version: 66.14
glider: 204
mission: 8
dive: 134
start: 9 10 121 4 28 33
data:
$ID,204
$MISSION,8
$DIVE,134
$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,51
$R_STBD_OVSHOOT,56
$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,254.0
$CP_NDIVE,1.0
$GPS1,100921,042209,4751.0000,-12512.1797,8,0.8,27,15.7,0.6,354.0,12,2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-60.3
$GPS2,100921,042733,4751.0317,-12512.1924,3,0.8,6,15.7,0.5,292.7,12,5.6
$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,100.9,4104,-18.4,-10.145,-23.37,1754
$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,51,end surface,CONTROL_FINISHED_OK
$STATE,51,begin dive
$GC,53,-0.80,-116.8,178,2015,691,411,0.0,0.0,0,161,0.00,0.00,-105.00,0.012,16386,0.000,0.000,178,2015,3050,3040,3060,0,0,0,0,0,0,26.15,28.83,26.21
$GC,164,-0.80,-116.8,178,2013,3041,3061,4.2,-8.6,15,181,8.20,1.05,-4.80,0.024,18724,0.218,0.079,2312,2692,3277,3279,3276,0,0,0,0,0,0,25.76,24.62,25.91
$GC,226,-0.80,-116.8,2312,2692,3284,3276,17.5,-15.8,25,234,0.03,1.02,0.00,0.000,3078,0.235,0.038,2319,1978,3280,3285,3275,0,0,0,0,0,0,26.03,26.22,26.08
$GC,366,-0.80,-116.8,2318,1976,3288,3275,38.7,-15.0,50,373,0.00,0.98,0.00,0.000,516,0.000,0.035,2320,1321,3281,3288,3274,0,0,0,0,0,0,26.49,26.32,26.57
$GC,610,-0.80,-116.8,2319,1321,3290,3274,72.4,-10.4,96,619,0.00,1.02,0.00,0.000,1030,0.000,0.031,2316,2005,3282,3290,3274,0,0,0,0,0,0,26.49,26.45,26.52
$GC,750,-0.80,-116.8,2316,2005,3291,3274,88.8,-11.6,121,758,0.00,1.02,0.00,0.000,516,0.000,0.034,2319,1318,3282,3290,3274,0,0,0,0,0,0,26.69,26.50,26.74
$GC,826,-0.80,-116.8,2319,1318,3291,3274,97.7,-11.9,135,834,0.00,1.02,0.00,0.000,1030,0.000,0.031,2316,2005,3282,3291,3274,0,0,0,0,0,0,26.60,26.53,26.60
$GC,957,-0.80,-116.8,2315,2005,3291,3274,112.5,-10.9,149,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2005,3282,3291,3274,0,0,0,0,0,0,26.74,26.82,26.79
$GC,1087,-0.80,-116.8,2316,2005,3292,3274,127.2,-11.5,162,1091,0.00,1.00,0.00,0.000,260,0.000,0.039,2311,2692,3282,3291,3274,0,0,0,0,0,0,26.79,26.58,26.84
$GC,1193,-0.80,-116.8,2310,2692,3292,3274,138.6,-10.8,182,1197,0.00,0.98,0.00,0.000,1030,0.000,0.027,2314,1999,3283,3292,3274,0,0,0,0,0,0,26.68,26.66,26.71
$GC,1325,-0.80,-116.8,2314,1999,3292,3274,153.1,-10.6,196,1329,0.00,1.00,0.00,0.000,516,0.000,0.034,2319,1318,3283,3292,3274,0,0,0,0,0,0,26.86,26.63,26.89
$GC,1411,-0.80,-116.8,2319,1318,3292,3274,163.4,-12.4,213,1419,0.00,1.02,0.00,0.000,1030,0.000,0.031,2316,2005,3283,3292,3274,0,0,0,0,0,0,26.69,26.67,26.73
