version: 66.08
glider: 503
mission: 9
dive: 16
start: 7 1 111 8 24 13
data:
$ID,503
$MISSION,9
$DIVE,16
$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,-22257.078
$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,55
$R_STBD_OVSHOOT,59
$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
$GPS1,010711,080850,4744.057,-12223.528,33,1.6,33,18.2
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-73.6
$GPS2,010711,082308,4743.957,-12223.522,11,1.3,11,18.2
$SPEED_LIMITS,0.139,0.241
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.003,0.241
$KALMAN_X,1827.3,507.1,241.1,-1738.5,9.7
$KALMAN_Y,-4133.9,689.5,603.4,3290.2,-808.5
$MHEAD_RNG_PITCHd_Wd,345.1,451,-20.0,-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,-0.72,-79.7,0.0,0.0,0,83,0.00,0.00,-62.80,0.000,6,0.000,0.000,180,1884,2965,0,0,0,0,0,0
$GC,88,-0.73,-88.5,3.7,-7.4,5,101,7.40,2.22,-0.75,0.000,4,0.207,0.034,2190,3361,3001,0,0,0,0,0,0
$GC,208,-0.73,-88.5,27.1,-13.2,15,216,0.00,2.15,0.00,0.000,6,0.000,0.020,2189,1944,3003,0,0,0,0,0,0
$GC,249,-0.73,-88.5,32.0,-12.8,19,256,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,1942,3003,0,0,0,0,0,0
$GC,291,-0.73,-88.5,36.9,-11.7,23,295,0.00,2.12,0.00,0.000,4,0.000,0.029,2181,3344,3003,0,0,0,0,0,0
$GC,355,-0.73,-88.5,44.7,-11.1,28,363,0.00,2.08,0.00,0.000,6,0.000,0.020,2181,1964,3003,0,0,0,0,0,0
$GC,398,-0.71,-88.5,48.7,-10.8,32,406,0.12,0.00,0.00,0.000,6,0.150,0.000,2218,1963,3004,0,0,0,0,0,0
$GC,439,-0.71,-88.5,52.5,-9.1,36,447,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,1964,3004,0,0,0,0,0,0
$GC,480,-0.75,-95.3,55.7,-7.6,40,485,0.00,2.10,-0.25,0.000,4,0.000,0.043,2218,3343,3031,0,0,0,0,0,0
$GC,524,-0.83,-95.3,59.8,-8.5,43,533,0.08,2.08,0.00,0.000,6,0.063,0.021,2164,1970,3031,0,0,0,0,0,0
$GC,565,-0.83,-95.3,63.7,-10.6,47,569,0.00,2.15,0.00,0.000,4,0.000,0.030,2164,549,3031,0,0,0,0,0,0
$GC,607,-0.74,-95.3,69.3,-13.9,50,612,0.17,2.08,0.00,0.000,6,0.143,0.021,2206,1966,3031,0,0,0,0,0,0
$GC,648,-0.74,-95.3,74.3,-11.6,53,652,0.00,2.10,0.00,0.000,4,0.000,0.030,2206,3346,3032,0,0,0,0,0,0
$GC,711,-0.82,-95.3,80.1,-8.5,58,715,0.00,2.03,0.00,0.000,6,0.000,0.021,2206,1970,3032,0,0,0,0,0,0
$GC,753,-0.86,-95.3,84.3,-10.4,61,761,0.12,0.00,0.00,0.000,6,0.090,0.000,2138,1968,3032,0,0,0,0,0,0
$GC,794,-0.83,-95.3,89.4,-12.3,65,802,0.15,0.00,0.00,0.000,6,0.146,0.000,2182,1968,3032,0,0,0,0,0,0
$GC,835,-0.79,-95.3,94.4,-11.9,69,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,1968,3032,0,0,0,0,0,0
$GC,876,-0.79,-95.3,98.6,-10.3,73,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,1968,3032,0,0,0,0,0,0
$GC,917,-0.79,-95.3,102.6,-9.5,77,921,0.00,2.10,0.00,0.000,4,0.000,0.030,2182,3346,3032,0,0,0,0,0,0
$GC,993,-0.83,-95.3,109.9,-9.2,83,999,0.00,2.00,0.00,0.000,6,0.000,0.021,2182,1996,3032,0,0,0,0,0,0
$GC,1041,-0.83,-95.3,114.6,-9.8,87,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,1995,3032,0,0,0,0,0,0
$GC,1083,-0.83,-95.3,119.0,-10.6,91,1086,0.00,2.03,0.00,0.000,4,0.000,0.030,2181,3340,3032,0,0,0,0,0,0
$GC,1143,-0.87,-95.3,125.7,-10.7,96,1147,0.00,1.92,0.00,0.000,6,0.000,0.020,2182,2015,3032,0,0,0,0,0,0
$GC,1189,-0.87,-95.3,130.6,-10.7,100,1190,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2014,3032,0,0,0,0,0,0
