version: 66.14
glider: 204
mission: 9
dive: 27
start: 9 16 121 18 57 46
data:
$ID,204
$MISSION,9
$DIVE,27
$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,54
$R_STBD_OVSHOOT,42
$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,150
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$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,52.0
$CP_NDIVE,1.0
$GPS1,160921,185119,4753.6411,-12514.9268,12,1.2,15,15.7,0.9,111.9,9,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-53.5
$GPS2,160921,185638,4753.6660,-12514.8779,4,0.8,5,15.7,0.6,30.3,12,6.5
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,TRANSIT2
$TGT_LATLONG,4753.988,-12515.579
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,274.8,1055,-21.1,-10.000,-25.76,1381
$D_GRID,265
$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,-0.86,-90.5,167,1994,740,428,0.0,0.0,0,132,0.00,0.00,-104.10,0.011,16386,0.000,0.000,167,1994,2999,2985,3014,0,0,0,0,0,0,26.08,28.83,26.19
$GC,135,-0.89,-116.8,167,1994,2986,3014,3.9,-7.1,15,158,8.23,1.05,-6.03,0.018,18980,0.221,0.075,2297,1300,3279,3280,3279,0,0,0,0,0,0,25.65,24.44,25.82
$GC,385,-0.89,-116.8,2296,1300,3287,3277,49.5,-13.0,62,392,0.00,1.08,0.00,0.000,1030,0.000,0.036,2294,2010,3282,3287,3277,0,0,0,0,0,0,26.34,26.31,26.36
$GC,521,-0.89,-116.8,2292,2010,3289,3276,66.6,-12.8,87,528,0.00,1.02,0.00,0.000,260,0.000,0.043,2288,2702,3282,3289,3276,0,0,0,0,0,0,26.49,26.35,26.55
$GC,744,-0.89,-116.8,2287,2701,3290,3276,95.5,-12.7,128,752,0.00,1.02,0.00,0.000,1030,0.000,0.041,2291,1996,3283,3290,3276,0,0,0,0,0,0,26.50,26.47,26.51
$GC,876,-0.89,-116.8,2290,1996,3290,3275,111.4,-12.2,144,881,0.00,1.02,0.00,0.000,516,0.000,0.039,2296,1299,3283,3291,3275,0,0,0,0,0,0,26.52,26.42,26.58
$GC,1094,-0.89,-116.8,2295,1299,3291,3275,138.9,-12.4,186,1097,0.00,1.05,0.00,0.000,1030,0.000,0.042,2292,1990,3283,3291,3275,0,0,0,0,0,0,26.50,26.46,26.53
$GC,1226,-0.89,-116.8,2292,1990,3292,3274,153.8,-10.7,200,1231,0.00,1.02,0.00,0.000,516,0.000,0.040,2295,1303,3283,3291,3275,0,0,0,0,0,0,26.63,26.48,26.68
$GC,1353,-0.89,-116.8,2294,1302,3292,3275,167.1,-10.4,224,1357,0.00,1.05,0.00,0.000,1030,0.000,0.035,2292,1997,3283,3292,3275,0,0,0,0,0,0,26.55,26.53,26.58
$GC,1485,-0.89,-116.8,2292,1997,3292,3274,181.1,-10.8,238,1490,0.00,1.02,0.00,0.000,516,0.000,0.037,2295,1306,3283,3292,3274,0,0,0,0,0,0,26.66,26.52,26.72
$GC,1538,-0.89,-116.8,2295,1306,3292,3274,187.1,-10.9,248,1543,0.00,1.05,0.00,0.000,1030,0.000,0.043,2292,2000,3283,3292,3274,0,0,0,0,0,0,26.46,26.42,26.50
$GC,1673,-0.89,-116.8,2292,2000,3292,3274,201.4,-11.1,262,1677,0.00,1.05,0.00,0.000,260,0.000,0.047,2287,2716,3283,3292,3274,0,0,0,0,0,0,26.60,26.39,26.67
$GC,1730,-0.89,-116.8,2286,2716,3292,3274,208.2,-11.6,273,1737,0.00,1.05,0.00,0.000,1030,0.000,0.031,2290,1981,3283,3292,3274,0,0,0,0,0,0,26.62,26.59,26.64
