version: 66.14
glider: 204
mission: 9
dive: 28
start: 9 16 121 20 33 5
data:
$ID,204
$MISSION,9
$DIVE,28
$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,35
$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,54.0
$CP_NDIVE,1.0
$GPS1,160921,202631,4753.8374,-12515.4355,7,1.3,25,15.7,0.1,0.0,8,6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-61.4
$GPS2,160921,203208,4753.8672,-12515.3467,4,0.7,5,15.7,0.7,110.7,12,7.6
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,TRANSIT3
$TGT_LATLONG,4754.850,-12516.206
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,304.1,2110,-18.1,-10.000,-23.17,1779
$D_GRID,260
$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,-116.8,170,1990,742,430,0.0,0.0,0,133,0.00,0.00,-104.75,0.011,16386,0.000,0.000,170,1990,3024,3010,3038,0,0,0,0,0,0,26.11,28.83,26.18
$GC,136,-0.79,-116.8,170,1990,3011,3038,3.7,-6.2,15,159,8.27,1.05,-5.57,0.019,18980,0.218,0.070,2324,1295,3275,3277,3274,0,0,0,0,0,0,25.65,25.52,25.82
$GC,316,-0.79,-116.8,2324,1294,3283,3274,34.6,-14.5,48,323,0.00,1.10,0.00,0.000,1030,0.000,0.039,2320,2016,3278,3283,3273,0,0,0,0,0,0,26.29,26.27,26.33
$GC,454,-0.79,-116.8,2319,2016,3284,3273,55.2,-14.1,73,462,0.00,1.08,0.00,0.000,516,0.000,0.039,2323,1306,3279,3285,3273,0,0,0,0,0,0,26.50,26.30,26.54
$GC,537,-0.79,-116.8,2322,1307,3286,3273,66.5,-12.7,88,545,0.00,1.05,0.00,0.000,1030,0.000,0.037,2320,1998,3279,3286,3273,0,0,0,0,0,0,26.39,26.36,26.42
$GC,673,-0.79,-116.8,2319,1999,3286,3273,82.9,-12.0,113,682,0.00,1.05,0.00,0.000,260,0.000,0.044,2314,2709,3279,3286,3273,0,0,0,0,0,0,26.51,26.37,26.56
$GC,721,-0.79,-116.8,2314,2710,3287,3273,88.3,-10.9,121,729,0.00,1.02,0.00,0.000,1030,0.000,0.031,2318,1990,3280,3287,3273,0,0,0,0,0,0,26.49,26.47,26.50
$GC,855,-0.79,-116.8,2317,1990,3287,3273,102.7,-11.2,144,859,0.00,1.00,0.00,0.000,516,0.000,0.047,2323,1313,3280,3287,3273,0,0,0,0,0,0,26.61,26.44,26.66
$GC,1100,-0.79,-116.8,2322,1313,3286,3273,129.2,-11.2,190,1104,0.00,1.05,0.00,0.000,1030,0.000,0.044,2319,2010,3279,3287,3272,0,0,0,0,0,0,26.51,26.48,26.53
$GC,1234,-0.79,-116.8,2319,2010,3288,3272,143.4,-10.2,204,1241,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2010,3280,3288,3272,0,0,0,0,0,0,26.65,26.71,26.70
$GC,1362,-0.79,-116.8,2319,2010,3288,3271,156.8,-9.8,217,1371,0.00,0.00,0.00,0.000,38,0.000,0.000,2319,2009,3280,3288,3272,0,0,0,0,0,0,26.68,26.74,26.73
$GC,1492,-0.79,-116.8,2319,2009,3288,3271,168.6,-8.6,230,1496,0.00,1.02,0.00,0.000,548,0.000,0.039,2323,1322,3279,3288,3271,0,0,0,0,0,0,26.65,26.51,26.70
$GC,1657,-0.79,-116.8,2322,1322,3288,3271,184.1,-10.0,260,1660,0.00,1.02,0.00,0.000,1030,0.000,0.037,2319,2002,3279,3288,3271,0,0,0,0,0,0,26.57,26.53,26.59
