version: 66.14
glider: 204
mission: 8
dive: 133
start: 9 10 121 2 38 13
data:
$ID,204
$MISSION,8
$DIVE,133
$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,45
$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,252.0
$CP_NDIVE,1.0
$GPS1,100921,022920,4750.6865,-12511.8262,33,0.8,34,15.7,0.4,47.2,12,5.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-57.8
$GPS2,100921,023712,4750.6870,-12511.8662,4,0.8,6,15.7,0.3,339.1,12,5.8
$SPEED_LIMITS,0.176,0.235
$TGT_NAME,NW_SLOPE_OFF
$TGT_LATLONG,4751.083,-12512.200
$TGT_RADIUS,750.000
$MHEAD_RNG_PITCHd_Wd,326.4,843,-25.9,-10.145,-30.00,975
$D_GRID,341
$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,-1.00,-64.7,166,2003,680,423,0.0,0.0,0,132,0.00,0.00,-103.88,0.011,16386,0.000,0.000,167,2003,3039,3028,3051,0,0,0,0,0,0,26.09,28.83,26.16
$GC,135,-1.02,-82.6,166,2002,3029,3051,4.2,-8.3,15,152,7.97,1.05,-2.05,0.040,19236,0.220,0.063,2244,2719,3140,3142,3138,0,0,0,0,0,0,25.70,24.63,25.89
$GC,281,-1.02,-82.6,2243,2719,3149,3136,37.0,-17.9,41,289,0.00,1.08,0.00,0.000,1030,0.000,0.032,2248,1980,3142,3149,3135,0,0,0,0,0,0,26.29,26.28,26.27
$GC,413,-1.02,-82.6,2247,1979,3152,3134,58.8,-13.5,66,421,0.00,0.98,0.00,0.000,516,0.000,0.039,2253,1315,3143,3152,3134,0,0,0,0,0,0,26.45,26.31,26.51
$GC,658,-1.02,-82.6,2252,1315,3154,3134,93.6,-14.9,112,666,0.00,1.02,0.00,0.000,1030,0.000,0.034,2250,2002,3143,3154,3133,0,0,0,0,0,0,26.46,26.42,26.49
$GC,789,-1.02,-82.6,2249,2002,3155,3134,114.2,-14.6,128,794,0.00,1.02,0.00,0.000,516,0.000,0.038,2253,1317,3144,3154,3134,0,0,0,0,0,0,26.22,26.41,26.34
$GC,1029,-1.02,-82.6,2252,1316,3155,3134,145.2,-12.0,174,1032,0.00,1.02,0.00,0.000,1030,0.000,0.044,2250,1999,3144,3155,3134,0,0,0,0,0,0,26.51,26.50,26.56
$GC,1163,-1.02,-82.6,2250,1998,3155,3133,162.5,-13.4,188,1167,0.00,1.02,0.00,0.000,516,0.000,0.038,2253,1313,3144,3155,3133,0,0,0,0,0,0,26.64,26.51,26.69
$GC,1254,-1.02,-82.6,2252,1313,3155,3133,175.1,-12.6,205,1261,0.00,1.02,0.00,0.000,1030,0.000,0.043,2250,1998,3143,3155,3132,0,0,0,0,0,0,26.55,26.54,26.60
$GC,1384,-1.02,-82.6,2249,1998,3156,3132,191.9,-13.6,218,1388,0.00,1.02,0.00,0.000,260,0.000,0.045,2244,2698,3143,3155,3132,0,0,0,0,0,0,26.52,26.51,26.58
$GC,1437,-1.02,-82.6,2244,2698,3155,3131,199.3,-13.3,228,1441,0.00,1.00,0.00,0.000,1030,0.000,0.031,2248,1995,3144,3156,3132,0,0,0,0,0,0,26.61,26.60,26.63
$GC,1570,-1.02,-82.6,2247,1995,3155,3131,217.1,-13.6,242,1574,0.00,1.00,0.00,0.000,516,0.000,0.039,2253,1316,3143,3155,3131,0,0,0,0,0,0,26.65,26.55,26.71
$GC,1603,-1.02,-82.6,2252,1316,3155,3131,221.4,-12.7,248,1607,0.00,1.02,0.00,0.000,1030,0.000,0.096,2251,1998,3143,3155,3131,0,0,0,0,0,0,26.55,26.49,26.57
$GC,1735,-1.02,-82.6,2249,1998,3155,3130,238.4,-12.7,262,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,1998,3142,3155,3130,0,0,0,0,0,0,26.67,26.74,26.73
$GC,1865,-1.02,-82.6,2249,1998,3155,3130,254.6,-12.1,275,1870,0.00,1.00,0.00,0.000,516,0.000,0.039,2253,1323,3142,3155,3130,0,0,0,0,0,0,26.70,26.57,26.77
$GC,1930,-1.02,-82.6,2252,1323,3156,3130,262.4,-11.9,287,1934,0.00,1.02,0.00,0.000,1030,0.000,0.035,2249,2009,3142,3155,3130,0,0,0,0,0,0,26.62,26.58,26.63
