version: 66.14
glider: 204
mission: 8
dive: 107
start: 9 8 121 0 23 5
data:
$ID,204
$MISSION,8
$DIVE,107
$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,155
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,3600
$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,46
$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,3
$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,200.0
$CP_NDIVE,1.0
$GPS1,080921,001609,4751.4404,-12510.9150,3,0.7,15,15.7,0.3,297.9,12,3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-55.8
$GPS2,080921,002207,4751.4126,-12510.9766,3,0.8,6,15.7,0.3,184.3,12,6.5
$SPEED_LIMITS,0.188,0.240
$TGT_NAME,SE_SLOPE
$TGT_LATLONG,4750.360,-12508.720
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,100.5,3416,-19.7,-10.833,-24.33,1645
$D_GRID,285
$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,-0.84,-116.8,167,2020,690,412,0.0,0.0,0,133,0.00,0.00,-105.20,0.011,16386,0.000,0.000,167,2019,3033,3022,3044,0,0,0,0,0,0,26.11,28.83,26.18
$GC,136,-0.84,-116.8,168,2019,3023,3044,4.1,-8.4,15,154,8.23,1.12,-5.03,0.021,18980,0.224,0.063,2294,1285,3279,3280,3278,0,0,0,0,0,0,25.77,24.72,25.94
$GC,315,-0.84,-116.8,2296,1285,3287,3276,40.2,-17.2,48,324,0.05,1.08,0.00,0.000,3078,0.176,0.036,2306,1999,3282,3288,3276,0,0,0,0,0,0,26.08,26.30,26.17
$GC,451,-0.84,-116.8,2305,1999,3290,3275,59.8,-12.8,73,459,0.00,1.02,0.00,0.000,260,0.000,0.043,2302,2694,3282,3290,3275,0,0,0,0,0,0,26.45,26.35,26.51
$GC,563,-0.84,-116.8,2302,2694,3291,3275,75.4,-12.4,94,570,0.00,1.02,0.00,0.000,1030,0.000,0.032,2305,1979,3283,3291,3275,0,0,0,0,0,0,26.47,26.45,26.49
$GC,699,-0.84,-116.8,2304,1978,3292,3275,91.8,-12.3,119,706,0.00,1.08,0.00,0.000,260,0.000,0.051,2301,2697,3283,3292,3275,0,0,0,0,0,0,26.55,26.44,26.62
$GC,761,-0.84,-116.8,2301,2697,3293,3274,99.8,-12.1,130,768,0.00,1.00,0.00,0.000,1030,0.000,0.032,2305,1999,3283,3292,3275,0,0,0,0,0,0,26.54,26.51,26.54
$GC,887,-0.84,-116.8,2304,1999,3293,3275,113.8,-10.8,143,890,0.00,1.00,0.00,0.000,516,0.000,0.039,2310,1320,3284,3293,3275,0,0,0,0,0,0,26.60,26.48,26.65
$GC,953,-0.84,-116.8,2309,1320,3293,3274,121.7,-11.6,156,962,0.00,1.00,0.00,0.000,1030,0.000,0.035,2307,1983,3283,3293,3274,0,0,0,0,0,0,26.55,26.53,26.57
$GC,1081,-0.84,-116.8,2306,1983,3293,3274,136.3,-11.5,169,1086,0.00,1.00,0.00,0.000,516,0.000,0.039,2306,1314,3283,3293,3274,0,0,0,0,0,0,26.59,26.52,26.65
$GC,1127,-0.84,-116.8,2306,1314,3294,3274,141.8,-12.1,177,1130,0.00,1.02,0.00,0.000,1030,0.000,0.036,2302,1994,3284,3294,3274,0,0,0,0,0,0,26.57,26.54,26.59
$GC,1261,-0.84,-116.8,2302,1994,3294,3274,157.1,-11.4,191,1264,0.00,1.05,0.00,0.000,260,0.000,0.043,2297,2709,3284,3294,3274,0,0,0,0,0,0,26.65,26.53,26.71
$GC,1401,-0.84,-116.8,2296,2709,3294,3274,175.6,-12.2,218,1412,0.05,1.02,0.00,0.000,3078,0.174,0.031,2311,1990,3284,3294,3274,0,0,0,0,0,0,26.35,26.60,26.44
