version: 66.08
glider: 503
mission: 9
dive: 5
start: 6 30 111 20 1 20
data:
$ID,503
$MISSION,9
$DIVE,5
$N_DIVES,923
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,400
$D_CALL,3
$SURFACE_URGENCY,2
$SURFACE_URGENCY_TRY,2
$SURFACE_URGENCY_FORCE,4
$T_DIVE,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.0099999998
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51780
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,4
$TGT_DEFAULT_LAT,-7700
$TGT_DEFAULT_LON,17100
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,4
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-22179.648
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,203
$PITCH_MAX,3889
$C_PITCH,2445
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,62
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,445
$VBD_MAX,3956
$C_VBD,2240
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,145
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-51.829041
$PRESSURE_SLOPE,0.00011732637
$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,0
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,39
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043296744
$SEABIRD_T_H,0.0006251334
$SEABIRD_T_I,2.4134433e-05
$SEABIRD_T_J,2.6666371e-06
$SEABIRD_C_G,-10.186432
$SEABIRD_C_H,1.1667659
$SEABIRD_C_I,-0.0018490647
$SEABIRD_C_J,0.00021933243
$GPS1,300611,195256,4743.742,-12224.641,9,1.2,9,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-67.2
$GPS2,300611,200014,4743.742,-12224.644,14,1.8,14,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.091,0.147
$KALMAN_X,36.3,24.8,24.0,-644.8,19.9
$KALMAN_Y,-82.2,-23.7,-19.4,175.5,-59.6
$MHEAD_RNG_PITCHd_Wd,336.4,351,-22.9,-10.000
$D_GRID,174
$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,-0.82,-88.5,0.0,0.0,0,107,0.00,0.00,-85.43,0.000,6,0.000,0.000,195,1936,2602,0,0,0,0,0,0
$GC,111,-0.89,-146.0,2.3,-2.8,7,129,7.07,2.05,-5.65,0.000,4,0.211,0.040,2148,552,2837,0,0,0,0,0,0
$GC,379,-0.80,-146.0,50.4,-15.5,30,387,0.12,2.05,0.00,0.000,6,0.130,0.020,2183,1952,2839,0,0,0,0,0,0
$GC,421,-0.77,-146.0,55.2,-12.7,34,425,0.00,2.08,0.00,0.000,4,0.000,0.028,2183,555,2838,0,0,0,0,0,0
$GC,540,-0.73,-146.0,68.8,-9.8,44,544,0.10,2.08,0.00,0.000,6,0.168,0.021,2207,1984,2838,0,0,0,0,0,0
$GC,581,-0.75,-146.0,72.3,-8.7,47,584,0.00,2.03,0.00,0.000,4,0.000,0.029,2198,3346,2838,0,0,0,0,0,0
$GC,629,-0.82,-146.0,76.3,-8.2,51,633,0.00,2.00,0.00,0.000,6,0.000,0.020,2198,1984,2838,0,0,0,0,0,0
$GC,678,-0.87,-146.0,80.0,-8.2,55,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2198,1984,2839,0,0,0,0,0,0
$GC,719,-0.91,-146.0,83.7,-8.3,59,727,0.12,0.00,0.00,0.000,6,0.086,0.000,2126,1984,2839,0,0,0,0,0,0
$GC,760,-0.88,-146.0,88.2,-11.0,63,765,0.12,2.05,0.00,0.000,4,0.158,0.028,2152,3355,2839,0,0,0,0,0,0
$GC,861,-0.88,-146.0,100.0,-11.4,71,869,0.00,2.00,0.00,0.000,6,0.000,0.020,2152,2008,2839,0,0,0,0,0,0
$GC,903,-0.86,-146.0,104.3,-10.7,75,907,0.00,2.15,0.00,0.000,4,0.000,0.029,2152,558,2839,0,0,0,0,0,0
$GC,962,-0.79,-146.0,111.5,-12.1,80,966,0.15,2.05,0.00,0.000,6,0.152,0.021,2186,1992,2839,0,0,0,0,0,0
$GC,1004,-0.79,-146.0,115.8,-10.2,83,1007,0.00,2.03,0.00,0.000,4,0.000,0.030,2180,3347,2838,0,0,0,0,0,0
$GC,1111,-0.85,-146.0,125.0,-9.0,92,1114,0.00,1.92,0.00,0.000,6,0.000,0.020,2180,2012,2839,0,0,0,0,0,0
$GC,1160,-0.87,-146.0,129.3,-8.1,96,1167,0.00,2.15,0.00,0.000,4,0.000,0.028,2180,558,2839,0,0,0,0,0,0
$GC,1254,-0.87,-146.0,139.7,-11.3,104,1263,0.00,2.12,0.00,0.000,6,0.000,0.021,2170,2007,2839,0,0,0,0,0,0
$GC,1295,-0.87,-146.0,143.9,-11.4,108,1298,0.00,1.98,0.00,0.000,4,0.000,0.031,2170,3346,2839,0,0,0,0,0,0
