version: 66.08
glider: 500
mission: 9
dive: 111
start: 12 28 113 20 24 31
data:
$ID,500
$MISSION,9
$DIVE,111
$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,-165869.72
$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,41
$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,0.0
$AD_UPLOADMAX,60000.0
$AD_STARTS,167.0
$AD_THRESHOLD,2015.0
$AD_INTERVAL,12005.0
$AD_DURATION,1545.0
$DB_RECORDABOVE,0.0
$DB_PROFILE,0.0
$DB_XMITPROFILE,0.0
$DB_UPLOADMAX,0.0
$DB_STARTS,2.0
$GPS1,281213,201823,1910.389,-15618.213,35,1.6,35,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-82.1
$GPS2,281213,202335,1910.412,-15618.239,10,1.3,26,9.6
$SPEED_LIMITS,0.142,0.263
$TGT_NAME,B1
$TGT_LATLONG,1925.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.128,0.230
$KALMAN_X,90546.9,-75.2,67.2,-127527.6,-1764.4
$KALMAN_Y,136020.5,230.1,-157.2,-244048.5,-830.0
$MHEAD_RNG_PITCHd_Wd,19.4,27604,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.51,-150.9,0.0,0.0,0,88,0.00,0.00,-68.85,0.000,2,0.000,0.000,128,2483,3802,0,0,0,0,0,0
$GC,91,-0.51,-150.9,3.7,-7.5,2,111,9.55,2.47,-2.95,0.000,4,0.223,0.054,2644,847,3945,0,0,0,0,0,0
$GC,280,-0.51,-150.9,49.2,-20.1,7,289,0.00,2.42,0.00,0.000,6,0.000,0.050,2635,2449,3948,0,0,0,0,0,0
$GC,595,-0.51,-150.9,121.8,-22.8,18,597,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2449,3945,0,0,0,0,0,0
$GC,902,-0.51,-150.9,171.7,-13.3,28,906,0.00,2.08,0.00,0.000,4,0.000,0.053,2622,3848,3947,0,0,0,0,0,0
$GC,1037,-0.51,-150.9,191.1,-14.7,32,1041,0.00,2.05,0.00,0.000,6,0.000,0.044,2624,2446,3948,0,0,0,0,0,0
$GC,1370,-0.51,-150.9,235.7,-13.3,39,1374,0.00,2.33,0.00,0.000,4,0.000,0.049,2624,866,3949,0,0,0,0,0,0
$GC,1391,-0.51,-150.9,238.7,-13.2,39,1396,0.12,2.40,0.00,0.000,6,0.158,0.055,2647,2455,3948,0,0,0,0,0,0
$GC,1729,-0.51,-150.9,272.1,-9.5,45,1733,0.00,2.10,0.00,0.000,4,0.000,0.060,2638,3856,3951,0,0,0,0,0,0
$GC,1750,-0.51,-150.9,274.5,-10.1,45,1754,0.00,2.08,0.00,0.000,6,0.000,0.041,2638,2457,3949,0,0,0,0,0,0
$GC,2094,-0.51,-150.9,309.5,-10.1,51,2098,0.00,2.35,0.00,0.000,4,0.000,0.051,2638,868,3948,0,0,0,0,0,0
$GC,2179,-0.51,-150.9,318.5,-11.0,52,2183,0.00,2.40,0.00,0.000,6,0.000,0.056,2626,2466,3946,0,0,0,0,0,0
$GC,2522,-0.51,-150.9,356.0,-10.8,58,2526,0.00,2.35,0.00,0.000,4,0.000,0.048,2627,863,3946,0,0,0,0,0,0
$GC,2571,-0.51,-150.9,361.0,-9.5,58,2576,0.10,2.40,0.00,0.000,6,0.162,0.057,2643,2460,3946,0,0,0,0,0,0
$GC,2881,-0.51,-150.9,385.9,-7.8,63,2885,0.00,2.38,0.00,0.000,4,0.000,0.048,2643,860,3944,0,0,0,0,0,0
