version: 66.14
glider: 204
mission: 9
dive: 32
start: 9 17 121 2 58 6
data:
$ID,204
$MISSION,9
$DIVE,32
$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,54
$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,62.0
$CP_NDIVE,1.0
$GPS1,170921,025142,4754.9316,-12516.0928,4,0.9,6,15.7,0.3,169.4,8,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-62.4
$GPS2,170921,025709,4754.8818,-12516.0986,3,0.9,14,15.7,0.6,243.8,10,3.0
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,TRANSIT4
$TGT_LATLONG,4755.900,-12515.140
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,18.6,2230,-18.1,-10.000,-23.17,1779
$D_GRID,207
$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,-0.79,-116.8,163,2012,737,430,0.0,0.0,0,139,0.00,0.00,-111.47,0.011,16386,0.000,0.000,163,2012,3136,3122,3151,0,0,0,0,0,0,26.08,28.83,26.16
$GC,142,-0.79,-116.8,163,2012,3123,3152,4.1,-7.7,16,159,8.38,1.05,-3.03,0.027,18724,0.213,0.075,2318,2706,3280,3278,3282,0,0,0,0,0,0,25.63,24.43,25.80
$GC,177,-0.79,-116.8,2317,2706,3282,3282,15.1,-28.9,21,185,0.00,1.05,0.00,0.000,1030,0.000,0.033,2322,1986,3282,3283,3282,0,0,0,0,0,0,26.24,26.22,26.25
$GC,310,-0.79,-116.8,2320,1986,3287,3278,34.6,-12.9,46,317,0.00,1.00,0.00,0.000,516,0.000,0.040,2322,1321,3282,3287,3278,0,0,0,0,0,0,26.28,26.25,26.34
$GC,383,-0.79,-116.8,2321,1320,3289,3278,43.9,-11.9,59,391,0.00,1.02,0.00,0.000,1030,0.000,0.040,2319,1990,3283,3289,3277,0,0,0,0,0,0,26.14,26.20,25.93
$GC,519,-0.79,-116.8,2318,1990,3290,3276,59.6,-12.8,84,526,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,1990,3283,3290,3277,0,0,0,0,0,0,26.51,26.57,26.56
$GC,651,-0.79,-116.8,2318,1990,3290,3276,76.0,-11.8,109,659,0.00,1.05,0.00,0.000,260,0.000,0.044,2313,2700,3283,3291,3276,0,0,0,0,0,0,26.55,26.38,26.60
$GC,682,-0.79,-116.8,2313,2700,3291,3276,79.6,-11.8,114,689,0.00,1.00,0.00,0.000,1030,0.000,0.031,2316,2003,3283,3291,3276,0,0,0,0,0,0,26.46,26.44,26.50
$GC,814,-0.79,-116.8,2316,2003,3291,3276,94.7,-11.8,139,822,0.05,1.00,0.00,0.000,2564,0.284,0.044,2331,1326,3283,3291,3276,0,0,0,0,0,0,26.22,26.34,26.26
$GC,979,-0.79,-116.8,2330,1326,3292,3276,112.4,-10.6,170,986,0.00,1.02,0.00,0.000,1030,0.000,0.046,2328,2007,3284,3292,3276,0,0,0,0,0,0,26.46,26.43,26.50
$GC,1105,-0.79,-116.8,2327,2007,3293,3275,125.1,-10.2,183,1109,0.00,1.02,0.00,0.000,260,0.000,0.044,2322,2702,3284,3293,3275,0,0,0,0,0,0,26.60,26.44,26.66
$GC,1182,-0.79,-116.8,2322,2702,3293,3275,132.8,-10.0,198,1189,0.00,1.00,0.00,0.000,1030,0.000,0.031,2326,1998,3283,3292,3275,0,0,0,0,0,0,26.54,26.53,26.58
