version: 66.14
glider: 204
mission: 9
dive: 86
start: 9 21 121 0 48 32
data:
$ID,204
$MISSION,9
$DIVE,86
$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,55
$R_STBD_OVSHOOT,47
$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,3
$ALTIM_SENSITIVITY,4
$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,171.0
$CP_NDIVE,1.0
$GPS1,210921,004240,4756.6738,-12516.2461,26,0.8,27,15.7,0.4,145.3,11,6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-63.0
$GPS2,210921,004734,4756.6597,-12516.2637,4,0.8,6,15.7,0.5,201.6,12,9.4
$SPEED_LIMITS,0.176,0.267
$TGT_NAME,X82_W_SHORT
$TGT_LATLONG,4756.700,-12519.595
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,263.6,4133,-15.4,-10.145,-20.78,2331
$D_GRID,280
$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,-0.74,-155.7,173,2019,742,430,0.0,0.0,0,125,0.00,0.00,-96.85,0.015,16386,0.000,0.000,173,2021,2867,2862,2872,0,0,0,0,0,0,26.13,28.83,26.21
$GC,128,-0.74,-155.7,173,2019,2863,2872,3.8,-7.3,14,158,8.43,1.10,-12.25,0.021,18980,0.216,0.074,2344,1305,3439,3435,3444,0,0,0,0,0,0,25.50,24.37,25.66
$GC,391,-0.74,-155.7,2344,1305,3441,3443,48.2,-12.9,63,399,0.00,1.05,0.00,0.000,1030,0.000,0.045,2340,1999,3442,3442,3443,0,0,0,0,0,0,26.37,26.34,26.39
$GC,524,-0.74,-155.7,2340,1999,3444,3442,64.4,-12.7,88,531,0.00,1.02,0.00,0.000,260,0.000,0.044,2335,2693,3443,3444,3443,0,0,0,0,0,0,26.51,26.36,26.57
$GC,590,-0.74,-155.7,2335,2693,3444,3442,72.6,-12.2,100,598,0.00,1.02,0.00,0.000,1030,0.000,0.031,2339,1974,3443,3444,3443,0,0,0,0,0,0,26.48,26.48,26.50
$GC,723,-0.74,-155.7,2338,1973,3445,3442,87.4,-9.9,125,731,0.00,0.95,0.00,0.000,548,0.000,0.048,2344,1330,3444,3445,3443,0,0,0,0,0,0,26.60,26.41,26.64
$GC,875,-0.74,-155.7,2343,1330,3446,3442,103.6,-11.0,153,879,0.00,1.00,0.00,0.000,1030,0.000,0.037,2341,2000,3444,3446,3442,0,0,0,0,0,0,26.48,26.44,26.51
$GC,1008,-0.74,-155.7,2340,2000,3446,3442,116.9,-9.7,167,1012,0.00,1.02,0.00,0.000,292,0.000,0.042,2336,2697,3444,3446,3442,0,0,0,0,0,0,26.58,26.44,26.65
$GC,1033,-0.74,-155.7,2335,2698,3446,3442,119.7,-9.9,172,1041,0.00,1.00,0.00,0.000,1062,0.000,0.040,2339,1993,3444,3446,3442,0,0,0,0,0,0,26.54,26.51,26.55
$GC,1162,-0.74,-155.7,2338,1993,3446,3442,132.7,-10.7,185,1165,0.00,1.00,0.00,0.000,516,0.000,0.039,2344,1318,3443,3446,3441,0,0,0,0,0,0,26.51,26.46,26.58
$GC,1205,-0.74,-155.7,2343,1317,3446,3441,137.4,-10.0,193,1208,0.00,1.02,0.00,0.000,1062,0.000,0.045,2341,2002,3443,3446,3441,0,0,0,0,0,0,26.53,26.47,26.53
$GC,1337,-0.74,-155.7,2340,2003,3446,3440,150.2,-9.8,207,1345,0.00,0.00,0.00,0.000,38,0.000,0.000,2341,2002,3444,3447,3441,0,0,0,0,0,0,26.65,26.72,26.71
$GC,1468,-0.74,-155.7,2340,2003,3447,3440,163.3,-10.3,220,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2003,3443,3447,3440,0,0,0,0,0,0,26.63,26.65,26.68
$GC,1597,-0.74,-155.7,2340,2003,3447,3439,177.7,-11.7,233,1600,0.00,1.02,0.00,0.000,516,0.000,0.046,2344,1321,3443,3447,3440,0,0,0,0,0,0,26.67,26.46,26.72
