version: 66.08
glider: 500
mission: 9
dive: 95
start: 12 25 113 1 14 20
data:
$ID,500
$MISSION,9
$DIVE,95
$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,-165848.19
$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,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,34
$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,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,1.0
$AD_XMITPROFILE,1.0
$AD_UPLOADMAX,60000.0
$AD_STARTS,153.0
$AD_THRESHOLD,2015.0
$AD_INTERVAL,6035.0
$AD_DURATION,1545.0
$DB_RECORDABOVE,0.0
$DB_PROFILE,0.0
$DB_XMITPROFILE,0.0
$DB_UPLOADMAX,0.0
$DB_STARTS,2.0
$GPS1,251213,010736,1911.350,-15557.266,26,1.3,26,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-82.3
$GPS2,251213,011318,1911.265,-15557.293,9,1.5,14,9.6
$SPEED_LIMITS,0.142,0.263
$TGT_NAME,A4
$TGT_LATLONG,1900.000,-15600.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.085,-0.248
$KALMAN_X,105656.8,-171.9,30.1,-106082.3,-397.0
$KALMAN_Y,162572.0,683.8,774.1,-270410.9,-4367.9
$MHEAD_RNG_PITCHd_Wd,189.4,21394,-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,35,end surface,CONTROL_FINISHED_OK
$STATE,35,begin dive
$GC,38,-0.51,-150.9,0.0,0.0,0,119,0.00,0.00,-79.18,0.000,2,0.000,0.000,131,2476,3715,0,0,0,0,0,0
$GC,122,-0.51,-150.9,3.0,-4.1,2,143,9.57,2.50,-5.15,0.000,4,0.226,0.052,2638,854,3943,0,0,0,0,0,0
$GC,351,-0.51,-150.9,54.6,-19.3,9,355,0.00,2.38,0.00,0.000,6,0.000,0.045,2627,2460,3945,0,0,0,0,0,0
$GC,682,-0.51,-150.9,124.0,-21.1,20,686,0.00,2.12,0.00,0.000,4,0.000,0.061,2616,3843,3945,0,0,0,0,0,0
$GC,795,-0.51,-150.9,143.3,-16.2,23,799,0.00,2.08,0.00,0.000,6,0.000,0.036,2616,2452,3944,0,0,0,0,0,0
$GC,1121,-0.51,-150.9,189.1,-13.5,34,1126,0.10,2.17,0.00,0.000,4,0.181,0.060,2634,3845,3946,0,0,0,0,0,0
$GC,1154,-0.51,-150.9,193.2,-10.6,35,1158,0.00,2.05,0.00,0.000,6,0.000,0.038,2634,2451,3946,0,0,0,0,0,0
$GC,1487,-0.51,-150.9,233.2,-12.0,42,1491,0.00,2.15,0.00,0.000,4,0.000,0.062,2623,3841,3947,0,0,0,0,0,0
$GC,1526,-0.51,-150.9,238.5,-13.5,42,1530,0.00,2.03,0.00,0.000,6,0.000,0.040,2623,2458,3946,0,0,0,0,0,0
$GC,1853,-0.51,-150.9,275.6,-10.8,48,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2457,3947,0,0,0,0,0,0
$GC,2156,-0.51,-150.9,306.5,-9.8,53,2160,0.00,2.35,0.00,0.000,4,0.000,0.050,2623,866,3946,0,0,0,0,0,0
$GC,2218,-0.51,-150.9,312.2,-9.1,54,2223,0.12,2.35,0.00,0.000,6,0.158,0.047,2647,2460,3946,0,0,0,0,0,0
$GC,2585,-0.51,-150.9,337.8,-6.9,60,2589,0.00,2.42,0.00,0.000,4,0.000,0.050,2647,867,3944,0,0,0,0,0,0
$GC,2606,-0.51,-150.9,339.8,-8.6,60,2611,0.00,2.35,0.00,0.000,6,0.000,0.049,2637,2458,3943,0,0,0,0,0,0
