version: 66.14
glider: 204
mission: 8
dive: 121
start: 9 9 121 3 39 23
data:
$ID,204
$MISSION,8
$DIVE,121
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,350
$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,115
$T_MISSION,235
$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,49
$R_STBD_OVSHOOT,42
$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,228.0
$CP_NDIVE,1.0
$GPS1,090921,033009,4750.3374,-12511.0166,7,0.8,26,15.7,0.0,0.0,12,2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-62.5
$GPS2,090921,033825,4750.2749,-12510.9492,4,0.7,6,15.7,0.7,162.9,12,9.7
$SPEED_LIMITS,0.176,0.235
$TGT_NAME,SE_SLOPE_OFF
$TGT_LATLONG,4749.750,-12509.500
$TGT_RADIUS,750.000
$MHEAD_RNG_PITCHd_Wd,97.4,2048,-18.4,-10.145,-23.37,1754
$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,-0.80,-116.8,162,2013,683,418,0.0,0.0,0,133,0.00,0.00,-104.90,0.011,16386,0.000,0.000,162,2009,3072,3061,3084,0,0,0,0,0,0,26.08,28.83,26.15
$GC,136,-0.80,-116.8,161,2010,3062,3085,4.2,-8.6,15,152,8.40,0.00,-4.05,0.022,18726,0.226,0.000,2322,2012,3278,3277,3279,0,0,0,0,0,0,25.71,24.84,25.88
$GC,280,-0.80,-116.8,2322,2011,3287,3276,34.0,-15.4,41,288,0.00,1.02,0.00,0.000,260,0.000,0.043,2317,2700,3281,3287,3276,0,0,0,0,0,0,26.36,26.20,26.40
$GC,388,-0.80,-116.8,2317,2700,3289,3275,50.4,-13.3,61,395,0.00,1.05,0.00,0.000,1030,0.000,0.033,2317,1974,3282,3289,3275,0,0,0,0,0,0,26.37,26.35,26.40
$GC,523,-0.80,-116.8,2316,1973,3290,3275,67.3,-12.2,86,531,0.00,0.98,0.00,0.000,516,0.000,0.049,2318,1319,3282,3290,3275,0,0,0,0,0,0,26.46,26.30,26.52
$GC,701,-0.80,-116.8,2317,1319,3291,3275,89.9,-12.3,119,709,0.00,1.05,0.00,0.000,1030,0.000,0.036,2314,2013,3282,3291,3274,0,0,0,0,0,0,26.48,26.44,26.51
$GC,833,-0.80,-116.8,2314,2013,3292,3275,106.9,-12.6,139,836,0.00,1.05,0.00,0.000,516,0.000,0.038,2317,1315,3283,3292,3274,0,0,0,0,0,0,26.56,26.46,26.62
$GC,896,-0.80,-116.8,2316,1315,3292,3274,115.3,-13.1,151,900,0.00,1.02,0.00,0.000,1030,0.000,0.037,2313,1992,3283,3292,3274,0,0,0,0,0,0,26.51,26.47,26.53
$GC,1029,-0.80,-116.8,2313,1993,3292,3274,131.7,-12.2,165,1034,0.00,1.00,0.00,0.000,516,0.000,0.047,2316,1322,3283,3293,3274,0,0,0,0,0,0,26.53,26.48,26.62
$GC,1054,-0.80,-116.8,2316,1322,3292,3274,135.3,-12.6,170,1063,0.00,1.02,0.00,0.000,1030,0.000,0.109,2313,1997,3283,3293,3274,0,0,0,0,0,0,26.53,26.50,26.55
$GC,1183,-0.80,-116.8,2313,1997,3293,3273,150.7,-12.4,183,1185,0.08,0.00,0.00,0.000,2054,0.243,0.000,2324,1997,3282,3291,3273,0,0,0,0,0,0,26.32,26.51,26.45
