version: 66.08
glider: 503
mission: 9
dive: 9
start: 7 1 111 0 9 54
data:
$ID,503
$MISSION,9
$DIVE,9
$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,-22248.275
$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,66
$R_STBD_OVSHOOT,61
$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
$GPS1,010711,000126,4743.604,-12224.794,7,1.9,7,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-66.7
$GPS2,010711,000856,4743.626,-12224.768,14,2.0,14,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.021,0.259
$KALMAN_X,-417.9,-87.1,-31.5,-179.0,-85.6
$KALMAN_Y,-2024.3,-428.7,-55.8,2345.8,-498.4
$MHEAD_RNG_PITCHd_Wd,3.1,508,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.73,-146.0,0.0,0.0,0,110,0.00,0.00,-85.45,0.000,6,0.000,0.000,180,1950,2836,0,0,0,0,0,0
$GC,114,-0.73,-146.0,3.5,-7.0,7,127,7.40,2.10,0.00,0.000,4,0.211,0.019,2191,3365,2836,0,0,0,0,0,0
$GC,134,0.35,-146.0,13.3,-33.6,8,143,1.10,2.15,0.00,0.000,6,0.137,0.021,2554,1950,2837,0,0,0,0,0,0
$GC,174,0.21,-146.0,15.9,-6.2,12,179,0.15,2.12,0.00,0.000,4,0.134,0.031,2508,554,2837,0,0,0,0,0,0
$GC,197,-0.47,-146.0,15.7,0.6,13,206,0.60,2.08,0.00,0.000,6,0.093,0.021,2293,1946,2837,0,0,0,0,0,0
$GC,238,-0.82,-146.0,17.5,-5.1,17,243,0.28,2.12,0.00,0.000,4,0.060,0.029,2164,3344,2838,0,0,0,0,0,0
$GC,272,-0.70,-146.0,20.5,-9.9,19,281,0.15,2.10,0.00,0.000,6,0.116,0.021,2217,1954,2838,0,0,0,0,0,0
$GC,313,-0.62,-146.0,24.4,-10.3,23,321,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,1954,2839,0,0,0,0,0,0
$GC,354,-0.58,-146.0,28.5,-10.1,27,356,0.12,0.00,0.00,0.000,6,0.148,0.000,2256,1953,2839,0,0,0,0,0,0
$GC,388,-0.58,-146.0,31.6,-9.7,30,392,0.00,2.10,0.00,0.000,4,0.000,0.030,2256,555,2839,0,0,0,0,0,0
$GC,462,-0.58,-146.0,38.5,-9.3,36,466,0.00,2.05,0.00,0.000,6,0.000,0.021,2252,1957,2839,0,0,0,0,0,0
$GC,503,-0.61,-146.0,42.1,-8.8,39,507,0.00,2.10,0.00,0.000,4,0.000,0.031,2252,3351,2839,0,0,0,0,0,0
$GC,613,-0.66,-146.0,50.9,-6.7,48,617,0.00,2.00,0.00,0.000,6,0.000,0.021,2253,1984,2839,0,0,0,0,0,0
$GC,661,-0.70,-146.0,53.8,-5.9,52,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,1982,2839,0,0,0,0,0,0
$GC,702,-0.74,-146.0,56.2,-5.7,56,707,0.12,2.15,0.00,0.000,4,0.093,0.030,2190,548,2839,0,0,0,0,0,0
$GC,758,-0.64,-146.0,61.4,-9.8,60,767,0.15,2.15,0.00,0.000,6,0.119,0.022,2237,1990,2838,0,0,0,0,0,0
$GC,799,-0.60,-146.0,64.0,-6.9,64,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,1990,2838,0,0,0,0,0,0
$GC,840,-0.60,-146.0,66.2,-5.3,68,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,1990,2838,0,0,0,0,0,0
$GC,882,-0.60,-146.0,68.4,-5.3,72,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,1990,2838,0,0,0,0,0,0
$GC,923,-0.60,-146.0,70.7,-5.5,76,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,1990,2838,0,0,0,0,0,0
$GC,955,-0.62,-146.0,72.5,-5.7,79,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,1990,2838,0,0,0,0,0,0
$GC,997,-0.65,-146.0,75.0,-5.9,83,1000,0.00,2.03,0.00,0.000,4,0.000,0.031,2237,3339,2838,0,0,0,0,0,0
$GC,1090,-0.69,-146.0,80.5,-6.2,91,1093,0.00,1.98,0.00,0.000,6,0.000,0.021,2236,1988,2839,0,0,0,0,0,0
$GC,1138,-0.72,-146.0,83.7,-6.8,95,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,1986,2838,0,0,0,0,0,0
$GC,1179,-0.72,-146.0,86.7,-6.8,99,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,1987,2838,0,0,0,0,0,0
$GC,1221,-0.74,-146.0,89.6,-7.1,103,1231,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,1986,2839,0,0,0,0,0,0
$GC,1262,-0.74,-146.0,92.7,-7.4,107,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,1986,2838,0,0,0,0,0,0
$GC,1294,-0.74,-146.0,94.9,-7.0,110,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,1986,2838,0,0,0,0,0,0
$GC,1335,-0.74,-146.0,97.8,-7.1,114,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,1986,2838,0,0,0,0,0,0
