version: 66.14
glider: 204
mission: 9
dive: 21
start: 9 16 121 9 36 13
data:
$ID,204
$MISSION,9
$DIVE,21
$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,49
$R_STBD_OVSHOOT,51
$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,40.0
$CP_NDIVE,1.0
$GPS1,160921,092909,4750.9941,-12513.3760,8,0.8,20,15.7,0.7,166.4,12,2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-59.1
$GPS2,160921,093515,4750.9282,-12513.4092,3,0.8,5,15.7,1.1,227.7,12,6.8
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,TRANSIT1
$TGT_LATLONG,4753.173,-12514.240
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,333.2,4283,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.79,-116.8,169,1990,725,448,0.0,0.0,0,132,0.00,0.00,-105.20,0.011,16386,0.000,0.000,169,1989,3082,3072,3093,0,0,0,0,0,0,26.08,28.83,26.15
$GC,135,-0.79,-116.8,169,1987,3073,3093,3.9,-7.2,15,152,8.32,1.08,-4.12,0.023,18980,0.220,0.063,2328,1275,3279,3280,3279,0,0,0,0,0,0,25.65,24.49,25.82
$GC,170,-0.79,-116.8,2327,1275,3285,3278,14.5,-26.3,20,179,0.00,1.10,0.00,0.000,1030,0.000,0.034,2325,1998,3281,3285,3278,0,0,0,0,0,0,26.22,26.19,26.25
$GC,305,-0.79,-116.8,2323,1998,3289,3277,33.1,-14.7,45,313,0.00,1.02,0.00,0.000,260,0.000,0.044,2318,2694,3282,3288,3276,0,0,0,0,0,0,26.41,26.20,26.43
$GC,406,-0.79,-116.8,2318,2695,3290,3277,46.9,-14.0,63,413,0.00,1.02,0.00,0.000,1030,0.000,0.031,2322,1974,3283,3290,3276,0,0,0,0,0,0,26.39,26.37,26.44
$GC,537,-0.79,-116.8,2322,1974,3292,3275,63.9,-13.4,88,546,0.00,0.95,0.00,0.000,516,0.000,0.039,2322,1328,3283,3291,3276,0,0,0,0,0,0,26.50,26.36,26.53
$GC,611,-0.79,-116.8,2322,1328,3292,3275,72.1,-10.6,101,619,0.00,1.00,0.00,0.000,1030,0.000,0.035,2319,1998,3283,3291,3276,0,0,0,0,0,0,26.45,26.41,26.48
$GC,744,-0.79,-116.8,2318,1998,3292,3275,87.2,-11.2,126,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,1998,3284,3293,3275,0,0,0,0,0,0,26.56,26.63,26.61
$GC,875,-0.79,-116.8,2319,1998,3293,3275,102.4,-11.5,149,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,1997,3284,3293,3276,0,0,0,0,0,0,26.55,26.63,26.60
$GC,1007,-0.79,-116.8,2318,1998,3293,3275,116.5,-10.6,162,1015,0.03,0.00,0.00,0.000,2054,0.324,0.000,2326,1998,3284,3293,3275,0,0,0,0,0,0,26.39,26.50,26.45
$GC,1135,-0.79,-116.8,2325,1998,3293,3275,129.8,-10.0,175,1139,0.00,1.00,0.00,0.000,548,0.000,0.038,2331,1322,3284,3293,3275,0,0,0,0,0,0,26.63,26.42,26.63
$GC,1199,-0.79,-116.8,2330,1322,3293,3275,136.4,-10.4,187,1203,0.00,1.02,0.00,0.000,1030,0.000,0.041,2328,2011,3283,3293,3274,0,0,0,0,0,0,26.49,26.51,26.51
$GC,1331,-0.79,-116.8,2327,2011,3293,3274,149.8,-10.3,201,1335,0.00,1.02,0.00,0.000,516,0.000,0.037,2331,1322,3283,3293,3274,0,0,0,0,0,0,26.67,26.50,26.70
$GC,1377,-0.79,-116.8,2330,1322,3293,3274,154.8,-10.3,210,1385,0.00,1.00,0.00,0.000,1030,0.000,0.034,2327,1997,3283,3293,3274,0,0,0,0,0,0,26.56,26.53,26.59
$GC,1507,-0.79,-116.8,2327,1998,3294,3274,167.7,-10.2,223,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1998,3283,3293,3274,0,0,0,0,0,0,26.64,26.70,26.67
$GC,1635,-0.79,-116.8,2326,1998,3294,3274,180.8,-10.2,236,1637,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,1998,3284,3294,3274,0,0,0,0,0,0,26.68,26.74,26.74
$GC,1755,-0.79,-116.8,2326,1998,3294,3274,192.8,-9.8,248,1760,0.00,1.00,0.00,0.000,548,0.000,0.040,2331,1323,3283,3293,3274,0,0,0,0,0,0,26.67,26.49,26.72
