version: 66.14
glider: 204
mission: 6
dive: 4
start: 8 19 121 19 8 9
data:
$ID,204
$MISSION,6
$DIVE,4
$N_DIVES,4
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,180
$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,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,150
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,55318
$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,550
$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,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$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,2670
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3960
$C_VBD,3050
$VBD_DBAND,4
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$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,127.5
$AH0_10V,100
$MINV_24V,16
$MINV_10V,9.5
$MAXI_24V,1
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-172.02156
$PRESSURE_SLOPE,0.00014064999
$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,0.74000001
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,115
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$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,3.0
$CP_XMITPROFILE,3.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,6.0
$CP_NDIVE,1.0
$GPS1,190821,190348,4742.7612,-12225.2119,2,1.1,3,15.2,0.3,202.3,8,5.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-59.5
$GPS2,190821,190713,4742.7451,-12225.2227,3,1.1,4,15.2,0.4,238.1,8,5.7
$SPEED_LIMITS,0.173,0.247
$TGT_NAME,SW
$TGT_LATLONG,4743.000,-12225.000
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,8.6,548,-18.7,-10.000,-22.01,2232
$D_GRID,186
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.77,-146.6,192,2219,915,666,0.0,0.0,0,148,0.00,0.00,-120.38,0.008,16390,0.000,0.000,193,2220,3648,3629,3668,0,0,0,0,0,0,26.55,25.25,26.63
$GC,150,-0.77,-146.6,192,2220,3630,3667,3.7,-6.8,17,167,8.35,2.10,0.00,0.000,2340,0.216,0.042,2389,3611,3650,3636,3665,0,0,0,0,0,0,26.23,26.48,26.39
$GC,174,-0.30,-146.6,2388,3611,3641,3661,12.5,-28.4,20,182,0.55,2.12,0.00,0.000,3206,0.192,0.028,2553,2169,3650,3643,3658,0,0,0,0,0,0,26.18,26.58,26.45
$GC,370,-0.39,-146.6,2552,2167,3652,3651,27.0,-6.9,57,377,0.00,2.22,0.00,0.000,420,0.000,0.047,2545,3601,3651,3652,3650,0,0,0,0,0,0,26.72,26.60,26.76
$GC,495,-0.49,-146.6,2544,3601,3651,3650,34.6,-5.5,80,503,0.08,2.08,0.00,0.000,5286,0.155,0.028,2527,2192,3651,3652,3650,0,0,0,0,0,0,26.46,26.68,26.55
$GC,690,-0.56,-146.6,2526,2191,3653,3648,44.7,-4.5,117,698,0.10,2.08,0.00,0.000,4772,0.147,0.035,2501,818,3650,3653,3648,0,0,0,0,0,0,26.63,26.70,26.74
$GC,740,-0.62,-146.6,2500,817,3653,3648,47.4,-6.3,125,747,0.00,2.10,0.00,0.000,1190,0.000,0.034,2492,2201,3650,3653,3648,0,0,0,0,0,0,26.75,26.73,26.81
$GC,939,-0.66,-146.6,2492,2200,3653,3648,68.2,-11.2,162,947,0.08,0.00,0.00,0.000,4230,0.163,0.000,2472,2201,3650,3653,3648,0,0,0,0,0,0,26.68,26.77,26.77
$GC,1133,-0.68,-146.6,2471,2201,3653,3648,84.8,-6.9,199,1140,0.00,0.00,0.00,0.000,166,0.000,0.000,2472,2201,3650,3653,3648,0,0,0,0,0,0,26.94,26.97,26.96
$GC,1326,-0.70,-146.6,2471,2201,3653,3647,102.1,-10.3,234,1330,0.00,2.10,0.00,0.000,388,0.000,0.047,2462,3603,3650,3653,3647,0,0,0,0,0,0,26.92,26.74,26.98
$GC,1359,-0.73,-146.6,2460,3603,3653,3647,105.5,-10.3,240,1363,0.08,2.03,0.00,0.000,5254,0.176,0.029,2453,2189,3650,3653,3647,0,0,0,0,0,0,26.66,26.84,26.81
$GC,1671,-0.74,-146.6,2452,2183,3653,3647,143.0,-11.8,272,1675,0.00,2.12,0.00,0.000,388,0.000,0.046,2442,3603,3649,3653,3646,0,0,0,0,0,0,26.96,26.77,27.01
