version: 66.14
glider: 204
mission: 9
dive: 33
start: 9 17 121 4 21 55
data:
$ID,204
$MISSION,9
$DIVE,33
$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,46
$R_STBD_OVSHOOT,64
$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,64.0
$CP_NDIVE,1.0
$GPS1,170921,041531,4755.2163,-12515.8896,35,1.1,41,15.7,0.7,226.3,11,3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-62.8
$GPS2,170921,042057,4755.1704,-12515.9297,5,0.8,6,15.7,0.4,188.8,12,5.3
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,TRANSIT4
$TGT_LATLONG,4755.900,-12515.140
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,24.7,1669,-18.1,-10.000,-23.17,1779
$D_GRID,232
$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,-116.8,159,2025,733,434,0.0,0.0,0,137,0.00,0.00,-109.85,0.011,16386,0.000,0.000,159,2026,3062,3049,3075,0,0,0,0,0,0,26.14,28.83,26.20
$GC,140,-0.79,-116.8,160,2026,3050,3075,3.6,-6.2,16,157,8.38,0.00,-4.88,0.021,18726,0.212,0.000,2326,2024,3277,3278,3277,0,0,0,0,0,0,25.62,24.68,25.81
$GC,284,-0.79,-116.8,2325,2025,3286,3275,28.3,-14.3,42,292,0.00,1.10,0.00,0.000,516,0.000,0.037,2330,1293,3280,3286,3275,0,0,0,0,0,0,26.25,26.25,26.33
$GC,299,-0.79,-116.8,2329,1293,3286,3275,30.7,-13.9,44,306,0.00,1.05,0.00,0.000,1030,0.000,0.043,2326,1983,3280,3286,3275,0,0,0,0,0,0,26.31,26.29,26.33
$GC,432,-0.79,-116.8,2325,1984,3287,3275,47.1,-13.1,69,440,0.00,1.05,0.00,0.000,260,0.000,0.043,2321,2694,3281,3287,3275,0,0,0,0,0,0,26.47,26.32,26.53
$GC,479,-0.79,-116.8,2320,2694,3288,3275,53.1,-12.6,77,488,0.00,1.02,0.00,0.000,1030,0.000,0.031,2324,1974,3281,3288,3275,0,0,0,0,0,0,26.41,26.36,26.44
$GC,617,-0.79,-116.8,2324,1974,3289,3274,70.8,-11.6,102,625,0.00,0.95,0.00,0.000,516,0.000,0.038,2329,1327,3281,3289,3274,0,0,0,0,0,0,26.54,26.36,26.59
$GC,831,-0.79,-116.8,2328,1327,3290,3274,94.1,-9.8,143,839,0.00,1.02,0.00,0.000,1062,0.000,0.035,2326,2011,3281,3289,3274,0,0,0,0,0,0,26.46,26.45,26.50
$GC,965,-0.79,-116.8,2325,2010,3290,3274,107.5,-9.8,161,973,0.00,0.00,0.00,0.000,38,0.000,0.000,2326,2010,3282,3290,3274,0,0,0,0,0,0,26.58,26.63,26.61
$GC,1095,-0.79,-116.8,2325,2010,3291,3274,120.2,-9.9,174,1103,0.00,0.00,0.00,0.000,38,0.000,0.000,2326,2010,3282,3290,3274,0,0,0,0,0,0,26.63,26.69,26.68
$GC,1225,-0.79,-116.8,2325,2010,3291,3274,132.0,-8.7,187,1228,0.00,1.02,0.00,0.000,548,0.000,0.040,2329,1328,3282,3291,3274,0,0,0,0,0,0,26.55,26.47,26.62
$GC,1288,-0.79,-116.8,2329,1328,3290,3274,137.5,-8.5,199,1292,0.00,1.00,0.00,0.000,1062,0.000,0.037,2326,1996,3282,3291,3274,0,0,0,0,0,0,26.53,26.51,26.57
$GC,1420,-0.79,-116.8,2325,1996,3291,3274,148.8,-8.6,213,1422,0.00,0.00,0.00,0.000,38,0.000,0.000,2326,1995,3282,3291,3274,0,0,0,0,0,0,26.65,26.72,26.71
