version: 66.08
glider: 500
mission: 9
dive: 128
start: 1 1 114 18 15 15
data:
$ID,500
$MISSION,9
$DIVE,128
$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,-165898.36
$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,26
$R_STBD_OVSHOOT,32
$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
$GPS1,010114,180905,1934.709,-15612.867,26,1.6,26,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-82.2
$GPS2,010114,181419,1934.708,-15612.816,15,1.7,15,9.7
$SPEED_LIMITS,0.142,0.263
$TGT_NAME,HOME1
$TGT_LATLONG,1936.000,-15610.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.188,0.183
$KALMAN_X,99124.9,-415.0,-83.7,-126174.0,650.9
$KALMAN_Y,103763.4,282.5,-281.8,-166720.5,-1493.7
$MHEAD_RNG_PITCHd_Wd,36.1,5465,-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,-150.9,0.0,0.0,0,103,0.00,0.00,-83.75,0.000,2,0.000,0.000,118,2461,3724,0,0,0,0,0,0
$GC,106,-0.51,-150.9,3.4,-5.3,2,126,9.60,2.15,-4.80,0.000,4,0.223,0.070,2628,3849,3944,0,0,0,0,0,0
$GC,378,-0.51,-150.9,60.7,-18.3,10,388,0.00,2.15,0.00,0.000,6,0.000,0.047,2628,2447,3945,0,0,0,0,0,0
$GC,694,-0.51,-150.9,125.2,-20.1,21,698,0.00,2.38,0.00,0.000,4,0.000,0.051,2628,866,3943,0,0,0,0,0,0
$GC,709,-0.51,-150.9,128.9,-18.4,21,713,0.00,2.40,0.00,0.000,6,0.000,0.042,2617,2464,3944,0,0,0,0,0,0
$GC,1030,-0.51,-150.9,176.4,-13.5,32,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2464,3946,0,0,0,0,0,0
$GC,1333,-0.51,-150.9,217.7,-13.4,40,1337,0.00,2.15,0.00,0.000,4,0.000,0.070,2605,3846,3946,0,0,0,0,0,0
$GC,1455,-0.51,-150.9,235.3,-12.8,41,1463,0.12,2.08,0.00,0.000,6,0.142,0.045,2645,2458,3947,0,0,0,0,0,0
$GC,1765,-0.51,-150.9,268.7,-10.6,47,1769,0.00,2.17,0.00,0.000,4,0.000,0.070,2636,3841,3947,0,0,0,0,0,0
$GC,1780,-0.51,-150.9,270.4,-10.1,47,1784,0.00,2.08,0.00,0.000,6,0.000,0.043,2636,2476,3947,0,0,0,0,0,0
$GC,2130,-0.51,-150.9,305.8,-9.9,53,2134,0.00,2.40,0.00,0.000,4,0.000,0.052,2636,852,3947,0,0,0,0,0,0
$GC,2174,-0.51,-150.9,310.1,-8.9,53,2178,0.00,2.40,0.00,0.000,6,0.000,0.050,2624,2462,3946,0,0,0,0,0,0
$GC,2489,-0.51,-150.9,339.7,-9.5,59,2493,0.00,2.40,0.00,0.000,4,0.000,0.050,2624,856,3944,0,0,0,0,0,0
$GC,2560,-0.51,-150.9,347.4,-10.3,60,2565,0.12,2.45,0.00,0.000,6,0.158,0.062,2648,2457,3941,0,0,0,0,0,0
$GC,2915,-0.51,-150.9,378.9,-9.1,66,2916,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2452,3941,0,0,0,0,0,0
$GC,3218,-0.51,-150.9,405.7,-8.8,71,3222,0.00,2.15,0.00,0.000,4,0.000,0.060,2639,3848,3938,0,0,0,0,0,0
