version: 66.14
glider: 204
mission: 8
dive: 43
start: 9 3 121 7 51 12
data:
$ID,204
$MISSION,8
$DIVE,43
$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,49
$R_STBD_OVSHOOT,51
$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,72.0
$CP_NDIVE,1.0
$GPS1,030921,074331,4750.1592,-12511.1221,21,1.0,22,15.7,0.4,260.7,8,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-62.1
$GPS2,030921,075016,4750.1455,-12511.1631,4,0.7,6,15.7,0.3,274.3,12,5.9
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,INSHORE
$TGT_LATLONG,4752.165,-12508.635
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,24.7,4884,-18.1,-10.000,-23.17,1779
$D_GRID,303
$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,-0.79,-116.8,186,2009,747,426,0.0,0.0,0,132,0.00,0.00,-104.45,0.010,16386,0.000,0.000,185,2010,3054,3045,3063,0,0,0,0,0,0,26.06,28.83,26.08
$GC,135,-0.79,-116.8,186,2010,3047,3063,4.1,-8.5,15,159,8.32,1.12,-9.62,0.021,18980,0.220,0.070,2322,1296,3530,3531,3530,0,0,0,0,0,0,25.80,24.76,25.95
$GC,266,-0.79,-116.8,2321,1296,3537,3530,32.2,-18.1,38,274,0.00,1.08,0.00,0.000,1030,0.000,0.038,2318,1998,3533,3537,3530,0,0,0,0,0,0,26.27,26.23,26.28
$GC,399,-0.79,-116.8,2317,1998,3539,3530,55.7,-17.0,63,406,0.00,1.05,0.00,0.000,516,0.000,0.038,2320,1301,3534,3539,3530,0,0,0,0,0,0,26.39,26.31,26.44
$GC,511,-0.79,-116.8,2320,1301,3541,3529,75.0,-15.6,83,518,0.00,1.08,0.00,0.000,1030,0.000,0.089,2317,2006,3535,3541,3530,0,0,0,0,0,0,26.39,26.37,26.41
$GC,642,-0.79,-116.8,2316,2007,3541,3529,93.9,-13.4,108,650,0.00,1.02,0.00,0.000,260,0.000,0.044,2312,2698,3535,3541,3530,0,0,0,0,0,0,26.48,26.40,26.54
$GC,756,-0.79,-116.8,2311,2698,3541,3529,108.6,-11.8,129,764,0.05,1.02,0.00,0.000,3078,0.197,0.041,2328,1976,3536,3542,3530,0,0,0,0,0,0,26.22,26.46,26.32
$GC,883,-0.79,-116.8,2328,1975,3542,3530,122.8,-11.2,142,887,0.00,0.95,0.00,0.000,516,0.000,0.040,2333,1327,3535,3541,3529,0,0,0,0,0,0,26.53,26.47,26.59
$GC,966,-0.79,-116.8,2333,1327,3542,3529,132.3,-10.7,158,970,0.00,1.02,0.00,0.000,1030,0.000,0.037,2330,2007,3535,3542,3529,0,0,0,0,0,0,26.53,26.50,26.55
$GC,1100,-0.79,-116.8,2329,2007,3542,3529,146.0,-10.4,172,1105,0.00,1.02,0.00,0.000,516,0.000,0.038,2334,1320,3535,3542,3528,0,0,0,0,0,0,26.57,26.50,26.63
$GC,1163,-0.79,-116.8,2332,1320,3542,3529,152.9,-10.3,184,1168,0.00,1.02,0.00,0.000,1030,0.000,0.045,2330,2000,3535,3542,3528,0,0,0,0,0,0,26.55,26.50,26.57