$GC,1540,-0.79,-116.8,2325,1995,3291,3274,159.0,-8.6,225,1542,0.00,0.00,0.00,0.000,38,0.000,0.000,2326,1995,3282,3291,3274,0,0,0,0,0,0,26.60,26.67,26.65
$GC,1663,-0.79,-116.8,2325,1996,3291,3274,169.4,-8.8,237,1667,0.00,1.00,0.00,0.000,548,0.000,0.040,2329,1326,3282,3291,3274,0,0,0,0,0,0,26.68,26.51,26.74
$GC,1709,-0.79,-116.8,2328,1326,3291,3274,173.9,-8.6,246,1718,0.00,1.00,0.00,0.000,1062,0.000,0.036,2325,1993,3282,3291,3274,0,0,0,0,0,0,26.55,26.52,26.58
$GC,1837,-0.79,-116.8,2325,1993,3290,3274,185.5,-9.3,259,1845,0.00,0.00,0.00,0.000,38,0.000,0.000,2326,1993,3282,3291,3274,0,0,0,0,0,0,26.66,26.73,26.72
$GC,1967,-0.79,-116.8,2325,1993,3291,3274,197.2,-8.7,272,1969,0.00,0.00,0.00,0.000,38,0.000,0.000,2326,1993,3282,3291,3273,0,0,0,0,0,0,26.63,26.72,26.70
$GC,2088,-0.79,-116.8,2325,1993,3291,3274,207.6,-8.4,284,2090,0.00,0.00,0.00,0.000,38,0.000,0.000,2326,1993,3282,3291,3273,0,0,0,0,0,0,26.72,26.78,26.77
$GC,2208,-0.79,-116.8,2325,1993,3290,3273,217.7,-8.5,296,2213,0.00,1.00,0.00,0.000,548,0.000,0.047,2329,1327,3282,3291,3274,0,0,0,0,0,0,26.66,26.39,26.72
$GC,2255,-0.79,-116.8,2328,1326,3291,3273,222.3,-9.0,305,2268,0.00,1.02,0.00,0.000,1062,0.000,0.035,2326,2008,3282,3291,3273,0,0,0,0,0,0,26.57,26.54,26.58
$STATE,2364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2364,begin apogee
$GC,2369,-0.18,0.0,2325,1781,3291,3273,232.3,-9.3,316,2566,0.65,0.00,186.80,0.577,10246,0.168,0.000,2520,1781,2792,2846,2738,0,0,0,0,0,0,25.91,25.18,24.62
$STATE,2571,end apogee,CONTROL_FINISHED_OK
$STATE,2571,begin climb
$GC,2573,0.79,116.8,2519,1781,2843,2736,236.7,0.0,336,2765,1.02,0.98,183.02,0.558,10756,0.119,0.035,2837,1129,2315,2443,2188,0,0,0,0,0,0,25.30,24.83,24.46
$GC,2835,0.79,116.8,2837,1129,2426,2180,216.2,11.2,385,2844,0.00,1.05,0.00,0.000,1030,0.000,0.036,2834,1798,2302,2425,2179,0,0,0,0,0,0,25.58,25.55,25.60
$GC,2964,0.79,116.8,2834,1799,2423,2178,202.1,11.2,398,2967,0.00,1.08,0.00,0.000,260,0.000,0.051,2829,2504,2300,2423,2178,0,0,0,0,0,0,26.04,25.90,26.10
$GC,3017,0.79,116.8,2828,2504,2423,2174,196.2,10.8,408,3021,0.00,1.02,0.00,0.000,1030,0.000,0.036,2832,1817,2298,2423,2174,0,0,0,0,0,0,26.06,26.03,26.08
$GC,3149,0.79,116.8,2832,1817,2422,2174,182.2,10.4,422,3157,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1817,2298,2422,2174,0,0,0,0,0,0,26.15,26.17,26.18
$GC,3279,0.79,116.8,2833,1816,2421,2174,168.7,10.5,435,3281,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1817,2297,2421,2174,0,0,0,0,0,0,26.39,26.45,26.45
$GC,3399,0.79,116.8,2832,1817,2420,2173,155.9,10.7,447,3403,0.00,1.05,0.00,0.000,260,0.000,0.047,2829,2503,2296,2420,2173,0,0,0,0,0,0,26.32,26.25,26.34
$GC,3505,0.79,116.8,2828,2504,2419,2172,143.9,11.3,468,3513,0.00,1.05,0.00,0.000,1030,0.000,0.037,2832,1799,2295,2419,2172,0,0,0,0,0,0,26.39,26.36,26.42
