version: 66.08
glider: 500
mission: 9
dive: 133
start: 1 2 114 12 57 53
data:
$ID,500
$MISSION,9
$DIVE,133
$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,-165904.7
$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,29
$R_STBD_OVSHOOT,24
$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
$GPS1,020114,125159,1938.516,-15607.601,30,1.4,35,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-82.1
$GPS2,020114,125655,1938.532,-15607.585,16,1.7,16,9.7
$SPEED_LIMITS,0.143,0.264
$TGT_NAME,HOME2
$TGT_LATLONG,1938.000,-15605.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.261,0.040
$KALMAN_X,95831.3,144.2,-378.9,-114053.0,-224.1
$KALMAN_Y,101454.6,138.2,656.1,-158133.7,-910.1
$MHEAD_RNG_PITCHd_Wd,71.6,4616,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.52,-150.9,0.0,0.0,0,97,0.00,0.00,-78.82,0.000,2,0.000,0.000,107,2474,3736,0,0,0,0,0,0
$GC,100,-0.52,-150.9,3.5,-6.3,2,120,9.57,0.00,-4.45,0.000,6,0.222,0.000,2635,2475,3946,0,0,0,0,0,0
$GC,425,-0.52,-150.9,82.3,-22.2,13,430,0.00,2.42,0.00,0.000,4,0.000,0.053,2635,866,3946,0,0,0,0,0,0
$GC,469,-0.52,-150.9,93.2,-23.1,14,474,0.00,2.35,0.00,0.000,6,0.000,0.047,2625,2464,3946,0,0,0,0,0,0
$GC,796,-0.52,-150.9,150.7,-16.1,25,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2465,3947,0,0,0,0,0,0
$GC,1102,-0.52,-150.9,194.6,-13.2,35,1107,0.00,2.42,0.00,0.000,4,0.000,0.051,2625,862,3948,0,0,0,0,0,0
$GC,1124,-0.52,-150.9,197.8,-12.7,35,1134,0.08,2.40,0.00,0.000,6,0.135,0.048,2640,2459,3948,0,0,0,0,0,0
$GC,1465,-0.52,-150.9,235.7,-11.0,42,1468,0.00,2.17,0.00,0.000,4,0.000,0.072,2631,3845,3949,0,0,0,0,0,0
$GC,1497,-0.52,-150.9,239.3,-10.6,42,1502,0.00,2.12,0.00,0.000,6,0.000,0.048,2629,2455,3949,0,0,0,0,0,0
$GC,1830,-0.52,-150.9,276.3,-11.5,48,1831,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2454,3950,0,0,0,0,0,0
$GC,2133,-0.52,-150.9,308.4,-10.4,53,2137,0.00,2.20,0.00,0.000,4,0.000,0.071,2619,3846,3948,0,0,0,0,0,0
$GC,2195,-0.52,-150.9,314.5,-9.8,54,2199,0.00,2.10,0.00,0.000,6,0.000,0.047,2620,2459,3947,0,0,0,0,0,0
$GC,2562,-0.52,-150.9,351.2,-9.8,60,2566,0.00,2.40,0.00,0.000,4,0.000,0.054,2620,869,3946,0,0,0,0,0,0
$GC,2589,-0.52,-150.9,354.1,-10.2,60,2593,0.12,2.38,0.00,0.000,6,0.152,0.050,2645,2471,3945,0,0,0,0,0,0
$GC,2927,-0.52,-150.9,378.9,-7.2,66,2928,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2471,3944,0,0,0,0,0,0
$GC,3230,-0.52,-150.9,404.0,-8.4,71,3234,0.00,2.42,0.00,0.000,4,0.000,0.054,2645,872,3941,0,0,0,0,0,0
$GC,3274,-0.52,-150.9,408.3,-9.7,71,3278,0.00,2.40,0.00,0.000,6,0.000,0.057,2640,2459,3938,0,0,0,0,0,0
$GC,3595,-0.52,-150.9,439.5,-10.0,77,3599,0.00,2.42,0.00,0.000,4,0.000,0.053,2633,867,3938,0,0,0,0,0,0
$GC,3627,-0.52,-150.9,443.0,-10.5,77,3631,0.00,2.45,0.00,0.000,6,0.000,0.057,2623,2467,3937,0,0,0,0,0,0
$GC,3954,-0.52,-150.9,474.9,-9.8,83,3958,0.00,2.42,0.00,0.000,4,0.000,0.053,2623,868,3935,0,0,0,0,0,0
$GC,4004,-0.52,-150.9,479.9,-9.7,83,4009,0.12,2.42,0.00,0.000,6,0.155,0.057,2648,2467,3935,0,0,0,0,0,0
$STATE,4313,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4313,begin apogee
$GC,4320,-0.13,0.0,503.2,7.4,88,4374,0.32,0.00,48.95,1.168,6,0.111,0.000,2765,2183,3680,0,0,0,0,0,0
$STATE,4375,end apogee,CONTROL_FINISHED_OK
$STATE,4375,begin climb
$GC,4377,0.52,150.9,505.2,0.0,88,4509,0.55,2.65,119.80,1.177,4,0.064,0.054,2984,3800,3066,0,0,0,0,0,0
