version: 66.14
glider: 204
mission: 8
dive: 5
start: 8 31 121 1 19 32
data:
$ID,204
$MISSION,8
$DIVE,5
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,300
$D_ABORT,500
$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,100
$T_MISSION,120
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$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,150
$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,220
$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,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,2620
$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,30
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,60
$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
$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,-171.54095
$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,8.0
$CP_NDIVE,1.0
$GPS1,310821,011526,4750.7754,-12510.2812,1,0.8,2,15.7,0.8,160.2,11,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-60.2
$GPS2,310821,011836,4750.7646,-12510.2969,3,0.9,5,15.7,0.3,245.6,10,6.0
$SPEED_LIMITS,0.173,0.259
$TGT_NAME,HEADING
$TGT_LATLONG,4742.492,-12520.612
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,215.6,20000,-15.8,-10.000,-21.14,2219
$D_GRID,266
$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,24,-0.53,-146.0,188,2078,747,431,0.0,0.0,0,134,0.00,0.00,-107.03,0.010,16386,0.000,0.000,188,2078,3153,3143,3163,0,0,0,0,0,0,26.53,28.83,26.59
$GC,137,-0.53,-146.0,188,2078,3144,3163,4.2,-8.6,15,161,8.25,1.58,-9.50,0.013,18724,0.213,0.070,2419,3085,3648,3647,3650,0,0,0,0,0,0,26.12,25.10,26.26
$GC,231,-0.53,-146.0,2419,3085,3652,3648,22.9,-9.8,31,239,0.00,1.55,0.00,0.000,1062,0.000,0.031,2425,2036,3650,3652,3648,0,0,0,0,0,0,26.59,26.55,26.60
$GC,364,-0.54,-146.0,2424,2033,3655,3647,36.6,-10.9,56,372,0.00,1.55,0.00,0.000,644,0.000,0.041,2432,1007,3650,3655,3646,0,0,0,0,0,0,26.67,26.56,26.70
$GC,435,-0.57,-146.0,2432,1007,3655,3646,44.2,-10.4,69,444,0.00,1.55,0.00,0.000,1158,0.000,0.039,2426,2031,3650,3655,3646,0,0,0,0,0,0,26.59,26.55,26.62
$GC,574,-0.59,-146.0,2426,2032,3656,3646,56.1,-8.4,94,581,0.00,1.62,0.00,0.000,420,0.000,0.050,2419,3102,3651,3656,3646,0,0,0,0,0,0,26.69,26.55,26.77
$GC,633,-0.63,-146.0,2418,3102,3656,3646,61.9,-10.2,104,641,0.00,1.55,0.00,0.000,1158,0.000,0.030,2424,2044,3651,3656,3646,0,0,0,0,0,0,26.65,26.62,26.68
$GC,770,-0.65,-146.0,2423,2043,3657,3645,74.1,-7.0,129,779,0.00,1.55,0.00,0.000,676,0.000,0.040,2431,1014,3651,3657,3645,0,0,0,0,0,0,26.71,26.62,26.77
$GC,849,-0.69,-146.0,2430,1014,3657,3645,79.7,-7.1,143,856,0.00,1.58,0.00,0.000,1190,0.000,0.036,2425,2055,3651,3657,3645,0,0,0,0,0,0,26.63,26.58,26.69
$GC,982,-0.73,-146.0,2424,2055,3656,3644,89.7,-8.1,168,990,0.10,1.60,0.00,0.000,4516,0.128,0.090,2383,3105,3650,3657,3644,0,0,0,0,0,0,26.58,26.56,26.67