$GC,1539,-0.80,-116.8,2316,2005,3292,3274,178.1,-11.5,226,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2005,3282,3291,3273,0,0,0,0,0,0,26.86,26.93,26.92
$GC,1660,-0.80,-116.8,2316,2005,3292,3273,192.4,-11.5,238,1664,0.00,1.00,0.00,0.000,260,0.000,0.040,2311,2692,3283,3293,3273,0,0,0,0,0,0,26.87,26.67,26.94
$GC,1714,-0.80,-116.8,2311,2692,3292,3272,198.8,-11.5,248,1719,0.00,0.98,0.00,0.000,1030,0.000,0.028,2314,1999,3282,3292,3273,0,0,0,0,0,0,26.77,26.74,26.78
$GC,1847,-0.80,-116.8,2314,1999,3292,3273,214.0,-11.4,262,1851,0.00,1.00,0.00,0.000,516,0.000,0.034,2319,1321,3282,3292,3273,0,0,0,0,0,0,26.91,26.70,26.96
$GC,1987,-0.80,-116.8,2319,1320,3292,3273,229.6,-11.3,288,1992,0.00,1.00,0.00,0.000,1030,0.000,0.032,2317,1993,3282,3292,3272,0,0,0,0,0,0,26.77,26.73,26.79
$GC,2121,-0.80,-116.8,2315,1993,3291,3272,244.7,-10.9,302,2126,0.00,1.00,0.00,0.000,516,0.000,0.034,2319,1320,3282,3292,3272,0,0,0,0,0,0,26.94,26.72,26.98
$GC,2156,-0.80,-116.8,2319,1320,3292,3272,248.4,-10.9,308,2160,0.00,1.00,0.00,0.000,1030,0.000,0.032,2316,1993,3281,3292,3271,0,0,0,0,0,0,26.78,26.78,26.80
$GC,2288,-0.80,-116.8,2315,1992,3292,3271,263.1,-11.3,322,2290,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,1992,3281,3292,3271,0,0,0,0,0,0,26.94,27.03,27.00
$GC,2409,-0.80,-116.8,2316,1992,3292,3270,276.1,-10.7,334,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,1992,3281,3292,3270,0,0,0,0,0,0,26.96,27.02,27.01
$GC,2538,-0.80,-116.8,2316,1992,3292,3270,289.7,-10.4,347,2543,0.00,1.00,0.00,0.000,516,0.000,0.035,2319,1320,3281,3292,3270,0,0,0,0,0,0,26.96,26.75,27.02
$GC,2606,-0.80,-116.8,2319,1320,3292,3269,296.3,-9.8,359,2611,0.00,1.00,0.00,0.000,1062,0.000,0.032,2316,1995,3280,3292,3269,0,0,0,0,0,0,26.81,26.77,26.84
$GC,2749,-0.80,-116.8,2315,1995,3292,3268,311.2,-10.5,369,2751,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,1995,3280,3292,3269,0,0,0,0,0,0,26.81,26.86,26.85
$STATE,2832,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2833,begin apogee
$GC,2838,-0.18,0.0,2316,1781,3292,3269,320.2,-11.1,373,3050,0.73,0.00,208.52,0.578,10246,0.169,0.000,2526,1781,2801,2856,2747,0,0,0,0,0,0,26.22,25.24,24.75
$STATE,3054,end apogee,CONTROL_FINISHED_OK
$STATE,3054,begin climb
$GC,3056,0.80,116.8,2525,1781,2843,2735,326.0,0.0,384,3254,1.00,0.00,194.27,0.559,11014,0.117,0.000,2833,1781,2322,2448,2197,0,0,0,0,0,0,25.29,25.03,24.58
$GC,3410,0.80,116.8,2832,1780,2410,2160,298.9,10.3,406,3414,0.00,1.10,0.00,0.000,260,0.000,0.049,2829,2485,2285,2410,2160,0,0,0,0,0,0,25.86,25.77,25.89
