version: 66.14
glider: 204
mission: 8
dive: 176
start: 9 13 121 0 47 28
data:
$ID,204
$MISSION,8
$DIVE,176
$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,52
$R_STBD_OVSHOOT,69
$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
$GPS1,130921,004231,4750.6963,-12510.9834,6,0.9,21,15.7,0.3,326.0,9,5.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-61.1
$GPS2,130921,004635,4750.6943,-12511.0342,4,0.7,6,15.7,0.1,0.0,12,9.9
$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,110.2,2589,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,8,-0.80,-116.8,162,2033,688,412,0.0,0.0,0,114,0.00,0.00,-103.85,0.004,16386,0.000,0.000,163,2030,3047,3030,3065,0,0,0,0,0,0,26.29,28.83,26.35
$GC,117,-0.80,-116.8,162,2030,3032,3065,4.7,-10.1,15,134,8.40,1.15,-4.55,0.017,18980,0.210,0.055,2317,1274,3279,3277,3282,0,0,0,0,0,0,25.72,24.58,25.88
$GC,366,-0.80,-116.8,2316,1274,3288,3278,48.7,-12.0,62,374,0.00,1.08,0.00,0.000,1030,0.000,0.029,2313,1981,3283,3288,3278,0,0,0,0,0,0,26.41,26.38,26.44
$GC,502,-0.80,-116.8,2312,1981,3290,3277,65.2,-11.8,87,511,0.08,1.02,0.00,0.000,2564,0.246,0.031,2325,1295,3283,3290,3277,0,0,0,0,0,0,26.33,26.44,26.41
$GC,684,-0.80,-116.8,2324,1295,3291,3277,85.9,-10.8,121,691,0.00,1.05,0.00,0.000,1030,0.000,0.031,2322,1998,3284,3291,3277,0,0,0,0,0,0,26.55,26.53,26.58
$GC,823,-0.80,-116.8,2321,1998,3292,3275,101.2,-11.3,145,827,0.00,1.05,0.00,0.000,516,0.000,0.032,2325,1294,3284,3292,3276,0,0,0,0,0,0,26.82,26.55,26.87
$GC,876,-0.80,-116.8,2324,1294,3292,3276,107.5,-12.0,155,880,0.00,1.05,0.00,0.000,1030,0.000,0.031,2322,1998,3284,3292,3276,0,0,0,0,0,0,26.62,26.58,26.63
$GC,1008,-0.80,-116.8,2321,1999,3293,3276,122.6,-11.1,169,1012,0.00,1.02,0.00,0.000,260,0.000,0.038,2317,2699,3284,3293,3276,0,0,0,0,0,0,26.87,26.59,26.93
$GC,1061,-0.80,-116.8,2316,2699,3292,3276,128.3,-10.7,179,1066,0.00,1.02,0.00,0.000,1030,0.000,0.025,2320,1974,3285,3294,3276,0,0,0,0,0,0,26.69,26.66,26.71
$GC,1196,-0.80,-116.8,2319,1973,3293,3276,141.9,-10.3,193,1200,0.00,0.95,0.00,0.000,516,0.000,0.033,2322,1321,3284,3293,3276,0,0,0,0,0,0,26.91,26.64,26.96
$GC,1239,-0.80,-116.8,2322,1319,3294,3275,146.3,-10.0,201,1243,0.00,1.00,0.00,0.000,1062,0.000,0.030,2319,1996,3284,3293,3275,0,0,0,0,0,0,26.69,26.67,26.71
$GC,1373,-0.80,-116.8,2318,1996,3294,3275,159.6,-10.3,215,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,1996,3283,3292,3275,0,0,0,0,0,0,26.95,27.01,27.00
