version: 66.14
glider: 204
mission: 9
dive: 70
start: 9 19 121 15 9 46
data:
$ID,204
$MISSION,9
$DIVE,70
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,700
$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,230
$T_MISSION,260
$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,160
$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,49
$R_STBD_OVSHOOT,60
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,110
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$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,139.0
$CP_NDIVE,1.0
$GPS1,190921,145859,4757.4849,-12528.0801,9,0.8,12,15.7,0.9,199.2,11,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-60.4
$GPS2,190921,150844,4757.4268,-12528.2070,4,0.8,6,15.7,0.5,14.1,12,8.4
$SPEED_LIMITS,0.176,0.267
$TGT_NAME,HOLD
$TGT_LATLONG,4757.460,-12527.830
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,52.0,471,-19.8,-10.145,-24.60,1551
$D_GRID,223
$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,-0.83,-103.2,163,2018,727,445,0.0,0.0,0,133,0.00,0.00,-105.47,0.015,16386,0.000,0.000,164,2017,3060,3048,3073,0,0,0,0,0,0,26.19,28.83,26.23
$GC,136,-0.86,-128.7,163,2017,3049,3074,4.0,-8.5,15,158,8.18,1.10,-5.40,0.021,18980,0.221,0.068,2296,1290,3327,3325,3329,0,0,0,0,0,0,25.54,25.52,25.73
$GC,392,-0.86,-128.7,2295,1290,3332,3325,58.3,-13.2,63,399,0.00,1.08,0.00,0.000,1030,0.000,0.044,2293,1998,3328,3332,3325,0,0,0,0,0,0,26.32,26.28,26.34
$GC,523,-0.86,-128.7,2292,1998,3333,3324,74.3,-12.7,88,531,0.08,1.05,0.00,0.000,2564,0.211,0.042,2304,1300,3328,3333,3324,0,0,0,0,0,0,26.22,26.22,26.31
$GC,763,-0.86,-128.7,2304,1300,3335,3324,102.5,-11.4,134,768,0.00,1.05,0.00,0.000,1030,0.000,0.039,2302,1986,3329,3335,3324,0,0,0,0,0,0,26.35,26.33,26.36
$GC,896,-0.86,-128.7,2301,1986,3335,3324,118.2,-11.7,148,899,0.00,1.05,0.00,0.000,516,0.000,0.109,2302,1296,3329,3335,3324,0,0,0,0,0,0,26.60,26.36,26.66
$GC,989,-0.86,-128.7,2301,1296,3335,3323,129.4,-12.3,166,994,0.00,1.08,0.00,0.000,1030,0.000,0.037,2299,2008,3329,3335,3323,0,0,0,0,0,0,26.43,26.43,26.44
$GC,1122,-0.86,-128.7,2298,2008,3335,3323,147.8,-14.2,180,1125,0.00,1.02,0.00,0.000,260,0.000,0.052,2293,2703,3329,3335,3323,0,0,0,0,0,0,26.62,26.43,26.67
$GC,1207,-0.86,-128.7,2292,2704,3335,3322,158.8,-12.2,196,1211,0.00,1.05,0.00,0.000,1030,0.000,0.037,2294,1980,3329,3335,3323,0,0,0,0,0,0,26.43,26.44,26.43
$GC,1339,-0.86,-128.7,2293,1978,3335,3322,175.0,-12.2,210,1343,0.00,1.00,0.00,0.000,516,0.000,0.041,2299,1301,3329,3336,3322,0,0,0,0,0,0,26.64,26.47,26.70
$GC,1371,-0.86,-128.7,2298,1301,3335,3322,179.1,-13.0,216,1375,0.00,1.05,0.00,0.000,1030,0.000,0.044,2296,2010,3328,3335,3322,0,0,0,0,0,0,26.46,26.41,26.49
$GC,1503,-0.86,-128.7,2295,2009,3335,3322,194.7,-10.4,230,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2009,3328,3335,3322,0,0,0,0,0,0,26.62,26.70,26.67
$STATE,1552,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1552,begin apogee
$GC,1557,-0.18,0.0,2295,1776,3335,3322,200.8,-12.4,235,1755,0.75,0.00,193.15,0.582,10246,0.160,0.000,2517,1774,2801,2857,2746,0,0,0,0,0,0,25.86,25.13,24.59
$STATE,1760,end apogee,CONTROL_FINISHED_OK
$STATE,1760,begin climb
$GC,1762,0.86,128.7,2517,1774,2845,2733,202.4,0.0,255,1957,1.12,1.15,185.88,0.543,10500,0.122,0.036,2854,2485,2268,2398,2139,0,0,0,0,0,0,25.18,25.06,24.51
$GC,1980,0.86,128.7,2854,2485,2374,2110,183.7,13.4,285,1984,0.00,1.02,0.00,0.000,1030,0.000,0.044,2858,1816,2242,2374,2110,0,0,0,0,0,0,25.44,25.42,25.46
