version: 66.14
glider: 204
mission: 9
dive: 18
start: 9 16 121 3 53 56
data:
$ID,204
$MISSION,9
$DIVE,18
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,600
$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,200
$T_MISSION,230
$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,-1
$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,58
$R_STBD_OVSHOOT,70
$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,97.5
$AH0_10V,83.800003
$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,400
$ALTIM_PING_DELTA,20
$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,34.0
$CP_NDIVE,1.0
$GPS1,160921,034539,4749.6997,-12512.4404,5,0.8,23,15.7,0.2,173.1,12,2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-50.1
$GPS2,160921,035257,4749.6621,-12512.4072,3,0.8,6,15.7,0.2,0.0,12,6.8
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,TRANSIT1
$TGT_LATLONG,4753.173,-12514.240
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,325.7,6889,-18.1,-10.000,-23.17,1779
$D_GRID,312
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.79,-116.8,173,2030,753,417,0.0,0.0,0,135,0.00,0.00,-106.65,0.011,16386,0.000,0.000,173,2026,3101,3085,3117,0,0,0,0,0,0,26.04,28.83,26.13
$GC,137,-0.79,-116.8,173,2027,3086,3117,4.3,-7.8,15,154,8.32,1.12,-3.62,0.026,18980,0.222,0.065,2326,1301,3278,3277,3280,0,0,0,0,0,0,25.63,24.41,25.80
$GC,325,-0.79,-116.8,2325,1301,3288,3277,38.8,-15.6,50,332,0.00,1.02,0.00,0.000,1030,0.000,0.034,2322,1982,3282,3287,3277,0,0,0,0,0,0,26.29,26.28,26.33
$GC,461,-0.79,-116.8,2321,1982,3290,3276,59.1,-13.7,75,467,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1982,3283,3290,3276,0,0,0,0,0,0,26.45,26.52,26.51
$GC,591,-0.79,-116.8,2321,1982,3291,3276,76.3,-13.1,100,599,0.00,1.05,0.00,0.000,260,0.000,0.044,2316,2696,3283,3291,3276,0,0,0,0,0,0,26.53,26.29,26.58
$GC,665,-0.79,-116.8,2315,2696,3291,3275,84.7,-10.6,113,674,0.00,1.00,0.00,0.000,1030,0.000,0.031,2319,1989,3284,3292,3276,0,0,0,0,0,0,26.44,26.43,26.48
$GC,803,-0.79,-116.8,2319,1989,3293,3275,99.2,-10.6,138,810,0.00,0.98,0.00,0.000,516,0.000,0.039,2320,1324,3283,3292,3275,0,0,0,0,0,0,26.58,26.41,26.63
$GC,1040,-0.79,-116.8,2320,1324,3293,3275,125.5,-11.0,182,1043,0.00,1.00,0.00,0.000,1030,0.000,0.036,2317,1995,3284,3293,3275,0,0,0,0,0,0,26.51,26.48,26.53
$GC,1173,-0.79,-116.8,2316,1994,3293,3275,139.9,-10.8,196,1180,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,1994,3284,3294,3275,0,0,0,0,0,0,26.63,26.67,26.66
$GC,1301,-0.79,-116.8,2316,1994,3294,3274,154.4,-11.7,209,1304,0.08,0.00,0.00,0.000,2054,0.239,0.000,2328,1995,3284,3294,3275,0,0,0,0,0,0,26.29,26.45,26.39
