version: 66.14
glider: 204
mission: 9
dive: 76
start: 9 19 121 23 43 34
data:
$ID,204
$MISSION,9
$DIVE,76
$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,56
$R_STBD_OVSHOOT,43
$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,151.0
$CP_NDIVE,1.0
$GPS1,190921,233632,4756.6733,-12528.0244,3,1.2,6,15.7,0.8,167.5,8,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-60.3
$GPS2,190921,234234,4756.5815,-12528.0098,5,0.8,7,15.7,0.6,159.6,12,9.8
$SPEED_LIMITS,0.176,0.267
$TGT_NAME,X82_SLOPE
$TGT_LATLONG,4756.695,-12514.884
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,54.6,16285,-15.4,-10.145,-20.78,2331
$D_GRID,307
$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,-0.74,-155.7,173,1994,741,428,0.0,0.0,0,127,0.00,0.00,-99.10,0.015,16386,0.000,0.000,173,1994,2928,2917,2940,0,0,0,0,0,0,26.20,28.83,26.22
$GC,130,-0.74,-155.7,173,1995,2917,2941,3.9,-7.3,14,154,8.30,1.08,-10.57,0.022,18980,0.210,0.066,2349,1299,3438,3432,3444,0,0,0,0,0,0,25.54,24.34,25.92
$GC,388,-0.74,-155.7,2348,1299,3440,3442,49.7,-11.9,62,396,0.00,1.08,0.00,0.000,1030,0.000,0.044,2346,2007,3441,3440,3442,0,0,0,0,0,0,26.36,26.32,26.39
$GC,521,-0.74,-155.7,2345,2006,3442,3442,64.5,-9.7,87,529,0.00,1.05,0.00,0.000,548,0.000,0.047,2348,1309,3442,3442,3442,0,0,0,0,0,0,26.47,26.27,26.54
$GC,648,-0.74,-155.7,2348,1309,3443,3442,78.0,-10.6,111,655,0.00,1.05,0.00,0.000,1030,0.000,0.044,2345,2005,3443,3444,3442,0,0,0,0,0,0,26.45,26.42,26.48
$GC,781,-0.74,-155.7,2345,2005,3444,3442,92.4,-10.4,136,789,0.00,1.02,0.00,0.000,260,0.000,0.047,2340,2700,3442,3444,3441,0,0,0,0,0,0,26.51,26.31,26.56
$GC,869,-0.74,-155.7,2340,2700,3445,3441,102.0,-11.4,152,874,0.00,1.02,0.00,0.000,1030,0.000,0.031,2344,1976,3442,3444,3441,0,0,0,0,0,0,26.53,26.51,26.55
$GC,1002,-0.74,-155.7,2343,1975,3445,3441,116.6,-10.9,166,1006,0.00,0.95,0.00,0.000,516,0.000,0.049,2348,1333,3443,3445,3441,0,0,0,0,0,0,26.63,26.44,26.69
$GC,1132,-0.74,-155.7,2348,1333,3445,3440,129.6,-9.6,190,1137,0.00,1.00,0.00,0.000,1062,0.000,0.044,2346,2000,3442,3445,3440,0,0,0,0,0,0,26.51,26.48,26.53
$GC,1266,-0.74,-155.7,2345,2000,3445,3439,143.3,-10.0,204,1271,0.00,1.02,0.00,0.000,292,0.000,0.050,2340,2697,3442,3445,3439,0,0,0,0,0,0,26.66,26.46,26.72
$GC,1353,-0.74,-155.7,2340,2696,3446,3439,151.6,-9.4,220,1358,0.00,0.98,0.00,0.000,1062,0.000,0.041,2343,2005,3442,3446,3439,0,0,0,0,0,0,26.45,26.41,26.48