$GC,2908,-0.51,-150.9,388.3,-8.6,63,2912,0.00,2.40,0.00,0.000,6,0.000,0.057,2633,2460,3943,0,0,0,0,0,0
$GC,3240,-0.51,-150.9,417.5,-8.7,69,3244,0.00,2.38,0.00,0.000,4,0.000,0.050,2633,868,3940,0,0,0,0,0,0
$GC,3264,-0.51,-150.9,419.8,-9.3,69,3268,0.00,2.40,0.00,0.000,6,0.000,0.057,2623,2460,3940,0,0,0,0,0,0
$GC,3602,-0.51,-150.9,451.0,-9.2,75,3603,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2460,3936,0,0,0,0,0,0
$GC,3905,-0.51,-150.9,477.7,-8.7,80,3909,0.00,2.12,0.00,0.000,4,0.000,0.057,2611,3857,3934,0,0,0,0,0,0
$GC,3982,-0.51,-150.9,485.1,-9.1,81,3987,0.12,2.10,0.00,0.000,6,0.140,0.048,2650,2462,3933,0,0,0,0,0,0
$GC,4337,-0.51,-150.9,508.4,-6.5,87,4341,0.00,2.35,0.00,0.000,4,0.000,0.051,2650,869,3930,0,0,0,0,0,0
$GC,4369,-0.51,-150.9,511.0,-8.1,87,4374,0.00,2.42,0.00,0.000,6,0.000,0.060,2640,2466,3930,0,0,0,0,0,0
$GC,4696,-0.51,-150.9,536.6,-8.1,93,4697,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2466,3927,0,0,0,0,0,0
$GC,4999,-0.51,-150.9,560.7,-8.0,98,5003,0.00,2.40,0.00,0.000,4,0.000,0.050,2640,866,3924,0,0,0,0,0,0
$GC,5067,-0.51,-150.9,566.1,-7.7,99,5071,0.00,2.42,0.00,0.000,6,0.000,0.054,2629,2469,3924,0,0,0,0,0,0
$GC,5427,-0.51,-150.9,591.4,-6.9,105,5431,0.00,2.40,0.00,0.000,4,0.000,0.048,2629,862,3922,0,0,0,0,0,0
$GC,5454,-0.51,-150.9,593.5,-8.1,105,5458,0.00,2.40,0.00,0.000,6,0.000,0.057,2618,2462,3922,0,0,0,0,0,0
$GC,5786,-0.51,-150.9,618.9,-7.8,111,5787,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2462,3920,0,0,0,0,0,0
$GC,6089,-0.51,-150.9,641.3,-7.3,116,6090,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2462,3919,0,0,0,0,0,0
$GC,6392,-0.51,-150.9,662.2,-6.9,121,6396,0.00,2.38,0.00,0.000,4,0.000,0.047,2618,861,3916,0,0,0,0,0,0
$GC,6441,-0.51,-150.9,665.7,-7.3,121,6446,0.12,2.40,0.00,0.000,6,0.155,0.052,2642,2467,3916,0,0,0,0,0,0
$GC,6751,-0.51,-150.9,682.5,-5.4,126,6756,0.00,2.40,0.00,0.000,4,0.000,0.049,2642,866,3914,0,0,0,0,0,0
$GC,6773,-0.51,-150.9,684.1,-6.8,126,6777,0.00,2.38,0.00,0.000,6,0.000,0.052,2633,2460,3914,0,0,0,0,0,0
$GC,7112,-0.51,-150.9,707.2,-7.1,132,7113,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2460,3910,0,0,0,0,0,0
$GC,7414,-0.51,-150.9,731.5,-8.1,137,7419,0.00,2.35,0.00,0.000,4,0.000,0.046,2633,862,3912,0,0,0,0,0,0
$GC,7453,-0.51,-150.9,735.2,-9.6,137,7457,0.00,2.42,0.00,0.000,6,0.000,0.054,2621,2470,3912,0,0,0,0,0,0
$GC,7775,-0.51,-150.9,764.9,-9.2,143,7779,0.00,2.38,0.00,0.000,4,0.000,0.046,2621,866,3910,0,0,0,0,0,0
$GC,7801,-0.51,-150.9,767.7,-10.2,143,7807,0.12,2.42,0.00,0.000,6,0.156,0.057,2646,2464,3908,0,0,0,0,0,0
