version: 66.08
glider: 500
mission: 9
dive: 120
start: 12 30 113 22 40 41
data:
$ID,500
$MISSION,9
$DIVE,120
$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,-165880.97
$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,16
$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
$GPS1,301213,223405,1924.704,-15613.646,25,1.9,25,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-82.4
$GPS2,301213,223945,1924.703,-15613.558,12,3.1,31,9.6
$SPEED_LIMITS,0.142,0.263
$TGT_NAME,B1
$TGT_LATLONG,1925.000,-15615.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.114,0.132
$KALMAN_X,89479.6,229.5,445.8,-119013.6,-208.5
$KALMAN_Y,120328.0,49.4,109.4,-201970.3,-2078.5
$MHEAD_RNG_PITCHd_Wd,309.4,2578,-26.8,-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,-0.72,-64.0,0.0,0.0,0,83,0.00,0.00,-63.85,0.000,2,0.000,0.000,126,2466,3837,0,0,0,0,0,0
$GC,86,-0.72,-69.9,4.1,-9.3,2,105,9.30,2.42,-2.22,0.000,4,0.221,0.053,2572,851,3949,0,0,0,0,0,0
$GC,284,-0.72,-69.9,60.3,-25.3,8,288,0.00,2.45,0.00,0.000,6,0.000,0.050,2561,2468,3947,0,0,0,0,0,0
$GC,622,-0.72,-69.9,148.1,-24.7,19,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2469,3948,0,0,0,0,0,0
$GC,956,-0.72,-69.9,214.9,-19.9,29,960,0.00,2.17,0.00,0.000,4,0.000,0.073,2550,3856,3950,0,0,0,0,0,0
$GC,1154,-0.72,-69.9,249.2,-14.4,32,1158,0.00,2.05,0.00,0.000,6,0.000,0.040,2550,2458,3951,0,0,0,0,0,0
$GC,1525,-0.72,-69.9,305.3,-15.3,38,1529,0.00,2.17,0.00,0.000,4,0.000,0.067,2540,3844,3953,0,0,0,0,0,0
$GC,1782,-0.72,-69.9,346.9,-16.8,41,1790,0.08,2.08,0.00,0.000,6,0.141,0.040,2574,2468,3953,0,0,0,0,0,0
$GC,2093,-0.72,-69.9,388.6,-13.3,47,2097,0.00,2.15,0.00,0.000,4,0.000,0.067,2566,3843,3951,0,0,0,0,0,0
$GC,2116,-0.72,-69.9,391.6,-12.7,47,2120,0.00,2.08,0.00,0.000,6,0.000,0.040,2565,2450,3951,0,0,0,0,0,0
$GC,2453,-0.72,-69.9,436.5,-13.2,53,2457,0.00,2.20,0.00,0.000,4,0.000,0.067,2555,3857,3948,0,0,0,0,0,0
$GC,2469,-0.72,-69.9,438.9,-13.3,53,2473,0.00,2.08,0.00,0.000,6,0.000,0.040,2555,2459,3946,0,0,0,0,0,0
$GC,2818,-0.72,-69.9,487.9,-14.2,59,2820,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2458,3945,0,0,0,0,0,0
$GC,3122,-0.72,-69.9,528.8,-13.4,64,3125,0.00,2.12,0.00,0.000,4,0.000,0.057,2544,3861,3941,0,0,0,0,0,0
$GC,3161,-0.72,-69.9,534.1,-13.5,64,3166,0.12,2.10,0.00,0.000,6,0.163,0.039,2579,2457,3941,0,0,0,0,0,0
$GC,3482,-0.72,-69.9,570.7,-11.2,70,3483,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2457,3939,0,0,0,0,0,0
$GC,3785,-0.72,-69.9,604.0,-10.9,75,3786,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2457,3936,0,0,0,0,0,0
$GC,4088,-0.72,-69.9,635.9,-10.5,80,4089,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2456,3935,0,0,0,0,0,0
$GC,4391,-0.72,-69.9,668.8,-11.0,85,4395,0.00,2.38,0.00,0.000,4,0.000,0.050,2579,876,3931,0,0,0,0,0,0
$GC,4418,-0.72,-69.9,672.1,-11.8,85,4422,0.00,2.38,0.00,0.000,6,0.000,0.044,2569,2469,3930,0,0,0,0,0,0