$GC,1530,-0.84,-116.8,2310,1990,3293,3274,190.1,-11.4,231,1535,0.00,0.98,0.00,0.000,516,0.000,0.039,2316,1322,3283,3293,3274,0,0,0,0,0,0,26.70,26.57,26.74
$GC,1565,-0.84,-116.8,2315,1322,3294,3274,193.9,-11.0,237,1568,0.00,1.02,0.00,0.000,1030,0.000,0.035,2313,2006,3284,3295,3274,0,0,0,0,0,0,26.61,26.27,26.64
$GC,1696,-0.84,-116.8,2312,2006,3294,3274,209.1,-11.5,251,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2006,3284,3294,3274,0,0,0,0,0,0,26.63,26.70,26.68
$GC,1819,-0.84,-116.8,2313,2006,3294,3273,222.1,-10.9,263,1828,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2007,3283,3294,3273,0,0,0,0,0,0,26.71,26.78,26.77
$GC,1949,-0.84,-116.8,2313,2006,3294,3273,236.7,-11.1,276,1953,0.00,1.02,0.00,0.000,516,0.000,0.047,2316,1319,3283,3294,3273,0,0,0,0,0,0,26.70,26.58,26.76
$GC,2043,-0.84,-116.8,2315,1319,3294,3273,247.5,-10.7,294,2047,0.00,1.02,0.00,0.000,1062,0.000,0.040,2313,2002,3283,3294,3273,0,0,0,0,0,0,26.58,26.53,26.58
$STATE,2134,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2134,begin apogee
$GC,2139,-0.18,0.0,2312,1789,3293,3272,257.0,-10.1,304,2305,0.70,0.00,151.18,0.738,10246,0.167,0.000,2522,1788,2806,2862,2750,0,0,0,0,1,0,26.17,25.02,24.19
$STATE,2310,end apogee,CONTROL_FINISHED_OK
$STATE,2310,begin climb
$GC,2312,0.84,116.8,2521,1788,2865,2753,261.7,0.0,321,2508,1.08,1.10,188.50,0.566,11012,0.116,0.041,2858,1128,2320,2446,2195,0,0,0,0,0,0,25.20,25.06,24.57
$GC,2639,0.84,116.8,2857,1128,2416,2178,234.1,11.7,370,2643,0.00,1.05,0.00,0.000,1030,0.000,0.044,2855,1798,2296,2415,2178,0,0,0,0,0,0,25.73,25.23,25.77
$GC,2771,0.84,116.8,2854,1799,2414,2174,218.5,11.7,384,2776,0.00,1.08,0.00,0.000,260,0.000,0.044,2850,2506,2294,2414,2174,0,0,0,0,0,0,26.08,26.00,26.10
$GC,2804,0.84,116.8,2849,2506,2414,2171,214.6,11.7,390,2808,0.00,1.02,0.00,0.000,1030,0.000,0.040,2853,1822,2293,2414,2172,0,0,0,0,0,0,26.00,26.03,25.91
$GC,2936,0.84,117.6,2852,1821,2412,2171,199.9,10.8,404,2941,0.00,1.12,0.00,0.000,548,0.000,0.046,2857,1096,2292,2412,2172,0,0,0,0,0,0,26.23,26.19,26.30
$GC,2961,0.84,117.6,2858,1097,2412,2172,197.4,11.0,408,2966,0.00,1.08,0.00,0.000,1030,0.000,0.035,2855,1801,2292,2412,2172,0,0,0,0,0,0,26.22,26.23,26.22
$GC,3094,0.84,117.6,2854,1801,2411,2172,182.3,10.9,422,3096,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1801,2291,2411,2172,0,0,0,0,0,0,26.36,26.46,26.43
$GC,3216,0.84,117.6,2854,1801,2411,2171,168.9,11.0,434,3220,0.00,1.05,0.00,0.000,260,0.000,0.044,2850,2503,2291,2411,2171,0,0,0,0,0,0,26.44,26.36,26.50
$GC,3248,0.84,117.6,2849,2503,2410,2171,165.1,11.0,440,3253,0.00,1.05,0.00,0.000,1030,0.000,0.038,2853,1795,2290,2410,2171,0,0,0,0,0,0,26.41,26.39,26.44
$GC,3381,0.84,118.7,2853,1795,2410,2171,150.5,10.8,454,3385,0.00,1.08,0.00,0.000,292,0.000,0.044,2850,2502,2290,2410,2171,0,0,0,0,0,0,26.45,26.40,26.51
