version: 66.14
glider: 204
mission: 5
dive: 4
start: 7 29 122 22 4 3
data:
$ID,204
$MISSION,5
$DIVE,4
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,300
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$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,60
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54196
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0035000001
$HD_B,0.01122
$HD_C,9.9999997e-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,605.40039
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$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,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,40
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,4
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.003
$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
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,144.89999
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,1
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-133.12781
$PRESSURE_SLOPE,0.00010934046
$AD7714Ch0Gain,32
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$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,-1.4
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,131
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0044052354
$SEABIRD_T_H,0.00063728914
$SEABIRD_T_I,2.5929839e-05
$SEABIRD_T_J,3.1599577e-06
$SEABIRD_C_G,-10.182622
$SEABIRD_C_H,1.1278557
$SEABIRD_C_I,-0.0031189518
$SEABIRD_C_J,0.00030257509
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$ED_RECORDABOVE,1000.0
$ED_PROFILE,7.0
$ED_XMITPROFILE,7.0
$ED_UPLOADMAX,0.0
$ED_STARTS,6.0
$ED_NDIVE,1.0
$GPS1,290722,215952,4447.8711,-12457.2344,1,0.9,2,15.1,0.7,216.6,12,6.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-63.6
$GPS2,290722,220312,4447.8457,-12457.2891,2,0.9,4,15.1,0.9,281.1,12,4.9
$SPEED_LIMITS,0.173,0.247
$TGT_NAME,CARBONATE
$TGT_LATLONG,4450.000,-12455.500
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,16.1,4630,-18.7,-10.000,-22.04,2232
$D_GRID,672
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$NEWHEAD,253.600,0.68,13.35
$GC,11,-0.91,-146.0,187,1997,683,316,0.0,0.0,0,122,0.00,0.00,-107.25,0.005,16386,0.000,0.000,185,1997,3264,3227,3302,0,0,0,0,0,0,26.38,28.83,26.38
$GC,125,-0.91,-146.0,187,1997,3229,3302,4.6,-11.1,17,147,8.27,2.20,-5.12,0.015,18692,0.205,0.053,2380,3415,3567,3541,3594,0,0,0,0,0,0,26.14,25.69,26.28
$GC,261,-0.80,-146.0,2379,3416,3547,3590,34.1,-13.6,42,268,0.15,2.15,0.00,0.000,3206,0.194,0.031,2420,1992,3571,3549,3594,0,0,0,0,0,0,26.20,26.34,26.36
$GC,333,-0.73,-146.0,2420,1988,3549,3593,43.1,-12.8,55,341,0.12,2.22,0.00,0.000,2436,0.196,0.047,2440,3412,3571,3549,3593,0,0,0,0,0,0,26.21,26.34,26.36
$GC,437,-0.73,-146.0,2439,3412,3551,3593,53.2,-7.6,74,444,0.00,2.15,0.00,0.000,1062,0.000,0.032,2448,1995,3572,3551,3593,0,0,0,0,0,0,26.41,26.37,26.40
