version: 66.08
glider: 500
mission: 9
dive: 130
start: 1 2 114 4 45 17
data:
$ID,500
$MISSION,9
$DIVE,130
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,525
$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,166
$T_MISSION,360
$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,-165900.86
$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,27
$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
$GPS1,020114,043836,1936.765,-15610.607,46,1.2,46,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-83.7
$GPS2,020114,044421,1936.766,-15610.553,12,2.9,31,9.7
$SPEED_LIMITS,0.143,0.264
$TGT_NAME,HOME2
$TGT_LATLONG,1938.000,-15605.000
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.243,0.102
$KALMAN_X,97497.7,78.1,349.6,-121539.2,-330.6
$KALMAN_Y,101776.9,-25.4,-537.7,-160363.6,-514.9
$MHEAD_RNG_PITCHd_Wd,57.6,9952,-17.3,-10.040
$D_GRID,500
$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,-0.52,-150.9,0.0,0.0,0,73,0.00,0.00,-53.88,0.000,2,0.000,0.000,105,2456,3834,0,0,0,0,0,0
$GC,76,-0.52,-150.9,4.2,-9.1,2,95,9.80,2.45,-2.20,0.000,4,0.226,0.054,2647,847,3948,0,0,0,0,0,0
$GC,164,-0.52,-150.9,30.4,-22.0,4,173,0.00,2.50,0.00,0.000,6,0.000,0.054,2636,2456,3947,0,0,0,0,0,0
$GC,479,-0.52,-150.9,101.1,-21.0,15,480,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2456,3946,0,0,0,0,0,0
$GC,785,-0.52,-150.9,151.9,-16.1,25,789,0.00,2.40,0.00,0.000,4,0.000,0.047,2636,867,3949,0,0,0,0,0,0
$GC,817,-0.52,-150.9,157.4,-15.5,26,822,0.00,2.45,0.00,0.000,6,0.000,0.054,2624,2467,3949,0,0,0,0,0,0
$GC,1152,-0.52,-150.9,210.8,-16.2,36,1156,0.00,2.17,0.00,0.000,4,0.000,0.072,2613,3857,3951,0,0,0,0,0,0
$GC,1174,-0.52,-150.9,214.3,-15.2,36,1179,0.10,2.08,0.00,0.000,6,0.151,0.041,2643,2452,3952,0,0,0,0,0,0
$GC,1518,-0.52,-150.9,253.1,-10.8,42,1522,0.00,2.35,0.00,0.000,4,0.000,0.051,2643,874,3952,0,0,0,0,0,0
$GC,1550,-0.52,-150.9,257.1,-11.6,42,1554,0.00,2.40,0.00,0.000,6,0.000,0.050,2633,2461,3953,0,0,0,0,0,0
$GC,1882,-0.52,-150.9,293.7,-10.7,48,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2461,3953,0,0,0,0,0,0
$GC,2186,-0.52,-150.9,322.1,-9.5,53,2190,0.00,2.20,0.00,0.000,4,0.000,0.075,2622,3843,3955,0,0,0,0,0,0
$GC,2208,-0.52,-150.9,324.5,-10.0,53,2212,0.00,2.05,0.00,0.000,6,0.000,0.042,2622,2456,3952,0,0,0,0,0,0
$GC,2545,-0.52,-150.9,359.2,-10.2,59,2550,0.00,2.35,0.00,0.000,4,0.000,0.050,2622,878,3952,0,0,0,0,0,0
$GC,2562,-0.52,-150.9,361.1,-9.4,59,2566,0.12,2.40,0.00,0.000,6,0.154,0.050,2646,2460,3950,0,0,0,0,0,0
$GC,2905,-0.52,-150.9,390.9,-8.7,65,2909,0.00,2.40,0.00,0.000,4,0.000,0.050,2647,873,3949,0,0,0,0,0,0
$GC,2928,-0.52,-150.9,393.1,-9.4,65,2932,0.00,2.40,0.00,0.000,6,0.000,0.054,2637,2459,3948,0,0,0,0,0,0
$GC,3265,-0.52,-150.9,423.0,-8.8,71,3269,0.00,2.38,0.00,0.000,4,0.000,0.050,2637,874,3944,0,0,0,0,0,0
$GC,3321,-0.52,-150.9,428.7,-9.6,71,3328,0.00,2.42,0.00,0.000,6,0.000,0.058,2626,2460,3949,0,0,0,0,0,0
$GC,3630,-0.52,-150.9,460.5,-10.3,77,3635,0.00,2.42,0.00,0.000,4,0.000,0.049,2625,867,3943,0,0,0,0,0,0
$GC,3658,-0.52,-150.9,463.3,-9.7,77,3662,0.00,2.42,0.00,0.000,6,0.000,0.057,2615,2465,3942,0,0,0,0,0,0
$GC,3990,-0.52,-150.9,496.5,-10.2,83,3994,0.00,2.40,0.00,0.000,4,0.000,0.050,2614,874,3940,0,0,0,0,0,0
$GC,4005,-0.52,-150.9,498.4,-10.4,83,4010,0.08,2.45,0.00,0.000,6,0.107,0.056,2641,2455,3939,0,0,0,0,0,0
$STATE,4018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4018,begin apogee
$GC,4024,-0.13,0.0,500.1,10.9,83,4079,0.35,0.00,50.62,1.167,6,0.116,0.000,2766,2190,3681,0,0,0,0,0,0
