version: 66.08
glider: 500
mission: 9
dive: 129
start: 1 2 114 0 11 47
data:
$ID,500
$MISSION,9
$DIVE,129
$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,-165899.61
$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,31
$R_STBD_OVSHOOT,21
$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
$GPS1,020114,000459,1936.587,-15611.434,37,1.2,37,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-80.9
$GPS2,020114,001051,1936.583,-15611.394,14,2.2,33,9.7
$SPEED_LIMITS,0.142,0.263
$TGT_NAME,HOME1
$TGT_LATLONG,1936.000,-15610.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.045,0.134
$KALMAN_X,98288.7,-373.2,-566.3,-122421.3,1645.9
$KALMAN_Y,102646.7,185.1,735.0,-163055.6,-3383.2
$MHEAD_RNG_PITCHd_Wd,8.7,2660,-32.6,-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,-0.86,-43.9,0.0,0.0,0,98,0.00,0.00,-79.03,0.000,2,0.000,0.000,108,2463,3694,0,0,0,0,0,0
$GC,101,-0.87,-79.3,3.0,-4.6,2,122,9.27,2.50,-5.62,0.000,4,0.226,0.054,2530,852,3944,0,0,0,0,0,0
$GC,211,-0.87,-79.3,37.3,-29.2,5,216,0.00,2.40,0.00,0.000,6,0.000,0.045,2519,2465,3946,0,0,0,0,0,0
$GC,526,-0.87,-79.3,128.4,-27.4,15,530,0.00,2.15,0.00,0.000,4,0.000,0.066,2508,3849,3945,0,0,0,0,0,0
$GC,557,-0.87,-79.3,136.4,-25.5,16,561,0.00,2.08,0.00,0.000,6,0.000,0.041,2508,2450,3946,0,0,0,0,0,0
$GC,923,-0.87,-79.3,217.3,-21.6,27,926,0.00,2.17,0.00,0.000,4,0.000,0.065,2497,3851,3946,0,0,0,0,0,0
$GC,1180,-0.87,-79.3,268.5,-16.9,30,1188,0.12,2.08,0.00,0.000,6,0.164,0.042,2530,2458,3948,0,0,0,0,0,0
$GC,1490,-0.87,-79.3,317.0,-15.7,36,1494,0.00,2.15,0.00,0.000,4,0.000,0.067,2521,3842,3948,0,0,0,0,0,0
$GC,1747,-0.87,-79.3,362.1,-17.3,39,1754,0.00,2.05,0.00,0.000,6,0.000,0.041,2520,2461,3946,0,0,0,0,0,0
$GC,2057,-0.87,-79.3,416.1,-17.7,45,2061,0.00,2.15,0.00,0.000,4,0.000,0.067,2510,3842,3944,0,0,0,0,0,0
$GC,2314,-0.87,-79.3,460.1,-15.3,48,2321,0.00,2.05,0.00,0.000,6,0.000,0.042,2510,2455,3939,0,0,0,0,0,0
$GC,2624,-0.87,-79.3,510.7,-16.5,54,2628,0.00,2.17,0.00,0.000,4,0.000,0.065,2499,3853,3940,0,0,0,0,0,0
$GC,2881,-0.87,-79.3,550.9,-13.6,57,2889,0.10,2.05,0.00,0.000,6,0.169,0.042,2524,2464,3937,0,0,0,0,0,0
$GC,3191,-0.87,-79.3,590.6,-12.7,63,3195,0.00,2.12,0.00,0.000,4,0.000,0.066,2515,3842,3936,0,0,0,0,0,0
$GC,3448,-0.87,-79.3,626.2,-13.8,66,3455,0.00,2.08,0.00,0.000,6,0.000,0.043,2515,2450,3932,0,0,0,0,0,0
$GC,3758,-0.87,-79.3,667.8,-13.6,72,3762,0.00,2.15,0.00,0.000,4,0.000,0.062,2505,3859,3928,0,0,0,0,0,0
$GC,4015,-0.87,-79.3,706.3,-14.0,75,4022,0.00,2.12,0.00,0.000,6,0.000,0.039,2505,2461,3925,0,0,0,0,0,0
$GC,4325,-0.87,-79.3,750.5,-14.4,81,4329,0.00,2.15,0.00,0.000,4,0.000,0.067,2494,3845,3923,0,0,0,0,0,0
$GC,4582,-0.87,-79.3,788.8,-14.5,84,4590,0.12,2.12,0.00,0.000,6,0.164,0.043,2528,2456,3924,0,0,0,0,0,0
