version: 66.08
glider: 500
mission: 9
dive: 132
start: 1 2 114 10 10 39
data:
$ID,500
$MISSION,9
$DIVE,132
$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,-165903.36
$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,30
$R_STBD_OVSHOOT,28
$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
$GPS1,020114,100435,1937.741,-15608.525,39,1.2,39,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-82.4
$GPS2,020114,100943,1937.751,-15608.524,11,1.8,11,9.7
$SPEED_LIMITS,0.143,0.264
$TGT_NAME,HOME2
$TGT_LATLONG,1938.000,-15605.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.249,0.086
$KALMAN_X,96591.5,267.2,-427.3,-116519.6,-408.9
$KALMAN_Y,101006.6,11.8,698.5,-159041.5,-699.9
$MHEAD_RNG_PITCHd_Wd,61.2,6166,-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,-68.10,0.000,2,0.000,0.000,114,2472,3636,0,0,0,0,0,0
$GC,90,-0.52,-150.9,3.1,-4.0,2,119,9.55,2.20,-7.05,0.000,4,0.223,0.076,2626,3841,3945,0,0,0,0,0,0
$GC,210,-0.52,-150.9,31.5,-19.6,5,214,0.00,2.10,0.00,0.000,6,0.000,0.044,2626,2450,3947,0,0,0,0,0,0
$GC,524,-0.52,-150.9,99.0,-21.0,15,525,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2450,3947,0,0,0,0,0,0
$GC,830,-0.52,-150.9,149.3,-16.0,25,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2449,3948,0,0,0,0,0,0
$GC,1137,-0.52,-150.9,194.9,-13.6,35,1141,0.00,2.35,0.00,0.000,4,0.000,0.050,2626,866,3949,0,0,0,0,0,0
$GC,1167,-0.52,-150.9,199.0,-13.5,36,1172,0.00,2.38,0.00,0.000,6,0.000,0.047,2614,2464,3949,0,0,0,0,0,0
$GC,1499,-0.52,-150.9,241.6,-12.4,42,1503,0.00,2.12,0.00,0.000,4,0.000,0.071,2607,3841,3950,0,0,0,0,0,0
$GC,1532,-0.52,-150.9,246.1,-13.3,42,1537,0.12,2.05,0.00,0.000,6,0.142,0.044,2642,2452,3948,0,0,0,0,0,0
$GC,1864,-0.52,-150.9,281.9,-10.7,48,1869,0.00,2.35,0.00,0.000,4,0.000,0.052,2648,872,3951,0,0,0,0,0,0
$GC,1892,-0.52,-150.9,285.2,-11.3,48,1896,0.00,2.38,0.00,0.000,6,0.000,0.052,2632,2462,3950,0,0,0,0,0,0
$GC,2226,-0.52,-150.9,320.2,-10.4,54,2230,0.00,2.15,0.00,0.000,4,0.000,0.075,2622,3842,3948,0,0,0,0,0,0
$GC,2281,-0.52,-150.9,326.4,-10.0,54,2288,0.00,2.08,0.00,0.000,6,0.000,0.045,2622,2459,3948,0,0,0,0,0,0
$GC,2591,-0.52,-150.9,354.6,-8.8,60,2595,0.00,2.38,0.00,0.000,4,0.000,0.054,2622,877,3947,0,0,0,0,0,0
$GC,2624,-0.52,-150.9,357.9,-9.8,60,2629,0.12,2.40,0.00,0.000,6,0.153,0.063,2646,2463,3946,0,0,0,0,0,0
$GC,2951,-0.52,-150.9,385.2,-8.2,66,2952,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2463,3944,0,0,0,0,0,0
$GC,3254,-0.52,-150.9,407.3,-7.1,71,3258,0.00,2.42,0.00,0.000,4,0.000,0.050,2647,864,3941,0,0,0,0,0,0
$GC,3292,-0.52,-150.9,410.4,-7.8,71,3296,0.00,2.42,0.00,0.000,6,0.000,0.063,2637,2453,3941,0,0,0,0,0,0
$GC,3613,-0.52,-150.9,435.8,-8.1,77,3617,0.00,2.40,0.00,0.000,4,0.000,0.050,2637,872,3937,0,0,0,0,0,0
$GC,3640,-0.52,-150.9,438.4,-9.5,77,3644,0.00,2.45,0.00,0.000,6,0.000,0.061,2625,2462,3938,0,0,0,0,0,0
$GC,3972,-0.52,-150.9,469.7,-9.5,83,3976,0.00,2.40,0.00,0.000,4,0.000,0.050,2626,873,3935,0,0,0,0,0,0
$GC,3993,-0.52,-150.9,472.2,-10.5,83,3997,0.00,2.42,0.00,0.000,6,0.000,0.060,2615,2464,3934,0,0,0,0,0,0
$STATE,4328,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4328,begin apogee
$GC,4334,-0.13,0.0,505.9,10.1,89,4388,0.43,0.00,49.25,1.170,6,0.118,0.000,2763,2200,3680,0,0,0,0,0,0
$STATE,4389,end apogee,CONTROL_FINISHED_OK
$STATE,4389,begin climb
$GC,4392,0.52,150.9,508.7,0.0,89,4522,0.55,0.00,119.72,1.170,6,0.066,0.000,2980,2199,3065,0,0,0,0,0,0