$GC,1309,-0.79,-116.8,2325,1997,3293,3275,145.1,-9.8,211,1313,0.00,1.00,0.00,0.000,548,0.000,0.048,2330,1322,3283,3292,3275,0,0,0,0,0,0,26.67,26.48,26.72
$GC,1383,-0.79,-116.8,2330,1322,3293,3275,152.4,-9.7,225,1388,0.00,1.02,0.00,0.000,1062,0.000,0.037,2328,2003,3284,3293,3275,0,0,0,0,0,0,26.48,26.48,26.49
$GC,1515,-0.79,-116.8,2327,2005,3293,3275,165.5,-10.1,239,1520,0.00,1.02,0.00,0.000,516,0.000,0.042,2331,1322,3284,3293,3275,0,0,0,0,0,0,26.63,26.44,26.70
$GC,1570,-0.79,-116.8,2330,1322,3293,3274,171.2,-10.4,249,1576,0.00,1.02,0.00,0.000,1030,0.000,0.036,2328,2005,3283,3293,3274,0,0,0,0,0,0,26.55,26.52,26.58
$GC,1704,-0.79,-116.8,2327,2005,3293,3274,184.9,-10.5,263,1708,0.00,1.02,0.00,0.000,260,0.000,0.051,2322,2702,3283,3293,3274,0,0,0,0,0,0,26.70,26.49,26.75
$GC,1748,-0.79,-116.8,2322,2702,3293,3274,189.5,-11.3,271,1752,0.00,1.00,0.00,0.000,1030,0.000,0.032,2326,2000,3283,3293,3274,0,0,0,0,0,0,26.61,26.57,26.61
$GC,1880,-0.79,-116.8,2325,2000,3293,3274,203.8,-10.9,285,1885,0.00,1.00,0.00,0.000,516,0.000,0.041,2331,1324,3283,3293,3274,0,0,0,0,0,0,26.55,26.49,26.64
$STATE,1913,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1913,begin apogee
$GC,1918,-0.18,0.0,2329,1813,3293,3274,207.5,-11.4,291,2114,0.65,0.00,182.02,0.640,10246,0.161,0.000,2521,1815,2804,2859,2749,0,0,0,0,1,0,25.96,24.75,24.14
$STATE,2119,end apogee,CONTROL_FINISHED_OK
$STATE,2119,begin climb
$GC,2121,0.79,116.8,2520,1815,2861,2751,215.6,0.0,311,2325,1.02,1.08,194.23,0.535,10756,0.119,0.035,2837,1122,2314,2442,2187,0,0,0,0,0,0,25.18,24.82,24.47
$GC,2394,0.79,116.8,2837,1122,2422,2176,197.9,11.0,362,2401,0.00,1.05,0.00,0.000,1030,0.000,0.036,2834,1795,2298,2422,2175,0,0,0,0,0,0,25.58,25.57,25.62
$GC,2522,0.79,116.8,2833,1795,2418,2172,184.9,10.0,375,2526,0.00,1.08,0.00,0.000,292,0.000,0.043,2829,2498,2295,2418,2172,0,0,0,0,0,0,26.04,25.89,26.10
$GC,2595,0.81,131.8,2828,2498,2418,2167,177.9,9.1,389,2616,0.00,1.02,13.15,0.649,9254,0.000,0.036,2832,1812,2257,2387,2128,0,0,0,0,0,0,26.08,26.05,25.10
$GC,2738,0.81,132.6,2831,1812,2379,2121,164.3,10.0,405,2742,0.00,1.05,0.00,0.000,292,0.000,0.050,2829,2502,2250,2380,2121,0,0,0,0,0,0,26.20,26.06,26.25
$GC,2801,0.81,139.2,2828,2502,2378,2119,157.8,9.6,417,2813,0.00,1.05,4.03,0.842,9254,0.000,0.037,2832,1798,2234,2367,2101,0,0,0,0,0,0,26.22,26.16,24.89
$GC,2933,0.83,149.1,2832,1799,2368,2102,145.4,9.4,431,2959,0.08,1.10,18.48,0.633,10788,0.217,0.118,2850,1106,2188,2322,2054,0,0,0,0,0,0,25.96,25.37,25.22
$GC,2997,0.83,149.1,2849,1106,2315,2052,138.8,10.1,443,3001,0.00,1.05,0.00,0.000,1030,0.000,0.037,2846,1797,2183,2315,2052,0,0,0,0,0,0,26.01,26.01,26.03
