version: 66.14
glider: 204
mission: 8
dive: 34
start: 9 2 121 12 18 7
data:
$ID,204
$MISSION,8
$DIVE,34
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,600
$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,200
$T_MISSION,225
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-10
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,150
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$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,603.25
$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,48
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,3050
$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
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,127.5
$AH0_10V,100
$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,-171.54095
$PRESSURE_SLOPE,0.00014064999
$AD7714Ch0Gain,32
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$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,3.0
$CP_XMITPROFILE,3.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,54.0
$CP_NDIVE,1.0
$GPS1,020921,121119,4750.8589,-12510.0322,21,1.2,32,15.7,0.1,0.0,9,3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-59.3
$GPS2,020921,121708,4750.8423,-12509.9756,4,0.8,6,15.7,0.6,76.3,12,7.6
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,INSHORE
$TGT_LATLONG,4752.165,-12508.635
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,11.2,2963,-18.1,-10.000,-23.17,1779
$D_GRID,225
$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,-0.79,-116.8,175,2008,750,426,0.0,0.0,0,132,0.00,0.00,-104.75,0.010,16386,0.000,0.000,175,2009,3007,2998,3016,0,0,0,0,0,0,26.08,28.83,26.14
$GC,135,-0.79,-116.8,175,2009,3000,3015,3.5,-6.3,15,159,8.25,1.12,-11.32,0.018,18980,0.216,0.068,2329,1293,3529,3529,3530,0,0,0,0,0,0,25.83,24.87,25.96
$GC,330,-0.79,-116.8,2328,1293,3536,3529,40.5,-16.6,51,338,0.00,1.08,0.00,0.000,1030,0.000,0.037,2325,1995,3532,3536,3528,0,0,0,0,0,0,26.32,26.29,26.34
$GC,466,-0.79,-116.8,2325,1996,3538,3528,61.7,-15.3,76,474,0.00,1.05,0.00,0.000,516,0.000,0.039,2329,1299,3533,3538,3528,0,0,0,0,0,0,26.44,26.36,26.49
$GC,507,-0.79,-116.8,2328,1299,3539,3528,68.0,-14.9,83,514,0.00,1.08,0.00,0.000,1030,0.000,0.097,2325,2006,3533,3538,3528,0,0,0,0,0,0,26.40,26.37,26.42
$GC,637,-0.79,-116.8,2325,2005,3540,3528,86.8,-16.2,108,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2005,3534,3540,3528,0,0,0,0,0,0,26.48,26.55,26.53
$GC,774,-0.79,-116.8,2325,2005,3541,3527,106.2,-13.7,130,778,0.00,1.05,0.00,0.000,516,0.000,0.039,2328,1303,3534,3541,3528,0,0,0,0,0,0,26.56,26.46,26.62
$GC,911,-0.79,-116.8,2327,1302,3541,3527,123.0,-13.0,156,916,0.00,1.05,0.00,0.000,1030,0.000,0.037,2325,1998,3534,3541,3527,0,0,0,0,0,0,26.52,26.51,26.51
$GC,1044,-0.79,-116.8,2325,1998,3541,3527,140.2,-12.6,170,1047,0.00,1.02,0.00,0.000,260,0.000,0.054,2321,2695,3534,3541,3527,0,0,0,0,0,0,26.61,26.51,26.66
$GC,1129,-0.79,-116.8,2319,2695,3541,3527,150.2,-10.7,187,1137,0.00,1.02,0.00,0.000,1030,0.000,0.031,2323,1973,3534,3541,3527,0,0,0,0,0,0,26.60,26.58,26.62
$GC,1259,-0.79,-116.8,2323,1969,3541,3526,164.0,-10.6,200,1264,0.00,0.95,0.00,0.000,516,0.000,0.041,2328,1320,3533,3541,3526,0,0,0,0,0,0,26.66,26.54,26.70
$GC,1323,-0.79,-116.8,2328,1321,3541,3526,171.6,-12.2,212,1327,0.00,1.02,0.00,0.000,1030,0.000,0.037,2325,2005,3533,3541,3526,0,0,0,0,0,0,26.60,26.58,26.62
$GC,1455,-0.79,-116.8,2324,2005,3541,3525,187.2,-12.3,226,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2005,3533,3541,3525,0,0,0,0,0,0,26.63,26.67,26.66
$GC,1577,-0.79,-116.8,2324,2005,3541,3525,202.2,-12.2,238,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2005,3533,3541,3525,0,0,0,0,0,0,26.65,26.73,26.71
$GC,1706,-0.79,-116.8,2324,2005,3541,3525,218.6,-12.8,251,1708,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2005,3533,3541,3525,0,0,0,0,0,0,26.69,26.76,26.74
$STATE,1754,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1754,begin apogee
$GC,1759,-0.18,0.0,2324,1788,3540,3525,225.0,-12.5,256,1938,0.65,0.00,174.68,0.587,10246,0.157,0.000,2523,1787,3049,3107,2992,0,0,0,0,0,0,26.33,25.23,24.79