$GC,1070,-0.74,-146.0,2382,3105,3657,3644,98.0,-10.0,184,1078,0.00,1.55,0.00,0.000,1158,0.000,0.031,2384,2057,3649,3656,3643,0,0,0,0,0,0,26.72,26.69,26.73
$GC,1203,-0.75,-146.0,2383,2055,3656,3643,110.6,-9.7,198,1206,0.00,1.55,0.00,0.000,676,0.000,0.041,2392,996,3650,3656,3644,0,0,0,0,0,0,26.76,26.60,26.82
$GC,1238,-0.77,-146.0,2391,996,3657,3643,114.5,-9.9,205,1247,0.00,1.60,0.00,0.000,1190,0.000,0.036,2386,2053,3650,3657,3643,0,0,0,0,0,0,26.70,26.67,26.72
$GC,1367,-0.79,-146.0,2386,2053,3657,3642,127.0,-10.3,218,1371,0.00,1.58,0.00,0.000,388,0.000,0.050,2378,3096,3650,3657,3643,0,0,0,0,0,0,26.79,26.59,26.84
$GC,1413,-0.81,-146.0,2377,3097,3657,3642,131.9,-10.6,226,1417,0.00,1.52,0.00,0.000,1158,0.000,0.031,2384,2031,3649,3657,3642,0,0,0,0,0,0,26.73,26.66,26.74
$GC,1547,-0.83,-146.0,2383,2030,3657,3642,145.8,-10.5,240,1551,0.00,1.50,0.00,0.000,644,0.000,0.044,2391,999,3649,3657,3641,0,0,0,0,0,0,26.80,26.67,26.82
$GC,1601,-0.85,-146.0,2391,999,3657,3641,151.6,-10.1,250,1606,0.12,1.55,0.00,0.000,5254,0.126,0.035,2347,2056,3648,3656,3641,0,0,0,0,0,0,26.56,26.69,26.65
$GC,1734,-0.84,-146.0,2347,2056,3657,3641,167.2,-12.0,264,1738,0.00,1.52,0.00,0.000,388,0.000,0.063,2340,3099,3649,3657,3641,0,0,0,0,0,0,26.60,25.89,26.29
$GC,1780,-0.84,-146.0,2339,3100,3657,3640,173.1,-11.6,273,1791,0.00,1.55,0.00,0.000,1030,0.000,0.029,2346,2039,3649,3657,3641,0,0,0,0,0,0,26.73,26.72,26.77
$GC,1909,-0.84,-146.0,2345,2038,3657,3640,187.8,-11.5,286,1913,0.00,1.50,0.00,0.000,516,0.000,0.041,2353,1008,3647,3656,3639,0,0,0,0,0,0,26.82,26.69,26.89
$GC,1952,-0.84,-146.0,2353,1007,3657,3639,192.8,-11.1,294,1956,0.00,1.52,0.00,0.000,1030,0.000,0.035,2347,2050,3648,3657,3639,0,0,0,0,0,0,26.75,26.69,26.77
$GC,2084,-0.84,-146.0,2347,2051,3656,3638,207.9,-11.5,308,2088,0.00,1.55,0.00,0.000,260,0.000,0.045,2339,3100,3647,3657,3638,0,0,0,0,0,0,26.74,26.66,26.79
$GC,2127,-0.84,-146.0,2339,3101,3657,3638,212.9,-11.0,316,2131,0.00,1.52,0.00,0.000,1030,0.000,0.029,2345,2024,3647,3656,3638,0,0,0,0,0,0,26.77,26.73,26.79
$GC,2260,-0.82,-146.0,2344,2022,3657,3637,228.3,-11.8,330,2264,0.00,1.50,0.00,0.000,644,0.000,0.042,2353,996,3647,3657,3638,0,0,0,0,0,0,26.85,26.70,26.89
$GC,2335,-0.82,-146.0,2353,996,3657,3637,237.2,-11.5,344,2339,0.00,1.55,0.00,0.000,1030,0.000,0.037,2347,2052,3647,3657,3637,0,0,0,0,0,0,26.76,26.69,26.78
$GC,2468,-0.81,-146.0,2347,2052,3657,3636,253.6,-12.4,358,2475,0.00,0.00,0.00,0.000,134,0.000,0.000,2347,2052,3646,3657,3636,0,0,0,0,0,0,26.81,26.88,26.87
$STATE,2575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2575,begin apogee
$GC,2580,-0.17,0.0,2347,1829,3657,3635,267.2,-13.5,369,2817,0.62,0.00,226.55,0.601,10246,0.140,0.000,2544,1826,3043,3108,2978,0,0,0,0,0,0,26.40,24.99,24.79