$GC,1501,-0.80,-116.8,2318,1996,3294,3275,172.9,-10.1,228,1505,0.00,1.00,0.00,0.000,548,0.000,0.032,2322,1319,3284,3294,3275,0,0,0,0,0,0,26.96,26.68,27.02
$GC,1570,-0.80,-116.8,2322,1320,3294,3275,180.4,-10.7,241,1578,0.00,1.02,0.00,0.000,1030,0.000,0.030,2319,2008,3283,3293,3274,0,0,0,0,0,0,26.74,26.71,26.75
$GC,1698,-0.80,-116.8,2318,2008,3294,3274,193.5,-10.3,254,1700,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2008,3283,3293,3274,0,0,0,0,0,0,26.99,27.05,27.04
$GC,1818,-0.80,-116.8,2318,2008,3294,3274,205.5,-9.7,266,1820,0.00,0.00,0.00,0.000,38,0.000,0.000,2319,2008,3284,3294,3274,0,0,0,0,0,0,27.01,27.07,27.09
$GC,1939,-0.80,-116.8,2318,2008,3294,3274,216.7,-9.2,278,1942,0.00,1.02,0.00,0.000,548,0.000,0.031,2322,1313,3283,3293,3274,0,0,0,0,0,0,27.02,26.74,27.07
$GC,1984,-0.80,-116.8,2322,1313,3293,3274,221.2,-9.4,287,1992,0.00,1.02,0.00,0.000,1062,0.000,0.031,2319,2001,3284,3294,3274,0,0,0,0,0,0,26.80,26.74,26.81
$GC,2114,-0.80,-116.8,2318,2001,3294,3274,232.8,-9.1,300,2121,0.00,0.00,0.00,0.000,38,0.000,0.000,2317,2001,3284,3294,3274,0,0,0,0,0,0,27.02,27.08,27.07
$GC,2242,-0.80,-116.8,2318,2001,3294,3274,244.6,-9.3,313,2244,0.00,0.00,0.00,0.000,38,0.000,0.000,2319,2001,3284,3294,3274,0,0,0,0,0,0,27.05,27.11,27.10
$GC,2364,-0.80,-116.8,2318,2001,3293,3273,255.6,-8.9,325,2371,0.00,0.00,0.00,0.000,38,0.000,0.000,2318,2001,3284,3294,3274,0,0,0,0,0,0,27.06,27.12,27.11
$GC,2493,-0.80,-116.8,2318,2001,3293,3273,268.8,-11.0,338,2496,0.00,1.00,0.00,0.000,516,0.000,0.034,2322,1322,3282,3293,3272,0,0,0,0,0,0,27.07,26.77,27.12
$GC,2517,-0.80,-116.8,2321,1322,3294,3273,271.9,-10.9,343,2526,0.00,1.00,0.00,0.000,1030,0.000,0.031,2319,1997,3283,3294,3273,0,0,0,0,0,0,26.82,26.79,26.84
$STATE,2645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2645,begin apogee
$GC,2650,-0.18,0.0,2318,1772,3294,3273,285.7,-11.2,356,2868,0.68,0.00,213.62,0.571,10246,0.161,0.000,2518,1770,2798,2854,2743,0,0,0,0,0,0,26.23,25.23,24.72
$STATE,2870,end apogee,CONTROL_FINISHED_OK
$STATE,2870,begin climb
$GC,2872,0.80,116.8,2518,1770,2845,2736,292.7,0.0,378,3067,1.05,0.98,184.32,0.566,10756,0.119,0.034,2842,1141,2314,2441,2187,0,0,0,0,0,0,25.26,24.87,24.53
$GC,3104,0.80,116.8,2842,1141,2418,2171,278.3,10.2,423,3113,0.00,1.02,0.00,0.000,1030,0.000,0.028,2839,1798,2293,2418,2168,0,0,0,0,0,0,25.51,25.48,25.52
$GC,3233,0.80,119.9,2839,1798,2415,2166,265.9,10.0,436,3236,0.00,1.05,0.00,0.000,292,0.000,0.038,2834,2486,2290,2414,2166,0,0,0,0,0,0,26.13,25.88,26.18
