version: 66.14
glider: 204
mission: 9
dive: 30
start: 9 16 121 23 58 31
data:
$ID,204
$MISSION,9
$DIVE,30
$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,51
$R_STBD_OVSHOOT,67
$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,58.0
$CP_NDIVE,1.0
$GPS1,160921,235139,4754.4473,-12516.1973,2,0.8,20,15.7,0.3,296.0,12,3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-65.7
$GPS2,160921,235726,4754.4019,-12516.2158,3,0.7,5,15.7,0.5,134.3,12,7.1
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,TRANSIT3
$TGT_LATLONG,4754.850,-12516.206
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,346.2,830,-22.0,-10.000,-26.60,1280
$D_GRID,298
$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,-0.89,-83.8,159,2016,742,426,0.0,0.0,0,138,0.00,0.00,-110.65,0.011,16386,0.000,0.000,159,2017,3120,3104,3136,0,0,0,0,0,0,26.15,28.83,26.21
$GC,141,-0.93,-116.8,159,2017,3104,3135,4.0,-7.1,16,159,8.25,1.00,-3.42,0.024,18724,0.215,0.067,2277,2690,3279,3278,3281,0,0,0,0,0,0,25.56,24.44,25.74
$GC,266,-0.93,-116.8,2276,2689,3286,3278,30.2,-15.5,38,273,0.00,1.02,0.00,0.000,1030,0.000,0.034,2279,1988,3282,3286,3278,0,0,0,0,0,0,26.31,26.30,26.34
$GC,398,-0.93,-116.8,2279,1989,3289,3278,51.5,-13.0,63,405,0.00,1.00,0.00,0.000,516,0.000,0.040,2285,1316,3283,3289,3277,0,0,0,0,0,0,26.46,26.31,26.51
$GC,455,-0.93,-116.8,2284,1316,3289,3277,59.2,-14.4,73,464,0.00,1.00,0.00,0.000,1030,0.000,0.037,2282,1983,3283,3289,3277,0,0,0,0,0,0,26.36,26.32,26.41
$GC,593,-0.93,-116.8,2282,1983,3290,3277,78.6,-11.9,98,601,0.00,1.05,0.00,0.000,260,0.000,0.047,2277,2695,3283,3290,3276,0,0,0,0,0,0,26.51,26.25,26.52
$GC,659,-0.93,-116.8,2277,2695,3290,3276,87.2,-12.3,110,667,0.00,1.00,0.00,0.000,1030,0.000,0.039,2280,1995,3283,3290,3276,0,0,0,0,0,0,26.48,26.46,26.50
$GC,792,-0.93,-116.8,2279,1994,3291,3276,102.5,-11.8,133,797,0.00,1.00,0.00,0.000,516,0.000,0.039,2285,1319,3283,3290,3276,0,0,0,0,0,0,26.60,26.36,26.65
$GC,961,-0.93,-116.8,2284,1318,3291,3275,124.1,-13.0,165,966,0.00,1.00,0.00,0.000,1030,0.000,0.035,2282,1974,3283,3292,3275,0,0,0,0,0,0,26.49,26.48,26.53
$GC,1094,-0.93,-116.8,2281,1974,3291,3275,141.1,-12.1,179,1098,0.00,0.98,0.00,0.000,516,0.000,0.045,2285,1320,3283,3291,3275,0,0,0,0,0,0,26.58,26.40,26.58
$GC,1181,-0.93,-116.8,2284,1321,3292,3275,152.2,-12.1,196,1190,0.00,1.05,0.00,0.000,1030,0.000,0.035,2282,2017,3283,3291,3275,0,0,0,0,0,0,26.51,26.47,26.53
$GC,1309,-0.93,-116.8,2281,2017,3291,3275,167.0,-11.6,209,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2018,3283,3292,3275,0,0,0,0,0,0,26.62,26.60,26.62
$GC,1429,-0.93,-116.8,2281,2018,3292,3275,181.4,-12.2,221,1437,0.00,1.05,0.00,0.000,516,0.000,0.045,2285,1315,3283,3292,3275,0,0,0,0,0,0,26.60,26.43,26.62