$GC,1221,-0.87,-95.3,133.5,-9.7,103,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2014,3032,0,0,0,0,0,0
$GC,1263,-0.87,-95.3,137.7,-9.8,107,1267,0.00,2.00,0.00,0.000,4,0.000,0.031,2182,3342,3032,0,0,0,0,0,0
$GC,1333,-0.90,-95.3,145.4,-10.5,113,1336,0.00,1.92,0.00,0.000,6,0.000,0.020,2182,2015,3032,0,0,0,0,0,0
$GC,1381,-0.90,-95.3,150.6,-11.5,117,1388,0.00,0.00,0.00,0.000,6,0.000,0.000,2182,2014,3032,0,0,0,0,0,0
$STATE,1419,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1419,begin apogee
$GC,1426,-0.16,0.0,156.5,14.0,121,1503,0.57,0.00,70.40,0.701,4,0.101,0.000,2389,2014,2640,0,0,0,0,0,0
$STATE,1504,end apogee,CONTROL_FINISHED_OK
$STATE,1504,begin climb
$GC,1507,0.74,95.3,159.3,0.0,127,1586,0.75,0.00,75.72,0.671,6,0.049,0.000,2695,2014,2251,0,0,0,0,0,0
$GC,1625,0.55,117.6,154.9,6.5,136,1655,0.25,0.00,20.10,0.636,6,0.158,0.000,2619,2014,2158,0,0,0,0,0,0
$GC,1686,0.47,117.6,148.5,10.9,142,1696,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2014,2156,0,0,0,0,0,0
$GC,1726,0.41,117.6,144.6,9.8,146,1735,0.15,0.00,0.00,0.000,6,0.145,0.000,2574,2014,2155,0,0,0,0,0,0
$GC,1768,0.41,120.7,141.3,7.8,150,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2014,2154,0,0,0,0,0,0
$GC,1809,0.45,120.7,138.0,8.1,154,1810,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2014,2154,0,0,0,0,0,0
$GC,1841,0.49,128.1,135.8,7.5,157,1855,0.00,2.15,9.27,0.592,4,0.000,0.028,2574,3355,2116,0,0,0,0,0,0
$GC,1894,0.49,128.1,131.1,9.1,161,1902,0.00,2.15,0.00,0.000,6,0.000,0.021,2574,1970,2113,0,0,0,0,0,0
$GC,1937,0.52,128.1,127.9,8.9,165,1945,0.12,0.00,0.00,0.000,6,0.078,0.000,2641,1969,2113,0,0,0,0,0,0
$GC,1978,0.48,128.1,123.5,10.4,169,1986,0.15,0.00,0.00,0.000,6,0.147,0.000,2597,1970,2113,0,0,0,0,0,0
$GC,2019,0.45,128.1,119.4,10.0,173,2023,0.00,2.12,0.00,0.000,4,0.000,0.028,2597,3346,2112,0,0,0,0,0,0
$GC,2041,0.43,128.1,117.0,9.8,174,2051,0.00,2.10,0.00,0.000,6,0.000,0.021,2599,1982,2112,0,0,0,0,0,0
$GC,2081,0.43,128.1,113.3,9.7,178,2082,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1982,2112,0,0,0,0,0,0
$GC,2113,0.43,128.1,110.3,9.8,181,2114,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1982,2111,0,0,0,0,0,0
$GC,2145,0.43,128.1,107.2,9.4,184,2149,0.00,2.08,0.00,0.000,4,0.000,0.028,2599,3349,2112,0,0,0,0,0,0
$GC,2178,0.39,128.1,103.8,9.4,186,2187,0.00,2.10,0.00,0.000,6,0.000,0.022,2599,1979,2111,0,0,0,0,0,0
$GC,2219,0.36,128.1,100.5,9.2,190,2229,0.12,0.00,0.00,0.000,6,0.148,0.000,2562,1979,2111,0,0,0,0,0,0
$GC,2260,0.42,141.7,97.5,7.1,194,2275,0.00,0.00,11.85,0.613,6,0.000,0.000,2562,1979,2061,0,0,0,0,0,0
$GC,2306,0.50,149.4,94.1,7.5,198,2317,0.12,0.00,7.93,0.567,6,0.076,0.000,2632,1978,2029,0,0,0,0,0,0
$GC,2348,0.48,149.4,90.4,9.1,202,2358,0.12,0.00,0.00,0.000,6,0.145,0.000,2594,1978,2028,0,0,0,0,0,0
$GC,2388,0.48,149.4,86.6,9.1,206,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1978,2026,0,0,0,0,0,0
$GC,2420,0.48,149.4,83.9,8.8,209,2421,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1977,2026,0,0,0,0,0,0
$GC,2451,0.50,149.4,81.1,8.9,212,2455,0.00,2.20,0.00,0.000,4,0.000,0.032,2598,547,2026,0,0,0,0,0,0
$GC,2463,0.50,149.4,79.9,8.6,212,2471,0.00,2.17,0.00,0.000,6,0.000,0.021,2599,1991,2026,0,0,0,0,0,0
$GC,2504,0.50,149.4,76.6,8.5,216,2505,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,1991,2025,0,0,0,0,0,0