$GC,2950,-0.51,-150.9,370.4,-9.1,66,2954,0.00,2.38,0.00,0.000,4,0.000,0.050,2637,878,3943,0,0,0,0,0,0
$GC,2978,-0.51,-150.9,373.0,-9.5,66,2982,0.00,2.38,0.00,0.000,6,0.000,0.050,2626,2466,3939,0,0,0,0,0,0
$GC,3310,-0.51,-150.9,400.6,-8.1,72,3311,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2471,3937,0,0,0,0,0,0
$GC,3613,-0.51,-150.9,424.6,-7.8,77,3614,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2470,3937,0,0,0,0,0,0
$GC,3916,-0.51,-150.9,450.3,-8.5,82,3917,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2466,3932,0,0,0,0,0,0
$GC,4219,-0.51,-150.9,477.9,-9.1,87,4223,0.00,2.40,0.00,0.000,4,0.000,0.051,2626,877,3929,0,0,0,0,0,0
$GC,4240,-0.51,-150.9,480.0,-9.0,87,4245,0.10,2.40,0.00,0.000,6,0.170,0.054,2641,2460,3928,0,0,0,0,0,0
$GC,4578,-0.51,-150.9,504.7,-7.1,93,4582,0.00,2.42,0.00,0.000,4,0.000,0.051,2642,868,3925,0,0,0,0,0,0
$GC,4599,-0.51,-150.9,506.4,-7.3,93,4604,0.00,2.42,0.00,0.000,6,0.000,0.056,2632,2471,3925,0,0,0,0,0,0
$GC,4937,-0.51,-150.9,531.1,-7.2,99,4939,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2471,3921,0,0,0,0,0,0
$GC,5240,-0.51,-150.9,554.0,-7.6,104,5245,0.00,2.45,0.00,0.000,4,0.000,0.052,2632,869,3924,0,0,0,0,0,0
$GC,5268,-0.51,-150.9,556.4,-8.5,104,5273,0.00,2.42,0.00,0.000,6,0.000,0.057,2620,2460,3921,0,0,0,0,0,0
$GC,5601,-0.51,-150.9,583.1,-8.1,110,5602,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2460,3919,0,0,0,0,0,0
$GC,5904,-0.51,-150.9,608.0,-8.2,115,5908,0.00,2.12,0.00,0.000,4,0.000,0.054,2609,3866,3917,0,0,0,0,0,0
$GC,5943,-0.51,-150.9,611.7,-9.3,115,5947,0.12,2.10,0.00,0.000,6,0.142,0.039,2648,2457,3918,0,0,0,0,0,0
$GC,6263,-0.51,-150.9,632.3,-6.2,121,6267,0.00,2.38,0.00,0.000,4,0.000,0.050,2648,866,3915,0,0,0,0,0,0
$GC,6330,-0.51,-150.9,636.5,-5.6,122,6334,0.00,2.47,0.00,0.000,6,0.000,0.061,2638,2470,3915,0,0,0,0,0,0
$GC,6691,-0.51,-150.9,656.4,-5.4,128,6695,0.00,2.10,0.00,0.000,4,0.000,0.056,2628,3860,3912,0,0,0,0,0,0
$GC,6731,-0.51,-150.9,658.6,-6.0,128,6735,0.00,2.10,0.00,0.000,6,0.000,0.041,2627,2453,3912,0,0,0,0,0,0
$GC,7053,-0.51,-150.9,679.1,-6.5,134,7057,0.00,2.35,0.00,0.000,4,0.000,0.050,2627,873,3911,0,0,0,0,0,0
$GC,7125,-0.51,-150.9,684.9,-8.0,135,7131,0.10,2.45,0.00,0.000,6,0.165,0.060,2643,2472,3910,0,0,0,0,0,0
$GC,7480,-0.51,-150.9,707.4,-6.2,141,7484,0.00,2.45,0.00,0.000,4,0.000,0.053,2649,868,3908,0,0,0,0,0,0
$GC,7504,-0.51,-150.9,708.8,-6.6,141,7508,0.00,2.45,0.00,0.000,6,0.000,0.060,2634,2465,3908,0,0,0,0,0,0
$GC,7841,-0.51,-150.9,729.1,-5.9,147,7846,0.00,2.45,0.00,0.000,4,0.000,0.054,2631,863,3907,0,0,0,0,0,0
$GC,7897,-0.51,-150.9,732.8,-6.7,147,7904,0.00,2.45,0.00,0.000,6,0.000,0.060,2624,2463,3906,0,0,0,0,0,0
