version: 66.08
glider: 500
mission: 9
dive: 113
start: 12 29 113 7 56 21
data:
$ID,500
$MISSION,9
$DIVE,113
$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,-165872.22
$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,38
$R_STBD_OVSHOOT,31
$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
$GPS1,291213,075006,1913.682,-15616.867,27,0.9,27,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-80.5
$GPS2,291213,075525,1913.680,-15616.847,11,1.5,11,9.6
$SPEED_LIMITS,0.142,0.263
$TGT_NAME,B1
$TGT_LATLONG,1925.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.144,0.220
$KALMAN_X,87580.3,244.3,212.4,-122604.4,-2345.1
$KALMAN_Y,133329.6,-270.7,-174.4,-234780.4,-916.9
$MHEAD_RNG_PITCHd_Wd,23.7,21211,-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,-150.8,0.0,0.0,0,103,0.00,0.00,-83.68,0.000,2,0.000,0.000,122,2461,3726,0,0,0,0,0,0
$GC,106,-0.51,-150.9,3.4,-5.6,2,126,9.52,2.12,-4.80,0.000,4,0.222,0.063,2629,3856,3943,0,0,0,0,0,0
$GC,320,-0.51,-150.9,51.6,-19.4,9,324,0.00,2.10,0.00,0.000,6,0.000,0.044,2629,2454,3944,0,0,0,0,0,0
$GC,657,-0.51,-150.9,128.4,-23.3,20,661,0.00,2.35,0.00,0.000,4,0.000,0.049,2629,868,3942,0,0,0,0,0,0
$GC,672,-0.51,-150.9,132.5,-22.1,20,676,0.00,2.38,0.00,0.000,6,0.000,0.039,2617,2463,3942,0,0,0,0,0,0
$GC,987,-0.51,-150.9,184.7,-15.8,30,991,0.00,2.10,0.00,0.000,4,0.000,0.063,2605,3854,3946,0,0,0,0,0,0
$GC,1017,-0.51,-150.9,189.0,-14.7,31,1022,0.12,2.08,0.00,0.000,6,0.153,0.043,2643,2445,3942,0,0,0,0,0,0
$GC,1380,-0.51,-150.9,230.5,-11.3,39,1384,0.00,2.33,0.00,0.000,4,0.000,0.051,2644,872,3945,0,0,0,0,0,0
$GC,1402,-0.51,-150.9,233.2,-11.5,39,1406,0.00,2.35,0.00,0.000,6,0.000,0.047,2633,2458,3944,0,0,0,0,0,0
$GC,1745,-0.51,-150.9,277.9,-12.9,45,1750,0.00,2.35,0.00,0.000,4,0.000,0.047,2633,867,3944,0,0,0,0,0,0
$GC,1767,-0.51,-150.9,280.7,-12.0,45,1772,0.00,2.40,0.00,0.000,6,0.000,0.056,2622,2457,3942,0,0,0,0,0,0
$GC,2105,-0.51,-150.9,316.9,-10.5,51,2109,0.00,2.15,0.00,0.000,4,0.000,0.060,2610,3859,3943,0,0,0,0,0,0
$GC,2137,-0.51,-150.9,320.4,-10.6,51,2142,0.12,2.10,0.00,0.000,6,0.135,0.044,2651,2435,3943,0,0,0,0,0,0
$GC,2470,-0.51,-150.9,350.2,-9.3,57,2474,0.00,2.35,0.00,0.000,4,0.000,0.053,2651,866,3941,0,0,0,0,0,0
$GC,2519,-0.51,-150.9,355.1,-9.6,57,2523,0.00,2.42,0.00,0.000,6,0.000,0.061,2641,2463,3940,0,0,0,0,0,0
$GC,2829,-0.51,-150.9,380.2,-7.9,62,2833,0.00,2.12,0.00,0.000,4,0.000,0.059,2630,3860,3938,0,0,0,0,0,0
