version: 66.14
glider: 204
mission: 9
dive: 10
start: 9 15 121 9 5 30
data:
$ID,204
$MISSION,9
$DIVE,10
$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,49
$R_STBD_OVSHOOT,32
$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,170
$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,18.0
$CP_NDIVE,1.0
$GPS1,150921,085743,4745.3784,-12506.2900,13,2.0,21,15.6,0.5,0.0,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-59.3
$GPS2,150921,090432,4745.3188,-12506.2627,4,0.9,27,15.6,0.3,135.5,10,4.5
$SPEED_LIMITS,0.176,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,4745.319,-12522.325
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,273.5,20000,-18.4,-10.145,-23.37,1754
$D_GRID,266
$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,23,begin dive
$GC,25,-0.80,-116.8,170,1986,741,429,0.0,0.0,0,125,0.00,0.00,-97.72,0.011,16386,0.000,0.000,170,1986,2885,2878,2892,0,0,0,0,0,0,26.20,28.83,26.27
$GC,128,-0.80,-116.8,170,1986,2878,2892,3.8,-7.5,14,152,8.30,1.10,-8.48,0.016,18724,0.223,0.073,2316,2718,3277,3279,3275,0,0,0,0,0,0,25.64,25.54,25.84
$GC,221,-0.80,-116.8,2315,2718,3284,3275,23.3,-13.7,30,228,0.00,1.08,0.00,0.000,1030,0.000,0.031,2316,1977,3279,3284,3274,0,0,0,0,0,0,26.32,26.30,26.34
$GC,357,-0.80,-116.8,2315,1977,3286,3274,41.4,-12.7,55,365,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,1977,3280,3286,3274,0,0,0,0,0,0,26.46,26.53,26.51
$GC,488,-0.80,-116.8,2315,1977,3288,3274,58.9,-13.9,80,494,0.00,1.10,0.00,0.000,260,0.000,0.044,2310,2712,3281,3288,3274,0,0,0,0,0,0,26.55,26.37,26.57
$GC,618,-0.80,-116.8,2311,2712,3289,3274,75.8,-11.3,105,625,0.00,1.02,0.00,0.000,1030,0.000,0.037,2314,2004,3281,3289,3274,0,0,0,0,0,0,26.36,26.36,26.38
$GC,756,-0.80,-116.8,2313,2003,3289,3274,90.7,-11.0,130,763,0.05,1.02,0.00,0.000,2564,0.246,0.040,2325,1310,3282,3290,3274,0,0,0,0,0,0,26.39,26.45,26.45
$GC,822,-0.80,-116.8,2324,1310,3290,3274,98.0,-11.1,142,829,0.00,1.08,0.00,0.000,1030,0.000,0.036,2322,2029,3282,3290,3274,0,0,0,0,0,0,26.51,26.48,26.54
$GC,952,-0.80,-116.8,2320,2029,3290,3274,112.1,-10.8,156,956,0.00,1.08,0.00,0.000,516,0.000,0.038,2325,1310,3282,3290,3274,0,0,0,0,0,0,26.65,26.48,26.70
$GC,1071,-0.80,-116.8,2324,1310,3290,3274,124.6,-10.0,179,1079,0.00,1.02,0.00,0.000,1062,0.000,0.034,2321,1997,3282,3290,3274,0,0,0,0,0,0,26.51,26.47,26.53
$GC,1199,-0.80,-116.8,2321,1997,3290,3274,138.9,-11.8,192,1203,0.00,1.02,0.00,0.000,260,0.000,0.050,2316,2697,3282,3291,3273,0,0,0,0,0,0,26.68,26.51,26.74
$GC,1251,-0.80,-116.8,2316,2697,3290,3273,145.0,-11.6,202,1255,0.00,1.00,0.00,0.000,1030,0.000,0.031,2319,1990,3282,3291,3274,0,0,0,0,0,0,26.61,26.58,26.62
$GC,1384,-0.80,-116.8,2319,1990,3290,3273,160.0,-11.4,216,1388,0.00,0.98,0.00,0.000,516,0.000,0.047,2322,1323,3282,3291,3273,0,0,0,0,0,0,26.70,26.53,26.75
$GC,1448,-0.80,-116.8,2321,1323,3291,3273,167.2,-11.0,228,1452,0.00,1.00,0.00,0.000,1030,0.000,0.042,2319,1995,3281,3290,3273,0,0,0,0,0,0,26.49,26.46,26.53
$GC,1581,-0.80,-116.8,2318,1996,3290,3273,181.4,-10.6,242,1585,0.00,1.00,0.00,0.000,516,0.000,0.037,2322,1321,3281,3290,3273,0,0,0,0,0,0,26.72,26.55,26.77