$GC,4892,-0.87,-79.3,826.5,-11.9,90,4896,0.00,2.17,0.00,0.000,4,0.000,0.066,2519,3847,3919,0,0,0,0,0,0
$GC,5150,-0.87,-79.3,860.7,-14.0,93,5157,0.00,2.12,0.00,0.000,6,0.000,0.041,2518,2423,3918,0,0,0,0,0,0
$GC,5460,-0.87,-79.3,901.1,-13.1,99,5464,0.00,2.15,0.00,0.000,4,0.000,0.051,2507,3859,3914,0,0,0,0,0,0
$GC,5717,-0.87,-79.3,938.2,-14.0,102,5724,0.00,2.12,0.00,0.000,6,0.000,0.037,2507,2450,3913,0,0,0,0,0,0
$GC,6027,-0.87,-79.3,978.3,-12.9,108,6031,0.00,2.10,0.00,0.000,4,0.000,0.049,2497,3861,3910,0,0,0,0,0,0
$STATE,6110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6110,begin apogee
$GC,6118,-0.13,0.0,990.0,14.6,109,6170,0.82,0.00,47.80,1.515,6,0.144,0.000,2761,2189,3680,0,0,0,0,0,0
$STATE,6171,end apogee,CONTROL_FINISHED_OK
$STATE,6171,begin climb
$GC,6173,0.87,79.3,992.9,0.0,110,6249,0.88,2.58,68.82,1.509,4,0.054,0.052,3115,613,3357,0,0,0,0,0,0
$GC,6289,0.87,79.3,984.6,12.4,112,6294,0.00,2.50,0.00,0.000,6,0.000,0.051,3113,2197,3356,0,0,0,0,0,0
$GC,6656,0.87,79.3,937.2,12.9,118,6660,0.00,2.53,0.00,0.000,4,0.000,0.057,3116,3800,3353,0,0,0,0,0,0
$GC,6913,0.87,79.3,901.4,13.7,121,6921,0.12,2.47,0.00,0.000,6,0.213,0.042,3099,2190,3352,0,0,0,0,0,0
$GC,7223,0.87,79.3,866.1,11.3,127,7227,0.00,2.53,0.00,0.000,4,0.000,0.059,3099,3803,3351,0,0,0,0,0,0
$GC,7480,0.87,79.3,833.0,12.9,130,7487,0.00,2.45,0.00,0.000,6,0.000,0.043,3110,2202,3350,0,0,0,0,0,0
$GC,7790,0.87,79.3,796.7,11.7,136,7794,0.00,2.38,0.00,0.000,4,0.000,0.049,3123,610,3349,0,0,0,0,0,0
$GC,8047,0.87,79.3,766.9,11.2,139,8054,0.00,2.38,0.00,0.000,6,0.000,0.044,3123,2217,3346,0,0,0,0,0,0
$GC,8357,0.87,79.3,731.6,11.4,145,8361,0.00,2.38,0.00,0.000,4,0.000,0.052,3123,3788,3347,0,0,0,0,0,0
$GC,8378,0.87,79.3,728.8,12.7,145,8383,0.15,2.45,0.00,0.000,6,0.210,0.041,3100,2179,3347,0,0,0,0,0,0
$GC,8716,0.87,79.3,693.5,10.3,151,8720,0.00,2.42,0.00,0.000,4,0.000,0.051,3100,3782,3343,0,0,0,0,0,0
$GC,8973,0.87,79.3,664.0,11.8,154,8980,0.00,2.38,0.00,0.000,6,0.000,0.039,3111,2198,3343,0,0,0,0,0,0
$GC,9283,0.87,79.3,632.0,10.3,160,9287,0.00,2.40,0.00,0.000,4,0.000,0.050,3111,3792,3345,0,0,0,0,0,0
$GC,9540,0.87,79.3,602.6,11.8,163,9547,0.00,2.40,0.00,0.000,6,0.000,0.037,3123,2187,3344,0,0,0,0,0,0
$GC,9850,0.87,79.3,571.5,10.0,169,9854,0.00,2.40,0.00,0.000,4,0.000,0.049,3123,3784,3344,0,0,0,0,0,0
$GC,10107,0.87,79.3,544.0,9.9,172,10115,0.15,2.35,0.00,0.000,6,0.210,0.037,3100,2203,3344,0,0,0,0,0,0
$GC,10417,0.88,94.7,520.2,7.6,178,10435,0.00,2.45,11.52,1.095,4,0.000,0.047,3110,608,3292,0,0,0,0,0,0
$GC,10689,0.89,103.5,496.1,8.6,182,10704,0.00,2.35,8.52,1.013,6,0.000,0.048,3111,2196,3257,0,0,0,0,0,0
$GC,11054,0.89,103.5,457.4,11.1,188,11055,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2197,3257,0,0,0,0,0,0
$GC,11358,0.89,109.9,430.0,8.9,193,11371,0.00,2.47,6.53,0.908,4,0.000,0.050,3110,3793,3232,0,0,0,0,0,0