$GC,1297,-0.79,-116.8,2330,2000,3542,3528,165.9,-9.8,198,1300,0.00,1.02,0.00,0.000,292,0.000,0.044,2325,2696,3535,3542,3528,0,0,0,0,0,0,26.60,26.54,26.65
$GC,1341,-0.79,-116.8,2324,2696,3542,3528,170.4,-9.6,207,1349,0.00,1.00,0.00,0.000,1062,0.000,0.031,2328,1991,3535,3542,3528,0,0,0,0,0,0,26.61,26.59,26.63
$GC,1469,-0.79,-116.8,2328,1990,3542,3527,183.5,-10.4,220,1474,0.00,0.98,0.00,0.000,516,0.000,0.057,2333,1327,3534,3542,3527,0,0,0,0,0,0,26.65,26.10,26.66
$GC,1522,-0.79,-116.8,2333,1326,3542,3527,189.2,-10.8,230,1526,0.00,1.02,0.00,0.000,1030,0.000,0.036,2330,2009,3534,3542,3527,0,0,0,0,0,0,26.61,26.58,26.63
$GC,1656,-0.79,-116.8,2329,2009,3542,3526,203.4,-10.9,244,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2008,3534,3542,3526,0,0,0,0,0,0,26.69,26.79,26.77
$GC,1784,-0.79,-116.8,2330,2008,3542,3526,217.7,-10.9,257,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,2330,2009,3534,3542,3526,0,0,0,0,0,0,26.65,26.74,26.72
$GC,1916,-0.79,-116.8,2329,2009,3542,3525,232.0,-10.9,270,1920,0.00,1.00,0.00,0.000,260,0.000,0.044,2325,2691,3533,3542,3525,0,0,0,0,0,0,26.72,26.60,26.77
$GC,1958,-0.79,-116.8,2324,2691,3542,3525,236.9,-11.2,278,1962,0.00,0.98,0.00,0.000,1030,0.000,0.033,2328,1999,3534,3543,3525,0,0,0,0,0,0,26.67,26.65,26.69
$GC,2092,-0.79,-116.8,2328,1998,3542,3525,251.5,-11.2,292,2096,0.00,1.05,0.00,0.000,260,0.000,0.044,2325,2697,3533,3542,3525,0,0,0,0,0,0,26.74,26.61,26.79
$GC,2135,-0.79,-116.8,2324,2697,3541,3524,256.6,-11.3,300,2139,0.00,1.00,0.00,0.000,1030,0.000,0.033,2328,1993,3533,3542,3525,0,0,0,0,0,0,26.68,26.65,26.70
$GC,2270,-0.79,-116.8,2328,1990,3542,3524,271.1,-10.9,314,2274,0.00,0.98,0.00,0.000,516,0.000,0.041,2333,1326,3533,3542,3524,0,0,0,0,0,0,26.74,26.63,26.79
$GC,2386,-0.79,-116.8,2333,1325,3542,3524,284.1,-10.4,337,2394,0.00,1.02,0.00,0.000,1030,0.000,0.037,2330,2009,3533,3542,3524,0,0,0,0,0,0,26.67,26.64,26.70
$GC,2514,-0.79,-116.8,2330,2009,3541,3523,296.6,-10.0,350,2522,0.00,0.00,0.00,0.000,38,0.000,0.000,2330,2009,3532,3542,3523,0,0,0,0,0,0,26.73,26.79,26.78
$STATE,2592,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2592,begin apogee
$GC,2598,-0.18,0.0,2330,1782,3542,3523,304.6,-10.0,356,2780,0.65,0.00,178.75,0.604,10246,0.151,0.000,2522,1782,3052,3111,2993,0,0,0,0,0,0,26.36,25.22,24.75
$STATE,2784,end apogee,CONTROL_FINISHED_OK
$STATE,2784,begin climb
$GC,2786,0.79,116.8,2522,1782,3097,2978,308.9,0.0,365,2986,1.02,1.08,192.23,0.557,10756,0.123,0.041,2837,1129,2571,2669,2474,0,0,0,0,0,0,25.27,25.08,24.63