$GC,3456,0.80,123.3,2828,2485,2409,2157,294.1,9.8,415,3464,0.00,1.00,0.00,0.000,1062,0.000,0.043,2832,1825,2282,2408,2156,0,0,0,0,0,0,25.92,25.89,25.92
$GC,3586,0.80,123.3,2831,1825,2407,2157,281.7,10.2,428,3590,0.00,1.12,0.00,0.000,516,0.000,0.054,2836,1111,2282,2407,2157,0,0,0,0,0,0,26.13,26.05,26.19
$GC,3683,0.81,130.5,2837,1111,2405,2157,271.7,9.7,446,3687,0.00,1.05,0.00,0.000,1062,0.000,0.031,2834,1799,2281,2405,2157,0,0,0,0,0,0,26.25,26.22,26.27
$GC,3815,0.82,135.1,2833,1799,2402,2157,258.5,9.9,460,3827,0.00,1.05,4.07,0.643,8484,0.000,0.035,2829,2498,2253,2384,2123,0,0,0,0,0,0,26.48,25.80,25.28
$GC,3947,0.83,140.6,2828,2498,2396,2132,245.8,9.8,484,3969,0.00,1.05,17.75,0.638,9254,0.000,0.033,2832,1791,2226,2358,2095,0,0,0,0,0,0,26.40,26.36,25.44
$GC,4089,0.83,140.6,2831,1791,2330,2070,231.1,10.8,500,4093,0.08,1.05,0.00,0.000,2564,0.207,0.042,2851,1110,2200,2330,2070,0,0,0,0,0,0,26.16,26.26,26.25
$GC,4144,0.83,140.6,2850,1110,2329,2070,224.7,11.6,510,4147,0.00,1.05,0.00,0.000,1030,0.000,0.032,2847,1800,2200,2330,2070,0,0,0,0,0,0,26.36,26.32,26.37
$GC,4276,0.83,140.6,2846,1801,2328,2070,209.4,11.4,524,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1800,2199,2328,2070,0,0,0,0,0,0,26.57,26.63,26.63
$GC,4396,0.83,140.6,2846,1801,2327,2069,196.0,11.1,536,4398,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1801,2198,2327,2069,0,0,0,0,0,0,26.63,26.69,26.71
$GC,4516,0.83,140.6,2846,1801,2327,2069,182.8,11.0,548,4518,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1801,2198,2327,2069,0,0,0,0,0,0,26.67,26.74,26.73
$GC,4638,0.83,140.6,2846,1801,2326,2069,169.5,11.0,560,4642,0.00,1.02,0.00,0.000,260,0.000,0.041,2842,2488,2197,2326,2069,0,0,0,0,0,0,26.72,26.51,26.77
$GC,4713,0.83,140.6,2841,2488,2325,2069,161.1,11.2,574,4716,0.00,1.02,0.00,0.000,1030,0.000,0.032,2845,1791,2196,2325,2068,0,0,0,0,0,0,26.60,26.57,26.62
$GC,4847,0.83,140.6,2845,1792,2325,2069,146.3,11.4,588,4851,0.00,1.05,0.00,0.000,516,0.000,0.044,2851,1108,2197,2325,2069,0,0,0,0,0,0,26.77,26.55,26.83
$GC,4922,0.83,140.6,2850,1108,2325,2069,137.2,11.7,602,4925,0.00,1.05,0.00,0.000,1030,0.000,0.032,2847,1805,2197,2325,2069,0,0,0,0,0,0,26.64,26.62,26.67
$GC,5055,0.83,140.6,2846,1805,2324,2068,122.9,10.4,616,5062,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1806,2197,2325,2069,0,0,0,0,0,0,26.82,26.88,26.87
$GC,5184,0.83,140.6,2846,1805,2324,2068,109.4,10.4,629,5186,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1805,2196,2324,2068,0,0,0,0,0,0,26.83,26.89,26.90
