version: 66.08
glider: 503
mission: 9
dive: 11
start: 7 1 111 2 30 24
data:
$ID,503
$MISSION,9
$DIVE,11
$N_DIVES,923
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$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,83
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$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,320
$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,-22250.789
$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,51
$R_STBD_OVSHOOT,64
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,110
$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
$GPS1,010711,021805,4744.094,-12224.704,9,1.4,25,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-66.5
$GPS2,010711,022925,4744.128,-12224.687,8,1.6,8,18.2
$SPEED_LIMITS,0.139,0.241
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.121,-0.069
$KALMAN_X,-249.2,-114.5,-14.8,-236.9,111.0
$KALMAN_Y,-2547.4,-540.8,-297.9,4141.3,-275.3
$MHEAD_RNG_PITCHd_Wd,167.9,445,-26.9,-8.032
$D_GRID,200
$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,18,-0.90,-45.4,0.0,0.0,0,96,0.00,0.00,-72.28,0.000,6,0.000,0.000,172,1886,2427,0,0,0,0,0,0
$GC,100,-0.95,-90.2,1.8,-2.7,6,117,7.10,2.03,-5.30,0.000,4,0.207,0.041,2128,539,2608,0,0,0,0,0,0
$GC,365,-0.83,-90.2,37.5,-13.1,29,374,0.15,2.10,0.00,0.000,6,0.142,0.021,2170,1949,2609,0,0,0,0,0,0
$GC,407,-0.78,-90.2,41.8,-11.1,33,411,0.00,2.12,0.00,0.000,4,0.000,0.028,2170,542,2609,0,0,0,0,0,0
$GC,450,-0.74,-90.2,46.5,-10.3,36,460,0.12,2.20,0.00,0.000,6,0.135,0.021,2203,2015,2609,0,0,0,0,0,0
$GC,491,-0.77,-94.1,49.3,-7.6,40,496,0.00,2.03,-0.20,0.000,4,0.000,0.042,2194,3348,2629,0,0,0,0,0,0
$GC,589,-0.84,-94.1,56.4,-9.4,48,593,0.00,1.90,0.00,0.000,6,0.000,0.020,2194,2054,2629,0,0,0,0,0,0
$GC,636,-0.90,-94.1,61.0,-9.2,52,637,0.12,0.00,0.00,0.000,6,0.086,0.000,2124,2052,2629,0,0,0,0,0,0
$GC,668,-0.90,-94.1,64.5,-10.7,55,676,0.12,0.00,0.00,0.000,6,0.164,0.000,2157,2053,2629,0,0,0,0,0,0
$GC,709,-0.90,-94.1,69.4,-11.8,59,713,0.00,2.28,0.00,0.000,4,0.000,0.028,2157,537,2629,0,0,0,0,0,0
$GC,819,-0.84,-94.1,81.9,-10.3,68,827,0.00,2.20,0.00,0.000,6,0.000,0.021,2149,2024,2629,0,0,0,0,0,0
$GC,861,-0.80,-94.1,85.7,-10.2,72,870,0.12,0.00,0.00,0.000,6,0.167,0.000,2183,2025,2630,0,0,0,0,0,0
$GC,902,-0.83,-94.1,89.7,-9.5,76,906,0.00,2.00,0.00,0.000,4,0.000,0.030,2182,3350,2629,0,0,0,0,0,0
$GC,972,-0.89,-94.1,96.4,-9.0,82,976,0.00,1.92,0.00,0.000,6,0.000,0.020,2182,2026,2630,0,0,0,0,0,0
$GC,1020,-0.94,-94.1,100.6,-8.9,86,1028,0.12,0.00,0.00,0.000,6,0.083,0.000,2109,2025,2629,0,0,0,0,0,0
$GC,1062,-0.90,-94.1,104.6,-9.4,90,1067,0.15,2.25,0.00,0.000,4,0.158,0.028,2151,536,2629,0,0,0,0,0,0
$GC,1082,-0.83,-94.1,106.7,-10.1,91,1087,0.12,2.22,0.00,0.000,6,0.171,0.021,2176,2053,2629,0,0,0,0,0,0
$GC,1125,-0.83,-95.5,110.0,-7.9,94,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2052,2629,0,0,0,0,0,0
$GC,1167,-0.88,-101.2,113.3,-7.4,98,1175,0.00,0.00,-0.20,0.000,6,0.000,0.000,2176,2052,2658,0,0,0,0,0,0
$GC,1208,-0.92,-104.8,116.3,-7.6,102,1216,0.00,0.00,-0.12,0.000,6,0.000,0.000,2176,2052,2675,0,0,0,0,0,0
$GC,1249,-0.98,-105.3,119.7,-8.0,106,1261,0.12,0.00,0.00,0.000,6,0.086,0.000,2108,2054,2676,0,0,0,0,0,0
$GC,1292,-0.95,-105.3,123.7,-9.6,110,1300,0.12,0.00,0.00,0.000,6,0.161,0.000,2142,2054,2676,0,0,0,0,0,0
$GC,1333,-0.91,-105.3,127.7,-9.6,114,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2054,2676,0,0,0,0,0,0
$GC,1365,-0.91,-105.3,131.1,-10.4,117,1373,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2054,2676,0,0,0,0,0,0
$GC,1406,-0.91,-105.3,135.0,-9.5,121,1410,0.00,1.95,0.00,0.000,4,0.000,0.028,2134,3355,2676,0,0,0,0,0,0
$GC,1420,-0.91,-105.3,136.5,-9.7,122,1424,0.00,1.98,0.00,0.000,6,0.000,0.020,2134,2034,2676,0,0,0,0,0,0