$GC,508,-0.75,-146.0,2448,1989,3553,3593,58.5,-7.6,87,516,0.00,0.00,0.00,0.000,166,0.000,0.000,2449,1989,3572,3552,3592,0,0,0,0,0,0,26.40,26.41,26.40
$GC,580,-0.77,-146.0,2448,1989,3553,3592,63.8,-7.3,100,587,0.00,2.15,0.00,0.000,676,0.000,0.042,2459,591,3573,3553,3593,0,0,0,0,0,0,26.40,26.36,26.41
$GC,620,-0.85,-146.0,2458,590,3554,3593,66.9,-7.5,107,628,0.00,2.17,0.00,0.000,1190,0.000,0.037,2450,1997,3573,3554,3592,0,0,0,0,0,0,26.41,26.36,26.41
$GC,692,-0.90,-146.0,2450,1998,3554,3592,71.8,-7.0,120,699,0.10,2.20,0.00,0.000,4516,0.140,0.046,2407,3415,3572,3554,3591,0,0,0,0,0,0,26.32,26.34,26.40
$GC,787,-0.90,-146.0,2407,3416,3554,3592,80.0,-8.8,138,795,0.00,2.20,0.00,0.000,1062,0.000,0.032,2416,1992,3573,3554,3592,0,0,0,0,0,0,26.41,26.37,26.40
$GC,858,-0.90,-146.0,2415,1988,3555,3592,86.0,-8.8,151,865,0.00,0.00,0.00,0.000,38,0.000,0.000,2416,1989,3575,3554,3596,0,0,0,0,0,0,26.41,26.42,26.41
$GC,928,-0.90,-146.0,2415,1988,3555,3592,91.5,-7.2,164,935,0.00,2.22,0.00,0.000,292,0.000,0.048,2406,3418,3573,3554,3592,0,0,0,0,0,0,26.41,26.34,26.41
$GC,990,-0.94,-146.0,2405,3419,3555,3590,96.0,-7.4,175,998,0.00,2.15,0.00,0.000,1190,0.000,0.031,2415,1996,3572,3555,3590,0,0,0,0,0,0,26.40,26.36,26.40
$GC,1062,-0.96,-146.0,2415,1991,3555,3592,100.9,-6.8,188,1070,0.00,2.25,0.00,0.000,420,0.000,0.048,2407,3408,3574,3555,3593,0,0,0,0,0,0,26.39,26.34,26.39
$GC,1134,-1.00,-146.0,2406,3408,3554,3591,106.5,-7.4,201,1142,0.10,2.12,0.00,0.000,5286,0.129,0.031,2381,1999,3572,3554,3591,0,0,0,0,0,0,26.34,26.36,26.39
$GC,1205,-0.98,-146.0,2381,1994,3555,3591,113.2,-10.2,214,1211,0.00,0.00,0.00,0.000,134,0.000,0.000,2382,1994,3573,3555,3591,0,0,0,0,0,0,26.39,26.40,26.40
$GC,1274,-0.95,-146.0,2381,1998,3555,3591,120.6,-10.7,227,1281,0.00,0.00,0.00,0.000,134,0.000,0.000,2381,1994,3573,3555,3591,0,0,0,0,0,0,26.40,26.41,26.41
$GC,1344,-0.92,-146.0,2381,1994,3555,3591,127.7,-10.1,240,1352,0.00,2.25,0.00,0.000,388,0.000,0.049,2371,3406,3572,3555,3590,0,0,0,0,0,0,26.40,26.33,26.41
$GC,1380,-0.90,-146.0,2370,3406,3555,3590,131.4,-10.5,246,1388,0.03,2.17,0.00,0.000,3206,0.210,0.032,2387,2000,3572,3555,3590,0,0,0,0,0,0,26.22,26.36,26.34
$GC,1451,-0.90,-146.0,2386,1995,3554,3590,137.9,-8.8,259,1459,0.00,2.20,0.00,0.000,292,0.000,0.048,2378,3408,3572,3555,3590,0,0,0,0,0,0,26.39,26.33,26.39
$GC,1496,-0.90,-146.0,2377,3408,3555,3589,141.8,-8.4,267,1504,0.00,2.12,0.00,0.000,1062,0.000,0.031,2386,2000,3572,3556,3589,0,0,0,0,0,0,26.38,26.35,26.40
$GC,1568,-0.90,-146.0,2387,1994,3555,3589,147.9,-8.2,280,1575,0.00,2.20,0.00,0.000,292,0.000,0.048,2377,3409,3571,3554,3589,0,0,0,0,0,0,26.39,26.32,26.39
$GC,1614,-0.90,-146.0,2377,3409,3554,3589,151.8,-8.3,288,1621,0.00,2.15,0.00,0.000,1062,0.000,0.032,2386,1994,3572,3555,3589,0,0,0,0,0,0,26.39,26.35,26.39
