version: 66.14
glider: 204
mission: 8
dive: 92
start: 9 7 121 1 54 2
data:
$ID,204
$MISSION,8
$DIVE,92
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,260
$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,80
$T_MISSION,95
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,9000
$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,53
$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,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,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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,170
$ALTIM_PING_DELTA,10
$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,7.0
$CP_XMITPROFILE,7.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,170.0
$CP_NDIVE,1.0
$GPS1,070921,014731,4751.5537,-12511.2100,6,0.9,36,15.7,0.0,0.0,11,1.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-63.5
$GPS2,070921,015305,4751.5132,-12511.1689,6,0.7,6,15.7,0.3,129.3,12,6.0
$SPEED_LIMITS,0.188,0.240
$TGT_NAME,SE_SLOPE
$TGT_LATLONG,4750.360,-12508.720
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,97.1,3719,-19.7,-10.833,-24.33,1645
$D_GRID,305
$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,23,begin dive
$GC,25,-0.84,-116.8,165,2014,688,409,0.0,0.0,0,132,0.00,0.00,-104.70,0.011,16386,0.000,0.000,165,2013,3021,3009,3034,0,0,0,0,0,0,26.13,28.83,26.21
$GC,135,-0.84,-116.8,165,2012,3010,3035,3.7,-6.8,15,159,8.18,1.10,-5.50,0.019,18980,0.214,0.076,2296,1300,3279,3284,3275,0,0,0,0,0,0,25.84,24.74,26.00
$GC,391,-0.84,-116.8,2295,1300,3290,3274,52.3,-13.1,63,399,0.05,1.05,0.00,0.000,3078,0.175,0.037,2306,1984,3282,3290,3274,0,0,0,0,0,0,26.10,26.36,26.23
$GC,524,-0.84,-116.8,2306,1984,3292,3274,69.7,-11.9,88,533,0.00,1.02,0.00,0.000,516,0.000,0.042,2310,1299,3283,3292,3274,0,0,0,0,0,0,26.39,26.37,26.42
$GC,764,-0.84,-116.8,2310,1299,3293,3274,96.9,-13.5,134,771,0.00,1.08,0.00,0.000,1030,0.000,0.044,2307,2008,3283,3293,3274,0,0,0,0,0,0,26.51,26.48,26.54
$GC,901,-0.84,-116.8,2307,2009,3294,3274,115.4,-12.9,149,905,0.00,1.05,0.00,0.000,516,0.000,0.037,2310,1302,3284,3294,3274,0,0,0,0,0,0,26.60,26.51,26.63
$GC,976,-0.84,-116.8,2310,1302,3294,3274,124.7,-12.3,163,979,0.00,1.05,0.00,0.000,1030,0.000,0.039,2307,1997,3284,3294,3274,0,0,0,0,0,0,26.54,26.51,26.58
$GC,1108,-0.84,-116.8,2306,1997,3293,3274,141.4,-13.0,177,1112,0.00,1.02,0.00,0.000,516,0.000,0.037,2310,1308,3284,3294,3274,0,0,0,0,0,0,26.65,26.54,26.70
$GC,1151,-0.84,-116.8,2309,1309,3294,3274,147.3,-13.6,185,1155,0.00,1.05,0.00,0.000,1030,0.000,0.038,2307,2010,3284,3294,3274,0,0,0,0,0,0,26.52,26.50,26.54
$GC,1283,-0.84,-116.8,2306,2010,3294,3274,163.7,-11.8,199,1287,0.00,1.05,0.00,0.000,516,0.000,0.039,2310,1307,3284,3294,3274,0,0,0,0,0,0,26.67,26.56,26.72
$GC,1363,-0.84,-116.8,2309,1307,3295,3274,173.8,-12.3,214,1372,0.00,1.02,0.00,0.000,1030,0.000,0.035,2307,1990,3284,3295,3274,0,0,0,0,0,0,26.65,26.58,26.63