$GC,4750,-0.72,-69.9,711.1,-11.9,91,4754,0.00,2.10,0.00,0.000,4,0.000,0.052,2558,3857,3927,0,0,0,0,0,0
$GC,4771,-0.72,-69.9,714.1,-12.2,91,4776,0.00,2.10,0.00,0.000,6,0.000,0.034,2558,2464,3927,0,0,0,0,0,0
$GC,5115,-0.72,-69.9,755.8,-12.1,97,5116,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2463,3925,0,0,0,0,0,0
$GC,5418,-0.72,-69.9,791.3,-11.6,102,5419,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2463,3923,0,0,0,0,0,0
$GC,5721,-0.72,-69.9,827.2,-11.9,107,5725,0.00,2.40,0.00,0.000,4,0.000,0.044,2558,861,3922,0,0,0,0,0,0
$GC,5737,-0.72,-69.9,829.4,-11.8,107,5742,0.08,2.47,0.00,0.000,6,0.152,0.054,2580,2457,3921,0,0,0,0,0,0
$GC,6086,-0.72,-69.9,865.0,-10.2,113,6090,0.00,2.42,0.00,0.000,4,0.000,0.049,2580,865,3920,0,0,0,0,0,0
$GC,6113,-0.72,-69.9,868.0,-10.8,113,6117,0.00,2.45,0.00,0.000,6,0.000,0.057,2570,2458,3917,0,0,0,0,0,0
$GC,6451,-0.72,-69.9,903.3,-10.4,119,6452,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2461,3917,0,0,0,0,0,0
$GC,6754,-0.72,-69.9,934.8,-10.5,124,6755,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2462,3916,0,0,0,0,0,0
$GC,7057,-0.72,-69.9,965.5,-10.1,129,7058,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2461,3914,0,0,0,0,0,0
$STATE,7358,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7358,begin apogee
$GC,7364,-0.13,0.0,995.7,10.0,134,7418,0.57,0.00,48.53,1.539,6,0.127,0.000,2763,2184,3680,0,0,0,0,0,0
$STATE,7419,end apogee,CONTROL_FINISHED_OK
$STATE,7419,begin climb
$GC,7421,0.72,69.9,997.4,0.0,134,7491,0.73,2.53,61.05,1.522,4,0.055,0.048,3062,628,3394,0,0,0,0,0,0
$GC,7498,0.74,111.6,994.3,5.6,136,7542,0.00,2.53,37.17,1.480,6,0.000,0.050,3062,2210,3224,0,0,0,0,0,0
$GC,7860,0.74,111.6,941.4,15.4,142,7864,0.00,2.50,0.00,0.000,4,0.000,0.050,3062,3798,3221,0,0,0,0,0,0
$GC,8117,0.74,111.6,897.7,17.1,145,8124,0.00,2.45,0.00,0.000,6,0.000,0.040,3075,2207,3220,0,0,0,0,0,0
$GC,8427,0.74,111.6,850.9,15.1,151,8431,0.00,2.50,0.00,0.000,4,0.000,0.056,3075,3798,3219,0,0,0,0,0,0
$GC,8684,0.74,111.6,808.8,16.2,154,8692,0.15,2.47,0.00,0.000,6,0.200,0.046,3051,2196,3218,0,0,0,0,0,0
$GC,8994,0.74,111.6,769.1,12.6,160,8998,0.00,2.47,0.00,0.000,4,0.000,0.057,3051,3799,3218,0,0,0,0,0,0
$GC,9251,0.74,111.6,733.0,14.8,163,9258,0.00,2.45,0.00,0.000,6,0.000,0.046,3062,2193,3217,0,0,0,0,0,0
$GC,9561,0.74,111.6,692.6,13.1,169,9565,0.00,2.47,0.00,0.000,4,0.000,0.057,3062,3802,3216,0,0,0,0,0,0
$GC,9818,0.74,111.6,653.6,15.0,172,9825,0.00,2.45,0.00,0.000,6,0.000,0.045,3075,2202,3215,0,0,0,0,0,0
$GC,10128,0.74,111.6,610.8,13.7,178,10132,0.00,2.45,0.00,0.000,4,0.000,0.059,3075,3803,3214,0,0,0,0,0,0
$GC,10386,0.74,111.6,571.3,14.6,181,10393,0.12,2.42,0.00,0.000,6,0.195,0.044,3057,2190,3212,0,0,0,0,0,0
$GC,10696,0.74,111.6,535.5,11.2,187,10700,0.00,2.40,0.00,0.000,4,0.000,0.050,3067,615,3214,0,0,0,0,0,0
$GC,10953,0.74,111.6,509.1,10.4,190,10960,0.00,2.40,0.00,0.000,6,0.000,0.050,3067,2213,3215,0,0,0,0,0,0