$GC,2536,0.52,149.4,73.6,9.7,219,2544,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,1991,2026,0,0,0,0,0,0
$GC,2578,0.55,149.4,70.0,8.5,223,2582,0.00,2.20,0.00,0.000,4,0.000,0.031,2599,544,2025,0,0,0,0,0,0
$GC,2653,0.59,149.4,63.5,8.9,229,2658,0.10,2.10,0.00,0.000,6,0.099,0.021,2657,1980,2025,0,0,0,0,0,0
$GC,2694,0.56,149.4,59.2,10.6,232,2699,0.12,2.17,0.00,0.000,4,0.158,0.031,2626,552,2025,0,0,0,0,0,0
$GC,2758,0.56,149.4,52.3,10.6,237,2762,0.00,2.03,0.00,0.000,6,0.000,0.021,2627,1930,2024,0,0,0,0,0,0
$GC,2806,0.53,149.4,47.3,10.9,241,2810,0.00,2.15,0.00,0.000,4,0.000,0.029,2627,3349,2025,0,0,0,0,0,0
$GC,2849,0.47,149.4,42.5,11.3,244,2853,0.00,2.10,0.00,0.000,6,0.000,0.022,2628,1955,2024,0,0,0,0,0,0
$GC,2892,0.43,149.4,37.9,11.1,247,2900,0.15,0.00,0.00,0.000,6,0.143,0.000,2582,1955,2024,0,0,0,0,0,0
$GC,2935,0.46,149.4,33.9,9.2,251,2939,0.00,2.12,0.00,0.000,4,0.000,0.028,2582,3352,2024,0,0,0,0,0,0
$GC,2989,0.51,149.4,28.8,8.6,255,2997,0.00,2.08,0.00,0.000,6,0.000,0.021,2586,1983,2024,0,0,0,0,0,0
$GC,3033,0.58,155.1,26.0,7.6,259,3042,0.12,0.00,5.62,0.509,6,0.083,0.000,2657,1982,2007,0,0,0,0,0,0
$GC,3074,0.58,155.1,22.0,9.1,263,3082,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1982,2006,0,0,0,0,0,0
$GC,3116,0.53,155.1,18.1,9.4,267,3121,0.15,2.17,0.00,0.000,4,0.142,0.032,2612,547,2006,0,0,0,0,0,0
$FREEZE,8.80,11.563,-1.553,0,1,0
$FREEZE,8.41,11.563,-1.552,0,1,0
$FREEZE,8.05,11.622,-1.550,0,1,0
$FREEZE,7.67,11.622,-1.549,0,1,0
$FREEZE,7.52,11.662,-1.548,0,1,0
$FREEZE,7.15,11.662,-1.548,0,1,0
$FREEZE,6.86,11.716,-1.546,0,1,0
$FREEZE,6.48,11.716,-1.545,0,1,0
$FREEZE,6.12,11.747,-1.543,0,1,0
$FREEZE,5.67,11.747,-1.542,0,1,0
$FREEZE,5.31,11.869,-1.538,0,1,0
$FREEZE,4.66,11.869,-1.537,0,1,0
$FREEZE,4.24,11.943,-1.535,0,1,0
$FREEZE,3.77,11.943,-1.535,0,1,0
$GC,3311,0.63,182.6,5.7,6.2,283,3341,0.08,2.15,23.20,0.599,6,0.055,0.021,2680,1992,1894,0,0,0,0,0,0
$FREEZE,2.88,11.959,-1.535,0,1,0
$STATE,3352,end climb,SURFACE_DEPTH_REACHED
$STATE,3352,begin surface coast
$FREEZE,2.07,11.964,-1.533,0,1,0
$FREEZE,1.21,11.977,-1.530,0,1,0
$FREEZE,0.39,11.974,-1.528,0,1,0
$FREEZE,-0.02,11.952,-0.071,0,1,0
$FINISH,-0.0,1.000499
$STATE,3395,end surface coast,CONTROL_FINISHED_OK
$STATE,3396,begin surface
$SM_CCo,3413,70.03,0.078,0,0,1335,320.11
$SM_GC,0.91,0.00,0.00,70.03,0.000,0.000,0.078,179,1992,1335,-7.08,1.19,320.11
$IRIDIUM_FIX,4726.11,-12209.14,010711,060604
$TT8_MAMPS,0.026215
$HUMID,45.66
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,19.30
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,110.7,55.5
$24V_AH,24.5,1.270
$10V_AH,10.3,1.651
$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,17.575,71.425,224.100,70.025,0.000,30.816,32.609,606.085,4.500,0.000,13.621,905.884,953.178,428.365,1676.101,363.495,33.318,972.140,0.000,621.425,0.000,5.556,0.000
$DEVICE_MAMPS,206.550,42.840,700.740,78.030,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,194.626,443.071,814.126,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323700
$DATA_FILE_SIZE,20353,290
$CAP_FILE_SIZE,103637,0
$CFSIZE,260165632,208269312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.120,197.7,1
$GPS,010711,092334,4744.125,-12223.565,11,2.5,30,18.2
$RESTART_TIME,Fri Jul  1 09:42:18 2011