$GC,3268,-0.51,-150.9,410.2,-8.7,71,3272,0.00,2.15,0.00,0.000,6,0.000,0.044,2639,2441,3938,0,0,0,0,0,0
$GC,3584,-0.51,-150.9,436.1,-8.3,77,3588,0.00,2.40,0.00,0.000,4,0.000,0.050,2639,860,3935,0,0,0,0,0,0
$GC,3633,-0.51,-150.9,440.4,-8.5,77,3638,0.00,2.42,0.00,0.000,6,0.000,0.053,2628,2463,3934,0,0,0,0,0,0
$GC,3944,-0.51,-150.9,467.1,-8.6,82,3948,0.00,2.38,0.00,0.000,4,0.000,0.047,2628,862,3932,0,0,0,0,0,0
$GC,4049,-0.51,-150.9,476.9,-8.7,83,4055,0.10,2.42,0.00,0.000,6,0.163,0.060,2644,2452,3930,0,0,0,0,0,0
$GC,4371,-0.51,-150.9,500.3,-7.2,89,4372,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2452,3927,0,0,0,0,0,0
$GC,4674,-0.51,-150.9,523.6,-7.8,94,4675,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2452,3925,0,0,0,0,0,0
$GC,4977,-0.51,-150.9,547.4,-7.8,99,4981,0.00,2.38,0.00,0.000,4,0.000,0.047,2642,869,3924,0,0,0,0,0,0
$GC,5020,-0.51,-150.9,551.3,-8.0,99,5025,0.00,2.45,0.00,0.000,6,0.000,0.060,2635,2467,3924,0,0,0,0,0,0
$GC,5336,-0.51,-150.9,577.7,-8.4,105,5340,0.00,2.12,0.00,0.000,4,0.000,0.057,2624,3857,3921,0,0,0,0,0,0
$GC,5358,-0.51,-150.9,579.7,-8.4,105,5362,0.00,2.10,0.00,0.000,6,0.000,0.044,2624,2457,3921,0,0,0,0,0,0
$GC,5696,-0.51,-150.9,609.5,-8.7,111,5700,0.00,2.38,0.00,0.000,4,0.000,0.051,2624,874,3919,0,0,0,0,0,0
$GC,5741,-0.51,-150.9,613.7,-8.9,111,5746,0.12,2.40,0.00,0.000,6,0.151,0.046,2649,2484,3919,0,0,0,0,0,0
$GC,6056,-0.51,-150.9,634.5,-6.3,117,6061,0.00,2.45,0.00,0.000,4,0.000,0.043,2650,863,3917,0,0,0,0,0,0
$GC,6106,-0.51,-150.9,637.7,-6.6,117,6111,0.00,2.40,0.00,0.000,6,0.000,0.054,2640,2460,3916,0,0,0,0,0,0
$GC,6416,-0.51,-150.9,656.4,-6.0,122,6421,0.00,2.40,0.00,0.000,4,0.000,0.047,2640,864,3914,0,0,0,0,0,0
$GC,6449,-0.51,-150.9,658.7,-6.1,122,6453,0.00,2.38,0.00,0.000,6,0.000,0.045,2629,2461,3914,0,0,0,0,0,0
$GC,6776,-0.51,-150.9,681.5,-7.0,128,6780,0.00,2.38,0.00,0.000,4,0.000,0.042,2634,870,3915,0,0,0,0,0,0
$GC,6804,-0.51,-150.9,683.8,-8.2,128,6809,0.00,2.45,0.00,0.000,6,0.000,0.057,2618,2451,3913,0,0,0,0,0,0
$GC,7137,-0.51,-150.9,710.2,-7.9,134,7141,0.00,2.40,0.00,0.000,4,0.000,0.050,2618,869,3911,0,0,0,0,0,0
$GC,7163,-0.51,-150.9,712.6,-8.5,134,7169,0.12,2.45,0.00,0.000,6,0.158,0.059,2639,2468,3909,0,0,0,0,0,0
$GC,7496,-0.51,-150.9,735.2,-6.8,140,7500,0.00,2.42,0.00,0.000,4,0.000,0.051,2642,875,3908,0,0,0,0,0,0
$GC,7551,-0.51,-150.9,739.4,-7.8,140,7558,0.00,2.45,0.00,0.000,6,0.000,0.060,2633,2461,3909,0,0,0,0,0,0
$GC,7861,-0.51,-150.9,760.9,-7.0,146,7865,0.00,2.40,0.00,0.000,4,0.000,0.050,2632,870,3908,0,0,0,0,0,0
