version: 66.14
glider: 204
mission: 9
dive: 19
start: 9 16 121 5 53 25
data:
$ID,204
$MISSION,9
$DIVE,19
$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,53
$R_STBD_OVSHOOT,56
$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,36.0
$CP_NDIVE,1.0
$GPS1,160921,054609,4750.3428,-12512.6865,20,1.0,28,15.7,0.3,287.6,9,6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-53.5
$GPS2,160921,055229,4750.2988,-12512.6152,3,0.8,5,15.7,0.6,218.0,12,5.4
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,TRANSIT1
$TGT_LATLONG,4753.173,-12514.240
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,319.5,5693,-18.1,-10.000,-23.17,1779
$D_GRID,287
$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,-116.8,165,2015,749,421,0.0,0.0,0,133,0.00,0.00,-104.95,0.011,16386,0.000,0.000,166,2015,3046,3032,3060,0,0,0,0,0,0,26.12,28.83,26.14
$GC,136,-0.79,-116.8,166,2017,3034,3061,3.8,-6.9,15,152,8.32,0.00,-4.93,0.021,18982,0.221,0.000,2323,2015,3278,3279,3278,0,0,0,0,0,0,25.66,24.70,25.79
$GC,280,-0.79,-116.8,2323,2015,3287,3276,30.4,-10.9,41,287,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2015,3281,3287,3276,0,0,0,0,0,0,26.38,26.44,26.43
$GC,411,-0.79,-116.8,2323,2015,3289,3275,47.7,-14.2,66,418,0.00,1.08,0.00,0.000,516,0.000,0.039,2323,1302,3282,3289,3275,0,0,0,0,0,0,26.45,26.29,26.51
$GC,655,-0.79,-116.8,2322,1302,3291,3275,80.4,-12.7,112,664,0.00,1.05,0.00,0.000,1030,0.000,0.035,2319,1996,3283,3291,3275,0,0,0,0,0,0,26.39,26.36,26.42
$GC,794,-0.79,-116.8,2318,1996,3292,3275,96.5,-11.1,137,802,0.00,1.05,0.00,0.000,516,0.000,0.047,2322,1299,3283,3292,3275,0,0,0,0,0,0,26.55,26.34,26.57
$GC,853,-0.79,-116.8,2321,1300,3293,3275,102.9,-10.0,148,862,0.00,1.05,0.00,0.000,1062,0.000,0.044,2318,1996,3284,3293,3275,0,0,0,0,0,0,26.39,26.35,26.42
$GC,982,-0.79,-116.8,2318,1996,3293,3275,115.2,-9.7,161,986,0.00,1.02,0.00,0.000,548,0.000,0.039,2322,1314,3284,3293,3275,0,0,0,0,0,0,26.58,26.43,26.66
$GC,1124,-0.79,-116.8,2321,1314,3293,3275,130.0,-10.2,188,1133,0.00,1.02,0.00,0.000,1030,0.000,0.041,2318,1995,3284,3293,3275,0,0,0,0,0,0,26.48,26.44,26.51
$GC,1251,-0.79,-116.8,2318,1995,3293,3274,143.6,-10.8,201,1255,0.00,1.02,0.00,0.000,516,0.000,0.039,2322,1310,3283,3293,3274,0,0,0,0,0,0,26.58,26.44,26.64
$GC,1390,-0.79,-116.8,2321,1309,3294,3274,159.0,-11.0,227,1394,0.00,1.02,0.00,0.000,1030,0.000,0.037,2318,1995,3283,3293,3274,0,0,0,0,0,0,26.55,26.53,26.58
$GC,1522,-0.79,-116.8,2317,1995,3293,3274,173.6,-11.2,241,1526,0.00,1.02,0.00,0.000,516,0.000,0.039,2321,1309,3284,3293,3275,0,0,0,0,0,0,26.69,26.49,26.74
$GC,1599,-0.79,-116.8,2321,1310,3293,3274,182.8,-11.3,256,1608,0.00,1.02,0.00,0.000,1030,0.000,0.042,2318,1997,3284,3294,3274,0,0,0,0,0,0,26.54,26.54,26.59
$GC,1728,-0.79,-116.8,2317,1997,3294,3274,196.7,-11.1,269,1732,0.00,1.02,0.00,0.000,516,0.000,0.038,2321,1308,3284,3294,3274,0,0,0,0,0,0,26.70,26.51,26.74
$GC,1802,-0.79,-116.8,2321,1308,3293,3274,205.2,-10.8,283,1806,0.00,1.05,0.00,0.000,1030,0.000,0.094,2318,2005,3284,3294,3274,0,0,0,0,0,0,26.41,26.34,26.46
