version: 66.14
glider: 204
mission: 9
dive: 20
start: 9 16 121 7 42 44
data:
$ID,204
$MISSION,9
$DIVE,20
$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,59
$R_STBD_OVSHOOT,52
$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,38.0
$CP_NDIVE,1.0
$GPS1,160921,073539,4750.7397,-12513.0117,10,1.0,23,15.7,0.1,0.0,12,2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-53.5
$GPS2,160921,074148,4750.6704,-12512.9756,2,0.7,4,15.7,0.1,0.0,12,9.3
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,TRANSIT1
$TGT_LATLONG,4753.173,-12514.240
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,322.3,4894,-18.1,-10.000,-23.17,1779
$D_GRID,280
$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,26,-0.79,-116.8,184,2011,736,433,0.0,0.0,0,134,0.00,0.00,-105.50,0.011,16386,0.000,0.000,184,2007,3099,3085,3114,0,0,0,0,0,0,26.06,28.83,26.14
$GC,136,-0.79,-116.8,184,2007,3085,3114,4.5,-8.3,15,153,8.23,1.10,-3.67,0.026,18980,0.220,0.064,2323,1292,3279,3277,3282,0,0,0,0,0,0,25.66,24.46,25.82
$GC,161,-0.79,-116.8,2322,1291,3282,3282,13.6,-29.6,18,168,0.00,1.08,0.00,0.000,1030,0.000,0.036,2317,1994,3282,3283,3281,0,0,0,0,0,0,26.18,26.17,26.22
$GC,296,-0.79,-116.8,2317,1994,3288,3278,33.4,-14.7,43,303,0.00,1.05,0.00,0.000,260,0.000,0.041,2313,2705,3283,3288,3278,0,0,0,0,0,0,26.34,26.25,26.40
$GC,351,-0.79,-116.8,2312,2706,3289,3278,41.6,-14.4,53,360,0.05,1.02,0.00,0.000,3078,0.194,0.031,2326,1986,3283,3289,3278,0,0,0,0,0,0,26.03,26.33,26.10
$GC,485,-0.79,-116.8,2325,1985,3291,3277,59.4,-12.8,78,493,0.00,0.98,0.00,0.000,516,0.000,0.042,2330,1323,3284,3291,3277,0,0,0,0,0,0,26.35,26.29,26.37
$GC,674,-0.79,-116.8,2330,1324,3293,3277,81.5,-11.6,114,682,0.00,1.02,0.00,0.000,1030,0.000,0.035,2327,2009,3284,3293,3276,0,0,0,0,0,0,26.41,26.42,26.41
$GC,807,-0.79,-116.8,2327,2009,3294,3277,96.4,-11.6,139,814,0.00,1.02,0.00,0.000,516,0.000,0.038,2330,1321,3285,3294,3277,0,0,0,0,0,0,26.59,26.44,26.64
$GC,874,-0.79,-116.8,2330,1322,3294,3277,104.2,-11.1,151,877,0.00,1.00,0.00,0.000,1030,0.000,0.035,2327,1993,3285,3295,3276,0,0,0,0,0,0,26.49,26.46,26.51
$GC,1005,-0.79,-116.8,2327,1993,3294,3276,117.9,-10.1,165,1010,0.00,1.02,0.00,0.000,516,0.000,0.096,2330,1314,3285,3295,3276,0,0,0,0,0,0,26.45,26.44,26.51
$GC,1126,-0.79,-116.8,2330,1314,3294,3276,130.0,-10.0,187,1130,0.00,1.02,0.00,0.000,1062,0.000,0.035,2327,2000,3285,3295,3276,0,0,0,0,0,0,26.53,26.50,26.59
