version: 66.14
glider: 204
mission: 8
dive: 184
start: 9 13 121 13 58 4
data:
$ID,204
$MISSION,8
$DIVE,184
$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,59
$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
$GPS1,130921,135309,4751.4561,-12510.8008,7,0.8,13,15.7,0.1,0.0,11,4.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-61.9
$GPS2,130921,135712,4751.4463,-12510.8145,4,0.8,5,15.7,0.5,325.5,11,7.2
$SPEED_LIMITS,0.176,0.235
$TGT_NAME,SE_SLOPE
$TGT_LATLONG,4750.360,-12508.720
$TGT_RADIUS,750.000
$MHEAD_RNG_PITCHd_Wd,115.5,3291,-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,-116.8,170,2014,688,416,0.0,0.0,0,115,0.00,0.00,-104.95,0.004,16386,0.000,0.000,170,2013,3063,3050,3077,0,0,0,0,0,0,26.29,28.83,26.36
$GC,118,-0.80,-116.8,169,2013,3051,3077,4.7,-9.3,15,141,8.27,1.10,-4.38,0.018,18980,0.205,0.058,2320,1292,3281,3280,3282,0,0,0,0,0,0,25.70,24.56,25.86
$GC,373,-0.80,-116.8,2319,1292,3288,3279,47.8,-11.5,63,381,0.00,1.05,0.00,0.000,1030,0.000,0.030,2315,1983,3283,3288,3278,0,0,0,0,0,0,26.41,26.38,26.44
$GC,511,-0.80,-116.8,2315,1983,3290,3278,64.7,-12.1,88,519,0.00,1.02,0.00,0.000,516,0.000,0.032,2318,1299,3284,3290,3278,0,0,0,0,0,0,26.71,26.44,26.76
$GC,750,-0.80,-116.8,2317,1298,3291,3277,91.0,-11.1,134,758,0.00,1.08,0.00,0.000,1030,0.000,0.029,2315,2014,3284,3291,3277,0,0,0,0,0,0,26.57,26.54,26.60
$GC,884,-0.80,-116.8,2314,2014,3292,3277,105.7,-11.0,154,888,0.00,1.05,0.00,0.000,516,0.000,0.033,2318,1307,3284,3292,3277,0,0,0,0,0,0,26.84,26.55,26.89
$GC,992,-0.80,-116.8,2317,1306,3292,3277,117.6,-11.1,174,996,0.00,1.05,0.00,0.000,1030,0.000,0.031,2315,2007,3284,3292,3277,0,0,0,0,0,0,26.63,26.60,26.66
$GC,1124,-0.80,-116.8,2314,2007,3293,3276,132.2,-11.1,188,1128,0.00,1.00,0.00,0.000,260,0.000,0.037,2309,2693,3285,3293,3277,0,0,0,0,0,0,26.90,26.59,26.95
$GC,1169,-0.80,-116.8,2309,2693,3293,3276,137.1,-11.4,196,1174,0.05,1.00,0.00,0.000,3078,0.198,0.025,2326,1980,3284,3293,3276,0,0,0,0,0,0,26.36,26.69,26.44
$GC,1302,-0.80,-116.8,2326,1980,3293,3276,152.1,-11.2,210,1306,0.00,0.95,0.00,0.000,516,0.000,0.034,2331,1328,3284,3293,3276,0,0,0,0,0,0,26.94,26.65,26.98
$GC,1390,-0.80,-116.8,2331,1328,3293,3276,161.9,-10.9,227,1397,0.00,1.00,0.00,0.000,1030,0.000,0.031,2328,2003,3285,3295,3276,0,0,0,0,0,0,26.71,26.67,26.74
$GC,1518,-0.80,-116.8,2327,2003,3294,3275,175.3,-10.5,240,1521,0.00,1.00,0.00,0.000,516,0.000,0.033,2331,1324,3284,3294,3275,0,0,0,0,0,0,26.97,26.67,27.02
$GC,1550,-0.80,-116.8,2331,1324,3294,3275,178.8,-11.0,246,1554,0.00,1.00,0.00,0.000,1030,0.000,0.030,2328,2000,3284,3294,3275,0,0,0,0,0,0,26.73,26.70,26.75
$GC,1682,-0.80,-116.8,2327,2000,3293,3275,192.6,-10.2,260,1684,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2000,3284,3294,3275,0,0,0,0,0,0,26.98,27.05,27.04
