version: 66.08
glider: 503
mission: 9
dive: 6
start: 6 30 111 21 3 5
data:
$ID,503
$MISSION,9
$DIVE,6
$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,-22244.502
$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
$GPS1,300611,205743,4743.819,-12224.970,9,1.2,26,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-67.1
$GPS2,300611,210207,4743.830,-12225.000,12,1.1,29,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.124,0.120
$KALMAN_X,-71.9,-15.1,12.6,-926.0,-60.6
$KALMAN_Y,-284.5,-79.4,-32.6,608.0,-170.0
$MHEAD_RNG_PITCHd_Wd,15.9,281,-17.5,-10.000
$D_GRID,180
$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,-0.73,-146.0,0.0,0.0,0,108,0.00,0.00,-87.15,0.000,6,0.000,0.000,199,1928,2836,0,0,0,0,0,0
$GC,111,-0.73,-146.0,3.7,-8.1,7,123,7.28,2.10,0.00,0.000,4,0.211,0.021,2194,3364,2837,0,0,0,0,0,0
$GC,375,-0.66,-146.0,40.9,-13.3,31,379,0.12,2.08,0.00,0.000,6,0.143,0.020,2232,1945,2840,0,0,0,0,0,0
$GC,417,-0.63,-146.0,45.8,-11.9,34,421,0.00,2.10,0.00,0.000,4,0.000,0.029,2232,3349,2839,0,0,0,0,0,0
$GC,547,-0.63,-146.0,57.0,-8.1,45,551,0.00,2.00,0.00,0.000,6,0.000,0.020,2232,1969,2839,0,0,0,0,0,0
$GC,589,-0.63,-146.0,60.2,-7.5,48,593,0.00,2.08,0.00,0.000,4,0.000,0.029,2232,557,2839,0,0,0,0,0,0
$GC,635,-0.60,-146.0,64.6,-9.4,51,643,0.00,2.08,0.00,0.000,6,0.000,0.021,2224,1964,2838,0,0,0,0,0,0
$GC,676,-0.58,-146.0,68.1,-9.1,55,681,0.12,2.08,0.00,0.000,4,0.145,0.031,2264,3348,2839,0,0,0,0,0,0
$GC,731,-0.67,-146.0,72.6,-7.1,59,740,0.08,2.03,0.00,0.000,6,0.055,0.021,2212,1988,2839,0,0,0,0,0,0
$GC,773,-0.67,-146.0,76.0,-9.1,63,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,1988,2839,0,0,0,0,0,0
$GC,814,-0.63,-146.0,80.0,-9.6,67,822,0.10,0.00,0.00,0.000,6,0.152,0.000,2242,1987,2839,0,0,0,0,0,0
$GC,855,-0.63,-146.0,83.3,-8.0,71,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,1987,2839,0,0,0,0,0,0
$GC,887,-0.66,-146.0,85.9,-7.9,74,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,1987,2839,0,0,0,0,0,0
$GC,929,-0.68,-146.0,89.2,-8.2,78,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,1987,2839,0,0,0,0,0,0
$GC,970,-0.71,-146.0,92.8,-8.3,82,978,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,1987,2839,0,0,0,0,0,0
$GC,1012,-0.73,-146.0,96.4,-8.8,86,1020,0.10,0.00,0.00,0.000,6,0.101,0.000,2189,1987,2839,0,0,0,0,0,0
$GC,1056,-0.70,-146.0,100.8,-10.7,90,1064,0.10,0.00,0.00,0.000,6,0.152,0.000,2218,1987,2839,0,0,0,0,0,0
$GC,1098,-0.66,-146.0,105.3,-10.2,94,1102,0.00,2.03,0.00,0.000,4,0.000,0.030,2218,3345,2839,0,0,0,0,0,0
$GC,1190,-0.66,-146.0,114.2,-9.4,102,1197,0.00,2.00,0.00,0.000,6,0.000,0.020,2219,1968,2839,0,0,0,0,0,0
$GC,1239,-0.66,-146.0,118.7,-9.4,106,1246,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,1968,2839,0,0,0,0,0,0
$GC,1279,-0.66,-146.0,122.9,-10.1,110,1283,0.00,2.08,0.00,0.000,4,0.000,0.028,2218,3352,2839,0,0,0,0,0,0
$GC,1390,-0.70,-146.0,134.4,-11.6,119,1394,0.00,2.00,0.00,0.000,6,0.000,0.021,2218,1988,2838,0,0,0,0,0,0
$GC,1438,-0.67,-146.0,138.1,-7.5,123,1442,0.00,2.12,0.00,0.000,4,0.000,0.029,2218,552,2839,0,0,0,0,0,0
$GC,1527,-0.63,-146.0,145.7,-9.9,130,1536,0.08,2.08,0.00,0.000,6,0.122,0.021,2240,1964,2839,0,0,0,0,0,0
$GC,1569,-0.63,-146.0,148.5,-7.5,134,1576,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,1965,2839,0,0,0,0,0,0
