version: 66.08
glider: 500
mission: 9
dive: 134
start: 1 2 114 15 44 5
data:
$ID,500
$MISSION,9
$DIVE,134
$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,-165906.05
$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,28
$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
$GPS1,020114,153824,1938.863,-15606.548,36,1.1,36,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-83.3
$GPS2,020114,154306,1938.880,-15606.527,10,1.1,10,9.7
$SPEED_LIMITS,0.143,0.264
$TGT_NAME,HOME2
$TGT_LATLONG,1938.000,-15605.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.247,-0.093
$KALMAN_X,94873.6,-130.9,109.4,-111468.8,-720.9
$KALMAN_Y,102194.3,311.2,-36.8,-157708.2,-135.6
$MHEAD_RNG_PITCHd_Wd,100.9,3124,-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,14,begin dive
$GC,16,-0.52,-150.9,0.0,0.0,0,87,0.00,0.00,-68.22,0.000,2,0.000,0.000,116,2480,3635,0,0,0,0,0,0
$GC,90,-0.52,-150.9,3.1,-4.2,2,119,9.50,2.42,-6.90,0.000,4,0.221,0.057,2636,857,3944,0,0,0,0,0,0
$GC,276,-0.52,-150.9,47.1,-20.9,7,280,0.00,2.40,0.00,0.000,6,0.000,0.050,2626,2463,3944,0,0,0,0,0,0
$GC,597,-0.52,-150.9,117.9,-20.9,18,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2463,3944,0,0,0,0,0,0
$GC,903,-0.52,-150.9,165.0,-14.4,28,907,0.00,2.40,0.00,0.000,4,0.000,0.051,2626,863,3945,0,0,0,0,0,0
$GC,925,-0.52,-150.9,168.7,-14.3,28,935,0.08,2.38,0.00,0.000,6,0.142,0.046,2639,2455,3945,0,0,0,0,0,0
$GC,1237,-0.52,-150.9,209.7,-12.9,38,1241,0.00,2.35,0.00,0.000,4,0.000,0.051,2640,868,3947,0,0,0,0,0,0
$GC,1259,-0.52,-150.9,212.8,-12.7,38,1263,0.00,2.38,0.00,0.000,6,0.000,0.048,2629,2465,3947,0,0,0,0,0,0
$GC,1608,-0.52,-150.9,252.9,-11.0,44,1612,0.00,2.38,0.00,0.000,4,0.000,0.052,2629,857,3947,0,0,0,0,0,0
$GC,1623,-0.52,-150.9,254.8,-10.8,44,1627,0.00,2.38,0.00,0.000,6,0.000,0.047,2617,2462,3947,0,0,0,0,0,0
$GC,1972,-0.52,-150.9,293.9,-11.4,50,1976,0.00,2.15,0.00,0.000,4,0.000,0.072,2607,3841,3947,0,0,0,0,0,0
$GC,2106,-0.52,-150.9,309.5,-11.8,52,2111,0.12,2.05,0.00,0.000,6,0.138,0.047,2646,2455,3947,0,0,0,0,0,0
$GC,2472,-0.52,-150.9,340.0,-8.0,58,2476,0.00,2.38,0.00,0.000,4,0.000,0.054,2647,871,3945,0,0,0,0,0,0
$GC,2513,-0.52,-150.9,343.6,-9.5,58,2517,0.00,2.45,0.00,0.000,6,0.000,0.063,2636,2470,3943,0,0,0,0,0,0
$GC,2833,-0.52,-150.9,373.6,-9.4,64,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2471,3941,0,0,0,0,0,0
$GC,3136,-0.52,-150.9,401.4,-9.0,69,3140,0.00,2.42,0.00,0.000,4,0.000,0.051,2636,872,3939,0,0,0,0,0,0
$GC,3158,-0.52,-150.9,403.7,-9.5,69,3162,0.00,2.42,0.00,0.000,6,0.000,0.057,2625,2464,3939,0,0,0,0,0,0
$GC,3496,-0.52,-150.9,432.9,-8.7,75,3500,0.00,2.40,0.00,0.000,4,0.000,0.047,2625,865,3936,0,0,0,0,0,0
$GC,3517,-0.52,-150.9,435.1,-9.0,75,3522,0.10,2.42,0.00,0.000,6,0.169,0.060,2641,2462,3935,0,0,0,0,0,0
$GC,3855,-0.52,-150.9,461.1,-7.6,81,3859,0.00,2.38,0.00,0.000,4,0.000,0.051,2641,865,3932,0,0,0,0,0,0
$GC,3878,-0.52,-150.9,463.2,-8.6,81,3883,0.00,2.45,0.00,0.000,6,0.000,0.060,2631,2468,3931,0,0,0,0,0,0
$GC,4216,-0.52,-150.9,494.8,-9.6,87,4221,0.00,2.45,0.00,0.000,4,0.000,0.053,2630,870,3929,0,0,0,0,0,0
$GC,4243,-0.52,-150.9,497.9,-11.3,87,4248,0.00,2.45,0.00,0.000,6,0.000,0.061,2619,2473,3929,0,0,0,0,0,0
$STATE,4263,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4263,begin apogee
$GC,4269,-0.13,0.0,500.2,10.6,87,4321,0.43,0.00,48.62,1.171,6,0.119,0.000,2766,2199,3680,0,0,0,0,0,0
$STATE,4322,end apogee,CONTROL_FINISHED_OK
$STATE,4322,begin climb