$GC,2063,-1.02,-82.6,2249,2008,3155,3130,278.0,-11.7,301,2070,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2009,3142,3155,3130,0,0,0,0,0,0,26.71,26.78,26.77
$GC,2192,-1.02,-82.6,2249,2009,3155,3129,293.3,-11.8,314,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2009,3142,3155,3129,0,0,0,0,0,0,26.72,26.77,26.78
$GC,2312,-1.02,-82.6,2249,2008,3155,3128,308.2,-12.4,323,2322,0.00,1.00,0.00,0.000,260,0.000,0.043,2245,2696,3141,3154,3128,0,0,0,0,0,0,26.69,26.57,26.74
$GC,2411,-1.02,-82.6,2244,2696,3155,3128,319.4,-10.7,341,2415,0.00,1.00,0.00,0.000,1030,0.000,0.032,2248,1995,3141,3155,3127,0,0,0,0,0,0,26.65,26.63,26.68
$GC,2544,-1.03,-88.5,2247,1995,3155,3127,332.1,-9.5,349,2548,0.00,1.00,0.00,0.000,548,0.000,0.048,2253,1320,3141,3155,3127,0,0,0,0,0,0,26.74,26.57,26.79
$STATE,2557,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2557,begin apogee
$GC,2562,-0.18,0.0,2251,1820,3155,3127,333.7,-8.9,352,2663,0.93,0.00,92.45,0.914,10246,0.159,0.000,2520,1821,2799,2849,2750,0,0,0,0,1,0,26.10,25.13,24.29
$STATE,2668,end apogee,CONTROL_FINISHED_OK
$STATE,2668,begin climb
$GC,2670,1.03,88.5,2519,1821,2854,2755,335.4,0.0,357,2827,1.27,1.12,147.77,0.586,11012,0.116,0.035,2916,1134,2434,2540,2328,0,0,0,0,0,0,25.25,24.93,24.59
$GC,2865,1.03,88.5,2916,1133,2522,2308,318.6,13.2,386,2869,0.00,1.02,0.00,0.000,1030,0.000,0.044,2914,1778,2414,2522,2307,0,0,0,0,0,0,25.52,25.49,25.54
$GC,2997,1.03,88.5,2913,1778,2517,2305,301.5,12.9,394,3001,0.00,1.10,0.00,0.000,260,0.000,0.044,2909,2491,2410,2516,2305,0,0,0,0,0,0,25.98,25.86,26.04
$GC,3218,1.03,88.5,2908,2491,2511,2305,273.5,12.7,437,3225,0.00,1.00,0.00,0.000,1030,0.000,0.037,2911,1821,2408,2511,2305,0,0,0,0,0,0,26.24,26.19,26.24
$GC,3346,1.03,88.5,2912,1821,2510,2305,257.7,12.6,450,3350,0.00,1.05,0.00,0.000,260,0.000,0.045,2909,2507,2407,2510,2305,0,0,0,0,0,0,26.34,26.24,26.40
$GC,3439,1.03,88.5,2908,2507,2506,2305,245.7,12.4,468,3444,0.00,1.05,0.00,0.000,1030,0.000,0.044,2912,1802,2406,2507,2305,0,0,0,0,0,0,26.32,26.27,26.35
$GC,3572,1.03,88.5,2911,1802,2507,2304,229.5,12.2,482,3580,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,1802,2406,2507,2305,0,0,0,0,0,0,26.44,26.52,26.51
$GC,3702,1.03,88.5,2911,1801,2507,2305,213.6,12.2,495,3706,0.00,1.08,0.00,0.000,260,0.000,0.044,2909,2507,2406,2507,2305,0,0,0,0,0,0,26.54,26.36,26.60
$GC,3748,1.03,88.5,2908,2507,2506,2305,207.5,12.8,504,3756,0.00,1.05,0.00,0.000,1030,0.000,0.037,2911,1795,2406,2506,2306,0,0,0,0,0,0,26.48,26.44,26.49
$GC,3877,1.03,88.5,2911,1795,2506,2305,192.0,12.1,517,3881,0.00,1.08,0.00,0.000,260,0.000,0.044,2908,2500,2405,2506,2305,0,0,0,0,0,0,26.58,26.44,26.64
$GC,3930,1.03,88.5,2908,2500,2505,2306,185.3,11.9,527,3934,0.00,1.05,0.00,0.000,1030,0.000,0.039,2912,1794,2405,2505,2305,0,0,0,0,0,0,26.51,26.47,26.53
$GC,4062,1.03,88.5,2911,1795,2505,2306,170.1,11.5,541,4067,0.00,1.08,0.00,0.000,516,0.000,0.047,2917,1095,2405,2506,2305,0,0,0,0,0,0,26.60,26.47,26.68
$GC,4098,1.03,88.5,2917,1095,2505,2305,165.8,12.9,547,4101,0.00,1.08,0.00,0.000,1030,0.000,0.037,2914,1799,2405,2505,2305,0,0,0,0,0,0,26.54,26.51,26.55