$GC,11263,0.74,111.6,475.0,11.2,196,11267,0.00,2.40,0.00,0.000,4,0.000,0.051,3067,3793,3214,0,0,0,0,0,0
$GC,11392,0.74,111.6,458.9,12.5,198,11397,0.00,2.40,0.00,0.000,6,0.000,0.041,3079,2207,3214,0,0,0,0,0,0
$GC,11758,0.74,111.6,418.1,11.1,204,11762,0.00,2.45,0.00,0.000,4,0.000,0.059,3076,3797,3213,0,0,0,0,0,0
$GC,12016,0.74,113.9,390.7,9.7,207,12024,0.15,2.45,0.00,0.000,6,0.193,0.043,3054,2185,3213,0,0,0,0,0,0
$GC,12326,0.75,127.2,364.1,8.5,213,12345,0.00,2.47,11.77,0.996,4,0.000,0.057,3053,3789,3161,0,0,0,0,0,0
$GC,12598,0.75,127.2,331.4,11.2,217,12602,0.00,2.42,0.00,0.000,6,0.000,0.042,3064,2200,3160,0,0,0,0,0,0
$GC,12964,0.76,139.6,298.8,8.6,223,12980,0.00,2.42,11.05,0.937,4,0.000,0.050,3064,3792,3111,0,0,0,0,0,0
$GC,13233,0.76,139.6,270.6,11.0,227,13237,0.00,2.42,0.00,0.000,6,0.000,0.037,3077,2187,3111,0,0,0,0,0,0
$GC,13599,0.76,152.0,239.2,8.6,233,13618,0.00,2.38,11.52,0.898,4,0.000,0.046,3089,615,3059,0,0,0,0,0,0
$GC,13872,0.78,177.2,218.7,7.3,237,13898,0.00,2.40,20.70,0.926,6,0.000,0.049,3089,2198,2960,0,0,0,0,0,0
$GC,14236,0.78,177.2,179.1,11.7,245,14240,0.00,2.45,0.00,0.000,4,0.000,0.050,3089,3805,2956,0,0,0,0,0,0
$GC,14291,0.78,177.2,171.9,11.7,246,14301,0.10,2.47,0.00,0.000,6,0.159,0.041,3071,2201,2955,0,0,0,0,0,0
$GC,14607,0.78,183.2,143.1,9.3,257,14620,0.00,2.47,6.57,0.662,4,0.000,0.053,3069,3796,2932,0,0,0,0,0,0
$GC,14878,0.80,221.1,116.8,6.0,265,14913,0.00,2.42,30.12,0.816,6,0.000,0.038,3080,2197,2777,0,0,0,0,0,0
$GC,15220,0.81,244.2,92.3,7.5,276,15244,0.00,2.60,18.50,0.752,4,0.000,0.062,3080,3784,2685,0,0,0,0,0,0
$GC,15497,0.81,244.2,57.9,12.6,284,15501,0.00,2.45,0.00,0.000,6,0.000,0.047,3092,2187,2688,0,0,0,0,0,0
$GC,15830,0.81,244.2,21.3,11.0,295,15834,0.00,2.50,0.00,0.000,4,0.000,0.060,3092,3785,2690,0,0,0,0,0,0
$GC,15901,0.81,244.2,11.4,12.8,297,15906,0.05,2.42,0.00,0.000,6,0.120,0.046,3073,2207,2690,0,0,0,0,0,0
$STATE,15986,end climb,SURFACE_DEPTH_REACHED
$STATE,15986,begin surface coast
$FINISH,0.7,1.003666
$STATE,16017,end surface coast,CONTROL_FINISHED_OK
$STATE,16017,begin surface
$SM_CCo,16034,36.28,0.706,0,0,2373,320.36
$SM_GC,1.52,0.00,0.00,36.28,0.000,0.000,0.706,111,2462,2373,-8.44,0.03,320.36
$IRIDIUM_FIX,1918.37,-15614.78,301213,161651
$TT8_MAMPS,0.031458
$HUMID,59.84
$INTERNAL_PRESSURE,9.30578
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,23.6,25.685
$10V_AH,10.2,15.863
$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,18.775,124.100,257.000,36.275,0.000,25.917,35.481,145.268,0.000,0.000,34.637,1156.515,12578.950,383.906,2067.520,228.137,33.368,1300.583,0.000,1814.822,0.000,0.541,0.000
$DEVICE_MAMPS,221.085,73.440,1539.180,706.095,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,206.372,290.040,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,144144
$DATA_FILE_SIZE,13597,301
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