$GC,1809,-0.79,-116.8,2330,1323,3295,3274,198.2,-9.7,258,1813,0.00,1.00,0.00,0.000,1062,0.000,0.044,2328,1998,3283,3293,3274,0,0,0,0,0,0,26.59,26.56,26.61
$GC,1943,-0.79,-116.8,2327,1998,3293,3273,211.3,-9.9,272,1951,0.00,0.00,0.00,0.000,38,0.000,0.000,2327,1998,3283,3293,3273,0,0,0,0,0,0,26.72,26.71,26.77
$GC,2072,-0.79,-116.8,2326,1998,3293,3273,223.9,-9.7,285,2079,0.00,0.00,0.00,0.000,38,0.000,0.000,2327,1998,3283,3294,3273,0,0,0,0,0,0,26.72,26.78,26.77
$GC,2203,-0.79,-116.8,2327,1998,3295,3272,236.5,-9.7,298,2210,0.00,0.00,0.00,0.000,38,0.000,0.000,2327,1997,3283,3293,3273,0,0,0,0,0,0,26.74,26.75,26.80
$GC,2331,-0.79,-116.8,2327,1998,3293,3272,249.0,-9.5,311,2335,0.00,1.00,0.00,0.000,548,0.000,0.038,2331,1323,3283,3294,3272,0,0,0,0,0,0,26.74,26.55,26.79
$GC,2417,-0.79,-116.8,2330,1322,3294,3272,257.3,-9.9,327,2420,0.00,1.00,0.00,0.000,1062,0.000,0.035,2327,1998,3282,3293,3271,0,0,0,0,0,0,26.61,26.59,26.63
$GC,2549,-0.79,-116.8,2327,1999,3294,3270,269.3,-8.8,341,2557,0.00,0.00,0.00,0.000,38,0.000,0.000,2327,1999,3281,3293,3270,0,0,0,0,0,0,26.67,26.66,26.70
$STATE,2677,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2677,begin apogee
$GC,2682,-0.18,0.0,2327,1782,3292,3270,280.2,-8.6,354,2889,0.65,0.00,197.48,0.640,10246,0.261,0.000,2519,1781,2801,2857,2746,0,0,0,0,1,0,25.84,25.01,24.14
$STATE,2894,end apogee,CONTROL_FINISHED_OK
$STATE,2894,begin climb
$GC,2896,0.79,116.8,2519,1781,2861,2749,284.1,0.0,375,3097,1.02,1.05,192.55,0.568,10756,0.119,0.037,2835,1132,2319,2446,2192,0,0,0,0,0,0,25.16,24.98,24.45
$GC,3175,0.79,116.8,2833,1132,2426,2181,261.8,11.2,427,3179,0.00,1.02,0.00,0.000,1030,0.000,0.034,2831,1796,2304,2426,2182,0,0,0,0,0,0,25.63,25.59,25.64
$GC,3308,0.79,116.8,2830,1797,2424,2178,247.9,10.2,441,3316,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1797,2300,2423,2178,0,0,0,0,0,0,26.06,26.10,26.11
$GC,3437,0.79,116.8,2830,1796,2422,2178,234.6,10.3,454,3439,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1797,2300,2422,2178,0,0,0,0,0,0,26.25,26.22,26.25
$GC,3558,0.79,120.2,2830,1797,2420,2177,222.4,9.8,466,3561,0.00,1.02,0.00,0.000,292,0.000,0.043,2825,2486,2298,2420,2177,0,0,0,0,0,0,26.22,26.20,26.29
$GC,3654,0.80,127.2,2824,2486,2420,2173,212.8,9.6,485,3661,0.00,0.98,0.00,0.000,1062,0.000,0.036,2828,1828,2296,2420,2173,0,0,0,0,0,0,26.33,26.31,26.35
$GC,3782,0.81,134.1,2828,1828,2420,2174,200.8,9.6,498,3803,0.00,0.00,17.95,0.649,8742,0.000,0.000,2829,1828,2251,2381,2121,0,0,0,0,0,0,26.47,25.94,25.39
$GC,3924,0.81,135.5,2828,1828,2371,2115,187.1,9.9,514,3931,0.00,0.00,0.00,0.000,38,0.000,0.000,2829,1828,2243,2371,2115,0,0,0,0,0,0,26.37,26.41,26.44
$GC,4052,0.82,143.9,2828,1828,2370,2114,174.7,9.5,527,4068,0.08,1.10,11.65,0.710,10788,0.197,0.041,2847,1092,2211,2341,2082,0,0,0,0,0,0,26.18,25.77,25.37
$GC,4097,0.82,143.9,2847,1092,2335,2079,170.1,10.3,535,4101,0.00,1.08,0.00,0.000,1030,0.000,0.035,2844,1802,2207,2335,2079,0,0,0,0,0,0,26.21,26.17,26.23
$GC,4230,0.82,143.9,2843,1802,2333,2077,156.4,10.5,549,4237,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1802,2205,2333,2077,0,0,0,0,0,0,26.39,26.46,26.45
$GC,4359,0.82,143.9,2843,1802,2332,2076,142.7,10.7,562,4363,0.00,1.02,0.00,0.000,260,0.000,0.044,2839,2493,2204,2332,2076,0,0,0,0,0,0,26.48,26.27,26.54