$GC,3129,0.83,149.1,2846,1796,2313,2052,124.7,10.8,457,3134,0.00,1.02,0.00,0.000,260,0.000,0.043,2841,2486,2183,2314,2052,0,0,0,0,0,0,26.32,26.18,26.40
$GC,3213,0.83,149.1,2841,2486,2312,2049,115.6,10.6,473,3218,0.00,1.02,0.00,0.000,1030,0.000,0.044,2845,1795,2181,2312,2050,0,0,0,0,0,0,26.30,26.27,26.32
$GC,3348,0.83,149.1,2843,1795,2312,2049,101.1,11.4,487,3351,0.00,1.05,0.00,0.000,260,0.000,0.051,2842,2487,2180,2312,2049,0,0,0,0,0,0,26.46,26.29,26.51
$GC,3379,0.83,149.1,2841,2487,2311,2049,97.2,11.3,493,3388,0.00,1.02,0.00,0.000,1030,0.000,0.037,2845,1797,2180,2312,2049,0,0,0,0,0,0,26.37,26.35,26.38
$GC,3513,0.83,149.1,2844,1797,2310,2049,81.9,11.5,518,3521,0.00,1.05,0.00,0.000,516,0.000,0.050,2850,1111,2180,2311,2049,0,0,0,0,0,0,26.38,26.32,26.41
$GC,3754,0.87,182.4,2850,1111,2310,2049,57.0,8.1,563,3806,0.00,1.02,42.97,0.549,9254,0.000,0.034,2847,1797,2049,2188,1910,0,0,0,0,0,0,26.48,26.46,25.25
$GC,3933,0.94,241.7,2846,1797,2181,1905,42.6,6.6,594,4032,0.15,1.10,92.05,0.517,10532,0.155,0.043,2889,2487,1809,1954,1665,0,0,0,0,0,0,25.97,25.41,24.87
$GC,4204,0.94,241.7,2888,2487,1937,1653,15.8,11.0,641,4212,0.00,1.02,0.00,0.000,1030,0.000,0.037,2891,1809,1795,1937,1653,0,0,0,0,0,0,26.06,26.04,26.09
$STATE,4336,end climb,SURFACE_DEPTH_REACHED
$STATE,4336,begin surface coast
$FINISH,-0.1,1.026078
$STATE,4358,end surface coast,CONTROL_FINISHED_OK
$STATE,4358,begin surface
$SM_CCo,4377,177.00,0.623,1,0,587,542.11
$SM_GC,0.52,7.55,0.28,177.00,0.057,0.047,0.623,159,2020,587,-7.40,-1.39,542.11,0,0,0,0,1,0,26.27,26.26,24.45
$IRIDIUM_FIX,4754.40,-12515.83,170921,013149
$TT8_MAMPS,0.02247,0.148302
$HUMID,53.70
$INTERNAL_PRESSURE,8.70873
$TCM_TEMP,15.10
$XPDR_PINGS,0
$CP_FREE,117678702592.000000
$CP_POWER,323.310000
$CP_POWER1,0.000000
$24V_AH,24.14,4.065
$10V_AH,10.20,2.036
$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,17.875,35.125,546.925,177.000,0.000,0.000,0.000,200.125,1.500,0.000,26.369,1422.207,862.188,736.824,1647.358,258.362,0.000,1635.562,0.000,1478.175,0.000,11.061,0.000
$DEVICE_MAMPS,283.815,117.810,841.500,622.710,0.000,0.000,0.000,100.980,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,385.335,1223.184,0.000,0.000,0.000,0.000,4174.000,0.000,0.000,0.000
$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,33563,670
$CAP_FILE_SIZE,85696,0
$CFSIZE,260030464,248397824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.046,239.04,1
$GPS,170921,041531,4755.216,-12515.890,35,1.1,41,15.7,0.7,226.3,11,3.9