version: 66.08
glider: 500
mission: 9
dive: 121
start: 12 31 113 3 16 8
data:
$ID,500
$MISSION,9
$DIVE,121
$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,-165882.22
$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,28
$R_STBD_OVSHOOT,26
$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
$GPS1,311213,030959,1924.707,-15613.722,46,0.9,46,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-82.8
$GPS2,311213,031512,1924.670,-15613.605,8,1.1,13,9.6
$SPEED_LIMITS,0.142,0.263
$TGT_NAME,B1
$TGT_LATLONG,1925.000,-15615.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.174,0.124
$KALMAN_X,91760.6,353.8,237.2,-121293.4,1064.1
$KALMAN_Y,118130.9,-22.7,-305.6,-199343.6,-1867.3
$MHEAD_RNG_PITCHd_Wd,295.9,2511,-21.7,-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,-0.60,-96.2,0.0,0.0,0,70,0.00,0.00,-51.20,0.000,2,0.000,0.000,111,2462,3736,0,0,0,0,0,0
$GC,73,-0.63,-150.9,3.3,-5.0,1,93,9.48,2.42,-4.57,0.000,4,0.222,0.054,2603,862,3942,0,0,0,0,0,0
$GC,177,-0.63,-150.9,32.7,-24.5,4,186,0.00,2.45,-0.03,0.000,6,0.000,0.046,2592,2467,3946,0,0,0,0,0,0
$GC,492,-0.63,-150.9,111.3,-24.7,15,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2467,3949,0,0,0,0,0,0
$GC,798,-0.63,-150.9,167.5,-17.2,25,802,0.00,2.15,0.00,0.000,4,0.000,0.065,2582,3841,3951,0,0,0,0,0,0
$GC,871,-0.63,-150.9,181.1,-16.6,27,875,0.00,2.08,0.00,0.000,6,0.000,0.040,2586,2442,3951,0,0,0,0,0,0
$GC,1229,-0.63,-150.9,238.8,-15.3,35,1230,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2445,3953,0,0,0,0,0,0
$GC,1532,-0.63,-150.9,280.7,-13.9,40,1536,0.00,2.20,0.00,0.000,4,0.000,0.065,2571,3843,3953,0,0,0,0,0,0
$GC,1638,-0.63,-150.9,296.8,-14.0,41,1643,0.12,2.05,0.00,0.000,6,0.155,0.041,2607,2450,3954,0,0,0,0,0,0
$GC,1965,-0.63,-150.9,338.5,-13.1,47,1969,0.00,2.38,0.00,0.000,4,0.000,0.050,2607,867,3953,0,0,0,0,0,0
$GC,2008,-0.63,-150.9,344.8,-13.5,47,2012,0.00,2.38,0.00,0.000,6,0.000,0.050,2596,2460,3953,0,0,0,0,0,0
$GC,2330,-0.63,-150.9,385.7,-12.5,53,2331,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2461,3950,0,0,0,0,0,0
$GC,2632,-0.63,-150.9,420.2,-11.2,58,2634,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2461,3948,0,0,0,0,0,0
$GC,2936,-0.63,-150.9,451.7,-10.3,63,2937,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2461,3946,0,0,0,0,0,0
$GC,3239,-0.63,-150.9,486.0,-11.5,68,3243,0.00,2.42,0.00,0.000,4,0.000,0.048,2596,877,3941,0,0,0,0,0,0
$GC,3265,-0.63,-150.9,489.6,-13.0,68,3270,0.00,2.42,0.00,0.000,6,0.000,0.059,2585,2459,3942,0,0,0,0,0,0
$GC,3598,-0.63,-150.9,530.4,-12.3,74,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2459,3938,0,0,0,0,0,0
$GC,3901,-0.63,-150.9,566.7,-11.9,79,3905,0.00,2.10,0.00,0.000,4,0.000,0.053,2574,3859,3938,0,0,0,0,0,0
$GC,3951,-0.63,-150.9,573.0,-12.2,79,3955,0.12,2.08,0.00,0.000,6,0.159,0.037,2609,2457,3936,0,0,0,0,0,0
$GC,4266,-0.63,-150.9,603.9,-9.7,85,4270,0.00,2.40,0.00,0.000,4,0.000,0.048,2614,866,3934,0,0,0,0,0,0
$GC,4298,-0.63,-150.9,607.4,-10.4,85,4302,0.00,2.45,0.00,0.000,6,0.000,0.056,2599,2453,3934,0,0,0,0,0,0
$GC,4631,-0.63,-150.9,638.1,-9.1,91,4635,0.00,2.38,0.00,0.000,4,0.000,0.048,2599,875,3932,0,0,0,0,0,0
$GC,4647,-0.63,-150.9,639.9,-9.1,91,4651,0.00,2.45,0.00,0.000,6,0.000,0.056,2588,2476,3931,0,0,0,0,0,0
