version: 66.14
glider: 204
mission: 9
dive: 51
start: 9 18 121 0 38 15
data:
$ID,204
$MISSION,9
$DIVE,51
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,200
$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,60
$T_MISSION,80
$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,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55599
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0019952599
$HD_B,0.0099999998
$HD_C,5.7000002e-06
$HEADING,270
$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,54
$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,5
$ALTIM_SENSITIVITY,1
$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,0.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,101.0
$CP_NDIVE,1.0
$GPS1,180921,003059,4757.8335,-12513.9609,8,1.3,11,15.7,2.0,63.8,10,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-56.3
$GPS2,180921,003719,4757.8047,-12513.8564,4,1.0,6,15.7,0.2,0.0,10,7.0
$SPEED_LIMITS,0.192,0.291
$TGT_NAME,HEADING
$TGT_LATLONG,4757.805,-12529.984
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,254.3,20000,-15.8,-11.111,-20.92,2397
$D_GRID,156
$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,-0.77,-175.2,149,2012,746,430,0.0,0.0,0,144,0.00,0.00,-115.95,0.015,16386,0.000,0.000,147,2013,3178,3167,3190,0,0,0,0,0,0,26.22,28.83,26.29
$GC,146,-0.77,-175.2,147,2012,3169,3190,4.0,-8.9,18,168,8.38,1.10,-7.12,0.028,18980,0.215,0.073,2327,1302,3518,3514,3522,0,0,0,0,0,0,25.68,24.51,25.87
$GC,220,-0.77,-175.2,2326,1302,3518,3521,23.3,-18.6,31,228,0.00,1.08,0.00,0.000,1030,0.000,0.038,2322,2007,3519,3518,3520,0,0,0,0,0,0,26.30,26.27,26.33
$GC,355,-0.77,-175.2,2322,2007,3519,3520,44.2,-14.4,56,363,0.00,1.02,0.00,0.000,260,0.000,0.051,2318,2698,3519,3519,3520,0,0,0,0,0,0,26.42,26.25,26.50
$GC,468,-0.77,-175.2,2317,2698,3520,3519,59.5,-13.9,77,476,0.00,1.02,0.00,0.000,1030,0.000,0.033,2322,1978,3519,3520,3519,0,0,0,0,0,0,26.43,26.37,26.46
$GC,598,-0.77,-175.2,2321,1978,3521,3519,77.1,-14.4,102,605,0.00,1.08,0.00,0.000,260,0.000,0.050,2318,2696,3520,3521,3519,0,0,0,0,0,0,26.56,26.39,26.61
$GC,642,-0.77,-175.2,2317,2696,3521,3519,83.3,-13.4,110,650,0.03,0.98,0.00,0.000,3078,0.216,0.032,2328,2003,3520,3521,3519,0,0,0,0,0,0,26.26,26.44,26.27
$GC,775,-0.77,-175.2,2328,2004,3522,3518,98.6,-11.5,135,783,0.00,1.00,0.00,0.000,516,0.000,0.047,2334,1325,3520,3522,3519,0,0,0,0,0,0,26.56,26.36,26.62
$GC,822,-0.77,-175.2,2333,1325,3522,3518,104.6,-12.2,143,825,0.00,1.02,0.00,0.000,1030,0.000,0.046,2330,2005,3520,3522,3518,0,0,0,0,0,0,26.47,26.44,26.50
$GC,953,-0.77,-175.2,2330,2005,3523,3518,120.2,-11.6,157,962,0.00,1.02,0.00,0.000,260,0.000,0.048,2325,2698,3520,3522,3518,0,0,0,0,0,0,26.59,26.31,26.60
$GC,991,-0.77,-175.2,2325,2698,3523,3518,124.4,-11.2,163,995,0.00,1.00,0.00,0.000,1030,0.000,0.039,2329,1994,3520,3523,3517,0,0,0,0,0,0,26.44,26.40,26.46
$GC,1123,-0.77,-175.2,2328,1995,3523,3517,138.7,-10.4,177,1127,0.00,1.00,0.00,0.000,548,0.000,0.046,2334,1319,3520,3523,3517,0,0,0,0,0,0,26.59,26.38,26.65
$GC,1169,-0.77,-175.2,2333,1319,3523,3517,143.9,-10.7,186,1177,0.00,1.02,0.00,0.000,1062,0.000,0.036,2330,1999,3520,3523,3517,0,0,0,0,0,0,26.52,26.49,26.54
$STATE,1285,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1285,begin apogee
