version: 66.14
glider: 204
mission: 8
dive: 173
start: 9 12 121 19 10 12
data:
$ID,204
$MISSION,8
$DIVE,173
$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,3
$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,56
$R_STBD_OVSHOOT,65
$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,0
$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,0
$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,284.0
$CP_NDIVE,1.0
$GPS1,120921,190539,4750.6123,-12509.9141,7,0.8,23,15.7,0.9,243.7,12,3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-63.3
$GPS2,120921,190920,4750.5791,-12509.8965,3,0.7,5,15.7,0.8,154.8,12,9.3
$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,290.0,3012,-18.4,-10.145,-23.37,1754
$D_GRID,265
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,7,-0.80,-116.8,163,2015,691,410,0.0,0.0,0,116,0.00,0.00,-106.25,0.004,16386,0.000,0.000,163,2016,3088,3075,3102,0,0,0,0,0,0,26.29,28.83,26.35
$GC,118,-0.80,-116.8,163,2014,3076,3103,4.7,-9.5,15,135,8.35,1.05,-3.83,0.019,18724,0.207,0.064,2318,2697,3279,3276,3282,0,0,0,0,0,0,25.71,24.59,25.89
$GC,148,-0.80,-116.8,2317,2698,3280,3282,14.7,-30.2,19,155,0.00,1.02,0.00,0.000,1030,0.000,0.026,2321,1993,3281,3281,3281,0,0,0,0,0,0,26.25,26.23,26.27
$GC,284,-0.80,-116.8,2321,1992,3286,3277,33.5,-15.4,44,291,0.00,1.02,0.00,0.000,260,0.000,0.037,2318,2676,3281,3286,3277,0,0,0,0,0,0,26.56,26.30,26.62
$GC,310,-0.80,-116.8,2317,2676,3286,3277,37.3,-15.2,48,317,0.00,0.98,0.00,0.000,1030,0.000,0.025,2321,1993,3281,3286,3277,0,0,0,0,0,0,26.39,26.38,26.41
$GC,442,-0.80,-116.8,2320,1992,3288,3276,55.1,-12.2,73,450,0.00,1.02,0.00,0.000,260,0.000,0.035,2317,2682,3282,3288,3277,0,0,0,0,0,0,26.67,26.41,26.75
$GC,498,-0.80,-116.8,2317,2682,3288,3276,62.1,-12.0,83,505,0.00,0.98,0.00,0.000,1030,0.000,0.026,2321,1998,3282,3289,3276,0,0,0,0,0,0,26.51,26.47,26.54
$GC,636,-0.80,-116.8,2320,1998,3289,3276,77.6,-10.5,108,643,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1998,3283,3290,3277,0,0,0,0,0,0,26.76,26.82,26.81
$GC,767,-0.80,-116.8,2320,1998,3290,3276,92.0,-11.2,133,775,0.00,1.00,0.00,0.000,516,0.000,0.033,2326,1319,3283,3290,3276,0,0,0,0,0,0,26.81,26.54,26.86
$GC,836,-0.80,-116.8,2325,1319,3290,3276,99.5,-10.9,145,844,0.00,1.00,0.00,0.000,1030,0.000,0.030,2322,1987,3283,3290,3276,0,0,0,0,0,0,26.60,26.57,26.64
$GC,963,-0.80,-116.8,2322,1987,3291,3275,114.0,-11.8,158,967,0.00,0.98,0.00,0.000,516,0.000,0.032,2326,1327,3282,3290,3275,0,0,0,0,0,0,26.86,26.60,26.91
$GC,1038,-0.80,-116.8,2325,1326,3291,3275,123.4,-12.1,172,1041,0.00,1.00,0.00,0.000,1030,0.000,0.030,2322,2000,3283,3291,3275,0,0,0,0,0,0,26.65,26.62,26.66
$GC,1170,-0.80,-116.8,2322,2000,3291,3275,139.0,-11.5,186,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2000,3283,3291,3275,0,0,0,0,0,0,26.91,26.97,26.96
$GC,1302,-0.80,-116.8,2322,2000,3291,3275,152.7,-10.0,199,1306,0.00,1.02,0.00,0.000,548,0.000,0.033,2325,1310,3283,3291,3275,0,0,0,0,0,0,26.94,26.65,26.98
$GC,1438,-0.80,-116.8,2325,1310,3291,3274,165.9,-9.5,225,1443,0.00,1.02,0.00,0.000,1062,0.000,0.030,2322,2002,3282,3291,3274,0,0,0,0,0,0,26.72,26.70,26.77