$GC,3298,0.81,123.9,2833,2486,2414,2163,259.3,9.9,448,3302,0.00,0.98,0.00,0.000,1062,0.000,0.031,2837,1834,2288,2414,2163,0,0,0,0,0,0,26.07,26.05,26.10
$GC,3430,0.82,133.1,2836,1833,2413,2163,246.4,9.6,462,3450,0.00,0.00,12.15,0.686,8230,0.000,0.000,2837,1833,2250,2381,2120,0,0,0,0,0,0,26.44,25.67,25.30
$GC,3571,0.82,136.4,2836,1834,2371,2113,232.4,10.0,476,3579,0.00,0.00,0.00,0.000,38,0.000,0.000,2837,1834,2242,2371,2113,0,0,0,0,0,0,26.46,26.51,26.53
$GC,3700,0.83,142.7,2836,1834,2370,2113,219.5,9.8,489,3713,0.00,1.00,8.88,0.719,8484,0.000,0.033,2833,2490,2217,2348,2086,0,0,0,0,0,0,26.58,25.82,25.42
$GC,3744,0.83,146.7,2833,2490,2341,2080,214.6,9.9,497,3752,0.00,1.02,0.00,0.000,1062,0.000,0.030,2838,1799,2210,2341,2080,0,0,0,0,0,0,26.28,26.26,26.32
$GC,3873,0.83,146.7,2837,1799,2340,2080,201.9,10.2,510,3875,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1799,2209,2340,2079,0,0,0,0,0,0,26.60,26.65,26.65
$GC,3993,0.85,159.3,2837,1799,2339,2080,190.4,9.4,522,4026,0.08,1.12,25.42,0.619,10788,0.223,0.041,2856,1094,2145,2281,2009,0,0,0,0,0,0,26.32,25.99,25.41
$GC,4062,0.85,159.3,2856,1094,2274,2007,183.7,10.5,534,4066,0.00,1.08,0.00,0.000,1030,0.000,0.029,2853,1800,2140,2274,2007,0,0,0,0,0,0,26.22,26.20,26.24
$GC,4194,0.85,159.3,2852,1800,2273,2004,169.8,10.6,548,4198,0.00,1.02,0.00,0.000,260,0.000,0.037,2847,2491,2138,2273,2004,0,0,0,0,0,0,26.55,26.29,26.60
$GC,4237,0.85,159.3,2847,2491,2272,2003,164.9,11.1,556,4241,0.00,1.02,0.00,0.000,1030,0.000,0.031,2851,1797,2137,2272,2002,0,0,0,0,0,0,26.38,26.34,26.40
$GC,4370,0.85,159.3,2850,1797,2271,2002,150.1,11.0,570,4373,0.00,1.05,0.00,0.000,516,0.000,0.040,2856,1108,2136,2271,2002,0,0,0,0,0,0,26.67,26.39,26.72
$GC,4433,0.85,159.3,2856,1107,2271,2003,143.0,11.0,582,4437,0.00,1.05,0.00,0.000,1030,0.000,0.030,2852,1805,2137,2271,2003,0,0,0,0,0,0,26.49,26.48,26.51
$GC,4566,0.85,162.7,2852,1805,2270,2002,129.5,9.9,596,4570,0.00,1.00,0.00,0.000,292,0.000,0.037,2847,2486,2136,2270,2002,0,0,0,0,0,0,26.76,26.48,26.82
$GC,4622,0.87,179.1,2846,2486,2270,2002,124.2,9.2,606,4647,0.00,1.00,20.08,0.614,9254,0.000,0.031,2851,1805,2067,2208,1927,0,0,0,0,0,0,26.58,26.54,25.56
$GC,4777,0.87,181.7,2850,1804,2194,1917,108.5,10.0,624,4780,0.00,1.08,0.00,0.000,548,0.000,0.041,2856,1099,2055,2194,1917,0,0,0,0,0,0,26.63,26.36,26.67
$GC,4822,0.87,181.7,2856,1099,2194,1917,103.7,10.9,632,4825,0.00,1.05,0.00,0.000,1030,0.000,0.030,2853,1799,2055,2193,1917,0,0,0,0,0,0,26.45,26.42,26.47