$GC,4548,0.52,150.9,495.2,12.2,91,4552,0.00,2.50,0.00,0.000,6,0.000,0.044,2996,2206,3065,0,0,0,0,0,0
$GC,4874,0.52,150.9,460.8,10.2,97,4875,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2206,3063,0,0,0,0,0,0
$GC,5177,0.52,150.9,428.2,10.9,102,5178,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2206,3060,0,0,0,0,0,0
$GC,5480,0.52,150.9,393.2,11.5,107,5484,0.00,2.42,0.00,0.000,4,0.000,0.050,2996,3808,3058,0,0,0,0,0,0
$GC,5614,0.52,150.9,375.7,12.2,109,5618,0.00,2.45,0.00,0.000,6,0.000,0.039,3007,2182,3057,0,0,0,0,0,0
$GC,5974,0.52,150.9,334.0,11.6,115,5978,0.00,2.45,0.00,0.000,4,0.000,0.050,3009,3798,3055,0,0,0,0,0,0
$GC,6079,0.52,150.9,320.4,13.0,116,6084,0.15,2.42,0.00,0.000,6,0.164,0.041,2979,2193,3055,0,0,0,0,0,0
$GC,6400,0.55,211.2,295.7,7.3,122,6450,0.00,2.53,44.78,1.027,4,0.000,0.051,2978,3803,2818,0,0,0,0,0,0
$GC,6478,0.55,211.2,288.5,11.0,123,6482,0.00,2.45,0.00,0.000,6,0.000,0.041,2989,2203,2818,0,0,0,0,0,0
$GC,6827,0.55,211.2,252.7,10.4,129,6831,0.00,2.42,0.00,0.000,4,0.000,0.054,3001,607,2816,0,0,0,0,0,0
$GC,6855,0.55,211.2,249.7,11.3,129,6859,0.00,2.45,0.00,0.000,6,0.000,0.056,3001,2208,2816,0,0,0,0,0,0
$GC,7186,0.55,211.2,214.6,10.5,135,7190,0.00,2.45,0.00,0.000,4,0.000,0.056,3002,3803,2815,0,0,0,0,0,0
$GC,7213,0.55,211.2,211.1,12.7,135,7218,0.00,2.45,0.00,0.000,6,0.000,0.043,3014,2203,2814,0,0,0,0,0,0
$GC,7550,0.55,215.5,175.9,9.8,144,7559,0.00,2.53,4.47,0.616,4,0.000,0.064,3014,3802,2801,0,0,0,0,0,0
$GC,7570,0.56,227.0,173.5,9.5,144,7588,0.10,2.47,10.10,0.809,6,0.130,0.046,2989,2204,2758,0,0,0,0,0,0
$GC,7922,0.58,277.6,145.1,7.8,156,7969,0.00,2.47,39.20,0.873,4,0.000,0.053,3000,604,2547,0,0,0,0,0,0
$GC,8032,0.60,312.2,135.5,8.5,159,8065,0.00,2.47,27.05,0.860,6,0.000,0.055,3000,2203,2408,0,0,0,0,0,0
$GC,8393,0.62,359.6,100.7,7.9,171,8435,0.00,2.58,36.55,0.827,4,0.000,0.056,3000,3793,2212,0,0,0,0,0,0
$GC,8470,0.63,379.8,93.7,9.1,173,8495,0.00,2.53,16.92,0.779,6,0.000,0.045,3006,2185,2129,0,0,0,0,0,0
$GC,8801,0.64,386.0,64.1,9.8,184,8814,0.00,2.62,6.53,0.601,4,0.000,0.067,3006,3789,2106,0,0,0,0,0,0
$GC,8869,0.67,447.5,57.8,7.3,186,8922,0.00,2.45,47.38,0.786,6,0.000,0.051,3011,2201,1856,0,0,0,0,0,0
$GC,9237,0.67,447.5,21.9,10.4,198,9241,0.00,2.53,0.00,0.000,4,0.000,0.067,3011,3794,1858,0,0,0,0,0,0
$GC,9267,0.67,447.5,18.7,10.8,199,9271,0.00,2.45,0.00,0.000,6,0.000,0.050,3011,2191,1859,0,0,0,0,0,0
$STATE,9449,end climb,SURFACE_DEPTH_REACHED
$STATE,9449,begin surface coast
$FINISH,0.7,0.997800
$STATE,9480,end surface coast,CONTROL_FINISHED_OK
$STATE,9480,begin surface
$SM_CCo,9558,0.00,0.000,0,0,1859,446.68
$SM_GC,1.71,7.07,0.00,0.00,0.028,0.000,0.000,116,2479,1859,-8.26,0.54,446.68
$IRIDIUM_FIX,1932.09,-15607.83,020114,101001
$TT8_MAMPS,0.031458
$HUMID,63.78
$INTERNAL_PRESSURE,9.32531
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.0,27.471
$10V_AH,10.3,16.629
$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,18.100,93.150,401.725,0.000,0.000,21.150,32.618,136.728,0.000,0.000,21.438,709.176,7414.709,416.388,1165.336,161.015,33.354,956.945,0.000,964.277,0.000,0.540,0.000
$DEVICE_MAMPS,221.850,71.910,1177.335,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,139.680,346.057,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,144444
$DATA_FILE_SIZE,10278,206
$CAP_FILE_SIZE,78375,0
$CFSIZE,260165632,246493184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,020114,153824,1938.863,-15606.548,36,1.1,36,9.7