version: 66.14
glider: 204
mission: 9
dive: 9
start: 9 15 121 7 32 23
data:
$ID,204
$MISSION,9
$DIVE,9
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,350
$D_ABORT,1000
$D_NO_BLEED,50
$D_BOOST,0
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,115
$T_MISSION,235
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,3600
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,150
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55599
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0019952599
$HD_B,0.0099999998
$HD_C,5.7000002e-06
$HEADING,270
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,57.182999
$TGT_DEFAULT_LON,-151
$TGT_AUTO_DEFAULT,0
$SM_CC,541.92499
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100840
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,210
$PITCH_MAX,3900
$C_PITCH,2600
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,28
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,20
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,72
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,2800
$VBD_DBAND,4
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012000001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0.5
$LOITER_DBDW,800
$LOITER_D_TOP,80
$LOITER_D_BOTTOM,90
$LOITER_N_DIVE,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,127.5
$AH0_10V,100
$MINV_24V,16
$MINV_10V,9.5
$MAXI_24V,1.5
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-171.33574
$PRESSURE_SLOPE,0.00014064999
$AD7714Ch0Gain,32
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$XPDR_INT,0
$XPDR_REP,0
$INT_PRESSURE_SLOPE,0.0097655999
$INT_PRESSURE_YINT,0.74000001
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,135
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043722652
$SEABIRD_T_H,0.00063104689
$SEABIRD_T_I,2.5179608e-05
$SEABIRD_T_J,2.8304141e-06
$SEABIRD_C_G,-10.191285
$SEABIRD_C_H,1.1531761
$SEABIRD_C_I,-0.0027973817
$SEABIRD_C_J,0.00030337134
$CP_RECORDABOVE,2000.0
$CP_PROFILE,7.0
$CP_XMITPROFILE,7.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,16.0
$CP_NDIVE,1.0
$GPS1,150921,072609,4745.4927,-12505.4883,10,1.0,24,15.6,0.3,166.5,12,2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-54.6
$GPS2,150921,073124,4745.4634,-12505.4482,4,0.9,7,15.6,0.1,0.0,12,5.7
$SPEED_LIMITS,0.176,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,4745.463,-12521.512
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,274.4,20000,-18.4,-10.145,-23.37,1754
$D_GRID,242
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.80,-116.8,169,2026,745,430,0.0,0.0,0,132,0.00,0.00,-104.80,0.011,16386,0.000,0.000,169,2024,3099,3083,3115,0,0,0,0,0,0,26.18,28.83,26.24
$GC,135,-0.80,-116.8,169,2024,3085,3115,4.6,-9.8,15,151,8.25,1.02,-3.47,0.026,18724,0.220,0.074,2310,2689,3279,3278,3281,0,0,0,0,0,0,25.75,24.56,25.91
$GC,190,-0.80,-116.8,2309,2689,3284,3280,23.1,-20.5,24,197,0.05,1.02,0.00,0.000,3078,0.203,0.031,2323,1978,3282,3285,3279,0,0,0,0,0,0,25.98,26.28,26.01
$GC,322,-0.80,-116.8,2322,1978,3289,3276,42.8,-14.0,49,329,0.00,0.98,0.00,0.000,516,0.000,0.038,2323,1320,3282,3288,3276,0,0,0,0,0,0,26.47,26.32,26.52
$GC,361,-0.80,-116.8,2322,1320,3289,3277,47.7,-11.8,56,370,0.00,1.00,0.00,0.000,1030,0.000,0.034,2320,1986,3283,3290,3276,0,0,0,0,0,0,26.39,26.36,26.41
$GC,493,-0.80,-116.8,2319,1987,3291,3276,62.6,-12.6,81,503,0.00,1.05,0.00,0.000,260,0.000,0.105,2314,2697,3283,3290,3276,0,0,0,0,0,0,26.53,26.36,26.58
