version: 66.08
glider: 500
mission: 9
dive: 32
start: 12 13 113 6 48 18
data:
$ID,500
$MISSION,9
$DIVE,32
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$D_ABORT,925
$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,300
$T_MISSION,620
$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,30
$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,290
$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,-165764.62
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,2823
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$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,2530
$C_ROLL_CLIMB,2051
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,3520
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00079999998
$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,7
$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,1100.0
$AD_PROFILE,3.0
$AD_XMITPROFILE,1.0
$AD_UPLOADMAX,60000.0
$AD_STARTS,62.0
$AD_THRESHOLD,2515.0
$AD_INTERVAL,3010.0
$AD_DURATION,1030.0
$DB_RECORDABOVE,0.0
$DB_PROFILE,0.0
$DB_XMITPROFILE,0.0
$DB_UPLOADMAX,0.0
$DB_STARTS,0.0
$GPS1,131213,063906,2012.089,-15604.396,49,1.0,50,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-83.3
$GPS2,131213,064707,2012.175,-15604.374,10,1.1,10,9.8
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,A2
$TGT_LATLONG,2000.000,-15610.200
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.142,-0.222
$KALMAN_X,27376.1,-100.6,-27.5,-40120.4,3514.5
$KALMAN_Y,54984.8,-1071.9,-29.3,-47434.7,6122.6
$MHEAD_RNG_PITCHd_Wd,202.8,24722,-17.2,-10.000
$D_GRID,900
$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,30,end surface,CONTROL_FINISHED_OK
$STATE,30,begin dive
$GC,33,-0.66,-150.9,0.0,0.0,0,91,0.00,0.00,-56.38,0.000,2,0.000,0.000,112,2547,3849,0,0,0,0,0,0
$GC,94,-0.66,-150.9,3.7,-7.5,1,112,9.52,2.42,-2.00,0.000,4,0.226,0.045,2599,919,3945,0,0,0,0,0,0
$GC,280,-0.66,-150.9,55.1,-24.6,7,285,0.00,2.38,0.00,0.000,6,0.000,0.040,2588,2522,3946,0,0,0,0,0,0
$GC,551,-0.66,-150.9,118.7,-20.9,16,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2522,3947,0,0,0,0,0,0
$GC,796,-0.66,-150.9,162.6,-17.5,24,800,0.00,1.95,0.00,0.000,4,0.000,0.044,2581,3846,3949,0,0,0,0,0,0
$GC,875,-0.66,-150.9,176.6,-16.8,26,879,0.08,1.95,0.00,0.000,6,0.141,0.032,2603,2516,3949,0,0,0,0,0,0
$GC,1172,-0.66,-150.9,217.9,-13.5,34,1176,0.00,2.25,0.00,0.000,4,0.000,0.035,2604,941,3951,0,0,0,0,0,0
$GC,1205,-0.66,-150.9,222.4,-13.2,34,1209,0.00,2.35,0.00,0.000,6,0.000,0.040,2593,2534,3950,0,0,0,0,0,0
$GC,1477,-0.66,-150.9,258.4,-13.2,39,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2535,3951,0,0,0,0,0,0
$GC,1719,-0.66,-150.9,290.4,-13.3,43,1723,0.00,1.92,0.00,0.000,4,0.000,0.046,2583,3857,3951,0,0,0,0,0,0