$GC,1637,-0.80,-116.8,2321,1321,3291,3273,187.2,-10.1,252,1641,0.00,1.00,0.00,0.000,1062,0.000,0.034,2319,1994,3282,3291,3273,0,0,0,0,0,0,26.55,26.51,26.58
$GC,1769,-0.80,-116.8,2318,1995,3291,3272,201.0,-10.5,266,1774,0.00,1.00,0.00,0.000,516,0.000,0.047,2322,1322,3281,3291,3272,0,0,0,0,0,0,26.72,26.54,26.78
$GC,1836,-0.80,-116.8,2321,1322,3290,3272,208.7,-11.2,279,1845,0.00,1.02,0.00,0.000,1030,0.000,0.034,2318,2009,3281,3291,3272,0,0,0,0,0,0,26.61,26.58,26.63
$GC,1965,-0.80,-116.8,2318,2009,3291,3271,222.1,-10.7,292,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2009,3280,3290,3271,0,0,0,0,0,0,26.60,26.70,26.67
$GC,2094,-0.80,-116.8,2318,2009,3290,3271,236.4,-10.8,305,2098,0.00,1.02,0.00,0.000,516,0.000,0.039,2321,1321,3280,3290,3271,0,0,0,0,0,0,26.53,26.55,26.60
$GC,2249,-0.80,-116.8,2321,1321,3290,3270,253.3,-11.5,333,2252,0.00,1.02,0.00,0.000,1030,0.000,0.043,2319,2006,3279,3290,3269,0,0,0,0,0,0,26.60,26.57,26.63
$STATE,2359,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2359,begin apogee
$GC,2364,-0.18,0.0,2318,1782,3291,3269,266.1,-11.0,345,2541,0.68,0.00,173.48,0.590,10246,0.158,0.000,2522,1781,2802,2857,2747,0,0,0,0,0,0,25.91,25.27,24.77
$STATE,2546,end apogee,CONTROL_FINISHED_OK
$STATE,2547,begin climb
$GC,2548,0.80,116.8,2522,1781,2846,2738,271.3,0.0,363,2742,1.02,1.02,181.18,0.582,10756,0.117,0.036,2842,1139,2310,2436,2184,0,0,0,0,0,0,25.32,24.91,24.58
$GC,2777,0.80,116.8,2841,1139,2421,2177,256.3,10.4,405,2781,0.00,1.02,0.00,0.000,1030,0.000,0.034,2839,1798,2298,2420,2177,0,0,0,0,0,0,25.53,25.50,25.55
$GC,2909,0.80,116.8,2838,1799,2416,2172,242.0,10.9,419,2913,0.00,1.05,0.00,0.000,260,0.000,0.045,2833,2487,2293,2416,2171,0,0,0,0,0,0,26.03,25.83,26.08
$GC,2942,0.80,116.8,2833,2487,2416,2168,238.4,10.7,425,2946,0.00,0.98,0.00,0.000,1030,0.000,0.036,2837,1832,2291,2416,2167,0,0,0,0,0,0,26.01,25.99,26.03
$GC,3074,0.80,116.8,2836,1832,2415,2167,224.6,10.5,439,3077,0.00,1.12,0.00,0.000,516,0.000,0.046,2842,1105,2291,2415,2168,0,0,0,0,0,0,26.29,26.13,26.32
$GC,3162,0.80,116.8,2842,1105,2415,2167,214.8,11.0,456,3170,0.00,1.05,0.00,0.000,1030,0.000,0.034,2839,1801,2291,2415,2168,0,0,0,0,0,0,26.27,26.25,26.29
$GC,3290,0.80,116.8,2838,1801,2413,2167,201.7,10.4,469,3294,0.00,1.05,0.00,0.000,260,0.000,0.112,2833,2495,2290,2413,2167,0,0,0,0,0,0,26.44,26.28,26.49
$GC,3367,0.81,125.4,2833,2495,2413,2166,194.2,9.6,483,3371,0.00,1.02,0.00,0.000,1062,0.000,0.037,2837,1798,2289,2413,2166,0,0,0,0,0,0,26.39,26.36,26.41
$GC,3499,0.82,136.2,2836,1799,2413,2164,181.3,9.5,497,3524,0.00,1.08,19.33,0.636,8740,0.000,0.048,2842,1111,2241,2369,2113,0,0,0,0,0,0,26.48,26.05,25.46
$GC,3595,0.82,136.2,2842,1112,2360,2109,171.4,10.4,515,3599,0.00,1.05,0.00,0.000,1030,0.000,0.041,2838,1807,2234,2360,2109,0,0,0,0,0,0,26.23,26.20,26.27
$GC,3728,0.82,136.2,2838,1808,2358,2108,157.6,10.4,529,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1807,2232,2358,2107,0,0,0,0,0,0,26.43,26.50,26.48