$GC,516,-0.80,-116.8,2314,2697,3291,3276,65.8,-13.8,84,523,0.00,1.00,0.00,0.000,1030,0.000,0.031,2314,1996,3283,3290,3276,0,0,0,0,0,0,26.47,26.45,26.51
$GC,649,-0.80,-116.8,2314,1996,3292,3276,82.4,-12.1,109,656,0.00,1.00,0.00,0.000,516,0.000,0.039,2315,1320,3284,3292,3276,0,0,0,0,0,0,26.42,26.42,26.48
$GC,721,-0.80,-116.8,2316,1319,3292,3276,91.3,-12.0,122,731,0.00,1.02,0.00,0.000,1030,0.000,0.034,2313,2007,3284,3292,3276,0,0,0,0,0,0,26.49,26.46,26.53
$GC,857,-0.80,-116.8,2313,2007,3293,3275,107.7,-12.5,141,862,0.08,1.02,0.00,0.000,2564,0.238,0.038,2325,1320,3284,3293,3275,0,0,0,0,0,0,26.27,26.47,26.39
$GC,923,-0.80,-116.8,2325,1320,3293,3276,115.8,-12.1,153,926,0.00,1.02,0.00,0.000,1030,0.000,0.035,2322,2009,3284,3293,3275,0,0,0,0,0,0,26.53,26.51,26.57
$GC,1054,-0.80,-116.8,2321,2009,3294,3275,130.4,-10.8,167,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2009,3284,3293,3275,0,0,0,0,0,0,26.67,26.73,26.72
$GC,1174,-0.80,-116.8,2321,2009,3295,3275,143.1,-10.0,179,1178,0.00,1.00,0.00,0.000,292,0.000,0.042,2316,2694,3284,3294,3275,0,0,0,0,0,0,26.51,26.51,26.58
$GC,1250,-0.80,-116.8,2316,2694,3294,3275,151.1,-10.6,194,1258,0.00,1.00,0.00,0.000,1030,0.000,0.030,2320,1985,3284,3294,3275,0,0,0,0,0,0,26.59,26.55,26.60
$GC,1377,-0.80,-116.8,2319,1983,3294,3274,164.9,-11.3,207,1381,0.00,0.98,0.00,0.000,516,0.000,0.038,2320,1321,3284,3294,3274,0,0,0,0,0,0,26.70,26.53,26.75
$GC,1533,-0.80,-116.8,2320,1321,3294,3274,183.0,-11.4,238,1541,0.00,1.00,0.00,0.000,1030,0.000,0.037,2317,1993,3284,3294,3274,0,0,0,0,0,0,26.48,26.46,26.48
$GC,1661,-0.80,-116.8,2317,1993,3294,3274,197.0,-11.3,251,1665,0.00,1.00,0.00,0.000,516,0.000,0.038,2321,1323,3284,3294,3274,0,0,0,0,0,0,25.65,25.27,25.44
$GC,1778,-0.80,-116.8,2319,1322,3294,3274,210.3,-11.3,273,1782,0.00,1.00,0.00,0.000,1030,0.000,0.034,2317,1996,3284,3294,3274,0,0,0,0,0,0,26.61,26.58,26.64
$GC,1910,-0.80,-116.8,2316,1996,3294,3274,224.7,-10.9,287,1916,0.00,1.02,0.00,0.000,260,0.000,0.041,2312,2700,3284,3295,3273,0,0,0,0,0,0,26.72,26.56,26.78
$GC,1977,-0.80,-116.8,2311,2699,3294,3273,232.0,-11.0,299,1981,0.00,0.98,0.00,0.000,1030,0.000,0.031,2315,2008,3284,3294,3274,0,0,0,0,0,0,26.65,26.63,26.67
$STATE,2077,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2077,begin apogee
$GC,2082,-0.18,0.0,2316,1779,3294,3274,243.0,-10.5,310,2269,0.68,0.00,177.27,0.596,10246,0.154,0.000,2520,1778,2790,2844,2737,0,0,0,0,0,0,26.05,25.25,24.72
$STATE,2274,end apogee,CONTROL_FINISHED_OK
$STATE,2274,begin climb
$GC,2276,0.80,116.8,2520,1779,2836,2730,248.1,0.0,329,2462,1.02,1.17,178.57,0.560,10500,0.116,0.036,2832,2501,2319,2446,2193,0,0,0,0,0,0,25.36,25.13,24.61
$GC,2541,0.80,118.4,2832,2501,2417,2162,230.0,10.0,373,2545,0.00,1.00,0.00,0.000,1062,0.000,0.037,2835,1836,2290,2418,2162,0,0,0,0,0,0,25.76,25.70,25.75
$GC,2673,0.81,123.9,2835,1836,2415,2162,217.1,9.8,387,2681,0.00,0.00,0.00,0.000,38,0.000,0.000,2835,1836,2288,2415,2162,0,0,0,0,0,0,26.04,26.12,26.10
$GC,2803,0.82,132.1,2835,1836,2412,2161,204.5,9.7,400,2814,0.00,1.02,4.80,0.754,8484,0.000,0.042,2832,2491,2264,2395,2133,0,0,0,0,0,0,26.29,25.95,25.23
$GC,2870,0.83,146.1,2832,2491,2401,2133,197.8,9.3,413,2903,0.00,1.02,28.67,0.600,9254,0.000,0.046,2836,1802,2204,2340,2068,0,0,0,0,0,0,26.22,26.20,25.20