$GC,1422,-0.79,-116.8,2327,1995,3294,3274,167.4,-10.5,221,1427,0.00,1.00,0.00,0.000,516,0.000,0.039,2333,1322,3284,3294,3274,0,0,0,0,0,0,26.67,26.50,26.72
$GC,1486,-0.79,-116.8,2332,1322,3294,3274,174.0,-10.3,233,1490,0.00,1.00,0.00,0.000,1030,0.000,0.035,2330,1997,3284,3294,3274,0,0,0,0,0,0,26.55,26.52,26.57
$GC,1619,-0.79,-116.8,2329,1997,3294,3274,187.3,-9.8,247,1623,0.00,1.00,0.00,0.000,548,0.000,0.047,2333,1323,3284,3294,3274,0,0,0,0,0,0,26.69,26.49,26.74
$GC,1692,-0.79,-116.8,2332,1324,3294,3274,195.0,-10.3,261,1697,0.00,1.00,0.00,0.000,1030,0.000,0.034,2330,1998,3284,3294,3274,0,0,0,0,0,0,26.56,26.54,26.60
$GC,1825,-0.79,-116.8,2329,1998,3294,3274,208.9,-10.6,275,1827,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1998,3284,3294,3274,0,0,0,0,0,0,26.61,26.69,26.67
$GC,1945,-0.79,-116.8,2329,1998,3294,3274,221.6,-10.5,287,1948,0.00,1.00,0.00,0.000,516,0.000,0.039,2333,1324,3284,3294,3274,0,0,0,0,0,0,26.28,26.48,26.38
$GC,2052,-0.79,-116.8,2332,1324,3294,3274,232.9,-10.1,308,2059,0.00,1.00,0.00,0.000,1030,0.000,0.036,2329,1998,3284,3294,3274,0,0,0,0,0,0,26.57,26.49,26.62
$GC,2179,-0.79,-116.8,2329,1998,3294,3273,245.3,-9.8,321,2188,0.00,0.00,0.00,0.000,38,0.000,0.000,2330,1998,3283,3294,3273,0,0,0,0,0,0,26.53,26.61,26.59
$GC,2310,-0.79,-116.8,2329,1998,3293,3273,257.3,-9.1,334,2317,0.00,0.00,0.00,0.000,38,0.000,0.000,2330,1998,3283,3294,3273,0,0,0,0,0,0,26.65,26.72,26.71
$GC,2439,-0.79,-116.8,2329,1998,3294,3273,270.1,-10.1,347,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,1998,3284,3294,3274,0,0,0,0,0,0,26.72,26.79,26.77
$GC,2559,-0.79,-116.8,2329,1998,3294,3273,282.1,-10.1,359,2563,0.00,1.00,0.00,0.000,516,0.000,0.047,2333,1324,3283,3294,3273,0,0,0,0,0,0,26.73,26.53,26.79
$GC,2612,-0.79,-116.8,2332,1324,3294,3273,287.5,-10.0,369,2616,0.00,1.00,0.00,0.000,1062,0.000,0.035,2330,2000,3283,3294,3272,0,0,0,0,0,0,26.62,26.57,26.63
$GC,2746,-0.79,-116.8,2329,2000,3294,3272,300.8,-10.4,383,2751,0.00,1.00,0.00,0.000,516,0.000,0.037,2333,1325,3283,3294,3272,0,0,0,0,0,0,26.69,26.52,26.75
$GC,2791,-0.79,-116.8,2332,1324,3294,3272,306.2,-10.8,392,2795,0.00,1.00,0.00,0.000,1030,0.000,0.034,2329,2002,3283,3294,3272,0,0,0,0,0,0,26.60,26.57,26.60
$STATE,2848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2848,begin apogee
$GC,2853,-0.18,0.0,2329,1787,3294,3271,312.1,-10.7,397,3039,0.68,0.00,182.40,0.619,10246,0.152,0.000,2527,1786,2799,2856,2743,0,0,0,0,0,0,25.94,25.12,24.57
$STATE,3043,end apogee,CONTROL_FINISHED_OK
$STATE,3043,begin climb
$GC,3045,0.79,116.8,2527,1785,2843,2733,318.1,0.0,406,3251,1.00,1.05,193.38,0.584,10756,0.119,0.035,2837,1134,2310,2438,2183,0,0,0,0,0,0,25.23,24.77,24.41