$GC,8207,-0.51,-150.9,753.9,-6.9,153,8208,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2463,3905,0,0,0,0,0,0
$GC,8510,-0.51,-150.9,777.0,-7.7,158,8511,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2463,3906,0,0,0,0,0,0
$GC,8813,-0.51,-150.9,800.2,-7.6,163,8814,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2463,3901,0,0,0,0,0,0
$GC,9116,-0.51,-150.9,822.9,-7.5,168,9117,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2463,3901,0,0,0,0,0,0
$GC,9420,-0.51,-150.9,843.8,-6.7,173,9421,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2463,3901,0,0,0,0,0,0
$GC,9722,-0.51,-150.9,860.8,-5.5,178,9727,0.00,2.42,0.00,0.000,4,0.000,0.052,2622,862,3900,0,0,0,0,0,0
$GC,9738,-0.51,-150.9,861.8,-5.5,178,9744,0.12,2.45,0.00,0.000,6,0.161,0.057,2646,2464,3901,0,0,0,0,0,0
$GC,10082,-0.51,-150.9,875.4,-3.7,184,10087,0.00,2.42,0.00,0.000,4,0.000,0.053,2646,870,3900,0,0,0,0,0,0
$GC,10138,-0.51,-150.9,877.4,-3.8,184,10145,0.00,2.40,0.00,0.000,6,0.000,0.048,2636,2482,3900,0,0,0,0,0,0
$GC,10448,-0.51,-150.9,886.7,-2.9,190,10449,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2482,3896,0,0,0,0,0,0
$GC,10751,-0.51,-150.9,900.3,-4.6,195,10756,0.00,2.40,0.00,0.000,4,0.000,0.044,2636,865,3898,0,0,0,0,0,0
$GC,10779,-0.51,-150.9,902.1,-6.0,195,10783,0.00,2.42,0.00,0.000,6,0.000,0.057,2624,2462,3898,0,0,0,0,0,0
$GC,11111,-0.51,-150.9,923.7,-6.7,201,11115,0.00,2.40,0.00,0.000,4,0.000,0.054,2625,877,3898,0,0,0,0,0,0
$GC,11132,-0.51,-150.9,925.6,-7.2,201,11137,0.12,2.42,0.00,0.000,6,0.157,0.058,2649,2467,3897,0,0,0,0,0,0
$GC,11470,-0.51,-150.9,946.3,-6.2,207,11475,0.00,2.42,0.00,0.000,4,0.000,0.049,2650,865,3899,0,0,0,0,0,0
$GC,11486,-0.51,-150.9,947.5,-6.2,207,11491,0.00,2.42,0.00,0.000,6,0.000,0.054,2639,2462,3897,0,0,0,0,0,0
$GC,11831,-0.51,-150.9,968.4,-6.0,213,11835,0.00,2.40,0.00,0.000,4,0.000,0.047,2639,862,3896,0,0,0,0,0,0
$GC,11853,-0.51,-150.9,969.8,-6.0,213,11858,0.00,2.42,0.00,0.000,6,0.000,0.054,2629,2467,3896,0,0,0,0,0,0
$GC,12191,-0.51,-150.9,987.2,-5.0,219,12193,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2472,3895,0,0,0,0,0,0
$STATE,12310,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12310,begin apogee
$GC,12316,-0.13,0.0,992.4,4.4,221,12366,0.40,0.00,44.97,1.526,6,0.118,0.000,2767,2273,3683,0,0,0,0,0,0
$STATE,12373,end apogee,CONTROL_FINISHED_OK
$STATE,12373,begin climb
$GC,12375,0.51,150.9,992.4,0.0,221,12512,0.52,2.60,130.93,1.523,4,0.055,0.050,2984,3845,3065,0,0,0,0,0,0
$GC,12523,0.51,150.9,980.0,11.2,224,12527,0.00,2.47,0.00,0.000,6,0.000,0.041,2996,2315,3065,0,0,0,0,0,0
