version: 66.14
glider: 204
mission: 9
dive: 55
start: 9 18 121 5 1 45
data:
$ID,204
$MISSION,9
$DIVE,55
$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,50
$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,7.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,109.0
$CP_NDIVE,1.0
$GPS1,180921,045501,4757.3047,-12516.2773,3,0.8,18,15.7,0.6,176.5,10,2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.33
$_SM_ANGLEo,-54.5
$GPS2,180921,050043,4757.2437,-12516.3125,4,0.6,6,15.7,1.9,198.9,12,9.5
$SPEED_LIMITS,0.176,0.267
$TGT_NAME,HOLD
$TGT_LATLONG,4757.360,-12521.587
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,262.2,6545,-15.4,-10.145,-20.78,2331
$D_GRID,246
$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,-0.74,-155.7,172,1993,736,438,0.0,0.0,0,138,0.00,0.00,-110.10,0.015,16386,0.000,0.000,172,1990,3030,3016,3045,0,0,0,0,0,0,26.18,28.83,26.25
$GC,140,-0.74,-155.7,172,1993,3019,3046,3.6,-6.7,16,164,8.38,1.08,-8.75,0.018,18980,0.216,0.075,2348,1296,3440,3436,3444,0,0,0,0,0,0,25.63,24.46,25.82
$GC,397,-0.74,-155.7,2347,1296,3442,3442,46.9,-9.2,64,405,0.00,1.08,0.00,0.000,1062,0.000,0.041,2345,2004,3441,3441,3442,0,0,0,0,0,0,26.27,26.22,26.30
$GC,533,-0.74,-155.7,2344,2003,3444,3442,63.0,-13.8,89,541,0.00,1.02,0.00,0.000,260,0.000,0.044,2339,2697,3443,3444,3442,0,0,0,0,0,0,26.51,26.37,26.56
$GC,620,-0.74,-155.7,2339,2697,3445,3442,74.0,-11.9,105,628,0.00,1.02,0.00,0.000,1030,0.000,0.039,2343,1977,3443,3445,3442,0,0,0,0,0,0,26.41,26.36,26.45
$GC,754,-0.74,-155.7,2342,1977,3445,3442,87.9,-9.8,130,761,0.00,1.08,0.00,0.000,292,0.000,0.050,2339,2693,3443,3445,3441,0,0,0,0,0,0,26.55,26.41,26.63
$GC,774,-0.74,-155.7,2339,2693,3445,3441,90.1,-9.6,133,783,0.00,0.98,0.00,0.000,1062,0.000,0.041,2343,2006,3443,3445,3441,0,0,0,0,0,0,26.50,26.46,26.51
$GC,907,-0.74,-155.7,2342,2006,3446,3441,103.5,-10.3,155,911,0.00,1.00,0.00,0.000,516,0.000,0.048,2347,1330,3443,3446,3440,0,0,0,0,0,0,26.56,26.35,26.62
$GC,1022,-0.74,-155.7,2347,1330,3446,3440,115.9,-10.4,177,1027,0.00,1.00,0.00,0.000,1030,0.000,0.038,2344,1998,3443,3446,3440,0,0,0,0,0,0,26.49,26.46,26.52
$GC,1155,-0.74,-155.7,2344,1998,3445,3439,129.2,-9.6,191,1160,0.00,1.02,0.00,0.000,292,0.000,0.052,2339,2695,3442,3446,3439,0,0,0,0,0,0,26.57,26.36,26.63
$GC,1201,-0.74,-155.7,2338,2694,3446,3439,133.8,-9.6,200,1209,0.00,0.98,0.00,0.000,1062,0.000,0.032,2342,2002,3442,3446,3439,0,0,0,0,0,0,26.55,26.53,26.57
$GC,1329,-0.74,-155.7,2341,2002,3446,3439,146.0,-9.3,213,1334,0.00,1.00,0.00,0.000,548,0.000,0.045,2347,1325,3442,3446,3439,0,0,0,0,0,0,26.57,26.36,26.63
$GC,1375,-0.74,-155.7,2347,1325,3446,3439,150.2,-8.9,221,1380,0.00,1.02,0.00,0.000,1062,0.000,0.037,2344,2009,3442,3446,3439,0,0,0,0,0,0,26.53,26.50,26.55
$GC,1508,-0.74,-155.7,2344,2008,3447,3438,162.8,-9.4,235,1516,0.00,0.00,0.00,0.000,38,0.000,0.000,2344,2009,3442,3446,3438,0,0,0,0,0,0,26.67,26.72,26.72
