version: 66.08
glider: 500
mission: 9
dive: 115
start: 12 29 113 19 17 47
data:
$ID,500
$MISSION,9
$DIVE,115
$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,-165874.72
$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,39
$R_STBD_OVSHOOT,21
$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
$GPS1,291213,191136,1917.115,-15615.074,32,1.2,32,9.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-81.6
$GPS2,291213,191649,1917.074,-15615.019,12,1.4,12,9.6
$SPEED_LIMITS,0.142,0.263
$TGT_NAME,B1
$TGT_LATLONG,1925.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.064,0.176
$KALMAN_X,86190.7,7.7,180.2,-117768.9,-1275.3
$KALMAN_Y,130027.2,46.1,-155.8,-225525.6,-966.5
$MHEAD_RNG_PITCHd_Wd,10.4,14679,-24.9,-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,14,begin dive
$GC,16,-0.68,-73.7,0.0,0.0,0,102,0.00,0.00,-83.22,0.000,2,0.000,0.000,126,2466,3840,0,0,0,0,0,0
$GC,105,-0.69,-95.3,3.9,-8.0,2,123,9.32,2.42,-2.20,0.000,4,0.223,0.052,2590,864,3947,0,0,0,0,0,0
$GC,134,-0.69,-95.3,15.1,-37.8,3,138,0.00,2.40,0.00,0.000,6,0.000,0.042,2580,2475,3947,0,0,0,0,0,0
$GC,454,-0.69,-95.3,102.5,-26.7,14,458,0.00,2.40,0.00,0.000,4,0.000,0.046,2580,872,3947,0,0,0,0,0,0
$GC,475,-0.69,-95.3,109.3,-27.2,14,484,0.00,2.40,0.00,0.000,6,0.000,0.045,2569,2452,3947,0,0,0,0,0,0
$GC,790,-0.69,-95.3,177.1,-19.2,25,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2452,3948,0,0,0,0,0,0
$GC,1123,-0.69,-95.3,233.6,-16.2,33,1127,0.00,2.20,0.00,0.000,4,0.000,0.071,2558,3853,3949,0,0,0,0,0,0
$GC,1245,-0.69,-95.3,253.1,-14.4,34,1250,0.12,2.10,0.00,0.000,6,0.159,0.042,2592,2428,3949,0,0,0,0,0,0
$GC,1561,-0.69,-95.3,293.6,-12.9,40,1565,0.00,2.22,0.00,0.000,4,0.000,0.067,2585,3849,3950,0,0,0,0,0,0
$GC,1672,-0.69,-95.3,308.8,-12.2,41,1676,0.00,2.10,0.00,0.000,6,0.000,0.041,2582,2451,3950,0,0,0,0,0,0
$GC,1993,-0.69,-95.3,350.0,-13.1,47,1997,0.00,2.22,0.00,0.000,4,0.000,0.069,2572,3850,3949,0,0,0,0,0,0
$GC,2239,-0.69,-95.3,381.7,-11.8,50,2243,0.00,2.10,0.00,0.000,6,0.000,0.042,2571,2456,3948,0,0,0,0,0,0
$GC,2560,-0.69,-95.3,420.7,-12.3,56,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2457,3946,0,0,0,0,0,0
$GC,2863,-0.69,-95.3,455.5,-11.5,61,2865,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2457,3942,0,0,0,0,0,0
$GC,3166,-0.69,-95.3,491.1,-11.9,66,3170,0.00,2.17,0.00,0.000,4,0.000,0.067,2561,3857,3939,0,0,0,0,0,0
$GC,3187,-0.69,-95.3,494.0,-13.2,66,3192,0.10,2.10,0.00,0.000,6,0.158,0.042,2589,2434,3939,0,0,0,0,0,0
$GC,3531,-0.69,-95.3,532.7,-11.2,72,3535,0.00,2.33,0.00,0.000,4,0.000,0.051,2589,871,3936,0,0,0,0,0,0
$GC,3558,-0.69,-95.3,536.0,-11.6,72,3562,0.00,2.40,0.00,0.000,6,0.000,0.055,2578,2475,3936,0,0,0,0,0,0
$GC,3891,-0.69,-95.3,573.2,-10.9,78,3894,0.00,2.03,0.00,0.000,4,0.000,0.051,2568,3843,3933,0,0,0,0,0,0
$GC,4014,-0.69,-95.3,587.3,-11.3,79,4018,0.00,2.03,0.00,0.000,6,0.000,0.037,2567,2458,3933,0,0,0,0,0,0
$GC,4329,-0.69,-95.3,620.1,-10.4,85,4330,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2458,3930,0,0,0,0,0,0