$GC,1303,-0.80,-116.8,2323,1997,3292,3273,164.3,-10.7,195,1307,0.00,1.02,0.00,0.000,516,0.000,0.042,2329,1315,3283,3292,3274,0,0,0,0,0,0,26.66,26.44,26.74
$GC,1369,-0.80,-116.8,2328,1315,3293,3274,171.0,-10.3,207,1373,0.00,1.02,0.00,0.000,1030,0.000,0.045,2325,1998,3283,3293,3274,0,0,0,0,0,0,26.58,26.55,26.60
$GC,1502,-0.80,-116.8,2325,1998,3293,3274,183.8,-9.9,221,1507,0.00,1.02,0.00,0.000,292,0.000,0.044,2320,2695,3283,3293,3274,0,0,0,0,0,0,26.70,26.52,26.74
$GC,1558,-0.80,-116.8,2319,2695,3293,3273,189.6,-10.5,231,1562,0.00,1.00,0.00,0.000,1030,0.000,0.032,2323,1987,3283,3293,3273,0,0,0,0,0,0,26.63,26.60,26.65
$GC,1691,-0.80,-116.8,2322,1987,3293,3273,202.9,-10.1,245,1694,0.00,0.98,0.00,0.000,548,0.000,0.039,2328,1322,3283,3293,3273,0,0,0,0,0,0,26.70,26.55,26.74
$GC,1779,-0.80,-116.8,2328,1322,3293,3273,211.5,-9.5,261,1784,0.00,1.02,0.00,0.000,1062,0.000,0.040,2325,2006,3283,3293,3273,0,0,0,0,0,0,26.58,26.54,26.61
$GC,1913,-0.80,-116.8,2325,2006,3293,3272,224.3,-9.8,275,1916,0.00,1.02,0.00,0.000,548,0.000,0.039,2328,1320,3282,3292,3272,0,0,0,0,0,0,26.67,26.58,26.74
$GC,1956,-0.80,-116.8,2327,1320,3293,3272,228.6,-9.7,283,1959,0.00,1.02,0.00,0.000,1062,0.000,0.037,2325,2006,3282,3293,3272,0,0,0,0,0,0,26.63,26.60,26.65
$GC,2088,-0.80,-116.8,2325,2007,3293,3271,242.0,-10.4,297,2092,0.00,1.00,0.00,0.000,260,0.000,0.044,2320,2692,3281,3292,3271,0,0,0,0,0,0,26.72,26.53,26.78
$GC,2123,-0.80,-116.8,2319,2692,3293,3271,245.6,-10.2,303,2127,0.00,0.98,0.00,0.000,1030,0.000,0.040,2323,2002,3282,3293,3271,0,0,0,0,0,0,26.55,26.51,26.58
$GC,2256,-0.80,-116.8,2322,2002,3293,3270,259.2,-10.3,317,2259,0.00,1.00,0.00,0.000,516,0.000,0.041,2328,1323,3281,3293,3270,0,0,0,0,0,0,26.72,26.59,26.77
$GC,2311,-0.80,-116.8,2328,1323,3293,3270,265.4,-10.5,328,2320,0.00,1.02,0.00,0.000,1030,0.000,0.036,2325,2007,3280,3292,3269,0,0,0,0,0,0,26.63,26.60,26.64
$GC,2441,-0.80,-116.8,2324,2007,3293,3269,279.0,-10.7,341,2448,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2007,3280,3292,3268,0,0,0,0,0,0,26.74,26.80,26.79
$STATE,2498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2498,begin apogee
$GC,2503,-0.18,0.0,2325,1782,3293,3268,285.2,-10.2,347,2660,0.65,0.00,146.38,0.836,10246,0.158,0.000,2520,1781,2801,2857,2746,0,0,0,0,1,0,26.20,24.89,24.11
$STATE,2664,end apogee,CONTROL_FINISHED_OK
$STATE,2665,begin climb
$GC,2667,0.80,116.8,2519,1781,2862,2751,289.9,0.0,363,2873,1.02,1.02,194.35,0.571,10756,0.116,0.037,2837,1124,2313,2437,2190,0,0,0,0,0,0,25.10,24.85,24.52
