version: 66.08
glider: 503
mission: 9
dive: 18
start: 7 1 111 10 28 19
data:
$ID,503
$MISSION,9
$DIVE,18
$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,538.42474
$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,-22258.959
$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,58
$R_STBD_OVSHOOT,65
$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,2640
$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
$GPS1,010711,094538,4743.921,-12223.555,9,1.5,9,18.2
$_CALLS,10
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-73.2
$GPS2,010711,102725,4743.550,-12223.635,10,1.2,15,18.2
$SPEED_LIMITS,0.139,0.241
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.033,0.238
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,349.7,1216,-14.1,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.62,-146.0,0.0,0.0,0,82,0.00,0.00,-63.38,0.000,2,0.000,0.000,173,1992,3003,0,0,0,0,0,0
$GC,86,-0.62,-146.0,3.1,-5.1,5,103,7.47,2.05,-4.57,0.000,4,0.203,0.041,2228,3351,3239,0,0,0,0,0,0
$GC,164,-0.59,-146.0,20.2,-11.6,11,168,0.00,2.10,0.00,0.000,6,0.000,0.020,2228,1942,3240,0,0,0,0,0,0
$GC,205,-0.55,-146.0,25.1,-11.8,14,214,0.12,0.00,0.00,0.000,6,0.132,0.000,2268,1941,3240,0,0,0,0,0,0
$GC,245,-0.55,-146.0,28.9,-9.3,18,246,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,1941,3240,0,0,0,0,0,0
$GC,277,-0.58,-146.0,31.4,-8.2,21,284,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,1941,3241,0,0,0,0,0,0
$GC,319,-0.61,-146.0,34.6,-7.9,25,327,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,1941,3240,0,0,0,0,0,0
$GC,360,-0.64,-146.0,37.7,-7.2,29,364,0.00,2.12,0.00,0.000,4,0.000,0.030,2267,3338,3240,0,0,0,0,0,0
$GC,403,-0.72,-146.0,40.3,-5.5,32,408,0.15,2.08,0.00,0.000,6,0.079,0.020,2197,1936,3240,0,0,0,0,0,0
$GC,446,-0.69,-146.0,43.6,-8.0,35,450,0.00,2.10,0.00,0.000,4,0.000,0.029,2197,548,3240,0,0,0,0,0,0
$GC,487,-0.63,-146.0,48.4,-10.9,38,492,0.15,2.03,0.00,0.000,6,0.134,0.022,2245,1928,3241,0,0,0,0,0,0
$GC,528,-0.60,-146.0,52.1,-8.7,41,532,0.00,2.15,0.00,0.000,4,0.000,0.031,2245,3351,3241,0,0,0,0,0,0
$GC,583,-0.64,-146.0,56.0,-7.8,45,587,0.00,2.08,0.00,0.000,6,0.000,0.021,2245,1956,3241,0,0,0,0,0,0
$GC,626,-0.64,-146.0,59.1,-7.2,48,629,0.00,2.12,0.00,0.000,4,0.000,0.030,2245,547,3241,0,0,0,0,0,0
$GC,680,-0.64,-146.0,63.6,-8.5,52,688,0.00,2.08,0.00,0.000,6,0.000,0.022,2245,1938,3241,0,0,0,0,0,0
$GC,724,-0.64,-146.0,65.9,-6.0,56,727,0.00,2.12,0.00,0.000,4,0.000,0.031,2245,3347,3241,0,0,0,0,0,0
$GC,799,-0.70,-146.0,72.7,-7.9,62,803,0.00,2.05,0.00,0.000,6,0.000,0.021,2245,1948,3241,0,0,0,0,0,0
$GC,840,-0.73,-146.0,75.0,-5.5,65,845,0.10,2.12,0.00,0.000,4,0.103,0.030,2192,547,3241,0,0,0,0,0,0
$GC,883,-0.63,-146.0,79.3,-12.2,68,887,0.15,2.05,0.00,0.000,6,0.135,0.022,2240,1950,3240,0,0,0,0,0,0
$GC,924,-0.60,-146.0,83.5,-10.1,71,928,0.00,2.12,0.00,0.000,4,0.000,0.031,2239,3348,3240,0,0,0,0,0,0
$GC,980,-0.66,-146.0,88.0,-7.5,75,988,0.00,2.10,0.00,0.000,6,0.000,0.021,2239,1953,3240,0,0,0,0,0,0
$GC,1022,-0.68,-146.0,91.3,-8.6,79,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1953,3241,0,0,0,0,0,0
$GC,1064,-0.68,-146.0,94.6,-7.7,83,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1953,3240,0,0,0,0,0,0
$GC,1105,-0.68,-146.0,97.9,-8.0,87,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1953,3241,0,0,0,0,0,0
$GC,1147,-0.68,-146.0,101.2,-7.9,91,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1953,3240,0,0,0,0,0,0