$STATE,1943,end apogee,CONTROL_FINISHED_OK
$STATE,1943,begin climb
$GC,1945,0.79,116.8,2522,1787,3097,2981,231.8,0.0,274,2135,1.00,1.05,178.32,0.549,10756,0.122,0.037,2834,1136,2562,2660,2464,0,0,0,0,0,0,25.29,24.96,24.64
$GC,2266,0.83,149.3,2833,1136,2645,2450,221.3,8.1,334,2316,0.05,1.02,41.17,0.596,11302,0.178,0.040,2843,1797,2434,2552,2317,0,0,0,0,0,0,25.62,25.80,24.87
$GC,2437,0.83,149.3,2843,1797,2540,2310,202.6,12.3,356,2442,0.00,1.05,0.00,0.000,260,0.000,0.044,2840,2490,2424,2539,2310,0,0,0,0,0,0,25.91,25.86,25.94
$GC,2605,0.83,149.3,2839,2490,2534,2310,182.0,11.5,388,2609,0.00,0.98,0.00,0.000,1030,0.000,0.037,2843,1835,2421,2533,2309,0,0,0,0,0,0,26.17,26.14,26.18
$GC,2739,0.83,149.3,2842,1835,2534,2310,167.1,11.1,402,2746,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1835,2422,2534,2310,0,0,0,0,0,0,26.29,26.36,26.36
$GC,2867,0.83,149.3,2842,1835,2533,2310,153.0,10.5,415,2869,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1835,2421,2533,2310,0,0,0,0,0,0,26.32,26.41,26.39
$GC,2987,0.83,149.3,2842,1835,2533,2310,140.5,10.1,427,2991,0.00,1.00,0.00,0.000,260,0.000,0.045,2840,2494,2421,2533,2310,0,0,0,0,0,0,26.39,26.36,26.46
$GC,3042,0.84,163.9,2839,2494,2531,2310,135.5,9.2,437,3056,0.00,1.02,9.52,0.732,9254,0.000,0.039,2843,1802,2378,2495,2262,0,0,0,0,0,0,26.43,26.41,25.60
$GC,3185,0.86,173.4,2842,1802,2485,2254,122.1,9.5,453,3195,0.00,1.08,3.12,0.744,8740,0.000,0.044,2848,1106,2346,2467,2225,0,0,0,0,0,0,26.44,25.82,25.14
$GC,3295,0.86,173.4,2848,1106,2469,2226,111.2,10.2,473,3299,0.00,1.05,0.00,0.000,1030,0.000,0.037,2845,1799,2347,2468,2226,0,0,0,0,0,0,26.39,26.36,26.41
$GC,3422,0.87,184.7,2844,1799,2468,2226,98.8,9.3,487,3445,0.08,1.10,13.80,0.664,10788,0.230,0.050,2864,1106,2288,2411,2166,0,0,0,0,0,0,26.25,26.13,25.60
$GC,3488,0.87,184.7,2863,1106,2403,2163,92.4,10.1,498,3495,0.00,1.05,0.00,0.000,1030,0.000,0.036,2861,1799,2282,2402,2163,0,0,0,0,0,0,26.30,26.28,26.33
$GC,3624,0.87,184.7,2860,1799,2402,2162,77.2,11.2,523,3632,0.00,1.08,0.00,0.000,516,0.000,0.047,2864,1105,2282,2402,2162,0,0,0,0,0,0,26.44,26.32,26.49
$GC,3716,0.87,184.7,2863,1105,2402,2162,67.2,10.9,539,3723,0.00,1.05,0.00,0.000,1030,0.000,0.036,2861,1798,2282,2402,2162,0,0,0,0,0,0,26.42,26.41,26.46
$GC,3851,0.90,210.8,2860,1798,2401,2162,54.1,8.5,564,3889,0.00,1.10,33.65,0.568,8484,0.000,0.045,2855,2507,2188,2314,2063,0,0,0,0,0,0,26.53,25.98,25.47
$GC,4059,0.96,257.6,2854,2508,2294,2051,36.0,7.3,602,4133,0.08,1.05,66.82,0.529,11302,0.105,0.038,2887,1801,1997,2131,1863,0,0,0,0,0,0,26.14,26.26,25.14
$GC,4258,0.96,257.6,2887,1801,2113,1848,16.3,10.3,636,4266,0.00,1.10,0.00,0.000,516,0.000,0.047,2893,1099,1980,2112,1848,0,0,0,0,0,0,26.10,25.98,26.13
$GC,4442,1.02,313.6,2892,1099,2109,1847,2.6,6.8,670,4458,0.05,1.08,11.77,0.543,11298,0.134,0.036,2910,1800,1931,2065,1797,0,0,0,0,0,0,26.06,26.23,26.15
$STATE,4459,end climb,SURFACE_DEPTH_REACHED
$STATE,4459,begin surface coast
$FINISH,-0.5,1.016059
$STATE,4486,end surface coast,CONTROL_FINISHED_OK
$STATE,4486,begin surface
$SM_CCo,4506,538.70,0.476,1,0,590,603.44
$SM_GC,0.47,7.57,0.28,538.70,0.054,0.045,0.476,166,2028,590,-7.41,-1.41,603.44,0,0,0,0,1,0,26.20,26.17,24.53
$IRIDIUM_FIX,4750.87,-12505.04,020921,103352
$TT8_MAMPS,0.02247,0.148302
$HUMID,51.92
$INTERNAL_PRESSURE,8.74779
$TCM_TEMP,15.20
$XPDR_PINGS,0
$CP_FREE,124530032640.000000
$CP_POWER,328.180000
$CP_POWER1,0.000000
$24V_AH,24.53,9.443
$10V_AH,10.29,5.580
$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,17.725,27.825,532.875,538.700,0.000,0.000,0.000,222.475,0.000,0.000,18.935,1448.667,970.756,1071.735,1683.380,264.592,0.000,1983.363,0.000,1506.443,0.000,0.547,0.000
$DEVICE_MAMPS,229.500,97.155,744.345,475.830,0.000,0.000,0.000,103.275,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,390.588,1238.840,0.000,0.000,0.000,0.000,4323.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,211684
$DATA_FILE_SIZE,33578,677
$CAP_FILE_SIZE,86889,0
$CFSIZE,260030464,248156160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.041,150.39,1
$GPS,020921,134331,4751.188,-12509.598,4,1.0,28,15.7,0.6,187.8,9,2.1