version: 66.14
glider: 204
mission: 8
dive: 194
start: 9 14 121 5 10 44
data:
$ID,204
$MISSION,8
$DIVE,194
$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,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,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
$GPS1,140921,050601,4750.8628,-12510.0215,6,0.8,31,15.7,0.2,0.0,10,2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-66.0
$GPS2,140921,050949,4750.8516,-12510.0176,4,0.6,6,15.7,0.3,250.7,12,8.1
$SPEED_LIMITS,0.176,0.235
$TGT_NAME,MOORING
$TGT_LATLONG,4751.000,-12510.000
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,352.3,276,-25.9,-10.145,-30.00,975
$D_GRID,264
$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,-1.00,-64.7,165,1993,692,411,0.0,0.0,0,107,0.00,0.00,-97.53,0.004,16386,0.000,0.000,166,1992,2854,2849,2859,0,0,0,0,0,0,26.34,28.83,26.37
$GC,110,-1.04,-96.0,165,1992,2849,2859,3.6,-6.8,14,133,8.05,1.08,-7.62,0.011,18724,0.209,0.057,2238,2714,3193,3197,3190,0,0,0,0,0,0,25.61,25.58,25.82
$GC,176,-1.04,-96.0,2237,2714,3200,3190,18.8,-16.2,25,184,0.00,1.05,0.00,0.000,1030,0.000,0.027,2242,1989,3195,3200,3190,0,0,0,0,0,0,26.29,26.27,26.32
$GC,312,-1.04,-96.0,2241,1988,3203,3190,39.5,-16.5,50,320,0.00,1.00,0.00,0.000,516,0.000,0.033,2247,1309,3196,3203,3190,0,0,0,0,0,0,26.60,26.34,26.63
$GC,552,-1.04,-96.0,2246,1309,3205,3190,77.8,-16.5,96,559,0.00,1.05,0.00,0.000,1030,0.000,0.029,2244,2012,3197,3205,3190,0,0,0,0,0,0,26.51,26.49,26.57
$GC,691,-1.04,-96.0,2243,2013,3206,3190,96.2,-12.5,121,698,0.00,1.05,0.00,0.000,516,0.000,0.032,2247,1306,3198,3206,3190,0,0,0,0,0,0,26.79,26.51,26.84
$GC,937,-1.04,-96.0,2246,1305,3207,3190,125.1,-12.7,167,941,0.00,1.02,0.00,0.000,1030,0.000,0.029,2244,2002,3198,3207,3190,0,0,0,0,0,0,26.65,26.63,26.66
$GC,1070,-1.04,-96.0,2243,2002,3207,3189,142.2,-12.9,181,1073,0.00,1.02,0.00,0.000,516,0.000,0.031,2247,1307,3198,3207,3189,0,0,0,0,0,0,26.90,26.63,26.95
$GC,1236,-1.04,-96.0,2246,1306,3208,3189,163.7,-13.4,213,1240,0.00,1.02,0.00,0.000,1030,0.000,0.028,2244,2000,3198,3207,3189,0,0,0,0,0,0,26.71,26.68,26.73
$GC,1369,-1.04,-96.0,2243,2001,3207,3189,181.5,-13.4,227,1378,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2002,3197,3207,3188,0,0,0,0,0,0,26.94,26.99,26.98
$GC,1498,-1.04,-96.0,2243,2002,3207,3188,199.5,-14.2,240,1502,0.00,1.02,0.00,0.000,516,0.000,0.033,2247,1304,3197,3207,3188,0,0,0,0,0,0,26.98,26.69,27.03
$GC,1654,-1.04,-96.0,2246,1304,3208,3187,222.5,-13.9,269,1662,0.00,1.02,0.00,0.000,1030,0.000,0.028,2244,2004,3197,3207,3187,0,0,0,0,0,0,26.76,26.72,26.78
$GC,1783,-1.04,-96.0,2243,2004,3208,3187,239.6,-13.2,282,1785,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2003,3197,3208,3187,0,0,0,0,0,0,27.01,27.08,27.06