$GC,5304,0.84,153.7,2846,1806,2324,2068,97.7,9.4,643,5312,0.00,1.12,2.60,0.412,8740,0.000,0.043,2850,1098,2175,2306,2044,0,0,0,0,0,0,26.86,26.34,25.31
$GC,5326,0.86,169.4,2850,1098,2312,2048,95.8,9.2,646,5364,0.00,1.05,33.50,0.576,9254,0.000,0.031,2847,1800,2108,2244,1973,0,0,0,0,0,0,26.70,26.67,25.62
$GC,5491,0.86,169.4,2846,1800,2208,1936,78.9,10.7,675,5498,0.00,1.05,0.00,0.000,260,0.000,0.040,2842,2502,2071,2208,1935,0,0,0,0,0,0,26.55,26.35,26.63
$GC,5597,0.86,172.2,2841,2502,2206,1934,67.6,10.0,695,5604,0.00,1.02,0.00,0.000,1062,0.000,0.033,2845,1808,2070,2206,1934,0,0,0,0,0,0,26.48,26.45,26.50
$GC,5736,0.91,207.7,2845,1808,2205,1934,55.3,8.1,720,5794,0.12,1.12,51.62,0.521,10788,0.158,0.041,2893,1107,1948,2089,1808,0,0,0,0,0,0,26.32,25.91,25.40
$GC,5953,0.91,209.5,2892,1107,2052,1781,31.3,10.0,758,5960,0.00,1.05,0.00,0.000,1062,0.000,0.031,2890,1796,1916,2052,1781,0,0,0,0,0,0,26.28,26.24,26.29
$GC,6085,0.93,227.6,2889,1796,2052,1777,18.2,9.1,783,6108,0.00,1.12,15.80,0.535,8740,0.000,0.041,2893,1099,1867,2008,1726,0,0,0,0,0,0,26.51,26.05,25.46
$GC,6203,0.95,241.2,2892,1099,1985,1709,7.7,9.4,804,6212,0.00,1.08,4.05,0.500,9254,0.000,0.031,2890,1801,1813,1954,1672,0,0,0,0,0,0,26.31,26.29,25.39
$STATE,6284,end climb,SURFACE_DEPTH_REACHED
$STATE,6284,begin surface coast
$FINISH,-0.4,1.025279
$STATE,6318,end surface coast,CONTROL_FINISHED_OK
$STATE,6319,begin surface
$SM_CCo,6337,193.18,0.643,1,0,549,551.92
$SM_CCo,6539,-0.10,0.467,0,0,548,551.68
$SM_CCo,6543,-0.17,0.267,0,0,550,551.92
$SM_GC,0.42,7.45,0.28,-0.17,0.055,0.053,0.267,184,2016,550,-7.39,-1.41,551.92,0,0,0,0,0,0,26.38,26.34,25.29
$IRIDIUM_FIX,4749.81,-12509.51,100921,023209
$TT8_MAMPS,0.02247,0.146055
$HUMID,53.70
$INTERNAL_PRESSURE,8.72826
$TCM_TEMP,15.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,320.2,19.1
$CP_FREE,99437772800.000000
$CP_POWER,323.310000
$CP_POWER1,0.000000
$24V_AH,24.31,22.709
$10V_AH,10.24,12.591
$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,17.600,39.875,532.200,193.175,0.000,0.000,0.000,205.425,4.000,0.000,18.718,1932.527,1766.477,820.902,2053.139,331.619,0.000,1778.670,0.000,1844.133,0.000,29.245,0.000
$DEVICE_MAMPS,234.855,78.795,643.365,643.365,0.000,0.000,0.000,97.920,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,490.294,1538.722,0.000,0.000,0.000,0.000,6126.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,209816
$DATA_FILE_SIZE,43453,825
$CAP_FILE_SIZE,107657,0
$CFSIZE,260030464,239644672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.034,270.52,1
$GPS,100921,061839,4750.780,-12511.451,5,0.7,17,15.7,0.2,37.4,12,2.2