version: 66.08
glider: 500
mission: 9
dive: 131
start: 1 2 114 7 25 51
data:
$ID,500
$MISSION,9
$DIVE,131
$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,-165902.11
$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,33
$R_STBD_OVSHOOT,25
$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
$GPS1,020114,072005,1937.245,-15609.403,9,1.5,25,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-83.2
$GPS2,020114,072455,1937.269,-15609.378,12,1.4,12,9.7
$SPEED_LIMITS,0.143,0.264
$TGT_NAME,HOME2
$TGT_LATLONG,1938.000,-15605.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.262,0.027
$KALMAN_X,97188.4,243.0,109.3,-119117.2,-656.3
$KALMAN_Y,101305.6,-31.1,-162.8,-159327.8,82.2
$MHEAD_RNG_PITCHd_Wd,74.5,7756,-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,16,-0.52,-150.9,0.0,0.0,0,87,0.00,0.00,-68.12,0.000,2,0.000,0.000,114,2453,3765,0,0,0,0,0,0
$GC,90,-0.52,-150.9,3.9,-8.3,2,110,9.60,2.40,-3.67,0.000,4,0.225,0.054,2641,865,3945,0,0,0,0,0,0
$GC,229,-0.52,-150.9,40.5,-21.7,6,233,0.00,2.40,0.00,0.000,6,0.000,0.050,2631,2474,3945,0,0,0,0,0,0
$GC,561,-0.52,-150.9,109.7,-18.9,17,565,0.00,2.05,0.00,0.000,4,0.000,0.050,2620,3853,3946,0,0,0,0,0,0
$GC,593,-0.52,-150.9,115.7,-16.8,18,598,0.00,2.12,0.00,0.000,6,0.000,0.047,2620,2467,3947,0,0,0,0,0,0
$GC,931,-0.52,-150.9,168.9,-15.4,29,935,0.00,2.15,0.00,0.000,4,0.000,0.066,2609,3846,3948,0,0,0,0,0,0
$GC,1055,-0.52,-150.9,188.5,-16.5,32,1064,0.08,2.12,0.00,0.000,6,0.121,0.048,2639,2458,3949,0,0,0,0,0,0
$GC,1396,-0.52,-150.9,230.4,-12.1,40,1400,0.00,2.35,0.00,0.000,4,0.000,0.047,2639,854,3949,0,0,0,0,0,0
$GC,1440,-0.52,-150.9,235.6,-10.9,40,1444,0.00,2.40,0.00,0.000,6,0.000,0.055,2628,2458,3951,0,0,0,0,0,0
$GC,1761,-0.52,-150.9,271.0,-11.1,46,1765,0.00,2.38,0.00,0.000,4,0.000,0.048,2629,864,3948,0,0,0,0,0,0
$GC,1811,-0.52,-150.9,276.2,-9.7,46,1816,0.00,2.42,0.00,0.000,6,0.000,0.056,2617,2462,3949,0,0,0,0,0,0
$GC,2121,-0.52,-150.9,308.7,-10.5,51,2125,0.00,2.12,0.00,0.000,4,0.000,0.054,2606,3856,3948,0,0,0,0,0,0
$GC,2204,-0.52,-150.9,318.3,-11.3,52,2208,0.12,2.15,0.00,0.000,6,0.141,0.051,2645,2433,3948,0,0,0,0,0,0
$GC,2553,-0.52,-150.9,352.1,-9.7,58,2557,0.00,2.33,0.00,0.000,4,0.000,0.052,2645,873,3944,0,0,0,0,0,0
$GC,2625,-0.52,-150.9,359.3,-9.1,59,2629,0.00,2.40,0.00,0.000,6,0.000,0.056,2635,2473,3945,0,0,0,0,0,0
$GC,2979,-0.52,-150.9,390.8,-8.7,65,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2473,3942,0,0,0,0,0,0
$GC,3283,-0.52,-150.9,415.9,-8.4,70,3287,0.00,2.42,0.00,0.000,4,0.000,0.050,2635,864,3940,0,0,0,0,0,0
$GC,3332,-0.52,-150.9,420.4,-8.5,70,3336,0.00,2.45,0.00,0.000,6,0.000,0.063,2624,2462,3939,0,0,0,0,0,0
$GC,3642,-0.52,-150.9,451.7,-10.5,75,3643,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2462,3936,0,0,0,0,0,0
$GC,3945,-0.52,-150.9,482.4,-10.1,80,3949,0.00,2.40,0.00,0.000,4,0.000,0.050,2625,873,3934,0,0,0,0,0,0
$GC,3989,-0.52,-150.9,487.0,-9.9,80,3994,0.10,2.45,0.00,0.000,6,0.163,0.063,2641,2462,3933,0,0,0,0,0,0
$STATE,4180,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4180,begin apogee
$GC,4186,-0.13,0.0,502.6,8.2,84,4240,0.35,0.00,48.92,1.164,6,0.118,0.000,2765,2197,3681,0,0,0,0,0,0
$STATE,4241,end apogee,CONTROL_FINISHED_OK
$STATE,4241,begin climb
$GC,4243,0.52,150.9,504.7,0.0,84,4372,0.55,2.70,121.38,1.165,4,0.066,0.057,2985,3796,3064,0,0,0,0,0,0
$GC,4394,0.52,150.9,496.6,11.6,87,4398,0.00,2.58,0.00,0.000,6,0.000,0.057,2993,2206,3063,0,0,0,0,0,0