$GC,4633,-0.69,-100.9,649.2,-9.4,90,4634,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2458,3928,0,0,0,0,0,0
$GC,4936,-0.70,-113.1,676.2,-8.8,95,4940,0.00,2.35,0.00,0.000,4,0.000,0.047,2567,868,3924,0,0,0,0,0,0
$GC,4952,-0.70,-120.6,678.0,-9.2,95,4957,0.10,2.38,0.00,0.000,6,0.186,0.053,2581,2461,3923,0,0,0,0,0,0
$GC,5297,-0.71,-134.5,707.7,-8.7,101,5298,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2458,3922,0,0,0,0,0,0
$GC,5598,-0.71,-134.5,738.8,-10.5,106,5602,0.00,2.08,0.00,0.000,4,0.000,0.050,2572,3853,3921,0,0,0,0,0,0
$GC,5625,-0.71,-134.5,742.2,-11.3,106,5629,0.00,2.05,0.00,0.000,6,0.000,0.034,2572,2450,3920,0,0,0,0,0,0
$GC,5956,-0.71,-134.5,780.8,-11.7,112,5957,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2446,3920,0,0,0,0,0,0
$GC,6259,-0.71,-134.5,814.4,-11.1,117,6261,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2453,3916,0,0,0,0,0,0
$GC,6563,-0.71,-138.8,843.6,-9.5,122,6567,0.00,2.38,0.00,0.000,4,0.000,0.047,2571,868,3916,0,0,0,0,0,0
$GC,6590,-0.71,-138.8,846.3,-10.0,122,6594,0.00,2.40,0.00,0.000,6,0.000,0.054,2560,2452,3914,0,0,0,0,0,0
$GC,6922,-0.71,-149.1,876.3,-9.0,128,6923,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2452,3912,0,0,0,0,0,0
$GC,7225,-0.71,-150.9,903.4,-8.9,133,7226,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2452,3911,0,0,0,0,0,0
$GC,7528,-0.71,-150.9,930.1,-8.9,138,7529,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2453,3909,0,0,0,0,0,0
$GC,7831,-0.71,-150.9,958.5,-9.5,143,7835,0.00,2.12,0.00,0.000,4,0.000,0.052,2549,3860,3909,0,0,0,0,0,0
$GC,7869,-0.71,-150.9,962.7,-11.4,143,7873,0.12,2.10,0.00,0.000,6,0.155,0.036,2585,2437,3908,0,0,0,0,0,0
$STATE,8194,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8194,begin apogee
$GC,8200,-0.13,0.0,991.7,8.8,149,8250,0.52,0.00,46.72,1.511,6,0.119,0.000,2766,2176,3682,0,0,0,0,0,0
$STATE,8251,end apogee,CONTROL_FINISHED_OK
$STATE,8251,begin climb
$GC,8254,0.71,150.9,993.3,0.0,149,8393,0.73,2.78,130.00,1.510,4,0.054,0.063,3055,3793,3065,0,0,0,0,0,0
$GC,8517,0.71,150.9,957.4,20.8,154,8522,0.00,2.50,0.00,0.000,6,0.000,0.047,3067,2207,3063,0,0,0,0,0,0
$GC,8877,0.71,150.9,887.1,19.6,160,8881,0.00,2.50,0.00,0.000,4,0.000,0.057,3067,3795,3061,0,0,0,0,0,0
$GC,9134,0.71,150.9,832.9,21.4,163,9142,0.15,2.47,0.00,0.000,6,0.209,0.046,3044,2186,3060,0,0,0,0,0,0
$GC,9444,0.71,150.9,774.9,18.6,169,9448,0.00,2.53,0.00,0.000,4,0.000,0.060,3044,3796,3059,0,0,0,0,0,0
$GC,9650,0.71,150.9,733.9,19.4,172,9655,0.00,2.42,0.00,0.000,6,0.000,0.048,3055,2205,3056,0,0,0,0,0,0
$GC,10011,0.71,150.9,667.0,18.7,178,10015,0.00,2.47,0.00,0.000,4,0.000,0.060,3055,3790,3058,0,0,0,0,0,0
$GC,10268,0.71,150.9,615.6,20.3,181,10275,0.00,2.42,0.00,0.000,6,0.000,0.047,3067,2192,3058,0,0,0,0,0,0
$GC,10578,0.71,150.9,559.9,17.8,187,10582,0.00,2.50,0.00,0.000,4,0.000,0.060,3067,3794,3058,0,0,0,0,0,0
$GC,10818,0.71,150.9,517.4,17.5,190,10823,0.08,2.45,0.00,0.000,6,0.187,0.048,3048,2212,3058,0,0,0,0,0,0
