version: 66.14
glider: 204
mission: 9
dive: 71
start: 9 19 121 16 24 39
data:
$ID,204
$MISSION,9
$DIVE,71
$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,51
$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,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,141.0
$CP_NDIVE,1.0
$GPS1,190921,161831,4757.5625,-12528.0449,32,0.8,33,15.7,0.5,17.3,10,3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-62.2
$GPS2,190921,162338,4757.5776,-12528.0742,3,0.6,5,15.7,1.1,327.1,12,10.0
$SPEED_LIMITS,0.176,0.267
$TGT_NAME,HOLD
$TGT_LATLONG,4757.460,-12527.830
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,89.0,373,-25.9,-10.145,-30.00,975
$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,26,-1.00,-64.7,167,2001,748,426,0.0,0.0,0,133,0.00,0.00,-104.75,0.015,16390,0.000,0.000,167,2001,3063,3050,3077,0,0,0,0,0,0,26.11,24.52,26.20
$GC,136,-1.02,-76.4,166,2000,3052,3076,4.6,-8.9,15,152,8.07,1.05,-1.00,0.068,19236,0.225,0.068,2247,2734,3114,3110,3119,0,0,0,0,0,0,25.55,25.51,25.76
$GC,384,-1.02,-76.4,2246,2735,3123,3113,53.2,-15.2,62,392,0.00,1.08,0.00,0.000,1030,0.000,0.031,2250,1979,3117,3122,3112,0,0,0,0,0,0,26.39,26.39,26.38
$GC,519,-1.02,-76.4,2250,1979,3124,3110,71.8,-13.0,87,527,0.00,0.98,0.00,0.000,516,0.000,0.039,2256,1318,3117,3124,3111,0,0,0,0,0,0,26.36,26.37,26.43
$GC,763,-1.02,-76.4,2255,1318,3126,3111,102.0,-12.4,133,767,0.00,1.05,0.00,0.000,1030,0.000,0.044,2252,2014,3118,3126,3111,0,0,0,0,0,0,26.45,26.41,26.48
$GC,895,-1.02,-76.4,2251,2015,3126,3110,118.2,-12.6,147,900,0.00,1.02,0.00,0.000,516,0.000,0.044,2256,1329,3118,3127,3110,0,0,0,0,0,0,26.42,26.41,26.48
$GC,1137,-1.02,-76.4,2255,1329,3127,3110,149.6,-11.2,193,1142,0.00,1.00,0.00,0.000,1030,0.000,0.042,2253,1993,3118,3127,3110,0,0,0,0,0,0,26.45,26.42,26.49
$GC,1271,-1.02,-76.4,2252,1993,3127,3109,164.7,-10.8,207,1275,0.00,1.00,0.00,0.000,516,0.000,0.047,2255,1321,3118,3127,3110,0,0,0,0,0,0,26.66,26.48,26.71
$GC,1344,-1.02,-76.4,2255,1321,3127,3110,173.1,-11.4,221,1350,0.00,1.02,0.00,0.000,1030,0.000,0.036,2252,2008,3118,3127,3109,0,0,0,0,0,0,26.55,26.52,26.56
$GC,1478,-1.02,-76.4,2252,2008,3127,3109,188.3,-11.4,235,1483,0.00,1.00,0.00,0.000,516,0.000,0.037,2255,1330,3118,3127,3109,0,0,0,0,0,0,26.60,26.50,26.65
$GC,1700,-1.02,-76.4,2254,1330,3127,3108,213.6,-10.8,277,1704,0.00,1.00,0.00,0.000,1030,0.000,0.034,2252,2004,3117,3127,3108,0,0,0,0,0,0,26.56,26.54,26.59
$STATE,1790,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1790,begin apogee
$GC,1795,-0.18,0.0,2252,1788,3127,3108,223.8,-11.1,287,1923,0.90,0.00,118.65,0.590,10246,0.155,0.000,2520,1787,2790,2837,2744,0,0,0,0,0,0,25.86,25.18,24.82
$STATE,1927,end apogee,CONTROL_FINISHED_OK
$STATE,1927,begin climb
$GC,1929,1.02,76.4,2519,1787,2831,2736,227.4,0.0,300,2053,1.25,0.00,112.85,0.572,10758,0.114,0.000,2907,1787,2475,2570,2380,0,0,0,0,0,0,25.44,25.13,24.58
$GC,2180,1.02,76.4,2907,1787,2554,2366,203.7,12.1,328,2184,0.00,1.02,0.00,0.000,516,0.000,0.044,2913,1126,2460,2554,2366,0,0,0,0,0,0,26.01,25.84,26.08
$GC,2310,1.02,76.4,2912,1127,2551,2366,187.9,12.3,353,2318,0.00,1.02,0.00,0.000,1030,0.000,0.036,2910,1794,2459,2552,2366,0,0,0,0,0,0,26.15,26.13,26.14