$GC,2867,-0.51,-150.9,383.5,-8.2,62,2871,0.00,2.10,0.00,0.000,6,0.000,0.046,2630,2452,3938,0,0,0,0,0,0
$GC,3194,-0.51,-150.9,413.5,-9.2,68,3198,0.00,2.20,0.00,0.000,4,0.000,0.072,2620,3849,3935,0,0,0,0,0,0
$GC,3221,-0.51,-150.9,416.3,-10.0,68,3225,0.00,2.08,0.00,0.000,6,0.000,0.046,2620,2456,3935,0,0,0,0,0,0
$GC,3559,-0.51,-150.9,450.5,-10.2,74,3563,0.00,2.35,0.00,0.000,4,0.000,0.051,2619,868,3931,0,0,0,0,0,0
$GC,3585,-0.51,-150.9,453.5,-11.3,74,3590,0.08,2.45,0.00,0.000,6,0.106,0.054,2649,2465,3930,0,0,0,0,0,0
$GC,3923,-0.51,-150.9,481.1,-8.1,80,3928,0.00,2.40,0.00,0.000,4,0.000,0.053,2650,867,3928,0,0,0,0,0,0
$GC,3996,-0.51,-150.9,487.2,-7.6,81,4001,0.00,2.40,0.00,0.000,6,0.000,0.052,2639,2472,3928,0,0,0,0,0,0
$GC,4351,-0.51,-150.9,512.6,-7.1,87,4355,0.00,2.40,0.00,0.000,4,0.000,0.047,2639,872,3924,0,0,0,0,0,0
$GC,4390,-0.51,-150.9,515.5,-7.4,87,4394,0.00,2.42,0.00,0.000,6,0.000,0.062,2628,2460,3923,0,0,0,0,0,0
$GC,4711,-0.51,-150.9,538.3,-7.1,93,4715,0.00,2.40,0.00,0.000,4,0.000,0.048,2628,859,3921,0,0,0,0,0,0
$GC,4743,-0.51,-150.9,540.9,-7.2,93,4748,0.00,2.47,0.00,0.000,6,0.000,0.062,2617,2466,3921,0,0,0,0,0,0
$GC,5076,-0.51,-150.9,568.1,-8.3,99,5080,0.00,2.40,0.00,0.000,4,0.000,0.048,2613,864,3919,0,0,0,0,0,0
$GC,5098,-0.51,-150.9,570.2,-9.5,99,5103,0.12,2.47,0.00,0.000,6,0.155,0.061,2642,2464,3919,0,0,0,0,0,0
$GC,5435,-0.51,-150.9,594.4,-7.1,105,5437,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2464,3916,0,0,0,0,0,0
$GC,5738,-0.51,-150.9,614.6,-6.7,110,5743,0.00,2.35,0.00,0.000,4,0.000,0.048,2642,869,3913,0,0,0,0,0,0
$GC,5772,-0.51,-150.9,616.9,-6.5,110,5776,0.00,2.47,0.00,0.000,6,0.000,0.061,2632,2477,3913,0,0,0,0,0,0
$GC,6098,-0.51,-150.9,638.4,-6.7,116,6102,0.00,2.42,0.00,0.000,4,0.000,0.049,2632,865,3911,0,0,0,0,0,0
$GC,6125,-0.51,-150.9,640.4,-7.7,116,6130,0.00,2.40,0.00,0.000,6,0.000,0.052,2622,2466,3909,0,0,0,0,0,0
$GC,6460,-0.51,-150.9,664.5,-7.3,122,6464,0.00,2.40,0.00,0.000,4,0.000,0.050,2621,870,3908,0,0,0,0,0,0
$GC,6487,-0.51,-150.9,666.8,-8.1,122,6492,0.12,2.40,0.00,0.000,6,0.157,0.053,2645,2467,3909,0,0,0,0,0,0
$GC,6819,-0.51,-150.9,685.2,-5.5,128,6820,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2467,3907,0,0,0,0,0,0
$GC,7122,-0.51,-150.9,703.3,-6.0,133,7126,0.00,2.42,0.00,0.000,4,0.000,0.048,2646,863,3905,0,0,0,0,0,0
$GC,7172,-0.51,-150.9,707.0,-7.2,133,7176,0.00,2.42,0.00,0.000,6,0.000,0.054,2636,2462,3905,0,0,0,0,0,0
$GC,7494,-0.51,-150.9,730.6,-7.4,139,7498,0.00,2.38,0.00,0.000,4,0.000,0.048,2636,871,3903,0,0,0,0,0,0