$GC,2944,0.81,124.6,2837,1124,2418,2180,271.6,9.7,408,2952,0.00,1.05,0.00,0.000,1062,0.000,0.039,2834,1794,2298,2418,2178,0,0,0,0,0,0,25.56,25.53,25.58
$GC,3073,0.83,141.8,2833,1793,2415,2176,259.9,9.1,421,3107,0.00,1.08,29.02,0.616,8484,0.000,0.050,2828,2487,2217,2347,2088,0,0,0,0,0,0,25.96,25.32,24.98
$GC,3182,0.85,157.9,2828,2487,2337,2079,249.7,9.2,442,3211,0.05,1.00,22.05,0.643,11302,0.177,0.046,2846,1826,2150,2284,2016,0,0,0,0,0,0,25.67,25.88,25.01
$GC,3333,0.85,157.9,2845,1825,2274,2008,234.6,10.5,459,3340,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1825,2141,2275,2008,0,0,0,0,0,0,26.06,26.12,26.11
$GC,3459,0.85,157.9,2845,1825,2273,2006,220.9,10.4,472,3461,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1825,2140,2273,2007,0,0,0,0,0,0,26.22,26.27,26.28
$GC,3579,0.85,157.9,2846,1825,2271,2006,208.3,10.3,484,3584,0.00,1.12,0.00,0.000,516,0.000,0.047,2852,1105,2138,2271,2006,0,0,0,0,0,0,26.33,26.21,26.39
$GC,3613,0.85,157.9,2851,1105,2271,2006,205.0,10.2,490,3616,0.00,1.08,0.00,0.000,1030,0.000,0.037,2848,1806,2138,2271,2006,0,0,0,0,0,0,26.30,26.27,26.32
$GC,3744,0.85,157.9,2848,1806,2270,2006,191.1,10.7,504,3749,0.00,1.05,0.00,0.000,260,0.000,0.046,2843,2505,2138,2270,2006,0,0,0,0,0,0,25.86,26.27,26.13
$GC,3777,0.85,157.9,2842,2505,2269,2005,187.5,10.5,510,3781,0.00,1.05,0.00,0.000,1030,0.000,0.046,2846,1803,2137,2269,2005,0,0,0,0,0,0,26.33,26.29,26.36
$GC,3911,0.85,157.9,2846,1803,2269,2005,173.3,10.9,524,3919,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1803,2137,2269,2005,0,0,0,0,0,0,26.48,26.53,26.54
$GC,4039,0.85,157.9,2846,1802,2269,2005,158.5,11.6,537,4043,0.00,1.08,0.00,0.000,516,0.000,0.048,2852,1110,2136,2268,2005,0,0,0,0,0,0,26.50,26.41,26.57
$GC,4072,0.85,157.9,2851,1110,2268,2006,154.7,11.4,543,4076,0.00,1.05,0.00,0.000,1030,0.000,0.105,2848,1799,2137,2268,2006,0,0,0,0,0,0,26.48,26.44,26.50
$GC,4204,0.85,157.9,2848,1798,2268,2005,140.1,10.8,557,4208,0.00,1.05,0.00,0.000,260,0.000,0.044,2843,2501,2137,2269,2005,0,0,0,0,0,0,26.52,26.45,26.58
$GC,4250,0.85,157.9,2842,2501,2266,2005,134.9,10.8,566,4258,0.00,1.05,0.00,0.000,1030,0.000,0.037,2846,1790,2135,2266,2005,0,0,0,0,0,0,26.53,26.49,26.55
$GC,4380,0.85,157.9,2846,1790,2266,2005,121.5,10.7,579,4387,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1790,2135,2266,2005,0,0,0,0,0,0,26.60,26.67,26.66
$GC,4508,0.85,157.9,2846,1790,2265,2005,107.3,10.6,592,4513,0.00,1.08,0.00,0.000,260,0.000,0.043,2843,2498,2135,2265,2005,0,0,0,0,0,0,26.62,26.49,26.72