$GC,3633,0.79,116.8,2831,1799,2419,2172,129.5,11.4,481,3635,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1799,2295,2420,2171,0,0,0,0,0,0,26.52,26.53,26.53
$GC,3755,0.79,116.8,2832,1799,2419,2172,116.7,10.2,493,3763,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1799,2295,2419,2172,0,0,0,0,0,0,26.51,26.56,26.54
$GC,3884,0.79,120.0,2832,1799,2418,2172,103.9,9.8,506,3888,0.00,1.05,0.00,0.000,292,0.000,0.050,2829,2493,2295,2418,2172,0,0,0,0,0,0,26.53,26.35,26.55
$GC,3973,0.82,143.1,2828,2493,2417,2172,95.9,8.7,523,4010,0.00,1.02,29.48,0.578,9254,0.000,0.037,2832,1803,2208,2341,2076,0,0,0,0,0,0,26.51,26.47,25.42
$GC,4135,0.84,157.5,2832,1803,2326,2064,81.6,9.2,552,4152,0.10,1.12,9.77,0.643,10788,0.198,0.048,2860,1098,2153,2287,2020,0,0,0,0,0,0,26.01,25.94,25.29
$GC,4384,0.84,157.5,2859,1098,2274,2014,55.1,11.5,599,4391,0.00,1.08,0.00,0.000,1030,0.000,0.043,2856,1807,2143,2274,2013,0,0,0,0,0,0,26.34,26.32,26.37
$GC,4523,0.88,194.0,2855,1807,2273,2011,42.2,7.9,624,4587,0.00,1.05,54.62,0.529,8484,0.000,0.119,2851,2486,2000,2141,1859,0,0,0,0,0,0,26.46,25.74,25.15
$GC,4656,0.90,210.8,2850,2486,2127,1847,30.6,9.0,646,4678,0.03,1.05,12.38,0.559,11302,0.168,0.037,2867,1789,1933,2076,1791,0,0,0,0,0,0,25.89,26.03,25.08
$GC,4803,0.96,258.5,2866,1789,2064,1782,17.7,7.2,673,4883,0.10,1.12,72.97,0.498,10532,0.147,0.043,2891,2489,1741,1887,1595,0,0,0,0,0,0,25.98,25.44,24.91
$STATE,4956,end climb,SURFACE_DEPTH_REACHED
$STATE,4956,begin surface coast
$FINISH,0.3,1.026049
$STATE,4973,end surface coast,CONTROL_FINISHED_OK
$STATE,4973,begin surface
$SM_CCo,4992,158.30,0.617,1,0,588,542.11
$SM_GC,0.45,7.65,0.75,158.30,0.058,0.031,0.617,165,2001,588,-7.39,1.47,542.11,0,0,0,0,1,0,26.01,25.95,24.41
$IRIDIUM_FIX,4756.77,-12513.21,170921,025343
$TT8_MAMPS,0.02247,0.147553
$HUMID,53.46
$INTERNAL_PRESSURE,8.70873
$TCM_TEMP,15.00
$XPDR_PINGS,0
$CP_FREE,117376712704.000000
$CP_POWER,323.310000
$CP_POWER1,0.000000
$24V_AH,24.41,4.184
$10V_AH,10.20,2.098
$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,17.925,27.000,549.050,158.300,0.000,0.000,0.000,208.075,2.500,0.000,18.202,1565.664,1199.313,738.985,1744.558,274.433,0.000,1664.311,0.000,1585.154,0.000,20.292,0.000
$DEVICE_MAMPS,211.905,118.575,642.600,616.590,0.000,0.000,0.000,100.980,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,432.088,1369.243,0.000,0.000,0.000,0.000,4801.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,154128
$DATA_FILE_SIZE,36832,701
$CAP_FILE_SIZE,89078,0
$CFSIZE,260030464,248324096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.023,352.99,1
$GPS,170921,054840,4755.633,-12515.501,3,1.0,4,15.7,0.3,297.7,8,8.5