$GC,1802,-0.80,-116.8,2327,2000,3294,3275,205.2,-10.4,272,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,2000,3284,3294,3275,0,0,0,0,0,0,27.01,27.07,27.05
$GC,1923,-0.80,-116.8,2328,2000,3294,3274,217.7,-10.8,284,1925,0.00,0.00,0.00,0.000,6,0.000,0.000,2328,1999,3284,3294,3274,0,0,0,0,0,0,27.01,27.08,27.07
$GC,2043,-0.80,-116.8,2328,2000,3294,3274,230.7,-10.7,296,2046,0.00,1.00,0.00,0.000,260,0.000,0.037,2323,2690,3284,3294,3274,0,0,0,0,0,0,27.03,26.72,27.08
$GC,2085,-0.80,-116.8,2322,2690,3293,3274,235.2,-10.3,304,2089,0.00,0.98,0.00,0.000,1030,0.000,0.027,2326,1996,3284,3294,3274,0,0,0,0,0,0,26.82,26.79,26.83
$STATE,2116,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2116,begin apogee
$GC,2121,-0.18,0.0,2327,1787,3293,3274,238.6,-10.7,308,2339,0.65,0.00,212.52,0.552,10246,0.153,0.000,2523,1785,2797,2851,2744,0,0,0,0,0,0,26.22,25.22,24.72
$STATE,2339,end apogee,CONTROL_FINISHED_OK
$STATE,2340,begin climb
$GC,2342,0.80,116.8,2523,1785,2843,2735,244.7,0.0,330,2532,1.02,1.00,177.52,0.539,11012,0.116,0.034,2843,1134,2313,2440,2186,0,0,0,0,0,0,25.27,24.91,24.56
$GC,2556,0.81,127.0,2842,1134,2416,2167,231.7,9.5,362,2560,0.00,1.05,0.00,0.000,1062,0.000,0.029,2839,1800,2291,2415,2167,0,0,0,0,0,0,25.46,25.43,25.49
$GC,2688,0.82,132.6,2839,1800,2410,2162,219.1,9.8,376,2699,0.00,1.05,3.22,0.503,8484,0.000,0.034,2834,2490,2260,2393,2128,0,0,0,0,0,0,26.13,25.26,24.63
$GC,2776,0.82,132.6,2833,2490,2406,2134,210.2,10.5,392,2780,0.00,0.98,0.00,0.000,1030,0.000,0.030,2837,1834,2270,2406,2135,0,0,0,0,0,0,26.08,26.05,26.10
$GC,2908,0.83,147.2,2836,1833,2407,2135,197.6,9.3,406,2948,0.00,0.00,33.45,0.568,8230,0.000,0.000,2837,1834,2191,2328,2054,0,0,0,0,0,0,26.46,25.51,25.18
$GC,3068,0.83,147.2,2837,1833,2300,2029,181.5,10.3,422,3073,0.00,1.02,0.00,0.000,260,0.000,0.037,2834,2502,2164,2300,2029,0,0,0,0,0,0,26.35,26.11,26.42
$GC,3103,0.83,147.2,2833,2502,2299,2028,178.1,10.3,428,3107,0.00,1.05,0.00,0.000,1030,0.000,0.031,2838,1798,2163,2299,2027,0,0,0,0,0,0,26.21,26.19,26.22
$GC,3236,0.85,157.9,2837,1798,2298,2027,164.9,9.5,442,3240,0.08,1.05,0.00,0.000,2596,0.223,0.039,2856,1110,2162,2297,2027,0,0,0,0,0,0,26.22,26.27,26.28
$GC,3291,0.85,157.9,2856,1110,2297,2028,159.1,10.1,452,3295,0.00,1.05,0.00,0.000,1030,0.000,0.030,2853,1805,2162,2297,2028,0,0,0,0,0,0,26.37,26.34,26.39
$GC,3423,0.85,159.2,2852,1805,2295,2028,145.8,10.1,466,3428,0.00,1.02,0.00,0.000,292,0.000,0.038,2847,2500,2161,2295,2028,0,0,0,0,0,0,26.67,26.39,26.72
$GC,3458,0.85,159.2,2847,2500,2295,2027,142.3,10.3,472,3462,0.00,1.02,0.00,0.000,1030,0.000,0.031,2851,1804,2160,2294,2027,0,0,0,0,0,0,26.47,26.44,26.48
$GC,3591,0.85,163.4,2850,1803,2295,2027,129.1,9.9,486,3602,0.00,1.05,3.22,0.519,8484,0.000,0.034,2848,2499,2137,2275,2000,0,0,0,0,0,0,26.74,25.69,25.00