$GC,4564,0.85,157.9,2842,2499,2265,2004,101.0,10.9,603,4572,0.00,1.02,0.00,0.000,1030,0.000,0.040,2846,1802,2134,2265,2004,0,0,0,0,0,0,26.54,26.51,26.56
$GC,4702,0.85,157.9,2846,1802,2264,2005,85.4,12.2,627,4709,0.00,1.08,0.00,0.000,516,0.000,0.058,2852,1108,2134,2264,2005,0,0,0,0,0,0,26.70,26.51,26.72
$GC,4763,0.85,157.9,2851,1108,2264,2004,77.8,12.1,638,4770,0.00,1.05,0.00,0.000,1030,0.000,0.037,2848,1801,2135,2265,2005,0,0,0,0,0,0,26.58,26.55,26.61
$GC,4898,0.85,157.9,2848,1801,2264,2004,63.1,10.8,663,4905,0.00,1.10,0.00,0.000,516,0.000,0.047,2852,1097,2134,2264,2004,0,0,0,0,0,0,26.67,26.52,26.72
$GC,5138,0.91,207.4,2851,1097,2264,2004,42.2,7.2,709,5223,0.08,1.08,75.38,0.529,11302,0.138,0.036,2876,1808,1948,2088,1809,0,0,0,0,0,0,26.32,26.58,25.28
$GC,5349,0.92,219.0,2876,1808,2075,1798,24.6,9.5,745,5358,0.00,1.15,3.70,0.545,8740,0.000,0.047,2882,1102,1905,2047,1764,0,0,0,0,0,0,26.19,25.89,25.06
$GC,5437,0.93,224.3,2881,1102,2050,1764,16.1,9.8,761,5446,0.00,1.08,3.00,0.448,9254,0.000,0.038,2879,1797,1882,2025,1739,0,0,0,0,0,0,26.18,26.16,25.07
$GC,5574,1.00,282.4,2878,1798,2029,1740,5.4,6.7,786,5625,0.10,0.00,48.33,0.506,10530,0.161,0.000,2904,1799,1763,1909,1618,0,0,0,0,0,0,26.12,28.83,26.24
$STATE,5626,end climb,SURFACE_DEPTH_REACHED
$STATE,5626,begin surface coast
$FINISH,-0.5,1.025368
$STATE,5653,end surface coast,CONTROL_FINISHED_OK
$STATE,5653,begin surface
$SM_CCo,5673,239.40,0.584,1,0,550,551.92
$SM_CCo,5920,-0.40,0.119,0,0,550,551.92
$SM_CCo,5924,0.00,0.000,0,0,550,551.92
$SM_GC,0.41,7.53,0.30,0.00,0.049,0.049,0.000,193,2024,550,-7.39,-1.10,551.92,0,0,0,0,0,0,25.99,25.95,25.39
$IRIDIUM_FIX,4751.26,-12509.51,090921,003852
$TT8_MAMPS,0.02247,0.219457
$HUMID,52.79
$INTERNAL_PRESSURE,8.72826
$TCM_TEMP,15.30
$XPDR_PINGS,0
$CP_FREE,103803158528.000000
$CP_POWER,323.310000
$CP_POWER1,0.000000
$24V_AH,24.11,20.998
$10V_AH,10.17,11.664
$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,17.900,42.200,522.200,239.400,0.000,0.000,0.000,334.425,3.000,0.000,18.150,1804.279,1438.584,806.392,2060.537,339.557,0.000,1932.379,0.000,1772.764,0.000,21.333,0.000
$DEVICE_MAMPS,243.270,108.630,836.145,583.695,0.000,0.000,0.000,107.865,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,472.678,1493.482,0.000,0.000,0.000,0.000,5488.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,209808
$DATA_FILE_SIZE,40126,798
$CAP_FILE_SIZE,107843,0
$CFSIZE,260030464,240779264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.043,213.13,1
$GPS,090921,051910,4749.925,-12510.255,7,1.0,18,15.7,0.1,0.0,10,5.5