$GC,4990,-0.63,-150.9,672.2,-9.4,97,4991,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2476,3928,0,0,0,0,0,0
$GC,5293,-0.63,-150.9,699.0,-8.9,102,5294,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2476,3926,0,0,0,0,0,0
$GC,5596,-0.63,-150.9,725.9,-8.9,107,5600,0.00,2.45,0.00,0.000,4,0.000,0.048,2587,872,3924,0,0,0,0,0,0
$GC,5623,-0.63,-150.9,728.6,-9.8,107,5628,0.12,2.42,0.00,0.000,6,0.167,0.056,2610,2461,3924,0,0,0,0,0,0
$GC,5961,-0.63,-150.9,754.9,-7.7,113,5965,0.00,2.42,0.00,0.000,4,0.000,0.049,2610,874,3922,0,0,0,0,0,0
$GC,5999,-0.63,-150.9,758.4,-8.4,113,6003,0.00,2.40,0.00,0.000,6,0.000,0.046,2600,2478,3922,0,0,0,0,0,0
$GC,6320,-0.63,-150.9,787.3,-9.1,119,6324,0.00,2.42,0.00,0.000,4,0.000,0.043,2600,871,3921,0,0,0,0,0,0
$GC,6340,-0.63,-150.9,789.6,-9.9,119,6345,0.00,2.45,0.00,0.000,6,0.000,0.057,2588,2447,3921,0,0,0,0,0,0
$GC,6686,-0.63,-150.9,822.8,-9.7,125,6687,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2448,3920,0,0,0,0,0,0
$GC,6987,-0.63,-150.9,850.7,-9.2,130,6988,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2447,3919,0,0,0,0,0,0
$GC,7290,-0.63,-150.9,876.9,-8.6,135,7294,0.00,2.42,0.00,0.000,4,0.000,0.050,2588,865,3916,0,0,0,0,0,0
$GC,7318,-0.63,-150.9,879.5,-9.5,135,7323,0.10,2.45,0.00,0.000,6,0.178,0.054,2602,2474,3916,0,0,0,0,0,0
$GC,7650,-0.63,-150.9,903.5,-7.2,141,7655,0.00,2.45,0.00,0.000,4,0.000,0.047,2602,868,3915,0,0,0,0,0,0
$GC,7689,-0.63,-150.9,906.8,-7.8,141,7693,0.00,2.45,0.00,0.000,6,0.000,0.055,2592,2461,3915,0,0,0,0,0,0
$GC,8010,-0.63,-150.9,932.2,-8.0,147,8011,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2462,3916,0,0,0,0,0,0
$GC,8313,-0.63,-150.9,957.8,-8.5,152,8317,0.00,2.40,0.00,0.000,4,0.000,0.049,2593,870,3911,0,0,0,0,0,0
$GC,8328,-0.63,-150.9,959.3,-8.6,152,8333,0.00,2.45,0.00,0.000,6,0.000,0.057,2581,2470,3913,0,0,0,0,0,0
$STATE,8675,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8675,begin apogee
$GC,8682,-0.13,0.0,991.0,9.3,158,8736,0.52,0.00,48.38,1.529,6,0.121,0.000,2759,2197,3680,0,0,0,0,0,0
$STATE,8737,end apogee,CONTROL_FINISHED_OK
$STATE,8737,begin climb
$GC,8739,0.63,150.9,992.8,0.0,158,8873,0.68,0.00,130.02,1.520,6,0.059,0.000,3025,2195,3066,0,0,0,0,0,0
$GC,9170,0.63,150.9,935.3,16.4,166,9174,0.00,2.53,0.00,0.000,4,0.000,0.050,3025,3796,3064,0,0,0,0,0,0
$GC,9343,0.63,150.9,903.8,19.3,168,9347,0.00,2.45,0.00,0.000,6,0.000,0.042,3037,2209,3063,0,0,0,0,0,0
$GC,9670,0.63,150.9,844.8,18.2,174,9674,0.00,2.50,0.00,0.000,4,0.000,0.059,3037,3798,3062,0,0,0,0,0,0
$GC,9786,0.63,150.9,821.8,20.0,175,9792,0.12,2.50,0.00,0.000,6,0.200,0.047,3019,2184,3062,0,0,0,0,0,0
$GC,10096,0.63,150.9,769.1,16.9,180,10100,0.00,2.50,0.00,0.000,4,0.000,0.058,3018,3796,3062,0,0,0,0,0,0
$GC,10158,0.63,150.9,758.0,17.8,181,10163,0.00,2.50,0.00,0.000,6,0.000,0.047,3030,2188,3061,0,0,0,0,0,0
$GC,10524,0.63,150.9,694.4,17.3,187,10528,0.00,2.50,0.00,0.000,4,0.000,0.059,3030,3792,3060,0,0,0,0,0,0
$GC,10659,0.63,150.9,670.0,17.6,189,10663,0.00,2.45,0.00,0.000,6,0.000,0.047,3042,2201,3060,0,0,0,0,0,0
$GC,11018,0.63,150.9,612.1,15.8,195,11023,0.00,2.47,0.00,0.000,4,0.000,0.060,3042,3788,3059,0,0,0,0,0,0
$GC,11209,0.63,150.9,580.9,17.2,197,11216,0.15,2.45,0.00,0.000,6,0.197,0.047,3017,2187,3059,0,0,0,0,0,0