$GC,7883,-0.51,-150.9,762.5,-6.9,146,7887,0.00,2.42,0.00,0.000,6,0.000,0.057,2622,2460,3906,0,0,0,0,0,0
$GC,8220,-0.51,-150.9,787.5,-7.4,152,8224,0.00,2.40,0.00,0.000,4,0.000,0.050,2621,872,3906,0,0,0,0,0,0
$GC,8241,-0.51,-150.9,789.4,-8.2,152,8246,0.12,2.42,0.00,0.000,6,0.157,0.057,2646,2463,3906,0,0,0,0,0,0
$GC,8579,-0.51,-150.9,809.1,-5.7,158,8584,0.00,2.45,0.00,0.000,4,0.000,0.050,2646,867,3905,0,0,0,0,0,0
$GC,8612,-0.51,-150.9,811.2,-6.1,158,8617,0.00,2.47,0.00,0.000,6,0.000,0.058,2637,2472,3905,0,0,0,0,0,0
$GC,8939,-0.51,-150.9,828.4,-5.1,164,8944,0.00,2.42,0.00,0.000,4,0.000,0.051,2637,867,3903,0,0,0,0,0,0
$GC,8961,-0.51,-150.9,829.7,-5.6,164,8966,0.00,2.40,0.00,0.000,6,0.000,0.051,2625,2471,3903,0,0,0,0,0,0
$GC,9299,-0.51,-150.9,846.9,-5.1,170,9304,0.00,2.40,0.00,0.000,4,0.000,0.047,2626,871,3902,0,0,0,0,0,0
$GC,9321,-0.51,-150.9,848.1,-5.3,170,9326,0.10,2.42,0.00,0.000,6,0.170,0.057,2642,2459,3903,0,0,0,0,0,0
$GC,9659,-0.51,-150.9,862.6,-4.3,176,9663,0.00,2.42,0.00,0.000,4,0.000,0.051,2642,864,3902,0,0,0,0,0,0
$GC,9692,-0.51,-150.9,864.4,-5.3,176,9696,0.00,2.40,0.00,0.000,6,0.000,0.050,2632,2463,3902,0,0,0,0,0,0
$GC,10020,-0.51,-150.9,880.4,-4.9,182,10025,0.00,2.40,0.00,0.000,4,0.000,0.044,2632,866,3901,0,0,0,0,0,0
$GC,10070,-0.51,-150.9,883.5,-6.2,182,10075,0.00,2.45,0.00,0.000,6,0.000,0.057,2621,2455,3901,0,0,0,0,0,0
$GC,10380,-0.51,-150.9,902.4,-6.2,187,10384,0.00,2.40,0.00,0.000,4,0.000,0.050,2621,873,3900,0,0,0,0,0,0
$GC,10413,-0.51,-150.9,904.7,-6.4,187,10418,0.12,2.42,0.00,0.000,6,0.155,0.057,2645,2464,3901,0,0,0,0,0,0
$GC,10740,-0.51,-150.9,921.5,-5.2,193,10745,0.00,2.40,0.00,0.000,4,0.000,0.052,2646,869,3900,0,0,0,0,0,0
$GC,10785,-0.51,-150.9,924.4,-6.4,193,10789,0.00,2.45,0.00,0.000,6,0.000,0.057,2636,2461,3900,0,0,0,0,0,0
$GC,11100,-0.51,-150.9,942.8,-5.9,199,11104,0.00,2.45,0.00,0.000,4,0.000,0.052,2636,867,3898,0,0,0,0,0,0
$GC,11121,-0.51,-150.9,944.2,-6.3,199,11126,0.00,2.45,0.00,0.000,6,0.000,0.057,2625,2461,3898,0,0,0,0,0,0
$GC,11459,-0.51,-150.9,965.5,-6.3,205,11464,0.00,2.40,0.00,0.000,4,0.000,0.052,2625,867,3898,0,0,0,0,0,0
$GC,11487,-0.51,-150.9,967.6,-7.2,205,11492,0.12,2.47,0.00,0.000,6,0.157,0.057,2649,2471,3898,0,0,0,0,0,0
$GC,11820,-0.51,-150.9,983.0,-4.4,211,11824,0.00,2.42,0.00,0.000,4,0.000,0.052,2652,871,3897,0,0,0,0,0,0
$GC,11842,-0.51,-150.9,984.2,-5.2,211,11847,0.00,2.42,0.00,0.000,6,0.000,0.057,2640,2457,3897,0,0,0,0,0,0
$STATE,11996,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11996,begin apogee