$GC,12873,0.51,150.9,923.8,15.8,230,12877,0.00,2.50,0.00,0.000,4,0.000,0.052,3009,701,3063,0,0,0,0,0,0
$GC,12888,0.51,150.9,920.8,16.5,230,12893,0.12,2.42,0.00,0.000,6,0.163,0.045,2975,2304,3063,0,0,0,0,0,0
$GC,13237,0.51,150.9,870.4,14.1,236,13241,0.00,2.38,0.00,0.000,4,0.000,0.059,2974,3845,3065,0,0,0,0,0,0
$GC,13258,0.51,150.9,867.1,14.4,236,13262,0.00,2.38,0.00,0.000,6,0.000,0.044,2982,2289,3062,0,0,0,0,0,0
$GC,13601,0.51,150.9,821.3,13.2,242,13605,0.00,2.38,0.00,0.000,4,0.000,0.050,2997,706,3062,0,0,0,0,0,0
$GC,13663,0.51,150.9,813.1,13.0,243,13667,0.00,2.40,0.00,0.000,6,0.000,0.048,2997,2305,3062,0,0,0,0,0,0
$GC,14028,0.51,150.9,762.1,14.1,249,14032,0.00,2.33,0.00,0.000,4,0.000,0.050,2997,3852,3061,0,0,0,0,0,0
$GC,14051,0.51,150.9,758.5,15.5,249,14056,0.12,2.38,0.00,0.000,6,0.189,0.041,2977,2295,3061,0,0,0,0,0,0
$GC,14389,0.51,150.9,714.0,13.0,255,14393,0.00,2.40,0.00,0.000,4,0.000,0.050,2988,704,3060,0,0,0,0,0,0
$GC,14421,0.51,150.9,709.5,12.9,255,14425,0.00,2.40,0.00,0.000,6,0.000,0.046,2989,2299,3063,0,0,0,0,0,0
$GC,14753,0.51,150.9,661.4,14.7,261,14755,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2298,3060,0,0,0,0,0,0
$GC,15056,0.51,150.9,617.5,14.6,266,15061,0.00,2.33,0.00,0.000,4,0.000,0.052,2989,3841,3060,0,0,0,0,0,0
$GC,15084,0.51,150.9,613.5,14.6,266,15088,0.00,2.35,0.00,0.000,6,0.000,0.040,3000,2286,3060,0,0,0,0,0,0
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$GC,16840,0.51,150.9,405.0,14.4,295,16845,0.12,2.35,0.00,0.000,6,0.181,0.043,2980,2300,3058,0,0,0,0,0,0
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$STATE,20644,end climb,SURFACE_DEPTH_REACHED
$STATE,20645,begin surface coast
$FINISH,0.7,1.022690
$STATE,20677,end surface coast,CONTROL_FINISHED_OK
$STATE,20678,begin surface
$SM_CCo,20755,0.00,0.000,0,0,1917,432.70
$SM_GC,1.66,7.25,0.00,0.00,0.028,0.000,0.000,125,2474,1917,-8.27,0.31,432.70
$IRIDIUM_FIX,1906.95,-15554.14,241213,191945
$TT8_MAMPS,0.059171
$HUMID,59.29
$INTERNAL_PRESSURE,9.22765
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,23.4,22.046
$10V_AH,10.1,11.304
$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,19.175,195.325,401.700,0.000,0.000,22.643,31.820,169.924,0.000,0.000,17.066,1366.674,17120.430,514.538,1835.234,267.266,33.351,1398.516,0.000,1560.331,0.000,0.541,0.000
$DEVICE_MAMPS,225.675,63.495,1526.175,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,267.016,322.986,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,143772
$DATA_FILE_SIZE,20261,388
$CAP_FILE_SIZE,152216,0
$CFSIZE,260165632,248578048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,251213,070129,1908.127,-15558.334,36,1.2,36,9.6