$GC,3032,0.84,149.0,2835,1802,2324,2058,182.3,10.0,432,3036,0.00,1.08,0.00,0.000,548,0.000,0.045,2841,1101,2191,2325,2058,0,0,0,0,0,0,26.18,26.10,26.25
$GC,3150,0.84,149.0,2841,1101,2323,2058,169.8,10.4,455,3157,0.00,1.05,0.00,0.000,1030,0.000,0.042,2838,1797,2190,2323,2058,0,0,0,0,0,0,26.28,26.25,26.30
$GC,3277,0.84,150.2,2837,1797,2321,2058,157.1,10.1,468,3281,0.00,1.08,0.00,0.000,548,0.000,0.047,2841,1099,2189,2321,2057,0,0,0,0,0,0,26.44,26.23,26.51
$GC,3360,0.84,150.2,2840,1099,2321,2057,148.4,10.5,484,3364,0.00,1.05,0.00,0.000,1030,0.000,0.038,2837,1798,2189,2321,2057,0,0,0,0,0,0,26.39,26.34,26.41
$GC,3492,0.84,150.5,2837,1799,2320,2057,134.8,10.1,498,3497,0.00,1.02,0.00,0.000,292,0.000,0.044,2832,2491,2188,2320,2057,0,0,0,0,0,0,26.51,26.35,26.56
$GC,3621,0.84,150.5,2831,2492,2317,2057,121.2,10.5,523,3628,0.00,1.02,0.00,0.000,1030,0.000,0.036,2836,1795,2188,2318,2058,0,0,0,0,0,0,26.48,26.46,26.50
$GC,3748,0.85,164.1,2835,1795,2318,2057,108.7,9.3,536,3771,0.10,1.10,16.10,0.643,10788,0.203,0.054,2865,1096,2126,2262,1990,0,0,0,0,0,0,26.19,26.14,25.51
$GC,3835,0.85,164.1,2865,1095,2253,1986,99.7,10.9,552,3843,0.00,1.05,0.00,0.000,1030,0.000,0.042,2862,1799,2119,2253,1986,0,0,0,0,0,0,26.36,26.34,26.38
$GC,3969,0.85,164.1,2861,1798,2252,1985,84.1,11.5,577,3975,0.00,1.02,0.00,0.000,260,0.000,0.041,2856,2493,2118,2252,1984,0,0,0,0,0,0,26.48,26.36,26.55
$GC,4003,0.85,164.1,2856,2494,2251,1985,79.9,12.2,583,4010,0.00,1.02,0.00,0.000,1030,0.000,0.037,2860,1797,2117,2251,1984,0,0,0,0,0,0,26.44,26.41,26.45
$GC,4135,0.85,164.1,2859,1797,2251,1984,64.0,12.2,608,4142,0.00,1.05,0.00,0.000,516,0.000,0.053,2865,1105,2117,2251,1984,0,0,0,0,0,0,26.58,26.39,26.63
$GC,4308,0.85,164.1,2865,1105,2251,1984,43.9,10.6,640,4316,0.00,1.05,0.00,0.000,1030,0.000,0.034,2862,1806,2117,2251,1984,0,0,0,0,0,0,26.50,26.48,26.49
$GC,4447,0.91,214.0,2861,1806,2250,1984,33.4,7.2,665,4526,0.00,1.08,74.72,0.535,8484,0.000,0.043,2856,2488,1927,2069,1785,0,0,0,0,0,0,26.56,25.72,25.22
$GC,4647,0.95,246.4,2856,2491,2049,1769,15.6,8.3,699,4697,0.08,1.02,45.55,0.509,11302,0.096,0.037,2889,1807,1795,1941,1649,0,0,0,0,0,0,25.92,26.09,25.04
$STATE,4821,end climb,SURFACE_DEPTH_REACHED
$STATE,4821,begin surface coast
$FINISH,-0.3,1.025529
$STATE,4849,end surface coast,CONTROL_FINISHED_OK
$STATE,4849,begin surface
$SM_CCo,4868,181.27,0.611,1,0,589,542.11
$SM_GC,0.59,7.53,0.28,181.27,0.055,0.055,0.611,187,1983,589,-7.39,-1.50,542.11,0,0,0,0,1,0,26.17,26.10,24.56
$IRIDIUM_FIX,4744.82,-12508.44,150921,060935
$TT8_MAMPS,0.021721,0.222453
$HUMID,55.27
$INTERNAL_PRESSURE,8.75756
$TCM_TEMP,15.40
$XPDR_PINGS,0
$CP_FREE,126137925632.000000
$CP_POWER,323.310000
$CP_POWER1,0.000000
$24V_AH,24.56,1.062
$10V_AH,10.15,0.424
$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,17.775,37.575,525.700,181.275,0.000,0.000,0.000,198.975,3.500,0.000,19.038,1588.300,1189.051,734.149,1627.557,272.575,0.000,1661.905,0.000,1463.688,0.000,24.630,0.000
$DEVICE_MAMPS,237.915,104.805,754.290,611.235,0.000,0.000,0.000,97.155,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,414.959,1165.062,0.000,0.000,0.000,0.000,4681.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,155200
$DATA_FILE_SIZE,36780,735
$CAP_FILE_SIZE,110608,0
$CFSIZE,260030464,250388480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.081,197.68,1
$GPS,150921,085743,4745.378,-12506.290,13,2.0,21,15.6,0.5,0.0,8,9.7