version: 66.08
glider: 503
mission: 9
dive: 8
start: 6 30 111 23 7 36
data:
$ID,503
$MISSION,9
$DIVE,8
$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,-22247.021
$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,52
$R_STBD_OVSHOOT,85
$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
$GPS1,300611,225850,4743.567,-12224.876,12,1.4,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-66.0
$GPS2,300611,230636,4743.608,-12224.838,13,1.7,29,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.055,0.254
$KALMAN_X,-376.8,-76.6,4.2,-351.8,-136.4
$KALMAN_Y,-1454.2,-365.3,3.1,1622.8,-426.2
$MHEAD_RNG_PITCHd_Wd,4.5,543,-17.5,-10.000
$D_GRID,175
$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,-85.38,0.000,6,0.000,0.000,178,1975,2837,0,0,0,0,0,0
$GC,112,-0.73,-146.0,3.7,-7.5,7,125,7.35,2.03,0.00,0.000,4,0.209,0.019,2192,3337,2838,0,0,0,0,0,0
$GC,375,-0.64,-146.0,42.8,-10.3,30,384,0.12,2.10,0.00,0.000,6,0.112,0.020,2238,1931,2839,0,0,0,0,0,0
$GC,417,-0.61,-146.0,46.1,-9.1,34,421,0.00,2.10,0.00,0.000,4,0.000,0.029,2238,3320,2839,0,0,0,0,0,0
$GC,672,-0.63,-146.0,66.8,-6.9,56,681,0.00,2.05,0.00,0.000,6,0.000,0.021,2237,1952,2839,0,0,0,0,0,0
$GC,713,-0.63,-146.0,69.2,-6.4,60,717,0.00,2.05,0.00,0.000,4,0.000,0.029,2236,3320,2839,0,0,0,0,0,0
$GC,758,-0.67,-146.0,72.6,-7.4,63,766,0.00,2.08,0.00,0.000,6,0.000,0.021,2236,1935,2839,0,0,0,0,0,0
$GC,799,-0.67,-146.0,75.4,-7.5,67,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,1935,2839,0,0,0,0,0,0
$GC,839,-0.67,-146.0,78.4,-7.2,71,843,0.00,2.05,0.00,0.000,4,0.000,0.030,2236,546,2839,0,0,0,0,0,0
$GC,883,-0.67,-146.0,81.9,-7.7,74,891,0.00,1.98,0.00,0.000,6,0.000,0.021,2227,1886,2839,0,0,0,0,0,0
$GC,926,-0.67,-146.0,84.7,-7.4,78,930,0.00,2.15,0.00,0.000,4,0.000,0.030,2223,3324,2838,0,0,0,0,0,0
$GC,1002,-0.67,-146.0,90.3,-7.1,84,1006,0.00,2.05,0.00,0.000,6,0.000,0.021,2223,1926,2839,0,0,0,0,0,0
$GC,1048,-0.67,-146.0,93.6,-7.0,88,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1925,2839,0,0,0,0,0,0
$GC,1090,-0.67,-146.0,96.5,-7.0,92,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1925,2839,0,0,0,0,0,0
$GC,1131,-0.67,-146.0,99.6,-7.5,96,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1926,2839,0,0,0,0,0,0
$GC,1171,-0.67,-146.0,102.8,-7.9,100,1172,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1926,2839,0,0,0,0,0,0
$GC,1203,-0.67,-146.0,105.4,-8.1,103,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1926,2839,0,0,0,0,0,0
$GC,1245,-0.67,-146.0,108.7,-7.9,107,1252,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1926,2839,0,0,0,0,0,0
$GC,1286,-0.67,-146.0,111.9,-7.7,111,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1925,2839,0,0,0,0,0,0
