version: 66.14
glider: 204
mission: 8
dive: 128
start: 9 9 121 16 45 50
data:
$ID,204
$MISSION,8
$DIVE,128
$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,52
$R_STBD_OVSHOOT,54
$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,242.0
$CP_NDIVE,1.0
$GPS1,090921,163909,4750.7383,-12509.5312,6,0.7,28,15.7,0.5,53.6,12,1.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-63.0
$GPS2,090921,164451,4750.7744,-12509.4521,3,0.6,5,15.7,0.4,49.6,12,6.6
$SPEED_LIMITS,0.176,0.235
$TGT_NAME,SE_SLOPE
$TGT_LATLONG,4750.360,-12508.720
$TGT_RADIUS,750.000
$MHEAD_RNG_PITCHd_Wd,113.8,1191,-18.4,-10.145,-23.37,1754
$D_GRID,206
$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,-0.80,-116.8,181,2012,686,416,0.0,0.0,0,132,0.00,0.00,-104.70,0.011,16386,0.000,0.000,181,2011,2984,2973,2995,0,0,0,0,0,0,26.12,28.83,26.18
$GC,135,-0.80,-116.8,181,2011,2974,2996,3.5,-5.9,15,159,8.18,1.02,-6.45,0.018,18724,0.223,0.075,2302,2688,3279,3283,3275,0,0,0,0,0,0,25.78,24.68,25.96
$GC,274,-0.80,-116.8,2300,2688,3286,3275,33.6,-18.1,40,283,0.08,1.02,0.00,0.000,3078,0.194,0.041,2326,1985,3280,3286,3274,0,0,0,0,0,0,25.97,26.29,26.09
$GC,410,-0.80,-116.8,2324,1982,3290,3274,58.9,-17.4,65,418,0.00,1.00,0.00,0.000,516,0.000,0.039,2330,1311,3282,3290,3274,0,0,0,0,0,0,26.41,26.34,26.47
$GC,650,-0.80,-116.8,2330,1311,3291,3274,89.5,-10.0,111,658,0.00,1.02,0.00,0.000,1062,0.000,0.039,2327,1992,3282,3291,3274,0,0,0,0,0,0,26.41,26.38,26.44
$GC,789,-0.80,-116.8,2326,1992,3292,3274,102.1,-9.6,135,793,0.00,1.02,0.00,0.000,548,0.000,0.048,2330,1311,3283,3292,3274,0,0,0,0,0,0,26.56,26.46,26.63
$GC,1014,-0.80,-116.8,2329,1311,3292,3274,125.0,-10.1,178,1021,0.00,1.05,0.00,0.000,1062,0.000,0.045,2327,2007,3283,3293,3274,0,0,0,0,0,0,26.53,26.51,26.56
$GC,1142,-0.80,-116.8,2326,2007,3293,3274,137.6,-10.3,191,1144,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2007,3283,3293,3274,0,0,0,0,0,0,26.65,26.72,26.70
$GC,1262,-0.80,-116.8,2326,2007,3293,3274,150.5,-11.7,203,1266,0.00,1.02,0.00,0.000,516,0.000,0.038,2330,1318,3283,3293,3274,0,0,0,0,0,0,26.67,26.53,26.72
$GC,1379,-0.80,-116.8,2329,1318,3293,3274,165.2,-12.2,225,1383,0.00,1.02,0.00,0.000,1030,0.000,0.044,2327,1999,3283,3293,3273,0,0,0,0,0,0,26.56,26.56,26.55
$GC,1511,-0.80,-116.8,2325,1999,3293,3273,180.3,-12.1,239,1516,0.00,1.02,0.00,0.000,260,0.000,0.046,2320,2696,3283,3293,3273,0,0,0,0,0,0,26.70,26.50,26.74
$GC,1591,-0.80,-116.8,2321,2697,3292,3272,188.4,-10.1,253,1595,0.00,1.00,0.00,0.000,1062,0.000,0.032,2325,1993,3283,3293,3273,0,0,0,0,0,0,26.60,26.56,26.65
$GC,1723,-0.80,-116.8,2324,1993,3293,3272,200.5,-9.0,267,1728,0.00,1.00,0.00,0.000,548,0.000,0.048,2330,1316,3282,3293,3272,0,0,0,0,0,0,26.67,26.53,26.74
$STATE,1780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1780,begin apogee
$GC,1785,-0.18,0.0,2327,1819,3293,3272,206.3,-9.9,277,1912,0.65,0.00,116.90,0.933,10246,0.158,0.000,2523,1820,2801,2857,2745,0,0,0,0,1,0,26.22,24.94,24.19
$STATE,1916,end apogee,CONTROL_FINISHED_OK
$STATE,1916,begin climb
$GC,1918,0.80,116.8,2523,1820,2860,2749,209.4,0.0,290,2111,1.02,0.00,187.43,0.529,11014,0.113,0.000,2838,1820,2320,2445,2195,0,0,0,0,0,0,25.13,25.06,24.63
$GC,2237,0.80,116.8,2836,1820,2422,2174,184.4,11.0,326,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1820,2297,2421,2174,0,0,0,0,0,0,25.86,25.92,25.92
$GC,2357,0.80,116.9,2837,1820,2419,2174,172.0,10.1,338,2361,0.00,1.02,0.00,0.000,292,0.000,0.044,2834,2490,2296,2419,2173,0,0,0,0,0,0,26.07,25.99,26.13