$STATE,4080,end apogee,CONTROL_FINISHED_OK
$STATE,4080,begin climb
$GC,4083,0.52,150.9,502.5,0.0,84,4207,0.55,0.00,121.32,1.164,6,0.065,0.000,2981,2189,3066,0,0,0,0,0,0
$GC,4477,0.52,150.9,471.9,10.3,91,4482,0.00,2.53,0.00,0.000,4,0.000,0.055,2981,3800,3062,0,0,0,0,0,0
$GC,4617,0.52,150.9,454.4,12.2,93,4621,0.00,2.47,0.00,0.000,6,0.000,0.044,2994,2204,3060,0,0,0,0,0,0
$GC,4972,0.52,150.9,415.4,11.0,99,4973,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2204,3061,0,0,0,0,0,0
$GC,5275,0.52,150.9,381.6,11.3,104,5276,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2204,3055,0,0,0,0,0,0
$GC,5578,0.52,150.9,349.9,10.5,109,5582,0.00,2.50,0.00,0.000,4,0.000,0.063,2994,3804,3054,0,0,0,0,0,0
$GC,5622,0.52,150.9,344.4,11.6,109,5626,0.00,2.47,0.00,0.000,6,0.000,0.046,3006,2191,3054,0,0,0,0,0,0
$GC,5943,0.52,150.9,307.0,11.8,115,5948,0.00,2.40,0.00,0.000,4,0.000,0.054,3018,608,3053,0,0,0,0,0,0
$GC,5959,0.52,150.9,305.1,11.2,115,5964,0.12,2.40,0.00,0.000,6,0.153,0.050,2982,2218,3053,0,0,0,0,0,0
$GC,6309,0.55,206.3,277.7,7.6,121,6354,0.00,2.50,40.62,0.997,4,0.000,0.060,2982,3799,2839,0,0,0,0,0,0
$GC,6444,0.55,206.3,264.5,10.6,123,6448,0.00,2.53,0.00,0.000,6,0.000,0.046,2992,2199,2837,0,0,0,0,0,0
$GC,6805,0.55,206.3,227.7,10.7,129,6809,0.00,2.42,0.00,0.000,4,0.000,0.052,3002,611,2836,0,0,0,0,0,0
$GC,6867,0.56,242.9,222.3,8.4,130,6902,0.00,2.42,28.25,0.939,6,0.000,0.053,3002,2199,2690,0,0,0,0,0,0
$GC,7240,0.56,242.9,183.6,11.4,138,7244,0.00,2.45,0.00,0.000,4,0.000,0.054,3014,600,2688,0,0,0,0,0,0
$GC,7261,0.56,242.9,180.4,12.0,138,7270,0.00,2.45,0.00,0.000,6,0.000,0.050,3011,2194,2688,0,0,0,0,0,0
$GC,7576,0.56,242.9,145.2,11.9,149,7580,0.00,2.45,0.00,0.000,4,0.000,0.057,3014,3796,2688,0,0,0,0,0,0
$GC,7643,0.56,242.9,136.0,12.8,151,7648,0.10,2.45,0.00,0.000,6,0.168,0.047,2997,2200,2691,0,0,0,0,0,0
$GC,7981,0.58,279.4,107.5,8.4,162,8015,0.00,2.53,28.80,0.804,4,0.000,0.056,3007,611,2539,0,0,0,0,0,0
$GC,8088,0.60,307.9,97.3,8.8,165,8123,0.00,2.40,22.80,0.786,6,0.000,0.042,3007,2222,2425,0,0,0,0,0,0
$GC,8429,0.60,322.8,66.1,9.4,176,8448,0.00,2.45,12.57,0.692,4,0.000,0.050,3007,3784,2364,0,0,0,0,0,0
$GC,8463,0.62,360.8,63.2,8.3,177,8498,0.00,2.42,29.45,0.752,6,0.000,0.037,3017,2187,2209,0,0,0,0,0,0
$GC,8804,0.63,378.3,33.6,9.3,188,8824,0.00,2.47,14.93,0.673,4,0.000,0.050,3017,3788,2134,0,0,0,0,0,0
$GC,8892,0.65,423.8,25.2,8.0,190,8935,0.00,2.42,34.50,0.717,6,0.000,0.037,3023,2205,1952,0,0,0,0,0,0
$STATE,9115,end climb,SURFACE_DEPTH_REACHED
$STATE,9116,begin surface coast
$FINISH,0.8,1.009084
$STATE,9149,end surface coast,CONTROL_FINISHED_OK
$STATE,9149,begin surface
$SM_CCo,9226,0.00,0.000,0,0,1955,422.89
$SM_GC,1.61,7.20,0.00,0.00,0.029,0.000,0.000,114,2453,1955,-8.27,-0.20,422.89
$IRIDIUM_FIX,1929.80,-15609.92,020114,000035
$TT8_MAMPS,0.031458
$HUMID,60.27
$INTERNAL_PRESSURE,9.30578
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,24.0,27.098
$10V_AH,10.3,16.496
$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,18.425,97.050,383.875,0.000,0.000,24.090,38.300,150.689,0.000,0.000,35.285,701.287,7134.005,420.989,1154.551,160.734,33.366,921.446,0.000,919.477,0.000,0.541,0.000
$DEVICE_MAMPS,225.675,74.970,1167.390,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,134.795,329.575,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,10297,199
$CAP_FILE_SIZE,76980,0
$CFSIZE,260165632,246607872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020114,072005,1937.245,-15609.403,9,1.5,25,9.7