$GC,1317,-0.67,-146.0,114.3,-7.6,114,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1925,2839,0,0,0,0,0,0
$GC,1349,-0.67,-146.0,117.1,-8.8,117,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1926,2839,0,0,0,0,0,0
$GC,1392,-0.67,-146.0,120.1,-7.0,121,1396,0.00,2.12,0.00,0.000,4,0.000,0.029,2223,3325,2839,0,0,0,0,0,0
$GC,1515,-0.69,-146.0,129.8,-7.8,131,1521,0.00,2.05,0.00,0.000,6,0.000,0.021,2223,1933,2839,0,0,0,0,0,0
$GC,1565,-0.69,-146.0,134.2,-8.5,135,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1932,2839,0,0,0,0,0,0
$GC,1606,-0.69,-146.0,138.1,-8.9,139,1610,0.00,2.10,0.00,0.000,4,0.000,0.030,2223,3320,2839,0,0,0,0,0,0
$GC,1729,-0.72,-146.0,148.8,-8.8,149,1733,0.00,1.98,0.00,0.000,6,0.000,0.021,2223,1961,2839,0,0,0,0,0,0
$STATE,1741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1741,begin apogee
$GC,1748,-0.16,0.0,150.5,9.6,150,1866,0.47,0.00,112.15,0.692,4,0.097,0.000,2395,1960,2240,0,0,0,0,0,0
$STATE,1867,end apogee,CONTROL_FINISHED_OK
$STATE,1867,begin climb
$GC,1870,0.73,146.0,152.7,0.0,159,1999,0.75,0.00,117.43,0.653,6,0.057,0.000,2686,1960,1643,0,0,0,0,0,0
$GC,2030,0.59,146.0,130.5,17.7,172,2039,0.17,0.00,0.00,0.000,6,0.151,0.000,2637,1960,1641,0,0,0,0,0,0
$GC,2071,0.50,146.0,124.0,15.6,176,2072,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,1960,1640,0,0,0,0,0,0
$GC,2103,0.47,146.0,120.0,13.0,179,2111,0.15,0.00,0.00,0.000,6,0.135,0.000,2589,1960,1639,0,0,0,0,0,0
$GC,2144,0.47,146.0,115.4,11.3,183,2152,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,1960,1639,0,0,0,0,0,0
$GC,2185,0.54,154.5,111.4,9.6,187,2199,0.00,2.17,6.93,0.537,4,0.000,0.031,2589,559,1610,0,0,0,0,0,0
$GC,2217,0.64,176.8,108.3,9.0,189,2241,0.15,2.10,19.00,0.609,6,0.041,0.021,2676,1939,1519,0,0,0,0,0,0
$GC,2285,0.56,176.8,99.4,15.8,195,2294,0.17,0.00,0.00,0.000,6,0.132,0.000,2623,1938,1519,0,0,0,0,0,0
$GC,2325,0.53,176.8,93.4,14.2,199,2326,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,1939,1519,0,0,0,0,0,0
$GC,2357,0.56,176.8,89.7,11.6,202,2361,0.00,2.10,0.00,0.000,4,0.000,0.032,2625,565,1518,0,0,0,0,0,0
$GC,2379,0.58,176.8,86.6,12.4,203,2387,0.00,2.12,0.00,0.000,6,0.000,0.021,2625,1971,1518,0,0,0,0,0,0
$GC,2420,0.58,176.8,82.1,11.9,207,2428,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1971,1518,0,0,0,0,0,0
$GC,2461,0.58,176.8,77.0,12.6,211,2462,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1972,1518,0,0,0,0,0,0
$GC,2492,0.60,176.8,73.2,12.0,214,2493,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,1971,1517,0,0,0,0,0,0
$GC,2525,0.62,176.8,69.3,12.3,217,2529,0.00,2.15,0.00,0.000,4,0.000,0.032,2625,561,1517,0,0,0,0,0,0
$GC,2548,0.64,176.8,65.8,13.2,218,2556,0.00,2.10,0.00,0.000,6,0.000,0.021,2625,1958,1517,0,0,0,0,0,0
$GC,2589,0.67,176.8,60.6,13.4,222,2597,0.10,0.00,0.00,0.000,6,0.098,0.000,2699,1960,1517,0,0,0,0,0,0