$GC,1856,-0.89,-116.8,2288,1981,3292,3274,222.5,-11.6,286,1866,0.00,0.98,0.00,0.000,516,0.000,0.039,2295,1315,3283,3292,3274,0,0,0,0,0,0,26.68,26.52,26.74
$GC,1906,-0.89,-116.8,2293,1316,3292,3274,228.5,-12.0,294,1909,0.00,1.05,0.00,0.000,1030,0.000,0.035,2292,2012,3283,3292,3274,0,0,0,0,0,0,26.58,26.55,26.60
$GC,2040,-0.89,-116.8,2291,2012,3292,3274,244.7,-12.5,308,2047,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2012,3283,3292,3274,0,0,0,0,0,0,26.60,26.69,26.67
$GC,2168,-0.89,-116.8,2291,2012,3292,3274,261.5,-13.0,321,2172,0.00,1.02,0.00,0.000,516,0.000,0.042,2294,1321,3283,3292,3274,0,0,0,0,0,0,26.72,26.39,26.77
$STATE,2191,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2191,begin apogee
$GC,2196,-0.18,0.0,2293,1828,3292,3274,265.1,-13.0,326,2379,0.80,0.00,179.30,0.597,10246,0.152,0.000,2526,1831,2802,2857,2748,0,0,0,0,0,0,25.96,25.19,24.65
$STATE,2385,end apogee,CONTROL_FINISHED_OK
$STATE,2385,begin climb
$GC,2386,0.89,116.8,2526,1831,2847,2738,273.0,0.0,344,2590,1.12,1.17,190.00,0.568,11012,0.119,0.039,2877,1117,2312,2439,2185,0,0,0,0,0,0,25.25,25.03,24.52
$GC,2659,0.89,116.8,2876,1117,2422,2178,252.5,12.9,390,2667,0.00,1.08,0.00,0.000,1030,0.000,0.035,2876,1801,2299,2422,2176,0,0,0,0,0,0,25.63,25.59,25.67
$GC,2787,0.89,116.8,2875,1801,2419,2174,237.0,12.3,403,2790,0.00,1.05,0.00,0.000,260,0.000,0.044,2871,2486,2296,2419,2173,0,0,0,0,0,0,26.05,25.91,26.09
$GC,2839,0.89,116.8,2870,2487,2419,2169,230.8,11.9,413,2844,0.00,1.00,0.00,0.000,1030,0.000,0.036,2874,1815,2294,2419,2169,0,0,0,0,0,0,26.03,25.99,26.06
$GC,2974,0.89,116.8,2874,1815,2418,2170,215.8,11.3,427,2978,0.00,1.10,0.00,0.000,516,0.000,0.047,2880,1104,2293,2417,2169,0,0,0,0,0,0,26.29,26.09,26.35
$GC,3018,0.89,116.8,2880,1103,2418,2169,210.3,11.5,436,3027,0.00,1.08,0.00,0.000,1030,0.000,0.037,2877,1810,2293,2417,2169,0,0,0,0,0,0,26.24,26.19,26.27
$GC,3149,0.89,116.8,2876,1810,2417,2168,195.3,12.2,449,3153,0.00,1.02,0.00,0.000,260,0.000,0.044,2872,2490,2292,2417,2168,0,0,0,0,0,0,26.39,26.25,26.46
$GC,3233,0.89,116.8,2872,2490,2415,2168,184.7,12.6,465,3237,0.00,1.02,0.00,0.000,1030,0.000,0.044,2876,1797,2292,2416,2168,0,0,0,0,0,0,26.36,26.34,26.41
$GC,3365,0.89,116.8,2875,1796,2415,2168,168.6,11.9,479,3369,0.00,1.05,0.00,0.000,516,0.000,0.046,2881,1112,2291,2415,2168,0,0,0,0,0,0,26.50,26.34,26.55
$GC,3471,0.89,116.8,2880,1112,2416,2168,155.6,11.6,500,3480,0.00,1.05,0.00,0.000,1030,0.000,0.034,2878,1810,2291,2415,2168,0,0,0,0,0,0,26.44,26.41,26.47
$GC,3602,0.89,116.8,2877,1810,2414,2168,141.7,10.6,513,3606,0.00,1.10,0.00,0.000,516,0.000,0.046,2881,1104,2291,2414,2168,0,0,0,0,0,0,26.58,26.40,26.64