$GC,1571,-0.80,-116.8,2322,2002,3291,3274,178.5,-9.2,239,1579,0.00,0.00,0.00,0.000,38,0.000,0.000,2321,2002,3282,3291,3274,0,0,0,0,0,0,26.98,27.04,27.05
$GC,1702,-0.80,-116.8,2322,2002,3291,3274,191.2,-10.2,252,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2002,3282,3291,3274,0,0,0,0,0,0,26.97,27.03,27.02
$GC,1831,-0.80,-116.8,2322,2002,3291,3274,205.6,-11.5,265,1837,0.00,1.00,0.00,0.000,260,0.000,0.037,2317,2692,3282,3291,3274,0,0,0,0,0,0,27.01,26.71,27.06
$GC,1887,-0.80,-116.8,2317,2692,3291,3274,212.1,-11.3,275,1895,0.00,0.98,0.00,0.000,1030,0.000,0.027,2320,1997,3282,3291,3273,0,0,0,0,0,0,26.81,26.79,26.83
$GC,2023,-0.80,-116.8,2320,1996,3291,3274,228.5,-12.1,289,2028,0.00,0.98,0.00,0.000,516,0.000,0.032,2324,1323,3282,3291,3274,0,0,0,0,0,0,27.03,26.74,27.08
$GC,2205,-0.80,-116.8,2324,1322,3291,3274,251.4,-13.0,323,2209,0.00,1.00,0.00,0.000,1030,0.000,0.030,2321,1998,3282,3291,3274,0,0,0,0,0,0,26.81,26.78,26.84
$STATE,2326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2326,begin apogee
$GC,2332,-0.18,0.0,2321,1775,3291,3273,265.8,-11.3,336,2460,0.68,0.00,118.70,0.962,10246,0.159,0.000,2521,1775,2799,2856,2743,0,0,0,0,1,0,26.25,24.97,24.13
$STATE,2461,end apogee,CONTROL_FINISHED_OK
$STATE,2461,begin climb
$GC,2463,0.80,116.8,2521,1775,2859,2746,271.3,0.0,349,2667,1.05,0.98,194.70,0.557,10756,0.119,0.034,2842,1139,2316,2443,2189,0,0,0,0,0,0,25.09,24.85,24.51
$GC,2723,0.82,132.2,2841,1139,2424,2179,256.2,9.2,399,2745,0.00,1.02,16.02,0.636,9254,0.000,0.028,2838,1799,2257,2388,2126,0,0,0,0,0,0,25.58,25.56,24.78
$GC,2864,0.82,136.2,2838,1799,2374,2115,242.7,9.9,415,2869,0.00,1.05,0.00,0.000,292,0.000,0.037,2833,2492,2244,2374,2115,0,0,0,0,0,0,26.10,25.86,26.15
$GC,2912,0.82,136.2,2832,2492,2373,2113,237.6,10.2,424,2920,0.00,0.98,0.00,0.000,1030,0.000,0.029,2836,1835,2243,2373,2113,0,0,0,0,0,0,26.03,26.01,26.06
$GC,3043,0.85,161.1,2836,1835,2371,2113,226.4,8.7,437,3094,0.08,0.00,43.95,0.580,10790,0.220,0.000,2849,1834,2136,2274,1999,0,0,0,0,0,0,26.08,25.42,25.07
$GC,3217,0.86,167.4,2849,1834,2263,1992,210.4,9.8,459,3223,0.00,0.00,0.00,0.000,38,0.000,0.000,2850,1834,2127,2263,1991,0,0,0,0,0,0,26.30,26.36,26.36
$GC,3342,0.86,167.4,2848,1834,2262,1990,196.4,10.5,472,3346,0.00,1.00,0.00,0.000,260,0.000,0.037,2846,2501,2126,2262,1991,0,0,0,0,0,0,26.46,26.22,26.52
$GC,3377,0.86,167.4,2846,2501,2261,1990,192.5,10.6,479,3385,0.00,1.05,0.00,0.000,1030,0.000,0.031,2850,1794,2125,2261,1990,0,0,0,0,0,0,26.31,26.28,26.32
$GC,3507,0.86,167.4,2849,1794,2260,1990,179.2,10.7,492,3511,0.00,1.05,0.00,0.000,260,0.000,0.036,2846,2492,2125,2260,1990,0,0,0,0,0,0,26.60,26.34,26.65
$GC,3559,0.86,167.4,2846,2492,2258,1990,173.3,11.0,502,3565,0.00,1.02,0.00,0.000,1030,0.000,0.031,2850,1795,2124,2258,1990,0,0,0,0,0,0,26.42,26.41,26.44
$GC,3694,0.86,167.4,2849,1796,2258,1990,159.5,10.5,516,3697,0.00,1.05,0.00,0.000,516,0.000,0.041,2856,1104,2124,2258,1990,0,0,0,0,0,0,26.71,26.43,26.74