$GC,1683,-0.90,-146.0,2385,1989,3555,3588,157.4,-7.7,301,1689,0.00,0.00,0.00,0.000,38,0.000,0.000,2386,1989,3571,3555,3588,0,0,0,0,0,0,26.39,26.40,26.39
$GC,1752,-0.90,-146.0,2385,1989,3554,3588,163.0,-8.2,314,1758,0.00,2.22,0.00,0.000,292,0.000,0.049,2377,3411,3571,3555,3587,0,0,0,0,0,0,26.39,26.32,26.39
$GC,1801,-0.92,-146.0,2376,3411,3555,3587,167.0,-8.0,323,1809,0.00,2.15,0.00,0.000,1190,0.000,0.031,2382,1994,3570,3555,3586,0,0,0,0,0,0,26.39,26.35,26.39
$GC,1872,-0.92,-146.0,2384,1990,3555,3587,172.7,-8.4,336,1878,0.00,0.00,0.00,0.000,38,0.000,0.000,2385,1990,3570,3555,3586,0,0,0,0,0,0,26.38,26.38,26.38
$GC,1942,-0.92,-146.0,2384,1990,3555,3586,178.6,-8.3,349,1949,0.00,2.22,0.00,0.000,292,0.000,0.050,2379,3411,3570,3555,3585,0,0,0,0,0,0,26.38,26.32,26.38
$STATE,1961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1961,begin apogee
$GC,1967,-0.12,0.0,2384,1998,3555,3585,180.2,-8.4,352,2088,0.85,0.00,112.45,0.786,10246,0.148,0.000,2641,1992,2965,3020,2911,0,0,0,0,0,0,26.20,25.56,24.98
$STATE,2089,end apogee,CONTROL_FINISHED_OK
$STATE,2090,begin climb
$GC,2092,0.91,146.0,2636,1992,3020,2911,181.8,0.0,371,2214,1.02,0.00,112.25,0.773,10758,0.099,0.000,2969,1993,2369,2452,2287,0,0,0,0,0,0,25.65,25.51,24.99
$NEWHEAD,352.500,171.05,2215.56
$GC,2279,0.55,146.0,2969,1996,2445,2284,159.9,20.5,401,2286,0.28,2.22,0.00,0.000,4484,0.171,0.043,2886,3413,2364,2444,2285,0,0,0,0,0,0,25.91,26.01,26.02
$GC,2396,0.31,146.0,2886,3413,2434,2284,138.7,16.9,423,2404,0.32,2.15,0.00,0.000,5254,0.204,0.031,2816,2003,2359,2434,2284,0,0,0,0,0,0,26.08,26.21,26.23
$GC,2468,0.21,146.0,2811,1997,2434,2284,128.6,12.9,436,2476,0.12,2.17,0.00,0.000,4740,0.171,0.039,2796,591,2359,2434,2284,0,0,0,0,0,0,26.14,26.26,26.26
$GC,2514,0.21,146.0,2795,591,2434,2285,123.5,10.2,444,2522,0.00,2.20,0.00,0.000,1030,0.000,0.036,2787,2012,2359,2434,2284,0,0,0,0,0,0,26.32,26.27,26.32
$GC,2585,0.25,166.5,2786,2012,2434,2283,116.9,9.1,457,2613,0.00,2.25,15.77,0.703,8612,0.000,0.047,2777,3409,2286,2381,2192,0,0,0,0,0,0,26.34,26.04,25.46
$GC,2661,0.26,168.5,2772,3408,2375,2192,109.6,9.9,470,2668,0.00,2.15,0.00,0.000,1062,0.000,0.031,2785,1999,2283,2375,2191,0,0,0,0,0,0,26.24,26.20,26.25
$GC,2731,0.27,174.7,2785,1994,2374,2191,102.7,9.7,483,2746,0.00,2.20,8.18,0.652,8740,0.000,0.041,2796,585,2251,2350,2152,0,0,0,0,0,0,26.29,26.01,25.54
$GC,2790,0.35,191.9,2796,585,2349,2152,97.2,9.2,493,2811,0.00,2.25,15.32,0.693,9382,0.000,0.036,2787,2008,2183,2283,2084,0,0,0,0,0,0,26.25,26.22,25.42
$GC,2876,0.45,218.2,2786,2006,2273,2082,89.8,8.8,508,2904,0.12,2.25,22.20,0.705,10660,0.144,0.047,2818,3416,2073,2176,1970,0,0,0,0,0,0,26.12,25.87,25.32
$GC,2976,0.41,218.2,2818,3413,2168,1969,79.5,10.9,525,2982,0.00,2.17,0.00,0.000,1158,0.000,0.031,2827,1995,2068,2168,1969,0,0,0,0,0,0,26.20,26.15,26.20