$STATE,1596,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1597,begin apogee
$GC,1603,-0.16,0.0,150.6,6.5,137,1721,0.43,0.00,112.12,0.692,4,0.100,0.000,2396,1965,2240,0,0,0,0,0,0
$STATE,1722,end apogee,CONTROL_FINISHED_OK
$STATE,1722,begin climb
$GC,1725,0.73,146.0,154.2,0.0,146,1852,0.75,2.25,116.80,0.653,4,0.070,0.031,2672,554,1645,0,0,0,0,0,0
$GC,2096,0.65,146.0,100.4,17.3,178,2104,0.00,2.10,0.00,0.000,6,0.000,0.021,2671,1951,1637,0,0,0,0,0,0
$GC,2138,0.56,146.0,93.7,17.6,182,2142,0.15,2.12,0.00,0.000,4,0.144,0.031,2628,553,1636,0,0,0,0,0,0
$GC,2382,0.56,146.0,58.9,13.9,203,2390,0.00,2.10,0.00,0.000,6,0.000,0.021,2628,1965,1635,0,0,0,0,0,0
$GC,2423,0.56,146.0,53.7,14.0,207,2430,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1965,1634,0,0,0,0,0,0
$GC,2463,0.56,146.0,48.5,12.9,211,2467,0.00,2.12,0.00,0.000,4,0.000,0.032,2628,559,1634,0,0,0,0,0,0
$GC,2484,0.56,146.0,46.0,12.4,212,2488,0.00,2.03,0.00,0.000,6,0.000,0.021,2628,1956,1634,0,0,0,0,0,0
$GC,2526,0.56,146.0,41.2,11.3,215,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1957,1634,0,0,0,0,0,0
$GC,2566,0.56,146.0,36.8,10.8,219,2570,0.00,2.08,0.00,0.000,4,0.000,0.029,2628,3348,1633,0,0,0,0,0,0
$GC,2599,0.56,146.0,32.8,11.6,221,2608,0.00,2.08,0.00,0.000,6,0.000,0.022,2628,1976,1633,0,0,0,0,0,0
$GC,2640,0.56,146.0,28.7,11.1,225,2648,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1976,1632,0,0,0,0,0,0
$GC,2682,0.56,146.0,24.1,10.8,229,2690,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1977,1632,0,0,0,0,0,0
$GC,2723,0.56,146.0,19.6,11.1,233,2731,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1976,1632,0,0,0,0,0,0
$GC,2764,0.56,146.0,15.3,10.5,237,2768,0.00,2.12,0.00,0.000,4,0.000,0.032,2628,547,1632,0,0,0,0,0,0
$FREEZE,8.30,11.891,-1.538,0,1,0
$FREEZE,7.63,12.108,-1.523,0,1,0
$FREEZE,6.67,12.108,-1.522,0,1,0
$GC,2807,0.68,197.6,11.9,7.6,240,2853,0.10,2.08,39.50,0.590,6,0.101,0.021,2695,1983,1434,0,0,0,0,0,0
$FREEZE,5.26,12.393,-1.512,0,1,0
$FREEZE,4.07,12.482,-1.511,0,1,0
$FREEZE,2.75,12.549,-1.510,0,1,0
$STATE,2888,end climb,SURFACE_DEPTH_REACHED
$STATE,2888,begin surface coast
$FREEZE,1.64,12.641,-1.509,0,1,0
$FREEZE,0.33,12.677,-1.508,0,1,0
$FINISH,0.3,1.020799
$STATE,2907,end surface coast,CONTROL_FINISHED_OK
$STATE,2907,begin surface
$SM_CCo,2924,92.05,0.075,0,0,609,400.08
$SM_GC,0.70,0.00,0.00,92.05,0.000,0.000,0.075,179,1983,609,-7.08,0.93,400.08
$IRIDIUM_FIX,4726.11,-12223.37,300611,202039
$TT8_MAMPS,0.026964
$HUMID,48.26
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,19.30
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,125.4,66.0
$24V_AH,24.5,0.560
$10V_AH,10.4,0.998
$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,15.850,49.900,268.425,92.050,0.000,0.000,0.000,0.000,3.250,0.000,32.272,731.346,789.443,435.747,995.475,157.793,33.312,925.022,0.000,603.393,0.000,16.484,0.000
$DEVICE_MAMPS,211.140,32.130,691.560,74.970,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,166.042,379.410,696.221,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323596
$DATA_FILE_SIZE,17021,248
$CAP_FILE_SIZE,81777,0
$CFSIZE,260165632,208736256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.264,197.1,1
$GPS,300611,215434,4743.613,-12224.883,10,6.9,29,18.2