$GC,1377,-0.74,-146.0,100.8,-7.2,118,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,1986,2838,0,0,0,0,0,0
$GC,1420,-0.74,-146.0,103.9,-7.3,122,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,1986,2838,0,0,0,0,0,0
$GC,1461,-0.74,-146.0,107.1,-7.6,126,1465,0.00,2.05,0.00,0.000,4,0.000,0.030,2236,3355,2838,0,0,0,0,0,0
$GC,1516,-0.78,-146.0,112.0,-8.7,130,1524,0.10,2.03,0.00,0.000,6,0.057,0.020,2170,1991,2838,0,0,0,0,0,0
$GC,1560,-0.73,-146.0,115.7,-9.5,134,1568,0.12,0.00,0.00,0.000,6,0.150,0.000,2208,1990,2838,0,0,0,0,0,0
$GC,1601,-0.67,-146.0,119.3,-8.2,138,1610,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,1990,2838,0,0,0,0,0,0
$GC,1643,-0.67,-146.0,122.9,-8.5,142,1647,0.00,2.05,0.00,0.000,4,0.000,0.034,2207,3344,2838,0,0,0,0,0,0
$STATE,1810,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1811,begin apogee
$GC,1819,-0.16,0.0,137.7,9.0,157,1938,0.52,0.00,112.18,0.682,4,0.102,0.000,2394,1951,2239,0,0,0,0,0,0
$STATE,1939,end apogee,CONTROL_FINISHED_OK
$STATE,1939,begin climb
$GC,1942,0.73,146.0,136.1,0.0,166,2068,0.77,2.22,117.03,0.644,4,0.067,0.031,2680,561,1644,0,0,0,0,0,0
$GC,2235,0.63,146.0,90.8,18.0,191,2239,0.12,2.08,0.00,0.000,6,0.150,0.021,2646,1955,1638,0,0,0,0,0,0
$GC,2281,0.57,146.0,82.7,15.8,195,2285,0.00,2.12,0.00,0.000,4,0.000,0.032,2646,562,1636,0,0,0,0,0,0
$GC,2535,0.57,146.0,46.3,13.3,217,2544,0.00,2.10,0.00,0.000,6,0.000,0.021,2646,1963,1635,0,0,0,0,0,0
$GC,2576,0.54,146.0,41.1,14.1,221,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1964,1635,0,0,0,0,0,0
$GC,2617,0.54,146.0,35.6,13.3,225,2618,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1964,1634,0,0,0,0,0,0
$GC,2650,0.52,146.0,31.5,13.0,228,2658,0.10,0.00,0.00,0.000,6,0.161,0.000,2614,1964,1634,0,0,0,0,0,0
$GC,2690,0.52,146.0,26.9,10.9,232,2692,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,1964,1634,0,0,0,0,0,0
$GC,2723,0.57,153.4,23.9,9.7,235,2732,0.00,0.00,5.60,0.493,6,0.000,0.000,2614,1964,1614,0,0,0,0,0,0
$GC,2764,0.64,176.1,20.2,9.0,239,2789,0.10,2.15,19.10,0.582,4,0.099,0.033,2695,562,1522,0,0,0,0,0,0
$FREEZE,8.69,11.852,-1.546,0,1,0
$FREEZE,8.05,12.099,-1.535,0,1,0
$FREEZE,7.43,12.099,-1.535,0,1,0
$GC,2866,0.57,176.1,7.4,10.4,247,2875,0.17,2.12,0.00,0.000,6,0.118,0.021,2633,1980,1522,0,0,0,0,0,0
$FREEZE,5.54,12.178,-1.532,0,1,0
$FREEZE,4.62,12.195,-1.530,0,1,0
$FREEZE,3.68,12.205,-1.529,0,1,0
$FREEZE,2.94,12.205,-1.529,0,1,0
$GC,2907,0.59,191.0,3.7,9.3,251,2913,0.00,0.00,3.65,0.084,2,0.000,0.000,2633,1980,1502,0,0,0,0,0,0
$STATE,2913,end climb,SURFACE_DEPTH_REACHED
$STATE,2914,begin surface coast
$FREEZE,2.28,12.247,-1.524,0,1,0
$FREEZE,1.22,12.571,-1.509,0,1,0
$FREEZE,0.29,12.585,-1.508,0,1,0
$FREEZE,-0.11,12.574,-0.759,0,1,0
$FINISH,-0.1,1.010269
$STATE,2955,end surface coast,CONTROL_FINISHED_OK
$STATE,2955,begin surface
$SM_CCo,2973,98.25,0.076,0,0,609,400.08
$SM_GC,0.63,0.00,0.00,98.25,0.000,0.000,0.076,178,1981,609,-7.09,0.88,400.08
$IRIDIUM_FIX,4726.11,-12227.78,300611,232307
$TT8_MAMPS,0.026964
$HUMID,47.48
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,19.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,130.5,61.7
$24V_AH,24.5,0.764
$10V_AH,10.3,1.177
$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,18.325,50.225,257.550,98.250,0.000,23.482,31.634,241.160,3.000,0.000,17.051,766.528,786.811,455.834,1249.764,270.446,33.338,949.011,0.000,576.393,0.000,20.926,0.000
$DEVICE_MAMPS,211.140,33.660,681.615,75.735,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,170.417,389.141,715.907,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323524
$DATA_FILE_SIZE,16974,255
$CAP_FILE_SIZE,80497,0
$CFSIZE,260165632,208621568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.143,205.4,1
$GPS,010711,010215,4743.653,-12224.711,8,4.0,27,18.2