$GC,3045,0.37,218.2,2826,1992,2167,1968,71.7,10.7,538,3052,0.00,2.17,0.00,0.000,644,0.000,0.042,2837,589,2067,2167,1968,0,0,0,0,0,0,26.27,26.22,26.27
$GC,3090,0.37,218.2,2837,589,2166,1968,66.8,10.7,546,3097,0.00,2.20,0.00,0.000,1030,0.000,0.037,2829,2008,2067,2166,1968,0,0,0,0,0,0,26.30,26.26,26.31
$GC,3161,0.34,218.2,2828,2008,2165,1968,59.5,10.0,559,3168,0.00,2.17,0.00,0.000,388,0.000,0.047,2818,3411,2065,2164,1967,0,0,0,0,0,0,26.33,26.26,26.34
$GC,3206,0.36,224.2,2818,3411,2162,1966,55.1,9.7,567,3212,0.00,2.15,0.00,0.000,1062,0.000,0.031,2827,1996,2064,2162,1966,0,0,0,0,0,0,26.34,26.30,26.33
$GC,3276,0.48,262.1,2827,1991,2162,1966,49.1,8.3,580,3316,0.00,2.20,34.78,0.695,8740,0.000,0.043,2838,595,1894,1999,1790,0,0,0,0,0,0,26.36,25.85,25.32
$GC,3396,0.66,301.6,2838,595,1989,1789,39.0,8.2,601,3437,0.17,2.22,31.55,0.681,11430,0.113,0.037,2889,1996,1734,1834,1634,0,0,0,0,0,0,26.12,26.14,25.26
$GC,3501,0.61,301.6,2888,1997,1826,1633,26.2,13.4,619,3508,0.00,2.22,0.00,0.000,388,0.000,0.047,2880,3418,1734,1833,1635,0,0,0,0,0,0,26.13,26.06,26.13
$GC,3562,0.61,301.6,2879,3418,1821,1631,18.6,11.0,630,3568,0.00,2.17,0.00,0.000,1030,0.000,0.033,2888,1994,1725,1821,1630,0,0,0,0,0,0,26.23,26.18,26.24
$GC,3632,0.65,316.6,2887,1993,1821,1629,11.0,9.3,643,3648,0.00,2.25,11.60,0.633,8740,0.000,0.044,2898,591,1674,1774,1574,0,0,0,0,0,0,26.28,26.07,25.53
$GC,3712,1.02,412.0,2899,591,1768,1574,5.2,5.6,657,3765,0.40,2.20,46.55,0.656,11426,0.122,0.036,3011,2011,1435,1543,1328,0,0,0,0,0,0,26.13,26.19,26.22
$STATE,3766,end climb,SURFACE_DEPTH_REACHED
$STATE,3766,begin surface coast
$FINISH,-0.2,0.998794
$STATE,3791,end surface coast,CONTROL_FINISHED_OK
$STATE,3792,begin surface
$SM_CCo,3808,184.95,0.650,0,0,500,605.40
$SM_GC,0.61,7.97,0.00,184.95,0.057,0.000,0.650,186,2012,500,-7.71,0.34,605.40,0,0,0,0,0,0,26.01,25.99,25.09
$IRIDIUM_FIX,4447.11,-12500.52,290722,215752
$TT8_MAMPS,0.023968,0.30709
$HUMID,38.46
$INTERNAL_PRESSURE,8.48279
$TCM_TEMP,16.80
$XPDR_PINGS,0
$SC_FREEKB,3811456
$24V_AH,24.98,3.132
$10V_AH,10.30,1.966
$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,20.050,92.100,410.650,184.950,0.000,0.000,0.000,0.000,0.000,0.000,16.344,1605.422,383.056,772.876,1155.117,170.844,0.000,1424.585,0.000,1045.759,0.000,0.545,0.000
$DEVICE_MAMPS,209.610,52.785,785.655,650.250,0.000,0.000,0.000,0.000,420.000,0.000,12.730,13.970,2.190,13.220,39.430,49.920,0.000,10.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,Edison,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3781.000,2976.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.307,10.000,0.000,0.000
$MEM,220868
$DATA_FILE_SIZE,23398,670
$CAP_FILE_SIZE,107048,0
$CFSIZE,260030464,245415936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.156,235.94,1
$GPS,290722,231131,4447.849,-12457.988,4,1.1,16,15.1,1.1,187.7,8,4.4