version: 66.14
glider: 204
mission: 9
dive: 93
start: 9 21 121 15 19 56
data:
$ID,204
$MISSION,9
$DIVE,93
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$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,120
$T_MISSION,145
$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,53
$R_STBD_OVSHOOT,55
$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,0
$ALTIM_PING_DELTA,0
$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,185.0
$CP_NDIVE,1.0
$GPS1,210921,151131,4753.4780,-12517.5703,4,0.7,30,15.7,0.8,266.7,12,3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-64.7
$GPS2,210921,151848,4753.4478,-12517.6211,3,0.6,5,15.7,0.5,341.7,12,10.0
$SPEED_LIMITS,0.173,0.266
$TGT_NAME,TRANSIT10
$TGT_LATLONG,4752.883,-12517.040
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,125.3,1271,-25.4,-10.000,-29.59,1000
$D_GRID,341
$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,-0.98,-65.3,166,2014,724,449,0.0,0.0,0,135,0.00,0.00,-106.18,0.015,16390,0.000,0.000,166,2013,3067,3056,3078,0,0,0,0,0,0,26.20,24.39,26.27
$GC,138,-1.00,-76.4,166,2012,3057,3079,4.6,-8.9,15,154,8.12,1.05,-0.93,0.080,18980,0.223,0.060,2264,1282,3114,3111,3117,0,0,0,0,0,0,25.55,25.51,25.74
$GC,329,-1.00,-76.4,2263,1282,3120,3113,41.2,-13.1,51,337,0.00,1.08,0.00,0.000,1030,0.000,0.040,2261,1988,3116,3121,3112,0,0,0,0,0,0,26.23,26.18,26.26
$GC,465,-1.00,-76.4,2260,1988,3123,3112,59.6,-14.8,76,472,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1988,3117,3123,3112,0,0,0,0,0,0,26.46,26.51,26.50
$GC,596,-1.00,-76.4,2260,1988,3124,3111,75.3,-10.8,101,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1988,3118,3124,3112,0,0,0,0,0,0,26.58,26.62,26.64
$GC,734,-1.00,-76.4,2260,1988,3125,3111,91.1,-11.6,126,741,0.00,1.05,0.00,0.000,516,0.000,0.111,2264,1299,3118,3125,3111,0,0,0,0,0,0,26.60,26.36,26.65
$GC,843,-1.00,-76.4,2263,1299,3125,3111,105.7,-12.5,147,851,0.00,1.08,0.00,0.000,1030,0.000,0.073,2261,2010,3118,3125,3111,0,0,0,0,0,0,24.99,25.24,24.89
$GC,972,-1.00,-76.4,2260,2010,3126,3111,120.5,-11.4,160,975,0.00,1.08,0.00,0.000,516,0.000,0.047,2264,1298,3118,3126,3111,0,0,0,0,0,0,26.61,26.40,26.66
$GC,1183,-1.00,-76.4,2263,1298,3127,3110,146.7,-11.6,200,1187,0.00,1.08,0.00,0.000,1030,0.000,0.034,2261,2010,3118,3127,3110,0,0,0,0,0,0,26.52,26.53,26.54
$GC,1315,-1.00,-76.4,2261,2010,3128,3109,161.4,-11.0,214,1320,0.00,1.08,0.00,0.000,516,0.000,0.047,2264,1299,3118,3128,3109,0,0,0,0,0,0,26.61,26.35,26.67
$GC,1563,-1.00,-76.4,2263,1300,3128,3109,190.0,-11.3,260,1567,0.00,1.05,0.00,0.000,1030,0.000,0.035,2261,1997,3118,3128,3109,0,0,0,0,0,0,26.48,26.46,26.47
$GC,1695,-1.00,-76.4,2260,1997,3128,3109,204.2,-10.8,274,1699,0.00,1.05,0.00,0.000,516,0.000,0.047,2263,1300,3118,3128,3108,0,0,0,0,0,0,26.63,26.36,26.70
$GC,1885,-1.00,-76.4,2263,1300,3128,3108,225.0,-11.2,310,1889,0.00,1.05,0.00,0.000,1030,0.000,0.042,2261,1997,3118,3128,3108,0,0,0,0,0,0,26.41,26.37,26.45
$GC,2020,-1.00,-76.4,2260,1997,3128,3108,239.3,-10.7,324,2023,0.00,1.05,0.00,0.000,516,0.000,0.047,2264,1301,3118,3128,3108,0,0,0,0,0,0,26.68,26.45,26.74
$GC,2106,-1.00,-76.4,2263,1301,3128,3108,249.6,-11.3,341,2115,0.00,1.05,0.00,0.000,1030,0.000,0.035,2261,2002,3118,3128,3108,0,0,0,0,0,0,26.53,26.49,26.56