$GC,1290,-0.18,0.0,2330,1786,3523,3517,156.9,-11.8,198,1598,0.62,0.00,300.60,0.542,10246,0.264,0.000,2519,1785,2797,2861,2734,0,0,0,0,0,0,26.03,25.06,24.56
$STATE,1603,end apogee,CONTROL_FINISHED_OK
$STATE,1603,begin climb
$GC,1604,0.77,175.2,2519,1786,2851,2723,166.9,0.0,229,1880,1.02,1.05,267.58,0.504,10756,0.120,0.035,2835,1109,2083,2220,1947,0,0,0,0,0,0,25.20,24.87,24.54
$GC,1944,0.79,192.5,2834,1109,2183,1919,142.8,10.4,295,1963,0.00,1.08,12.00,0.597,9254,0.000,0.040,2831,1798,2014,2149,1879,0,0,0,0,0,0,25.53,25.53,24.77
$GC,2081,0.81,202.5,2831,1798,2132,1861,127.5,10.7,311,2091,0.00,0.00,2.72,0.433,8230,0.000,0.000,2832,1798,1978,2117,1840,0,0,0,0,0,0,25.88,25.10,24.48
$GC,2211,0.85,242.4,2831,1798,2126,1848,114.7,9.4,324,2292,0.12,1.08,72.35,0.527,10788,0.212,0.047,2865,1130,1803,1943,1664,0,0,0,0,0,0,25.75,25.21,24.84
$GC,2305,0.85,242.4,2864,1130,1922,1648,103.8,12.8,336,2308,0.00,1.05,0.00,0.000,1030,0.000,0.044,2862,1801,1783,1920,1646,0,0,0,0,0,0,25.73,25.70,25.75
$GC,2432,0.85,242.4,2861,1801,1913,1637,87.2,13.2,359,2439,0.00,1.05,0.00,0.000,516,0.000,0.047,2865,1136,1775,1913,1637,0,0,0,0,0,0,26.10,26.00,26.16
$GC,2498,0.85,242.4,2865,1136,1912,1638,78.2,14.3,371,2506,0.00,1.02,0.00,0.000,1030,0.000,0.044,2862,1801,1775,1912,1638,0,0,0,0,0,0,26.08,26.05,26.14
$GC,2629,0.85,242.4,2861,1800,1910,1637,60.9,12.3,396,2636,0.00,1.05,0.00,0.000,260,0.000,0.051,2857,2496,1773,1910,1637,0,0,0,0,0,0,26.34,26.21,26.41
$GC,2719,0.85,242.4,2856,2496,1908,1637,50.8,11.3,413,2726,0.00,0.98,0.00,0.000,1030,0.000,0.046,2860,1836,1772,1908,1637,0,0,0,0,0,0,26.28,26.24,26.31
$GC,2854,0.86,247.9,2859,1836,1907,1636,35.9,10.9,438,2861,0.00,0.00,0.00,0.000,38,0.000,0.000,2860,1836,1771,1907,1636,0,0,0,0,0,0,26.46,26.48,26.51
$GC,2983,0.92,298.2,2859,1836,1907,1636,22.6,9.0,463,3074,0.08,1.02,82.05,0.508,11044,0.188,0.043,2878,2494,1575,1717,1434,0,0,0,0,0,0,26.17,25.36,25.01
$STATE,3190,end climb,SURFACE_DEPTH_REACHED
$STATE,3190,begin surface coast
$FINISH,-0.5,1.026135
$STATE,3206,end surface coast,CONTROL_FINISHED_OK
$STATE,3207,begin surface
$SM_CCo,3225,166.38,0.614,1,0,586,542.11
$SM_GC,0.38,7.50,0.75,166.38,0.053,0.032,0.614,184,2003,586,-7.40,1.53,542.11,0,0,0,0,1,0,26.16,26.07,24.44
$IRIDIUM_FIX,4758.62,-12507.95,180921,003246
$TT8_MAMPS,0.02247,0.180509
$HUMID,53.70
$INTERNAL_PRESSURE,8.72826
$TCM_TEMP,15.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.9,51.6
$CP_FREE,111995060224.000000
$CP_POWER,421.650000
$CP_POWER1,0.000000
$24V_AH,24.44,6.404
$10V_AH,10.12,2.952
$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,17.750,22.725,737.300,166.375,0.000,0.000,0.000,217.700,0.750,0.000,18.357,918.639,536.152,828.007,1338.198,200.697,0.000,1664.319,0.000,1148.953,0.000,7.251,0.000
$DEVICE_MAMPS,263.925,73.440,596.700,613.530,0.000,0.000,0.000,81.090,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,300.146,967.748,0.000,0.000,0.000,0.000,2945.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,154764
$DATA_FILE_SIZE,26904,503
$CAP_FILE_SIZE,66678,0
$CFSIZE,260030464,247287808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,180921,013544,4757.678,-12514.453,4,1.1,6,15.7,0.4,149.0,10,9.4