$GC,3626,0.85,163.4,2847,2499,2282,2006,125.5,10.5,492,3630,0.00,1.02,0.00,0.000,1030,0.000,0.032,2851,1804,2144,2282,2006,0,0,0,0,0,0,26.51,26.48,26.53
$GC,3759,0.85,163.4,2850,1803,2287,2008,111.9,10.5,506,3766,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1804,2147,2287,2008,0,0,0,0,0,0,26.77,26.84,26.83
$GC,3888,0.85,163.4,2851,1803,2286,2008,97.5,11.3,521,3896,0.00,1.02,0.00,0.000,260,0.000,0.037,2848,2491,2147,2287,2008,0,0,0,0,0,0,26.82,26.52,26.87
$GC,3910,0.85,163.4,2847,2491,2287,2008,95.2,10.9,524,3917,0.00,1.02,0.00,0.000,1030,0.000,0.031,2851,1793,2147,2287,2008,0,0,0,0,0,0,26.60,26.57,26.63
$GC,4042,0.85,163.4,2851,1793,2287,2008,81.0,10.4,549,4051,0.00,1.02,0.00,0.000,516,0.000,0.042,2856,1113,2147,2287,2008,0,0,0,0,0,0,26.86,26.55,26.91
$GC,4284,0.91,210.5,2856,1112,2287,2008,60.2,7.4,595,4381,0.05,1.02,90.00,0.511,11302,0.142,0.029,2874,1799,1936,2080,1792,0,0,0,0,0,0,26.39,26.65,25.20
$GC,4507,0.91,213.6,2874,1800,2046,1759,38.9,10.0,633,4515,0.00,1.05,0.00,0.000,292,0.000,0.037,2871,2490,1902,2046,1759,0,0,0,0,0,0,26.36,26.09,26.41
$GC,4645,0.91,214.1,2870,2490,2042,1758,25.2,10.1,658,4653,0.00,1.02,0.00,0.000,1062,0.000,0.031,2874,1804,1900,2042,1758,0,0,0,0,0,0,26.32,26.26,26.33
$GC,4784,0.95,241.2,2874,1805,2040,1758,11.0,8.6,683,4828,0.00,1.10,33.42,0.509,8740,0.000,0.039,2880,1110,1805,1951,1659,0,0,0,0,0,0,26.63,25.92,25.37
$STATE,4922,end climb,SURFACE_DEPTH_REACHED
$STATE,4922,begin surface coast
$FINISH,-0.3,1.025464
$STATE,4959,end surface coast,CONTROL_FINISHED_OK
$STATE,4959,begin surface
$SM_CCo,4976,200.57,0.617,1,0,548,551.92
$SM_CCo,5185,-0.20,0.236,0,0,548,551.68
$SM_CCo,5189,-0.25,0.187,0,0,550,551.92
$SM_GC,0.46,7.40,1.38,-0.25,0.050,0.029,0.187,171,1987,550,-7.39,-1.67,551.92,0,0,0,0,0,0,26.29,26.21,25.32
$IRIDIUM_FIX,4751.26,-12509.51,130921,121806
$TT8_MAMPS,0.021721,0.144557
$HUMID,53.54
$INTERNAL_PRESSURE,8.72826
$TCM_TEMP,15.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,212.4,46.0
$24V_AH,24.27,29.033
$10V_AH,10.23,15.744
$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,17.525,35.525,553.375,200.575,0.000,0.000,0.000,156.125,2.000,0.000,16.812,1615.744,1133.811,781.996,1651.215,273.110,0.000,1648.522,0.000,1612.861,0.000,18.172,0.000
$DEVICE_MAMPS,222.615,58.140,568.395,616.590,0.000,0.000,0.000,86.445,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,434.703,1376.028,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,209752
$DATA_FILE_SIZE,36908,714
$CAP_FILE_SIZE,85602,0
$CFSIZE,260030464,236879872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.034,317.97,1
$GPS,130921,152539,4751.270,-12510.395,21,0.7,29,15.7,0.8,269.3,12,4.2