$GC,1486,-0.74,-155.7,2343,2004,3445,3439,164.9,-10.2,234,1491,0.00,1.00,0.00,0.000,516,0.000,0.041,2348,1329,3442,3446,3439,0,0,0,0,0,0,26.51,26.46,26.56
$GC,1635,-0.74,-155.7,2348,1329,3445,3438,179.4,-9.0,262,1639,0.00,1.00,0.00,0.000,1062,0.000,0.037,2346,1995,3441,3445,3438,0,0,0,0,0,0,26.54,26.51,26.57
$GC,1768,-0.74,-155.7,2345,1996,3445,3438,192.6,-9.2,276,1772,0.00,1.02,0.00,0.000,292,0.000,0.051,2340,2691,3441,3445,3437,0,0,0,0,0,0,26.66,26.44,26.74
$GC,1801,-0.74,-155.7,2339,2691,3445,3437,195.8,-9.4,282,1806,0.00,0.98,0.00,0.000,1062,0.000,0.038,2343,2002,3441,3445,3437,0,0,0,0,0,0,26.43,26.43,26.46
$GC,1934,-0.74,-155.7,2343,2001,3445,3437,209.0,-10.1,296,1938,0.00,1.00,0.00,0.000,548,0.000,0.041,2348,1326,3441,3446,3437,0,0,0,0,0,0,26.55,26.49,26.57
$GC,1991,-0.74,-155.7,2348,1325,3445,3437,214.7,-9.2,307,1998,0.00,1.02,0.00,0.000,1062,0.000,0.036,2345,2007,3440,3445,3436,0,0,0,0,0,0,26.55,26.51,26.58
$GC,2119,-0.74,-155.7,2345,2007,3445,3436,227.4,-9.7,320,2127,0.00,0.00,0.00,0.000,38,0.000,0.000,2345,2007,3440,3445,3436,0,0,0,0,0,0,26.66,26.73,26.72
$GC,2249,-0.74,-155.7,2345,2007,3445,3436,239.7,-9.6,333,2252,0.00,1.02,0.00,0.000,548,0.000,0.038,2348,1321,3440,3445,3436,0,0,0,0,0,0,26.53,26.50,26.60
$GC,2294,-0.74,-155.7,2348,1322,3445,3436,243.8,-9.1,341,2297,0.00,1.02,0.00,0.000,1062,0.000,0.109,2345,1997,3440,3445,3436,0,0,0,0,0,0,26.52,26.44,26.52
$GC,2426,-0.74,-155.7,2345,1997,3446,3435,255.6,-8.9,355,2437,0.00,0.00,0.00,0.000,38,0.000,0.000,2345,1997,3440,3445,3435,0,0,0,0,0,0,26.57,26.58,26.60
$GC,2556,-0.74,-155.7,2345,1997,3445,3435,267.4,-9.0,368,2560,0.00,1.02,0.00,0.000,292,0.000,0.051,2340,2694,3440,3445,3435,0,0,0,0,0,0,26.71,26.48,26.76
$GC,2598,-0.74,-155.7,2339,2695,3445,3435,271.2,-9.3,376,2602,0.00,0.98,0.00,0.000,1062,0.000,0.033,2343,2001,3440,3445,3435,0,0,0,0,0,0,26.56,26.53,26.60
$GC,2731,-0.74,-155.7,2342,2001,3445,3434,283.3,-9.1,390,2739,0.00,0.00,0.00,0.000,38,0.000,0.000,2343,2001,3439,3445,3434,0,0,0,0,0,0,26.62,26.70,26.68
$GC,2861,-0.74,-155.7,2342,2001,3445,3434,294.4,-8.4,403,2866,0.00,1.00,0.00,0.000,548,0.000,0.040,2348,1324,3439,3445,3434,0,0,0,0,0,0,26.71,26.49,26.74
$GC,2929,-0.74,-155.7,2347,1324,3445,3433,299.6,-7.7,415,2932,0.00,1.02,0.00,0.000,1062,0.000,0.037,2345,2008,3439,3445,3433,0,0,0,0,0,0,26.55,26.53,26.58
$STATE,3019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3019,begin apogee