$GC,2112,0.86,128.7,2857,1816,2368,2108,168.3,11.2,299,2116,0.00,1.12,0.00,0.000,516,0.000,0.048,2864,1101,2238,2368,2108,0,0,0,0,0,0,25.53,25.79,25.68
$GC,2177,0.86,128.7,2863,1101,2367,2108,160.9,11.4,311,2181,0.00,1.05,0.00,0.000,1030,0.000,0.036,2860,1790,2237,2367,2108,0,0,0,0,0,0,26.06,26.04,26.08
$GC,2311,0.86,128.7,2860,1790,2364,2108,146.1,10.9,325,2315,0.00,1.05,0.00,0.000,260,0.000,0.044,2854,2485,2236,2364,2108,0,0,0,0,0,0,26.28,26.15,26.34
$GC,2387,0.86,128.7,2854,2486,2362,2108,137.1,10.9,340,2395,0.00,1.02,0.00,0.000,1030,0.000,0.044,2858,1796,2235,2363,2107,0,0,0,0,0,0,26.16,26.14,26.17
$GC,2518,0.86,128.7,2858,1796,2362,2108,123.5,11.1,353,2525,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1796,2235,2362,2108,0,0,0,0,0,0,26.45,26.51,26.51
$GC,2646,0.86,128.7,2858,1796,2361,2108,108.7,11.8,366,2650,0.00,1.08,0.00,0.000,516,0.000,0.054,2864,1098,2234,2361,2108,0,0,0,0,0,0,26.48,26.32,26.54
$GC,2730,0.86,128.7,2863,1097,2361,2108,99.3,10.6,382,2739,0.00,1.05,0.00,0.000,1030,0.000,0.043,2860,1796,2233,2360,2107,0,0,0,0,0,0,26.42,26.39,26.45
$GC,2864,0.86,128.7,2860,1796,2358,2108,84.4,11.6,407,2872,0.00,1.05,0.00,0.000,260,0.000,0.044,2856,2499,2232,2358,2107,0,0,0,0,0,0,26.38,26.38,26.44
$GC,2894,0.86,128.7,2854,2499,2357,2107,80.9,11.9,412,2902,0.00,1.02,0.00,0.000,1030,0.000,0.037,2858,1801,2232,2357,2107,0,0,0,0,0,0,26.46,26.43,26.49
$GC,3031,0.89,150.3,2858,1801,2357,2108,67.3,8.7,437,3054,0.00,1.10,18.02,0.594,8740,0.000,0.053,2864,1103,2184,2315,2054,0,0,0,0,0,0,26.59,26.01,25.34
$GC,3286,0.95,198.4,2863,1103,2290,2032,48.0,7.0,485,3365,0.08,1.05,71.43,0.532,11302,0.122,0.043,2890,1798,1987,2125,1849,0,0,0,0,0,0,26.10,26.32,25.01
$GC,3490,0.97,216.5,2889,1798,2091,1818,30.9,8.9,520,3498,0.00,1.08,4.50,0.570,8484,0.000,0.048,2886,2492,1920,2060,1780,0,0,0,0,0,0,26.17,25.67,24.94
$GC,3626,0.99,233.3,2886,2492,2069,1786,18.5,9.0,545,3669,0.00,1.02,35.12,0.515,9254,0.000,0.037,2889,1802,1842,1985,1699,0,0,0,0,0,0,26.21,25.55,25.07
$GC,3795,1.03,268.6,2888,1802,1954,1672,5.2,7.8,575,3838,0.10,0.00,40.40,0.509,10786,0.143,0.000,2918,1802,1717,1861,1573,0,0,0,0,0,0,26.00,28.83,26.10
$STATE,3839,end climb,SURFACE_DEPTH_REACHED
$STATE,3839,begin surface coast
$FINISH,-0.4,1.025359
$STATE,3861,end surface coast,CONTROL_FINISHED_OK
$STATE,3861,begin surface
$SM_CCo,3881,158.50,0.639,1,0,587,542.11
$SM_GC,0.54,7.72,0.30,158.50,0.059,0.057,0.639,170,1995,587,-7.39,-1.24,542.11,0,0,0,0,1,0,25.98,25.91,24.37
$IRIDIUM_FIX,4758.85,-12524.03,190921,150100
$TT8_MAMPS,0.02247,0.182007
$HUMID,53.66
$INTERNAL_PRESSURE,8.74779
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,154.3,55.9
$CP_FREE,93692592128.000000
$CP_POWER,421.650000
$CP_POWER1,0.000000
$24V_AH,24.37,9.264
$10V_AH,10.10,4.345
$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,18.025,26.000,548.500,158.500,0.000,0.000,0.000,402.300,1.750,0.000,18.143,1297.818,759.048,705.783,1640.781,272.109,0.000,1706.097,0.000,1303.486,0.000,15.089,0.000
$DEVICE_MAMPS,221.085,108.630,593.640,638.775,0.000,0.000,0.000,99.450,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,354.946,1128.432,0.000,0.000,0.000,0.000,3690.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,153968
$DATA_FILE_SIZE,30150,585
$CAP_FILE_SIZE,76154,0
$CFSIZE,260030464,245530624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.077,250.29,1
$GPS,190921,161831,4757.562,-12528.045,32,0.8,33,15.7,0.5,17.3,10,3.6