$GC,1935,-0.79,-116.8,2317,2005,3293,3273,219.7,-11.4,297,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2005,3284,3294,3274,0,0,0,0,0,0,26.60,26.69,26.67
$GC,2066,-0.79,-116.8,2317,2005,3293,3273,234.3,-11.3,310,2070,0.00,1.05,0.00,0.000,516,0.000,0.038,2321,1300,3283,3293,3273,0,0,0,0,0,0,26.65,26.49,26.69
$GC,2129,-0.79,-116.8,2321,1300,3293,3274,241.6,-10.7,322,2133,0.00,1.05,0.00,0.000,1030,0.000,0.038,2318,2001,3283,3293,3273,0,0,0,0,0,0,26.57,26.53,26.60
$GC,2261,-0.79,-116.8,2318,2001,3293,3273,256.1,-11.2,336,2263,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2001,3283,3294,3273,0,0,0,0,0,0,26.72,26.79,26.79
$GC,2383,-0.79,-116.8,2317,2001,3293,3273,269.4,-11.0,348,2388,0.00,1.05,0.00,0.000,516,0.000,0.041,2321,1297,3283,3293,3273,0,0,0,0,0,0,26.74,26.44,26.79
$GC,2540,-0.79,-116.8,2320,1297,3293,3272,286.8,-10.7,378,2544,0.00,1.05,0.00,0.000,1030,0.000,0.034,2318,2000,3282,3293,3272,0,0,0,0,0,0,26.60,26.57,26.63
$STATE,2549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2549,begin apogee
$GC,2554,-0.18,0.0,2317,1762,3293,3272,287.9,-10.8,380,2744,0.68,0.00,180.30,0.659,10246,0.159,0.000,2519,1760,2801,2857,2746,0,0,0,0,1,0,25.98,24.96,24.10
$STATE,2750,end apogee,CONTROL_FINISHED_OK
$STATE,2750,begin climb
$GC,2751,0.79,116.8,2519,1760,2862,2751,293.2,0.0,399,2955,1.05,1.02,195.35,0.574,10756,0.120,0.040,2840,1140,2318,2447,2190,0,0,0,0,0,0,25.13,24.96,24.41
$GC,3001,0.79,116.8,2840,1141,2424,2175,276.2,10.5,445,3005,0.00,1.02,0.00,0.000,1030,0.000,0.032,2837,1799,2299,2424,2175,0,0,0,0,0,0,25.45,25.43,25.44
$GC,3135,0.79,116.8,2836,1799,2420,2170,261.9,10.6,459,3142,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1799,2294,2419,2170,0,0,0,0,0,0,25.97,26.04,26.03
$GC,3263,0.79,116.8,2836,1799,2417,2169,248.1,10.8,472,3267,0.00,1.05,0.00,0.000,260,0.000,0.052,2832,2488,2292,2417,2168,0,0,0,0,0,0,26.19,26.05,26.25
$GC,3326,0.79,116.8,2831,2488,2418,2165,241.1,10.9,484,3331,0.00,0.98,0.00,0.000,1030,0.000,0.036,2835,1831,2291,2418,2165,0,0,0,0,0,0,26.18,26.14,26.20
$GC,3459,0.79,116.8,2834,1832,2417,2165,227.3,10.1,498,3463,0.00,1.12,0.00,0.000,516,0.000,0.045,2841,1103,2291,2417,2165,0,0,0,0,0,0,26.28,26.20,26.34
$GC,3535,0.79,120.4,2840,1103,2417,2166,219.5,9.8,513,3543,0.00,1.05,0.00,0.000,1062,0.000,0.035,2837,1800,2291,2417,2165,0,0,0,0,0,0,26.32,26.29,26.34
$GC,3665,0.80,129.0,2837,1799,2416,2165,207.3,9.5,526,3672,0.00,0.00,0.00,0.000,38,0.000,0.000,2837,1799,2290,2416,2165,0,0,0,0,0,0,26.45,26.52,26.51
$GC,3793,0.81,132.7,2836,1799,2415,2164,194.6,9.8,539,3815,0.00,1.02,13.82,0.685,8484,0.000,0.046,2832,2485,2251,2382,2121,0,0,0,0,0,0,26.36,25.82,25.44
$GC,3917,0.81,132.7,2831,2485,2375,2116,181.9,10.1,562,3925,0.00,1.02,0.00,0.000,1030,0.000,0.036,2835,1793,2245,2375,2116,0,0,0,0,0,0,26.35,26.31,26.35
$GC,4043,0.81,132.7,2835,1794,2375,2116,169.2,10.1,575,4045,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1794,2245,2375,2116,0,0,0,0,0,0,26.30,26.36,26.39
$GC,4165,0.81,132.7,2835,1794,2374,2116,157.1,10.3,587,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1793,2245,2374,2116,0,0,0,0,0,0,26.44,26.51,26.50