$STATE,1861,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1861,begin apogee
$GC,1867,-0.18,0.0,2243,1768,3207,3186,249.9,-13.2,290,2023,0.93,0.00,149.30,0.578,10246,0.155,0.000,2521,1767,2795,2845,2745,0,0,0,0,0,0,26.16,25.36,24.82
$STATE,2024,end apogee,CONTROL_FINISHED_OK
$STATE,2024,begin climb
$GC,2026,1.04,96.0,2520,1767,2838,2739,255.0,0.0,306,2180,1.27,0.98,146.98,0.568,10756,0.115,0.034,2921,1128,2405,2518,2293,0,0,0,0,0,0,25.39,24.94,24.63
$GC,2223,1.04,96.0,2920,1128,2495,2274,240.6,11.3,345,2231,0.00,1.05,0.00,0.000,1030,0.000,0.031,2917,1795,2383,2494,2273,0,0,0,0,0,0,25.59,25.56,25.61
$GC,2351,1.04,96.0,2917,1795,2490,2270,226.7,10.8,358,2355,0.00,1.08,0.00,0.000,260,0.000,0.038,2913,2502,2380,2490,2270,0,0,0,0,0,0,26.19,25.94,26.24
$GC,2478,1.04,96.0,2912,2502,2485,2270,213.2,10.5,382,2484,0.00,0.98,0.00,0.000,1030,0.000,0.030,2915,1837,2377,2485,2270,0,0,0,0,0,0,26.20,26.17,26.22
$GC,2612,1.04,96.0,2915,1837,2485,2270,199.0,10.6,396,2616,0.00,1.12,0.00,0.000,516,0.000,0.039,2921,1103,2377,2484,2270,0,0,0,0,0,0,26.53,26.27,26.60
$GC,2658,1.04,96.0,2920,1102,2485,2270,194.0,10.6,405,2665,0.00,1.05,0.00,0.000,1030,0.000,0.030,2918,1797,2377,2485,2270,0,0,0,0,0,0,26.36,26.34,26.37
$GC,2786,1.04,96.0,2917,1796,2484,2270,180.5,10.9,418,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1796,2377,2484,2270,0,0,0,0,0,0,26.66,26.72,26.72
$GC,2917,1.04,96.0,2917,1797,2484,2269,166.6,10.5,431,2925,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1797,2376,2483,2270,0,0,0,0,0,0,26.73,26.79,26.78
$GC,3046,1.04,96.0,2917,1797,2483,2270,152.7,11.1,444,3050,0.00,1.05,0.00,0.000,260,0.000,0.038,2912,2503,2376,2483,2270,0,0,0,0,0,0,26.78,26.49,26.84
$GC,3092,1.04,96.0,2912,2503,2481,2269,147.1,11.9,453,3100,0.00,1.02,0.00,0.000,1030,0.000,0.031,2916,1803,2376,2482,2270,0,0,0,0,0,0,26.56,26.56,26.60
$GC,3219,1.04,96.0,2915,1803,2481,2270,132.5,11.3,466,3223,0.00,1.08,0.00,0.000,516,0.000,0.040,2921,1095,2376,2482,2270,0,0,0,0,0,0,26.84,26.54,26.89
$GC,3284,1.04,96.0,2920,1095,2482,2270,125.2,11.4,478,3287,0.00,1.05,0.00,0.000,1030,0.000,0.030,2918,1797,2375,2481,2270,0,0,0,0,0,0,26.63,26.60,26.65
$GC,3416,1.04,96.0,2918,1799,2481,2270,109.9,11.4,492,3418,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1799,2375,2481,2270,0,0,0,0,0,0,26.89,26.95,26.94
$GC,3536,1.04,96.0,2918,1798,2480,2270,97.7,10.4,506,3544,0.00,1.08,0.00,0.000,516,0.000,0.040,2921,1095,2375,2480,2270,0,0,0,0,0,0,26.91,26.61,26.99
$GC,3643,1.04,96.0,2920,1095,2480,2270,87.8,10.4,525,3650,0.00,1.05,0.00,0.000,1030,0.000,0.031,2918,1799,2375,2480,2270,0,0,0,0,0,0,26.70,26.67,26.75