$GC,1258,-0.79,-116.8,2326,2000,3295,3275,143.6,-10.5,201,1262,0.00,1.02,0.00,0.000,516,0.000,0.038,2330,1314,3285,3295,3275,0,0,0,0,0,0,26.65,26.50,26.70
$GC,1344,-0.79,-116.8,2330,1314,3295,3275,152.9,-10.1,218,1352,0.00,1.02,0.00,0.000,1030,0.000,0.041,2327,1997,3285,3295,3275,0,0,0,0,0,0,26.43,26.38,26.46
$GC,1474,-0.79,-116.8,2326,1998,3295,3275,166.2,-10.5,231,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1997,3285,3295,3275,0,0,0,0,0,0,26.59,26.69,26.70
$GC,1603,-0.79,-116.8,2327,1998,3295,3275,179.0,-9.8,244,1606,0.00,1.00,0.00,0.000,548,0.000,0.037,2330,1322,3285,3295,3275,0,0,0,0,0,0,26.66,26.52,26.73
$GC,1720,-0.79,-116.8,2330,1322,3295,3274,190.3,-9.9,266,1724,0.00,1.02,0.00,0.000,1062,0.000,0.039,2327,2009,3284,3295,3274,0,0,0,0,0,0,26.55,26.52,26.58
$GC,1855,-0.79,-116.8,2326,2010,3295,3274,203.2,-9.7,280,1861,0.00,0.00,0.00,0.000,38,0.000,0.000,2327,2010,3284,3295,3274,0,0,0,0,0,0,26.70,26.77,26.73
$GC,1982,-0.79,-116.8,2326,2009,3295,3274,216.1,-10.1,293,1984,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2009,3284,3295,3274,0,0,0,0,0,0,26.72,26.78,26.77
$GC,2102,-0.79,-116.8,2326,2010,3295,3274,228.3,-10.1,305,2107,0.00,1.02,0.00,0.000,516,0.000,0.038,2330,1322,3284,3295,3274,0,0,0,0,0,0,26.69,26.48,26.70
$GC,2197,-0.79,-116.8,2330,1322,3295,3274,238.0,-10.3,323,2201,0.00,1.00,0.00,0.000,1030,0.000,0.035,2327,1996,3284,3295,3274,0,0,0,0,0,0,26.59,26.56,26.63
$GC,2329,-0.79,-116.8,2326,1996,3295,3273,251.8,-10.8,337,2331,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1996,3284,3295,3274,0,0,0,0,0,0,26.71,26.75,26.77
$GC,2449,-0.79,-116.8,2326,1995,3295,3274,264.8,-10.7,349,2451,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,1995,3284,3295,3274,0,0,0,0,0,0,26.72,26.77,26.80
$GC,2569,-0.79,-116.8,2326,1996,3295,3274,276.8,-9.8,361,2573,0.00,1.00,0.00,0.000,548,0.000,0.038,2330,1322,3284,3295,3273,0,0,0,0,0,0,26.74,26.55,26.79
$STATE,2600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2600,begin apogee
$GC,2605,-0.18,0.0,2328,1818,3295,3274,280.1,-9.7,367,2802,0.65,0.00,188.30,0.600,10246,0.165,0.000,2522,1821,2793,2849,2738,0,0,0,0,0,0,26.00,24.99,24.63
$STATE,2807,end apogee,CONTROL_FINISHED_OK
$STATE,2807,begin climb
$GC,2809,0.79,116.8,2522,1821,2840,2732,283.6,0.0,387,2999,1.00,1.12,181.90,0.577,10756,0.116,0.035,2834,1127,2318,2447,2190,0,0,0,0,0,0,25.29,24.81,24.45
$GC,3072,0.79,116.8,2833,1127,2424,2178,262.9,11.0,426,3076,0.00,1.02,0.00,0.000,1030,0.000,0.043,2831,1793,2301,2424,2178,0,0,0,0,0,0,25.62,25.59,25.64