$GC,3104,0.79,116.8,2836,1129,2653,2459,293.3,10.1,428,3113,0.00,1.05,0.00,0.000,1030,0.000,0.036,2833,1797,2555,2652,2459,0,0,0,0,0,0,25.74,25.72,25.77
$GC,3236,0.79,116.8,2833,1797,2648,2458,280.3,10.5,441,3239,0.00,1.08,0.00,0.000,260,0.000,0.044,2828,2504,2553,2648,2459,0,0,0,0,0,0,26.05,25.97,26.10
$GC,3310,0.80,124.4,2828,2503,2646,2459,272.2,9.6,455,3314,0.00,1.02,0.00,0.000,1062,0.000,0.040,2831,1818,2552,2646,2459,0,0,0,0,0,0,25.90,26.03,25.62
$GC,3443,0.82,144.0,2831,1818,2646,2459,260.2,8.9,469,3484,0.00,1.15,37.12,0.631,8740,0.000,0.046,2837,1110,2462,2575,2350,0,0,0,0,0,0,26.29,25.69,25.18
$GC,3586,0.83,151.9,2836,1110,2562,2339,247.8,9.5,496,3595,0.00,1.08,4.95,0.874,9254,0.000,0.036,2834,1804,2433,2550,2317,0,0,0,0,0,0,26.05,26.01,25.25
$GC,3714,0.84,164.6,2833,1804,2547,2317,236.2,9.3,509,3746,0.10,1.08,21.95,0.666,10532,0.227,0.116,2850,2497,2373,2493,2253,0,0,0,0,0,0,25.86,25.76,25.25
$GC,3823,0.84,164.6,2849,2497,2487,2253,223.5,10.8,529,3827,0.00,1.05,0.00,0.000,1030,0.000,0.038,2853,1802,2370,2487,2253,0,0,0,0,0,0,26.06,26.02,26.10
$GC,3958,0.84,164.6,2853,1802,2486,2253,209.6,11.0,543,3961,0.00,1.05,0.00,0.000,260,0.000,0.044,2850,2491,2369,2485,2253,0,0,0,0,0,0,26.20,26.15,26.25
$GC,4002,0.84,164.6,2849,2491,2485,2253,204.2,10.8,552,4011,0.00,1.05,0.00,0.000,1030,0.000,0.039,2853,1793,2368,2484,2253,0,0,0,0,0,0,26.20,26.16,26.22
$GC,4131,0.84,164.6,2853,1793,2484,2253,189.7,11.6,565,4136,0.00,1.05,0.00,0.000,516,0.000,0.050,2858,1109,2368,2484,2253,0,0,0,0,0,0,26.39,26.22,26.44
$GC,4187,0.84,164.6,2858,1109,2485,2253,182.7,13.0,575,4191,0.00,1.08,0.00,0.000,1030,0.000,0.096,2855,1808,2368,2484,2253,0,0,0,0,0,0,26.34,26.33,26.34
$GC,4319,0.84,164.6,2854,1809,2484,2253,166.6,12.2,589,4323,0.00,1.02,0.00,0.000,260,0.000,0.047,2849,2504,2368,2484,2253,0,0,0,0,0,0,26.48,26.32,26.53
$GC,4407,0.84,164.6,2849,2504,2481,2253,155.9,11.5,606,4414,0.00,1.05,0.00,0.000,1030,0.000,0.037,2853,1798,2367,2482,2253,0,0,0,0,0,0,26.46,26.42,26.48
$GC,4534,0.84,164.6,2853,1798,2482,2253,141.8,10.5,619,4538,0.00,1.05,0.00,0.000,260,0.000,0.044,2849,2495,2367,2481,2253,0,0,0,0,0,0,26.48,26.44,26.56
$GC,4579,0.84,164.6,2849,2495,2480,2252,137.1,10.4,627,4583,0.00,1.02,0.00,0.000,1030,0.000,0.040,2853,1804,2366,2480,2253,0,0,0,0,0,0,26.48,26.44,26.51
$GC,4712,0.84,164.6,2852,1805,2480,2253,123.1,10.7,641,4715,0.00,1.08,0.00,0.000,516,0.000,0.048,2858,1099,2366,2480,2253,0,0,0,0,0,0,26.58,26.47,26.64