$GC,3859,0.82,136.2,2838,1807,2357,2107,143.8,10.7,542,3863,0.00,1.08,0.00,0.000,516,0.000,0.107,2842,1114,2232,2357,2107,0,0,0,0,0,0,26.52,26.23,26.57
$GC,3894,0.82,136.2,2842,1114,2357,2107,139.6,10.9,549,3901,0.00,1.02,0.00,0.000,1030,0.000,0.034,2839,1799,2232,2358,2107,0,0,0,0,0,0,26.43,26.39,26.46
$GC,4024,0.83,144.2,2838,1800,2357,2107,126.9,9.7,562,4035,0.00,1.02,2.47,0.607,8484,0.000,0.042,2834,2485,2211,2341,2082,0,0,0,0,0,0,26.57,26.13,24.80
$GC,4091,0.85,160.2,2833,2485,2342,2082,120.1,9.2,575,4121,0.05,1.00,22.17,0.617,11302,0.188,0.036,2852,1798,2142,2276,2008,0,0,0,0,0,0,26.11,26.38,25.46
$GC,4241,0.85,160.2,2852,1798,2267,2001,104.7,11.1,592,4248,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1798,2134,2267,2001,0,0,0,0,0,0,26.37,26.44,26.43
$GC,4374,0.85,160.2,2852,1798,2265,2001,89.7,11.2,613,4380,0.00,1.05,0.00,0.000,516,0.000,0.046,2858,1111,2133,2265,2001,0,0,0,0,0,0,26.41,26.31,26.46
$GC,4407,0.85,160.2,2857,1111,2265,2001,85.7,12.2,619,4414,0.00,1.02,0.00,0.000,1030,0.000,0.034,2854,1797,2133,2265,2001,0,0,0,0,0,0,26.36,26.32,26.37
$GC,4541,0.86,167.0,2853,1798,2264,2000,71.1,9.8,644,4549,0.00,1.02,0.00,0.000,292,0.000,0.042,2849,2494,2132,2264,2000,0,0,0,0,0,0,26.53,26.31,26.59
$GC,4568,0.86,172.0,2848,2495,2264,1999,68.6,9.8,648,4578,0.00,1.02,4.10,0.672,9254,0.000,0.037,2853,1796,2097,2234,1961,0,0,0,0,0,0,26.44,26.40,25.36
$GC,4705,0.88,184.4,2852,1797,2237,1961,56.1,9.4,673,4727,0.00,1.08,15.55,0.591,8484,0.000,0.042,2849,2489,2042,2182,1902,0,0,0,0,0,0,26.51,26.08,25.48
$GC,4944,0.92,218.7,2848,2489,2169,1895,32.1,8.1,718,4997,0.05,1.02,47.53,0.528,11302,0.161,0.041,2875,1791,1908,2052,1764,0,0,0,0,0,0,26.06,26.25,25.26
$GC,5123,0.94,234.0,2874,1791,2035,1750,15.7,9.2,749,5144,0.00,1.08,13.07,0.549,8740,0.000,0.049,2881,1110,1839,1983,1695,0,0,0,0,0,0,26.26,25.83,25.19
$STATE,5299,end climb,SURFACE_DEPTH_REACHED
$STATE,5299,begin surface coast
$FINISH,-0.3,1.025333
$STATE,5325,end surface coast,CONTROL_FINISHED_OK
$STATE,5325,begin surface
$SM_CCo,5345,189.77,0.615,1,0,591,542.11
$SM_GC,0.60,7.45,1.38,189.77,0.055,0.027,0.615,187,2002,591,-7.38,-1.41,542.11,0,0,0,0,1,0,26.30,26.27,24.54
$IRIDIUM_FIX,4748.11,-12503.20,150921,072810
$TT8_MAMPS,0.02247,0.147553
$HUMID,55.39
$INTERNAL_PRESSURE,8.73803
$TCM_TEMP,15.30
$XPDR_PINGS,0
$CP_FREE,125813358592.000000
$CP_POWER,323.310000
$CP_POWER1,0.000000
$24V_AH,24.54,1.181
$10V_AH,10.20,0.489
$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,17.600,42.075,478.875,189.775,0.000,0.000,0.000,264.900,2.500,0.000,39.126,1748.841,1351.811,712.493,1874.049,300.421,0.000,1742.719,0.000,1642.837,0.000,17.931,0.000
$DEVICE_MAMPS,246.330,112.455,671.670,615.060,0.000,0.000,0.000,97.155,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,454.037,1344.079,0.000,0.000,0.000,0.000,5156.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,155212
$DATA_FILE_SIZE,40245,787
$CAP_FILE_SIZE,111750,0
$CFSIZE,260030464,250298368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.078,201.08,1
$GPS,150921,103909,4745.295,-12507.223,15,0.8,34,15.6,0.3,125.7,12,2.2