version: 66.08
glider: 503
mission: 9
dive: 7
start: 6 30 111 22 3 41
data:
$ID,503
$MISSION,9
$DIVE,7
$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,-22245.764
$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,54
$R_STBD_OVSHOOT,66
$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
$GPS1,300611,215434,4743.613,-12224.883,10,6.9,29,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-66.1
$GPS2,300611,220243,4743.625,-12224.887,14,1.1,31,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.073,0.249
$KALMAN_X,-247.9,-61.4,15.4,-565.6,-120.4
$KALMAN_Y,-795.2,-256.8,-34.9,926.9,-285.6
$MHEAD_RNG_PITCHd_Wd,359.0,520,-17.5,-10.000
$D_GRID,176
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-0.73,-146.0,0.0,0.0,0,109,0.00,0.00,-85.57,0.000,6,0.000,0.000,179,1983,2838,0,0,0,0,0,0
$GC,112,-0.73,-146.0,3.3,-6.5,7,126,7.45,2.00,0.00,0.000,4,0.214,0.017,2191,3369,2838,0,0,0,0,0,0
$GC,376,-0.64,-146.0,42.7,-9.6,30,385,0.12,2.15,0.00,0.000,6,0.113,0.020,2237,1930,2840,0,0,0,0,0,0
$GC,419,-0.60,-146.0,45.4,-7.2,34,423,0.00,2.12,0.00,0.000,4,0.000,0.029,2236,3339,2840,0,0,0,0,0,0
$GC,673,-0.64,-146.0,63.0,-7.3,56,682,0.00,2.10,0.00,0.000,6,0.000,0.020,2236,1928,2840,0,0,0,0,0,0
$GC,714,-0.64,-146.0,65.7,-7.4,60,718,0.00,2.12,0.00,0.000,4,0.000,0.029,2236,3343,2840,0,0,0,0,0,0
$GC,780,-0.67,-146.0,70.9,-8.6,65,784,0.00,2.05,0.00,0.000,6,0.000,0.021,2236,1942,2840,0,0,0,0,0,0
$GC,820,-0.67,-146.0,74.1,-7.6,68,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,1941,2841,0,0,0,0,0,0
$GC,852,-0.67,-146.0,76.6,-7.9,71,856,0.00,2.05,0.00,0.000,4,0.000,0.030,2236,553,2840,0,0,0,0,0,0
$GC,906,-0.65,-146.0,80.8,-8.8,75,910,0.00,2.00,0.00,0.000,6,0.000,0.021,2226,1943,2840,0,0,0,0,0,0
$GC,947,-0.65,-146.0,83.9,-7.6,78,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1943,2840,0,0,0,0,0,0
$GC,979,-0.65,-146.0,86.5,-7.9,81,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1944,2840,0,0,0,0,0,0
$GC,1021,-0.65,-146.0,90.1,-8.5,85,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,1944,2840,0,0,0,0,0,0
$GC,1063,-0.65,-146.0,93.3,-7.5,89,1067,0.00,2.08,0.00,0.000,4,0.000,0.031,2223,3342,2840,0,0,0,0,0,0
$GC,1130,-0.67,-146.0,98.6,-6.6,94,1138,0.00,2.10,0.00,0.000,6,0.000,0.021,2224,1938,2840,0,0,0,0,0,0
$GC,1171,-0.67,-146.0,101.7,-8.4,98,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1937,2840,0,0,0,0,0,0
$GC,1214,-0.67,-146.0,105.6,-9.4,102,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1937,2840,0,0,0,0,0,0
$GC,1255,-0.67,-146.0,108.8,-7.4,106,1258,0.00,2.10,0.00,0.000,4,0.000,0.029,2224,3343,2840,0,0,0,0,0,0
$GC,1368,-0.70,-146.0,116.2,-5.5,115,1376,0.00,2.08,0.00,0.000,6,0.000,0.021,2224,1953,2840,0,0,0,0,0,0