$GC,12002,-0.13,0.0,991.5,4.7,214,12052,0.35,0.00,45.30,1.519,6,0.112,0.000,2765,2197,3681,0,0,0,0,0,0
$STATE,12053,end apogee,CONTROL_FINISHED_OK
$STATE,12053,begin climb
$GC,12055,0.51,150.9,992.0,0.0,214,12195,0.55,2.75,130.27,1.532,4,0.057,0.057,2986,3795,3066,0,0,0,0,0,0
$GC,12234,0.51,150.9,975.9,16.1,217,12238,0.00,2.60,0.00,0.000,6,0.000,0.047,2998,2208,3065,0,0,0,0,0,0
$GC,12554,0.51,150.9,926.6,15.3,223,12559,0.00,2.53,0.00,0.000,4,0.000,0.062,2998,3797,3063,0,0,0,0,0,0
$GC,12644,0.51,150.9,912.2,15.6,224,12649,0.12,2.53,0.00,0.000,6,0.178,0.049,2979,2195,3063,0,0,0,0,0,0
$GC,12981,0.51,150.9,867.0,13.3,230,12983,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2196,3063,0,0,0,0,0,0
$GC,13284,0.51,150.9,827.2,13.1,235,13286,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2195,3062,0,0,0,0,0,0
$GC,13588,0.51,150.9,786.3,13.5,240,13592,0.00,2.50,0.00,0.000,4,0.000,0.063,2978,3793,3061,0,0,0,0,0,0
$GC,13614,0.51,150.9,782.1,14.9,240,13619,0.00,2.45,0.00,0.000,6,0.000,0.047,2989,2190,3061,0,0,0,0,0,0
$GC,13953,0.51,150.9,736.5,13.4,246,13957,0.00,2.50,0.00,0.000,4,0.000,0.061,2990,3801,3061,0,0,0,0,0,0
$GC,14019,0.51,150.9,726.4,14.0,247,14023,0.00,2.45,0.00,0.000,6,0.000,0.049,2997,2209,3061,0,0,0,0,0,0
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$GC,18758,0.55,230.8,210.1,7.9,323,18799,0.00,2.45,35.40,0.946,6,0.000,0.040,3012,2195,2738,0,0,0,0,0,0
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$STATE,20800,end climb,SURFACE_DEPTH_REACHED
$STATE,20800,begin surface coast
$FINISH,0.8,1.011925
$STATE,20832,end surface coast,CONTROL_FINISHED_OK
$STATE,20832,begin surface
$SM_CCo,20909,0.00,0.000,0,0,1606,508.74
$SM_GC,1.52,7.38,0.00,0.00,0.031,0.000,0.000,110,2462,1606,-8.26,0.06,508.74
$IRIDIUM_FIX,1925.22,-15615.95,010114,121207
$TT8_MAMPS,0.032207
$HUMID,60.39
$INTERNAL_PRESSURE,9.22765
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,23.2,26.876
$10V_AH,10.2,16.383
$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,19.700,222.425,458.450,0.000,0.000,24.456,34.240,140.045,0.000,0.000,17.514,1399.556,17024.543,542.223,1973.313,283.502,33.370,1556.251,0.000,1749.637,0.000,0.540,0.000
$DEVICE_MAMPS,222.615,70.380,1531.530,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,266.773,329.587,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,144236
$DATA_FILE_SIZE,20244,388
$CAP_FILE_SIZE,163368,0
$CFSIZE,260165632,246628352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020114,000459,1936.587,-15611.434,37,1.2,37,9.7