$GC,1638,-0.74,-155.7,2343,2008,3447,3438,175.3,-9.7,248,1642,0.00,1.02,0.00,0.000,548,0.000,0.046,2347,1325,3441,3446,3437,0,0,0,0,0,0,26.67,26.48,26.72
$GC,1762,-0.74,-155.7,2347,1324,3446,3438,186.9,-9.1,271,1770,0.00,1.02,0.00,0.000,1062,0.000,0.046,2343,2005,3441,3446,3437,0,0,0,0,0,0,26.52,26.48,26.55
$GC,1889,-0.74,-155.7,2344,2005,3446,3437,198.5,-9.5,284,1893,0.00,1.02,0.00,0.000,548,0.000,0.038,2347,1321,3441,3446,3436,0,0,0,0,0,0,26.66,26.51,26.72
$GC,1987,-0.74,-155.7,2347,1321,3446,3437,208.3,-9.9,303,1995,0.00,1.02,0.00,0.000,1062,0.000,0.040,2344,2000,3442,3447,3437,0,0,0,0,0,0,26.41,26.38,26.44
$GC,2115,-0.74,-155.7,2344,2000,3447,3436,220.8,-10.1,316,2123,0.00,0.00,0.00,0.000,38,0.000,0.000,2344,2000,3442,3447,3437,0,0,0,0,0,0,26.61,26.68,26.67
$GC,2248,-0.74,-155.7,2343,2000,3447,3437,233.4,-9.7,329,2252,0.00,1.00,0.00,0.000,548,0.000,0.047,2347,1331,3441,3446,3436,0,0,0,0,0,0,26.67,26.50,26.73
$GC,2307,-0.74,-155.7,2347,1331,3446,3437,239.5,-9.2,340,2315,0.00,1.02,0.00,0.000,1062,0.000,0.043,2344,2013,3441,3446,3436,0,0,0,0,0,0,26.44,26.40,26.48
$STATE,2384,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2384,begin apogee
$GC,2390,-0.18,0.0,2344,1790,3446,3436,246.5,-9.3,348,2659,0.57,0.00,263.98,0.588,10246,0.139,0.000,2522,1789,2801,2865,2738,0,0,0,0,0,0,26.01,25.04,24.52
$STATE,2663,end apogee,CONTROL_FINISHED_OK
$STATE,2663,begin climb
$GC,2665,0.74,155.7,2522,1789,2855,2725,254.1,0.0,375,2932,0.98,1.08,259.33,0.539,10756,0.118,0.039,2822,1138,2163,2300,2026,0,0,0,0,0,0,25.17,24.98,24.43
$GC,3104,0.74,155.7,2822,1138,2256,1998,222.1,11.2,457,3109,0.00,1.02,0.00,0.000,1030,0.000,0.037,2819,1800,2127,2257,1997,0,0,0,0,0,0,25.92,25.86,25.94
$GC,3239,0.74,155.7,2819,1800,2256,1994,207.4,11.1,471,3243,0.00,1.05,0.00,0.000,260,0.000,0.044,2815,2493,2124,2256,1993,0,0,0,0,0,0,26.20,26.01,26.29
$GC,3281,0.74,155.7,2814,2493,2256,1994,202.6,10.5,479,3285,0.00,0.98,0.00,0.000,1030,0.000,0.041,2818,1833,2124,2255,1994,0,0,0,0,0,0,26.05,26.05,26.08
$GC,3416,0.76,175.2,2817,1833,2255,1994,189.9,9.3,493,3437,0.00,1.17,15.23,0.654,8740,0.000,0.051,2823,1093,2082,2218,1947,0,0,0,0,0,0,26.37,25.91,25.20
$GC,3546,0.76,179.3,2823,1092,2197,1931,176.3,10.0,518,3554,0.00,1.08,0.00,0.000,1062,0.000,0.040,2819,1800,2063,2197,1930,0,0,0,0,0,0,26.19,26.15,26.22
$GC,3676,0.77,181.4,2819,1801,2196,1929,163.6,10.0,531,3683,0.00,0.00,0.00,0.000,38,0.000,0.000,2819,1801,2062,2196,1929,0,0,0,0,0,0,26.32,26.33,26.34
$GC,3804,0.79,199.5,2819,1801,2195,1929,151.1,9.3,544,3845,0.00,1.05,33.55,0.591,8484,0.000,0.047,2814,2492,1979,2118,1840,0,0,0,0,0,0,26.35,25.52,25.14
$GC,3891,0.80,209.3,2814,2492,2103,1828,142.8,9.7,560,3903,0.05,1.02,3.30,0.692,11302,0.148,0.035,2834,1804,1947,2088,1806,0,0,0,0,0,0,25.86,26.07,24.48