$GC,11625,0.89,109.9,400.1,10.9,197,11629,0.00,2.38,0.00,0.000,6,0.000,0.037,3122,2207,3230,0,0,0,0,0,0
$GC,11991,0.89,118.7,367.4,8.6,203,12005,0.00,2.47,8.38,0.937,4,0.000,0.054,3122,3787,3195,0,0,0,0,0,0
$GC,12260,0.89,119.3,338.9,9.8,207,12265,0.12,2.42,0.00,0.000,6,0.204,0.039,3106,2192,3194,0,0,0,0,0,0
$GC,12626,0.90,122.6,304.3,9.4,213,12636,0.00,2.47,5.00,0.747,4,0.000,0.054,3102,3793,3180,0,0,0,0,0,0
$GC,12890,0.90,126.1,276.2,9.4,217,12899,0.00,2.40,4.50,0.689,6,0.000,0.039,3116,2197,3168,0,0,0,0,0,0
$GC,13262,0.90,137.9,245.9,8.1,223,13278,0.00,2.45,11.18,0.902,4,0.000,0.052,3116,3793,3117,0,0,0,0,0,0
$GC,13530,0.90,137.9,218.7,11.0,227,13534,0.00,2.40,0.00,0.000,6,0.000,0.040,3128,2199,3114,0,0,0,0,0,0
$GC,13870,0.92,167.2,194.8,5.5,234,13904,0.00,2.45,23.52,0.916,4,0.000,0.048,3140,616,2998,0,0,0,0,0,0
$GC,14111,0.92,170.6,172.3,9.4,241,14122,0.12,2.40,4.38,0.591,6,0.160,0.049,3107,2198,2985,0,0,0,0,0,0
$GC,14450,0.92,176.7,140.7,9.0,252,14464,0.00,2.53,6.88,0.693,4,0.000,0.053,3107,3796,2959,0,0,0,0,0,0
$GC,14498,0.92,176.7,135.7,10.4,253,14502,0.00,2.45,0.00,0.000,6,0.000,0.043,3118,2204,2958,0,0,0,0,0,0
$GC,14825,0.93,193.3,107.9,7.4,264,14844,0.00,2.47,14.57,0.754,4,0.000,0.059,3118,3793,2892,0,0,0,0,0,0
$GC,14855,0.94,207.3,105.2,7.8,265,14874,0.00,2.42,12.30,0.738,6,0.000,0.042,3129,2199,2833,0,0,0,0,0,0
$GC,15190,0.94,207.3,72.4,10.6,276,15194,0.00,2.53,0.00,0.000,4,0.000,0.065,3130,3788,2835,0,0,0,0,0,0
$GC,15449,0.94,210.7,44.3,9.4,283,15461,0.00,2.45,5.12,0.529,6,0.000,0.044,3141,2198,2821,0,0,0,0,0,0
$GC,15799,0.94,210.7,8.2,10.9,295,15803,0.00,2.50,0.00,0.000,4,0.000,0.064,3141,3789,2823,0,0,0,0,0,0
$STATE,15834,end climb,SURFACE_DEPTH_REACHED
$STATE,15834,begin surface coast
$FINISH,2.2,1.023028
$STATE,15841,end surface coast,CONTROL_FINISHED_OK
$STATE,15841,begin surface
$SM_CCo,15861,60.53,0.730,0,0,2374,320.11
$SM_GC,2.47,0.00,0.00,60.53,0.000,0.000,0.730,105,2457,2374,-8.46,-0.11,320.11
$IRIDIUM_FIX,1927.51,-15610.84,010114,181836
$TT8_MAMPS,0.031458
$HUMID,59.33
$INTERNAL_PRESSURE,9.29601
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,23.6,26.981
$10V_AH,10.2,16.453
$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,19.675,139.475,239.025,60.525,0.000,25.326,37.659,151.844,0.000,0.000,37.473,1224.730,11875.099,435.758,2501.619,238.481,33.369,1524.751,0.000,2220.858,0.000,0.539,0.000
$DEVICE_MAMPS,225.675,67.320,1515.465,729.810,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,202.041,299.913,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,144256
$DATA_FILE_SIZE,13638,296
$CAP_FILE_SIZE,137121,0
$CFSIZE,260165632,246599680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020114,043836,1936.765,-15610.607,46,1.2,46,9.7