$GC,11145,0.71,150.9,468.5,14.8,196,11149,0.00,2.47,0.00,0.000,4,0.000,0.062,3052,3801,3060,0,0,0,0,0,0
$GC,11345,0.71,150.9,437.1,16.0,199,11350,0.00,2.45,0.00,0.000,6,0.000,0.048,3059,2184,3057,0,0,0,0,0,0
$GC,11712,0.71,150.9,386.9,13.8,205,11716,0.00,2.50,0.00,0.000,4,0.000,0.061,3058,3805,3057,0,0,0,0,0,0
$GC,11779,0.71,150.9,376.4,15.7,206,11784,0.00,2.45,0.00,0.000,6,0.000,0.049,3071,2196,3057,0,0,0,0,0,0
$GC,12139,0.71,150.9,328.3,12.7,212,12144,0.00,2.47,0.00,0.000,4,0.000,0.063,3070,3797,3057,0,0,0,0,0,0
$GC,12178,0.71,150.9,323.5,11.8,212,12183,0.15,2.42,0.00,0.000,6,0.185,0.049,3045,2201,3056,0,0,0,0,0,0
$GC,12499,0.72,152.8,292.6,9.7,218,12503,0.00,2.53,0.00,0.000,4,0.000,0.064,3043,3799,3057,0,0,0,0,0,0
$GC,12756,0.72,152.8,262.2,10.9,221,12763,0.00,2.42,0.00,0.000,6,0.000,0.046,3055,2187,3057,0,0,0,0,0,0
$GC,13066,0.73,184.3,239.0,7.1,227,13097,0.00,2.55,25.27,0.942,4,0.000,0.065,3055,3789,2928,0,0,0,0,0,0
$GC,13349,0.73,184.3,206.5,13.9,231,13353,0.00,2.42,0.00,0.000,6,0.000,0.044,3067,2205,2928,0,0,0,0,0,0
$GC,13673,0.74,194.9,176.1,9.0,240,13688,0.00,2.50,10.30,0.801,4,0.000,0.063,3067,3787,2884,0,0,0,0,0,0
$GC,13891,0.74,194.9,152.4,10.6,246,13896,0.12,2.42,0.00,0.000,6,0.177,0.046,3048,2194,2884,0,0,0,0,0,0
$GC,14206,0.76,246.2,131.7,5.3,256,14253,0.00,2.53,39.40,0.832,4,0.000,0.055,3059,615,2676,0,0,0,0,0,0
$GC,14294,0.77,270.7,125.7,7.7,258,14321,0.00,2.40,19.85,0.818,6,0.000,0.043,3059,2220,2578,0,0,0,0,0,0
$GC,14650,0.78,281.4,95.2,8.9,270,14665,0.00,2.45,10.40,0.686,4,0.000,0.047,3070,614,2533,0,0,0,0,0,0
$GC,14739,0.78,283.5,85.9,9.7,272,14748,0.00,2.45,3.75,0.449,6,0.000,0.053,3070,2195,2524,0,0,0,0,0,0
$GC,15054,0.78,283.5,49.4,12.0,283,15058,0.00,2.42,0.00,0.000,4,0.000,0.053,3082,605,2527,0,0,0,0,0,0
$GC,15074,0.78,283.5,46.3,12.7,283,15084,0.00,2.45,0.00,0.000,6,0.000,0.050,3083,2206,2527,0,0,0,0,0,0
$GC,15390,0.78,283.5,4.4,14.0,294,15394,0.00,2.40,0.00,0.000,4,0.000,0.050,3083,3802,2529,0,0,0,0,0,0
$STATE,15397,end climb,SURFACE_DEPTH_REACHED
$STATE,15398,begin surface coast
$FINISH,1.4,1.023059
$STATE,15404,end surface coast,CONTROL_FINISHED_OK
$STATE,15404,begin surface
$SM_CCo,15423,19.33,0.669,0,0,2376,320.11
$SM_GC,1.35,0.00,0.00,19.33,0.000,0.000,0.669,108,2438,2376,-8.45,-0.62,320.11
$IRIDIUM_FIX,1906.95,-15613.61,291213,131335
$TT8_MAMPS,0.031458
$HUMID,60.71
$INTERNAL_PRESSURE,9.30578
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.4,24.990
$10V_AH,10.2,15.534
$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,18.800,127.625,285.700,19.325,0.000,24.802,36.500,143.356,0.000,0.000,14.734,1086.125,12277.956,403.921,1776.621,215.667,33.370,1209.179,0.000,1550.589,0.000,0.542,0.000
$DEVICE_MAMPS,222.615,71.145,1510.875,668.610,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,201.331,299.920,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,144264
$DATA_FILE_SIZE,13661,294
$CAP_FILE_SIZE,116359,0
$CFSIZE,260165632,247435264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291213,233656,1918.153,-15614.496,46,4.9,65,9.6