$GC,3487,0.86,130.4,2849,2502,2409,2171,139.1,10.1,475,3496,0.00,1.05,2.67,0.588,9254,0.000,0.038,2853,1794,2269,2395,2143,0,0,0,0,0,0,26.45,26.41,25.03
$GC,3618,0.90,163.6,2853,1793,2402,2149,127.1,8.8,488,3685,0.08,0.00,57.60,0.571,10790,0.179,0.000,2876,1793,2122,2254,1990,0,0,0,0,0,0,26.35,25.75,25.29
$GC,3808,0.90,163.6,2875,1793,2237,1976,104.7,13.8,512,3813,0.00,1.10,0.00,0.000,260,0.000,0.044,2873,2506,2106,2237,1976,0,0,0,0,0,0,26.14,26.09,26.20
$GC,3861,0.90,163.6,2872,2505,2236,1974,97.2,13.4,522,3869,0.00,1.05,0.00,0.000,1030,0.000,0.037,2875,1805,2105,2237,1974,0,0,0,0,0,0,26.20,26.17,26.23
$GC,4000,0.90,163.6,2875,1805,2236,1973,79.3,11.7,547,4008,0.00,1.10,0.00,0.000,516,0.000,0.054,2881,1095,2104,2236,1973,0,0,0,0,0,0,26.37,26.22,26.38
$GC,4071,0.90,163.6,2881,1095,2235,1973,71.2,11.1,560,4080,0.00,1.08,0.00,0.000,1030,0.000,0.094,2878,1801,2104,2235,1973,0,0,0,0,0,0,26.32,26.31,26.39
$GC,4208,0.93,187.5,2878,1801,2234,1972,57.6,9.3,585,4239,0.00,1.15,25.20,0.575,8740,0.000,0.045,2882,1090,2030,2168,1893,0,0,0,0,0,0,26.49,26.01,25.44
$GC,4282,0.93,187.5,2881,1090,2148,1878,50.1,11.1,597,4290,0.00,1.08,0.00,0.000,1030,0.000,0.034,2879,1797,2012,2147,1877,0,0,0,0,0,0,26.21,26.17,26.23
$GC,4422,0.93,192.0,2878,1797,2146,1875,35.7,10.6,622,4429,0.00,1.05,0.00,0.000,292,0.000,0.044,2873,2501,2010,2146,1875,0,0,0,0,0,0,26.39,26.27,26.44
$GC,4615,1.00,251.0,2873,2501,2144,1874,20.6,7.2,658,4722,0.08,1.05,101.70,0.503,11302,0.100,0.040,2910,1792,1778,1924,1632,0,0,0,0,0,0,26.24,25.39,25.07
$STATE,4830,end climb,SURFACE_DEPTH_REACHED
$STATE,4830,begin surface coast
$FINISH,-0.5,1.025530
$STATE,4852,end surface coast,CONTROL_FINISHED_OK
$STATE,4852,begin surface
$SM_CCo,4871,193.48,0.623,1,0,549,552.42
$SM_CCo,5073,-0.50,0.096,0,0,550,551.92
$SM_CCo,5076,0.00,0.000,0,0,550,551.92
$SM_GC,0.36,7.55,0.30,0.00,0.050,0.050,0.000,169,2004,550,-7.40,-1.55,551.92,0,0,0,0,0,0,26.08,26.02,25.43
$IRIDIUM_FIX,4750.34,-12512.13,070921,225000
$TT8_MAMPS,0.02247,0.146804
$HUMID,53.26
$INTERNAL_PRESSURE,8.74779
$TCM_TEMP,15.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,223.2,53.1
$CP_FREE,109220757504.000000
$CP_POWER,323.310000
$CP_POWER1,0.000000
$24V_AH,24.19,19.143
$10V_AH,10.26,10.645
$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,17.800,36.350,526.850,193.475,0.000,0.000,0.000,233.250,2.000,0.000,18.967,1553.935,1131.608,755.345,1746.065,286.907,0.000,1693.636,0.000,1569.985,0.000,16.971,0.000
$DEVICE_MAMPS,224.145,94.095,738.225,622.710,0.000,0.000,0.000,97.920,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,412.441,1307.067,0.000,0.000,0.000,0.000,4677.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,211144
$DATA_FILE_SIZE,36935,698
$CAP_FILE_SIZE,91204,0
$CFSIZE,260030464,242040832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.060,207.78,1
$GPS,080921,014901,4751.075,-12510.473,7,1.0,34,15.7,1.2,231.6,9,4.6