$GC,4401,0.82,143.9,2838,2493,2331,2076,138.2,10.9,570,4405,0.00,1.02,0.00,0.000,1030,0.000,0.037,2842,1798,2203,2331,2075,0,0,0,0,0,0,26.39,26.36,26.42
$GC,4533,0.82,143.9,2841,1798,2331,2075,124.8,10.3,584,4538,0.00,1.05,0.00,0.000,516,0.000,0.045,2846,1105,2203,2331,2075,0,0,0,0,0,0,26.55,26.35,26.60
$GC,4579,0.82,143.9,2846,1105,2331,2075,119.8,10.6,593,4586,0.00,1.05,0.00,0.000,1030,0.000,0.034,2844,1801,2203,2331,2075,0,0,0,0,0,0,26.48,26.43,26.48
$GC,4707,0.82,146.2,2843,1801,2329,2075,107.1,9.9,606,4711,0.00,1.02,0.00,0.000,292,0.000,0.043,2838,2495,2202,2330,2075,0,0,0,0,0,0,26.59,26.41,26.65
$GC,4749,0.82,146.2,2838,2495,2328,2075,102.7,10.4,614,4753,0.00,1.02,0.00,0.000,1030,0.000,0.040,2842,1799,2202,2329,2075,0,0,0,0,0,0,26.35,26.34,26.37
$GC,4879,0.84,156.7,2841,1799,2329,2075,90.3,9.4,637,4893,0.00,1.02,8.18,0.679,8740,0.000,0.043,2847,1100,2157,2289,2026,0,0,0,0,0,0,26.60,25.91,25.51
$GC,4931,0.86,176.1,2846,1100,2286,2025,85.4,8.9,646,4961,0.00,1.05,20.62,0.594,9254,0.000,0.035,2844,1799,2078,2216,1940,0,0,0,0,0,0,26.42,26.41,25.38
$GC,5086,0.86,177.7,2843,1799,2208,1935,71.4,9.9,674,5094,0.08,1.08,0.00,0.000,2596,0.249,0.045,2863,1104,2071,2208,1935,0,0,0,0,0,0,26.03,26.22,26.15
$GC,5128,0.86,177.7,2862,1104,2208,1934,66.8,12.1,681,5136,0.00,1.05,0.00,0.000,1030,0.000,0.034,2860,1799,2071,2208,1934,0,0,0,0,0,0,26.32,26.29,26.35
$GC,5268,0.87,188.3,2859,1800,2207,1934,51.6,9.4,706,5276,0.00,0.00,5.97,0.649,8230,0.000,0.000,2859,1800,2034,2173,1895,0,0,0,0,0,0,26.50,25.97,25.35
$GC,5401,0.90,208.3,2859,1800,2166,1889,39.5,8.8,731,5431,0.00,1.08,25.62,0.552,8484,0.000,0.041,2853,2498,1947,2089,1806,0,0,0,0,0,0,26.46,25.94,25.35
$GC,5475,0.90,213.0,2853,2499,2080,1798,32.8,9.7,743,5483,0.00,1.05,0.00,0.000,1062,0.000,0.044,2857,1794,1939,2080,1798,0,0,0,0,0,0,26.13,26.10,26.15
$GC,5613,0.91,217.7,2857,1794,2076,1798,19.4,9.7,768,5623,0.08,1.08,2.90,0.474,10788,0.164,0.047,2885,1097,1910,2054,1767,0,0,0,0,0,0,26.18,25.89,24.91
$STATE,5790,end climb,SURFACE_DEPTH_REACHED
$STATE,5790,begin surface coast
$FINISH,0.0,1.025754
$STATE,5811,end surface coast,CONTROL_FINISHED_OK
$STATE,5812,begin surface
$SM_CCo,5831,261.85,0.574,1,0,589,542.11
$SM_GC,0.60,7.47,1.40,261.85,0.056,0.029,0.574,181,2000,589,-7.40,-1.39,542.11,0,0,0,0,1,0,26.41,26.31,24.42
$IRIDIUM_FIX,4748.89,-12512.13,160921,073755
$TT8_MAMPS,0.021721,0.146804
$HUMID,53.46
$INTERNAL_PRESSURE,8.72826
$TCM_TEMP,15.10
$XPDR_PINGS,0
$CP_FREE,120914280448.000000
$CP_POWER,323.300000
$CP_POWER1,0.000000
$24V_AH,24.14,2.744
$10V_AH,10.19,1.359
$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,17.725,35.725,482.925,261.850,0.000,0.000,0.000,235.875,0.000,0.000,18.388,1847.397,1566.841,813.845,1963.180,310.573,0.000,1837.680,0.000,1802.719,0.000,1.018,0.000
$DEVICE_MAMPS,323.595,62.730,709.920,573.750,0.000,0.000,0.000,104.805,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,489.206,1542.738,0.000,0.000,0.000,0.000,5636.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,154508
$DATA_FILE_SIZE,40249,805
$CAP_FILE_SIZE,104781,0
$CFSIZE,260030464,249217024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.064,197.25,1
$GPS,160921,111901,4751.348,-12513.624,23,1.2,24,15.7,0.4,227.6,9,4.6