$GC,1491,-0.84,-116.8,2306,1990,3295,3273,188.0,-11.1,227,1493,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,1990,3284,3295,3274,0,0,0,0,0,0,26.69,26.76,26.74
$GC,1612,-0.84,-116.8,2306,1990,3294,3273,201.3,-11.0,239,1617,0.00,1.02,0.00,0.000,516,0.000,0.039,2310,1302,3284,3295,3273,0,0,0,0,0,0,26.70,26.58,26.76
$GC,1649,-0.84,-116.8,2309,1302,3294,3273,205.9,-11.3,246,1657,0.00,1.05,0.00,0.000,1030,0.000,0.044,2306,2007,3283,3294,3273,0,0,0,0,0,0,26.63,26.58,26.65
$GC,1778,-0.84,-116.8,2306,2007,3294,3273,219.0,-10.7,259,1783,0.00,1.00,0.00,0.000,292,0.000,0.044,2301,2693,3284,3295,3273,0,0,0,0,0,0,26.71,26.60,26.76
$GC,1844,-0.84,-116.8,2300,2693,3294,3273,226.3,-10.8,271,1848,0.00,1.00,0.00,0.000,1062,0.000,0.040,2304,1992,3283,3294,3273,0,0,0,0,0,0,26.67,26.63,26.66
$GC,1977,-0.84,-116.8,2304,1989,3294,3273,241.9,-13.0,285,1982,0.00,0.98,0.00,0.000,516,0.000,0.038,2309,1322,3283,3295,3272,0,0,0,0,0,0,26.72,26.63,26.77
$GC,2043,-0.84,-116.8,2308,1322,3295,3272,248.7,-11.2,297,2047,0.00,1.00,0.00,0.000,1030,0.000,0.041,2306,1985,3283,3294,3272,0,0,0,0,0,0,26.58,26.53,26.60
$STATE,2143,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2143,begin apogee
$GC,2148,-0.18,0.0,2306,1775,3294,3271,260.3,-11.5,308,2356,0.73,0.00,196.85,0.584,10246,0.160,0.000,2520,1774,2792,2846,2738,0,0,0,0,0,0,26.27,25.24,24.78
$STATE,2361,end apogee,CONTROL_FINISHED_OK
$STATE,2361,begin climb
$GC,2363,0.84,116.8,2521,1774,2840,2734,267.0,0.0,329,2558,1.08,1.08,186.70,0.547,10756,0.118,0.039,2854,1124,2321,2445,2197,0,0,0,0,0,0,25.33,25.13,24.66
$GC,2693,0.84,116.8,2854,1124,2411,2177,231.6,13.8,390,2701,0.00,1.05,0.00,0.000,1030,0.000,0.037,2851,1797,2292,2411,2174,0,0,0,0,0,0,25.84,25.82,25.86
$GC,2821,0.84,116.8,2851,1799,2410,2172,214.9,12.0,403,2825,0.00,1.08,0.00,0.000,260,0.000,0.047,2846,2509,2291,2410,2172,0,0,0,0,0,0,26.03,26.02,26.06
$GC,2885,0.84,116.8,2845,2509,2410,2169,207.3,12.1,415,2889,0.00,1.02,0.00,0.000,1030,0.000,0.044,2849,1821,2289,2410,2169,0,0,0,0,0,0,26.10,26.05,26.11
$GC,3018,0.84,116.8,2849,1821,2410,2169,190.4,11.9,429,3025,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1821,2289,2410,2169,0,0,0,0,0,0,26.33,26.39,26.39
$GC,3148,0.85,120.5,2849,1821,2409,2168,175.7,10.6,442,3155,0.00,0.00,0.00,0.000,38,0.000,0.000,2849,1821,2288,2409,2168,0,0,0,0,0,0,26.41,26.48,26.47
$GC,3280,0.85,122.7,2849,1821,2408,2168,161.8,10.7,455,3283,0.00,1.10,0.00,0.000,548,0.000,0.047,2855,1101,2288,2409,2168,0,0,0,0,0,0,26.48,26.36,26.53
$GC,3325,0.85,122.7,2854,1101,2409,2168,156.3,10.9,464,3334,0.00,1.08,0.00,0.000,1030,0.000,0.036,2851,1807,2288,2408,2168,0,0,0,0,0,0,26.42,26.40,26.48
$GC,3454,0.85,126.7,2851,1807,2407,2168,142.6,10.6,477,3459,0.00,1.02,0.00,0.000,292,0.000,0.045,2846,2501,2287,2407,2168,0,0,0,0,0,0,26.54,26.37,26.60
$GC,3491,0.87,136.3,2845,2502,2405,2167,138.6,10.2,484,3510,0.00,1.05,15.20,0.666,9254,0.000,0.045,2850,1794,2246,2371,2121,0,0,0,0,0,0,26.42,26.42,25.60