$GC,4823,0.52,150.9,470.9,11.2,97,4827,0.00,2.47,0.00,0.000,4,0.000,0.050,2980,3797,3061,0,0,0,0,0,0
$GC,4901,0.52,150.9,460.6,13.1,98,4905,0.00,2.47,0.00,0.000,6,0.000,0.041,2992,2201,3060,0,0,0,0,0,0
$GC,5250,0.52,150.9,417.5,12.4,104,5251,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2196,3059,0,0,0,0,0,0
$GC,5553,0.52,150.9,383.1,11.4,109,5558,0.00,2.40,0.00,0.000,4,0.000,0.053,3004,608,3056,0,0,0,0,0,0
$GC,5575,0.52,150.9,380.3,12.1,109,5579,0.00,2.45,0.00,0.000,6,0.000,0.056,3004,2211,3058,0,0,0,0,0,0
$GC,5913,0.52,150.9,340.7,11.5,115,5917,0.00,2.40,0.00,0.000,4,0.000,0.051,3004,3797,3055,0,0,0,0,0,0
$GC,6104,0.52,157.0,320.1,9.8,117,6115,0.12,2.42,4.45,0.694,6,0.173,0.040,2983,2193,3040,0,0,0,0,0,0
$GC,6483,0.55,206.1,291.4,7.8,124,6523,0.00,0.00,38.55,1.011,6,0.000,0.000,2983,2192,2839,0,0,0,0,0,0
$GC,6784,0.55,206.1,261.5,10.2,129,6789,0.00,2.53,0.00,0.000,4,0.000,0.049,2983,3800,2835,0,0,0,0,0,0
$GC,6812,0.55,206.1,258.0,11.9,129,6816,0.00,2.45,0.00,0.000,6,0.000,0.040,2994,2196,2837,0,0,0,0,0,0
$GC,7149,0.55,206.1,220.6,11.2,135,7153,0.00,2.42,0.00,0.000,4,0.000,0.052,3006,611,2836,0,0,0,0,0,0
$GC,7193,0.56,237.9,216.6,8.6,135,7223,0.00,2.42,24.50,0.931,6,0.000,0.056,3006,2205,2710,0,0,0,0,0,0
$GC,7554,0.56,237.9,179.3,11.0,144,7558,0.00,2.42,0.00,0.000,4,0.000,0.050,3006,3803,2707,0,0,0,0,0,0
$GC,7654,0.56,237.9,167.3,11.2,147,7658,0.00,2.45,0.00,0.000,6,0.000,0.043,3018,2199,2707,0,0,0,0,0,0
$GC,7991,0.56,237.9,131.8,10.0,158,7995,0.00,2.42,0.00,0.000,4,0.000,0.053,3030,601,2707,0,0,0,0,0,0
$GC,8075,0.57,248.0,123.4,9.6,160,8090,0.12,2.42,8.65,0.698,6,0.142,0.055,2992,2210,2670,0,0,0,0,0,0
$GC,8395,0.61,342.1,102.8,5.8,171,8472,0.00,2.50,71.05,0.843,4,0.000,0.050,2992,3795,2285,0,0,0,0,0,0
$GC,8546,0.65,410.4,92.1,7.0,175,8606,0.00,2.45,52.50,0.828,6,0.000,0.037,2997,2191,2008,0,0,0,0,0,0
$GC,8933,0.65,411.2,56.2,10.0,188,8938,0.00,2.53,0.00,0.000,4,0.000,0.064,2997,3803,2008,0,0,0,0,0,0
$GC,8978,0.66,437.7,51.5,8.9,189,9005,0.00,2.47,22.27,0.724,6,0.000,0.044,2997,2195,1895,0,0,0,0,0,0
$GC,9334,0.67,464.3,20.5,8.8,201,9368,0.00,2.62,21.48,0.684,4,0.000,0.071,2993,3787,1787,0,0,0,0,0,0
$GC,9390,0.69,496.2,15.2,8.6,202,9423,0.10,2.45,26.17,0.696,6,0.099,0.050,3066,2194,1656,0,0,0,0,0,0
$STATE,9496,end climb,SURFACE_DEPTH_REACHED
$STATE,9497,begin surface coast
$FINISH,0.8,1.010942
$STATE,9530,end surface coast,CONTROL_FINISHED_OK
$STATE,9530,begin surface
$SM_CCo,9608,0.00,0.000,0,0,1658,495.99
$SM_GC,1.56,7.32,0.00,0.00,0.028,0.000,0.000,107,2474,1658,-8.28,0.40,495.99
$IRIDIUM_FIX,1929.80,-15610.84,020114,070729
$TT8_MAMPS,0.030709
$HUMID,61.77
$INTERNAL_PRESSURE,9.30578
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.0,27.348
$10V_AH,10.3,16.585
$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,18.450,91.500,438.600,0.000,0.000,23.601,46.460,130.213,0.000,0.000,15.939,717.023,7370.821,453.613,1215.424,168.468,33.352,1009.841,0.000,1005.268,0.000,0.541,0.000
$DEVICE_MAMPS,223.380,75.735,1170.450,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,nil,nil,nil,nil,DMON,DBAT,nil,nil
$SENSOR_SECS,139.875,346.059,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,144440
$DATA_FILE_SIZE,10318,207
$CAP_FILE_SIZE,79809,0
$CFSIZE,260165632,246521856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020114,125159,1938.516,-15607.601,30,1.4,35,9.7