$GC,11519,0.63,150.9,542.5,12.2,203,11523,0.00,2.50,0.00,0.000,4,0.000,0.059,3017,3800,3060,0,0,0,0,0,0
$GC,11672,0.63,150.9,522.4,13.0,205,11676,0.00,2.45,0.00,0.000,6,0.000,0.047,3027,2204,3058,0,0,0,0,0,0
$GC,12015,0.63,150.9,476.0,13.7,211,12019,0.00,2.45,0.00,0.000,4,0.000,0.057,3027,3794,3058,0,0,0,0,0,0
$GC,12115,0.63,150.9,460.2,15.4,212,12119,0.00,2.45,0.00,0.000,6,0.000,0.047,3040,2196,3058,0,0,0,0,0,0
$GC,12441,0.63,150.9,413.9,14.1,218,12445,0.00,2.47,0.00,0.000,4,0.000,0.058,3039,3806,3058,0,0,0,0,0,0
$GC,12571,0.63,150.9,394.3,16.3,220,12576,0.12,2.45,0.00,0.000,6,0.192,0.046,3021,2202,3058,0,0,0,0,0,0
$GC,12937,0.63,150.9,349.1,12.1,226,12938,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2201,3058,0,0,0,0,0,0
$GC,13240,0.63,150.9,317.7,10.3,231,13241,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2201,3058,0,0,0,0,0,0
$GC,13543,0.64,164.1,289.0,9.0,236,13556,0.00,0.00,11.05,0.910,6,0.000,0.000,3021,2201,3010,0,0,0,0,0,0
$GC,13847,0.65,189.0,264.0,8.2,241,13872,0.00,2.53,20.38,0.949,4,0.000,0.055,3020,3805,2909,0,0,0,0,0,0
$GC,13900,0.65,189.0,259.4,10.1,241,13907,0.00,2.50,0.00,0.000,6,0.000,0.042,3031,2189,2909,0,0,0,0,0,0
$GC,14210,0.65,189.0,226.1,11.3,247,14214,0.00,2.50,0.00,0.000,4,0.000,0.056,3031,3795,2909,0,0,0,0,0,0
$GC,14467,0.65,189.0,197.5,9.9,250,14474,0.00,2.45,0.00,0.000,6,0.000,0.042,3043,2198,2909,0,0,0,0,0,0
$GC,14783,0.66,209.2,168.9,8.5,261,14807,0.00,2.60,17.08,0.811,4,0.000,0.062,3043,3793,2827,0,0,0,0,0,0
$GC,14858,0.66,209.2,160.5,11.8,263,14863,0.00,2.50,0.00,0.000,6,0.000,0.049,3055,2198,2827,0,0,0,0,0,0
$GC,15184,0.66,209.2,125.7,10.7,274,15189,0.00,2.50,0.00,0.000,4,0.000,0.063,3055,3785,2828,0,0,0,0,0,0
$GC,15442,0.69,273.5,104.0,5.5,281,15498,0.08,2.45,49.42,0.804,6,0.142,0.046,3042,2194,2565,0,0,0,0,0,0
$GC,15825,0.70,286.6,72.8,9.0,294,15844,0.00,2.60,12.07,0.674,4,0.000,0.063,3041,3788,2511,0,0,0,0,0,0
$GC,15912,0.70,286.6,63.1,10.9,296,15917,0.00,2.47,0.00,0.000,6,0.000,0.046,3051,2208,2511,0,0,0,0,0,0
$GC,16233,0.70,286.6,28.5,10.8,307,16237,0.00,2.40,0.00,0.000,4,0.000,0.054,3062,607,2514,0,0,0,0,0,0
$GC,16316,0.70,286.6,19.4,10.1,309,16321,0.00,2.45,0.00,0.000,6,0.000,0.059,3062,2199,2515,0,0,0,0,0,0
$STATE,16476,end climb,SURFACE_DEPTH_REACHED
$STATE,16476,begin surface coast
$FINISH,0.8,1.023245
$STATE,16508,end surface coast,CONTROL_FINISHED_OK
$STATE,16508,begin surface
$SM_CCo,16525,14.77,0.636,0,0,2374,320.11
$SM_GC,2.41,0.00,0.00,14.77,0.000,0.000,0.636,133,2465,2374,-8.37,0.28,320.11
$IRIDIUM_FIX,1916.08,-15614.78,301213,222237
$TT8_MAMPS,0.031458
$HUMID,60.04
$INTERNAL_PRESSURE,9.30578
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,23.4,25.802
$10V_AH,10.2,15.920
$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,18.900,136.400,288.400,14.775,0.000,23.478,34.252,143.856,0.000,0.000,16.151,1123.379,13456.895,390.095,1656.113,232.376,33.363,1144.301,0.000,1442.592,0.000,0.541,0.000
$DEVICE_MAMPS,221.850,75.735,1529.235,636.480,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,216.388,313.109,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,144036
$DATA_FILE_SIZE,16985,315
$CAP_FILE_SIZE,118992,0
$CFSIZE,260165632,247074816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,311213,075335,1925.129,-15614.402,65,1.9,65,9.6