$GC,3272,0.80,125.8,2836,1133,2424,2175,305.3,9.5,452,3276,0.00,1.05,0.00,0.000,1062,0.000,0.041,2833,1801,2299,2424,2174,0,0,0,0,0,0,25.32,25.27,25.33
$GC,3405,0.80,125.8,2833,1802,2418,2168,291.9,10.4,463,3407,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1802,2293,2418,2168,0,0,0,0,0,0,25.86,25.88,25.86
$GC,3525,0.80,125.8,2832,1801,2417,2168,279.2,10.5,475,3529,0.00,1.05,0.00,0.000,260,0.000,0.042,2828,2501,2292,2416,2168,0,0,0,0,0,0,26.06,25.97,26.10
$GC,3588,0.80,125.8,2828,2501,2416,2165,272.7,10.4,487,3592,0.00,1.00,0.00,0.000,1030,0.000,0.036,2832,1828,2290,2416,2165,0,0,0,0,0,0,26.14,26.11,26.16
$GC,3720,0.80,127.6,2831,1828,2416,2164,259.7,9.9,501,3729,0.00,0.00,0.00,0.000,38,0.000,0.000,2832,1828,2290,2416,2164,0,0,0,0,0,0,26.33,26.36,26.39
$GC,3851,0.81,139.5,2830,1828,2415,2164,247.3,9.3,514,3880,0.00,0.00,26.17,0.642,8230,0.000,0.000,2832,1828,2231,2363,2100,0,0,0,0,0,0,26.41,25.81,25.23
$GC,4002,0.82,142.4,2831,1828,2350,2089,232.8,9.8,529,4007,0.00,1.00,0.00,0.000,292,0.000,0.044,2828,2487,2219,2350,2089,0,0,0,0,0,0,26.28,26.06,26.32
$GC,4056,0.83,149.6,2826,2487,2349,2087,227.4,9.6,539,4077,0.03,1.02,12.45,0.734,11302,0.176,0.036,2839,1793,2183,2316,2050,0,0,0,0,0,0,26.03,26.20,25.19
$GC,4198,0.83,149.6,2840,1792,2310,2046,213.5,10.0,555,4205,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1793,2178,2310,2046,0,0,0,0,0,0,26.25,26.32,26.31
$GC,4325,0.83,149.6,2839,1792,2309,2046,200.2,10.3,568,4329,0.00,1.08,0.00,0.000,260,0.000,0.042,2836,2506,2177,2309,2045,0,0,0,0,0,0,26.35,26.23,26.41
$GC,4403,0.83,149.6,2835,2506,2307,2045,192.3,10.2,582,4407,0.00,1.05,0.00,0.000,1030,0.000,0.036,2840,1795,2176,2307,2045,0,0,0,0,0,0,26.34,26.31,26.39
$GC,4535,0.83,149.6,2839,1795,2307,2045,178.8,10.2,596,4538,0.00,1.05,0.00,0.000,516,0.000,0.047,2845,1105,2176,2307,2045,0,0,0,0,0,0,26.41,26.32,26.48
$GC,4601,0.83,149.6,2845,1105,2307,2045,171.6,10.5,609,4609,0.00,1.05,0.00,0.000,1030,0.000,0.034,2842,1801,2176,2307,2045,0,0,0,0,0,0,26.41,26.38,26.44
$GC,4729,0.83,149.6,2841,1801,2307,2045,158.0,10.7,622,4733,0.00,1.02,0.00,0.000,260,0.000,0.109,2836,2489,2176,2307,2045,0,0,0,0,0,0,26.40,26.29,26.48
$GC,4794,0.83,149.6,2836,2489,2305,2045,151.0,10.9,634,4797,0.00,1.02,0.00,0.000,1030,0.000,0.044,2839,1792,2175,2306,2045,0,0,0,0,0,0,26.44,26.41,26.47
$GC,4925,0.83,149.6,2839,1792,2305,2045,137.1,10.5,648,4927,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1792,2175,2305,2045,0,0,0,0,0,0,26.56,26.63,26.62
$GC,5045,0.83,149.6,2839,1792,2305,2045,124.1,11.5,660,5049,0.00,1.02,0.00,0.000,516,0.000,0.047,2845,1113,2175,2305,2045,0,0,0,0,0,0,26.56,26.41,26.62