$GC,1664,-0.74,-155.7,2343,1321,3447,3439,186.1,-12.3,246,1672,0.00,1.02,0.00,0.000,1030,0.000,0.106,2340,1995,3443,3447,3439,0,0,0,0,0,0,25.72,25.46,25.89
$GC,1792,-0.74,-155.7,2340,1996,3447,3439,201.1,-12.0,259,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1996,3443,3447,3439,0,0,0,0,0,0,26.64,26.71,26.70
$GC,1912,-0.74,-155.7,2340,1995,3447,3439,215.9,-12.4,271,1917,0.00,1.02,0.00,0.000,260,0.000,0.051,2335,2692,3443,3447,3439,0,0,0,0,0,0,26.65,26.42,26.72
$GC,1945,-0.74,-155.7,2334,2692,3446,3438,219.9,-12.6,277,1949,0.00,0.98,0.00,0.000,1030,0.000,0.033,2338,1998,3443,3447,3439,0,0,0,0,0,0,26.56,26.51,26.59
$GC,2077,-0.74,-155.7,2338,1997,3447,3438,234.8,-11.1,291,2082,0.00,0.98,0.00,0.000,516,0.000,0.038,2344,1333,3442,3447,3438,0,0,0,0,0,0,26.53,26.49,26.60
$GC,2165,-0.74,-155.7,2343,1333,3446,3438,243.9,-10.0,308,2173,0.00,1.00,0.00,0.000,1062,0.000,0.044,2341,2000,3441,3446,3437,0,0,0,0,0,0,26.53,26.52,26.56
$GC,2296,-0.74,-155.7,2340,2001,3447,3437,256.5,-10.2,321,2302,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2001,3442,3447,3437,0,0,0,0,0,0,26.58,26.67,26.65
$GC,2422,-0.74,-155.7,2340,2001,3447,3437,270.2,-10.5,334,2424,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2001,3442,3447,3437,0,0,0,0,0,0,26.65,26.72,26.70
$STATE,2521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2521,begin apogee
$GC,2526,-0.18,0.0,2340,1788,3446,3437,280.5,-10.1,344,2807,0.60,0.00,274.60,0.603,10246,0.141,0.000,2524,1787,2801,2863,2739,0,0,0,0,0,0,25.95,25.03,24.47
$STATE,2811,end apogee,CONTROL_FINISHED_OK
$STATE,2811,begin climb
$GC,2813,0.74,155.7,2524,1787,2857,2733,287.1,0.0,372,3066,0.98,1.05,244.45,0.565,10756,0.121,0.035,2823,1138,2161,2301,2022,0,0,0,0,0,0,25.14,24.70,24.33
$GC,3227,0.74,155.7,2822,1137,2268,2001,248.4,12.0,451,3236,0.00,1.02,0.00,0.000,1030,0.000,0.034,2819,1800,2134,2268,2000,0,0,0,0,0,0,25.91,25.88,25.94
$GC,3354,0.74,155.7,2819,1800,2267,1997,234.2,11.2,464,3358,0.00,1.05,0.00,0.000,260,0.000,0.050,2814,2492,2132,2267,1997,0,0,0,0,0,0,26.21,26.06,26.27
$GC,3451,0.74,155.7,2814,2491,2263,1996,223.7,11.8,482,3454,0.00,0.98,0.00,0.000,1030,0.000,0.044,2817,1832,2130,2264,1996,0,0,0,0,0,0,26.22,26.20,26.25
$GC,3583,0.74,159.0,2817,1832,2264,1996,210.2,10.0,496,3587,0.00,1.12,0.00,0.000,548,0.000,0.045,2823,1103,2130,2264,1997,0,0,0,0,0,0,26.29,26.25,26.31
$GC,3648,0.76,174.2,2822,1102,2264,1996,203.9,9.5,508,3669,0.00,1.05,17.23,0.657,9254,0.000,0.039,2820,1800,2090,2228,1952,0,0,0,0,0,0,26.25,26.24,25.23
$GC,3788,0.77,187.0,2819,1800,2209,1932,190.2,9.6,524,3810,0.00,1.05,13.57,0.687,8484,0.000,0.043,2815,2492,2030,2172,1889,0,0,0,0,0,0,26.33,25.54,25.14
$GC,3898,0.80,208.6,2814,2492,2165,1887,179.4,9.2,544,3941,0.05,1.02,33.83,0.621,11302,0.159,0.041,2834,1800,1943,2087,1799,0,0,0,0,0,0,25.89,26.10,25.00
$GC,4063,0.80,208.6,2834,1800,2075,1795,162.1,10.5,564,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1801,1935,2074,1796,0,0,0,0,0,0,26.22,26.29,26.28