$STATE,2822,end apogee,CONTROL_FINISHED_OK
$STATE,2822,begin climb
$GC,2824,0.53,146.0,2543,1826,3101,2972,281.9,0.0,393,3052,0.75,1.67,218.95,0.565,11012,0.110,0.041,2785,826,2450,2566,2334,0,0,0,0,0,0,25.36,25.16,24.71
$GC,3109,0.51,223.7,2784,826,2532,2306,279.0,6.4,443,3230,0.00,1.58,115.40,0.565,9382,0.000,0.036,2779,1849,2136,2263,2010,0,0,0,0,0,0,25.70,25.63,24.72
$GC,3351,0.53,265.2,2779,1848,2226,1980,259.6,8.1,479,3419,0.00,0.00,63.83,0.571,8870,0.000,0.000,2779,1849,1964,2096,1833,0,0,0,0,0,0,25.90,25.32,24.90
$GC,3543,0.57,282.0,2778,1849,2060,1802,242.8,9.2,501,3551,0.00,0.00,4.25,0.578,8358,0.000,0.000,2779,1848,1899,2032,1766,0,0,0,0,0,0,25.95,25.76,25.17
$GC,3672,0.60,310.3,2779,1849,2047,1776,231.4,8.7,514,3730,0.08,0.00,50.17,0.573,10406,0.190,0.000,2797,1849,1783,1920,1646,0,0,0,0,1,0,25.97,25.53,24.94
$GC,3852,0.63,310.3,2797,1849,1916,1644,213.7,10.0,532,3856,0.00,1.60,0.00,0.000,388,0.000,0.047,2791,2901,1780,1916,1644,0,0,0,0,0,0,26.07,25.94,26.13
$GC,3885,0.66,310.3,2790,2901,1916,1644,210.1,10.3,538,3890,0.08,1.52,0.00,0.000,3206,0.160,0.040,2814,1870,1779,1915,1644,0,0,0,0,0,0,25.95,26.06,26.06
$GC,4021,0.68,310.3,2813,1870,1914,1644,196.5,10.1,552,4025,0.00,1.62,0.00,0.000,644,0.000,0.050,2822,805,1779,1914,1644,0,0,0,0,0,0,26.30,26.13,26.36
$GC,4074,0.70,310.3,2821,805,1913,1644,190.7,10.7,562,4078,0.00,1.58,0.00,0.000,1158,0.000,0.036,2816,1853,1778,1913,1644,0,0,0,0,0,0,26.28,26.20,26.31
$GC,4207,0.72,319.9,2815,1853,1913,1643,177.5,9.6,576,4219,0.08,1.58,4.55,0.603,10660,0.196,0.045,2825,2903,1747,1885,1609,0,0,0,0,0,0,26.22,25.95,25.52
$GC,4255,0.73,319.9,2824,2903,1894,1617,172.8,10.6,584,4258,0.00,1.55,0.00,0.000,1158,0.000,0.035,2831,1851,1755,1894,1617,0,0,0,0,0,0,26.32,26.30,26.35
$GC,4387,0.74,322.5,2830,1851,1898,1618,159.6,9.9,598,4400,0.00,1.65,3.55,0.530,8868,0.000,0.047,2839,797,1734,1875,1594,0,0,0,0,0,0,26.49,25.95,25.41
$GC,4423,0.74,322.5,2838,797,1883,1599,155.8,10.6,604,4427,0.00,1.58,0.00,0.000,1030,0.000,0.035,2832,1852,1741,1883,1600,0,0,0,0,0,0,26.43,26.37,26.45
$GC,4555,0.75,326.8,2832,1852,1889,1606,142.2,9.8,618,4567,0.00,1.58,5.28,0.613,8612,0.000,0.044,2825,2907,1721,1862,1580,0,0,0,0,0,0,26.48,26.03,25.60
$GC,4583,0.77,327.3,2824,2907,1868,1585,139.2,10.0,623,4591,0.05,1.60,0.00,0.000,3238,0.145,0.034,2847,1849,1727,1869,1585,0,0,0,0,0,0,26.21,26.39,26.30
$GC,4712,0.77,327.3,2846,1849,1874,1588,126.1,10.6,636,4716,0.00,1.60,0.00,0.000,516,0.000,0.052,2855,790,1730,1873,1588,0,0,0,0,0,0,26.48,26.39,26.56
$GC,4755,0.77,327.3,2854,790,1874,1588,121.2,10.4,644,4759,0.00,1.58,0.00,0.000,1030,0.000,0.058,2849,1849,1730,1873,1588,0,0,0,0,0,0,25.86,25.62,26.15