$GC,4230,1.03,88.5,2914,1799,2505,2305,148.8,12.8,561,4239,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,1798,2405,2505,2305,0,0,0,0,0,0,26.65,26.67,26.71
$GC,4362,1.03,88.5,2914,1799,2505,2305,132.4,12.0,574,4365,0.00,1.08,0.00,0.000,516,0.000,0.046,2917,1108,2405,2505,2305,0,0,0,0,0,0,26.65,26.50,26.72
$GC,4435,1.03,88.5,2917,1108,2504,2306,124.4,10.2,588,4440,0.00,1.05,0.00,0.000,1030,0.000,0.044,2914,1800,2405,2505,2305,0,0,0,0,0,0,26.51,26.51,26.53
$GC,4570,1.04,92.7,2914,1800,2505,2305,111.2,9.7,602,4574,0.00,1.05,0.00,0.000,292,0.000,0.047,2909,2507,2404,2504,2305,0,0,0,0,0,0,26.53,26.51,26.58
$GC,4674,1.06,109.5,2908,2507,2504,2304,101.4,8.4,622,4698,0.00,1.05,19.00,0.623,9254,0.000,0.044,2912,1795,2354,2463,2246,0,0,0,0,0,0,26.56,26.39,25.65
$GC,4823,1.06,115.8,2911,1795,2439,2220,87.4,9.5,650,4831,0.00,1.05,0.00,0.000,548,0.000,0.047,2918,1108,2329,2439,2219,0,0,0,0,0,0,26.48,26.38,26.54
$GC,4892,1.06,115.8,2917,1108,2440,2220,80.5,10.1,662,4899,0.00,1.05,0.00,0.000,1030,0.000,0.036,2914,1799,2329,2439,2220,0,0,0,0,0,0,26.42,26.43,26.44
$GC,5026,1.07,124.8,2914,1799,2438,2219,68.8,9.2,687,5044,0.00,1.08,8.38,0.636,8740,0.000,0.050,2918,1112,2292,2408,2177,0,0,0,0,0,0,26.54,26.00,25.61
$GC,5280,1.07,124.9,2917,1112,2401,2173,45.7,10.1,734,5287,0.00,1.05,0.00,0.000,1062,0.000,0.043,2915,1800,2287,2402,2172,0,0,0,0,0,0,26.47,26.44,26.48
$GC,5420,1.12,161.1,2914,1800,2401,2171,35.1,6.3,759,5492,0.12,1.12,64.38,0.513,10788,0.161,0.104,2950,1100,2136,2263,2009,0,0,0,0,0,0,26.24,25.79,25.29
$GC,5642,1.12,163.2,2949,1100,2234,1988,15.0,9.9,798,5650,0.00,1.08,0.00,0.000,1062,0.000,0.037,2946,1801,2110,2234,1987,0,0,0,0,0,0,26.18,26.15,26.20
$GC,5784,1.19,219.2,2946,1801,2234,1985,4.4,4.2,823,5884,0.08,1.12,89.75,0.490,11044,0.219,0.052,2966,1114,1894,2035,1754,0,0,0,0,0,0,26.09,25.53,25.05
$STATE,5890,end climb,SURFACE_DEPTH_REACHED
$STATE,5890,begin surface coast
$FINISH,-0.4,1.025270
$STATE,5912,end surface coast,CONTROL_FINISHED_OK
$STATE,5912,begin surface
$SM_CCo,5933,218.80,0.607,1,0,551,551.92
$SM_CCo,6160,-0.40,0.119,0,0,550,551.92
$SM_CCo,6163,0.00,0.000,0,0,550,551.92
$SM_GC,0.40,7.90,1.40,0.00,0.062,0.030,0.000,182,2009,550,-7.38,-1.50,551.92,0,0,0,0,0,0,25.87,25.82,25.39
$IRIDIUM_FIX,4752.18,-12506.88,090921,233823
$TT8_MAMPS,0.02247,0.180509
$HUMID,53.50
$INTERNAL_PRESSURE,8.73803
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,309.0,44.5
$CP_FREE,99437772800.000000
$CP_POWER,323.300000
$CP_POWER1,0.000000
$24V_AH,24.25,22.584
$10V_AH,10.23,12.520
$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,18.275,43.950,421.725,218.800,0.000,0.000,0.000,309.150,4.000,0.000,16.629,1866.264,1626.605,735.779,2095.614,343.994,0.000,1817.696,0.000,1834.599,0.000,30.503,0.000
$DEVICE_MAMPS,220.320,104.040,914.175,606.645,0.000,0.000,0.000,113.220,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,467.925,1469.820,0.000,0.000,0.000,0.000,5799.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,209828
$DATA_FILE_SIZE,43652,842
$CAP_FILE_SIZE,107371,0
$CFSIZE,260030464,239718400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.037,205.18,1
$GPS,100921,042209,4751.000,-12512.180,8,0.8,27,15.7,0.6,354.0,12,2.3