.000,4,0.000,0.054,2991,3787,3059,0,0,0,0,0,0
$GC,13487,0.51,150.9,705.2,14.4,239,13491,0.00,2.40,0.00,0.000,6,0.000,0.042,3002,2198,3060,0,0,0,0,0,0
$GC,13831,0.51,150.9,655.5,14.4,245,13832,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2198,3058,0,0,0,0,0,0
$GC,14134,0.51,150.9,614.4,13.4,250,14135,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2198,3059,0,0,0,0,0,0
$GC,14437,0.51,150.9,572.7,13.9,255,14438,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2198,3059,0,0,0,0,0,0
$GC,14740,0.51,150.9,536.0,11.8,260,14744,0.00,2.38,0.00,0.000,4,0.000,0.047,3015,604,3058,0,0,0,0,0,0
$GC,14755,0.51,150.9,534.1,11.1,260,14760,0.12,2.35,0.00,0.000,6,0.165,0.045,2980,2199,3058,0,0,0,0,0,0
$GC,15104,0.52,154.7,500.7,9.7,266,15113,0.00,2.47,3.80,0.700,4,0.000,0.054,2979,3786,3050,0,0,0,0,0,0
$GC,15204,0.52,154.7,488.8,12.2,267,15208,0.00,2.40,0.00,0.000,6,0.000,0.041,2990,2187,3049,0,0,0,0,0,0
$GC,15536,0.52,154.7,451.2,11.3,273,15540,0.00,2.35,0.00,0.000,4,0.000,0.048,3003,603,3049,0,0,0,0,0,0
$GC,15552,0.52,154.7,449.2,11.0,273,15556,0.00,2.40,0.00,0.000,6,0.000,0.044,3002,2203,3049,0,0,0,0,0,0
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$GC,19166,0.65,415.0,66.5,8.8,351,19196,0.00,2.45,21.30,0.722,6,0.000,0.045,3042,2199,1988,0,0,0,0,0,0
$GC,19502,0.65,415.0,21.3,14.3,362,19506,0.00,2.47,0.00,0.000,4,0.000,0.060,3042,3774,1992,0,0,0,0,0,0
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$STATE,19655,end climb,SURFACE_DEPTH_REACHED
$STATE,19656,begin surface coast
$FINISH,0.8,1.010078
$STATE,19688,end surface coast,CONTROL_FINISHED_OK
$STATE,19688,begin surface
$SM_CCo,19765,0.00,0.000,0,0,1976,417.98
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$IRIDIUM_FIX,1853.26,-15613.36,271213,040404
$TT8_MAMPS,0.030709
$HUMID,59.72
$INTERNAL_PRESSURE,9.26672
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,23.3,23.525
$10V_AH,10.2,14.895
$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
$DEVICE_SECS,18.700,173.225,394.250,0.000,0.000,23.417,32.542,221.843,0.000,0.000,35.836,1277.871,16375.340,455.235,1831.044,264.734,33.371,1312.478,0.000,1495.313,0.000,0.541,0.000
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$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,252.943,296.623,0.000,0.000,0.000,0.000,53687.090,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,45.000,0.000,0.000,0.000
$MEM,143864
$DATA_FILE_SIZE,16996,368
$CAP_FILE_SIZE,142938,0
$CFSIZE,260165632,247996416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,271213,160700,1901.302,-15618.246,38,1.2,38,9.6