$GC,4021,0.80,209.3,2833,1804,2091,1808,128.5,11.3,574,4029,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1804,1950,2092,1808,0,0,0,0,0,0,26.22,26.30,26.28
$GC,4151,0.80,209.3,2833,1804,2091,1809,114.9,10.7,587,4155,0.00,1.05,0.00,0.000,260,0.000,0.043,2830,2500,1949,2091,1808,0,0,0,0,0,0,26.38,26.23,26.44
$GC,4247,0.80,209.3,2829,2500,2091,1808,103.8,11.7,606,4255,0.00,1.05,0.00,0.000,1030,0.000,0.037,2834,1793,1949,2091,1808,0,0,0,0,0,0,26.34,26.32,26.37
$GC,4377,0.80,209.3,2833,1793,2090,1808,89.1,11.6,628,4384,0.00,1.05,0.00,0.000,260,0.000,0.043,2830,2489,1949,2090,1808,0,0,0,0,0,0,26.48,26.33,26.53
$GC,4423,0.80,209.3,2830,2489,2089,1808,83.8,11.7,636,4430,0.00,1.02,0.00,0.000,1030,0.000,0.036,2834,1795,1948,2089,1808,0,0,0,0,0,0,26.42,26.39,26.41
$GC,4562,0.80,209.3,2833,1795,2089,1808,68.4,10.3,661,4570,0.00,1.05,0.00,0.000,260,0.000,0.052,2830,2491,1948,2089,1808,0,0,0,0,0,0,26.55,26.31,26.55
$GC,4599,0.80,212.0,2829,2491,2088,1808,64.6,10.0,667,4606,0.00,1.02,0.00,0.000,1062,0.000,0.036,2833,1795,1948,2089,1808,0,0,0,0,0,0,26.45,26.41,26.48
$GC,4732,0.81,214.7,2833,1795,2089,1808,51.9,10.0,692,4740,0.00,0.00,3.12,0.563,8230,0.000,0.000,2834,1795,1924,2065,1784,0,0,0,0,0,0,26.59,25.87,24.82
$GC,4866,0.81,218.8,2833,1795,2070,1789,38.9,10.0,717,4875,0.00,1.10,2.90,0.513,8484,0.000,0.044,2830,2503,1907,2048,1766,0,0,0,0,0,0,26.58,25.97,24.85
$GC,4955,0.82,226.9,2829,2503,2052,1770,29.6,9.8,733,4971,0.00,1.05,9.23,0.596,9254,0.000,0.037,2833,1794,1872,2012,1732,0,0,0,0,0,0,26.48,26.43,25.32
$GC,5098,0.98,359.3,2833,1794,2002,1725,20.1,4.3,759,5295,0.20,0.00,192.55,0.505,10530,0.160,0.000,2896,1793,1441,1593,1290,0,0,0,0,0,0,26.06,28.83,26.14
$STATE,5297,end climb,SURFACE_DEPTH_REACHED
$STATE,5297,begin surface coast
$FINISH,-0.5,1.025910
$STATE,5314,end surface coast,CONTROL_FINISHED_OK
$STATE,5314,begin surface
$SM_CCo,5333,148.70,0.611,1,0,588,542.11
$SM_GC,0.43,7.62,0.30,148.70,0.048,0.041,0.611,163,2011,588,-7.40,-1.50,542.11,0,0,0,0,1,0,25.65,25.60,24.37
$IRIDIUM_FIX,4756.77,-12513.21,180921,034939
$TT8_MAMPS,0.021721,0.148302
$HUMID,53.50
$INTERNAL_PRESSURE,8.72826
$TCM_TEMP,15.10
$XPDR_PINGS,0
$CP_FREE,110032224256.000000
$CP_POWER,421.640000
$CP_POWER1,0.000000
$24V_AH,24.37,6.966
$10V_AH,10.20,3.161
$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,17.800,35.800,783.175,148.700,0.000,0.000,0.000,239.725,3.500,0.000,18.492,1631.602,1144.196,894.452,1893.445,315.565,0.000,1970.837,0.000,1735.828,0.000,23.888,0.000
$DEVICE_MAMPS,215.730,74.970,692.325,611.235,0.000,0.000,0.000,90.270,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,444.863,1418.550,0.000,0.000,0.000,0.000,5064.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,154512
$DATA_FILE_SIZE,40285,790
$CAP_FILE_SIZE,98973,0
$CFSIZE,260030464,247013376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.038,263.58,1
$GPS,180921,063432,4757.251,-12517.325,11,1.3,33,15.7,0.6,185.3,8,4.1