$GC,3206,0.79,116.8,2831,1794,2421,2174,248.4,10.5,440,3210,0.00,1.05,0.00,0.000,260,0.000,0.043,2825,2483,2297,2421,2174,0,0,0,0,0,0,26.06,25.92,26.11
$GC,3281,0.79,116.8,2825,2484,2421,2170,240.6,10.0,454,3284,0.00,1.00,0.00,0.000,1030,0.000,0.036,2829,1811,2296,2422,2170,0,0,0,0,0,0,26.10,26.08,26.12
$GC,3415,0.79,118.4,2828,1810,2420,2169,227.4,9.9,468,3419,0.00,1.10,0.00,0.000,548,0.000,0.045,2835,1098,2295,2420,2170,0,0,0,0,0,0,26.32,26.17,26.38
$GC,3469,0.79,118.9,2834,1098,2420,2169,221.8,10.0,478,3473,0.00,1.05,0.00,0.000,1062,0.000,0.034,2831,1797,2294,2419,2170,0,0,0,0,0,0,26.28,26.25,26.31
$GC,3601,0.80,129.9,2831,1797,2417,2169,209.3,9.4,492,3611,0.00,1.08,4.35,0.799,8484,0.000,0.043,2825,2495,2272,2402,2143,0,0,0,0,0,0,26.45,26.06,25.27
$GC,3648,0.81,136.2,2825,2496,2408,2144,205.1,9.6,499,3669,0.00,1.02,15.57,0.664,9254,0.000,0.036,2829,1802,2242,2375,2110,0,0,0,0,0,0,26.35,26.29,25.31
$GC,3789,0.82,140.0,2828,1802,2364,2103,191.8,9.8,515,3796,0.00,0.00,0.00,0.000,38,0.000,0.000,2829,1802,2233,2364,2103,0,0,0,0,0,0,26.36,26.40,26.39
$GC,3917,0.82,140.0,2829,1802,2363,2103,178.5,10.3,528,3920,0.00,1.05,0.00,0.000,260,0.000,0.050,2826,2496,2233,2363,2103,0,0,0,0,0,0,26.41,26.26,26.47
$GC,3949,0.82,140.0,2825,2496,2363,2102,175.1,10.4,534,3953,0.00,1.02,0.00,0.000,1030,0.000,0.037,2829,1802,2232,2363,2102,0,0,0,0,0,0,26.31,26.27,26.32
$GC,4081,0.82,140.0,2829,1802,2363,2102,161.7,10.4,548,4085,0.05,1.05,0.00,0.000,2564,0.226,0.047,2844,1112,2232,2363,2102,0,0,0,0,0,0,26.29,26.26,26.35
$GC,4116,0.82,140.0,2844,1112,2363,2102,157.7,10.8,555,4124,0.00,1.02,0.00,0.000,1030,0.000,0.041,2841,1800,2232,2362,2102,0,0,0,0,0,0,26.37,26.34,26.41
$GC,4247,0.82,140.0,2840,1800,2362,2102,144.3,10.6,568,4251,0.00,1.08,0.00,0.000,516,0.000,0.052,2845,1100,2232,2362,2102,0,0,0,0,0,0,26.55,26.37,26.63
$GC,4311,0.82,140.0,2844,1100,2362,2102,137.1,11.2,580,4315,0.00,1.05,0.00,0.000,1030,0.000,0.035,2841,1801,2232,2362,2102,0,0,0,0,0,0,26.47,26.44,26.50
$GC,4443,0.82,140.0,2840,1801,2361,2102,123.0,10.9,594,4447,0.00,1.02,0.00,0.000,260,0.000,0.043,2836,2494,2231,2361,2102,0,0,0,0,0,0,26.51,26.38,26.55
$GC,4510,0.82,140.0,2835,2494,2358,2102,115.5,11.2,607,4518,0.00,1.02,0.00,0.000,1030,0.000,0.038,2840,1798,2230,2358,2102,0,0,0,0,0,0,26.46,26.44,26.49
$GC,4638,0.82,140.6,2838,1798,2358,2102,102.4,10.0,620,4642,0.00,1.05,0.00,0.000,548,0.000,0.046,2844,1106,2230,2359,2102,0,0,0,0,0,0,26.54,26.43,26.61