$GC,8134,-0.51,-150.9,791.6,-7.0,149,8138,0.00,2.40,0.00,0.000,4,0.000,0.047,2646,862,3908,0,0,0,0,0,0
$GC,8161,-0.51,-150.9,793.5,-7.4,149,8165,0.00,2.47,0.00,0.000,6,0.000,0.058,2636,2470,3908,0,0,0,0,0,0
$GC,8493,-0.51,-150.9,814.2,-6.1,155,8497,0.00,2.42,0.00,0.000,4,0.000,0.048,2636,862,3907,0,0,0,0,0,0
$GC,8514,-0.51,-150.9,815.6,-6.4,155,8518,0.00,2.42,0.00,0.000,6,0.000,0.057,2625,2461,3906,0,0,0,0,0,0
$GC,8852,-0.51,-150.9,835.6,-5.9,161,8856,0.00,2.38,0.00,0.000,4,0.000,0.047,2625,862,3906,0,0,0,0,0,0
$GC,8896,-0.51,-150.9,838.6,-6.6,161,8900,0.12,2.42,0.00,0.000,6,0.157,0.058,2649,2460,3905,0,0,0,0,0,0
$GC,9211,-0.51,-150.9,856.3,-5.6,167,9215,0.00,2.42,0.00,0.000,4,0.000,0.049,2648,864,3907,0,0,0,0,0,0
$GC,9251,-0.51,-150.9,859.0,-7.5,167,9255,0.00,2.45,0.00,0.000,6,0.000,0.059,2640,2467,3904,0,0,0,0,0,0
$GC,9571,-0.51,-150.9,879.9,-6.6,173,9576,0.00,2.40,0.00,0.000,4,0.000,0.049,2639,870,3901,0,0,0,0,0,0
$GC,9604,-0.51,-150.9,882.5,-7.3,173,9609,0.00,2.42,0.00,0.000,6,0.000,0.059,2629,2460,3903,0,0,0,0,0,0
$GC,9932,-0.51,-150.9,904.9,-6.8,179,9936,0.00,2.42,0.00,0.000,4,0.000,0.049,2629,863,3902,0,0,0,0,0,0
$GC,9959,-0.51,-150.9,906.9,-7.0,179,9963,0.00,2.42,0.00,0.000,6,0.000,0.057,2618,2460,3902,0,0,0,0,0,0
$GC,10291,-0.51,-150.9,930.4,-7.0,185,10292,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2460,3902,0,0,0,0,0,0
$GC,10594,-0.51,-150.9,952.1,-7.2,190,10598,0.00,2.40,0.00,0.000,4,0.000,0.048,2618,865,3901,0,0,0,0,0,0
$GC,10627,-0.51,-150.9,954.8,-8.4,190,10632,0.12,2.45,0.00,0.000,6,0.157,0.057,2642,2473,3901,0,0,0,0,0,0
$GC,10954,-0.51,-150.9,976.4,-6.6,196,10958,0.00,2.42,0.00,0.000,4,0.000,0.049,2643,864,3901,0,0,0,0,0,0
$GC,11017,-0.51,-150.9,981.1,-7.5,197,11021,0.00,2.45,0.00,0.000,6,0.000,0.057,2632,2473,3900,0,0,0,0,0,0
$STATE,11137,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11137,begin apogee
$GC,11143,-0.13,0.0,990.3,7.5,199,11193,0.38,0.00,45.83,1.521,6,0.112,0.000,2765,2178,3684,0,0,0,0,0,0
$STATE,11194,end apogee,CONTROL_FINISHED_OK
$STATE,11194,begin climb
$GC,11196,0.51,150.9,992.1,0.0,199,11336,0.55,2.70,131.18,1.521,4,0.056,0.059,2985,3790,3066,0,0,0,0,0,0
$GC,11346,0.51,150.9,983.8,11.8,202,11351,0.00,2.55,0.00,0.000,6,0.000,0.043,3000,2211,3065,0,0,0,0,0,0
$GC,11690,0.51,150.9,936.6,13.8,208,11691,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2211,3061,0,0,0,0,0,0
$GC,11993,0.51,150.9,895.6,13.5,213,11997,0.00,2.45,0.00,0.000,4,0.000,0.054,3000,3803,3062,0,0,0,0,0,0