$GC,3632,0.91,171.6,2850,1794,2348,2100,126.1,8.6,499,3687,0.10,1.05,50.50,0.569,10788,0.169,0.044,2882,1097,2099,2232,1967,0,0,0,0,0,0,26.18,25.58,25.26
$GC,3716,0.91,171.6,2881,1096,2202,1944,117.3,11.4,515,3720,0.00,1.10,0.00,0.000,1030,0.000,0.045,2879,1801,2072,2201,1944,0,0,0,0,0,0,25.93,25.87,25.94
$GC,3848,0.91,171.6,2878,1801,2198,1937,102.4,11.1,529,3852,0.00,1.05,0.00,0.000,260,0.000,0.044,2874,2491,2067,2198,1936,0,0,0,0,0,0,26.20,26.12,26.27
$GC,3901,0.91,173.1,2873,2491,2197,1934,96.5,10.7,539,3909,0.00,1.02,0.00,0.000,1062,0.000,0.038,2877,1807,2065,2197,1934,0,0,0,0,0,0,26.24,26.18,26.25
$GC,4041,0.91,173.1,2877,1807,2196,1934,79.9,12.4,564,4049,0.00,1.10,0.00,0.000,516,0.000,0.054,2883,1096,2065,2196,1934,0,0,0,0,0,0,26.39,26.28,26.45
$GC,4189,0.91,173.1,2882,1096,2195,1934,61.2,12.3,591,4196,0.00,1.08,0.00,0.000,1030,0.000,0.037,2880,1805,2064,2195,1934,0,0,0,0,0,0,26.41,26.39,26.43
$GC,4326,0.93,190.4,2878,1805,2195,1932,46.3,9.8,616,4348,0.00,1.05,13.62,0.591,8484,0.000,0.045,2874,2492,2018,2154,1882,0,0,0,0,0,0,26.55,26.16,25.61
$GC,4361,0.94,201.9,2874,2492,2147,1873,42.7,10.1,621,4370,0.00,1.02,4.03,0.560,9254,0.000,0.039,2878,1806,1975,2114,1836,0,0,0,0,0,0,26.32,26.27,25.46
$GC,4497,0.97,222.5,2877,1806,2128,1841,29.9,9.5,646,4547,0.08,0.00,41.75,0.527,10278,0.177,0.000,2897,1806,1885,2028,1742,0,0,0,0,0,0,26.22,25.63,25.34
$GC,4674,1.02,264.8,2897,1805,1999,1717,12.2,8.2,677,4738,0.00,1.10,60.00,0.501,8484,0.000,0.042,2894,2496,1719,1865,1573,0,0,0,0,0,0,26.24,25.60,25.14
$GC,4761,1.03,269.6,2893,2496,1839,1542,3.6,10.5,690,4769,0.00,1.08,0.00,0.000,1062,0.000,0.044,2897,1788,1688,1837,1539,0,0,0,0,0,0,25.77,25.77,25.81
$STATE,4774,end climb,SURFACE_DEPTH_REACHED
$STATE,4774,begin surface coast
$FINISH,0.2,1.024915
$STATE,4792,end surface coast,CONTROL_FINISHED_OK
$STATE,4792,begin surface
$SM_CCo,4811,168.90,0.644,1,0,551,552.17
$SM_CCo,4988,-0.03,0.762,0,0,550,551.92
$SM_CCo,4991,-0.05,0.892,0,0,550,551.92
$SM_GC,0.51,7.60,0.32,-0.05,0.055,0.045,0.892,174,2013,550,-7.39,-1.16,551.92,0,0,0,0,0,0,25.96,25.92,24.83
$IRIDIUM_FIX,4752.18,-12506.88,070921,002507
$TT8_MAMPS,0.02247,0.146804
$HUMID,53.18
$INTERNAL_PRESSURE,8.7185
$TCM_TEMP,15.10
$XPDR_PINGS,0
$CP_FREE,113455529984.000000
$CP_POWER,323.310000
$CP_POWER1,0.000000
$24V_AH,24.31,17.229
$10V_AH,10.25,9.753
$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,17.800,36.250,568.650,168.900,0.000,0.000,0.000,214.550,2.500,0.000,17.291,1511.683,1119.577,744.065,1710.950,279.640,0.000,1681.673,0.000,1547.683,0.000,19.100,0.000
$DEVICE_MAMPS,214.200,76.500,666.315,644.130,0.000,0.000,0.000,99.450,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,403.943,1281.530,0.000,0.000,0.000,0.000,4619.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,211204
$DATA_FILE_SIZE,36792,695
$CAP_FILE_SIZE,91908,0
$CFSIZE,260030464,243171328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.063,240.97,1
$GPS,070921,031831,4751.315,-12510.802,5,0.9,33,15.7,0.5,108.6,9,1.8