$GC,1714,-0.74,-146.6,2442,3603,3653,3646,148.8,-13.7,280,1718,0.00,2.03,0.00,0.000,1030,0.000,0.030,2451,2191,3649,3652,3646,0,0,0,0,0,0,26.91,26.86,26.92
$STATE,1723,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1723,begin apogee
$GC,1727,-0.17,0.0,2451,2186,3653,3646,150.4,-13.9,282,1898,0.50,0.00,162.75,0.547,10246,0.159,0.000,2597,2186,3040,3100,2981,0,0,0,0,0,0,26.54,25.53,25.12
$STATE,1903,end apogee,CONTROL_FINISHED_OK
$STATE,1903,begin climb
$GC,1905,0.77,146.6,2597,2186,3094,2976,160.2,0.0,299,2075,0.98,0.00,162.15,0.535,10502,0.123,0.000,2900,2185,2447,2552,2342,0,0,0,0,0,0,25.62,25.39,24.99
$GC,2382,0.76,165.7,2900,2185,2521,2324,134.3,9.1,361,2403,0.00,2.22,12.43,0.658,8612,0.000,0.050,2897,3611,2363,2464,2262,0,0,0,0,0,0,26.44,25.98,25.67
$GC,2459,0.73,165.7,2896,3611,2446,2259,124.4,12.9,375,2462,0.00,2.08,0.00,0.000,1158,0.000,0.031,2905,2210,2352,2445,2259,0,0,0,0,0,0,26.37,26.33,26.40
$GC,2768,0.71,165.7,2905,2204,2445,2259,90.2,10.1,415,2774,0.00,0.00,0.00,0.000,134,0.000,0.000,2905,2204,2352,2445,2259,0,0,0,0,0,0,26.60,26.68,26.69
$GC,2961,0.70,171.5,2905,2204,2444,2258,71.5,9.7,452,2969,0.00,2.15,0.00,0.000,676,0.000,0.042,2916,795,2352,2445,2259,0,0,0,0,0,0,26.73,26.59,26.79
$GC,2992,0.68,171.5,2916,795,2445,2259,68.0,10.9,457,3000,0.00,2.15,0.00,0.000,1158,0.000,0.041,2908,2193,2352,2445,2259,0,0,0,0,0,0,26.64,26.60,26.67
$GC,3185,0.68,187.6,2907,2194,2444,2259,47.6,9.3,494,3207,0.00,0.00,19.10,0.557,8870,0.000,0.000,2908,2194,2283,2386,2181,0,0,0,0,0,0,26.79,26.37,25.93
$GC,3392,0.68,187.6,2907,2194,2361,2160,26.3,11.7,533,3399,0.00,2.15,0.00,0.000,516,0.000,0.041,2917,797,2261,2362,2160,0,0,0,0,0,0,26.70,26.55,26.76
$GC,3440,0.68,187.6,2916,797,2362,2161,21.1,10.7,541,3447,0.00,2.17,0.00,0.000,1030,0.000,0.037,2908,2214,2261,2362,2160,0,0,0,0,0,0,26.64,26.60,26.67
$GC,3638,0.70,205.5,2907,2214,2359,2160,3.2,9.2,578,3654,0.00,2.17,7.38,0.526,8484,0.000,0.054,2897,3601,2210,2314,2106,0,0,0,0,0,0,26.77,26.50,25.98
$STATE,3659,end climb,SURFACE_DEPTH_REACHED
$STATE,3660,begin surface coast
$FINISH,-0.6,1.022145
$STATE,3681,end surface coast,CONTROL_FINISHED_OK
$STATE,3682,begin surface
$SM_CCo,3702,172.45,0.590,1,0,804,550.21
$SM_GC,0.37,7.45,2.12,172.45,0.060,0.025,0.590,191,2203,804,-7.61,1.36,550.21,0,0,0,0,1,0,26.67,26.63,24.89
$IRIDIUM_FIX,4740.82,-12223.37,190821,190154
$TT8_MAMPS,0.020972,0.185752
$HUMID,54.56
$INTERNAL_PRESSURE,8.91381
$TCM_TEMP,18.50
$XPDR_PINGS,0
$CP_FREE,127661735936.000000
$CP_POWER,155.470000
$CP_POWER1,0.000000
$24V_AH,24.89,2.071
$10V_AH,10.34,2.219
$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,18.150,38.200,363.800,172.450,0.000,0.000,0.000,0.000,0.000,0.000,16.603,1367.018,554.801,593.453,1275.977,193.334,0.000,1149.490,0.000,1337.804,0.000,0.551,0.000
$DEVICE_MAMPS,215.730,53.550,657.900,589.815,0.000,0.000,0.000,0.000,420.000,0.000,11.230,12.220,2.190,12.970,38.430,42.930,0.000,11.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,372.106,1187.848,0.000,0.000,0.000,0.000,3510.000,0.000,0.000,0.000
$SENSOR_MAMPS,63.670,38.200,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,182768
$DATA_FILE_SIZE,30278,585
$CAP_FILE_SIZE,79078,0
$CFSIZE,260030464,250994688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.249,215.00,1
$GPS,190821,201401,4742.651,-12225.454,27,0.8,28,15.2,0.2,0.0,10,4.6