$GC,2410,0.80,116.9,2834,2490,2417,2172,166.4,11.1,348,2415,0.00,1.02,0.00,0.000,1030,0.000,0.111,2837,1812,2294,2417,2172,0,0,0,0,0,0,26.07,25.97,26.10
$GC,2543,0.80,116.9,2837,1812,2417,2172,152.1,10.8,362,2547,0.00,1.10,0.00,0.000,516,0.000,0.049,2843,1107,2294,2417,2172,0,0,0,0,0,0,26.32,26.20,26.38
$GC,2637,0.80,118.8,2842,1107,2416,2172,141.9,10.0,380,2642,0.00,1.05,0.00,0.000,1062,0.000,0.036,2839,1799,2294,2416,2172,0,0,0,0,0,0,26.31,26.28,26.34
$GC,2772,0.81,127.2,2839,1799,2415,2172,128.5,9.7,394,2779,0.00,0.00,0.00,0.000,38,0.000,0.000,2840,1799,2293,2414,2172,0,0,0,0,0,0,26.43,26.49,26.48
$GC,2900,0.82,137.3,2839,1798,2413,2172,116.0,9.5,407,2921,0.00,0.00,19.00,0.602,8230,0.000,0.000,2839,1799,2241,2370,2113,0,0,0,0,0,0,26.39,26.03,25.53
$GC,3041,0.84,153.3,2839,1799,2345,2091,102.5,9.2,421,3063,0.00,1.05,14.20,0.607,8740,0.000,0.043,2843,1104,2168,2299,2037,0,0,0,0,0,0,26.37,25.82,25.46
$GC,3114,0.86,166.6,2842,1104,2282,2029,95.8,9.4,434,3123,0.05,1.08,4.05,0.699,11302,0.203,0.037,2853,1799,2121,2254,1989,0,0,0,0,0,0,25.93,26.19,25.32
$GC,3249,0.86,166.6,2852,1799,2264,1989,81.9,10.3,459,3256,0.00,1.08,0.00,0.000,516,0.000,0.046,2858,1110,2126,2264,1989,0,0,0,0,0,0,26.36,26.24,26.41
$GC,3306,0.86,166.6,2858,1110,2264,1989,75.9,10.7,469,3314,0.00,1.05,0.00,0.000,1030,0.000,0.038,2855,1799,2126,2264,1989,0,0,0,0,0,0,26.27,26.25,26.30
$GC,3439,0.86,166.6,2853,1799,2264,1989,61.1,12.0,494,3447,0.00,1.02,0.00,0.000,260,0.000,0.051,2850,2490,2126,2264,1989,0,0,0,0,0,0,26.44,26.31,26.50
$GC,3518,0.86,166.6,2849,2490,2263,1989,51.3,11.9,508,3526,0.00,1.02,0.00,0.000,1030,0.000,0.037,2853,1798,2126,2264,1989,0,0,0,0,0,0,26.43,26.41,26.44
$GC,3655,0.90,198.6,2853,1798,2264,1988,38.7,8.3,533,3719,0.08,1.05,57.15,0.516,10788,0.181,0.044,2879,1100,1985,2124,1846,0,0,0,0,0,0,26.33,25.68,25.32
$GC,3952,0.97,258.3,2879,1100,2096,1829,13.6,6.6,587,4051,0.00,1.08,92.93,0.483,9254,0.000,0.037,2876,1799,1744,1889,1600,0,0,0,0,0,0,26.27,26.23,25.03
$STATE,4139,end climb,SURFACE_DEPTH_REACHED
$STATE,4139,begin surface coast
$FINISH,-0.1,1.025252
$STATE,4172,end surface coast,CONTROL_FINISHED_OK
$STATE,4172,begin surface
$SM_CCo,4191,195.25,0.611,1,0,550,551.92
$SM_CCo,4395,-0.38,0.126,0,0,550,551.92
$SM_CCo,4398,0.00,0.000,0,0,551,551.92
$SM_GC,0.41,7.47,0.28,0.00,0.051,0.053,0.000,180,2007,551,-7.41,-1.53,551.92,0,0,0,0,0,0,26.04,26.00,25.46
$IRIDIUM_FIX,4751.26,-12509.51,090921,150644
$TT8_MAMPS,0.02247,0.145306
$HUMID,53.07
$INTERNAL_PRESSURE,8.73803
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,201.7,46.3
$CP_FREE,101317443584.000000
$CP_POWER,323.310000
$CP_POWER1,0.000000
$24V_AH,24.19,21.919
$10V_AH,10.23,12.149
$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,17.525,24.875,491.650,195.250,0.000,0.000,0.000,216.650,1.500,0.000,17.745,1395.749,847.348,711.950,1561.835,262.657,0.000,1546.589,0.000,1395.719,0.000,13.596,0.000
$DEVICE_MAMPS,222.615,110.925,933.300,611.235,0.000,0.000,0.000,102.510,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,374.722,1189.310,0.000,0.000,0.000,0.000,4000.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,209832
$DATA_FILE_SIZE,33473,624
$CAP_FILE_SIZE,78753,0
$CFSIZE,260030464,240201728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.007,152.93,1
$GPS,090921,180006,4750.541,-12508.956,12,0.8,13,15.7,0.1,0.0,12,7.1