version: 66.08
glider: 503
mission: 9
dive: 13
start: 7 1 111 4 31 39
data:
$ID,503
$MISSION,9
$DIVE,13
$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,-22253.305
$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,65
$R_STBD_OVSHOOT,51
$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
$GPS1,010711,042301,4744.109,-12224.624,34,1.6,34,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-70.9
$GPS2,010711,043032,4744.165,-12224.577,12,1.4,12,18.2
$SPEED_LIMITS,0.139,0.241
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.217,-0.104
$KALMAN_X,1534.5,-150.1,-20.5,-1844.0,1153.7
$KALMAN_Y,-1854.1,-456.1,-228.2,3362.4,644.7
$MHEAD_RNG_PITCHd_Wd,198.2,564,-18.4,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.69,-92.1,0.0,0.0,0,87,0.00,0.00,-66.78,0.000,6,0.000,0.000,179,1938,2616,0,0,0,0,0,0
$GC,90,-0.76,-146.0,2.0,-2.3,6,108,7.32,2.10,-5.45,0.000,4,0.208,0.041,2193,549,2836,0,0,0,0,0,0
$GC,357,-0.62,-146.0,42.1,-10.9,29,366,0.17,2.10,0.00,0.000,6,0.119,0.021,2246,1957,2838,0,0,0,0,0,0
$GC,399,-0.57,-146.0,45.5,-9.1,33,402,0.00,2.10,0.00,0.000,4,0.000,0.028,2247,548,2839,0,0,0,0,0,0
$GC,409,-0.57,-146.0,46.6,-8.0,33,417,0.00,2.17,0.00,0.000,6,0.000,0.022,2239,2005,2839,0,0,0,0,0,0
$GC,451,-0.55,-146.0,48.4,-4.6,37,455,0.00,2.03,0.00,0.000,4,0.000,0.032,2236,3343,2839,0,0,0,0,0,0
$GC,708,-0.57,-146.0,69.4,-8.2,60,712,0.00,2.00,0.00,0.000,6,0.000,0.021,2236,1984,2838,0,0,0,0,0,0
$GC,757,-0.57,-146.0,73.9,-9.5,64,761,0.00,2.12,0.00,0.000,4,0.000,0.029,2236,552,2838,0,0,0,0,0,0
$GC,1011,-0.55,-146.0,94.4,-7.0,86,1015,0.15,2.05,0.00,0.000,6,0.140,0.021,2272,1966,2838,0,0,0,0,0,0
$GC,1054,-0.59,-146.0,97.2,-6.6,89,1058,0.00,2.12,0.00,0.000,4,0.000,0.030,2273,552,2838,0,0,0,0,0,0
$GC,1311,-0.65,-146.0,115.6,-6.5,111,1320,0.08,2.08,0.00,0.000,6,0.060,0.021,2218,1954,2838,0,0,0,0,0,0
$GC,1351,-0.65,-146.0,118.2,-7.0,115,1355,0.00,2.08,0.00,0.000,4,0.000,0.030,2210,3348,2838,0,0,0,0,0,0
$GC,1604,-0.65,-146.0,141.5,-9.0,137,1612,0.00,2.08,0.00,0.000,6,0.000,0.020,2210,1954,2839,0,0,0,0,0,0
$GC,1645,-0.65,-146.0,144.8,-9.0,141,1649,0.00,2.10,0.00,0.000,4,0.000,0.030,2210,3348,2838,0,0,0,0,0,0
$GC,1745,-0.65,-146.0,154.2,-9.7,149,1753,0.00,2.08,0.00,0.000,6,0.000,0.021,2210,1953,2838,0,0,0,0,0,0
$GC,1786,-0.65,-146.0,157.7,-9.6,153,1790,0.00,2.10,0.00,0.000,4,0.000,0.030,2210,3348,2838,0,0,0,0,0,0
$GC,1805,-0.65,-146.0,159.7,-9.8,154,1809,0.00,2.00,0.00,0.000,6,0.000,0.020,2210,1973,2839,0,0,0,0,0,0
$GC,1851,-0.65,-146.0,164.5,-10.6,158,1855,0.00,2.08,0.00,0.000,4,0.000,0.030,2210,3342,2838,0,0,0,0,0,0
$GC,1922,-0.65,-146.0,171.8,-10.3,164,1925,0.00,1.90,0.00,0.000,6,0.000,0.020,2210,2032,2838,0,0,0,0,0,0