$GC,1468,-0.89,-105.3,140.8,-9.6,126,1472,0.00,1.95,0.00,0.000,4,0.000,0.028,2124,3348,2676,0,0,0,0,0,0
$GC,1528,-0.86,-105.3,147.2,-10.0,131,1537,0.10,1.90,0.00,0.000,6,0.129,0.020,2159,2066,2676,0,0,0,0,0,0
$GC,1569,-0.86,-105.3,150.4,-8.4,135,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2066,2676,0,0,0,0,0,0
$GC,1602,-0.90,-113.6,152.5,-7.1,138,1610,0.00,0.00,-0.22,0.000,6,0.000,0.000,2159,2066,2714,0,0,0,0,0,0
$GC,1643,-0.94,-122.2,155.6,-7.0,142,1647,0.00,1.92,-0.20,0.000,4,0.000,0.043,2152,3354,2746,0,0,0,0,0,0
$GC,1699,-1.00,-126.4,160.0,-7.5,146,1707,0.00,1.95,0.00,0.000,6,0.000,0.020,2152,2041,2749,0,0,0,0,0,0
$GC,1741,-1.05,-132.6,162.8,-7.3,150,1746,0.12,1.95,-0.20,0.000,4,0.087,0.044,2073,3348,2789,0,0,0,0,0,0
$GC,1783,-0.97,-132.6,166.8,-10.9,153,1788,0.20,1.88,0.00,0.000,6,0.148,0.020,2132,2065,2790,0,0,0,0,0,0
$GC,1824,-0.95,-132.6,170.7,-9.2,156,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2064,2790,0,0,0,0,0,0
$GC,1866,-0.95,-132.6,174.4,-8.9,160,1870,0.00,2.28,0.00,0.000,4,0.000,0.028,2132,539,2790,0,0,0,0,0,0
$GC,1887,-0.95,-132.6,177.3,-10.8,161,1896,0.00,2.28,0.00,0.000,6,0.000,0.021,2123,2072,2790,0,0,0,0,0,0
$GC,1929,-0.93,-132.6,181.4,-11.3,165,1933,0.00,1.88,0.00,0.000,4,0.000,0.030,2115,3345,2790,0,0,0,0,0,0
$STATE,1953,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1953,begin apogee
$GC,1962,-0.16,0.0,184.4,11.1,167,2076,0.80,0.00,103.55,0.715,4,0.124,0.000,2385,1931,2240,0,0,0,0,0,0
$STATE,2079,end apogee,CONTROL_FINISHED_OK
$STATE,2079,begin climb
$GC,2082,1.00,132.6,188.2,0.0,176,2202,1.10,2.15,109.05,0.678,4,0.076,0.031,2772,561,1698,0,0,0,0,0,0
$GC,2424,0.93,132.6,110.6,22.5,205,2428,0.00,2.05,0.00,0.000,6,0.000,0.021,2772,1954,1691,0,0,0,0,0,0
$GC,2466,0.85,132.6,101.3,22.8,208,2470,0.17,2.12,0.00,0.000,4,0.161,0.031,2733,557,1690,0,0,0,0,0,0
$GC,2721,0.85,132.6,46.1,17.8,230,2729,0.00,2.10,0.00,0.000,6,0.000,0.021,2733,1960,1688,0,0,0,0,0,0
$GC,2763,0.85,132.6,39.7,17.2,234,2767,0.00,2.12,0.00,0.000,4,0.000,0.032,2739,560,1687,0,0,0,0,0,0
$GC,2838,0.85,132.6,25.2,20.2,240,2842,0.00,1.90,0.00,0.000,6,0.000,0.021,2739,1855,1686,0,0,0,0,0,0
$GC,2884,0.85,132.6,15.9,19.9,244,2888,0.00,2.25,0.00,0.000,4,0.000,0.026,2739,3344,1686,0,0,0,0,0,0
$FREEZE,7.97,12.032,-1.539,0,1,0
$GC,2918,0.85,132.6,9.6,20.3,246,2923,0.00,2.25,0.00,0.000,6,0.000,0.021,2748,1840,1685,0,0,0,0,0,0
$FREEZE,6.08,12.131,-1.530,0,1,0
$FREEZE,4.33,12.170,-1.524,0,1,0
$FREEZE,2.92,12.259,-1.519,0,1,0
$STATE,2958,end climb,SURFACE_DEPTH_REACHED
$STATE,2958,begin surface coast
$FREEZE,1.51,12.347,-1.516,0,1,0
$FINISH,1.5,1.020945
$STATE,2968,end surface coast,CONTROL_FINISHED_OK
$STATE,2968,begin surface
$SM_CCo,2986,86.95,0.076,0,0,935,320.11
$SM_GC,0.72,0.00,0.00,86.95,0.000,0.000,0.076,181,1978,935,-7.08,0.79,320.11
$IRIDIUM_FIX,4726.11,-12227.78,010711,020206
$TT8_MAMPS,0.026964
$HUMID,46.88
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,19.30
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,120.3,73.5
$24V_AH,24.4,0.910
$10V_AH,10.3,1.309
$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,17.375,66.350,212.600,86.950,0.000,59.663,103.331,266.332,2.000,0.000,11.002,779.769,876.039,399.175,1398.363,278.824,33.325,882.028,0.000,607.823,0.000,11.676,0.000
$DEVICE_MAMPS,206.550,62.730,714.510,76.500,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,168.231,382.615,702.143,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323516
$DATA_FILE_SIZE,17011,250
$CAP_FILE_SIZE,82172,0
$CFSIZE,260165632,208527360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.056, 25.2,1
$GPS,010711,032252,4744.058,-12224.609,11,2.7,30,18.2