$GC,4189,0.80,208.6,2834,1800,2073,1795,147.1,11.4,577,4193,0.00,1.05,0.00,0.000,260,0.000,0.051,2831,2490,1934,2072,1796,0,0,0,0,0,0,26.38,26.13,26.41
$GC,4266,0.80,208.6,2830,2490,2071,1795,138.6,10.5,592,4273,0.00,1.02,0.00,0.000,1030,0.000,0.037,2834,1800,1933,2071,1795,0,0,0,0,0,0,26.31,26.29,26.35
$GC,4392,0.80,208.6,2834,1800,2070,1796,125.6,10.3,605,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1800,1932,2069,1795,0,0,0,0,0,0,26.45,26.54,26.53
$GC,4512,0.80,208.6,2834,1800,2069,1795,112.5,11.1,617,4514,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1800,1932,2069,1795,0,0,0,0,0,0,26.51,26.59,26.58
$GC,4633,0.80,208.6,2834,1800,2068,1795,98.8,10.6,630,4641,0.00,1.05,0.00,0.000,260,0.000,0.048,2830,2489,1931,2068,1795,0,0,0,0,0,0,26.39,26.35,26.46
$GC,4735,0.82,222.4,2830,2489,2067,1795,89.4,9.5,649,4750,0.00,1.02,7.68,0.686,9254,0.000,0.041,2834,1795,1890,2029,1751,0,0,0,0,0,0,26.44,26.41,25.29
$GC,4877,0.82,224.6,2833,1794,2022,1748,75.6,10.0,675,4885,0.00,1.05,0.00,0.000,548,0.000,0.057,2839,1110,1885,2022,1748,0,0,0,0,0,0,26.55,26.28,26.57
$GC,5000,0.84,242.1,2838,1110,2021,1748,63.0,9.4,698,5029,0.00,1.05,21.67,0.591,9254,0.000,0.039,2836,1808,1810,1953,1667,0,0,0,0,0,0,26.34,26.33,25.26
$GC,5155,0.84,242.1,2835,1808,1942,1663,47.0,11.1,726,5163,0.08,1.02,0.00,0.000,2308,0.223,0.051,2846,2496,1803,1944,1663,0,0,0,0,0,0,26.13,26.25,26.22
$GC,5400,0.86,259.5,2845,2495,1939,1663,23.8,9.4,772,5422,0.00,1.05,17.85,0.565,9254,0.000,0.115,2849,1796,1742,1886,1598,0,0,0,0,0,0,25.80,25.60,25.25
$GC,5550,1.00,374.9,2849,1797,1872,1586,13.9,5.1,799,5691,0.17,0.00,137.25,0.518,10530,0.129,0.000,2905,1796,1406,1559,1254,0,0,0,0,0,0,26.08,28.83,26.14
$STATE,5692,end climb,SURFACE_DEPTH_REACHED
$STATE,5692,begin surface coast
$FINISH,-0.2,1.025250
$STATE,5711,end surface coast,CONTROL_FINISHED_OK
$STATE,5711,begin surface
$SM_CCo,5730,326.42,0.490,1,0,587,542.11
$SM_GC,0.78,7.57,0.28,326.42,0.044,0.049,0.490,166,1995,587,-7.41,-1.84,542.11,0,0,0,0,1,0,25.75,25.68,24.44
$IRIDIUM_FIX,4756.77,-12513.21,200921,230619
$TT8_MAMPS,0.02247,0.146804
$HUMID,52.16
$INTERNAL_PRESSURE,8.73803
$TCM_TEMP,15.30
$XPDR_PINGS,0
$CP_FREE,77576142848.000000
$CP_POWER,421.650000
$CP_POWER1,0.000000
$24V_AH,24.33,11.680
$10V_AH,10.17,5.565
$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,17.875,33.425,768.125,326.425,0.000,0.000,0.000,180.425,4.250,0.000,17.658,1757.014,1352.010,1041.620,1928.254,315.893,0.000,2074.055,0.000,1818.099,0.000,28.778,0.000
$DEVICE_MAMPS,223.380,114.750,686.970,490.365,0.000,0.000,0.000,99.450,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,479.579,1523.669,0.000,0.000,0.000,0.000,5471.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,152712
$DATA_FILE_SIZE,43540,822
$CAP_FILE_SIZE,102402,0
$CFSIZE,260030464,243994624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.079,215.68,1
$GPS,210921,023040,4756.458,-12517.290,19,0.9,20,15.7,0.2,0.0,10,6.1