$GC,1883,-0.66,-150.9,312.1,-14.2,45,1886,0.00,1.92,0.00,0.000,6,0.000,0.031,2584,2523,3951,0,0,0,0,0,0
$GC,2165,-0.66,-150.9,351.3,-13.9,50,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2522,3950,0,0,0,0,0,0
$GC,2408,-0.66,-150.9,380.4,-12.0,54,2412,0.00,2.00,0.00,0.000,4,0.000,0.047,2572,3856,3948,0,0,0,0,0,0
$GC,2441,-0.66,-150.9,384.3,-11.5,54,2445,0.10,1.95,0.00,0.000,6,0.132,0.032,2612,2529,3948,0,0,0,0,0,0
$GC,2718,-0.66,-150.9,410.5,-9.3,59,2722,0.00,2.30,0.00,0.000,4,0.000,0.037,2607,944,3946,0,0,0,0,0,0
$GC,2745,-0.66,-150.9,413.3,-9.8,59,2749,0.00,2.33,0.00,0.000,6,0.000,0.041,2597,2534,3946,0,0,0,0,0,0
$GC,3016,-0.66,-150.9,438.9,-9.5,64,3021,0.00,2.30,0.00,0.000,4,0.000,0.037,2596,944,3943,0,0,0,0,0,0
$GC,3049,-0.66,-150.9,442.5,-10.7,64,3053,0.00,2.35,0.00,0.000,6,0.000,0.041,2582,2530,3943,0,0,0,0,0,0
$GC,3321,-0.66,-150.9,471.8,-10.9,69,3325,0.00,2.33,0.00,0.000,4,0.000,0.037,2585,936,3939,0,0,0,0,0,0
$GC,3343,-0.66,-150.9,474.6,-11.9,69,3347,0.12,2.35,0.00,0.000,6,0.171,0.040,2611,2541,3941,0,0,0,0,0,0
$GC,3626,-0.66,-150.9,501.7,-9.6,74,3627,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2541,3939,0,0,0,0,0,0
$GC,3868,-0.66,-150.9,526.0,-10.0,78,3869,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2541,3938,0,0,0,0,0,0
$GC,4111,-0.66,-150.9,548.8,-9.4,82,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2541,3934,0,0,0,0,0,0
$GC,4353,-0.66,-150.9,570.9,-9.1,86,4354,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2541,3933,0,0,0,0,0,0
$GC,4595,-0.66,-150.9,591.0,-8.4,90,4600,0.00,2.33,0.00,0.000,4,0.000,0.039,2607,945,3930,0,0,0,0,0,0
$GC,4636,-0.66,-150.9,594.4,-8.2,90,4640,0.00,2.35,0.00,0.000,6,0.000,0.043,2597,2530,3930,0,0,0,0,0,0
$GC,4896,-0.66,-150.9,618.0,-9.1,95,4900,0.00,2.33,0.00,0.000,4,0.000,0.039,2597,939,3928,0,0,0,0,0,0
$GC,4918,-0.66,-150.9,620.3,-10.0,95,4922,0.00,2.35,0.00,0.000,6,0.000,0.042,2585,2533,3928,0,0,0,0,0,0
$GC,5197,-0.66,-150.9,645.7,-9.3,100,5201,0.00,2.33,0.00,0.000,4,0.000,0.039,2585,947,3926,0,0,0,0,0,0
$GC,5230,-0.66,-150.9,649.4,-10.4,100,5235,0.12,2.33,0.00,0.000,6,0.171,0.043,2612,2535,3926,0,0,0,0,0,0
$GC,5502,-0.66,-150.9,673.2,-8.8,105,5503,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2535,3924,0,0,0,0,0,0
$GC,5744,-0.66,-150.9,694.7,-8.8,109,5745,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2534,3923,0,0,0,0,0,0
$GC,5987,-0.66,-150.9,716.0,-8.8,113,5988,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2535,3922,0,0,0,0,0,0
$GC,6229,-0.66,-150.9,735.4,-8.0,117,6233,0.00,2.33,0.00,0.000,4,0.000,0.039,2607,943,3922,0,0,0,0,0,0
$GC,6250,-0.66,-150.9,737.4,-8.5,117,6254,0.00,2.38,0.00,0.000,6,0.000,0.043,2596,2539,3923,0,0,0,0,0,0