$GC,1968,-0.65,-146.0,176.7,-10.0,168,1976,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2031,2838,0,0,0,0,0,0
$STATE,2007,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2007,begin apogee
$GC,2014,-0.16,0.0,180.6,9.5,172,2133,0.50,0.00,111.80,0.713,4,0.099,0.000,2391,1944,2240,0,0,0,0,0,0
$STATE,2134,end apogee,CONTROL_FINISHED_OK
$STATE,2134,begin climb
$GC,2137,0.76,146.0,182.1,0.0,181,2264,0.75,0.00,118.60,0.673,6,0.058,0.000,2683,1944,1644,0,0,0,0,0,0
$GC,2296,0.65,146.0,159.6,18.2,194,2300,0.00,2.20,0.00,0.000,4,0.000,0.027,2683,3346,1642,0,0,0,0,0,0
$GC,2349,0.52,146.0,149.6,19.6,198,2353,0.25,2.08,0.00,0.000,6,0.140,0.021,2617,2011,1640,0,0,0,0,0,0
$GC,2391,0.47,146.0,142.6,17.0,201,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2011,1638,0,0,0,0,0,0
$GC,2433,0.49,146.0,136.9,13.6,205,2440,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2011,1638,0,0,0,0,0,0
$GC,2474,0.51,146.0,132.0,11.6,209,2478,0.00,2.25,0.00,0.000,4,0.000,0.032,2617,562,1638,0,0,0,0,0,0
$GC,2526,0.55,146.0,126.2,10.9,213,2530,0.00,2.10,0.00,0.000,6,0.000,0.021,2616,1986,1636,0,0,0,0,0,0
$GC,2569,0.58,146.0,121.5,11.4,216,2573,0.00,2.08,0.00,0.000,4,0.000,0.028,2616,3341,1636,0,0,0,0,0,0
$GC,2591,0.58,146.0,118.5,11.3,217,2599,0.00,2.15,0.00,0.000,6,0.000,0.023,2617,1952,1635,0,0,0,0,0,0
$GC,2632,0.60,146.0,114.3,11.2,221,2636,0.00,2.17,0.00,0.000,4,0.000,0.033,2616,541,1635,0,0,0,0,0,0
$GC,2686,0.65,146.0,108.6,9.7,225,2695,0.08,2.03,0.00,0.000,6,0.057,0.021,2683,1889,1635,0,0,0,0,0,0
$GC,2728,0.62,146.0,103.5,13.8,229,2733,0.12,2.20,0.00,0.000,4,0.151,0.028,2646,3343,1635,0,0,0,0,0,0
$GC,2760,0.56,146.0,98.6,16.0,231,2764,0.00,2.22,0.00,0.000,6,0.000,0.023,2653,1888,1635,0,0,0,0,0,0
$GC,2802,0.51,146.0,92.2,14.8,234,2807,0.15,2.03,0.00,0.000,4,0.142,0.033,2611,548,1635,0,0,0,0,0,0
$GC,2847,0.58,146.0,86.0,11.9,237,2855,0.00,2.00,0.00,0.000,6,0.000,0.021,2612,1885,1634,0,0,0,0,0,0
$GC,2889,0.63,146.0,81.9,10.6,241,2894,0.10,2.20,0.00,0.000,4,0.099,0.028,2682,3339,1634,0,0,0,0,0,0
$GC,2932,0.53,146.0,74.9,16.7,244,2941,0.20,2.17,0.00,0.000,6,0.117,0.023,2619,1923,1634,0,0,0,0,0,0
$GC,2975,0.50,146.0,70.6,11.4,248,2979,0.00,2.10,0.00,0.000,4,0.000,0.032,2625,546,1633,0,0,0,0,0,0
$GC,3052,0.55,146.0,61.6,11.7,254,3059,0.00,1.92,0.00,0.000,6,0.000,0.021,2625,1839,1634,0,0,0,0,0,0
$GC,3092,0.58,146.0,57.0,12.6,258,3096,0.00,2.28,0.00,0.000,4,0.000,0.028,2625,3350,1634,0,0,0,0,0,0
$GC,3148,0.58,146.0,50.3,11.1,262,3156,0.00,2.22,0.00,0.000,6,0.000,0.023,2625,1898,1633,0,0,0,0,0,0
$GC,3188,0.58,146.0,45.7,11.9,266,3192,0.00,2.05,0.00,0.000,4,0.000,0.033,2625,548,1633,0,0,0,0,0,0