$GC,1789,-0.79,-116.8,2319,2002,3287,3270,198.0,-10.7,274,1797,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2002,3279,3288,3271,0,0,0,0,0,0,26.71,26.77,26.77
$GC,1921,-0.79,-116.8,2319,2002,3288,3269,211.5,-10.4,287,1927,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2002,3278,3288,3269,0,0,0,0,0,0,26.56,26.66,26.63
$GC,2048,-0.79,-116.8,2319,2002,3288,3269,225.4,-11.1,300,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2002,3278,3288,3269,0,0,0,0,0,0,26.65,26.72,26.71
$GC,2169,-0.79,-116.8,2318,2002,3288,3269,238.4,-10.8,312,2173,0.00,1.02,0.00,0.000,516,0.000,0.047,2323,1319,3279,3289,3269,0,0,0,0,0,0,26.67,26.41,26.76
$GC,2299,-0.79,-116.8,2322,1319,3288,3269,252.1,-10.1,336,2303,0.00,1.02,0.00,0.000,1030,0.000,0.036,2319,2001,3278,3288,3269,0,0,0,0,0,0,26.59,26.56,26.62
$STATE,2379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2379,begin apogee
$GC,2384,-0.18,0.0,2319,1787,3288,3268,260.4,-9.9,345,2561,0.68,0.00,172.12,0.595,10246,0.159,0.000,2519,1786,2796,2852,2741,0,0,0,0,0,0,25.96,25.20,24.64
$STATE,2567,end apogee,CONTROL_FINISHED_OK
$STATE,2567,begin climb
$GC,2568,0.79,116.8,2519,1786,2840,2731,265.4,0.0,363,2754,1.02,0.00,180.95,0.571,10758,0.119,0.000,2832,1786,2321,2449,2193,0,0,0,0,0,0,25.30,24.97,24.47
$GC,2880,0.79,116.8,2831,1786,2422,2171,242.1,10.0,395,2881,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1786,2296,2422,2171,0,0,0,0,0,0,25.84,25.92,25.91
$GC,3000,0.79,120.7,2832,1786,2419,2170,230.5,9.8,407,3004,0.00,1.00,0.00,0.000,548,0.000,0.044,2837,1136,2294,2419,2170,0,0,0,0,0,0,26.13,25.98,26.18
$GC,3053,0.80,124.0,2836,1136,2419,2170,225.2,9.8,417,3058,0.00,1.02,0.00,0.000,1062,0.000,0.111,2834,1806,2294,2418,2170,0,0,0,0,0,0,26.10,26.08,26.12
$GC,3186,0.80,129.2,2833,1806,2417,2168,212.3,9.7,431,3196,0.00,1.00,4.65,0.825,8484,0.000,0.039,2829,2490,2275,2403,2148,0,0,0,0,0,0,26.34,25.65,25.19
$GC,3271,0.81,132.8,2828,2490,2403,2148,203.9,9.8,447,3286,0.00,0.98,8.55,0.750,9254,0.000,0.105,2832,1833,2254,2385,2123,0,0,0,0,0,0,26.10,26.02,25.22
$GC,3414,0.81,132.8,2831,1833,2380,2120,189.5,10.2,463,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1833,2250,2380,2120,0,0,0,0,0,0,26.31,26.38,26.36
$GC,3534,0.81,132.8,2831,1833,2379,2120,176.4,11.0,475,3536,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1833,2249,2379,2120,0,0,0,0,0,0,26.38,26.46,26.44
$GC,3654,0.81,132.8,2831,1833,2378,2120,164.0,10.1,487,3658,0.00,1.10,0.00,0.000,516,0.000,0.045,2838,1110,2249,2378,2120,0,0,0,0,0,0,26.46,26.31,26.51
$GC,3760,0.81,132.8,2838,1110,2378,2120,153.2,10.1,508,3768,0.00,1.02,0.00,0.000,1030,0.000,0.034,2834,1796,2249,2378,2120,0,0,0,0,0,0,26.41,26.40,26.46