$GC,2630,0.62,176.8,54.0,16.2,226,2638,0.17,0.00,0.00,0.000,6,0.139,0.000,2646,1960,1517,0,0,0,0,0,0
$GC,2671,0.57,176.8,47.1,16.9,230,2679,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1960,1517,0,0,0,0,0,0
$GC,2712,0.57,176.8,40.6,15.4,234,2716,0.00,2.12,0.00,0.000,4,0.000,0.032,2646,555,1517,0,0,0,0,0,0
$GC,2722,0.57,176.8,38.6,14.9,234,2730,0.00,2.10,0.00,0.000,6,0.000,0.021,2645,1959,1516,0,0,0,0,0,0
$GC,2763,0.57,176.8,33.4,14.0,238,2770,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1960,1516,0,0,0,0,0,0
$GC,2804,0.57,176.8,28.0,13.2,242,2808,0.00,2.10,0.00,0.000,4,0.000,0.032,2646,562,1517,0,0,0,0,0,0
$GC,2837,0.57,176.8,23.1,13.6,244,2847,0.00,2.08,0.00,0.000,6,0.000,0.021,2645,1954,1516,0,0,0,0,0,0
$GC,2878,0.57,176.8,18.4,12.9,248,2879,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,1955,1516,0,0,0,0,0,0
$GC,2909,0.57,176.8,14.4,12.7,251,2913,0.00,2.10,0.00,0.000,4,0.000,0.032,2646,558,1516,0,0,0,0,0,0
$FREEZE,8.86,12.132,-1.538,0,1,0
$FREEZE,8.02,12.132,-1.537,0,1,0
$FREEZE,7.57,12.186,-1.534,0,1,0
$GC,2964,0.61,191.1,8.9,9.3,255,2982,0.00,2.03,11.90,0.565,6,0.000,0.021,2645,1948,1459,0,0,0,0,0,0
$FREEZE,6.18,12.190,-1.531,0,1,0
$FREEZE,5.16,12.288,-1.524,0,1,0
$FREEZE,4.14,12.390,-1.518,0,1,0
$FREEZE,3.45,12.527,-1.513,0,1,0
$FREEZE,2.58,12.527,-1.512,0,1,0
$GC,3026,0.67,212.7,3.4,9.0,260,3032,0.00,0.00,3.65,0.083,2,0.000,0.000,2645,1948,1438,0,0,0,0,0,0
$STATE,3033,end climb,SURFACE_DEPTH_REACHED
$STATE,3033,begin surface coast
$FREEZE,1.96,12.601,-1.510,0,1,0
$FREEZE,1.18,12.606,-1.510,0,1,0
$FREEZE,0.20,12.609,-1.510,0,1,0
$FREEZE,-0.05,12.550,-1.488,0,1,0
$FINISH,-0.1,1.020540
$STATE,3073,end surface coast,CONTROL_FINISHED_OK
$STATE,3073,begin surface
$SM_CCo,3090,89.85,0.076,0,0,608,400.08
$SM_GC,0.64,0.00,0.00,89.85,0.000,0.000,0.076,182,1950,608,-7.07,0.00,400.08
$IRIDIUM_FIX,4729.30,-12222.38,300611,212152
$TT8_MAMPS,0.026964
$HUMID,48.03
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,19.30
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,130.9,64.7
$24V_AH,24.5,0.698
$10V_AH,10.2,1.120
$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,15.875,54.150,271.050,89.850,0.000,23.661,35.850,241.035,3.250,0.000,32.283,785.814,821.903,469.516,1297.922,281.263,33.320,989.527,0.000,593.403,0.000,18.040,0.000
$DEVICE_MAMPS,208.845,32.130,691.560,75.735,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,176.464,402.481,741.125,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323520
$DATA_FILE_SIZE,17045,264
$CAP_FILE_SIZE,83177,0
$CFSIZE,260165632,208658432
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.212,207.7,1
$GPS,010711,000126,4743.604,-12224.794,7,1.9,7,18.2