$GC,3024,-0.18,0.0,2345,1793,3445,3433,307.8,-9.0,421,3290,0.60,0.00,262.05,0.597,10246,0.149,0.000,2524,1792,2801,2864,2738,0,0,0,0,0,0,25.86,25.09,24.50
$STATE,3294,end apogee,CONTROL_FINISHED_OK
$STATE,3294,begin climb
$GC,3297,0.74,155.7,2524,1792,2856,2727,310.7,0.0,434,3563,0.98,1.05,253.75,0.584,10756,0.121,0.036,2823,1140,2153,2291,2016,0,0,0,0,0,0,25.17,24.70,24.31
$GC,3758,0.74,159.9,2823,1140,2264,2000,272.6,10.0,524,3761,0.00,1.00,0.00,0.000,1062,0.000,0.035,2821,1794,2133,2265,2001,0,0,0,0,0,0,25.98,25.95,26.01
$GC,3890,0.75,163.6,2820,1793,2264,1996,259.3,10.0,538,3893,0.00,1.05,0.00,0.000,292,0.000,0.044,2816,2487,2130,2264,1996,0,0,0,0,0,0,26.19,26.10,26.25
$GC,4006,0.75,167.7,2815,2488,2262,1995,247.9,10.0,560,4010,0.00,0.98,0.00,0.000,1062,0.000,0.041,2818,1829,2128,2262,1995,0,0,0,0,0,0,26.18,26.15,26.20
$GC,4140,0.76,175.1,2818,1829,2262,1995,234.9,9.8,574,4168,0.00,0.00,19.50,0.681,8230,0.000,0.000,2818,1829,2075,2216,1935,0,0,0,0,0,0,26.43,25.79,25.17
$GC,4290,0.76,175.1,2817,1829,2202,1924,219.0,11.1,589,4294,0.00,1.12,0.00,0.000,516,0.000,0.051,2824,1105,2063,2202,1924,0,0,0,0,0,0,26.29,26.15,26.39
$GC,4343,0.76,175.1,2824,1105,2202,1924,212.6,12.3,599,4347,0.00,1.05,0.00,0.000,1030,0.000,0.043,2821,1796,2063,2202,1924,0,0,0,0,0,0,26.29,26.26,26.32
$GC,4475,0.76,175.1,2820,1796,2200,1924,197.5,10.8,613,4479,0.00,1.05,0.00,0.000,260,0.000,0.047,2816,2490,2062,2200,1924,0,0,0,0,0,0,26.32,26.29,26.41
$GC,4551,0.77,188.0,2815,2491,2199,1924,189.6,9.6,628,4569,0.00,1.02,11.95,0.711,9254,0.000,0.043,2819,1796,2029,2169,1889,0,0,0,0,0,0,26.40,26.36,25.24
$GC,4691,0.78,189.2,2818,1796,2162,1884,175.7,10.1,643,4698,0.00,0.00,0.00,0.000,38,0.000,0.000,2819,1796,2023,2162,1884,0,0,0,0,0,0,26.43,26.49,26.48
$GC,4819,0.78,189.2,2818,1796,2160,1884,162.2,10.3,656,4823,0.00,1.05,0.00,0.000,516,0.000,0.048,2824,1108,2022,2160,1884,0,0,0,0,0,0,26.36,26.28,26.40
$GC,4915,0.78,189.2,2823,1107,2160,1884,152.0,10.9,674,4918,0.00,1.05,0.00,0.000,1030,0.000,0.044,2820,1799,2021,2159,1884,0,0,0,0,0,0,26.39,26.36,26.44
$GC,5047,0.78,189.2,2820,1799,2158,1884,137.9,10.6,688,5051,0.00,1.05,0.00,0.000,260,0.000,0.116,2816,2500,2021,2159,1884,0,0,0,0,0,0,26.57,26.36,26.63
$GC,5137,0.78,189.2,2815,2500,2158,1884,127.9,10.5,705,5145,0.00,1.02,0.00,0.000,1030,0.000,0.036,2819,1801,2021,2158,1884,0,0,0,0,0,0,26.48,25.61,26.48
$GC,5266,0.78,189.2,2818,1801,2157,1884,114.8,10.3,718,5268,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1801,2020,2158,1883,0,0,0,0,0,0,26.56,26.63,26.62