$GC,3888,0.82,142.4,2833,1795,2377,2120,141.0,9.4,521,3901,0.00,1.02,3.75,0.853,8484,0.000,0.048,2829,2484,2219,2351,2088,0,0,0,0,0,0,26.40,25.63,24.84
$GC,3969,0.83,152.2,2828,2484,2352,2088,133.3,9.4,536,3982,0.03,1.02,8.73,0.724,11302,0.178,0.037,2840,1789,2180,2315,2046,0,0,0,0,0,0,26.22,26.40,25.40
$GC,4111,0.83,153.9,2839,1789,2305,2039,119.8,9.9,551,4115,0.00,1.02,0.00,0.000,548,0.000,0.047,2845,1114,2172,2305,2039,0,0,0,0,0,0,26.48,26.24,26.53
$GC,4260,0.84,157.4,2845,1114,2304,2039,104.5,9.8,579,4264,0.00,1.02,0.00,0.000,1062,0.000,0.035,2842,1797,2171,2304,2039,0,0,0,0,0,0,26.44,26.41,26.46
$GC,4392,0.84,157.4,2842,1797,2303,2039,89.8,10.9,601,4400,0.00,1.02,0.00,0.000,260,0.000,0.044,2837,2489,2170,2302,2039,0,0,0,0,0,0,26.55,26.40,26.62
$GC,4530,0.84,160.9,2836,2489,2301,2037,74.7,9.8,627,4539,0.00,1.00,3.05,0.609,9254,0.000,0.036,2840,1808,2142,2277,2008,0,0,0,0,0,0,26.48,26.45,24.93
$GC,4667,0.85,169.2,2839,1808,2280,2008,62.0,9.5,652,4675,0.00,0.00,4.00,0.690,8230,0.000,0.000,2840,1808,2110,2249,1971,0,0,0,0,0,0,26.60,26.01,25.27
$GC,4800,0.88,194.9,2840,1808,2251,1971,49.9,8.5,677,4845,0.10,1.12,38.90,0.549,10788,0.184,0.100,2871,1106,2002,2145,1860,0,0,0,0,0,0,26.20,25.89,25.33
$GC,4935,0.90,208.0,2870,1106,2132,1857,36.8,9.2,700,4950,0.00,1.05,8.73,0.579,9254,0.000,0.034,2868,1800,1948,2088,1808,0,0,0,0,0,0,26.20,26.17,25.19
$GC,5079,0.90,208.0,2867,1800,2081,1801,22.3,10.6,726,5086,0.00,1.02,0.00,0.000,260,0.000,0.042,2862,2487,1940,2081,1800,0,0,0,0,0,0,26.27,26.18,26.33
$STATE,5295,end climb,SURFACE_DEPTH_REACHED
$STATE,5295,begin surface coast
$FINISH,0.3,1.025729
$STATE,5317,end surface coast,CONTROL_FINISHED_OK
$STATE,5317,begin surface
$SM_CCo,5336,322.62,0.549,1,0,587,542.11
$SM_GC,0.57,7.38,0.73,322.62,0.054,0.031,0.549,173,1992,587,-7.39,1.61,542.11,0,0,0,0,1,0,26.42,26.39,24.39
$IRIDIUM_FIX,4751.65,-12513.98,160921,185324
$TT8_MAMPS,0.02247,0.146055
$HUMID,52.87
$INTERNAL_PRESSURE,8.72826
$TCM_TEMP,15.20
$XPDR_PINGS,0
$CP_FREE,118847045632.000000
$CP_POWER,323.300000
$CP_POWER1,0.000000
$24V_AH,24.39,3.593
$10V_AH,10.20,1.792
$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,17.475,28.925,433.425,322.625,0.000,0.000,0.000,213.925,2.750,0.000,16.798,1755.872,1280.049,832.302,1880.021,292.156,0.000,1748.752,0.000,1710.276,0.000,19.429,0.000
$DEVICE_MAMPS,218.025,110.925,852.975,548.505,0.000,0.000,0.000,104.805,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,454.620,1431.205,0.000,0.000,0.000,0.000,5152.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,154152
$DATA_FILE_SIZE,40224,772
$CAP_FILE_SIZE,95805,0
$CFSIZE,260030464,248696832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.046,164.43,1
$GPS,160921,220831,4754.121,-12515.902,6,1.1,16,15.7,0.5,49.3,8,5.8