$GC,12031,0.51,150.9,889.9,15.2,213,12036,0.12,2.45,0.00,0.000,6,0.171,0.045,2980,2196,3062,0,0,0,0,0,0
$GC,12352,0.51,150.9,849.4,12.7,219,12353,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2195,3065,0,0,0,0,0,0
$GC,12655,0.51,150.9,807.9,13.7,224,12656,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2195,3061,0,0,0,0,0,0
$GC,12958,0.51,150.9,763.2,14.8,229,12959,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2195,3061,0,0,0,0,0,0
$GC,13261,0.51,150.9,718.3,14.8,234,13265,0.00,2.47,0.00,0.000,4,0.000,0.055,2979,3804,3061,0,0,0,0,0,0
$GC,13315,0.51,150.9,708.9,17.3,234,13322,0.00,2.45,0.00,0.000,6,0.000,0.047,2990,2192,3060,0,0,0,0,0,0
$GC,13626,0.51,150.9,663.4,14.6,240,13630,0.00,2.47,0.00,0.000,4,0.000,0.057,2991,3791,3060,0,0,0,0,0,0
$GC,13664,0.51,150.9,657.2,15.3,240,13668,0.00,2.42,0.00,0.000,6,0.000,0.047,3003,2201,3060,0,0,0,0,0,0
$GC,13997,0.51,150.9,610.8,13.8,246,14001,0.00,2.47,0.00,0.000,4,0.000,0.059,3002,3794,3060,0,0,0,0,0,0
$GC,14040,0.51,150.9,604.4,14.3,246,14045,0.12,2.42,0.00,0.000,6,0.177,0.049,2982,2200,3060,0,0,0,0,0,0
$GC,14355,0.51,150.9,568.2,11.4,252,14360,0.00,2.45,0.00,0.000,4,0.000,0.060,2981,3790,3060,0,0,0,0,0,0
$GC,14411,0.51,150.9,561.0,12.7,252,14418,0.00,2.45,0.00,0.000,6,0.000,0.049,2993,2192,3060,0,0,0,0,0,0
$GC,14721,0.51,150.9,527.6,10.6,258,14725,0.00,2.35,0.00,0.000,4,0.000,0.050,3004,606,3060,0,0,0,0,0,0
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$STATE,20117,end climb,SURFACE_DEPTH_REACHED
$STATE,20117,begin surface coast
$FINISH,0.8,1.022584
$STATE,20150,end surface coast,CONTROL_FINISHED_OK
$STATE,20151,begin surface
$SM_CCo,20228,0.00,0.000,0,0,1451,546.76
$SM_GC,1.61,7.10,0.00,0.00,0.026,0.000,0.000,115,2470,1451,-8.26,0.25,546.76
$IRIDIUM_FIX,1900.10,-15607.35,281213,141404
$TT8_MAMPS,0.031458
$HUMID,58.78
$INTERNAL_PRESSURE,9.23742
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,23.4,24.407
$10V_AH,10.2,15.276
$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,18.975,193.000,494.350,0.000,0.000,22.960,31.526,133.961,0.000,0.000,29.716,1338.409,16498.092,586.908,1843.646,274.337,33.372,1499.352,0.000,1631.900,0.000,0.541,0.000
$DEVICE_MAMPS,223.380,64.260,1520.820,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,260.908,342.762,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,144256
$DATA_FILE_SIZE,20302,380
$CAP_FILE_SIZE,149216,0
$CFSIZE,260165632,247640064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291213,020254,1912.309,-15617.594,37,1.1,37,9.6