$GC,1188,-0.68,-146.0,105.1,-9.4,95,1191,0.00,2.12,0.00,0.000,4,0.000,0.030,2239,3350,3240,0,0,0,0,0,0
$GC,1243,-0.74,-146.0,110.0,-8.2,99,1257,0.00,2.08,0.00,0.000,6,0.000,0.021,2239,1961,3240,0,0,0,0,0,0
$GC,1288,-0.77,-146.0,113.2,-8.0,103,1297,0.12,0.00,0.00,0.000,6,0.091,0.000,2170,1961,3240,0,0,0,0,0,0
$GC,1331,-0.71,-146.0,117.6,-10.4,107,1339,0.15,0.00,0.00,0.000,6,0.129,0.000,2218,1961,3240,0,0,0,0,0,0
$GC,1372,-0.66,-146.0,121.4,-8.9,111,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,1961,3240,0,0,0,0,0,0
$GC,1414,-0.66,-146.0,124.3,-7.1,115,1418,0.00,2.08,0.00,0.000,4,0.000,0.031,2218,3347,3240,0,0,0,0,0,0
$GC,1503,-0.68,-146.0,133.0,-10.9,122,1512,0.00,2.05,0.00,0.000,6,0.000,0.021,2218,1974,3239,0,0,0,0,0,0
$GC,1543,-0.68,-146.0,136.7,-9.4,126,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,1974,3240,0,0,0,0,0,0
$GC,1574,-0.68,-146.0,139.9,-10.2,129,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,1974,3240,0,0,0,0,0,0
$GC,1606,-0.68,-146.0,142.9,-9.4,132,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,1974,3240,0,0,0,0,0,0
$GC,1638,-0.68,-146.0,146.0,-10.0,135,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,1974,3240,0,0,0,0,0,0
$GC,1679,-0.68,-146.0,149.7,-9.1,139,1687,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,1974,3240,0,0,0,0,0,0
$GC,1720,-0.68,-146.0,153.5,-9.1,143,1728,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,1974,3239,0,0,0,0,0,0
$GC,1761,-0.68,-146.0,157.1,-8.8,147,1765,0.00,2.05,0.00,0.000,4,0.000,0.030,2218,3347,3239,0,0,0,0,0,0
$GC,1805,-0.72,-146.0,161.2,-7.9,150,1815,0.00,2.03,0.00,0.000,6,0.000,0.020,2218,1981,3239,0,0,0,0,0,0
$STATE,1832,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1832,begin apogee
$GC,1840,-0.16,0.0,163.9,9.5,153,1952,0.47,0.00,107.15,0.703,4,0.091,0.000,2394,1980,2640,0,0,0,0,0,0
$STATE,1955,end apogee,CONTROL_FINISHED_OK
$STATE,1955,begin climb
$GC,1958,0.62,146.0,168.4,0.0,162,2089,0.68,2.17,116.82,0.671,4,0.045,0.029,2659,3348,2045,0,0,0,0,0,0
$GC,2340,0.37,146.0,127.9,16.3,194,2351,0.30,2.15,0.00,0.000,6,0.120,0.022,2568,1961,2035,0,0,0,0,0,0
$GC,2382,0.24,146.0,122.9,12.8,198,2387,0.15,2.15,0.00,0.000,4,0.126,0.032,2518,552,2034,0,0,0,0,0,0
$GC,2595,0.35,178.3,107.5,6.8,216,2630,0.08,2.10,25.25,0.637,6,0.057,0.020,2586,1950,1912,0,0,0,0,0,0
$GC,2661,0.28,178.3,101.8,9.6,222,2670,0.17,0.00,0.00,0.000,6,0.119,0.000,2529,1950,1909,0,0,0,0,0,0
$GC,2701,0.29,185.7,98.6,7.8,226,2712,0.00,0.00,6.85,0.541,6,0.000,0.000,2529,1950,1882,0,0,0,0,0,0
$GC,2744,0.37,208.9,95.7,7.2,230,2772,0.10,0.00,19.38,0.618,6,0.097,0.000,2595,1951,1788,0,0,0,0,0,0
$GC,2804,0.32,208.9,89.7,10.3,236,2809,0.15,2.17,0.00,0.000,4,0.117,0.033,2546,551,1788,0,0,0,0,0,0
$GC,2836,0.36,208.9,87.1,8.1,238,2840,0.00,2.05,0.00,0.000,6,0.000,0.021,2546,1936,1787,0,0,0,0,0,0
$GC,2880,0.44,219.1,83.9,7.7,241,2900,0.12,0.00,9.57,0.574,6,0.080,0.000,2615,1937,1746,0,0,0,0,0,0
$GC,2931,0.39,219.1,78.5,11.1,246,2941,0.15,0.00,0.00,0.000,6,0.119,0.000,2566,1937,1746,0,0,0,0,0,0
$GC,2972,0.39,219.1,74.5,9.1,250,2973,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1937,1746,0,0,0,0,0,0
$GC,3003,0.39,219.1,71.6,9.3,253,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1937,1746,0,0,0,0,0,0
$GC,3035,0.39,219.1,68.9,8.8,256,3043,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1937,1746,0,0,0,0,0,0