$GC,1584,-0.93,-116.8,2284,1315,3292,3275,200.7,-12.4,249,1588,0.00,1.02,0.00,0.000,1030,0.000,0.044,2281,1985,3283,3292,3275,0,0,0,0,0,0,26.53,26.51,26.56
$GC,1717,-0.93,-116.8,2281,1986,3292,3274,217.5,-12.0,263,1721,0.00,1.05,0.00,0.000,260,0.000,0.044,2277,2699,3283,3292,3274,0,0,0,0,0,0,26.66,26.50,26.72
$GC,1750,-0.93,-116.8,2276,2700,3293,3274,221.6,-12.4,269,1754,0.00,1.00,0.00,0.000,1030,0.000,0.032,2279,1999,3283,3292,3274,0,0,0,0,0,0,26.60,26.58,26.62
$GC,1883,-0.93,-116.8,2279,1998,3292,3274,238.2,-12.5,283,1887,0.00,1.00,0.00,0.000,516,0.000,0.048,2285,1321,3283,3292,3274,0,0,0,0,0,0,26.66,26.41,26.72
$GC,2004,-0.93,-116.8,2283,1320,3292,3274,253.0,-12.3,305,2009,0.00,1.05,0.00,0.000,1030,0.000,0.043,2282,2018,3283,3292,3274,0,0,0,0,0,0,26.55,26.53,26.58
$GC,2138,-0.93,-116.8,2281,2018,3292,3274,269.2,-12.3,319,2141,0.00,1.05,0.00,0.000,516,0.000,0.039,2285,1315,3283,3292,3274,0,0,0,0,0,0,26.70,26.51,26.74
$GC,2274,-0.93,-116.8,2284,1315,3292,3274,287.0,-12.9,345,2282,0.00,1.02,0.00,0.000,1030,0.000,0.045,2281,1990,3283,3292,3274,0,0,0,0,0,0,26.57,26.53,26.59
$STATE,2369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2370,begin apogee
$GC,2375,-0.18,0.0,2281,1788,3292,3274,298.8,-12.0,355,2562,0.80,0.00,183.73,0.598,10246,0.158,0.000,2519,1788,2801,2856,2746,0,0,0,0,0,0,25.90,25.18,24.60
$STATE,2566,end apogee,CONTROL_FINISHED_OK
$STATE,2566,begin climb
$GC,2568,0.93,116.8,2519,1788,2843,2734,303.6,0.0,365,2762,1.17,1.02,184.00,0.581,10756,0.119,0.036,2883,1123,2316,2444,2189,0,0,0,0,0,0,25.25,24.79,24.42
$GC,2939,0.93,116.8,2883,1123,2419,2178,262.9,14.0,435,2943,0.00,1.05,0.00,0.000,1030,0.000,0.036,2880,1801,2298,2419,2178,0,0,0,0,0,0,25.91,25.89,25.93
$GC,3073,0.93,116.8,2880,1801,2418,2175,244.6,14.1,449,3080,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1801,2296,2418,2175,0,0,0,0,0,0,26.18,26.24,26.22
$GC,3201,0.93,116.8,2879,1801,2417,2174,226.9,13.4,462,3203,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1801,2296,2417,2175,0,0,0,0,0,0,26.24,26.33,26.32
$GC,3321,0.93,116.8,2880,1801,2416,2174,210.5,13.5,474,3323,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1801,2295,2416,2174,0,0,0,0,0,0,26.32,26.41,26.39
$GC,3443,0.93,116.8,2880,1801,2415,2174,194.5,13.5,486,3447,0.00,1.05,0.00,0.000,260,0.000,0.044,2875,2500,2294,2415,2174,0,0,0,0,0,0,26.47,26.30,26.53
$GC,3498,0.93,116.8,2875,2500,2414,2174,186.5,13.1,497,3506,0.00,1.00,0.00,0.000,1030,0.000,0.037,2879,1821,2293,2414,2173,0,0,0,0,0,0,26.37,26.37,26.37
$GC,3626,0.93,116.8,2878,1821,2414,2174,169.8,13.4,510,3631,0.00,1.10,0.00,0.000,516,0.000,0.047,2884,1110,2293,2414,2173,0,0,0,0,0,0,26.51,26.35,26.57