$GC,4889,0.77,327.3,2849,1849,1873,1588,107.0,10.5,658,4893,0.00,1.58,0.00,0.000,260,0.000,0.047,2841,2905,1730,1873,1588,0,0,0,0,0,0,26.58,26.44,26.64
$GC,4958,0.77,327.3,2841,2904,1873,1588,99.5,10.5,671,4966,0.00,1.60,2.25,0.306,9222,0.000,0.037,2847,1841,1713,1854,1572,0,0,0,0,0,0,26.55,26.51,25.48
$GC,5094,0.77,327.3,2847,1841,1870,1585,84.6,11.9,696,5101,0.00,1.62,0.00,0.000,260,0.000,0.047,2841,2898,1727,1869,1585,0,0,0,0,0,0,26.63,26.49,26.68
$GC,5134,0.77,327.3,2841,2898,1869,1585,79.6,12.0,703,5142,0.00,1.58,0.00,0.000,1030,0.000,0.034,2847,1849,1727,1869,1586,0,0,0,0,0,0,26.57,26.54,26.63
$GC,5273,0.77,327.3,2847,1849,1869,1586,63.7,10.2,728,5280,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1849,1727,1869,1586,0,0,0,0,0,0,26.62,26.70,26.68
$GC,5405,0.77,368.6,2847,1849,1870,1585,52.2,8.1,753,5477,0.00,1.70,58.88,0.582,8484,0.000,0.047,2842,2907,1547,1693,1401,0,0,0,0,1,0,26.65,25.84,25.15
$GC,5531,0.79,368.6,2841,2908,1709,1409,40.7,10.3,773,5539,0.00,1.62,0.00,0.000,1158,0.000,0.034,2847,1845,1559,1709,1409,0,0,0,0,0,0,26.11,26.08,26.13
$GC,5667,0.81,376.3,2846,1845,1710,1409,27.3,9.6,798,5690,0.00,0.00,20.48,0.565,8870,0.000,0.000,2847,1845,1518,1663,1373,0,0,0,0,0,0,26.25,25.91,25.47
$GC,5819,0.83,451.7,2846,1845,1630,1344,14.5,6.5,825,5904,0.10,1.67,71.47,0.575,10916,0.156,0.049,2883,794,1205,1369,1041,0,0,0,0,1,0,26.08,25.29,24.91
$STATE,5948,end climb,SURFACE_DEPTH_REACHED
$STATE,5948,begin surface coast
$FINISH,-0.4,1.026727
$STATE,5965,end surface coast,CONTROL_FINISHED_OK
$STATE,5965,begin surface
$SM_CCo,5985,107.65,0.631,1,0,589,603.68
$SM_GC,0.42,7.50,2.00,107.65,0.051,0.032,0.631,192,2043,589,-7.46,-1.22,603.68,0,0,0,0,1,0,25.93,25.84,24.66
$IRIDIUM_FIX,4750.87,-12505.04,310821,011341
$TT8_MAMPS,0.02247,0.187999
$HUMID,56.65
$INTERNAL_PRESSURE,8.72826
$TCM_TEMP,15.10
$XPDR_PINGS,0
$CP_FREE,127349948416.000000
$CP_POWER,316.700000
$CP_POWER1,0.000000
$24V_AH,24.66,4.726
$10V_AH,10.30,3.489
$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,17.725,73.125,845.600,107.650,0.000,0.000,0.000,0.000,0.000,0.000,18.220,1841.680,1359.174,919.297,1795.779,287.822,0.000,1826.724,0.000,1881.318,0.000,0.548,0.000
$DEVICE_MAMPS,213.435,90.270,612.765,631.125,0.000,0.000,0.000,0.000,420.000,0.000,11.980,12.220,2.190,12.220,37.690,42.930,0.000,11.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_blue_red_Chl,nil,nil,nil,nil,NCP,nil,nil,nil
$SENSOR_SECS,498.213,1585.744,0.000,0.000,0.000,0.000,5737.000,0.000,0.000,0.000
$SENSOR_MAMPS,64.410,37.450,0.000,0.000,0.000,0.000,25.000,0.000,0.000,0.000
$MEM,212128
$DATA_FILE_SIZE,43629,848
$CAP_FILE_SIZE,133933,0
$CFSIZE,260030464,250589184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.062,130.54,1
$GPS,310821,030231,4750.096,-12511.083,13,0.8,35,15.7,0.3,89.9,12,2.1