$GC,4294,0.81,137.0,2835,1794,2373,2115,143.9,9.8,600,4296,0.00,0.00,0.00,0.000,38,0.000,0.000,2836,1794,2244,2373,2116,0,0,0,0,0,0,26.51,26.58,26.56
$GC,4414,0.81,137.0,2835,1793,2373,2116,131.9,10.2,612,4418,0.00,1.05,0.00,0.000,516,0.000,0.047,2841,1098,2244,2373,2116,0,0,0,0,0,0,26.55,26.41,26.60
$GC,4490,0.81,137.0,2840,1098,2372,2116,123.1,11.0,627,4498,0.00,1.05,0.00,0.000,1030,0.000,0.034,2837,1798,2244,2372,2116,0,0,0,0,0,0,26.49,26.47,26.55
$GC,4618,0.81,137.0,2836,1799,2371,2116,109.9,10.3,640,4622,0.00,1.08,0.00,0.000,516,0.000,0.052,2841,1097,2244,2372,2116,0,0,0,0,0,0,26.63,26.43,26.68
$GC,4723,0.81,137.0,2840,1097,2372,2115,98.9,11.2,660,4731,0.00,1.05,0.00,0.000,1030,0.000,0.041,2837,1800,2243,2371,2115,0,0,0,0,0,0,26.55,26.47,26.53
$GC,4857,0.82,141.9,2837,1800,2371,2115,85.1,9.7,685,4865,0.00,1.05,2.53,0.543,8484,0.000,0.042,2832,2489,2222,2355,2090,0,0,0,0,0,0,26.66,26.10,24.89
$GC,4987,0.88,195.4,2831,2489,2356,2091,74.4,6.9,709,5078,0.10,1.00,86.70,0.549,11302,0.142,0.037,2870,1801,2004,2148,1861,0,0,0,0,0,0,26.17,26.51,25.03
$GC,5204,0.88,195.4,2869,1801,2127,1845,53.5,10.2,746,5211,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1801,1986,2127,1845,0,0,0,0,0,0,26.12,26.18,26.17
$GC,5336,0.90,209.4,2869,1800,2125,1844,40.5,9.2,771,5344,0.00,0.00,4.20,0.632,8486,0.000,0.000,2870,1801,1948,2092,1804,0,0,0,0,0,0,26.29,25.82,25.15
$GC,5469,0.91,217.2,2869,1801,2095,1804,28.4,9.6,796,5479,0.00,1.10,4.15,0.595,8740,0.000,0.046,2875,1110,1916,2062,1770,0,0,0,0,0,0,26.28,25.96,25.17
$GC,5567,0.91,217.2,2874,1109,2065,1769,18.2,10.9,814,5575,0.00,1.05,0.00,0.000,1030,0.000,0.039,2872,1800,1917,2065,1770,0,0,0,0,0,0,26.17,26.13,26.21
$GC,5707,0.99,285.5,2872,1800,2064,1770,8.0,6.1,839,5786,0.12,0.00,76.05,0.509,10530,0.142,0.000,2914,1802,1733,1883,1583,0,0,0,0,0,0,26.15,28.83,26.21
$STATE,5787,end climb,SURFACE_DEPTH_REACHED
$STATE,5787,begin surface coast
$FINISH,-0.3,1.025194
$STATE,5809,end surface coast,CONTROL_FINISHED_OK
$STATE,5809,begin surface
$SM_CCo,5829,231.65,0.568,1,0,588,542.11
$SM_GC,0.57,7.62,0.28,231.65,0.052,0.048,0.568,190,2004,588,-7.39,-1.47,542.11,0,0,0,0,1,0,25.90,25.86,24.42
$IRIDIUM_FIX,4752.57,-12511.36,160921,034806
$TT8_MAMPS,0.021721,0.146804
$HUMID,53.66
$INTERNAL_PRESSURE,8.73803
$TCM_TEMP,15.30
$XPDR_PINGS,0
$CP_FREE,121621676032.000000
$CP_POWER,323.300000
$CP_POWER1,0.000000
$24V_AH,24.10,2.449
$10V_AH,10.20,1.218
$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,17.900,33.925,563.100,231.650,0.000,0.000,0.000,244.250,0.000,0.000,17.393,1841.676,1461.711,821.194,2039.899,314.638,0.000,1886.893,0.000,1865.002,0.000,1.019,0.000
$DEVICE_MAMPS,221.085,94.095,685.440,567.630,0.000,0.000,0.000,107.865,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,485.481,1534.219,0.000,0.000,0.000,0.000,5634.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,154576
$DATA_FILE_SIZE,43548,854
$CAP_FILE_SIZE,102237,0
$CFSIZE,260030464,249393152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.027,131.26,1
$GPS,160921,073539,4750.740,-12513.012,10,1.0,23,15.7,0.1,0.0,12,2.3