$GC,7526,-0.51,-150.9,733.3,-8.6,139,7530,0.00,2.45,0.00,0.000,6,0.000,0.058,2624,2471,3903,0,0,0,0,0,0
$GC,7853,-0.51,-150.9,760.2,-8.3,145,7858,0.00,2.42,0.00,0.000,4,0.000,0.048,2624,863,3904,0,0,0,0,0,0
$GC,7870,-0.51,-150.9,761.7,-8.0,145,7875,0.12,2.45,0.00,0.000,6,0.158,0.057,2649,2461,3901,0,0,0,0,0,0
$GC,8213,-0.51,-150.9,783.8,-6.3,151,8218,0.00,2.38,0.00,0.000,4,0.000,0.048,2649,870,3901,0,0,0,0,0,0
$GC,8235,-0.51,-150.9,785.4,-6.6,151,8239,0.00,2.45,0.00,0.000,6,0.000,0.058,2639,2460,3900,0,0,0,0,0,0
$GC,8573,-0.51,-150.9,806.1,-6.1,157,8575,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2460,3900,0,0,0,0,0,0
$GC,8877,-0.51,-150.9,824.2,-6.0,162,8881,0.00,2.40,0.00,0.000,4,0.000,0.049,2638,868,3898,0,0,0,0,0,0
$GC,8915,-0.51,-150.9,827.0,-6.7,162,8920,0.00,2.45,0.00,0.000,6,0.000,0.057,2628,2461,3898,0,0,0,0,0,0
$GC,9237,-0.51,-150.9,847.8,-6.5,168,9238,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2461,3897,0,0,0,0,0,0
$GC,9540,-0.51,-150.9,868.8,-7.0,173,9544,0.00,2.40,0.00,0.000,4,0.000,0.048,2628,864,3896,0,0,0,0,0,0
$GC,9561,-0.51,-150.9,870.6,-8.2,173,9566,0.00,2.42,0.00,0.000,6,0.000,0.055,2617,2457,3896,0,0,0,0,0,0
$GC,9899,-0.51,-150.9,898.6,-8.4,179,9900,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2460,3896,0,0,0,0,0,0
$GC,10202,-0.51,-150.9,924.0,-8.4,184,10207,0.00,2.40,0.00,0.000,4,0.000,0.048,2617,860,3894,0,0,0,0,0,0
$GC,10224,-0.51,-150.9,926.0,-9.2,184,10230,0.12,2.45,0.00,0.000,6,0.159,0.054,2641,2463,3894,0,0,0,0,0,0
$GC,10562,-0.51,-150.9,948.1,-6.3,190,10567,0.00,2.38,0.00,0.000,4,0.000,0.049,2641,870,3894,0,0,0,0,0,0
$GC,10586,-0.51,-150.9,949.5,-6.2,190,10590,0.00,2.42,0.00,0.000,6,0.000,0.055,2631,2467,3894,0,0,0,0,0,0
$GC,10924,-0.51,-150.9,969.7,-5.9,196,10925,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2464,3893,0,0,0,0,0,0
$GC,11226,-0.51,-150.9,987.2,-5.7,201,11231,0.00,2.40,0.00,0.000,4,0.000,0.050,2632,865,3892,0,0,0,0,0,0
$GC,11250,-0.51,-150.9,988.6,-6.1,201,11254,0.00,2.45,0.00,0.000,6,0.000,0.054,2620,2463,3892,0,0,0,0,0,0
$STATE,11274,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11274,begin apogee
$GC,11281,-0.13,0.0,990.3,6.7,201,11330,0.43,0.00,44.20,1.522,6,0.115,0.000,2768,2185,3681,0,0,0,0,0,0
$STATE,11331,end apogee,CONTROL_FINISHED_OK
$STATE,11331,begin climb
$GC,11333,0.51,150.9,991.2,0.0,202,11470,0.52,0.00,131.18,1.525,6,0.055,0.000,2983,2185,3065,0,0,0,0,0,0