$GC,2438,1.02,76.4,2910,1794,2552,2365,172.6,12.5,366,2443,0.00,1.02,0.00,0.000,516,0.000,0.048,2914,1134,2459,2552,2366,0,0,0,0,0,0,26.36,26.11,26.41
$GC,2473,1.02,76.4,2913,1134,2552,2365,168.4,11.9,372,2477,0.00,1.02,0.00,0.000,1030,0.000,0.044,2910,1802,2459,2552,2366,0,0,0,0,0,0,26.29,26.27,26.32
$GC,2606,1.03,86.1,2910,1802,2551,2365,154.8,9.1,386,2609,0.00,1.02,0.00,0.000,292,0.000,0.046,2906,2494,2458,2551,2366,0,0,0,0,0,0,26.41,26.29,26.47
$GC,2693,1.03,86.1,2905,2494,2546,2365,145.5,11.3,403,2701,0.00,0.98,0.00,0.000,1030,0.000,0.044,2908,1823,2456,2547,2365,0,0,0,0,0,0,26.41,26.36,26.42
$GC,2823,1.03,86.1,2907,1823,2548,2365,130.9,11.6,416,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,1823,2456,2548,2365,0,0,0,0,0,0,26.36,26.43,26.43
$GC,2952,1.04,100.4,2908,1823,2547,2365,117.8,8.6,429,2984,0.00,1.12,24.25,0.605,8740,0.000,0.052,2914,1108,2380,2484,2277,0,0,0,0,0,0,26.46,25.95,25.27
$GC,3222,1.05,103.2,2914,1108,2470,2261,88.1,9.9,480,3230,0.00,1.05,0.00,0.000,1062,0.000,0.045,2911,1798,2365,2470,2260,0,0,0,0,0,0,26.29,26.24,26.32
$GC,3359,1.09,134.6,2910,1798,2468,2259,77.4,6.8,505,3410,0.10,1.12,43.90,0.554,10788,0.199,0.045,2942,1103,2246,2366,2126,0,0,0,0,0,0,26.08,25.78,25.18
$GC,3644,1.09,134.6,2941,1102,2340,2108,46.7,10.2,557,3652,0.00,1.08,0.00,0.000,1030,0.000,0.036,2937,1805,2223,2340,2107,0,0,0,0,0,0,26.28,26.25,26.30
$GC,3778,1.10,144.7,2938,1805,2341,2106,35.2,9.1,582,3785,0.00,1.02,0.00,0.000,292,0.000,0.044,2933,2490,2222,2340,2105,0,0,0,0,0,0,26.44,26.28,26.50
$GC,4017,1.15,185.1,2933,2490,2337,2104,16.3,5.9,628,4102,0.00,1.02,75.82,0.516,9254,0.000,0.044,2937,1793,2038,2174,1902,0,0,0,0,0,0,26.44,26.43,25.04
$GC,4227,1.19,220.0,2936,1793,2148,1878,6.6,6.5,664,4279,0.12,1.12,45.28,0.503,10532,0.203,0.048,2964,2503,1899,2039,1759,0,0,0,0,0,0,24.74,25.51,24.96
$STATE,4284,end climb,SURFACE_DEPTH_REACHED
$STATE,4284,begin surface coast
$FINISH,-0.3,1.025441
$STATE,4308,end surface coast,CONTROL_FINISHED_OK
$STATE,4308,begin surface
$SM_CCo,4327,200.85,0.611,1,0,588,542.11
$SM_GC,0.54,7.82,0.77,200.85,0.054,0.034,0.611,163,2003,588,-7.40,1.50,542.11,0,0,0,0,1,0,25.98,25.91,24.33
$IRIDIUM_FIX,4757.54,-12522.17,190921,150310
$TT8_MAMPS,0.021721,0.146055
$HUMID,53.15
$INTERNAL_PRESSURE,8.74779
$TCM_TEMP,15.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,182.6,61.9
$CP_FREE,93048995840.000000
$CP_POWER,421.650000
$CP_POWER1,0.000000
$24V_AH,24.33,9.370
$10V_AH,10.20,4.402
$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,18.275,24.875,420.750,200.850,0.000,0.000,0.000,193.425,2.500,0.000,17.706,1471.517,857.358,658.780,1646.735,252.369,0.000,1486.548,0.000,1494.154,0.000,20.008,0.000
$DEVICE_MAMPS,224.910,68.085,605.115,611.235,0.000,0.000,0.000,98.685,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,390.613,1233.495,0.000,0.000,0.000,0.000,4200.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,153156
$DATA_FILE_SIZE,33500,676
$CAP_FILE_SIZE,77866,0
$CFSIZE,260030464,245456896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.057,296.61,1
$GPS,190921,174102,4757.604,-12527.827,2,1.0,4,15.7,0.9,313.9,9,8.7