$GC,4325,0.52,150.9,502.5,0.0,88,4449,0.55,0.00,121.10,1.179,6,0.065,0.000,2983,2199,3065,0,0,0,0,0,0
$GC,4704,0.52,150.9,469.8,11.5,95,4709,0.00,2.50,0.00,0.000,4,0.000,0.052,2983,3796,3061,0,0,0,0,0,0
$GC,4782,0.52,150.9,459.6,13.1,96,4786,0.00,2.45,0.00,0.000,6,0.000,0.041,2995,2196,3060,0,0,0,0,0,0
$GC,5137,0.52,150.9,417.5,12.1,102,5141,0.00,2.47,0.00,0.000,4,0.000,0.053,2996,3800,3059,0,0,0,0,0,0
$GC,5158,0.52,150.9,414.5,13.3,102,5162,0.00,2.42,0.00,0.000,6,0.000,0.041,3007,2200,3058,0,0,0,0,0,0
$GC,5496,0.52,150.9,368.9,13.2,108,5500,0.00,2.42,0.00,0.000,4,0.000,0.051,3007,3803,3056,0,0,0,0,0,0
$GC,5558,0.52,150.9,361.4,12.4,109,5563,0.15,2.42,0.00,0.000,6,0.164,0.041,2978,2187,3056,0,0,0,0,0,0
$GC,5924,0.53,167.3,326.7,9.3,115,5944,0.00,2.55,12.50,0.967,4,0.000,0.050,2977,3797,2997,0,0,0,0,0,0
$GC,5994,0.53,167.3,319.5,10.1,116,5999,0.00,2.42,0.00,0.000,6,0.000,0.040,2988,2197,2995,0,0,0,0,0,0
$GC,6362,0.56,225.0,290.7,7.5,122,6408,0.00,0.00,44.67,1.026,6,0.000,0.000,2988,2196,2762,0,0,0,0,0,0
$GC,6664,0.56,225.0,259.3,11.0,127,6665,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2196,2759,0,0,0,0,0,0
$GC,6967,0.56,225.0,227.4,10.3,132,6971,0.00,2.40,0.00,0.000,4,0.000,0.054,3000,610,2758,0,0,0,0,0,0
$GC,7030,0.56,240.8,221.6,9.3,133,7049,0.00,2.42,12.73,0.892,6,0.000,0.057,3001,2204,2698,0,0,0,0,0,0
$GC,7372,0.56,240.8,187.5,10.2,140,7376,0.00,2.42,0.00,0.000,4,0.000,0.051,3001,3808,2696,0,0,0,0,0,0
$GC,7489,0.56,240.8,173.4,10.5,143,7493,0.00,2.42,0.00,0.000,6,0.000,0.043,3012,2204,2697,0,0,0,0,0,0
$GC,7811,0.58,271.7,144.9,8.7,154,7845,0.00,2.50,24.45,0.850,4,0.000,0.056,3025,609,2571,0,0,0,0,0,0
$GC,7936,0.58,278.9,131.6,9.7,157,7951,0.00,2.40,7.32,0.721,6,0.000,0.042,3025,2221,2541,0,0,0,0,0,0
$GC,8257,0.60,320.4,99.8,8.2,168,8295,0.00,2.40,32.28,0.819,4,0.000,0.050,3024,3788,2373,0,0,0,0,0,0
$GC,8339,0.61,328.1,92.1,9.7,170,8354,0.00,2.42,7.60,0.666,6,0.000,0.039,3035,2184,2341,0,0,0,0,0,0
$GC,8660,0.61,328.1,60.9,10.7,181,8664,0.00,2.35,0.00,0.000,4,0.000,0.049,3047,615,2342,0,0,0,0,0,0
$GC,8743,0.61,328.1,50.6,10.6,183,8748,0.12,2.40,0.00,0.000,6,0.130,0.056,3007,2192,2343,0,0,0,0,0,0
$GC,9059,0.64,386.7,26.4,7.4,193,9110,0.00,2.45,44.25,0.743,4,0.000,0.055,3013,621,2103,0,0,0,0,0,0
$GC,9161,0.65,424.7,17.7,8.3,196,9196,0.00,2.42,29.77,0.723,6,0.000,0.054,3013,2209,1948,0,0,0,0,0,0
$STATE,9316,end climb,SURFACE_DEPTH_REACHED
$STATE,9316,begin surface coast
$FINISH,0.8,1.000388
$STATE,9347,end surface coast,CONTROL_FINISHED_OK
$STATE,9347,begin surface
$SM_CCo,9425,0.00,0.000,0,0,1949,424.61
$SM_GC,1.70,7.18,0.00,0.00,0.028,0.000,0.000,114,2476,1949,-8.27,0.45,424.61
$IRIDIUM_FIX,1932.09,-15609.92,020114,121217
$TT8_MAMPS,0.026964
$HUMID,63.86
$INTERNAL_PRESSURE,9.33508
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.0,27.588
$10V_AH,10.3,16.672
$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,18.225,97.025,385.300,0.000,0.000,24.730,33.892,125.804,0.000,0.000,13.009,727.427,7204.438,448.832,1177.548,162.625,33.354,972.299,0.000,990.943,0.000,0.541,0.000
$DEVICE_MAMPS,221.085,71.910,1178.865,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,136.889,336.172,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,144468
$DATA_FILE_SIZE,10302,202
$CAP_FILE_SIZE,79288,0
$CFSIZE,260165632,246456320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020114,182229,1938.627,-15605.341,37,1.1,42,9.7