$GC,2235,-1.00,-76.4,2259,2002,3128,3107,264.6,-12.1,354,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2002,3117,3128,3107,0,0,0,0,0,0,26.65,26.72,26.70
$GC,2367,-1.00,-76.4,2260,2002,3128,3107,280.4,-12.0,367,2371,0.00,1.05,0.00,0.000,516,0.000,0.040,2264,1305,3117,3128,3107,0,0,0,0,0,0,26.69,26.48,26.74
$GC,2573,-1.00,-76.4,2263,1304,3128,3107,305.6,-11.8,407,2577,0.00,1.05,0.00,0.000,1030,0.000,0.037,2261,2000,3117,3128,3106,0,0,0,0,0,0,26.39,26.35,26.41
$GC,2715,-1.00,-76.4,2260,2001,3127,3105,321.8,-11.5,417,2719,0.00,1.05,0.00,0.000,516,0.000,0.039,2264,1301,3116,3128,3105,0,0,0,0,0,0,26.67,26.48,26.73
$GC,2821,-1.00,-76.4,2264,1301,3128,3104,334.7,-12.0,438,2825,0.00,1.05,0.00,0.000,1030,0.000,0.034,2261,1996,3117,3128,3106,0,0,0,0,0,0,26.55,26.53,26.58
$STATE,2877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2877,begin apogee
$GC,2882,-0.18,0.0,2261,1770,3128,3105,341.0,-11.4,443,3039,0.90,0.00,148.48,0.616,10246,0.157,0.000,2522,1768,2795,2843,2747,0,0,0,0,0,0,25.76,25.02,24.63
$STATE,3043,end apogee,CONTROL_FINISHED_OK
$STATE,3043,begin climb
$GC,3045,1.00,76.4,2522,1768,2837,2742,345.3,0.0,451,3181,1.27,1.05,126.68,0.601,10756,0.120,0.040,2910,1135,2482,2577,2388,0,0,0,0,0,0,25.32,25.06,24.43
$GC,3368,1.00,76.4,2910,1135,2567,2373,315.1,11.9,511,3376,0.00,1.02,0.00,0.000,1030,0.000,0.036,2908,1798,2469,2567,2372,0,0,0,0,0,0,26.03,25.99,26.04
$GC,3497,1.00,76.4,2907,1798,2564,2372,301.0,11.2,518,3499,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,1798,2468,2564,2372,0,0,0,0,0,0,26.24,26.32,26.31
$GC,3616,1.00,77.5,2907,1798,2563,2372,288.5,9.9,529,3621,0.00,1.02,0.00,0.000,548,0.000,0.044,2911,1131,2467,2563,2372,0,0,0,0,0,0,26.28,26.22,26.33
$GC,3734,1.00,77.5,2910,1131,2563,2372,275.4,11.7,552,3742,0.00,1.02,0.00,0.000,1030,0.000,0.043,2908,1801,2467,2563,2372,0,0,0,0,0,0,26.33,26.30,26.36
$GC,3864,1.00,77.5,2907,1801,2562,2372,262.2,10.2,565,3869,0.00,1.05,0.00,0.000,516,0.000,0.053,2911,1128,2467,2562,2372,0,0,0,0,0,0,26.52,26.32,26.58
$GC,3972,1.00,77.5,2911,1128,2562,2372,250.1,11.3,586,3979,0.00,1.02,0.00,0.000,1030,0.000,0.046,2908,1800,2466,2561,2372,0,0,0,0,0,0,26.39,26.34,26.40
$GC,4102,1.00,77.5,2907,1800,2561,2371,235.5,11.6,599,4105,0.00,1.05,0.00,0.000,516,0.000,0.052,2911,1126,2466,2561,2372,0,0,0,0,0,0,26.56,26.35,26.62
$GC,4216,1.00,77.5,2910,1125,2560,2372,221.8,12.1,621,4220,0.00,1.02,0.00,0.000,1030,0.000,0.044,2908,1800,2466,2561,2371,0,0,0,0,0,0,26.46,26.44,26.49
$GC,4348,1.00,77.5,2908,1800,2559,2371,206.3,11.6,635,4350,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,1800,2466,2560,2372,0,0,0,0,0,0,26.43,26.50,26.49
$GC,4468,1.00,77.5,2907,1800,2559,2371,192.5,11.3,647,4470,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,1800,2465,2560,2371,0,0,0,0,0,0,26.47,26.51,26.51
$GC,4588,1.00,77.5,2907,1800,2559,2371,179.9,10.2,659,4590,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,1800,2465,2559,2371,0,0,0,0,0,0,26.47,26.58,26.55
$GC,4711,1.00,77.5,2907,1800,2557,2371,167.1,11.5,671,4714,0.00,1.05,0.00,0.000,516,0.000,0.045,2911,1124,2464,2558,2371,0,0,0,0,0,0,26.51,26.43,26.60