$GC,1410,-0.70,-146.0,118.6,-5.9,119,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1952,2840,0,0,0,0,0,0
$GC,1450,-0.70,-146.0,121.3,-6.5,123,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1952,2840,0,0,0,0,0,0
$GC,1482,-0.68,-146.0,123.3,-6.7,126,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1952,2840,0,0,0,0,0,0
$GC,1523,-0.68,-146.0,126.7,-8.1,130,1526,0.00,2.05,0.00,0.000,4,0.000,0.030,2223,563,2840,0,0,0,0,0,0
$GC,1582,-0.63,-146.0,132.4,-10.8,135,1586,0.00,2.03,0.00,0.000,6,0.000,0.022,2220,1962,2840,0,0,0,0,0,0
$GC,1622,-0.63,-146.0,135.7,-8.1,138,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1962,2840,0,0,0,0,0,0
$GC,1663,-0.63,-146.0,139.0,-7.9,142,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,1962,2840,0,0,0,0,0,0
$GC,1697,-0.63,-146.0,141.8,-9.1,145,1701,0.00,2.05,0.00,0.000,4,0.000,0.031,2220,3343,2840,0,0,0,0,0,0
$STATE,1802,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1802,begin apogee
$GC,1810,-0.16,0.0,150.4,7.5,154,1930,0.47,0.00,112.47,0.690,4,0.099,0.000,2392,1940,2240,0,0,0,0,0,0
$STATE,1930,end apogee,CONTROL_FINISHED_OK
$STATE,1931,begin climb
$GC,1933,0.73,146.0,149.4,0.0,163,2061,0.75,0.00,117.25,0.650,6,0.057,0.000,2684,1940,1643,0,0,0,0,0,0
$GC,2091,0.56,146.0,129.9,14.2,176,2100,0.20,0.00,0.00,0.000,6,0.146,0.000,2627,1940,1642,0,0,0,0,0,0
$GC,2133,0.48,146.0,122.9,17.1,180,2137,0.00,2.12,0.00,0.000,4,0.000,0.032,2627,560,1639,0,0,0,0,0,0
$GC,2186,0.48,146.0,115.0,14.0,184,2190,0.00,2.05,0.00,0.000,6,0.000,0.021,2627,1942,1638,0,0,0,0,0,0
$GC,2226,0.48,146.0,109.2,14.5,187,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1943,1637,0,0,0,0,0,0
$GC,2258,0.48,146.0,104.8,14.0,190,2265,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1943,1637,0,0,0,0,0,0
$GC,2300,0.45,146.0,98.6,15.1,194,2308,0.12,0.00,0.00,0.000,6,0.142,0.000,2588,1943,1636,0,0,0,0,0,0
$GC,2342,0.48,146.0,92.4,14.6,198,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1943,1636,0,0,0,0,0,0
$GC,2383,0.54,146.0,87.1,12.9,202,2391,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1943,1636,0,0,0,0,0,0
$GC,2425,0.59,146.0,82.4,11.1,206,2433,0.15,0.00,0.00,0.000,6,0.074,0.000,2672,1943,1635,0,0,0,0,0,0
$GC,2467,0.56,146.0,76.7,14.0,210,2475,0.17,0.00,0.00,0.000,6,0.133,0.000,2618,1943,1635,0,0,0,0,0,0
$GC,2508,0.52,146.0,70.7,14.2,214,2512,0.00,2.10,0.00,0.000,4,0.000,0.032,2625,552,1635,0,0,0,0,0,0
$GC,2540,0.52,146.0,65.9,13.7,216,2548,0.00,2.05,0.00,0.000,6,0.000,0.021,2625,1926,1635,0,0,0,0,0,0
$GC,2581,0.52,146.0,60.9,13.5,220,2589,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1926,1634,0,0,0,0,0,0
$GC,2622,0.52,146.0,55.6,12.9,224,2623,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1926,1634,0,0,0,0,0,0