$GC,3808,0.86,167.4,2854,1105,2258,1990,146.6,11.6,538,3812,0.00,1.05,0.00,0.000,1030,0.000,0.032,2852,1801,2124,2258,1990,0,0,0,0,0,0,26.54,26.51,26.55
$GC,3943,0.86,167.4,2851,1801,2257,1990,130.6,12.5,552,3950,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1801,2123,2257,1990,0,0,0,0,0,0,26.81,26.87,26.86
$GC,4070,0.86,167.4,2851,1801,2256,1990,114.9,11.8,565,4074,0.00,1.02,0.00,0.000,260,0.000,0.037,2847,2502,2123,2256,1990,0,0,0,0,0,0,26.84,26.55,26.89
$GC,4134,0.86,167.4,2846,2501,2256,1990,107.4,11.9,577,4138,0.00,1.02,0.00,0.000,1030,0.000,0.031,2850,1798,2122,2256,1989,0,0,0,0,0,0,26.65,26.62,26.66
$GC,4262,0.86,167.4,2849,1799,2256,1989,92.1,11.7,596,4270,0.00,1.05,0.00,0.000,516,0.000,0.040,2856,1103,2123,2256,1990,0,0,0,0,0,0,26.89,26.60,26.94
$GC,4364,0.87,174.8,2854,1103,2256,1989,80.8,9.7,615,4373,0.00,1.05,4.20,0.707,9254,0.000,0.031,2852,1806,2088,2226,1951,0,0,0,0,0,0,26.69,26.65,25.58
$GC,4501,0.87,179.4,2851,1806,2230,1952,67.3,9.9,640,4510,0.00,1.05,2.75,0.537,8484,0.000,0.038,2847,2493,2070,2213,1928,0,0,0,0,0,0,26.89,26.27,25.18
$GC,4589,0.90,203.9,2845,2493,2214,1928,59.3,8.7,656,4632,0.03,1.02,39.03,0.536,11302,0.183,0.033,2861,1793,1969,2113,1826,0,0,0,0,0,0,26.44,26.62,25.53
$GC,4758,0.93,229.4,2860,1793,2094,1811,43.1,8.6,686,4797,0.10,1.10,32.75,0.522,10532,0.155,0.036,2886,2491,1859,2005,1714,0,0,0,0,0,0,26.26,25.89,25.32
$GC,4809,0.93,229.4,2885,2491,1995,1705,37.9,10.6,693,4817,0.00,1.02,0.00,0.000,1030,0.000,0.031,2889,1809,1849,1994,1704,0,0,0,0,0,0,26.10,26.06,26.11
$GC,4949,0.93,229.4,2888,1809,1988,1703,23.2,10.5,718,4957,0.00,1.10,0.00,0.000,516,0.000,0.040,2894,1095,1844,1987,1702,0,0,0,0,0,0,26.48,26.22,26.54
$GC,5194,1.05,331.3,2893,1095,1985,1701,7.6,4.2,764,5279,0.08,1.05,75.10,0.552,11298,0.107,0.028,2920,1797,1487,1639,1335,0,0,0,0,1,0,26.22,26.44,25.33
$STATE,5280,end climb,SURFACE_DEPTH_REACHED
$STATE,5280,begin surface coast
$FINISH,-0.3,1.025123
$STATE,5305,end surface coast,CONTROL_FINISHED_OK
$STATE,5305,begin surface
$SM_CCo,5321,394.92,0.482,1,0,548,551.92
$SM_CCo,5724,-0.52,0.091,0,0,550,551.92
$SM_CCo,5728,0.05,1.724,0,0,551,551.92
$SM_GC,0.61,7.75,0.28,0.05,0.059,0.044,1.724,168,2020,551,-7.39,-1.58,551.92,0,0,0,0,0,0,25.91,25.87,24.77
$IRIDIUM_FIX,4748.50,-12507.66,120921,174109
$TT8_MAMPS,0.021721,0.143059
$HUMID,52.40
$INTERNAL_PRESSURE,8.75756
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,24.13,27.616
$10V_AH,10.23,15.022
$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,18.100,37.325,527.200,394.975,0.000,0.000,0.000,135.125,2.500,0.000,17.272,1715.017,1266.280,956.529,1745.423,291.692,0.000,1877.962,0.000,1731.088,0.000,18.840,0.000
$DEVICE_MAMPS,220.320,64.260,962.370,1724.310,0.000,0.000,0.000,89.505,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,452.901,1433.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,209796
$DATA_FILE_SIZE,40226,780
$CAP_FILE_SIZE,96271,0
$CFSIZE,260030464,237486080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.058,212.50,1
$GPS,120921,204640,4750.772,-12510.646,22,1.0,23,15.7,0.8,178.2,10,8.1