$GC,4799,0.84,164.6,2858,1099,2480,2253,113.6,10.7,658,4807,0.00,1.08,0.00,0.000,1030,0.000,0.036,2855,1808,2366,2480,2253,0,0,0,0,0,0,26.54,26.51,26.57
$GC,4930,0.86,178.3,2854,1808,2479,2253,101.2,9.2,671,4942,0.00,1.12,8.30,0.740,8740,0.000,0.049,2859,1106,2323,2443,2203,0,0,0,0,0,0,26.63,26.32,25.72
$GC,5066,0.86,180.0,2858,1106,2436,2198,86.8,9.9,696,5074,0.00,1.05,0.00,0.000,1062,0.000,0.038,2855,1798,2317,2436,2198,0,0,0,0,0,0,26.48,26.46,26.51
$GC,5200,0.90,212.0,2854,1798,2434,2197,75.0,8.2,721,5250,0.08,1.10,45.47,0.578,10532,0.197,0.044,2871,2504,2183,2310,2056,0,0,0,0,0,0,26.36,25.91,25.40
$GC,5442,0.94,243.5,2871,2504,2294,2047,50.6,8.2,765,5484,0.00,1.05,39.15,0.555,9254,0.000,0.038,2875,1801,2059,2192,1926,0,0,0,0,0,0,26.27,26.25,25.27
$GC,5613,0.95,254.7,2874,1800,2175,1914,36.5,9.4,795,5622,0.00,1.10,3.72,0.589,8484,0.000,0.044,2872,2498,2011,2146,1876,0,0,0,0,0,0,26.17,25.94,25.14
$GC,5782,0.96,261.3,2871,2497,2145,1876,20.2,9.6,827,5790,0.00,1.05,3.20,0.496,9254,0.000,0.039,2875,1800,1982,2117,1847,0,0,0,0,0,0,26.25,26.22,25.22
$GC,5918,1.02,310.7,2874,1800,2120,1847,10.3,7.1,852,6010,0.12,1.08,82.82,0.512,11044,0.129,0.041,2919,2486,1775,1917,1634,0,0,0,0,0,0,26.20,25.36,25.07
$STATE,6016,end climb,SURFACE_DEPTH_REACHED
$STATE,6016,begin surface coast
$FINISH,-0.5,1.016491
$STATE,6038,end surface coast,CONTROL_FINISHED_OK
$STATE,6038,begin surface
$SM_CCo,6058,266.33,0.537,1,0,590,603.44
$SM_GC,0.46,7.72,0.75,266.33,0.056,0.034,0.537,167,2008,590,-7.40,1.50,603.44,0,0,0,0,1,0,25.84,25.79,24.50
$IRIDIUM_FIX,4750.72,-12516.60,030921,053546
$TT8_MAMPS,0.02247,0.146055
$HUMID,51.96
$INTERNAL_PRESSURE,8.72826
$TCM_TEMP,15.20
$XPDR_PINGS,0
$CP_FREE,122786906112.000000
$CP_POWER,328.180000
$CP_POWER1,0.000000
$24V_AH,24.50,10.828
$10V_AH,10.27,6.270
$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,18.075,48.125,617.675,266.325,0.000,0.000,0.000,265.650,0.000,0.000,17.323,1849.864,1608.891,909.426,2068.992,329.590,0.000,2016.090,0.000,1868.025,0.000,0.549,0.000
$DEVICE_MAMPS,227.205,116.280,874.395,537.030,0.000,0.000,0.000,107.865,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,476.638,1502.247,0.000,0.000,0.000,0.000,5868.000,0.000,0.000,0.000
$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,43440,870
$CAP_FILE_SIZE,109121,0
$CFSIZE,260030464,247263232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.037,129.15,1
$GPS,030921,093731,4750.566,-12510.410,4,1.2,6,15.7,0.3,41.5,8,7.8