$GC,4951,0.89,191.3,2852,1799,2193,1916,89.8,9.6,654,4960,0.00,1.12,4.07,0.740,8740,0.000,0.039,2856,1091,2021,2164,1879,0,0,0,0,0,0,26.73,26.20,25.43
$GC,4988,0.90,198.7,2856,1091,2165,1879,85.8,9.7,660,4998,0.05,1.05,4.60,0.715,11302,0.148,0.029,2873,1794,1990,2133,1848,0,0,0,0,0,0,26.20,26.45,25.49
$GC,5123,0.91,206.9,2872,1795,2132,1848,71.8,9.7,685,5131,0.00,1.10,4.20,0.697,8740,0.000,0.039,2878,1102,1956,2099,1813,0,0,0,0,0,0,26.70,26.18,25.43
$GC,5191,0.91,213.5,2878,1102,2101,1813,65.2,9.8,697,5199,0.00,1.05,3.70,0.648,9254,0.000,0.030,2874,1798,1927,2071,1784,0,0,0,0,0,0,26.46,26.43,25.07
$GC,5328,0.95,241.1,2874,1798,2073,1784,52.9,8.5,722,5378,0.00,1.05,41.20,0.531,8484,0.000,0.038,2870,2486,1810,1957,1664,0,0,0,0,0,0,26.70,25.92,25.36
$GC,5488,0.97,258.9,2869,2486,1948,1658,39.4,9.1,750,5511,0.05,1.02,18.42,0.541,11302,0.110,0.031,2894,1794,1745,1893,1597,0,0,0,0,0,0,26.04,26.21,25.29
$GC,5636,0.99,276.9,2894,1794,1876,1583,26.6,9.1,777,5659,0.00,1.10,18.02,0.528,8740,0.000,0.039,2900,1106,1669,1816,1522,0,0,0,0,0,0,26.45,25.89,25.30
$GC,5738,0.99,276.9,2899,1106,1800,1514,14.6,12.6,795,5747,0.00,1.05,0.00,0.000,1030,0.000,0.030,2896,1796,1657,1799,1515,0,0,0,0,0,0,26.22,26.18,26.22
$STATE,5871,end climb,SURFACE_DEPTH_REACHED
$STATE,5872,begin surface coast
$FINISH,-0.0,1.025379
$STATE,5894,end surface coast,CONTROL_FINISHED_OK
$STATE,5894,begin surface
$SM_CCo,5910,179.77,0.618,1,0,549,551.92
$SM_CCo,6097,-0.50,0.096,0,0,550,551.92
$SM_CCo,6101,-0.03,0.739,0,0,551,551.92
$SM_GC,0.55,7.32,0.28,-0.03,0.044,0.052,0.739,174,2017,551,-7.39,-1.67,551.92,0,0,0,0,0,0,26.36,26.32,25.10
$IRIDIUM_FIX,4754.28,-12448.21,120921,224526
$TT8_MAMPS,0.021721,0.143808
$HUMID,54.05
$INTERNAL_PRESSURE,8.72826
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,24.27,28.041
$10V_AH,10.23,15.236
$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,17.700,42.075,558.700,179.775,0.000,0.000,0.000,155.200,3.000,0.000,17.919,1873.470,1567.748,764.225,1847.583,314.890,0.000,1727.142,0.000,1832.303,0.000,21.332,0.000
$DEVICE_MAMPS,246.330,55.080,739.755,618.120,0.000,0.000,0.000,90.270,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,493.840,1558.113,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,209776
$DATA_FILE_SIZE,43575,824
$CAP_FILE_SIZE,103211,0
$CFSIZE,260030464,237293568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.003,341.43,1
$GPS,130921,023009,4750.418,-12510.359,4,0.8,21,15.7,0.5,338.6,12,2.9