$GC,2654,0.52,146.0,51.7,11.8,227,2655,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1926,1634,0,0,0,0,0,0
$GC,2686,0.52,146.0,47.9,12.4,230,2693,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1926,1634,0,0,0,0,0,0
$GC,2726,0.52,146.0,42.8,12.6,234,2728,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,1926,1634,0,0,0,0,0,0
$GC,2759,0.52,146.0,39.0,12.0,237,2767,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1926,1634,0,0,0,0,0,0
$GC,2799,0.52,146.0,34.3,11.4,241,2803,0.00,2.12,0.00,0.000,4,0.000,0.028,2625,3346,1634,0,0,0,0,0,0
$GC,2809,0.52,146.0,32.9,10.7,241,2818,0.00,2.15,0.00,0.000,6,0.000,0.022,2626,1934,1634,0,0,0,0,0,0
$GC,2850,0.52,146.0,28.8,11.2,245,2854,0.00,2.08,0.00,0.000,4,0.000,0.033,2625,546,1633,0,0,0,0,0,0
$GC,2882,0.55,146.0,25.3,11.0,247,2885,0.00,1.98,0.00,0.000,6,0.000,0.021,2625,1898,1633,0,0,0,0,0,0
$GC,2929,0.55,146.0,19.5,12.6,251,2936,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1900,1632,0,0,0,0,0,0
$GC,2970,0.55,146.0,14.3,12.7,255,2973,0.00,2.03,0.00,0.000,4,0.000,0.031,2625,544,1633,0,0,0,0,0,0
$FREEZE,8.97,11.957,-1.542,0,1,0
$FREEZE,8.45,11.957,-1.542,0,1,0
$FREEZE,7.94,11.961,-1.541,0,1,0
$FREEZE,7.16,11.961,-1.540,0,1,0
$FREEZE,6.81,11.960,-1.540,0,1,0
$GC,3032,0.64,173.9,8.4,8.7,260,3060,0.00,1.92,21.10,0.587,6,0.000,0.021,2625,1845,1530,0,0,0,0,0,0
$FREEZE,5.52,11.924,-1.538,0,1,0
$FREEZE,4.55,11.941,-1.536,0,1,0
$FREEZE,3.69,11.981,-1.532,0,1,0
$FREEZE,2.77,12.507,-1.511,0,1,0
$STATE,3102,end climb,SURFACE_DEPTH_REACHED
$STATE,3102,begin surface coast
$FREEZE,2.13,12.597,-1.509,0,1,0
$FREEZE,1.36,12.653,-1.509,0,1,0
$FREEZE,0.52,12.653,-1.509,0,1,0
$FINISH,0.5,1.020808
$STATE,3133,end surface coast,CONTROL_FINISHED_OK
$STATE,3133,begin surface
$SM_CCo,3150,103.55,0.076,0,0,609,400.08
$SM_GC,0.72,0.00,0.00,103.55,0.000,0.000,0.076,179,1975,609,-7.08,0.71,400.08
$IRIDIUM_FIX,4726.11,-12227.78,300611,202020
$TT8_MAMPS,0.026964
$HUMID,48.03
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,19.30
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,135.1,58.2
$24V_AH,24.5,0.628
$10V_AH,10.3,1.060
$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,15.650,53.875,250.825,103.550,0.000,28.953,34.528,255.780,3.750,0.000,34.122,802.142,871.288,461.855,1340.433,275.675,33.315,974.238,0.000,607.161,0.000,19.607,0.000
$DEVICE_MAMPS,214.200,75.735,690.030,75.735,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,180.227,410.642,755.182,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323544
$DATA_FILE_SIZE,16997,269
$CAP_FILE_SIZE,81865,0
$CFSIZE,260165632,208699392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.245,203.9,1
$GPS,300611,225850,4743.567,-12224.876,12,1.4,12,18.2