$GC,5386,0.80,206.1,2818,1800,2157,1884,103.2,9.4,730,5408,0.08,0.00,19.35,0.646,10790,0.187,0.000,2835,1800,1959,2100,1818,0,0,0,0,0,0,26.30,25.96,25.35
$GC,5529,0.80,206.1,2835,1799,2084,1808,88.8,10.3,755,5537,0.00,1.05,0.00,0.000,260,0.000,0.050,2832,2491,1946,2084,1808,0,0,0,0,0,0,26.44,26.28,26.50
$GC,5610,0.80,206.1,2831,2491,2082,1808,80.0,10.5,770,5618,0.00,1.02,0.00,0.000,1030,0.000,0.040,2835,1801,1945,2082,1808,0,0,0,0,0,0,26.24,26.22,26.26
$GC,5750,0.80,206.1,2835,1801,2081,1808,65.8,10.8,795,5758,0.00,1.08,0.00,0.000,516,0.000,0.046,2840,1095,1944,2081,1808,0,0,0,0,0,0,26.50,26.34,26.56
$GC,5828,0.80,206.1,2840,1096,2081,1808,56.6,11.6,809,5836,0.00,1.08,0.00,0.000,1030,0.000,0.041,2837,1808,1944,2081,1808,0,0,0,0,0,0,26.33,26.29,26.36
$GC,5961,0.83,238.2,2836,1808,2080,1808,44.1,8.7,834,6012,0.00,1.00,43.67,0.568,8484,0.000,0.042,2832,2492,1822,1966,1679,0,0,0,0,0,0,26.40,25.57,25.18
$GC,6245,0.97,349.3,2831,2492,1952,1674,19.9,5.2,886,6449,0.15,1.02,194.77,0.513,11302,0.111,0.041,2888,1801,1373,1532,1214,0,0,0,0,0,0,25.98,26.22,24.71
$STATE,6455,end climb,SURFACE_DEPTH_REACHED
$STATE,6455,begin surface coast
$FINISH,-0.3,1.014066
$STATE,6477,end surface coast,CONTROL_FINISHED_OK
$STATE,6478,begin surface
$SM_CCo,6497,133.02,0.607,1,0,590,542.11
$SM_GC,0.64,7.68,0.30,133.02,0.054,0.046,0.607,159,2014,590,-7.41,-1.30,542.11,0,0,0,0,1,0,25.72,25.65,24.39
$IRIDIUM_FIX,4758.29,-12531.14,190921,215124
$TT8_MAMPS,0.021721,0.148302
$HUMID,53.34
$INTERNAL_PRESSURE,8.74779
$TCM_TEMP,15.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,256.3,73.0
$CP_FREE,89387335680.000000
$CP_POWER,421.650000
$CP_POWER1,0.000000
$24V_AH,24.31,10.019
$10V_AH,10.18,4.719
$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,17.775,41.650,805.050,133.025,0.000,0.000,0.000,232.325,4.000,0.000,19.837,1937.122,1674.933,916.759,2174.123,334.894,0.000,2055.915,0.000,1996.343,0.000,28.530,0.000
$DEVICE_MAMPS,209.610,116.280,711.450,607.410,0.000,0.000,0.000,104.040,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,510.088,1611.340,0.000,0.000,0.000,0.000,6234.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,152980
$DATA_FILE_SIZE,46803,920
$CAP_FILE_SIZE,111512,0
$CFSIZE,260030464,245047296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.112,207.73,1
$GPS,200921,013532,4756.485,-12527.564,36,0.8,37,15.7,1.0,228.7,10,5.1