$GC,4736,0.82,140.6,2844,1106,2358,2102,92.4,10.3,639,4744,0.00,1.05,0.00,0.000,1030,0.000,0.043,2841,1802,2230,2358,2102,0,0,0,0,0,0,26.41,25.97,26.44
$GC,4873,0.82,146.6,2840,1802,2357,2102,79.3,9.7,664,4881,0.00,1.05,3.28,0.655,8484,0.000,0.044,2836,2491,2201,2333,2070,0,0,0,0,0,0,26.57,26.12,24.97
$GC,4914,0.83,156.0,2835,2491,2335,2071,75.4,9.5,671,4930,0.00,1.02,8.95,0.656,9254,0.000,0.037,2839,1794,2160,2295,2026,0,0,0,0,0,0,26.47,26.43,25.02
$GC,5057,0.84,162.6,2839,1793,2288,2022,62.1,9.6,697,5066,0.00,1.00,2.03,0.360,8740,0.000,0.042,2845,1109,2138,2274,2002,0,0,0,0,0,0,26.55,25.25,23.45
$GC,5186,0.86,175.2,2844,1109,2275,2002,50.1,9.3,721,5209,0.05,1.05,13.95,0.600,11302,0.194,0.035,2857,1803,2080,2218,1942,0,0,0,0,0,0,26.15,26.43,25.43
$GC,5334,0.86,179.9,2856,1803,2213,1938,35.3,9.7,748,5342,0.00,1.08,0.00,0.000,548,0.000,0.045,2862,1109,2076,2214,1938,0,0,0,0,0,0,26.42,26.28,26.48
$GC,5446,0.88,197.8,2861,1109,2212,1938,24.3,9.0,768,5477,0.00,1.05,26.90,0.548,9254,0.000,0.039,2858,1805,1994,2136,1853,0,0,0,0,0,0,26.29,26.28,25.39
$GC,5603,0.94,246.3,2858,1806,2122,1842,11.5,7.2,796,5683,0.12,1.08,73.55,0.507,10532,0.147,0.042,2896,2491,1791,1938,1644,0,0,0,0,0,0,26.04,25.56,25.02
$STATE,5735,end climb,SURFACE_DEPTH_REACHED
$STATE,5735,begin surface coast
$FINISH,-0.3,1.025616
$STATE,5757,end surface coast,CONTROL_FINISHED_OK
$STATE,5757,begin surface
$SM_CCo,5777,538.40,0.481,1,0,588,542.11
$SM_GC,0.64,7.57,0.75,538.40,0.053,0.029,0.481,171,1997,588,-7.39,1.44,542.11,0,0,0,0,1,0,26.03,25.98,24.44
$IRIDIUM_FIX,4748.89,-12512.13,160921,054827
$TT8_MAMPS,0.021721,0.146804
$HUMID,52.24
$INTERNAL_PRESSURE,8.74779
$TCM_TEMP,15.10
$XPDR_PINGS,0
$CP_FREE,121269420032.000000
$CP_POWER,323.310000
$CP_POWER1,0.000000
$24V_AH,23.45,2.613
$10V_AH,10.20,1.290
$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,17.725,45.100,518.775,538.400,0.000,0.000,0.000,239.700,0.000,0.000,16.941,1860.524,1456.370,1108.202,1985.959,313.555,0.000,2137.705,0.000,1818.936,0.000,1.018,0.000
$DEVICE_MAMPS,226.440,95.625,799.425,481.185,0.000,0.000,0.000,105.570,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,484.359,1527.740,0.000,0.000,0.000,0.000,5592.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,154620
$DATA_FILE_SIZE,43522,821
$CAP_FILE_SIZE,110715,0
$CFSIZE,260030464,249294848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.064,176.27,1
$GPS,160921,092909,4750.994,-12513.376,8,0.8,20,15.7,0.7,166.4,12,2.9