$GC,3775,0.93,116.8,2884,1110,2414,2174,148.3,14.9,539,3783,0.00,1.05,0.00,0.000,1030,0.000,0.042,2881,1802,2294,2414,2174,0,0,0,0,0,0,26.41,26.38,26.43
$GC,3904,0.93,116.8,2881,1803,2413,2174,130.7,13.5,552,3908,0.00,1.02,0.00,0.000,260,0.000,0.044,2877,2487,2293,2413,2174,0,0,0,0,0,0,26.61,26.41,26.67
$GC,4008,0.93,116.8,2876,2487,2412,2173,115.9,14.3,572,4012,0.00,1.02,0.00,0.000,1030,0.000,0.098,2880,1796,2292,2412,2173,0,0,0,0,0,0,26.49,26.47,26.53
$GC,4135,0.93,116.8,2879,1797,2411,2174,99.4,12.2,586,4143,0.00,1.05,0.00,0.000,516,0.000,0.054,2885,1112,2293,2412,2174,0,0,0,0,0,0,26.63,26.43,26.71
$GC,4375,0.94,127.5,2885,1112,2412,2174,72.7,9.1,632,4382,0.00,1.05,0.00,0.000,1062,0.000,0.043,2882,1813,2293,2412,2174,0,0,0,0,0,0,26.55,26.52,26.56
$GC,4512,0.97,155.7,2881,1813,2411,2173,61.3,7.7,657,4568,0.00,1.02,48.80,0.545,8484,0.000,0.041,2877,2490,2155,2289,2022,0,0,0,0,0,0,26.67,25.69,25.33
$GC,4602,0.97,155.7,2877,2490,2277,2008,53.5,10.2,671,4609,0.00,1.02,0.00,0.000,1030,0.000,0.037,2880,1806,2142,2277,2008,0,0,0,0,0,0,26.15,26.11,26.17
$GC,4739,1.00,175.8,2880,1805,2274,2007,41.2,8.4,696,4763,0.10,1.10,18.98,0.555,10788,0.155,0.046,2919,1102,2081,2218,1944,0,0,0,0,0,0,26.04,25.87,25.27
$GC,4995,1.00,175.8,2918,1102,2194,1929,14.8,10.3,744,5002,0.00,1.05,0.00,0.000,1030,0.000,0.043,2916,1791,2061,2195,1928,0,0,0,0,0,0,26.29,26.26,26.32
$GC,5135,1.04,212.7,2916,1792,2194,1926,2.1,7.0,769,5144,0.00,0.00,6.55,0.551,8738,0.000,0.000,2916,1791,2021,2158,1884,0,0,0,0,0,0,26.30,28.83,26.36
$STATE,5145,end climb,SURFACE_DEPTH_REACHED
$STATE,5145,begin surface coast
$FINISH,-0.3,1.026148
$STATE,5172,end surface coast,CONTROL_FINISHED_OK
$STATE,5172,begin surface
$SM_CCo,5191,198.40,0.630,1,0,588,542.11
$SM_GC,0.54,7.55,0.30,198.40,0.055,0.050,0.630,168,2014,588,-7.39,-1.27,542.11,0,0,0,0,1,0,26.36,26.31,24.43
$IRIDIUM_FIX,4755.71,-12517.69,160921,221042
$TT8_MAMPS,0.02247,0.145306
$HUMID,53.46
$INTERNAL_PRESSURE,8.70873
$TCM_TEMP,15.10
$XPDR_PINGS,0
$CP_FREE,118196305920.000000
$CP_POWER,323.300000
$CP_POWER1,0.000000
$24V_AH,24.42,3.827
$10V_AH,10.19,1.923
$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,17.875,33.525,442.050,198.400,0.000,0.000,0.000,218.925,3.750,0.000,18.558,1698.586,1199.985,711.979,1883.683,292.024,0.000,1643.596,0.000,1703.974,0.000,26.093,0.000
$DEVICE_MAMPS,214.965,97.920,598.230,629.595,0.000,0.000,0.000,107.100,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,431.244,1353.914,0.000,0.000,0.000,0.000,5002.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,154140
$DATA_FILE_SIZE,40177,775
$CAP_FILE_SIZE,93451,0
$CFSIZE,260030464,248537088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.083,194.68,1
$GPS,170921,012939,4754.683,-12516.109,20,0.7,28,15.7,0.5,193.2,12,3.2