$GC,3780,1.04,98.4,2918,1799,2480,2269,73.4,9.9,550,3787,0.00,1.02,0.00,0.000,292,0.000,0.037,2913,2496,2374,2479,2269,0,0,0,0,0,0,26.94,26.67,27.01
$GC,3806,1.05,106.6,2912,2496,2479,2268,70.8,9.3,554,3814,0.00,1.02,0.00,0.000,1062,0.000,0.031,2916,1789,2373,2479,2268,0,0,0,0,0,0,26.72,26.70,26.77
$GC,3940,1.08,131.1,2915,1790,2479,2268,60.5,7.6,579,3990,0.00,1.02,43.67,0.530,8484,0.000,0.033,2913,2496,2259,2381,2137,0,0,0,0,0,0,26.98,25.93,25.58
$GC,4045,1.11,151.7,2912,2496,2361,2114,51.9,8.0,596,4076,0.05,1.02,21.42,0.562,11302,0.128,0.030,2935,1805,2174,2302,2047,0,0,0,0,0,0,26.13,26.32,25.36
$GC,4201,1.13,167.8,2934,1805,2282,2029,38.4,8.4,624,4217,0.00,1.08,11.43,0.570,8484,0.000,0.037,2931,2496,2114,2245,1984,0,0,0,0,0,0,26.50,25.96,25.32
$GC,4241,1.15,184.7,2930,2496,2235,1968,35.0,8.4,630,4264,0.00,1.05,18.67,0.539,9254,0.000,0.031,2934,1791,2049,2187,1911,0,0,0,0,0,0,26.21,26.19,25.27
$GC,4391,1.15,184.7,2934,1791,2158,1884,18.8,10.3,657,4399,0.05,1.05,0.00,0.000,2564,0.222,0.041,2950,1110,2021,2158,1884,0,0,0,0,0,0,26.22,26.17,26.25
$GC,4510,1.16,194.0,2949,1110,2156,1884,7.9,9.2,679,4519,0.00,1.05,0.00,0.000,1062,0.000,0.029,2946,1810,2019,2156,1882,0,0,0,0,0,0,26.36,26.33,26.38
$GC,4647,1.23,253.0,2946,1811,2155,1880,2.5,3.9,704,4662,0.12,0.00,13.00,0.527,10530,0.175,0.000,2978,1813,1974,2113,1835,0,0,0,0,0,0,26.22,28.83,26.32
$STATE,4663,end climb,SURFACE_DEPTH_REACHED
$STATE,4663,begin surface coast
$FINISH,-0.4,1.018747
$STATE,4726,end surface coast,CONTROL_FINISHED_OK
$STATE,4726,begin surface
$SM_CCo,4743,218.75,0.627,1,0,550,551.92
$SM_CCo,4969,-0.43,0.112,0,0,550,551.92
$SM_CCo,4973,0.00,0.000,0,0,550,551.92
$SM_GC,0.57,7.90,0.25,0.00,0.067,0.051,0.000,169,2020,550,-7.40,-1.55,551.92,0,0,0,0,0,0,26.37,26.36,25.41
$IRIDIUM_FIX,4748.50,-12507.66,140921,034237
$TT8_MAMPS,0.021721,0.148302
$HUMID,53.42
$INTERNAL_PRESSURE,8.73803
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,224.6,44.9
$24V_AH,24.26,30.211
$10V_AH,10.23,16.349
$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,18.375,31.775,404.475,218.750,0.000,0.000,0.000,143.450,1.750,0.000,18.303,1592.058,1060.591,683.996,1622.906,270.215,0.000,1512.390,0.000,1594.701,0.000,14.084,0.000
$DEVICE_MAMPS,221.850,57.375,578.340,627.300,0.000,0.000,0.000,86.445,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,417.804,1320.281,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,209820
$DATA_FILE_SIZE,36901,718
$CAP_FILE_SIZE,84008,0
$CFSIZE,260030464,236351488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,2056.87,0x235ab4,1,24
$CURRENT,0.063,206.82,1
$GPS,140921,063424,4751.054,-12510.169,8,0.9,11,15.7,0.4,171.7,9,7.6