$GC,4738,0.52,150.9,456.3,11.6,93,4742,0.00,2.47,0.00,0.000,4,0.000,0.056,2993,3799,3060,0,0,0,0,0,0
$GC,4753,0.52,150.9,454.2,11.4,93,4757,0.00,2.50,0.00,0.000,6,0.000,0.051,3005,2193,3059,0,0,0,0,0,0
$GC,5102,0.52,150.9,413.0,11.9,99,5107,0.00,2.47,0.00,0.000,4,0.000,0.057,3005,3800,3058,0,0,0,0,0,0
$GC,5191,0.52,150.9,400.2,13.9,100,5196,0.15,2.45,0.00,0.000,6,0.155,0.051,2975,2203,3057,0,0,0,0,0,0
$GC,5536,0.52,155.4,365.3,9.8,106,5540,0.00,2.47,0.00,0.000,4,0.000,0.066,2975,3799,3055,0,0,0,0,0,0
$GC,5569,0.52,155.4,361.7,10.2,106,5573,0.00,2.47,0.00,0.000,6,0.000,0.052,2985,2187,3054,0,0,0,0,0,0
$GC,5902,0.52,155.4,327.7,10.4,112,5906,0.00,2.38,0.00,0.000,4,0.000,0.052,2997,612,3053,0,0,0,0,0,0
$GC,5957,0.53,166.4,322.4,9.6,112,5974,0.00,2.42,11.55,0.945,6,0.000,0.057,2999,2216,3001,0,0,0,0,0,0
$GC,6330,0.53,179.2,286.8,9.5,119,6347,0.00,2.42,11.15,0.908,4,0.000,0.057,2998,3793,2948,0,0,0,0,0,0
$GC,6430,0.53,179.2,276.0,11.4,120,6435,0.00,2.47,0.00,0.000,6,0.000,0.049,3009,2189,2947,0,0,0,0,0,0
$GC,6757,0.54,190.3,244.6,9.5,126,6771,0.00,2.40,9.10,0.850,4,0.000,0.054,3022,606,2906,0,0,0,0,0,0
$GC,6788,0.54,204.4,241.6,9.4,126,6808,0.12,2.42,13.02,0.892,6,0.152,0.053,2986,2209,2845,0,0,0,0,0,0
$GC,7124,0.56,227.0,210.7,9.0,132,7148,0.00,2.50,17.88,0.903,4,0.000,0.054,2985,3797,2755,0,0,0,0,0,0
$GC,7222,0.56,227.0,200.3,10.6,133,7226,0.00,2.45,0.00,0.000,6,0.000,0.045,2994,2201,2754,0,0,0,0,0,0
$GC,7560,0.56,227.0,166.4,10.5,144,7564,0.00,2.42,0.00,0.000,4,0.000,0.053,3006,608,2754,0,0,0,0,0,0
$GC,7598,0.56,242.5,162.3,9.3,145,7623,0.00,2.42,13.10,0.822,6,0.000,0.053,3006,2206,2690,0,0,0,0,0,0
$GC,7929,0.56,242.5,128.7,11.1,156,7933,0.00,2.42,0.00,0.000,4,0.000,0.050,3006,3796,2690,0,0,0,0,0,0
$GC,7960,0.56,242.5,124.9,12.0,157,7964,0.00,2.42,0.00,0.000,6,0.000,0.040,3018,2190,2690,0,0,0,0,0,0
$GC,8297,0.58,277.3,94.0,8.5,168,8331,0.00,2.45,27.52,0.789,4,0.000,0.054,3029,610,2549,0,0,0,0,0,0
$GC,8359,0.60,318.4,88.6,8.2,169,8402,0.00,2.47,31.65,0.808,6,0.000,0.054,3029,2198,2382,0,0,0,0,0,0
$GC,8709,0.61,327.2,53.9,9.6,181,8723,0.00,2.50,8.52,0.634,4,0.000,0.056,3041,617,2346,0,0,0,0,0,0
$GC,8757,0.61,329.6,48.7,9.9,182,8767,0.12,2.45,3.60,0.425,6,0.132,0.054,3002,2214,2339,0,0,0,0,0,0
$GC,9082,0.64,395.8,25.2,7.1,193,9139,0.00,2.58,49.58,0.731,4,0.000,0.054,3008,610,2066,0,0,0,0,0,0
$GC,9196,0.67,448.1,15.8,7.7,196,9249,0.00,2.45,40.45,0.718,6,0.000,0.054,3008,2201,1853,0,0,0,0,0,0
$STATE,9338,end climb,SURFACE_DEPTH_REACHED
$STATE,9338,begin surface coast
$FINISH,0.8,1.023228
$STATE,9371,end surface coast,CONTROL_FINISHED_OK
$STATE,9371,begin surface
$SM_CCo,9448,0.00,0.000,0,0,1853,448.16
$SM_GC,1.66,7.20,0.00,0.00,0.029,0.000,0.000,114,2471,1853,-8.26,0.31,448.16
$IRIDIUM_FIX,1929.80,-15609.92,020114,040407
$TT8_MAMPS,0.031458
$HUMID,61.45
$INTERNAL_PRESSURE,9.31555
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.0,27.218
$10V_AH,10.3,16.541
$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,18.400,106.550,407.425,0.000,0.000,23.520,41.271,123.499,0.000,0.000,16.493,730.340,7188.327,462.706,1203.163,163.826,33.364,1010.750,0.000,1010.681,0.000,0.541,0.000
$DEVICE_MAMPS,224.910,66.555,1165.095,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,136.767,342.755,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,144388
$DATA_FILE_SIZE,10288,202
$CAP_FILE_SIZE,82266,0
$CFSIZE,260165632,246558720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020114,100435,1937.741,-15608.525,39,1.2,39,9.7