$GC,3709,0.90,121.2,2881,1104,2414,2168,130.5,9.7,534,3717,0.00,1.05,0.00,0.000,1062,0.000,0.035,2878,1800,2291,2414,2168,0,0,0,0,0,0,26.46,26.41,26.48
$GC,3839,0.93,146.4,2878,1799,2413,2168,119.7,8.1,547,3878,0.00,1.12,34.10,0.588,8740,0.000,0.044,2882,1096,2199,2331,2068,0,0,0,0,0,0,26.62,25.97,25.39
$GC,4066,0.93,146.4,2881,1097,2304,2053,94.6,12.1,589,4074,0.00,1.08,0.00,0.000,1030,0.000,0.035,2879,1803,2178,2304,2052,0,0,0,0,0,0,26.31,26.29,26.33
$GC,4202,0.93,146.4,2878,1804,2304,2048,78.5,11.2,614,4209,0.00,1.05,0.00,0.000,260,0.000,0.044,2873,2500,2175,2304,2047,0,0,0,0,0,0,26.48,26.29,26.53
$GC,4227,0.93,146.4,2873,2500,2304,2046,75.5,10.2,618,4235,0.00,1.02,0.00,0.000,1030,0.000,0.041,2877,1809,2175,2304,2047,0,0,0,0,0,0,26.27,26.23,26.31
$GC,4364,0.93,146.4,2876,1809,2304,2047,61.2,10.6,643,4372,0.00,1.05,0.00,0.000,260,0.000,0.041,2874,2505,2175,2304,2046,0,0,0,0,0,0,26.51,26.36,26.57
$GC,4456,0.93,146.4,2873,2505,2303,2046,51.5,10.4,660,4464,0.00,1.05,0.00,0.000,1030,0.000,0.034,2877,1791,2174,2303,2046,0,0,0,0,0,0,26.44,26.44,26.43
$GC,4593,0.97,178.0,2877,1791,2303,2045,39.8,7.6,685,4638,0.08,1.10,40.38,0.534,10788,0.174,0.045,2904,1096,2070,2208,1933,0,0,0,0,0,0,26.36,25.93,25.37
$GC,4733,0.97,178.0,2904,1096,2182,1916,25.1,11.3,709,4741,0.00,1.08,0.00,0.000,1030,0.000,0.041,2901,1799,2048,2182,1915,0,0,0,0,0,0,26.20,26.17,26.23
$GC,4867,1.01,218.3,2901,1799,2182,1911,12.7,7.0,734,4929,0.00,1.10,57.47,0.499,8740,0.000,0.044,2905,1106,1905,2047,1764,0,0,0,0,0,0,26.39,25.68,25.12
$STATE,5017,end climb,SURFACE_DEPTH_REACHED
$STATE,5017,begin surface coast
$FINISH,0.0,1.025581
$STATE,5043,end surface coast,CONTROL_FINISHED_OK
$STATE,5043,begin surface
$SM_CCo,5064,186.18,0.627,1,0,589,542.11
$SM_GC,0.66,7.55,1.40,186.18,0.054,0.032,0.627,172,1986,589,-7.39,-1.55,542.11,0,0,0,0,1,0,26.13,26.04,24.42
$IRIDIUM_FIX,4752.57,-12511.36,160921,172636
$TT8_MAMPS,0.02247,0.148302
$HUMID,53.81
$INTERNAL_PRESSURE,8.73803
$TCM_TEMP,15.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,223.4,90.0
$CP_FREE,119171317760.000000
$CP_POWER,323.300000
$CP_POWER1,0.000000
$24V_AH,24.42,3.465
$10V_AH,10.20,1.725
$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,17.775,40.125,501.250,186.175,0.000,0.000,0.000,200.225,2.250,0.000,16.857,1652.142,1124.808,729.867,1836.725,280.532,0.000,1671.519,0.000,1675.973,0.000,17.429,0.000
$DEVICE_MAMPS,221.085,74.970,596.700,626.535,0.000,0.000,0.000,104.805,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,428.954,1356.243,0.000,0.000,0.000,0.000,4860.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,154120
$DATA_FILE_SIZE,40248,765
$CAP_FILE_SIZE,92893,0
$CFSIZE,260030464,248782848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.044,83.40,1
$GPS,160921,202631,4753.837,-12515.436,7,1.3,25,15.7,0.1,0.0,8,6.6