$GC,3076,0.39,219.1,65.3,8.8,260,3077,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1937,1746,0,0,0,0,0,0
$GC,3109,0.41,219.1,62.7,8.3,263,3113,0.00,2.10,0.00,0.000,4,0.000,0.032,2568,551,1746,0,0,0,0,0,0
$GC,3141,0.45,219.1,59.4,8.9,265,3149,0.00,2.10,0.00,0.000,6,0.000,0.021,2568,1945,1746,0,0,0,0,0,0
$GC,3183,0.48,219.1,56.3,8.4,269,3190,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1946,1745,0,0,0,0,0,0
$GC,3224,0.54,233.9,53.2,7.5,273,3248,0.15,2.17,12.30,0.587,4,0.075,0.028,2642,3337,1686,0,0,0,0,0,0
$GC,3264,0.42,233.9,48.5,12.2,276,3274,0.17,2.12,0.00,0.000,6,0.109,0.022,2580,1955,1687,0,0,0,0,0,0
$GC,3306,0.38,233.9,44.8,9.6,280,3314,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1955,1687,0,0,0,0,0,0
$GC,3347,0.42,233.9,41.5,8.2,284,3351,0.00,2.12,0.00,0.000,4,0.000,0.033,2582,548,1687,0,0,0,0,0,0
$GC,3368,0.45,233.9,39.4,8.4,285,3377,0.00,2.08,0.00,0.000,6,0.000,0.021,2583,1925,1687,0,0,0,0,0,0
$GC,3410,0.47,233.9,36.1,8.8,289,3418,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1926,1687,0,0,0,0,0,0
$GC,3450,0.47,233.9,32.4,8.6,293,3452,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,1926,1686,0,0,0,0,0,0
$GC,3482,0.47,233.9,29.7,8.6,296,3483,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,1926,1687,0,0,0,0,0,0
$GC,3514,0.49,233.9,27.1,8.3,299,3518,0.00,2.17,0.00,0.000,4,0.000,0.028,2583,3356,1687,0,0,0,0,0,0
$GC,3545,0.49,233.9,24.6,8.8,301,3549,0.00,2.12,0.00,0.000,6,0.000,0.022,2583,1932,1687,0,0,0,0,0,0
$GC,3588,0.49,233.9,21.1,8.4,304,3595,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,1931,1687,0,0,0,0,0,0
$GC,3629,0.55,260.4,18.1,7.0,308,3658,0.12,2.15,22.45,0.595,4,0.088,0.033,2652,558,1577,0,0,0,0,0,0
$FREEZE,8.37,11.600,-1.553,0,1,0
$FREEZE,7.89,11.611,-1.552,0,1,0
$FREEZE,7.05,11.611,-1.552,0,1,0
$FREEZE,6.55,11.695,-1.549,0,1,0
$FREEZE,5.92,11.695,-1.548,0,1,0
$FREEZE,5.36,11.767,-1.545,0,1,0
$FREEZE,4.66,11.767,-1.545,0,1,0
$GC,3751,0.51,260.4,4.7,10.3,318,3761,0.10,2.08,0.00,0.000,6,0.105,0.021,2612,1941,1577,0,0,0,0,0,0
$FREEZE,2.78,11.951,-1.533,0,1,0
$STATE,3767,end climb,SURFACE_DEPTH_REACHED
$STATE,3768,begin surface coast
$FREEZE,1.87,11.950,-1.532,0,1,0
$FREEZE,0.93,11.945,-1.531,0,1,0
$FINISH,0.9,1.021237
$STATE,3790,end surface coast,CONTROL_FINISHED_OK
$STATE,3790,begin surface
$SM_CCo,3807,135.10,0.076,0,0,445,538.42
$SM_GC,0.78,0.00,0.00,135.10,0.000,0.000,0.076,183,1941,445,-7.07,-0.28,538.42
$IRIDIUM_FIX,4729.30,-12222.38,010711,101051
$TT8_MAMPS,0.026964
$HUMID,44.05
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,19.30
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,110.3,63.3
$24V_AH,24.4,1.420
$10V_AH,10.4,1.741
$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,17.525,79.900,319.775,135.100,0.000,281.468,317.020,1037.294,2.250,0.000,18.069,965.481,1574.006,585.876,2640.319,708.150,29.230,1215.547,0.000,710.979,0.000,5.583,0.000
$DEVICE_MAMPS,203.490,40.545,703.035,76.500,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,215.293,490.885,903.941,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355416
$DATA_FILE_SIZE,20432,322
$CAP_FILE_SIZE,135353,0
$CFSIZE,260165632,208142336
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.096,213.8,1
$GPS,010711,113455,4743.825,-12223.626,9,1.8,9,18.2
$RESTART_TIME,Fri Jul  1 11:55:33 2011