$GC,4911,1.01,84.7,2911,1124,2558,2371,145.6,9.3,710,4919,0.00,1.02,0.00,0.000,1062,0.000,0.040,2908,1797,2464,2558,2371,0,0,0,0,0,0,26.39,26.41,26.44
$GC,5041,1.01,88.8,2908,1797,2557,2371,133.7,9.6,723,5051,0.00,1.02,2.97,0.663,8740,0.000,0.049,2911,1132,2444,2541,2347,0,0,0,0,0,0,26.65,25.46,24.63
$GC,5284,1.03,98.9,2911,1132,2546,2350,112.4,9.0,770,5307,0.00,1.02,17.20,0.644,9254,0.000,0.044,2908,1805,2393,2498,2288,0,0,0,0,0,0,26.52,26.49,25.25
$GC,5435,1.03,104.3,2908,1805,2482,2274,99.4,9.5,787,5443,0.00,1.02,0.00,0.000,292,0.000,0.042,2903,2497,2377,2481,2274,0,0,0,0,0,0,26.44,26.32,26.49
$GC,5532,1.03,104.3,2902,2497,2479,2274,89.3,10.4,805,5541,0.00,1.00,0.00,0.000,1030,0.000,0.045,2906,1822,2377,2480,2274,0,0,0,0,0,0,26.32,26.34,26.36
$GC,5670,1.03,104.3,2906,1821,2479,2274,75.3,10.4,830,5677,0.00,1.10,0.00,0.000,516,0.000,0.053,2912,1102,2377,2480,2274,0,0,0,0,0,0,26.59,26.29,26.65
$GC,5686,1.03,104.6,2911,1101,2480,2274,73.7,10.0,832,5694,0.00,1.05,0.00,0.000,1062,0.000,0.039,2908,1798,2377,2480,2274,0,0,0,0,0,0,26.42,26.39,26.48
$GC,5823,1.05,119.7,2908,1799,2479,2274,61.9,8.5,857,5852,0.00,1.05,22.45,0.581,8740,0.000,0.048,2912,1096,2304,2419,2189,0,0,0,0,0,0,26.57,25.70,25.31
$GC,5937,1.06,125.1,2911,1096,2407,2179,50.6,9.4,877,5945,0.00,1.08,0.00,0.000,1062,0.000,0.034,2909,1801,2293,2407,2179,0,0,0,0,0,0,26.32,26.28,26.32
$GC,6075,1.08,147.8,2908,1801,2404,2178,38.8,7.7,902,6119,0.10,1.15,37.10,0.537,10788,0.159,0.050,2940,1092,2192,2316,2068,0,0,0,0,0,0,26.18,25.79,25.15
$GC,6235,1.08,147.8,2940,1092,2299,2056,22.5,11.5,930,6242,0.00,1.10,0.00,0.000,1030,0.000,0.100,2937,1802,2177,2299,2056,0,0,0,0,0,0,25.54,25.27,25.69
$GC,6367,1.14,194.0,2936,1802,2298,2054,13.0,5.2,955,6445,0.00,1.05,69.88,0.516,8996,0.000,0.047,2932,2505,2000,2137,1863,0,0,0,0,0,0,26.36,25.30,24.94
$GC,6469,1.15,201.2,2931,2505,2124,1848,5.8,9.3,970,6477,0.03,1.08,0.00,0.000,3110,0.182,0.036,2942,1791,1985,2123,1848,0,0,0,0,0,0,25.70,25.86,25.72
$STATE,6530,end climb,SURFACE_DEPTH_REACHED
$STATE,6530,begin surface coast
$FINISH,-0.2,1.025350
$STATE,6571,end surface coast,CONTROL_FINISHED_OK
$STATE,6571,begin surface
$SM_CCo,6590,193.77,0.625,1,0,588,542.11
$SM_GC,0.69,7.90,0.30,193.77,0.067,0.044,0.625,174,2007,588,-7.40,-1.47,542.11,0,0,0,0,1,0,26.13,26.14,24.31
$IRIDIUM_FIX,4755.33,-12513.21,210921,130458
$TT8_MAMPS,0.02247,0.188748
$HUMID,53.15
$INTERNAL_PRESSURE,8.72826
$TCM_TEMP,15.30
$XPDR_PINGS,0
$CP_FREE,70484656128.000000
$CP_POWER,421.650000
$CP_POWER1,0.000000
$24V_AH,24.31,12.749
$10V_AH,10.10,6.106
$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,18.325,40.575,424.750,193.775,0.000,0.000,0.000,294.350,0.000,0.000,17.152,2065.471,1811.449,721.562,2325.605,344.829,0.000,1871.104,0.000,2098.203,0.000,0.549,0.000
$DEVICE_MAMPS,222.615,110.925,663.255,625.005,0.000,0.000,0.000,104.805,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,507.637,1591.895,0.000,0.000,0.000,0.000,6465.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,152224
$DATA_FILE_SIZE,50293,988
$CAP_FILE_SIZE,110454,0
$CFSIZE,260030464,243326976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.068,261.11,1
$GPS,210921,171409,4752.990,-12517.461,5,0.8,18,15.7,0.5,194.4,12,2.1