$GC,6528,-0.66,-150.9,760.9,-8.6,122,6529,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2540,3919,0,0,0,0,0,0
$GC,6770,-0.66,-150.9,779.4,-7.6,126,6774,0.00,2.35,0.00,0.000,4,0.000,0.041,2597,943,3917,0,0,0,0,0,0
$GC,6798,-0.66,-150.9,782.0,-8.9,126,6802,0.00,2.38,0.00,0.000,6,0.000,0.044,2585,2536,3918,0,0,0,0,0,0
$GC,7075,-0.66,-150.9,804.1,-7.9,131,7079,0.00,2.35,0.00,0.000,4,0.000,0.041,2585,941,3917,0,0,0,0,0,0
$GC,7091,-0.66,-150.9,805.5,-7.8,131,7096,0.12,2.35,0.00,0.000,6,0.172,0.044,2607,2533,3917,0,0,0,0,0,0
$GC,7373,-0.66,-150.9,826.2,-7.3,136,7375,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2533,3916,0,0,0,0,0,0
$GC,7616,-0.66,-150.9,843.5,-7.1,140,7620,0.00,2.30,0.00,0.000,4,0.000,0.040,2607,949,3915,0,0,0,0,0,0
$GC,7660,-0.66,-150.9,847.0,-7.7,140,7664,0.00,2.35,0.00,0.000,6,0.000,0.045,2596,2532,3915,0,0,0,0,0,0
$GC,7914,-0.66,-150.9,866.9,-7.9,145,7915,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2530,3914,0,0,0,0,0,0
$GC,8157,-0.66,-150.9,886.3,-8.0,149,8161,0.00,2.33,0.00,0.000,4,0.000,0.039,2593,949,3913,0,0,0,0,0,0
$GC,8201,-0.66,-150.9,890.1,-8.2,149,8205,0.00,2.38,0.00,0.000,6,0.000,0.045,2585,2536,3911,0,0,0,0,0,0
$STATE,8334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8334,begin apogee
$GC,8341,-0.16,0.0,902.0,9.0,152,8426,0.52,0.00,79.47,1.385,6,0.127,0.000,2763,2043,3520,0,0,0,0,0,0
$STATE,8429,end apogee,CONTROL_FINISHED_OK
$STATE,8430,begin climb
$GC,8432,0.66,150.9,904.1,0.0,153,8569,0.70,2.70,126.55,1.339,4,0.063,0.051,3032,3639,2906,0,0,0,0,0,0
$GC,8593,0.66,150.9,882.3,22.6,156,8597,0.00,2.53,0.00,0.000,6,0.000,0.046,3045,2083,2905,0,0,0,0,0,0
$GC,8898,0.66,150.9,813.5,22.6,161,8902,0.00,2.40,0.00,0.000,4,0.000,0.050,3045,3636,2903,0,0,0,0,0,0
$GC,8986,0.66,150.9,792.3,23.8,162,8990,0.00,2.47,0.00,0.000,6,0.000,0.047,3057,2041,2903,0,0,0,0,0,0
$GC,9263,0.66,150.9,729.7,22.7,167,9268,0.00,2.42,0.00,0.000,4,0.000,0.047,3057,3634,2902,0,0,0,0,0,0
$GC,9341,0.66,150.9,711.1,22.8,168,9346,0.12,2.42,0.00,0.000,6,0.194,0.047,3039,2046,2901,0,0,0,0,0,0
$GC,9629,0.66,150.9,653.3,19.9,173,9634,0.00,2.42,0.00,0.000,4,0.000,0.051,3038,3640,2901,0,0,0,0,0,0
$GC,9746,0.66,150.9,629.2,20.8,174,9751,0.00,2.45,0.00,0.000,6,0.000,0.047,3046,2040,2901,0,0,0,0,0,0
$GC,10002,0.66,150.9,579.9,19.4,179,10006,0.00,2.42,0.00,0.000,4,0.000,0.051,3049,3638,2898,0,0,0,0,0,0
$GC,10064,0.66,150.9,567.2,19.6,180,10068,0.00,2.40,0.00,0.000,6,0.000,0.047,3062,2049,2902,0,0,0,0,0,0
$GC,10368,0.66,150.9,507.2,19.7,185,10373,0.00,2.42,0.00,0.000,4,0.000,0.051,3062,3639,2900,0,0,0,0,0,0
$GC,10526,0.66,150.9,474.9,20.0,187,10531,0.15,2.42,0.00,0.000,6,0.190,0.046,3036,2043,2900,0,0,0,0,0,0