$GC,11773,0.51,150.9,941.9,13.7,210,11777,0.00,2.58,0.00,0.000,4,0.000,0.057,2983,3802,3062,0,0,0,0,0,0
$GC,11906,0.51,150.9,921.3,14.7,212,11911,0.00,2.45,0.00,0.000,6,0.000,0.047,2996,2212,3062,0,0,0,0,0,0
$GC,12268,0.51,150.9,866.2,15.5,218,12272,0.00,2.47,0.00,0.000,4,0.000,0.057,2996,3797,3061,0,0,0,0,0,0
$GC,12351,0.51,150.9,851.1,18.7,219,12355,0.00,2.47,0.00,0.000,6,0.000,0.047,3008,2203,3061,0,0,0,0,0,0
$GC,12694,0.51,150.9,794.0,16.7,225,12698,0.00,2.45,0.00,0.000,4,0.000,0.054,3008,3797,3061,0,0,0,0,0,0
$GC,12794,0.51,150.9,776.1,17.3,226,12799,0.15,2.42,0.00,0.000,6,0.166,0.046,2979,2196,3060,0,0,0,0,0,0
$GC,13120,0.51,150.9,729.0,14.2,232,13124,0.00,2.45,0.00,0.000,4,0.000,0.055,2979,3794,3060,0,0,0,0,0,0
$GC,13147,0.51,150.9,724.7,15.1,232,13151,0.00,2.42,0.00,0.000,6,0.000,0.047,2990,2200,3063,0,0,0,0,0,0
$GC,13479,0.51,150.9,677.2,14.3,238,13483,0.00,2.47,0.00,0.000,4,0.000,0.057,2990,3804,3059,0,0,0,0,0,0
$GC,13506,0.51,150.9,673.0,14.3,238,13510,0.00,2.45,0.00,0.000,6,0.000,0.048,3002,2199,3059,0,0,0,0,0,0
$GC,13850,0.51,150.9,627.4,13.0,244,13854,0.00,2.47,0.00,0.000,4,0.000,0.059,3002,3792,3059,0,0,0,0,0,0
$GC,13876,0.51,150.9,623.6,13.3,244,13881,0.12,2.45,0.00,0.000,6,0.173,0.048,2981,2196,3059,0,0,0,0,0,0
$GC,14208,0.51,150.9,587.0,10.9,250,14213,0.00,2.47,0.00,0.000,4,0.000,0.060,2981,3797,3057,0,0,0,0,0,0
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$STATE,19832,end climb,SURFACE_DEPTH_REACHED
$STATE,19832,begin surface coast
$FINISH,0.7,1.005345
$STATE,19865,end surface coast,CONTROL_FINISHED_OK
$STATE,19865,begin surface
$SM_CCo,19943,0.00,0.000,0,0,1665,494.27
$SM_GC,1.56,7.20,0.00,0.00,0.026,0.000,0.000,127,2477,1665,-8.25,0.48,494.27
$IRIDIUM_FIX,1904.66,-15619.62,291213,020227
$TT8_MAMPS,0.031458
$HUMID,58.66
$INTERNAL_PRESSURE,9.24718
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,23.3,24.717
$10V_AH,10.2,15.410
$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
$DEVICE_SECS,19.150,216.400,448.050,0.000,0.000,41.774,30.380,133.937,0.000,0.000,14.561,1355.918,16141.624,560.860,1916.120,287.145,33.374,1519.743,0.000,1692.088,0.000,0.541,0.000
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$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,256.749,332.879,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,144232
$DATA_FILE_SIZE,20248,374
$CAP_FILE_SIZE,156981,0
$CFSIZE,260165632,247513088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291213,132959,1915.290,-15615.862,37,2.0,37,9.6