$GC,3227,0.64,146.0,40.8,10.9,269,3235,0.00,2.00,0.00,0.000,6,0.000,0.021,2625,1891,1633,0,0,0,0,0,0
$GC,3269,0.69,146.0,36.9,10.6,273,3274,0.12,2.17,0.00,0.000,4,0.085,0.028,2706,3343,1633,0,0,0,0,0,0
$GC,3311,0.55,146.0,30.6,17.9,276,3316,0.28,2.17,0.00,0.000,6,0.135,0.023,2622,1905,1633,0,0,0,0,0,0
$GC,3352,0.52,146.0,24.8,13.8,279,3355,0.00,2.03,0.00,0.000,4,0.000,0.034,2622,550,1633,0,0,0,0,0,0
$GC,3381,0.59,146.0,21.4,11.0,281,3389,0.00,2.03,0.00,0.000,6,0.000,0.022,2622,1910,1632,0,0,0,0,0,0
$GC,3422,0.66,146.0,17.5,10.5,285,3427,0.10,2.15,0.00,0.000,4,0.099,0.028,2690,3344,1633,0,0,0,0,0,0
$GC,3444,0.66,146.0,14.8,10.6,286,3452,0.10,2.20,0.00,0.000,6,0.130,0.023,2659,1905,1633,0,0,0,0,0,0
$GC,3485,0.63,146.0,11.4,9.0,290,3489,0.00,2.05,0.00,0.000,4,0.000,0.033,2659,547,1633,0,0,0,0,0,0
$FREEZE,8.84,12.187,-1.525,0,1,0
$FREEZE,8.37,12.187,-1.525,0,1,0
$FREEZE,7.93,12.191,-1.524,0,1,0
$FREEZE,7.57,12.191,-1.524,0,1,0
$FREEZE,7.14,12.199,-1.524,0,1,0
$FREEZE,6.77,12.199,-1.524,0,1,0
$FREEZE,6.47,12.249,-1.521,0,1,0
$FREEZE,6.02,12.249,-1.520,0,1,0
$FREEZE,5.72,12.297,-1.519,0,1,0
$FREEZE,5.20,12.297,-1.518,0,1,0
$FREEZE,4.73,12.279,-1.518,0,1,0
$FREEZE,4.31,12.279,-1.518,0,1,0
$FREEZE,4.01,12.384,-1.513,0,1,0
$FREEZE,3.63,12.384,-1.513,0,1,0
$FREEZE,3.06,12.332,-1.515,0,1,0
$FREEZE,2.40,12.332,-1.514,0,1,0
$GC,3599,0.69,167.5,3.6,6.8,299,3615,0.00,1.98,11.27,0.081,2,0.000,0.021,2659,1878,1560,0,0,0,0,0,0
$STATE,3616,end climb,SURFACE_DEPTH_REACHED
$STATE,3616,begin surface coast
$FREEZE,1.82,12.388,-1.512,0,1,0
$FREEZE,1.20,12.388,-1.512,0,1,0
$FINISH,1.2,1.020885
$STATE,3626,end surface coast,CONTROL_FINISHED_OK
$STATE,3627,begin surface
$SM_CCo,3645,73.20,0.077,0,0,935,320.11
$SM_GC,0.84,0.00,0.00,73.20,0.000,0.000,0.077,179,1961,935,-7.08,0.31,320.11
$IRIDIUM_FIX,4726.11,-12229.50,010711,030312
$TT8_MAMPS,0.026964
$HUMID,46.96
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,19.40
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,110.2,79.7
$24V_AH,24.4,1.041
$10V_AH,10.3,1.433
$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,16.725,96.600,241.675,73.200,0.000,30.727,31.792,237.131,1.250,0.000,15.641,963.291,1009.836,393.312,1526.808,293.696,33.326,966.476,0.000,789.909,0.000,5.638,0.000
$DEVICE_MAMPS,208.080,133.110,712.980,77.265,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,203.432,459.030,845.076,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323532
$DATA_FILE_SIZE,20385,301
$CAP_FILE_SIZE,92259,0
$CFSIZE,260165632,208445440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.052, 28.6,1
$GPS,010711,053432,4744.017,-12224.768,12,1.7,12,18.2