$GC,10803,0.66,150.9,422.0,19.2,192,10807,0.00,2.40,0.00,0.000,4,0.000,0.051,3038,3637,2900,0,0,0,0,0,0
$GC,10908,0.66,150.9,400.3,20.2,193,10912,0.00,2.40,0.00,0.000,6,0.000,0.046,3046,2050,2900,0,0,0,0,0,0
$GC,11169,0.66,150.9,349.7,19.6,198,11173,0.00,2.42,0.00,0.000,4,0.000,0.053,3046,3647,2900,0,0,0,0,0,0
$GC,11330,0.66,150.9,321.3,16.9,200,11334,0.00,2.42,0.00,0.000,6,0.000,0.047,3059,2051,2899,0,0,0,0,0,0
$GC,11608,0.66,150.9,276.1,16.3,205,11612,0.00,2.42,0.00,0.000,4,0.000,0.051,3059,3637,2898,0,0,0,0,0,0
$GC,11769,0.66,150.9,250.0,15.3,207,11774,0.12,2.40,0.00,0.000,6,0.197,0.043,3036,2042,2899,0,0,0,0,0,0
$GC,12046,0.66,150.9,214.4,13.1,212,12050,0.00,2.42,0.00,0.000,4,0.000,0.051,3039,3649,2899,0,0,0,0,0,0
$GC,12213,0.66,150.9,191.9,12.3,215,12217,0.00,2.40,0.00,0.000,6,0.000,0.042,3050,2050,2899,0,0,0,0,0,0
$GC,12490,0.66,150.9,162.4,10.5,224,12494,0.00,2.42,0.00,0.000,4,0.000,0.049,3050,3652,2900,0,0,0,0,0,0
$GC,12656,0.66,150.9,140.6,12.2,229,12660,0.00,2.38,0.00,0.000,6,0.000,0.040,3062,2040,2901,0,0,0,0,0,0
$GC,12937,0.66,154.3,111.0,9.8,238,12942,0.00,2.40,0.00,0.000,4,0.000,0.047,3062,3650,2902,0,0,0,0,0,0
$GC,12947,0.66,154.3,109.3,10.4,238,12958,0.15,2.38,4.45,0.443,6,0.176,0.037,3034,2045,2889,0,0,0,0,0,0
$GC,13212,0.70,198.5,85.4,8.0,247,13248,0.00,0.00,33.80,0.685,6,0.000,0.000,3037,2041,2710,0,0,0,0,0,0
$GC,13487,0.75,262.4,66.7,7.1,256,13538,0.00,0.00,48.92,0.678,6,0.000,0.000,3033,2041,2450,0,0,0,0,0,0
$GC,13762,0.75,262.4,40.6,10.4,265,13766,0.00,2.40,0.00,0.000,4,0.000,0.043,3045,460,2450,0,0,0,0,0,0
$GC,13817,0.75,267.7,34.4,9.8,266,13829,0.00,2.38,6.18,0.489,6,0.000,0.037,3045,2062,2425,0,0,0,0,0,0
$STATE,14105,end climb,SURFACE_DEPTH_REACHED
$STATE,14105,begin surface coast
$FINISH,0.8,1.022300
$STATE,14138,end surface coast,CONTROL_FINISHED_OK
$STATE,14138,begin surface
$SM_CCo,14162,9.52,0.515,0,0,2339,290.19
$SM_GC,2.49,0.00,0.00,9.52,0.000,0.000,0.515,134,2539,2339,-8.41,0.25,290.19
$IRIDIUM_FIX,2004.18,-15602.25,131213,020216
$TT8_MAMPS,0.058422
$HUMID,61.41
$INTERNAL_PRESSURE,9.28625
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,23.6,13.645
$10V_AH,10.3,5.962
$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,19.100,137.075,299.375,9.525,0.000,38.735,33.509,219.800,0.000,0.000,12.951,1050.451,11220.531,379.916,1787.836,236.561,33.352,1111.720,0.000,1359.040,0.000,0.541,0.000
$DEVICE_MAMPS,226.440,52.785,1385.415,514.845,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,190.245,313.113,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,143056
$DATA_FILE_SIZE,13638,277
$CAP_FILE_SIZE,119455,0
$CFSIZE,260165632,252502016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131213,104556,2011.273,-15604.481,26,8.5,46,9.8