$GC,5090,0.83,149.6,2845,1113,2305,2045,118.8,12.3,668,5094,0.00,1.02,0.00,0.000,1030,0.000,0.034,2842,1800,2175,2305,2045,0,0,0,0,0,0,26.51,26.46,26.52
$GC,5223,0.83,149.6,2841,1800,2304,2045,102.9,11.7,682,5227,0.00,1.08,0.00,0.000,516,0.000,0.044,2845,1098,2174,2304,2045,0,0,0,0,0,0,26.64,26.44,26.68
$GC,5288,0.83,149.6,2845,1098,2305,2045,95.4,11.5,694,5295,0.00,1.05,0.00,0.000,1030,0.000,0.034,2842,1799,2174,2304,2045,0,0,0,0,0,0,26.53,26.51,26.55
$GC,5420,0.83,149.6,2841,1800,2303,2045,81.4,10.4,719,5427,0.00,1.02,0.00,0.000,260,0.000,0.043,2836,2497,2174,2303,2045,0,0,0,0,0,0,26.65,26.39,26.72
$GC,5536,0.84,164.6,2836,2496,2301,2044,69.8,9.1,741,5553,0.00,1.02,10.40,0.663,9254,0.000,0.036,2840,1798,2127,2263,1992,0,0,0,0,0,0,26.55,26.51,25.51
$GC,5680,0.87,189.6,2840,1798,2254,1985,57.0,8.6,767,5717,0.10,1.10,31.27,0.577,10532,0.181,0.043,2862,2498,2025,2167,1884,0,0,0,0,0,0,26.21,25.92,25.35
$GC,5776,0.87,189.6,2861,2498,2157,1876,47.9,10.1,783,5783,0.00,1.05,0.00,0.000,1030,0.000,0.037,2866,1794,2016,2156,1876,0,0,0,0,0,0,26.20,26.17,26.22
$GC,5911,0.89,201.5,2865,1794,2154,1876,34.6,9.3,808,5919,0.00,0.00,6.22,0.623,8742,0.000,0.000,2866,1794,1979,2121,1837,0,0,0,0,0,0,26.38,25.91,25.26
$GC,6044,0.96,260.6,2864,1794,2113,1832,24.4,6.6,833,6150,0.10,1.10,97.32,0.526,10788,0.129,0.109,2900,1104,1730,1877,1584,0,0,0,0,0,0,26.19,25.25,24.90
$STATE,6356,end climb,SURFACE_DEPTH_REACHED
$STATE,6356,begin surface coast
$FINISH,-0.2,1.025626
$STATE,6382,end surface coast,CONTROL_FINISHED_OK
$STATE,6382,begin surface
$SM_CCo,6402,253.27,0.565,1,0,588,542.11
$SM_GC,0.65,7.53,1.40,253.27,0.053,0.031,0.565,185,2009,588,-7.40,-1.44,542.11,0,0,0,0,1,0,26.19,26.09,24.41
$IRIDIUM_FIX,4747.96,-12514.75,160921,013216
$TT8_MAMPS,0.02247,0.147553
$HUMID,52.95
$INTERNAL_PRESSURE,8.75756
$TCM_TEMP,15.40
$XPDR_PINGS,0
$CP_FREE,121976455168.000000
$CP_POWER,323.300000
$CP_POWER1,0.000000
$24V_AH,24.41,2.312
$10V_AH,10.18,1.147
$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,17.825,39.750,559.625,253.275,0.000,0.000,0.000,295.600,0.000,0.000,18.406,1995.935,1757.687,871.871,2175.815,330.986,0.000,1997.654,0.000,1947.701,0.000,1.017,0.000
$DEVICE_MAMPS,239.445,109.395,733.635,565.335,0.000,0.000,0.000,110.925,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,511.742,1607.272,0.000,0.000,0.000,0.000,6208.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,154548
$DATA_FILE_SIZE,46874,892
$CAP_FILE_SIZE,110746,0
$CFSIZE,260030464,249466880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.016,62.01,1
$GPS,160921,054609,4750.343,-12512.687,20,1.0,28,15.7,0.3,287.6,9,6.7