$STATE,1341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1341,begin apogee
$GC,1351,-0.16,0.0,150.1,12.0,112,1474,0.62,0.00,112.55,0.688,4,0.109,0.000,2388,1955,2238,0,0,0,0,0,0
$STATE,1475,end apogee,CONTROL_FINISHED_OK
$STATE,1475,begin climb
$GC,1478,0.89,146.0,152.5,0.0,122,1606,0.88,0.00,116.07,0.651,6,0.053,0.000,2732,1954,1645,0,0,0,0,0,0
$GC,1636,0.79,146.0,129.0,19.5,135,1641,0.12,2.17,0.00,0.000,4,0.162,0.031,2708,556,1643,0,0,0,0,0,0
$GC,1723,0.75,146.0,109.9,22.9,142,1727,0.00,2.00,0.00,0.000,6,0.000,0.020,2708,1903,1639,0,0,0,0,0,0
$GC,1771,0.70,146.0,100.0,20.7,146,1779,0.12,0.00,0.00,0.000,6,0.160,0.000,2673,1903,1639,0,0,0,0,0,0
$GC,1811,0.70,146.0,92.0,18.8,150,1812,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,1903,1638,0,0,0,0,0,0
$GC,1843,0.70,146.0,86.6,17.4,153,1846,0.00,2.03,0.00,0.000,4,0.000,0.031,2681,562,1638,0,0,0,0,0,0
$GC,1859,0.70,146.0,83.3,17.1,154,1868,0.00,2.00,0.00,0.000,6,0.000,0.021,2681,1901,1637,0,0,0,0,0,0
$GC,1900,0.70,146.0,77.0,16.7,158,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1902,1637,0,0,0,0,0,0
$GC,1932,0.70,146.0,71.7,17.1,161,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1902,1637,0,0,0,0,0,0
$GC,1973,0.70,146.0,64.8,16.8,165,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1902,1636,0,0,0,0,0,0
$GC,2014,0.70,146.0,57.3,17.8,169,2021,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1902,1636,0,0,0,0,0,0
$GC,2056,0.70,146.0,49.5,19.0,173,2063,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1902,1636,0,0,0,0,0,0
$GC,2097,0.70,146.0,42.5,16.6,177,2104,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1903,1636,0,0,0,0,0,0
$GC,2138,0.70,146.0,36.2,15.6,181,2141,0.00,2.03,0.00,0.000,4,0.000,0.033,2682,562,1636,0,0,0,0,0,0
$GC,2197,0.74,146.0,26.1,17.3,186,2200,0.00,2.00,0.00,0.000,6,0.000,0.021,2682,1926,1635,0,0,0,0,0,0
$GC,2244,0.76,146.0,18.8,15.7,190,2252,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1927,1635,0,0,0,0,0,0
$GC,2285,0.80,146.0,12.5,15.2,194,2286,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1927,1635,0,0,0,0,0,0
$FREEZE,8.27,11.822,-1.541,0,1,0
$GC,2318,0.85,146.0,8.3,13.6,197,2326,0.10,0.00,0.00,0.000,6,0.096,0.000,2750,1927,1635,0,0,0,0,0,0
$FREEZE,5.49,12.186,-1.523,0,1,0
$FREEZE,3.99,12.293,-1.519,0,1,0
$FREEZE,2.48,12.385,-1.516,0,1,0
$STATE,2358,end climb,SURFACE_DEPTH_REACHED
$STATE,2358,begin surface coast
$FREEZE,0.95,12.536,-1.512,0,1,0
$FREEZE,0.01,12.492,-0.681,0,1,0
$FINISH,0.0,1.009166
$STATE,2379,end surface coast,CONTROL_FINISHED_OK
$STATE,2379,begin surface
$SM_CCo,2398,113.18,0.074,0,0,608,400.08
$SM_GC,0.73,0.00,0.00,113.18,0.000,0.000,0.074,181,1928,608,-7.08,-0.62,400.08
$IRIDIUM_FIX,4729.30,-12222.38,300611,191929
$TT8_MAMPS,0.026964
$HUMID,48.42
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,19.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,130.0,59.6
$24V_AH,24.6,0.481
$10V_AH,10.4,0.936
$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,16.050,45.025,228.625,113.175,0.000,0.000,0.000,0.000,3.250,0.000,17.310,625.651,631.698,416.308,792.848,133.667,32.325,825.014,0.000,484.216,0.000,20.925,0.000
$DEVICE_MAMPS,211.140,39.780,687.735,74.205,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,135.778,309.745,569.963,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323552
$DATA_FILE_SIZE,13746,203
$CAP_FILE_SIZE,71568,0
$CFSIZE,260165632,208785408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.209,206.3,1
$GPS,300611,204423,4743.773,-12224.896,8,6.1,28,18.2